From 2fca548323712d64930ed2118e71c9fe40e5a7ab Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Wed, 3 Apr 2024 23:40:36 -0500
Subject: [PATCH 01/30] MNT #916 force done False at start of move

---
 apstools/devices/positioner_soft_done.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/apstools/devices/positioner_soft_done.py b/apstools/devices/positioner_soft_done.py
index cf3fb389b..bb5f4a2ce 100644
--- a/apstools/devices/positioner_soft_done.py
+++ b/apstools/devices/positioner_soft_done.py
@@ -227,12 +227,13 @@ def _setup_move(self, position):
                 kwargs["wait"] = True  # Signal.put() warns if kwargs are given
             self.target.put(position, **kwargs)
         self.setpoint.put(position, wait=True)
+        self.done.put(not self.done_value)  # TODO: confirm
         if self.actuate is not None:
             self.log.debug("%s.actuate = %s", self.name, self.actuate_value)
             self.actuate.put(self.actuate_value, wait=False)
         # This is needed because in a special case the setpoint.put does not
         # run the "sub_value" subscriptions.
-        self.cb_setpoint()
+        self.cb_setpoint()  # FIXME: review this code
         self.cb_readback()  # This is needed to force the first check.
 
 

From ef5371a5d4ffe18c77451c9f2bfe6ce6abdef6b9 Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Wed, 3 Apr 2024 23:42:12 -0500
Subject: [PATCH 02/30] MNT #810 comment  pytest.mark.local

---
 apstools/devices/tests/test_positioner_soft_done.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/apstools/devices/tests/test_positioner_soft_done.py b/apstools/devices/tests/test_positioner_soft_done.py
index b2c9908e0..17c5bf3bc 100644
--- a/apstools/devices/tests/test_positioner_soft_done.py
+++ b/apstools/devices/tests/test_positioner_soft_done.py
@@ -206,7 +206,7 @@ def test_structure(device, has_inposition):
     assert pos.tolerance.get() == -1
 
 
-@pytest.mark.local
+# @pytest.mark.local
 def test_put_and_stop(rbv, prec, pos):
     assert pos.tolerance.get() == -1
     assert pos.precision == prec.get()
@@ -230,7 +230,7 @@ def motion(rb_initial, target, rb_mid=None):
             # force a stop now
             pos.stop()
             pos.cb_readback()
-            assert pos.setpoint.get(use_monitor=False) == rb_mid
+            assert pos.setpoint.get(use_monitor=False) == rb_mid  # FIXME: fails sometimes 1.0 == 0.5
             assert pos.readback.get(use_monitor=False) == rb_mid
             assert pos.position == rb_mid
         else:  # interrupted move
@@ -248,7 +248,7 @@ def motion(rb_initial, target, rb_mid=None):
     motion(1, 0, 0.5)  # interrupted move
 
 
-@pytest.mark.local
+# @pytest.mark.local
 def test_move_and_stop_nonzero(rbv, pos):
     timed_pause()
 
@@ -271,7 +271,7 @@ def test_move_and_stop_nonzero(rbv, pos):
     assert pos.inposition
 
 
-@pytest.mark.local
+# @pytest.mark.local
 def test_move_and_stopped_early(rbv, pos):
     def motion(target, delay, interrupt=False):
         timed_pause(0.1)  # allow previous activities to settle down

From 7093b19cf4c434e7f8e92fa2b278b282f7da60bf Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@users.noreply.github.com>
Date: Thu, 4 Apr 2024 11:18:05 -0500
Subject: [PATCH 03/30] TST #810 remove local test markers and re-run CI

---
 apstools/devices/tests/test_positioner_soft_done.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/apstools/devices/tests/test_positioner_soft_done.py b/apstools/devices/tests/test_positioner_soft_done.py
index 17c5bf3bc..d469a4aca 100644
--- a/apstools/devices/tests/test_positioner_soft_done.py
+++ b/apstools/devices/tests/test_positioner_soft_done.py
@@ -206,7 +206,6 @@ def test_structure(device, has_inposition):
     assert pos.tolerance.get() == -1
 
 
-# @pytest.mark.local
 def test_put_and_stop(rbv, prec, pos):
     assert pos.tolerance.get() == -1
     assert pos.precision == prec.get()
@@ -248,7 +247,6 @@ def motion(rb_initial, target, rb_mid=None):
     motion(1, 0, 0.5)  # interrupted move
 
 
-# @pytest.mark.local
 def test_move_and_stop_nonzero(rbv, pos):
     timed_pause()
 
@@ -271,7 +269,6 @@ def test_move_and_stop_nonzero(rbv, pos):
     assert pos.inposition
 
 
-# @pytest.mark.local
 def test_move_and_stopped_early(rbv, pos):
     def motion(target, delay, interrupt=False):
         timed_pause(0.1)  # allow previous activities to settle down

From 5e6ed98cd8f63951ffb83b5774e0d2fd9b5bae36 Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Thu, 4 Apr 2024 13:03:42 -0500
Subject: [PATCH 04/30] MNT #810 remove SP & RB counters not needed for
 operations

---
 apstools/devices/positioner_soft_done.py      | 24 ++++++++-----------
 .../tests/test_positioner_soft_done.py        | 14 ++---------
 2 files changed, 12 insertions(+), 26 deletions(-)

diff --git a/apstools/devices/positioner_soft_done.py b/apstools/devices/positioner_soft_done.py
index bb5f4a2ce..f4d1d93de 100644
--- a/apstools/devices/positioner_soft_done.py
+++ b/apstools/devices/positioner_soft_done.py
@@ -103,9 +103,6 @@ class PVPositionerSoftDone(PVPositioner):
 
     target = Component(Signal, value="None", kind="config")
 
-    _rb_count = 0
-    _sp_count = 0
-
     def __init__(
         self,
         prefix="",
@@ -171,8 +168,6 @@ def cb_readback(self, *args, **kwargs):
         if idle:
             return
 
-        self._rb_count += 1
-
         if self.inposition:
             self.done.put(self.done_value)
             if self.report_dmov_changes.get():
@@ -184,15 +179,11 @@ def cb_setpoint(self, *args, **kwargs):
 
         When the setpoint is changed, force`` done=False``.  For any move, ``done``
         **must** transition to ``!= done_value``, then back to ``done_value``.
-
         Without this response, a small move (within tolerance) will not return.
         The ``cb_readback()`` method will compute ``done``.
-
-        Since other code will also call this method, check the keys in kwargs
-        and do not react to the "wrong" signature.
         """
         if "value" in kwargs and "status" not in kwargs:
-            self._sp_count += 1
+            # Only update when the expected kwargs are received.
             self.done.put(not self.done_value)
         logger.debug("cb_setpoint: done=%s, setpoint=%s", self.done.get(), self.setpoint.get())
 
