From 18e6a99267fdec4a54fc80173ac3fae07ff8e861 Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <timur@sao.ru>
Date: Wed, 18 Feb 2026 18:50:55 +0300
Subject: [PATCH] ...

---
 include/mcc/mcc_angle.h             |  2 +-
 include/mcc/mcc_movement_controls.h | 39 +++++++++++++++++++----------
 2 files changed, 27 insertions(+), 14 deletions(-)

diff --git a/include/mcc/mcc_angle.h b/include/mcc/mcc_angle.h
index 3413190..f86a4b9 100644
--- a/include/mcc/mcc_angle.h
+++ b/include/mcc/mcc_angle.h
@@ -433,7 +433,7 @@ static T1 operator/(const T1& v1, const T2& v2)
 
 
 std::string MccAngleFancyString(std::convertible_to<MccAngle> auto const& ang,
-                                std::format_string<double> val_fmt = "{}")
+                                std::format_string<double> val_fmt = "{:.2f}")
 {
     std::string s;
 
diff --git a/include/mcc/mcc_movement_controls.h b/include/mcc/mcc_movement_controls.h
index 044e3f5..635c8f1 100644
--- a/include/mcc/mcc_movement_controls.h
+++ b/include/mcc/mcc_movement_controls.h
@@ -464,16 +464,18 @@ public:
             x_tag = coord_pair.x();
             y_tag = coord_pair.y();
 
-            logger->logTrace(std::format("    current target: {} = {}, {} = {}", x_str,
-                                         coord_pair.x().sexagesimal(true), y_str, coord_pair.y().sexagesimal()));
+            logger->logTrace(std::format("    current target: {} = {}, {} = {} (encoders: {} {})", x_str,
+                                         coord_pair.x().sexagesimal(true), y_str, coord_pair.y().sexagesimal(),
+                                         tdata.targetXY.x().sexagesimal(), tdata.targetXY.y().sexagesimal()));
 
             ccte_err = tdata.mountPos.toAtSameEpoch(coord_pair);
             if (ccte_err) {
                 return mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
             }
 
-            logger->logTrace(std::format("    current mount: {} = {}, {} = {}", x_str, coord_pair.x().sexagesimal(true),
-                                         y_str, coord_pair.y().sexagesimal()));
+            logger->logTrace(std::format("    current mount: {} = {}, {} = {} (encoders: {} {})", x_str,
+                                         coord_pair.x().sexagesimal(true), y_str, coord_pair.y().sexagesimal(),
+                                         tdata.hwState.XY.x().sexagesimal(), tdata.hwState.XY.y().sexagesimal()));
 
             _pathFile << tdata.mountPos.epoch().UTC().time_since_epoch().count() << " " << x_tag << " " << y_tag << " "
                       << x_mnt << " " << y_mnt << " " << (x_tag - x_mnt) << " " << (y_tag - y_mnt) << " "
@@ -605,6 +607,8 @@ public:
 
             mcc_deduced_coord_pair_t<HARDWARE_T::hwMountType> tag_cp, mnt_cp;
 
+            *_stopMoving = false;
+
             while (!*_stopMoving) {
                 t_err = telemetry->telemetryData(&tdata);
                 if (t_err) {
@@ -661,9 +665,9 @@ public:
 
                     auto dist = utils::distanceOnSphere(tag_cp.x(), tag_cp.y(), mnt_cp.x(), mnt_cp.y());
 
-                    logger->logTrace(std::format("    target-to-mount distance: {} (dx = {}, dy = {})",
-                                                 MccAngleFancyString(std::get<2>(dist)), std::get<0>(dist),
-                                                 std::get<1>(dist)));
+                    logger->logTrace(std::format(
+                        "    target-to-mount distance: {} (dx = {}, dy = {})", MccAngleFancyString(std::get<2>(dist)),
+                        MccAngleFancyString(std::get<0>(dist)), MccAngleFancyString(std::get<1>(dist))));
 
 
                     // stop slewing and exit from the cycle?
@@ -682,7 +686,6 @@ public:
 
 
                     if (*_stopMoving) {
-                        *_lastError = MccSimpleMovementControlsErrorCode::ERROR_STOPPED;
                         break;
                     }
 
@@ -702,6 +705,11 @@ public:
                 }
             }
 
+            if (_stopMoving->load()) {  // external stop
+                logger->logWarn("Slewing was stopped!");
+                *_lastError = MccSimpleMovementControlsErrorCode::ERROR_OK;
+            }
+
             *_stopMoving = true;
 
             logger->logInfo("Slewing finished");
@@ -752,7 +760,7 @@ public:
         };
 
 
-        _trackingFunc = [telemetry, cb_sptr, logger, this]() {
+        _trackingFunc = [log_pos, check_pzones, send_to_hardware, telemetry, cb_sptr, logger, this]() {
             double braking_accelX, braking_accelY;
             double min_time_to_pzone_in_secs;
 
@@ -824,6 +832,7 @@ public:
 
             mcc_deduced_coord_pair_t<HARDWARE_T::hwMountType> tag_cp, mnt_cp;
 
+            *_stopMoving = false;
 
             while (!_stopMoving->load()) {
                 t_err = telemetry->telemetryData(&tdata);
@@ -865,9 +874,9 @@ public:
 
                 auto dist = utils::distanceOnSphere(tag_cp.x(), tag_cp.y(), mnt_cp.x(), mnt_cp.y());
 
-                logger->logTrace(std::format("    target-to-mount distance: {} (dx = {}, dy = {})",
-                                             MccAngleFancyString(std::get<2>(dist)), std::get<0>(dist),
-                                             std::get<1>(dist)));
+                logger->logTrace(std::format(
+                    "    target-to-mount distance: {} (dx = {}, dy = {})", MccAngleFancyString(std::get<2>(dist)),
+                    MccAngleFancyString(std::get<0>(dist)), MccAngleFancyString(std::get<1>(dist))));
 
                 // resend new position since target coordinates are changed in time
                 hw_state.movementState = HARDWARE_T::hardware_movement_state_t::HW_MOVE_TRACKING;
@@ -880,7 +889,6 @@ public:
                 }
 
                 if (*_stopMoving) {
-                    *_lastError = MccSimpleMovementControlsErrorCode::ERROR_STOPPED;
                     break;
                 }
 
@@ -888,6 +896,11 @@ public:
                 std::this_thread::sleep_for(_currentParams.trackingTelemetryInterval);
             }
 
+            if (_stopMoving->load()) {  // external stop
+                logger->logWarn("Tracking was stopped!");
+                *_lastError = MccSimpleMovementControlsErrorCode::ERROR_OK;
+            }
+
             *_stopMoving = true;
 
             logger->logInfo("Tracking finished");