Ability to stop a motion task and flush buffer. Ideally from code.

[yck011522]

Summary

As a [user], I want [to be able to stop motion tasks and flush the buffer] so that [we can stop motion by code, not only from TP].

Details

Describe the feature and the current behavior/state
I often send multiple rrc.MoveToJoints for a trajectories that have multiple points. I also have to send enough points to the ABB buffer to ensure smooth motion (acc/deacc). However we cannot easily stop the motion from code and flush the buffer.

Describe alternatives you've considered

At the moment if we want to stop and flush buffer, we can only press the Stop button on TP and are forced to PPtoMain . This is quite messy because funcing in my code may be waiting for a future that will never arrive and stuck in a for-ever loop.

Will this change the current API? How?
new feature

Are you willing to contribute it?
No