add reset cmd

py_driver/driver.py

@@ -171,7 +171,7 @@ def alive(self):
         return time() - self.heartbeat < COMMUNICATION_TIMEOUT
 
     def ready(self):
-        return not self.busy
+        return not self.busy and self.alive() and not self.e_stop
 
     def update_state(self, tube=None, quick=False):
         """Get the last state of the device. If cached state is outdated, a new sensor reading is requested."""
@@ -396,6 +396,16 @@ def e_stop(self):
         assert not self.state.dynamic, "Device is still dynamic after emergency stop."
         self.e_stop = True
 
+    def reset(self):
+        """Reset the device and clears the emergency stop."""
+        self.write("7;")
+        # wait for device to be ready again after resuming
+        while not self.ready():
+            sleep(0.1)
+        self.update_state(quick=True)
+        assert not self.state.dynamic, "Device is dynamic after resetting emergency stop."
+        self.e_stop = False
+
     def set_water_level(self, tube, level):
         """
         Set the water level in the selected tube to the provided height.