Closedown

script/RobotTCP.py

@@ -20,7 +20,11 @@ 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 doInitialize(self):           
+        super(TcpDevice, self).doInitialize()         
+        self.reset = True      
          
     def _sendReceive(self, msg_id, msg = "", timeout =  None):  
         tx = self.header if (self.header != None) else  ""
@@ -344,6 +348,7 @@ class RobotTCP(TcpDevice, Stoppable):
         #self.setState(State.Busy if self.status=="move" else State.Ready)
         if self.state==State.Offline:
             print "Communication resumed"
+        if self.reset or (self.state==State.Offline):
             for task in self.high_level_tasks:
                 if self.get_task_status(task)[0]>=0:
                     print "Ongoing task: " + task
@@ -372,6 +377,7 @@ class RobotTCP(TcpDevice, Stoppable):
                 print "Resetting", self.get_task_status(self.current_task)
                 self.current_task = None
             self._update_state()              
+            self.reset = False
             self.setCache({"powered": self.powered,
                            "speed": self.speed,
                            "empty": self.empty,