From 728880e49d63e20d2f16744eaae27b9e7102fd73 Mon Sep 17 00:00:00 2001
From: Julian Stirling <julian@julianstirling.co.uk>
Date: Fri, 13 Feb 2026 16:20:20 +0000
Subject: [PATCH] Fix jog queue blocking waiting to put new commands.

---
 .../things/stage/__init__.py                  | 23 +++++++++++++++++--
 tests/unit_tests/test_stage.py                | 15 ++++++++++++
 2 files changed, 36 insertions(+), 2 deletions(-)

diff --git a/src/openflexure_microscope_server/things/stage/__init__.py b/src/openflexure_microscope_server/things/stage/__init__.py
index e42e64e2..08762c1e 100644
--- a/src/openflexure_microscope_server/things/stage/__init__.py
+++ b/src/openflexure_microscope_server/things/stage/__init__.py
@@ -70,6 +70,25 @@ class JogStopCommand(JogCommand):
     """A command to stop a jog move."""
 
 
+class JogQueue(queue.Queue[JogCommand]):
+    """A class queue for JogCommands. This always returns the most recent command."""
+
+    def __init__(self) -> None:
+        """Set up a queue with a max size of 1."""
+        super().__init__(maxsize=1)
+
+    def put(
+        self, item: JogCommand, block: bool = False, timeout: Optional[float] = None
+    ) -> None:
+        """Put the next command into the queue, bumping anything already there."""
+        try:
+            # First remove existing item if present
+            self.get_nowait()
+        except queue.Empty:
+            pass
+        super().put(item, block=block, timeout=timeout)
+
+
 class BaseStage(lt.Thing):
     """A base stage class for OpenFlexure translation stages.
 
@@ -97,7 +116,7 @@ class BaseStage(lt.Thing):
         super().__init__(thing_server_interface)
         self._hardware_lock = threading.RLock()
         self._jog_lock = threading.Lock()
-        self._jog_queue: queue.Queue[JogCommand] = queue.Queue[JogCommand](maxsize=1)
+        self._jog_queue = JogQueue()
         self._jog_thread: Optional[threading.Thread] = None
         self._hardware_position = dict.fromkeys(self._axis_names, 0)
 
@@ -310,7 +329,7 @@ class BaseStage(lt.Thing):
             # Check the background thread is running, and restart it if not.
             if self._jog_thread is None or not self._jog_thread.is_alive():
                 self.logger.info("Starting background thread for jog commands")
-                self._jog_queue = queue.Queue[JogCommand](maxsize=1)
+                self._jog_queue = JogQueue()
                 self._jog_thread = threading.Thread(
                     target=self._jog_loop, args=(command,)
                 )
diff --git a/tests/unit_tests/test_stage.py b/tests/unit_tests/test_stage.py
index 25c19fa1..1b2025f5 100644
--- a/tests/unit_tests/test_stage.py
+++ b/tests/unit_tests/test_stage.py
@@ -12,6 +12,7 @@ from labthings_fastapi.testing import create_thing_without_server
 from openflexure_microscope_server.things.camera.simulation import SimulatedCamera
 from openflexure_microscope_server.things.stage import (
     BaseStage,
+    JogMoveCommand,
     RedefinedBaseMovementError,
 )
 from openflexure_microscope_server.things.stage.dummy import DummyStage
@@ -300,3 +301,17 @@ def test_thing_description_equivalence(dummy_stage, mocker):
 
     assert sanga_actions == dummy_actions == base_actions
     assert sanga_properties == dummy_properties == base_properties
+
+
+def test_get_jog_from_queue_most_recent(dummy_stage):
+    """Test that the jog queue gives the most recent Jog Command."""
+    # Try to stack 4 moves in the queue, only 1 should be queued.
+    for i in range(4):
+        dummy_stage._jog_queue.put(JogMoveCommand([i, i, i]))
+
+    command = dummy_stage._get_from_jog_queue(0.001)
+    assert isinstance(command, JogMoveCommand)
+    # Should be the last one queued
+    assert command.displacement == [3, 3, 3]
+    # Nothing else is queued
+    assert dummy_stage._get_from_jog_queue(0.001) is None