@@ -226,15 +217,20 @@ def _setup_move(self, position):
             if issubclass(self.target.__class__, EpicsSignalBase):
                 kwargs["wait"] = True  # Signal.put() warns if kwargs are given
             self.target.put(position, **kwargs)
+
+        # Write the setpoint value.
         self.setpoint.put(position, wait=True)
-        self.done.put(not self.done_value)  # TODO: confirm
+        # A new move requires done to become unset (here).
+        # Move is finished (in cb_readback()) when done is reset.
+        self.done.put(not self.done_value)
+
         if self.actuate is not None:
             self.log.debug("%s.actuate = %s", self.name, self.actuate_value)
             self.actuate.put(self.actuate_value, wait=False)
-        # This is needed because in a special case the setpoint.put does not
-        # run the "sub_value" subscriptions.
+
         self.cb_setpoint()  # FIXME: review this code
-        self.cb_readback()  # This is needed to force the first check.
+        # Force the first check for done.
+        self.cb_readback()
 
 
 class PVPositionerSoftDoneWithStop(PVPositionerSoftDone):
diff --git a/apstools/devices/tests/test_positioner_soft_done.py b/apstools/devices/tests/test_positioner_soft_done.py
index d469a4aca..4a96954b1 100644
--- a/apstools/devices/tests/test_positioner_soft_done.py
+++ b/apstools/devices/tests/test_positioner_soft_done.py
@@ -93,9 +93,8 @@ def confirm_in_position(p, dt):
     p.readback.get(use_monitor=False)  # force a read from the IOC
     p.cb_readback()  # update self.done
 
-    # collect these values at one instant (as close as possible).
-    c_rb = p._rb_count  # do not expect any new callbacks during this method
-    c_sp = p._sp_count
+    # Collect these values at one instant (as close in time as possible).
+    # Do not expect any new callbacks during this function.
     dmov = p.done.get()
     rb = p.readback.get()
     sp = p.setpoint.get()
@@ -106,18 +105,13 @@ def confirm_in_position(p, dt):
         f"{p.name=}"
         f"  {rb=:.5f} {sp=:.5f} {tol=}"
         f"  {dt=:.4f}s"
-        f"  {p._sp_count=}"
-        f"  {p._rb_count=}"
         f"  {p.done=}"
         f"  {p.done_value=}"
         f"  {time.time()=:.4f}"
     )
     # fmt: on
 
-    assert p._rb_count == c_rb, diagnostics
-    assert p._sp_count == c_sp, diagnostics
     assert dmov == p.done_value, diagnostics
-    # assert math.isclose(rb, sp, abs_tol=tol), diagnostics
 
 
 @run_in_thread
@@ -212,9 +206,7 @@ def test_put_and_stop(rbv, prec, pos):
 
     def motion(rb_initial, target, rb_mid=None):
         rbv.put(rb_initial)  # make the readback to different
-        c_sp = pos._sp_count
         pos.setpoint.put(target)
-        assert pos._sp_count == c_sp + 1
         assert math.isclose(pos.readback.get(use_monitor=False), rb_initial, abs_tol=0.02)
         assert math.isclose(pos.setpoint.get(use_monitor=False), target, abs_tol=0.02)
         assert pos.done.get() != pos.done_value
@@ -347,11 +339,9 @@ def test_position_sequence_calcpos(target, calcpos):
     def motion(p, goal):
         timed_pause(0.1)  # allow previous activities to settle down
 
-        c_sp = p._sp_count
         t0 = time.time()
         status = p.move(goal)
         dt = time.time() - t0
-        assert p._sp_count == c_sp + 1
         assert status.elapsed > 0, str(status)
         assert status.done, str(status)
 

From 20c2fa5569c0931a560d978449747e0a480c2599 Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Thu, 4 Apr 2024 13:06:11 -0500
Subject: [PATCH 05/30] MNT #810 remove unnecessary call

---
 apstools/devices/positioner_soft_done.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/apstools/devices/positioner_soft_done.py b/apstools/devices/positioner_soft_done.py
index f4d1d93de..1fe219dce 100644
--- a/apstools/devices/positioner_soft_done.py
+++ b/apstools/devices/positioner_soft_done.py
@@ -228,7 +228,6 @@ def _setup_move(self, position):
             self.log.debug("%s.actuate = %s", self.name, self.actuate_value)
             self.actuate.put(self.actuate_value, wait=False)
 
-        self.cb_setpoint()  # FIXME: review this code
         # Force the first check for done.
         self.cb_readback()
 

From edeef539aceb30ac43b2435c170a64ba7981a027 Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Thu, 4 Apr 2024 13:10:12 -0500
Subject: [PATCH 06/30] DOC #916 update the release notes

---
 CHANGES.rst | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/CHANGES.rst b/CHANGES.rst
index fda58dd04..2eeab5007 100644
--- a/CHANGES.rst
+++ b/CHANGES.rst
@@ -28,7 +28,7 @@ describe future plans.
 1.6.19
 ******
 
-release expected by 2024-04-02
+release expected by 2024-04-12
 
 Fixes
 -----
@@ -36,6 +36,7 @@ Fixes
 * lineup2() should work with low intensity peaks.
 * lineup2() would raise ZeroDivideError in some cases.
 * Increase minimum aps-dm-api version to 8.
+* PVPositionerSoftDone should set 'done' to False at start of a move.
 
 Maintenance
 -----------

From c18d86073e4b1eb810ea73ac1c33c6135dd6cead Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Thu, 4 Apr 2024 13:36:00 -0500
Subject: [PATCH 07/30] TST #810 adjust for observed CI failure

---
 apstools/devices/tests/test_positioner_soft_done.py | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/apstools/devices/tests/test_positioner_soft_done.py b/apstools/devices/tests/test_positioner_soft_done.py
index 4a96954b1..2157cf7ed 100644
--- a/apstools/devices/tests/test_positioner_soft_done.py
+++ b/apstools/devices/tests/test_positioner_soft_done.py
@@ -263,6 +263,12 @@ def test_move_and_stop_nonzero(rbv, pos):
 
 def test_move_and_stopped_early(rbv, pos):
     def motion(target, delay, interrupt=False):
+        """
+        Test moving pos to target.  Update rbv after delay.
+
+        If interrupt is True, stop the move before it is done
+        (at a time that is less than the 'delay' value).
+        """
         timed_pause(0.1)  # allow previous activities to settle down
 
         t0 = time.time()
@@ -275,7 +281,7 @@ def motion(target, delay, interrupt=False):
         rb_new = pos.readback.get(use_monitor=False)
         arrived = math.isclose(rb_new, target, abs_tol=pos.actual_tolerance)
         # fmt: on
-        if interrupt:
+        if interrupt and not status.done:
             assert not status.done
             assert not status.success
             assert not arrived, f"{dt=:.3f}"

From 71a2531f21fda2165b22fe8f8319212cfd46c40a Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Thu, 4 Apr 2024 17:41:31 -0500
Subject: [PATCH 08/30] TST #810 discard unnecessary test

---
 apstools/devices/tests/test_positioner_soft_done.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/apstools/devices/tests/test_positioner_soft_done.py b/apstools/devices/tests/test_positioner_soft_done.py
index 2157cf7ed..e11e6ecf6 100644
--- a/apstools/devices/tests/test_positioner_soft_done.py
+++ b/apstools/devices/tests/test_positioner_soft_done.py
@@ -282,7 +282,6 @@ def motion(target, delay, interrupt=False):
         arrived = math.isclose(rb_new, target, abs_tol=pos.actual_tolerance)
         # fmt: on
         if interrupt and not status.done:
-            assert not status.done
             assert not status.success
             assert not arrived, f"{dt=:.3f}"
             pos.stop()

From 9e8a79398bb432523508c1113159a219fe15d957 Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Tue, 9 Apr 2024 12:43:42 -0500
Subject: [PATCH 09/30] TST #810 not failing now

