From d5e994aa39c0e658923d20988b6b6466bf3939ea Mon Sep 17 00:00:00 2001
From: Ron Sluiter <rsluiter@users.noreply.github.com>
Date: Wed, 18 Feb 2009 21:39:40 +0000
Subject: [PATCH] Matthew Pearson's (Diamond) "set position" fix.

---
 motorApp/AttocubeSrc/drvANC150Asyn.cc | 17 +++++++++++++----
 motorApp/MotorSimSrc/drvMotorSim.c    | 18 ++++++++++++------
 2 files changed, 25 insertions(+), 10 deletions(-)

diff --git a/motorApp/AttocubeSrc/drvANC150Asyn.cc b/motorApp/AttocubeSrc/drvANC150Asyn.cc
index e6b59fca..fef48b3e 100644
--- a/motorApp/AttocubeSrc/drvANC150Asyn.cc
+++ b/motorApp/AttocubeSrc/drvANC150Asyn.cc
@@ -3,9 +3,9 @@ FILENAME...     drvANC150Asyn.cc
 USAGE...        asyn motor driver support for attocube systems AG ANC150
                 Piezo Step Controller.
 
-Version:        $Revision: 1.6 $
+Version:        $Revision: 1.7 $
 Modified By:    $Author: sluiter $
-Last Modified:  $Date: 2008-11-24 22:25:32 $
+Last Modified:  $Date: 2009-02-18 21:39:00 $
 
 */
 
@@ -45,6 +45,10 @@ Last Modified:  $Date: 2008-11-24 22:25:32 $
  *                  - support enable/disable "torque".
  *                  - zero move bug fix.
  *                  - set firmwareVersion.
+ * .04 02-18-09 rls Copied Matthew Pearson's (Diamond) fix on XPS for;
+ *                  - idle polling interfering with setting position.
+ *                  - auto save/restore not working.
+ *
  */
 
 
@@ -297,6 +301,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
         return(MOTOR_AXIS_ERROR);
     else
     {
+        epicsMutexLock(pAxis->mutexId);
         switch (function)
         {
         case motorAxisPosition:
@@ -342,9 +347,13 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
                   "motorAxisSetDouble: unknown function %d\n", function);
             break;
         }
+        if (ret_status == MOTOR_AXIS_OK )
+        {
+            motorParam->setDouble(pAxis->params, function, value);
+            motorParam->callCallback(pAxis->params);
+        }
+        epicsMutexUnlock(pAxis->mutexId);
     }
-    if (ret_status != MOTOR_AXIS_ERROR)
-        status = motorParam->setDouble(pAxis->params, function, value);
     return(ret_status);
 }
 
diff --git a/motorApp/MotorSimSrc/drvMotorSim.c b/motorApp/MotorSimSrc/drvMotorSim.c
index f78282e2..a726a010 100644
--- a/motorApp/MotorSimSrc/drvMotorSim.c
+++ b/motorApp/MotorSimSrc/drvMotorSim.c
@@ -2,9 +2,9 @@
 FILENAME...	drvMotorSim.c
 USAGE...	Simulated Motor Support.
 
-Version:	$Revision: 1.8 $
-Modified By:	$Author: mp49 $
-Last Modified:	$Date: 2008-11-28 17:36:59 $
+Version:	$Revision: 1.9 $
+Modified By:	$Author: sluiter $
+Last Modified:	$Date: 2009-02-18 21:39:40 $
 */
 
 /*
@@ -12,7 +12,8 @@ Last Modified:	$Date: 2008-11-28 17:36:59 $
  *
  * Modification Log:
  * -----------------
- * 20060506 npr Added prolog
+ * 2006-05-06 npr Added prolog
+ * 2009-02-11 rls lock/unlock motorAxisSetDouble().
  */
 
 #include <stddef.h>
@@ -226,6 +227,7 @@ static int motorAxisSetDouble( AXIS_HDL pAxis, motorAxisParam_t function, double
     if (pAxis == NULL) return MOTOR_AXIS_ERROR;
     else
     {
+        epicsMutexLock(pAxis->axisMutex);
         switch (function)
         {
         case motorAxisPosition:
@@ -278,8 +280,12 @@ static int motorAxisSetDouble( AXIS_HDL pAxis, motorAxisParam_t function, double
             status = MOTOR_AXIS_ERROR;
             break;
         }
-
-        if (status != MOTOR_AXIS_ERROR ) status = motorParam->setDouble( pAxis->params, function, value );
+        if (status == MOTOR_AXIS_OK )
+        {
+            motorParam->setDouble(pAxis->params, function, value);
+            motorParam->callCallback(pAxis->params);
+        }
+        epicsMutexUnlock(pAxis->axisMutex);
     }
   return status;
 }