...

include/mcc/mcc_generic_mount.h

@@ -183,10 +183,13 @@ public:
 
     virtual ~MccGenericMount()
     {
-        auto err = MOVE_CNTRL_T::stopMount();
-        if (err) {
-            logError(formatError(err));
-        }
+        // auto err = MOVE_CNTRL_T::stopMount();
+        // if (err) {
+        //     logError(formatError(err));
+        // }
+
+        // WARNING: it is assumed here that mount stopping is performed in a derived class or, it is more logicaly,
+        //          in MOVE_CNTRL_T-class
 
         // logDebug(std::format("Delete MccGenericMount class instance (thread: {})", std::this_thread::get_id()));
         logDebug("Delete MccGenericMount class instance (thread: {})", std::this_thread::get_id());

include/mcc/mcc_generic_movecontrols.h

@@ -261,7 +261,15 @@ public:
 
     virtual ~MccGenericMovementControls()
     {
-        stopMount();
+        // if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
+        //     // if future is valid then stop is already called
+        //     if (!_stopFuncFuture.valid()) {
+        //         // stopMount();
+        //         _stopFunc();
+        //     }
+        // } else {
+        //     stopMount();
+        // }
 
         if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
             if (_slewFuncFuture.valid()) {
@@ -283,7 +291,21 @@ public:
         *_stopMovementRequest = false;
 
         if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
-            _slewFuncFuture = std::async(std::launch::async, _slewFunc, slew_and_stop);
+            if (_slewFuncFuture.valid()) {  // already slewing
+                _slewFuncFuture = std::async(
+                    std::launch::async,
+                    [this](bool st) {
+                        auto err = _stopFunc();  // first, stop mount
+                        if (!err) {
+                            return _slewFunc(st);
+                        } else {
+                            return err;
+                        }
+                    },
+                    slew_and_stop);
+            } else {
+                _slewFuncFuture = std::async(std::launch::async, _slewFunc, slew_and_stop);
+            }
 
             return MccGenericMovementControlsErrorCode::ERROR_OK;
         } else if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_BLOCKING) {
@@ -298,7 +320,9 @@ public:
         *_stopMovementRequest = false;
 
         if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
-            _trackFuncFuture = std::async(std::launch::async, _trackFunc);
+            if (!_trackFuncFuture.valid()) {
+                _trackFuncFuture = std::async(std::launch::async, _trackFunc);
+            }  // already tracking
 
             return MccGenericMovementControlsErrorCode::ERROR_OK;
         } else if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_BLOCKING) {
@@ -313,7 +337,10 @@ public:
         *_stopMovementRequest = true;
 
         if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
-            _stopFuncFuture = std::async(std::launch::async, _stopFunc);
+            // if future is valid then stop is already called
+            if (!_stopFuncFuture.valid()) {
+                _stopFuncFuture = std::async(std::launch::async, _stopFunc);
+            }
 
             return MccGenericMovementControlsErrorCode::ERROR_OK;
         } else if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_BLOCKING) {

include/mcc/mcc_netserver.h

@@ -967,9 +967,6 @@ public:
 
             return output_msg.template byteRepr<typename base_t::handle_message_func_result_t>();
         };
-
-        // special functor (used in the destructor)
-        _stopMountFunc = [mount_ptr]() { mount_ptr->stopMount(); };
     }
 
     virtual ~MccGenericMountNetworkServer()
@@ -977,8 +974,6 @@ public:
         std::stringstream st;
         st << std::this_thread::get_id();
 
-        _stopMountFunc();
-
         logInfo(std::format("Delete MccGenericMountNetworkServer class instance (thread ID = {})", st.str()));
     }
 
@@ -987,8 +982,6 @@ protected:
     MccSerializedAngleFormatPrec _coordPrec{2, 1, 7};
 
 
-    std::function<void()> _stopMountFunc{};
-
     template <typename RESULT_MSG_T, typename INPUT_MSG_T, mcc_generic_mount_c MountT>
     RESULT_MSG_T handleMessage(const INPUT_MSG_T& input_msg, MountT* mount_ptr)
         requires(

include/mcc/mcc_telemetry.h

@@ -318,6 +318,8 @@ public:
 
     error_t setPointingTarget(mcc_skypoint_c auto const& sp)
     {
+        std::lock_guard lock{*_updateMutex};
+
         _enteredTargetPos = sp;
 
         return MccTelemetryErrorCode::ERROR_OK;
@@ -326,6 +328,8 @@ public:
 
     auto getPointingTarget() const
     {
+        std::lock_guard lock{*_updateMutex};
+
         return _enteredTargetPos;
     }