From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Tue, 27 Nov 2018 07:16:32 +0000 (-0800)
Subject: Don't stop on estop
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=b6cb3b491105e39ce6b8c805b6f2e7458805f611;p=bbctrl-firmware

Don't stop on estop
---

diff --git a/src/py/bbctrl/Mach.py b/src/py/bbctrl/Mach.py
index 31a6837..0247d10 100644
--- 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 5d3e8a5..a0e0f71 100644
--- 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')