.. _manual_get_robot_mode:

get_robot_mode (Manual Mode)
------------------------------------------
This section describes how to use :ref:`get_robot_mode <get_robot_mode>` during **Manual (Teach)** operations. Returns the mode stored in this CDRFLEx instance (initially ROBOT_MODE_MANUAL). set_robot_mode stores the requested mode. Calls that send a safety mode to the controller also store the mode when the controller accepts it: drl_stop stores Manual mode, set_safety_mode and the initialization and recovery options of set_robot_control store the safety mode they send, and multi_jog, motion and force-control commands store the current safety mode. The stored mode starts as Manual and is not read from the controller; call set_robot_mode(ROBOT_MODE_AUTONOMOUS) before Auto-only functions, even if the controller is already in Auto mode. To confirm that the controller accepted a mode change, check the return value of set_robot_mode.

**Typical usage**

- Verify the robot’s current operation mode before sending jog or motion commands.  
- Automatically adjust GUI or input permissions depending on mode.  
- Prevent unintended auto commands when in manual state.

.. Note::

    - Typical values: |br|
    - ``ROBOT_MODE_MANUAL``: Teach pendant or manual control. |br|
    - ``ROBOT_MODE_AUTONOMOUS``: Program or external control. |br|
    - In manual teaching, this should return **ROBOT_MODE_MANUAL**.

.. Caution::

   set_robot_mode stores the requested mode even when it returns false. get_robot_mode then returns the requested mode, and functions that require Auto or Manual mode accept calls although the controller did not change mode. If set_robot_mode returns false, do not use mode-gated functions until a later set_robot_mode call returns true.

**Example: Ensure Robot is in Manual Mode**

.. code-block:: cpp

   ROBOT_MODE mode = drfl.get_robot_mode();
   if (mode == ROBOT_MODE_MANUAL) {
       printf("Robot is in Manual mode. Jogging enabled.\n");
       drfl.jog(JOG_AXIS_TASK_Y, MOVE_REFERENCE_BASE, 10.0f);
   } else {
       printf("Robot is not in Manual mode. Jogging disabled.\n");
   }

**Tips**

- Always confirm **Manual mode** before manual motion or teaching.  
- For safety, restrict jog or multi_jog commands when in Auto mode.  
- Integrate this check into any teaching GUI or remote jog control application.