From 5e9e8897f012146e068b0aa066009ccff78887db Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <amirych@gmail.com>
Date: Sun, 1 Mar 2026 23:42:34 +0300
Subject: [PATCH] ...

---
 include/mcc/mcc_generic_movecontrols.h | 40 ++++++++++++++++++++------
 1 file changed, 31 insertions(+), 9 deletions(-)

diff --git a/include/mcc/mcc_generic_movecontrols.h b/include/mcc/mcc_generic_movecontrols.h
index 4f9119c..b784fa9 100644
--- a/include/mcc/mcc_generic_movecontrols.h
+++ b/include/mcc/mcc_generic_movecontrols.h
@@ -17,6 +17,9 @@
 #include <thread>
 #include <type_traits>
 
+
+#include <print>
+
 #include "mcc_coordinate.h"
 #include "mcc_error.h"
 
@@ -265,28 +268,37 @@ public:
                 [&, this](std::stop_token stoken) {
                     while (!stoken.stop_requested()) {
                         if (_doStop->load()) {
+                            std::println("******* DO-STOP ({} {} {}) *******", _doStop->load(), _doSlew->load(),
+                                         _doTrack->load());
                             *_stopMovementRequest = true;
-                            _currentState = STATE_IDLE;
+                            // _currentState = STATE_IDLE;
                             _stopFunc();
-                            *_doStop = false;
+                            // *_doStop = false;
                         }
 
                         if (_doSlew->load()) {
+                            std::println("******* DO-SLEW ({} {} {}) *******", _doStop->load(), _doSlew->load(),
+                                         _doTrack->load());
                             *_stopMovementRequest = false;
                             _currentState = STATE_SLEW;
                             _slewFunc(_slewAndStop->load());
-                            _currentState = STATE_IDLE;
-                            *_doSlew = false;
+                            // _currentState = STATE_IDLE;
+                            // *_doSlew = false;
+                            continue;  // to guarantee execute doStop if tracking is requested!!!
                         }
 
                         if (_doTrack->load()) {
+                            std::println("******* DO-TRACK ({} {} {}) *******", _doStop->load(), _doSlew->load(),
+                                         _doTrack->load());
                             *_stopMovementRequest = false;
                             _currentState = STATE_TRACK;
                             _trackFunc();
-                            _currentState = STATE_IDLE;
-                            *_doTrack = false;
+                            // _currentState = STATE_IDLE;
+                            // *_doTrack = false;
                         }
 
+                        _currentState = STATE_IDLE;
+
                         // wait here ...
                         _wakeupRequest->wait(false, std::memory_order_relaxed);
 
@@ -337,7 +349,7 @@ public:
 
     error_t slewToTarget(bool slew_and_stop)
     {
-        *_stopMovementRequest = false;
+        // *_stopMovementRequest = false;
 
         if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
             // if (_slewFuncFuture.valid()) {  // already slewing
@@ -361,6 +373,9 @@ public:
 
             if (_currentState == STATE_SLEW || _currentState == STATE_TRACK) {  // first, stop mount
                 *_doStop = true;
+                *_stopMovementRequest = true;  // to exit from slewing or tracking
+            } else {
+                *_doStop = false;
             }
             *_doTrack = false;
             *_doSlew = true;
@@ -378,7 +393,7 @@ public:
 
     error_t trackTarget()
     {
-        *_stopMovementRequest = false;
+        // *_stopMovementRequest = false;
 
         if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
             // if (!_trackFuncFuture.valid()) {
@@ -388,9 +403,13 @@ public:
             if (_currentState != STATE_TRACK) {
                 if (_currentState == STATE_SLEW) {  // first, stop mount
                     *_doStop = true;
+                    *_stopMovementRequest = true;  // to exit from slewing
+                } else {
+                    *_doStop = false;
                 }
                 *_doSlew = false;
                 *_doTrack = true;
+
                 _wakeupRequest->test_and_set();
                 _wakeupRequest->notify_one();
             }  // already tracking, just ignore
@@ -405,7 +424,7 @@ public:
 
     error_t stopMount()
     {
-        *_stopMovementRequest = true;
+        // *_stopMovementRequest = true;
 
         if constexpr (executePolicy == MccGenericMovementControlsPolicy::POLICY_ASYNC) {
             // if future is valid then stop is already called
@@ -416,6 +435,9 @@ public:
             *_doStop = true;
             *_doSlew = false;
             *_doTrack = false;
+
+            *_stopMovementRequest = true;  // to exit from slewing or tracking
+
             _wakeupRequest->test_and_set();
             _wakeupRequest->notify_one();