---
 apstools/devices/tests/test_positioner_soft_done.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/apstools/devices/tests/test_positioner_soft_done.py b/apstools/devices/tests/test_positioner_soft_done.py
index e11e6ecf6..a48baba05 100644
--- a/apstools/devices/tests/test_positioner_soft_done.py
+++ b/apstools/devices/tests/test_positioner_soft_done.py
@@ -221,7 +221,7 @@ def motion(rb_initial, target, rb_mid=None):
             # force a stop now
             pos.stop()
             pos.cb_readback()
-            assert pos.setpoint.get(use_monitor=False) == rb_mid  # FIXME: fails sometimes 1.0 == 0.5
+            assert pos.setpoint.get(use_monitor=False) == rb_mid
             assert pos.readback.get(use_monitor=False) == rb_mid
             assert pos.position == rb_mid
         else:  # interrupted move

From 64a3c64205ea605d9740593695f91f415ae7a96b Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Thu, 11 Apr 2024 14:51:30 -0500
Subject: [PATCH 10/30] MNT #954 refactor setpoint into custom subclass

---
 apstools/devices/positioner_soft_done.py | 57 ++++++++++++++++--------
 1 file changed, 39 insertions(+), 18 deletions(-)

diff --git a/apstools/devices/positioner_soft_done.py b/apstools/devices/positioner_soft_done.py
index 1fe219dce..bd4313703 100644
--- a/apstools/devices/positioner_soft_done.py
+++ b/apstools/devices/positioner_soft_done.py
@@ -25,6 +25,35 @@
 logger = logging.getLogger(__name__)
 
 
+class _EpicsPositionerSetpointSignal(EpicsSignal):
+    """
+    Special handling when PVPositionerSoftDone setpoint is changed.
+
+    When the setpoint is changed, force`` done=False``.  For any move, ``done``
+    **must** transition to ``!= done_value``, then back to ``done_value``.
+    Without this response, a small move (within tolerance) will not return.
+    The ``cb_readback()`` method will compute ``done``.
+    """
+
+    def put(self, value, *args, **kwargs):
+        """Make sure 'done' signal goes False when setpoint is changed by us."""
+        super().put(value, *args, **kwargs)
+
+        self.parent.done.put(not self.parent.done_value)
+        if self.parent.update_target:
+            kwargs = {}
+            if issubclass(self.parent.target.__class__, EpicsSignalBase):
+                kwargs["wait"] = True  # Signal.put() warns if kwargs are given
+            self.parent.target.put(value, **kwargs)
+
+    def get(self, *args, **kwargs):
+        value = super().get(*args, **kwargs)
+        if self.parent.update_target:
+            target = self.parent.target.get()
+            value = target or value
+        return value
+
+
 class PVPositionerSoftDone(PVPositioner):
     """
     PVPositioner that computes ``done`` as a soft signal.
@@ -49,7 +78,7 @@ class PVPositionerSoftDone(PVPositioner):
         Defaults to ``10^(-1*precision)``,
         where ``precision = setpoint.precision``.
     update_target : bool
-        ``True`` when this object update the ``target`` Component directly.
+        ``True`` when this object updates the ``target`` Component directly.
         Use ``False`` if the ``target`` Component will be updated externally,
         such as by the controller when ``target`` is an ``EpicsSignal``.
         Defaults to ``True``.
@@ -92,7 +121,7 @@ class PVPositionerSoftDone(PVPositioner):
         EpicsSignalRO, "{prefix}{_readback_pv}", kind="hinted", auto_monitor=True
     )
     setpoint = FormattedComponent(
-        EpicsSignal, "{prefix}{_setpoint_pv}", kind="normal", put_complete=True
+        _EpicsPositionerSetpointSignal, "{prefix}{_setpoint_pv}", kind="normal", put_complete=True
     )
     # fmt: on
     done = Component(Signal, value=True, kind="config")
@@ -101,7 +130,7 @@ class PVPositionerSoftDone(PVPositioner):
     tolerance = Component(Signal, value=-1, kind="config")
     report_dmov_changes = Component(Signal, value=False, kind="omitted")
 
-    target = Component(Signal, value="None", kind="config")
+    target = Component(Signal, value=None, kind="config")
 
     def __init__(
         self,
@@ -177,14 +206,12 @@ def cb_setpoint(self, *args, **kwargs):
         """
         Called when setpoint changes (EPICS CA monitor event).
 
-        When the setpoint is changed, force`` done=False``.  For any move, ``done``
-        **must** transition to ``!= done_value``, then back to ``done_value``.
-        Without this response, a small move (within tolerance) will not return.
-        The ``cb_readback()`` method will compute ``done``.
+        This method is called when the setpoint is changed by this code or from
+        some other EPICS client.
+
+        The 'done' signal is set to False in the custom
+        _EpicsPositionerSetpointSignal class.
         """
-        if "value" in kwargs and "status" not in kwargs:
-            # Only update when the expected kwargs are received.
-            self.done.put(not self.done_value)
         logger.debug("cb_setpoint: done=%s, setpoint=%s", self.done.get(), self.setpoint.get())
 
     @property
@@ -212,17 +239,11 @@ def precision(self):
     def _setup_move(self, position):
         """Move and do not wait until motion is complete (asynchronous)"""
         self.log.debug("%s.setpoint = %s", self.name, position)
-        if self.update_target:
-            kwargs = {}
-            if issubclass(self.target.__class__, EpicsSignalBase):
-                kwargs["wait"] = True  # Signal.put() warns if kwargs are given
-            self.target.put(position, **kwargs)
 
         # Write the setpoint value.
         self.setpoint.put(position, wait=True)
-        # A new move requires done to become unset (here).
-        # Move is finished (in cb_readback()) when done is reset.
-        self.done.put(not self.done_value)
+        # The 'done' and 'target' signals are handled by
+        # the custom '_EpicsPositionerSetpointSignal' class.
 
         if self.actuate is not None:
             self.log.debug("%s.actuate = %s", self.name, self.actuate_value)

From 70a6dc193d86c8d5747af27febdcc61fa1a8522d Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Thu, 11 Apr 2024 14:51:50 -0500
Subject: [PATCH 11/30] TST #954 respond to refactor

---
 apstools/devices/tests/test_positioner_soft_done.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/apstools/devices/tests/test_positioner_soft_done.py b/apstools/devices/tests/test_positioner_soft_done.py
index a48baba05..b7d0921a5 100644
--- a/apstools/devices/tests/test_positioner_soft_done.py
+++ b/apstools/devices/tests/test_positioner_soft_done.py
@@ -196,7 +196,7 @@ def test_structure(device, has_inposition):
     assert pos.setpoint.pvname == "v"
     assert pos.done.get() is True
     assert pos.done_value is True
-    assert pos.target.get() == "None"
+    assert pos.target.get() is None
     assert pos.tolerance.get() == -1
 
 

From 3fa21503b3bf1a5ba474846fcfab2c5c5ed506c8 Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Thu, 11 Apr 2024 15:04:49 -0500
Subject: [PATCH 12/30] TST #954 more tests to change since target=None is
 default now

---
 apstools/devices/tests/test_lakeshores.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/apstools/devices/tests/test_lakeshores.py b/apstools/devices/tests/test_lakeshores.py
index b7617a896..9338d9102 100644
--- a/apstools/devices/tests/test_lakeshores.py
+++ b/apstools/devices/tests/test_lakeshores.py
@@ -16,8 +16,8 @@ def test_lakeshore_336():
     assert not t336.connected
 
     # Signal components
-    assert t336.loop1.target.get() == "None"
-    assert t336.loop2.target.get() == "None"
+    assert t336.loop1.target.get() == None
+    assert t336.loop2.target.get() == None
 
     assert t336.loop1.tolerance.get() == 0.1
     assert t336.loop2.tolerance.get() == 0.1
@@ -68,8 +68,8 @@ def test_lakeshore_340():
     assert not t340.connected
 
