csaxs_bec/devices/omny/galil/lgalil_ophyd.py

@@ -254,6 +254,7 @@ class LamniGalilMotor(Device, PositionerBase):
         self.tolerance = kwargs.pop("tolerance", 0.5)
         self.device_mapping = kwargs.pop("device_mapping", {})
         self.device_manager = device_manager
+        self._stop_requested = threading.Event()
 
         if len(self.device_mapping) > 0 and self.device_manager is None:
             raise BECConfigError(
@@ -356,6 +357,7 @@ class LamniGalilMotor(Device, PositionerBase):
             If motion fails other than timing out
         """
         self._started_moving = False
+        self._stop_requested.clear()
         timeout = kwargs.pop("timeout", 100)
         status = super().move(position, timeout=timeout, **kwargs)
 
@@ -387,21 +389,27 @@ class LamniGalilMotor(Device, PositionerBase):
         def move_and_finish():
             success = self._wait_for_move_done(position)
 
-            if not success and is_lsamrot:
+            if not success and is_lsamrot and not self._stop_requested.is_set():
                 logger.warning(
                     f"{self.name}: move to {position} did not reach target; resetting "
                     "Galil error latches and retrying once."
                 )
                 self.controller.reset_axis_errors()
-                try:
-                    self.user_setpoint.put(position, wait=False)
-                except GalilError as exc:
-                    logger.error(
-                        f"{self.name}: retry after resetting Galil error latches failed: {exc}"
+                if self._stop_requested.is_set():
+                    logger.info(
+                        f"{self.name}: stop requested during error-latch reset; skipping retry."
                     )
                     success = False
                 else:
-                    success = self._wait_for_move_done(position)
+                    try:
+                        self.user_setpoint.put(position, wait=False)
+                    except GalilError as exc:
+                        logger.error(
+                            f"{self.name}: retry after resetting Galil error latches failed: {exc}"
+                        )
+                        success = False
+                    else:
+                        success = self._wait_for_move_done(position)
 
             if not success:
                 print(" stop")
@@ -486,5 +494,6 @@ class LamniGalilMotor(Device, PositionerBase):
         self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
 
     def stop(self, *, success=False):
+        self._stop_requested.set()
         self.controller.stop_all_axes()
         return super().stop(success=success)

tests/tests_devices/test_lgalil_lamni_retry.py

@@ -8,6 +8,9 @@ setting `allaxrer`/`caperr`; the known manual recovery is to send
 that scenario against the simulated LAMNI Galil controller.
 """
 
+import threading
+import time
+
 import pytest
 
 from csaxs_bec.devices.omny.galil.galil_ophyd import GalilError
@@ -107,6 +110,40 @@ def test_lsamrot_persistent_fault_raises_after_exactly_one_retry(lsamrot, monkey
     assert len(reset_calls) == 1
 
 
+def test_lsamrot_stop_mid_move_is_not_auto_retried(dm_with_devices, monkeypatch):
+    """A user/scan-initiated stop() (e.g. Ctrl+C) must not be mistaken for a
+    spurious safety-thread trip: the aborted move must not be silently
+    re-issued to its original target.
+    """
+    reset_calls = []
+    monkeypatch.setattr(
+        LamniGalilController,
+        "reset_axis_errors",
+        lambda self: reset_calls.append(1),
+    )
+
+    LamniGalilController._reset_controller()
+    motor = SimLamniGalilMotor(
+        "C", name="lsamrot", host=HOST, port=PORT, device_manager=dm_with_devices, sim_velocity=1.0
+    )
+    motor.controller.on()
+    try:
+        status = motor.move(10.0, wait=False)
+
+        # give the move a moment to actually start moving before aborting it
+        time.sleep(0.2)
+        motor.stop()
+
+        with pytest.raises(Exception):
+            status.wait(timeout=10)
+
+        assert reset_calls == []
+        assert motor.readback.get() != pytest.approx(10.0, abs=motor.tolerance)
+    finally:
+        motor.controller.off()
+        motor.controller._reset_controller()
+
+
 def test_non_lsamrot_axis_is_not_auto_recovered(lsamx, monkeypatch):
     """The shared allaxrer/caperr/allaxref latches must only be auto-reset for
     lsamrot; other axes on the same controller should fail immediately, same