From a88ae20476550ba967c55be98ae7e872ad683c59 Mon Sep 17 00:00:00 2001 From: gac-S_Changer Date: Wed, 29 Mar 2017 15:56:09 +0200 Subject: [PATCH] Closedown --- script/RobotTCP.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/script/RobotTCP.py b/script/RobotTCP.py index f1a8e0e..a480522 100644 --- a/script/RobotTCP.py +++ b/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,