I assume by right front leg you mean the leg on the entry door side of the rig. There is a drive pin at each end of the square tube that you refer to as the long bar that runs between the 2 legs. Check to see if the one on the right leg is missing or sheared off. If the pin is OK and you can see the round shaft that goes into the leg turning then the problem must be internal to the leg mechanism. I've seen the drawings of the leg internals and I know there are drive pins on the horizontal and vertical bevel gears inside the leg mechanism. But I have never taken one apart. That's probably ajob for your dealer unless you are mechanically inclined.
But if it is the external pin that you can see and get to, it should be an easy fix. You could use a small bolt as a temporary fix until you can get a replacement pin.
If the leg is stuck in the full up position you may have jammed the drive screw and it may have sheared one of those 3 drive pins. When I got my walk thru when I bought my Cruiser the dealer tech told me to never run the gear all the way up as it could break something. So I marked the leg where they had it in the up position and that is my "never retract beyond" mark.