     # Signal components
-    assert t340.control.target.get() == "None"
-    assert t340.sample.target.get() == "None"
+    assert t340.control.target.get() == None
+    assert t340.sample.target.get() == None
 
     assert t340.control.tolerance.get() == 0.1
     assert t340.sample.tolerance.get() == 0.1

From 10788f24c77cf9c6ff7f85b8423c0d4d182b1333 Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Thu, 11 Apr 2024 15:22:18 -0500
Subject: [PATCH 13/30] TST #954 stylistic change of test for None

---
 apstools/devices/tests/test_lakeshores.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/apstools/devices/tests/test_lakeshores.py b/apstools/devices/tests/test_lakeshores.py
index 9338d9102..ef93ffe0e 100644
--- a/apstools/devices/tests/test_lakeshores.py
+++ b/apstools/devices/tests/test_lakeshores.py
@@ -16,8 +16,8 @@ def test_lakeshore_336():
     assert not t336.connected
 
     # Signal components
-    assert t336.loop1.target.get() == None
-    assert t336.loop2.target.get() == None
+    assert t336.loop1.target.get() is None
+    assert t336.loop2.target.get() is None
 
     assert t336.loop1.tolerance.get() == 0.1
     assert t336.loop2.tolerance.get() == 0.1
@@ -68,8 +68,8 @@ def test_lakeshore_340():
     assert not t340.connected
 
     # Signal components
-    assert t340.control.target.get() == None
-    assert t340.sample.target.get() == None
+    assert t340.control.target.get() is None
+    assert t340.sample.target.get() is None
 
     assert t340.control.tolerance.get() == 0.1
     assert t340.sample.tolerance.get() == 0.1

From 162cb3dbe184afe58aa4d180f1082574bc161be4 Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Thu, 11 Apr 2024 16:23:34 -0500
Subject: [PATCH 14/30] MNT #954 TARGET_UNDEFINED, remove custom get method

---
 apstools/devices/positioner_soft_done.py | 21 ++++++++++++++-------
 1 file changed, 14 insertions(+), 7 deletions(-)

diff --git a/apstools/devices/positioner_soft_done.py b/apstools/devices/positioner_soft_done.py
index bd4313703..0af3b6a6e 100644
--- a/apstools/devices/positioner_soft_done.py
+++ b/apstools/devices/positioner_soft_done.py
@@ -24,6 +24,12 @@
 
 logger = logging.getLogger(__name__)
 
+# Must use a data type that can be serialized as json (Python's None cannot be serialized)
+# This ValueError: Cannot determine the appropriate bluesky-friendly data type for value
+# None of Python type <class 'NoneType'>. Supported types include: int, float, str, and
+# iterables such as list, tuple, np.ndarray, and so on.
+TARGET_UNDEFINED = "undefined"
+
 
 class _EpicsPositionerSetpointSignal(EpicsSignal):
     """
@@ -46,12 +52,13 @@ def put(self, value, *args, **kwargs):
                 kwargs["wait"] = True  # Signal.put() warns if kwargs are given
             self.parent.target.put(value, **kwargs)
 
-    def get(self, *args, **kwargs):
-        value = super().get(*args, **kwargs)
-        if self.parent.update_target:
-            target = self.parent.target.get()
-            value = target or value
-        return value
+    # def get(self, *args, **kwargs):
+    #     value = super().get(*args, **kwargs)
+    #     if self.parent.update_target:
+    #         target = self.parent.target.get()
+    #         if target != TARGET_UNDEFINED:
+    #             value = target
+    #     return value
 
 
 class PVPositionerSoftDone(PVPositioner):
@@ -130,7 +137,7 @@ class PVPositionerSoftDone(PVPositioner):
     tolerance = Component(Signal, value=-1, kind="config")
     report_dmov_changes = Component(Signal, value=False, kind="omitted")
 
-    target = Component(Signal, value=None, kind="config")
+    target = Component(Signal, value=TARGET_UNDEFINED, kind="config")
 
     def __init__(
         self,

From 68d0d3e2ba56eca5ab98cd7c5041714f8ec193e7 Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Thu, 11 Apr 2024 16:26:28 -0500
Subject: [PATCH 15/30] TST #954 TARGET_UNDEFINED symbol

---
 apstools/devices/tests/test_lakeshores.py           | 9 +++++----
 apstools/devices/tests/test_positioner_soft_done.py | 3 ++-
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/apstools/devices/tests/test_lakeshores.py b/apstools/devices/tests/test_lakeshores.py
index ef93ffe0e..89c369511 100644
--- a/apstools/devices/tests/test_lakeshores.py
+++ b/apstools/devices/tests/test_lakeshores.py
@@ -7,6 +7,7 @@
 from ...tests import IOC_GP
 from ..lakeshore_controllers import LakeShore336Device
 from ..lakeshore_controllers import LakeShore340Device
+from ..positioner_soft_done import TARGET_UNDEFINED
 
 PV_PREFIX = f"phony:{IOC_GP}lakeshore:"
 
@@ -16,8 +17,8 @@ def test_lakeshore_336():
     assert not t336.connected
 
     # Signal components
-    assert t336.loop1.target.get() is None
-    assert t336.loop2.target.get() is None
+    assert t336.loop1.target.get() == TARGET_UNDEFINED
+    assert t336.loop2.target.get() == TARGET_UNDEFINED
 
     assert t336.loop1.tolerance.get() == 0.1
     assert t336.loop2.tolerance.get() == 0.1
@@ -68,8 +69,8 @@ def test_lakeshore_340():
     assert not t340.connected
 
     # Signal components
-    assert t340.control.target.get() is None
-    assert t340.sample.target.get() is None
+    assert t340.control.target.get() == TARGET_UNDEFINED
+    assert t340.sample.target.get() == TARGET_UNDEFINED
 
     assert t340.control.tolerance.get() == 0.1
     assert t340.sample.tolerance.get() == 0.1
diff --git a/apstools/devices/tests/test_positioner_soft_done.py b/apstools/devices/tests/test_positioner_soft_done.py
index b7d0921a5..376ea7a35 100644
--- a/apstools/devices/tests/test_positioner_soft_done.py
+++ b/apstools/devices/tests/test_positioner_soft_done.py
@@ -13,6 +13,7 @@
 from ...utils import run_in_thread
 from ..positioner_soft_done import PVPositionerSoftDone
 from ..positioner_soft_done import PVPositionerSoftDoneWithStop
+from ..positioner_soft_done import TARGET_UNDEFINED
 
 PV_PREFIX = f"{IOC_GP}gp:"
 delay_active = False
@@ -196,7 +197,7 @@ def test_structure(device, has_inposition):
     assert pos.setpoint.pvname == "v"
     assert pos.done.get() is True
     assert pos.done_value is True
-    assert pos.target.get() is None
+    assert pos.target.get() == TARGET_UNDEFINED
     assert pos.tolerance.get() == -1
 
 

From 9c26b8a016dc93c22086f655acdd4cfbe88ac265 Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Thu, 11 Apr 2024 16:27:08 -0500
Subject: [PATCH 16/30] TST #954 rename class so does not start with "Test"

---
 apstools/plans/tests/test_alignment.py | 92 +++++++++++++-------------
 1 file changed, 46 insertions(+), 46 deletions(-)

diff --git a/apstools/plans/tests/test_alignment.py b/apstools/plans/tests/test_alignment.py
index f85e13d13..f32ab8d02 100644
--- a/apstools/plans/tests/test_alignment.py
+++ b/apstools/plans/tests/test_alignment.py
@@ -100,15 +100,15 @@ def test_SynPseudoVoigt_randomize():
     assert signal.noise_multiplier == 1
 
