From 33e3d38687152755b28b7437b65a477a65bc5d4b Mon Sep 17 00:00:00 2001
From: Pete Jemian <prjemian@gmail.com>
Date: Fri, 13 Dec 2019 15:26:36 -0600
Subject: [PATCH 1/4] fixes #782

---
 ophyd/epics_motor.py | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/ophyd/epics_motor.py b/ophyd/epics_motor.py
index 540e7e4b6..2fee2b0e7 100644
--- a/ophyd/epics_motor.py
+++ b/ophyd/epics_motor.py
@@ -145,8 +145,18 @@ def move(self, position, wait=True, **kwargs):
             If motion fails other than timing out
         '''
         self._started_moving = False
+        status = None
 
+        def dmov_callback(old_value, value, **kwargs):
+            self.log.debug(f'DEBUG: dmov_callback(): new={value} old={old_value}')
+            if self._started_moving and value == 1:
+                self.motor_done_move.clear_sub(dmov_callback)
+                status._finished(success=True)
+                status.done = True
+
+        self.motor_done_move.subscribe(dmov_callback)
         status = super().move(position, **kwargs)
+
         self.user_setpoint.put(position, wait=False)
         try:
             if wait:

From 39a0a43ed797147d6f9a6587c1b8df215d110d29 Mon Sep 17 00:00:00 2001
From: Pete Jemian <prjemian@gmail.com>
Date: Fri, 13 Dec 2019 22:20:39 -0600
Subject: [PATCH 2/4] MNT #782 per review comments

---
 ophyd/epics_motor.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/ophyd/epics_motor.py b/ophyd/epics_motor.py
index 2fee2b0e7..d9da28371 100644
--- a/ophyd/epics_motor.py
+++ b/ophyd/epics_motor.py
@@ -145,16 +145,16 @@ def move(self, position, wait=True, **kwargs):
             If motion fails other than timing out
         '''
         self._started_moving = False
-        status = None
 
         def dmov_callback(old_value, value, **kwargs):
-            self.log.debug(f'DEBUG: dmov_callback(): new={value} old={old_value}')
+            self.log.debug('dmov_callback(): new=%d old=%d', value, old_value)
             if self._started_moving and value == 1:
+
                 self.motor_done_move.clear_sub(dmov_callback)
+                self.motor_done_move.unsubscribe(cbid)
                 status._finished(success=True)
-                status.done = True
 
-        self.motor_done_move.subscribe(dmov_callback)
+        cbid = self.motor_done_move.subscribe(dmov_callback, run=False)
         status = super().move(position, **kwargs)
 
         self.user_setpoint.put(position, wait=False)

From a3aeb2769121965e6a3cadce005bcd25a770b995 Mon Sep 17 00:00:00 2001
From: Pete Jemian <prjemian@gmail.com>
Date: Fri, 13 Dec 2019 23:17:49 -0600
Subject: [PATCH 3/4] MNT #782 per review, finish the status

---
 ophyd/epics_motor.py | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/ophyd/epics_motor.py b/ophyd/epics_motor.py
index d9da28371..a25d58d25 100644
--- a/ophyd/epics_motor.py
+++ b/ophyd/epics_motor.py
@@ -238,6 +238,7 @@ def _move_changed(self, timestamp=None, value=None, sub_type=None,
         '''Callback from EPICS, indicating that movement status has changed'''
         was_moving = self._moving
         self._moving = (value != 1)
+        # self._moving = not self.motor_done_move.get()
 
         started = False
         if not self._started_moving:
@@ -250,7 +251,10 @@ def _move_changed(self, timestamp=None, value=None, sub_type=None,
             self._run_subs(sub_type=self.SUB_START, timestamp=timestamp,
                            value=value, **kwargs)
 
-        if was_moving and not self._moving:
+        self.log.debug('_move_changed(): %d  moving: %d', 
+                    self._started_moving, self._moving)
+
+        if self._started_moving and not self._moving:
             success = True
             # Check if we are moving towards the low limit switch
             if self.direction_of_travel.get() == 0:
@@ -277,6 +281,11 @@ def _move_changed(self, timestamp=None, value=None, sub_type=None,
                     self.log.warning('Motor %s raised an alarm during motion '
                                      'status=%s severity %s',
                                      self.name, status, severity)
+
+            self.log.debug('detected moving DONE=%s, .DMOV=%s, success=%s',
+                           self._started_moving, 
+                           self.motor_done_move.get(), 
+                           success)
             self._done_moving(success=success, timestamp=timestamp,
                               value=value)
 

From e3890c81bd9358b9c772ece1ea97b54876c7e838 Mon Sep 17 00:00:00 2001
From: Pete Jemian <prjemian@gmail.com>
Date: Fri, 13 Dec 2019 23:19:46 -0600
Subject: [PATCH 4/4] MNT #782 remove commented code

---
 ophyd/epics_motor.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ophyd/epics_motor.py b/ophyd/epics_motor.py
index a25d58d25..bf918b937 100644
--- a/ophyd/epics_motor.py
+++ b/ophyd/epics_motor.py
@@ -238,7 +238,6 @@ def _move_changed(self, timestamp=None, value=None, sub_type=None,
         '''Callback from EPICS, indicating that movement status has changed'''
         was_moving = self._moving
         self._moving = (value != 1)
-        # self._moving = not self.motor_done_move.get()
 
         started = False
         if not self._started_moving: