diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index fe7173b..b07a4d6 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -20,7 +20,7 @@ class RobotTCP(TcpDevice, Stoppable):
          self.lock = threading.Lock()
          self.joint_forces = None
          self.current_task = None
-         self.high_level_tasks = []
+         self.high_level_tasks = []                
          
     def _sendReceive(self, msg_id, msg = "", timeout =  None):  
         tx = self.header if (self.header != None) else  ""
@@ -344,6 +344,12 @@ class RobotTCP(TcpDevice, Stoppable):
         #self.setState(State.Busy if self.status=="move" else State.Ready)
         if self.state==State.Offline:
             print "Communication resumed"
+            for task in self.high_level_tasks:
+                if self.get_task_status(task)[0]>=0:
+                    print "Ongoing task: " + task
+                    self.current_task = task
+            
+            
         if (not self.settled) or (self.current_task is not None): self.setState(State.Busy)
         if not self.empty: self.setState(State.Paused)
         else: self.setState(State.Ready)                
@@ -380,16 +386,22 @@ class RobotTCP(TcpDevice, Stoppable):
 
     #High-level, exclusive motion task.
     def start_task(self, program, *args,  **kwargs):
-        for task in (self.high_level_tasks + [program]):
-            if (task is not None) and (self.get_task_status(task)[0]>=0):
+        tasks = [t fot t in self.high_level_tasks]
+        if not program in tasks: 
+            tasks.append(pro)
+        for task in task:
+            if self.get_task_status(task)[0]>=0:
                 raise Exception("Ongoing high-level task: " + task)
         print "Setting ", program
         self.current_task = program
         self.task_create(program, *args, **kwargs)
 
     def stop_task(self):
-        for task in (self.high_level_tasks + [self.current_task]):
-            if (task is not None) and (self.get_task_status(task)[0]>=0):
+        tasks = [t fot t in self.high_level_tasks]
+        if (self.current_task is not None) and (not self.current_task in tasks): 
+            tasks.append(pro)
+        for task in task:
+            if self.get_task_status(task)[0]>=0:
                 self.task_kill(task)
 
     def on_event(self,ev):