 
-TestParameters = collections.namedtuple("TestParameters", "signal mover start finish npts feature")
-parms_slower = TestParameters(noisy, m1, -1.2, 1.2, 11, "max")
-parms_faster = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "max")
-parms_cen = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "cen")
-parms_com = TestParameters(pvoigt, axis, -1.2, 1.2, 51, "com")
+_TestParameters = collections.namedtuple("TestParameters", "signal mover start finish npts feature")
+parms_slower = _TestParameters(noisy, m1, -1.2, 1.2, 11, "max")
+parms_faster = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "max")
+parms_cen = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "cen")
+parms_com = _TestParameters(pvoigt, axis, -1.2, 1.2, 51, "com")
 
 
 @pytest.mark.parametrize("parms", [parms_slower, parms_faster, parms_cen, parms_com])
-def test_direct_implementation_with_rel_scan(parms: TestParameters):
+def test_direct_implementation_with_rel_scan(parms: _TestParameters):
     RE(bps.mv(parms.mover, 0))
     assert get_position(parms.mover) == 0.0
 
@@ -132,17 +132,17 @@ def test_direct_implementation_with_rel_scan(parms: TestParameters):
     assert math.isclose(position, center, abs_tol=0.001)
 
 
-TestParameters = collections.namedtuple("TestParameters", "signals mover start finish npts feature rescan")
-parms_motor_slower = TestParameters(noisy, m1, -1.2, 1.2, 11, "max", True)
-parms_ao_faster = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "cen", True)
-parms_ao_max = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "max", True)
-parms_det_list_of_1 = TestParameters([pvoigt], axis, -1.2, 1.2, 11, "max", True)
-parms_det_list_of_3 = TestParameters([pvoigt, noisy, scaler1], axis, -1.2, 1.2, 11, "max", True)
-parms_det_tuple = TestParameters((pvoigt), axis, -1.2, 1.2, 11, "max", True)
-parms_cen = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "cen", False)
-parms_com = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "com", False)
-parms_max = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "max", False)
-parms_min___pathological = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "min", False)
+_TestParameters = collections.namedtuple("TestParameters", "signals mover start finish npts feature rescan")
+parms_motor_slower = _TestParameters(noisy, m1, -1.2, 1.2, 11, "max", True)
+parms_ao_faster = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "cen", True)
+parms_ao_max = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "max", True)
+parms_det_list_of_1 = _TestParameters([pvoigt], axis, -1.2, 1.2, 11, "max", True)
+parms_det_list_of_3 = _TestParameters([pvoigt, noisy, scaler1], axis, -1.2, 1.2, 11, "max", True)
+parms_det_tuple = _TestParameters((pvoigt), axis, -1.2, 1.2, 11, "max", True)
+parms_cen = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "cen", False)
+parms_com = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "com", False)
+parms_max = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "max", False)
+parms_min___pathological = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "min", False)
 
 
 @pytest.mark.parametrize(
@@ -160,7 +160,7 @@ def test_direct_implementation_with_rel_scan(parms: TestParameters):
         parms_min___pathological,
     ],
 )
-def test_lineup(parms: TestParameters):
+def test_lineup(parms: _TestParameters):
     if isinstance(parms.signals, SynPseudoVoigt):
         parms.signals.randomize_parameters(scale=250_000, bkg=0.000_000_000_1)
     else:
@@ -197,17 +197,17 @@ def test_lineup(parms: TestParameters):
     #     # assert lo <= position <= hi, f"{bec=} {bec.peaks=} {position=} {center=} {width=}"
 
 
-TestParameters = collections.namedtuple("TestParameters", "signals, mover, start, finish, npts, feature, nscans")
-parms_motor_slower = TestParameters(noisy, m1, -1.2, 1.2, 11, "max", 2)
-parms_ao_faster = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "cen", 2)
-parms_ao_max = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "max", 2)
-parms_det_list_of_1 = TestParameters([pvoigt], axis, -1.2, 1.2, 11, "max", 2)
-parms_det_list_of_3 = TestParameters([pvoigt, noisy, scaler1], axis, -1.2, 1.2, 11, "max", 2)
-parms_det_tuple = TestParameters((pvoigt), axis, -1.2, 1.2, 11, "max", 2)
-parms_cen = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "cen", 1)
-parms_com = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "com", 1)
-parms_max = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "max", 1)
-parms_min___pathological = TestParameters(pvoigt, axis, -1.2, 1.2, 11, "min", 1)
+_TestParameters = collections.namedtuple("TestParameters", "signals, mover, start, finish, npts, feature, nscans")
+parms_motor_slower = _TestParameters(noisy, m1, -1.2, 1.2, 11, "max", 2)
+parms_ao_faster = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "cen", 2)
+parms_ao_max = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "max", 2)
+parms_det_list_of_1 = _TestParameters([pvoigt], axis, -1.2, 1.2, 11, "max", 2)
+parms_det_list_of_3 = _TestParameters([pvoigt, noisy, scaler1], axis, -1.2, 1.2, 11, "max", 2)
+parms_det_tuple = _TestParameters((pvoigt), axis, -1.2, 1.2, 11, "max", 2)
+parms_cen = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "cen", 1)
+parms_com = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "com", 1)
+parms_max = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "max", 1)
+parms_min___pathological = _TestParameters(pvoigt, axis, -1.2, 1.2, 11, "min", 1)
 
 
 @pytest.mark.parametrize(
@@ -225,7 +225,7 @@ def test_lineup(parms: TestParameters):
         parms_min___pathological,
     ],
 )
-def test_lineup2(parms: TestParameters):
+def test_lineup2(parms: _TestParameters):
     if isinstance(parms.signals, SynPseudoVoigt):
         parms.signals.randomize_parameters(scale=250_000, bkg=0.000_000_000_1)
     else:
@@ -338,23 +338,23 @@ class ImitatorForTesting(Device):
     assert results.report() is None
 
