Don't stop on estop

diff --git a/src/py/bbctrl/Mach.py b/src/py/bbctrl/Mach.py
index 31a683721523fffac39b94fd235e508660c1539b..0247d105e49ceee27802403097f8b200ced6836f 100644 (file)
--- a/src/py/bbctrl/Mach.py
+++ b/src/py/bbctrl/Mach.py
@@ -131,7 +131,7 @@ class Mach(Comm):
 
     def _update(self, update):
         # Handle EStop
-        if update.get('xx', '') == 'ESTOPPED': self.planner.reset()
+        if update.get('xx', '') == 'ESTOPPED': self.planner.reset(False)
 
         # Detect motor faults
         for motor in range(4):

diff --git a/src/py/bbctrl/Planner.py b/src/py/bbctrl/Planner.py
index 5d3e8a51d759efd2a8925a75a4de87a881aa90c5..a0e0f711a0b887b10047bd32aafb471b5e4250e3 100644 (file)
--- a/src/py/bbctrl/Planner.py
+++ b/src/py/bbctrl/Planner.py
@@ -55,7 +55,7 @@ class Planner():
 
         ctrl.state.add_listener(self._update)
 
-        self.reset()
+        self.reset(False)
         self._report_time()
 
 
@@ -324,8 +324,8 @@ class Planner():
         self.current_plan_time = 0
 
 
-    def reset(self):
-        if hasattr(self.ctrl, 'mach'): self.ctrl.mach.stop()
+    def reset(self, stop = True):
+        if stop: self.ctrl.mach.stop()
         self.planner = gplan.Planner()
         self.planner.set_resolver(self._get_var_cb)
         self.planner.set_logger(self._log_cb, 1, 'LinePlanner:3')