From d94341e1c0472e7a56233a034200b129c5a9daa4 Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Tue, 9 Jun 2026 13:36:51 +0200
Subject: [PATCH] Guard against race condition with targetReached

---
 src/masterMacsAxis.cpp | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index ca53089..24b3820 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -532,9 +532,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     } else {
 
-        // If we wait for a handshake, but the motor was moving in its last poll
-        // cycle and has reached its target, it is not moving. Otherwise it is
-        // considered moving, even if we're still waiting for the handshake.
+        // If the motor hasn't moved after being enabled, we cannot trust
+        // targetReached. Hence, the targetReachedUninitialized flag guards
+        // against invalid detection of the "moving" status.
         if (pMasterMacsA_->targetReachedUninitialized) {
             *moving = false;
         } else {
@@ -545,7 +545,13 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             }
         }
 
-        if (targetReached()) {
+        // If the motor is not switched on, the targetReached bit is set to
+        // true. targetReachedUninitialized is set to true in the enable
+        // function, which is in a separate thread than doPoll. Therefore,
+        // doPoll can reset targetReachedUninitialized, which then can lead to
+        // a false "moving" status. Therefore, we only trust targetReached if
+        // the motor is switched on.
+        if (targetReached() && switchedOn()) {
             pMasterMacsA_->targetReachedUninitialized = false;
         }
     }