From cafbd02b685aaba8af948426291f9ff7b22ca1f6 Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Thu, 15 Aug 2013 08:04:15 +1000
Subject: [PATCH] Make sure that the command status transitions to IDLE if it
 was set to BUSY

---
 .../config/motors/sct_positmotor_common.tcl       | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/site_ansto/instrument/config/motors/sct_positmotor_common.tcl b/site_ansto/instrument/config/motors/sct_positmotor_common.tcl
index 9337e85d..fbbf0579 100644
--- a/site_ansto/instrument/config/motors/sct_positmotor_common.tcl
+++ b/site_ansto/instrument/config/motors/sct_positmotor_common.tcl
@@ -19,6 +19,12 @@ if [ catch {
  }
  set path [sct]
  if {[hval $path/status] == "STOPPING"} {
+   hset $path/driving "false"
+   hset $path/status "IDLE"
+ } elseif { ([hval $path/driving] == "false") && ([hval $path/status] == "BUSY") } {
+   hset $path/driving "starting"
+ } elseif { ([hval $path/driving] == "starting") && ([hval $path/status] == "BUSY") } {
+   hset $path/driving "false"
    hset $path/status "IDLE"
  }
  return idle
@@ -35,6 +41,7 @@ proc ::scobj::positmotor::reqVal {state motor} {
 # @brief Convert the target position to a motor position and drive the motor to the target.
 proc ::scobj::positmotor::setVal {ID2valXfn motor table} {
   set path [sct]
+  hdelprop $path error_in_::scobj::positmotor::setVal
   set pos [$ID2valXfn [sct target] $table]
   hset $path/status "BUSY"
   run $motor $pos
@@ -73,6 +80,8 @@ proc mkPosit {sct_controller name type motor klass table} {
 
     hfactory /sics/$name/status plain spy text
     hset /sics/$name/status "IDLE"
+    hfactory /sics/$name/driving plain spy text
+    hset /sics/$name/driving "false"
 
     proc ${ns}::${motor}_MOTEND {} [subst -nocommands {
       if { [hval /sics/$name/status] == "BUSY"} {
@@ -82,6 +91,12 @@ proc mkPosit {sct_controller name type motor klass table} {
     publish ${ns}::${motor}_MOTEND user
 
     scriptcallback connect $motor MOTEND ${ns}::${motor}_MOTEND
+    proc ${ns}::${motor}_MOTDRIVE {} [subst -nocommands {
+      hset /sics/$name/driving "true"
+    }]
+    publish ${ns}::${motor}_MOTDRIVE user
+
+    scriptcallback connect $motor MOTORDRIVE ${ns}::${motor}_MOTDRIVE
     ::scobj::hinitprops $name
     $sct_controller poll /sics/$name 2
     $sct_controller write /sics/$name