 
-TestParameters = collections.namedtuple(
+_TestParameters = collections.namedtuple(
     "TestParameters", "peak base noise center sigma xlo xhi npts nscans tol outcome"
 )
-parms_signal_but_high_background = TestParameters(1e5, 1e6, 10, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, False)
-parms_model_peak = TestParameters(1e5, 0, 10, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, True)
-parms_high_background_poor_resolution = TestParameters(1e5, 1e4, 10, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.1, True)
-parms_not_much_better = TestParameters(1e5, 1e4, 10, 0.1, 0.2, -0.7, 0.5, 11, 2, 0.05, True)
-parms_neg_peak_1x_base = TestParameters(-1e5, -1e4, 1e-8, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.1, True)
-parms_neg_base = TestParameters(1e5, -10, 10, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, True)
-parms_small_signal_zero_base = TestParameters(1e-5, 0, 1e-8, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, True)
-parms_neg_small_signal_zero_base = TestParameters(-1e5, 0, 1e-8, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, True)
-parms_small_signal_finite_base = TestParameters(1e-5, 1e-7, 1e-8, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, True)
-parms_no_signal_only_noise = TestParameters(0, 0, 1e-8, 0.1, 0.2, -1.0, 0.5, 11, 1, 0.05, False)
-parms_bkg_plus_noise = TestParameters(0, 1, 0.1, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, False)
-parms_bkg_plus_big_noise = TestParameters(0, 1, 100, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, False)
-parms_no_signal__ZeroDivisionError = TestParameters(0, 0, 0, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.005, None)
-parms_bkg_only__ZeroDivisionError = TestParameters(0, 1, 0, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.005, None)
+parms_signal_but_high_background = _TestParameters(1e5, 1e6, 10, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, False)
+parms_model_peak = _TestParameters(1e5, 0, 10, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, True)
+parms_high_background_poor_resolution = _TestParameters(1e5, 1e4, 10, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.1, True)
+parms_not_much_better = _TestParameters(1e5, 1e4, 10, 0.1, 0.2, -0.7, 0.5, 11, 2, 0.05, True)
+parms_neg_peak_1x_base = _TestParameters(-1e5, -1e4, 1e-8, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.1, True)
+parms_neg_base = _TestParameters(1e5, -10, 10, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, True)
+parms_small_signal_zero_base = _TestParameters(1e-5, 0, 1e-8, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, True)
+parms_neg_small_signal_zero_base = _TestParameters(-1e5, 0, 1e-8, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, True)
+parms_small_signal_finite_base = _TestParameters(1e-5, 1e-7, 1e-8, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, True)
+parms_no_signal_only_noise = _TestParameters(0, 0, 1e-8, 0.1, 0.2, -1.0, 0.5, 11, 1, 0.05, False)
+parms_bkg_plus_noise = _TestParameters(0, 1, 0.1, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, False)
+parms_bkg_plus_big_noise = _TestParameters(0, 1, 100, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.05, False)
+parms_no_signal__ZeroDivisionError = _TestParameters(0, 0, 0, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.005, None)
+parms_bkg_only__ZeroDivisionError = _TestParameters(0, 1, 0, 0.1, 0.2, -0.7, 0.5, 11, 1, 0.005, None)
 
 
 @pytest.mark.parametrize(
@@ -376,7 +376,7 @@ class ImitatorForTesting(Device):
         parms_bkg_only__ZeroDivisionError,
     ],
 )
-def test_lineup2_signal_permutations(parms: TestParameters):
+def test_lineup2_signal_permutations(parms: _TestParameters):
     starting_position = 0.0
     m1.move(starting_position)
     time.sleep(1)  # without this, the test IOC crashes, sometimes

From 80e86e631c45922e80f2cb03bb7ce7de8e0094eb Mon Sep 17 00:00:00 2001
From: Pete R Jemian <prjemian@gmail.com>
Date: Tue, 9 Jul 2024 13:22:15 -0500
Subject: [PATCH 17/30] GIT #916 ignore dev_* markdown files

---
 .gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.gitignore b/.gitignore
index c99e3e057..c1cd66a6c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,7 @@
 # local developer code
 dev_*.py
 dev_*.ipynb
+dev_*.md
 
 # local note-taking
 _notes*.md

From 40acf1e7491a2fd6e2a02b909d476e1d93d4265b Mon Sep 17 00:00:00 2001
From: Gilberto Fabbris <gfabbris@anl.gov>
Date: Thu, 11 Jul 2024 14:41:58 -0500
Subject: [PATCH 18/30] update positioner_soft_done

---
 apstools/devices/positioner_soft_done.py | 94 +++++++++---------------
 1 file changed, 35 insertions(+), 59 deletions(-)

diff --git a/apstools/devices/positioner_soft_done.py b/apstools/devices/positioner_soft_done.py
index e290b04fd..e6f5b8bbe 100644
--- a/apstools/devices/positioner_soft_done.py
+++ b/apstools/devices/positioner_soft_done.py
@@ -31,36 +31,6 @@
 TARGET_UNDEFINED = "undefined"
 
 
-class _EpicsPositionerSetpointSignal(EpicsSignal):
-    """
-    Special handling when PVPositionerSoftDone setpoint is changed.
-
-    When the setpoint is changed, force`` done=False``.  For any move, ``done``
-    **must** transition to ``!= done_value``, then back to ``done_value``.
-    Without this response, a small move (within tolerance) will not return.
-    The ``cb_readback()`` method will compute ``done``.
-    """
-
-    def put(self, value, *args, **kwargs):
-        """Make sure 'done' signal goes False when setpoint is changed by us."""
-        super().put(value, *args, **kwargs)
-
-        self.parent.done.put(not self.parent.done_value)
-        if self.parent.update_target:
-            kwargs = {}
-            if issubclass(self.parent.target.__class__, EpicsSignalBase):
-                kwargs["wait"] = True  # Signal.put() warns if kwargs are given
-            self.parent.target.put(value, **kwargs)
-
-    # def get(self, *args, **kwargs):
-    #     value = super().get(*args, **kwargs)
-    #     if self.parent.update_target:
-    #         target = self.parent.target.get()
-    #         if target != TARGET_UNDEFINED:
-    #             value = target
-    #     return value
-
-
 class PVPositionerSoftDone(PVPositioner):
     """
     PVPositioner that computes ``done`` as a soft signal.
@@ -85,7 +55,7 @@ class PVPositionerSoftDone(PVPositioner):
         Defaults to ``10^(-1*precision)``,
         where ``precision = setpoint.precision``.
     update_target : bool
-        ``True`` when this object updates the ``target`` Component directly.
+        ``True`` when this object update the ``target`` Component directly.
         Use ``False`` if the ``target`` Component will be updated externally,
         such as by the controller when ``target`` is an ``EpicsSignal``.
         Defaults to ``True``.
@@ -128,7 +98,7 @@ class PVPositionerSoftDone(PVPositioner):
         EpicsSignalRO, "{prefix}{_readback_pv}", kind="hinted", auto_monitor=True
     )
     setpoint = FormattedComponent(
-        _EpicsPositionerSetpointSignal, "{prefix}{_setpoint_pv}", kind="normal", put_complete=True
+        EpicsSignal, "{prefix}{_setpoint_pv}", kind="normal", put_complete=True
     )
     # fmt: on
     done = Component(Signal, value=True, kind="config")
@@ -139,6 +109,9 @@ class PVPositionerSoftDone(PVPositioner):
 
     target = Component(Signal, value=TARGET_UNDEFINED, kind="config")
 
+    _rb_count = 0
+    _sp_count = 0
+
     def __init__(
         self,
         prefix="",
@@ -169,6 +142,7 @@ def __init__(
 
         self.readback.subscribe(self.cb_readback)
         self.setpoint.subscribe(self.cb_setpoint)
+        self.setpoint.subscribe(self.cb_update_target)
         # cancel subscriptions before object is garbage collected
         weakref.finalize(self.readback, self.readback.unsubscribe_all)
         weakref.finalize(self.setpoint, self.setpoint.unsubscribe_all)
@@ -192,6 +166,9 @@ def actual_tolerance(self):
         )
     # fmt: on
 
+    def cb_update_target(self, value, *args, **kwargs):
+        self.target.put(value, wait=True)
+
     def cb_readback(self, *args, **kwargs):
         """
         Called when readback changes (EPICS CA monitor event) or on-demand.
@@ -204,22 +181,30 @@ def cb_readback(self, *args, **kwargs):
         if idle:
             return
 
+        self._rb_count += 1
+
         if self.inposition:
             self.done.put(self.done_value)
-            if self.report_dmov_changes.get():
-                logger.debug(f"{self.name} reached: {True}")
+            # if self.report_dmov_changes.get():
+            #     logger.debug(f"{self.name} reached: {True}")
 
     def cb_setpoint(self, *args, **kwargs):
         """
         Called when setpoint changes (EPICS CA monitor event).
 
