From 006930dc0d0f5f923b09a1c8342d0c31d69dba53 Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <timur@sao.ru>
Date: Fri, 27 Feb 2026 12:29:21 +0300
Subject: [PATCH] ...

---
 asibfm700_mount.cpp | 22 +++++++++++++++++++++-
 asibfm700_mount.h   |  3 +++
 2 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/asibfm700_mount.cpp b/asibfm700_mount.cpp
index 491de37..2e0c347 100644
--- a/asibfm700_mount.cpp
+++ b/asibfm700_mount.cpp
@@ -33,6 +33,10 @@ Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_p
 
 Asibfm700Mount::~Asibfm700Mount()
 {
+    stoppingImpl();
+
+    Mount.quit();
+
     logDebug("Delete Asibfm700Mount class instance ({})", this->getThreadId());
 }
 
@@ -476,6 +480,16 @@ Asibfm700Mount::error_t Asibfm700Mount::checkPZone(typename telemetry_t::telemet
 
 Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
 {
+    // if mount is already slewing then stop and re-slew
+    if (_mountStatus->load() == mount_status_t::MOUNT_STATUS_SLEWING ||
+        _mountStatus->load() == mount_status_t::MOUNT_STATUS_ADJUSTING) {
+        *_lastMountError = stoppingImpl();
+
+        if (_lastMountError->load()) {
+            return _lastMountError->load();
+        }
+    }
+
     _pathFile.clearPath();
 
     _enteredBackupCoordinates = telemetry_t::getPointingTarget();
@@ -729,6 +743,10 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
 
 Asibfm700Mount::error_t Asibfm700Mount::trackingImpl()
 {
+    if (_mountStatus->load() == mount_status_t::MOUNT_STATUS_TRACKING) {  // just ignore
+        return mcc::impl::MccGenericMovementControlsErrorCode::ERROR_OK;
+    }
+
     *_mountStatus = mount_status_t::MOUNT_STATUS_TRACKING;
     _pathFile.clearPath();
 
@@ -859,9 +877,11 @@ Asibfm700Mount::error_t Asibfm700Mount::trackingImpl()
 
 Asibfm700Mount::error_t Asibfm700Mount::stoppingImpl()
 {
+    *_stopMovementRequest = true;
+
     typename AsibFM700ServoController::hardware_state_t hw_state;
 
-    hw_state.movementState == AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPING;
+    hw_state.movementState = AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPING;
 
     *_lastMountError = sendToHardware(hw_state);
 
diff --git a/asibfm700_mount.h b/asibfm700_mount.h
index 9ae28b7..5fc0dde 100644
--- a/asibfm700_mount.h
+++ b/asibfm700_mount.h
@@ -19,12 +19,14 @@ class Asibfm700Mount
     : public mcc::impl::MccGenericMount<mcc::impl::MccTelemetry<AsibFM700ServoController>,
                                         Asibfm700PZoneContainer,
                                         // mcc::impl::MccSimpleMovementControls,
+                                        // mcc::impl::MccGenericBlockingMovementControls<details::movement_pars_t>,
                                         mcc::impl::MccGenericAsyncMovementControls<details::movement_pars_t>,
                                         Asibfm700Logger>
 {
     typedef mcc::impl::MccGenericMount<mcc::impl::MccTelemetry<AsibFM700ServoController>,
                                        Asibfm700PZoneContainer,
                                        // mcc::impl::MccSimpleMovementControls,
+                                       // mcc::impl::MccGenericBlockingMovementControls<details::movement_pars_t>,
                                        mcc::impl::MccGenericAsyncMovementControls<details::movement_pars_t>,
                                        Asibfm700Logger>
         gm_class_t;
@@ -34,6 +36,7 @@ public:
     typedef mcc::impl::MccTelemetry<AsibFM700ServoController> telemetry_t;
 
     typedef mcc::impl::MccGenericAsyncMovementControls<details::movement_pars_t> movement_controls_t;
+    // typedef mcc::impl::MccGenericBlockingMovementControls<details::movement_pars_t> movement_controls_t;
 
     using typename gm_class_t::error_t;
     using typename movement_controls_t::movement_params_t;