From eb3826ec35dd61ec76fc8ff699a7b34c4cea7bd4 Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Tue, 10 Jun 2025 11:15:40 +0200
Subject: [PATCH] Stop or reset now also resets the deferred movement flags

---
 src/detectorTowerAngleAxis.cpp |  8 ++++++++
 src/detectorTowerLiftAxis.cpp  | 33 ++-------------------------------
 2 files changed, 10 insertions(+), 31 deletions(-)

diff --git a/src/detectorTowerAngleAxis.cpp b/src/detectorTowerAngleAxis.cpp
index 9ed8407..af8a48b 100644
--- a/src/detectorTowerAngleAxis.cpp
+++ b/src/detectorTowerAngleAxis.cpp
@@ -343,6 +343,10 @@ asynStatus detectorTowerAngleAxis::stop(double acceleration) {
         return asynError;
     }
 
+    // Reset the deferred movement flags
+    startingDeferredMovement_ = false;
+    deferredMovementWait_ = false;
+
     return rwStatus;
 }
 
@@ -526,6 +530,10 @@ asynStatus detectorTowerAngleAxis::doReset() {
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
+    // Reset the deferred movement flags
+    startingDeferredMovement_ = false;
+    deferredMovementWait_ = false;
+
     /*
     Check which action should be performed:
     - If error_ == 10 or 11 (FTZ motor error): P352 = 3 (Recover FTZ)
diff --git a/src/detectorTowerLiftAxis.cpp b/src/detectorTowerLiftAxis.cpp
index f94e851..9e7e1c0 100644
--- a/src/detectorTowerLiftAxis.cpp
+++ b/src/detectorTowerLiftAxis.cpp
@@ -192,37 +192,8 @@ asynStatus detectorTowerLiftAxis::doMove(double position, int relative,
 asynStatus detectorTowerLiftAxis::reset() { return angleAxis()->reset(); };
 
 asynStatus detectorTowerLiftAxis::stop(double acceleration) {
-
-    // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rwStatus = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus plStatus = asynSuccess;
-
-    char response[pC_->MAXBUF_] = {0};
-
-    // =========================================================================
-
-    rwStatus = pC_->writeRead(axisNo_, "P350=8", response, 0);
-
-    if (rwStatus != asynSuccess) {
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d  => %s, line %d\nStopping "
-                  "the movement "
-                  "failed.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
-        plStatus = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (plStatus != asynSuccess) {
-            return pC_->paramLibAccessFailed(plStatus, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-        return asynError;
-    }
-
-    return rwStatus;
-}
+    return angleAxis()->stop(acceleration);
+};
 
 asynStatus detectorTowerLiftAxis::readEncoderType() {
     return angleAxis()->readEncoderType();