Guard against race condition with targetReached

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;
         }
     }

utils/decodeError.py

@@ -67,7 +67,7 @@ the next value can be typed in. Type 'quit' to close the prompt.
 if __name__ == "__main__":
     from sys import argv
 
-    if "-h" or "--help" in argv:
+    if "-h" in argv or "--help" in argv:
         print(help)
 
     if len(argv) == 1:

utils/decodeStatus.py

@@ -18,7 +18,7 @@ from decodeCommon import interactive, decode, print_decoded
 interpretation = [
     ("Not ready to be switched on", "Ready to be switched on"),  # Bit 0
     ("Not switched on", "Switched on"),  # Bit 1
-    ("Disabled", "Enabled"),  # Bit 2
+    ("Operation disabled (no current)", "Operation enabled (current)"),  # Bit 2
     ("Ok", "Fault condition set"),  # Bit 3
     ("Motor supply voltage absent ", "Motor supply voltage present"),  # Bit 4
     ("Motor performs quick stop", "Ok"),  # Bit 5
@@ -68,7 +68,7 @@ the next value can be typed in. Type 'quit' to close the prompt.
 if __name__ == "__main__":
     from sys import argv
 
-    if "-h" or "--help" in argv:
+    if "-h" in argv or "--help" in argv:
         print(help)
 
     if len(argv) == 1: