From 760aee89a934f180b122b288f6944871dba1d816 Mon Sep 17 00:00:00 2001
From: Luca Toniolo <10792599+grandixximo@users.noreply.github.com>
Date: Thu, 5 Nov 2026 14:07:39 +1100
Subject: [PATCH] hal_glib: clear the estop when the state leaves ESTOP for any
 state

GStat emitted state-estop-reset only for ESTOP => ESTOP_RESET.  A client
that resets the estop and turns the machine on between two polls goes
from ESTOP straight to ON, and qtdragon and gmoccapy kept showing the
estop set on a machine that was on.
---
 lib/python/common/hal_glib.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/lib/python/common/hal_glib.py b/lib/python/common/hal_glib.py
index 6227a3dae3b..3e6820a9959 100644
--- a/lib/python/common/hal_glib.py
+++ b/lib/python/common/hal_glib.py
@@ -615,8 +615,9 @@ def update(self):
         state_new = self.old['state']
         if state_new != state_old:
 
-            # set machine estop/clear
-            if state_old == linuxcnc.STATE_ESTOP and state_new == linuxcnc.STATE_ESTOP_RESET:
+            # set machine estop/clear; a reset and machine on between two
+            # polls go from ESTOP straight to ON and still clear the estop
+            if state_old == linuxcnc.STATE_ESTOP:
                 self.emit('state-estop-reset')
                 self.emit('interp-idle')
             elif state_new == linuxcnc.STATE_ESTOP: