Added abort to command

single_ursim_control/program_executor.py

@@ -33,7 +33,7 @@ class ProgramExecutor(Thread):
 
     def abort(self):
         self._state = ProgramExecutorStates.ABORTED
-        # TODO: implement abort
+        self._program[self._pc].abort()
 
     def get_status(self) -> dict:
         return {
@@ -55,7 +55,7 @@ class ProgramExecutor(Thread):
         self._state = ProgramExecutorStates.RUNNING
         self._logger.info("Start running program")
 
-        while True:  # needed for loop
+        while self._state == ProgramExecutorStates.RUNNING:  # needed for loop
             self._loop_counter += 1
             for i, step in enumerate(self._program):
                 self._pc = i
@@ -69,12 +69,13 @@ class ProgramExecutor(Thread):
                     self._state = ProgramExecutorStates.CRASHED
                     return
 
-                # TODO: jogging wait
+                if self._state != ProgramExecutorStates.RUNNING:
+                    self._logger.info(f"State changed to {self._state.name}. Execution will now stop!")
+                    return
 
             if self._loop:
                 self._logger.debug("Looping program")
             else:
-                self._logger.debug("Program ended")
-                break
-
-        self._state = ProgramExecutorStates.DONE
+                self._logger.info("Program ended")
+                self._state = ProgramExecutorStates.DONE
+                return