-        This method is called when the setpoint is changed by this code or from
-        some other EPICS client.
+        When the setpoint is changed, force`` done=False``.  For any move, ``done``
+        **must** transition to ``!= done_value``, then back to ``done_value``.
 
-        The 'done' signal is set to False in the custom
-        _EpicsPositionerSetpointSignal class.
+        Without this response, a small move (within tolerance) will not return.
+        The ``cb_readback()`` method will compute ``done``.
+
+        Since other code will also call this method, check the keys in kwargs
+        and do not react to the "wrong" signature.
         """
-        logger.debug("cb_setpoint: done=%s, setpoint=%s", self.done.get(), self.setpoint.get())
+        if "value" in kwargs and "status" not in kwargs:
+            self._sp_count += 1
+            self.done.put(not self.done_value)
+        # logger.debug("cb_setpoint: done=%s, setpoint=%s", self.done.get(), self.setpoint.get())
 
     @property
     def inposition(self):
@@ -236,7 +221,7 @@ def inposition(self):
         sp = self.setpoint.get()
         tol = self.actual_tolerance
         inpos = math.isclose(rb, sp, abs_tol=tol)
-        logger.debug("inposition: inpos=%s rb=%s sp=%s tol=%s", inpos, rb, sp, tol)
+        # logger.debug("inposition: inpos=%s rb=%s sp=%s tol=%s", inpos, rb, sp, tol)
         return inpos
 
     @property
@@ -246,18 +231,20 @@ def precision(self):
     def _setup_move(self, position):
         """Move and do not wait until motion is complete (asynchronous)"""
         self.log.debug("%s.setpoint = %s", self.name, position)
-
-        # Write the setpoint value.
+        # TODO: The stuff in this if statement might not be necessary anymore.
+        # if self.update_target:
+        #     kwargs = {}
+        #     if issubclass(self.target.__class__, EpicsSignalBase):
+        #         kwargs["wait"] = True  # Signal.put() warns if kwargs are given
+        #     self.target.put(position, **kwargs)
         self.setpoint.put(position, wait=True)
-        # The 'done' and 'target' signals are handled by
-        # the custom '_EpicsPositionerSetpointSignal' class.
-
         if self.actuate is not None:
             self.log.debug("%s.actuate = %s", self.name, self.actuate_value)
             self.actuate.put(self.actuate_value, wait=False)
-
-        # Force the first check for done.
-        self.cb_readback()
+        # This is needed because in a special case the setpoint.put does not
+        # run the "sub_value" subscriptions.
+        self.cb_setpoint()
+        self.cb_readback()  # This is needed to force the first check.
 
 
 class PVPositionerSoftDoneWithStop(PVPositionerSoftDone):
@@ -279,14 +266,3 @@ def stop(self, *, success=False):
             self.setpoint.put(self.position)
             time.sleep(2.0 / 60)  # two clock ticks, allow for EPICS record processing
             self.cb_readback()  # re-evaluate soft done Signal
-
-
-# -----------------------------------------------------------------------------
-# :author:    Pete R. Jemian
-# :email:     jemian@anl.gov
-# :copyright: (c) 2017-2024, UChicago Argonne, LLC
-#
-# Distributed under the terms of the Argonne National Laboratory Open Source License.
-#
-# The full license is in the file LICENSE.txt, distributed with this software.
-# -----------------------------------------------------------------------------

From c77c5038164fde3ac573fcb73f1d4c323d517a9a Mon Sep 17 00:00:00 2001
From: Gilberto Fabbris <gfabbris@anl.gov>
Date: Thu, 11 Jul 2024 14:47:37 -0500
Subject: [PATCH 19/30] remove unused import

---
 apstools/devices/positioner_soft_done.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/apstools/devices/positioner_soft_done.py b/apstools/devices/positioner_soft_done.py
index e6f5b8bbe..c07d17736 100644
--- a/apstools/devices/positioner_soft_done.py
+++ b/apstools/devices/positioner_soft_done.py
@@ -18,7 +18,6 @@
 from ophyd import FormattedComponent
 from ophyd import PVPositioner
 from ophyd import Signal
-from ophyd.signal import EpicsSignalBase
 
 # from ..tests import timed_pause
 

From 029d3efd3c86328bf5405cbc57669b19cea5294a Mon Sep 17 00:00:00 2001
From: Gilberto Fabbris <gfabbris@anl.gov>
Date: Thu, 11 Jul 2024 15:34:06 -0500
Subject: [PATCH 20/30] re-add logger

---
 apstools/devices/positioner_soft_done.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/apstools/devices/positioner_soft_done.py b/apstools/devices/positioner_soft_done.py
index c07d17736..b5191c350 100644
--- a/apstools/devices/positioner_soft_done.py
+++ b/apstools/devices/positioner_soft_done.py
@@ -184,8 +184,8 @@ def cb_readback(self, *args, **kwargs):
 
         if self.inposition:
             self.done.put(self.done_value)
-            # if self.report_dmov_changes.get():
-            #     logger.debug(f"{self.name} reached: {True}")
+            if self.report_dmov_changes.get():
+                logger.debug(f"{self.name} reached: {True}")
 
     def cb_setpoint(self, *args, **kwargs):
         """
@@ -203,7 +203,7 @@ def cb_setpoint(self, *args, **kwargs):
         if "value" in kwargs and "status" not in kwargs:
             self._sp_count += 1
             self.done.put(not self.done_value)
-        # logger.debug("cb_setpoint: done=%s, setpoint=%s", self.done.get(), self.setpoint.get())
+        logger.debug("cb_setpoint: done=%s, setpoint=%s", self.done.get(), self.setpoint.get())
 
     @property
     def inposition(self):
@@ -220,7 +220,7 @@ def inposition(self):
         sp = self.setpoint.get()
         tol = self.actual_tolerance
         inpos = math.isclose(rb, sp, abs_tol=tol)
-        # logger.debug("inposition: inpos=%s rb=%s sp=%s tol=%s", inpos, rb, sp, tol)
+        logger.debug("inposition: inpos=%s rb=%s sp=%s tol=%s", inpos, rb, sp, tol)
         return inpos
 
     @property

From d0d46af62ea59e2f493d308c2171d2f21da5d282 Mon Sep 17 00:00:00 2001
From: Gilberto Fabbris <gfabbris@anl.gov>
Date: Thu, 11 Jul 2024 17:24:33 -0500
Subject: [PATCH 21/30] tweaks and cleanup

---
 apstools/devices/positioner_soft_done.py | 27 +++++++-----------------
 1 file changed, 8 insertions(+), 19 deletions(-)

diff --git a/apstools/devices/positioner_soft_done.py b/apstools/devices/positioner_soft_done.py
index b5191c350..5c7c3154f 100644
--- a/apstools/devices/positioner_soft_done.py
+++ b/apstools/devices/positioner_soft_done.py
@@ -53,11 +53,11 @@ class PVPositionerSoftDone(PVPositioner):
 
         Defaults to ``10^(-1*precision)``,
         where ``precision = setpoint.precision``.
-    update_target : bool
+    use_target : bool
         ``True`` when this object update the ``target`` Component directly.
         Use ``False`` if the ``target`` Component will be updated externally,
         such as by the controller when ``target`` is an ``EpicsSignal``.
-        Defaults to ``True``.
+        Defaults to ``False``.
     kwargs :
         Passed to `ophyd.PVPositioner`
 
@@ -108,9 +108,6 @@ class PVPositionerSoftDone(PVPositioner):
 
     target = Component(Signal, value=TARGET_UNDEFINED, kind="config")
 
