task: an E-stop reset leaves a machine that is on alone

src/emc/task/emctask.cc

@@ -343,6 +343,11 @@ int emcTaskSetState(EMC_TASK_STATE state)
 	break;
 
     case EMC_TASK_STATE::ESTOP_RESET:
+	// a machine that is on has no E-stop to reset; the abort below
+	// would only stop whatever it is doing
+	if (emcStatus->motion.traj.enabled && !emcStatus->io.aux.estop) {
+	    break;
+	}
 	// reset the estop
 	emcAuxEstopOff();
 	emcCoolantFloodOff();//TODO: race here

tests/abort/feed-rate/README

@@ -2,3 +2,6 @@ This test starts LinuxCNC, sets the feed rate (in G94 and G95), then
 Aborts and verifies that the expected feed rate is active.
 
 In 2.6.12 and 2.7.7 this test replicates Github Issue #180.
+
+It then runs a move with the spindle and flood on, sends an E-stop reset,
+and verifies that the move, the spindle and the flood keep going.

tests/abort/feed-rate/test-ui.py

@@ -78,5 +78,33 @@ def wait_for_linuxcnc_startup(status, timeout=10.0):
 print("feed rate:{}".format(s.settings[1]))
 assert(math.fabs(s.settings[1] - feed_rate) < 0.0000001)
 
+
+def wait_for(condition, timeout=10.0):
+    start_time = time.time()
+    while time.time() - start_time < timeout:
+        s.poll()
+        if condition():
+            return True
+        time.sleep(0.01)
+    return False
+
+
+# An E-stop reset sent to a machine that is on leaves it alone, and does
+# not run the abort that goes with leaving E-stop.
+c.mdi('g20 g90 g94 m3 s1000 m8')
+c.wait_complete()
+c.mdi('g1 x3 f30')
+assert wait_for(lambda: s.current_vel > 0), "the move did not start"
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.wait_complete()
+s.poll()
+x = s.position[0]
+assert wait_for(lambda: s.position[0] > x + 0.1), "the reset stopped the move"
+assert s.task_state == linuxcnc.STATE_ON, "the reset turned the machine off"
+assert s.spindle[0]['enabled'], "the reset stopped the spindle"
+assert s.flood, "the reset turned the flood off"
+c.abort()
+c.wait_complete()
+
 sys.exit(0)