halui: switch to Manual when the user requests jog

halui used to just disallow jogging when the controller was not in
Manual mode.  Now it switches to Manual mode just in time, as needed.

src/emc/usr_intf/halui.cc

@@ -1386,13 +1386,16 @@ static int sendJogCont(int axis, double speed)
     EMC_AXIS_JOG emc_axis_jog_msg;
     EMC_TRAJ_SET_TELEOP_VECTOR emc_set_teleop_vector;
 
-    if ((emcStatus->task.state != EMC_TASK_STATE_ON) || (emcStatus->task.mode != EMC_TASK_MODE_MANUAL))
+    if (emcStatus->task.state != EMC_TASK_STATE_ON) {
 	return -1;
+    }
 
     if (axis < 0 || axis >= EMC_AXIS_MAX) {
 	return -1;
     }
 
+    sendManual();
+
     if (emcStatus->motion.traj.mode != EMC_TRAJ_MODE_TELEOP) {
 	emc_axis_jog_msg.serial_number = ++emcCommandSerialNumber;
 	emc_axis_jog_msg.axis = axis;
@@ -1433,12 +1436,15 @@ static int sendJogInc(int axis, double speed, double inc)
 {
     EMC_AXIS_INCR_JOG emc_axis_jog_msg;
 
-    if ((emcStatus->task.state != EMC_TASK_STATE_ON) || (emcStatus->task.mode != EMC_TASK_MODE_MANUAL))
+    if (emcStatus->task.state != EMC_TASK_STATE_ON) {
 	return -1;
+    }
 
     if (axis < 0 || axis >= EMC_AXIS_MAX)
 	return -1;
 
+    sendManual();
+
     if (emcStatus->motion.traj.mode == EMC_TRAJ_MODE_TELEOP)
     	return -1;