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Prevent accidental queueing of jog commands

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Richard Bowman 2026-02-11 00:21:40 +00:00 • committed by Julian Stirling
parent 4d445396b2
commit abda60adf6
1 changed files with 10 additions and 3 deletions
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13
src/openflexure_microscope_server/things/stage/sangaboard.py
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@ -333,7 +333,12 @@ class SangaboardThing(BaseStage):
:param timeout: how long to wait for the command to be completed, or `None`
to skip waiting.
"""
with self._jog_lock:
if not self._jog_lock.acquire(timeout=0.1):
self.logger.warning(
"Could not send a jog message, this indicates a lock error."
)
return
try:
# Make sure the queue exists.
# Check the background thread is running, and restart it if not.
if self._jog_thread is None or not self._jog_thread.is_alive():
@ -343,6 +348,8 @@ class SangaboardThing(BaseStage):
self._jog_thread.start()
self._jog_queue.put(command)
command.received.wait(1)
finally:
self._jog_lock.release()
# The final wait happens after releasing the lock: this allows jog moves to
# be interrupted.
if timeout is not None:
@ -397,8 +404,8 @@ class SangaboardThing(BaseStage):
duration = 0.1 # Next iteration, we will probably time out.
else:
raise RuntimeError(f"Unknown jog command: {command}")
self._update_position()
self.update_position()
if previous_command:
# Notify the last command that it finished, because we stopped moving.
previous_command.finished.set()
self._update_position()
self.update_position()