Fixed a disconnect but, and unhoming on failed probe

src/py/bbctrl/Mach.py

@@ -136,7 +136,7 @@ class Mach(Comm):
     def process_log(self, log):
         # Detect when a probe has failed, and reset the planner
         if log['msg'] == 'Switch not found':
-            self.planner.reset(False)
+            self.planner.reset(stop = False, resetState = False)
 
 
     def _update(self, update):
@@ -152,7 +152,7 @@ class Mach(Comm):
 
         # Handle EStop
         if state_changed and state == 'ESTOPPED':
-            self.planner.reset(False)
+            self.planner.reset(stop = False)
 
         # Exit cycle if state changed to READY
         if (state_changed and self._get_cycle() != 'idle' and
@@ -201,9 +201,6 @@ class Mach(Comm):
         self.unpausing = True
 
 
-    def _reset(self): self.planner.reset()
-
-
     def _i2c_block(self, block):
         super().i2c_command(block[0], block = block[1:])
 
@@ -218,12 +215,13 @@ class Mach(Comm):
 
 
     @overrides(Comm)
-    def comm_error(self): self._reset()
+    def comm_error(self):
+        self.planner.reset()
 
 
     @overrides(Comm)
     def connect(self):
-        self._reset()
+        self.planner.reset()
         super().connect()
 
 
@@ -246,14 +244,17 @@ class Mach(Comm):
 
 
     def mdi(self, cmd, with_limits = True):
-        if not len(cmd): return
-        if   cmd[0] == '$':  self._query_var(cmd)
-        elif cmd[0] == '\\': super().queue_command(cmd[1:])
-        else:
-            self._begin_cycle('mdi')
-            self.planner.mdi(cmd, with_limits)
-            super().resume()
-
+        try:
+            if not len(cmd): return
+            if   cmd[0] == '$':  self._query_var(cmd)
+            elif cmd[0] == '\\': super().queue_command(cmd[1:])
+            else:
+                self._begin_cycle('mdi')
+                self.planner.mdi(cmd, with_limits)
+                super().resume()
+        except BaseException as err:
+            self.mlog.info("Exception during MDI: %s" % err)
+            pass
 
     def set(self, code, value):
         super().queue_command('${}={}'.format(code, value))
@@ -312,7 +313,7 @@ class Mach(Comm):
 
     def clear(self):
         if self._is_estopped():
-            self._reset()
+            self.planner.reset()
             super().clear()
 
 

src/py/bbctrl/Planner.py

@@ -64,7 +64,7 @@ class Planner():
 
         ctrl.state.add_listener(self._update)
 
-        self.reset(False)
+        self.reset(stop = False)
         self._report_time()
 
 
@@ -324,8 +324,11 @@ class Planner():
             self.planner.set_logger(None)
 
 
-    def reset(self, stop = True):
-        if stop: self.ctrl.mach.stop()
+    def reset(self, *args, **kwargs):
+        stop = kwargs.get('stop', True)
+        if stop:
+            self.ctrl.mach.stop()
+
         self.planner = gplan.Planner()
         self.planner.set_resolver(self._get_var_cb)
         # TODO logger is global and will not work correctly in demo mode
@@ -333,7 +336,10 @@ class Planner():
         self._position_dirty = True
         self.cmdq.clear()
         self.reset_times()
-        self.ctrl.state.reset()
+
+        resetState = kwargs.get('resetState', True)
+        if resetState:
+            self.ctrl.state.reset()
 
 
     def mdi(self, cmd, with_limits = True):

src/py/bbctrl/Web.py

@@ -441,7 +441,8 @@ class ClientConnection(object):
         self.app.closed(self.ctrl)
 
 
-    def on_message(self, data): self.ctrl.mach.mdi(data)
+    def on_message(self, data):
+        self.ctrl.mach.mdi(data)
 
 
 # Used by CAMotics
@@ -451,8 +452,11 @@ class WSConnection(ClientConnection, tornado.websocket.WebSocketHandler):
         tornado.websocket.WebSocketHandler.__init__(
             self, app, request, **kwargs)
 
-    def send(self, msg): self.write_message(msg)
-    def open(self): self.on_open()
+    def send(self, msg):
+        self.write_message(msg)
+
+    def open(self):
+        self.on_open()
 
 
 # Used by Web frontend