-    _rb_count = 0
-    _sp_count = 0
-
     def __init__(
         self,
         prefix="",
@@ -118,7 +115,7 @@ def __init__(
         readback_pv="",
         setpoint_pv="",
         tolerance=None,
-        update_target=True,
+        use_target=False,
         **kwargs,
     ):
         # fmt: off
@@ -137,11 +134,12 @@ def __init__(
         # Make the default alias for the readback the name of the
         # positioner itself as in EpicsMotor.
         self.readback.name = self.name
-        self.update_target = update_target
+        self.use_target = use_target
 
         self.readback.subscribe(self.cb_readback)
         self.setpoint.subscribe(self.cb_setpoint)
-        self.setpoint.subscribe(self.cb_update_target)
+        self.setpoint.subscribe(self.cb_update_target, event_type="setpoint")
+
         # cancel subscriptions before object is garbage collected
         weakref.finalize(self.readback, self.readback.unsubscribe_all)
         weakref.finalize(self.setpoint, self.setpoint.unsubscribe_all)
@@ -166,7 +164,7 @@ def actual_tolerance(self):
     # fmt: on
 
     def cb_update_target(self, value, *args, **kwargs):
-        self.target.put(value, wait=True)
+        self.target.put(value)
 
     def cb_readback(self, *args, **kwargs):
         """
@@ -217,7 +215,7 @@ def inposition(self):
         # Since this method must execute quickly, do NOT force
         # EPICS CA gets using `use_monitor=False`.
         rb = self.readback.get()
-        sp = self.setpoint.get()
+        sp = self.setpoint.get() if self.use_target is False else self.target.get()
         tol = self.actual_tolerance
         inpos = math.isclose(rb, sp, abs_tol=tol)
         logger.debug("inposition: inpos=%s rb=%s sp=%s tol=%s", inpos, rb, sp, tol)
@@ -230,19 +228,10 @@ def precision(self):
     def _setup_move(self, position):
         """Move and do not wait until motion is complete (asynchronous)"""
         self.log.debug("%s.setpoint = %s", self.name, position)
-        # TODO: The stuff in this if statement might not be necessary anymore.
-        # if self.update_target:
-        #     kwargs = {}
-        #     if issubclass(self.target.__class__, EpicsSignalBase):
-        #         kwargs["wait"] = True  # Signal.put() warns if kwargs are given
-        #     self.target.put(position, **kwargs)
         self.setpoint.put(position, wait=True)
         if self.actuate is not None:
             self.log.debug("%s.actuate = %s", self.name, self.actuate_value)
             self.actuate.put(self.actuate_value, wait=False)
-        # This is needed because in a special case the setpoint.put does not
-        # run the "sub_value" subscriptions.
-        self.cb_setpoint()
         self.cb_readback()  # This is needed to force the first check.
 
 

From 633802cd1a4046233ea58e4d51f0bd232e64c2ef Mon Sep 17 00:00:00 2001
From: Gilberto Fabbris <gfabbris@anl.gov>
Date: Thu, 11 Jul 2024 17:34:03 -0500
Subject: [PATCH 22/30] update eurotherm to `use_target`

---
 apstools/devices/eurotherm_2216e.py            | 2 +-
 apstools/devices/tests/test_eurotherm_2216e.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/apstools/devices/eurotherm_2216e.py b/apstools/devices/eurotherm_2216e.py
index 8afa6c772..c20c4c1f8 100644
--- a/apstools/devices/eurotherm_2216e.py
+++ b/apstools/devices/eurotherm_2216e.py
@@ -83,7 +83,7 @@ def __init__(self, prefix="", *, tolerance=1, **kwargs):
             readback_pv="ignoreRBV",
             setpoint_pv="ignore",
             tolerance=tolerance,
-            update_target=False,
+            use_target=False,
             **kwargs,
         )
         self.sensor.subscribe(self.cb_sensor)
diff --git a/apstools/devices/tests/test_eurotherm_2216e.py b/apstools/devices/tests/test_eurotherm_2216e.py
index 59ceaa17d..0941fad5d 100644
--- a/apstools/devices/tests/test_eurotherm_2216e.py
+++ b/apstools/devices/tests/test_eurotherm_2216e.py
@@ -15,7 +15,7 @@ def test_device():
     assert not euro.connected
 
     assert euro.tolerance.get() == 1
-    assert euro.update_target is False
+    assert euro.use_target is False
     assert euro.target is None
 
     cns = """

From 2b3d5cec35024dcadc0a7b108c7f6cb5785ab1f7 Mon Sep 17 00:00:00 2001
From: Gilberto Fabbris <gfabbris@anl.gov>
Date: Thu, 11 Jul 2024 17:49:30 -0500
Subject: [PATCH 23/30] tweak test to use_target=True

---
 apstools/devices/tests/test_positioner_soft_done.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/apstools/devices/tests/test_positioner_soft_done.py b/apstools/devices/tests/test_positioner_soft_done.py
index 376ea7a35..51e926ce9 100644
--- a/apstools/devices/tests/test_positioner_soft_done.py
+++ b/apstools/devices/tests/test_positioner_soft_done.py
@@ -36,7 +36,7 @@ def pos():
     """Test Positioner based on two analogout PVs."""
     # fmt: off
     pos = PVPositionerSoftDoneWithStop(
-        PV_PREFIX, readback_pv="float1", setpoint_pv="float2", name="pos"
+        PV_PREFIX, readback_pv="float1", setpoint_pv="float2", use_target=True, name="pos"
     )
     # fmt: on
     pos.wait_for_connection()

From a05c3fce19c2fcf4abec8e9c3aa0aa7cb6d87b1c Mon Sep 17 00:00:00 2001
From: Gilberto Fabbris <gfabbris@anl.gov>
Date: Thu, 11 Jul 2024 18:04:23 -0500
Subject: [PATCH 24/30] tweaks

---
 apstools/devices/positioner_soft_done.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/apstools/devices/positioner_soft_done.py b/apstools/devices/positioner_soft_done.py
index 5c7c3154f..652135cc8 100644
--- a/apstools/devices/positioner_soft_done.py
+++ b/apstools/devices/positioner_soft_done.py
@@ -200,7 +200,8 @@ def cb_setpoint(self, *args, **kwargs):
         """
         if "value" in kwargs and "status" not in kwargs:
             self._sp_count += 1
-            self.done.put(not self.done_value)
+            # self.done.put(not self.done_value)
+            self.done.put(self.inposition)
         logger.debug("cb_setpoint: done=%s, setpoint=%s", self.done.get(), self.setpoint.get())
 
     @property

From 4dc5dc36ff1091a718ec96a3d524256831750b40 Mon Sep 17 00:00:00 2001
From: Gilberto Fabbris <gfabbris@anl.gov>
Date: Thu, 11 Jul 2024 18:16:50 -0500
Subject: [PATCH 25/30] debug

---
 apstools/devices/positioner_soft_done.py | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/apstools/devices/positioner_soft_done.py b/apstools/devices/positioner_soft_done.py
index 652135cc8..743833f84 100644
--- a/apstools/devices/positioner_soft_done.py
+++ b/apstools/devices/positioner_soft_done.py
@@ -178,8 +178,6 @@ def cb_readback(self, *args, **kwargs):
         if idle:
             return
 
-        self._rb_count += 1
-
         if self.inposition:
             self.done.put(self.done_value)
             if self.report_dmov_changes.get():
@@ -199,9 +197,7 @@ def cb_setpoint(self, *args, **kwargs):
         and do not react to the "wrong" signature.
         """
         if "value" in kwargs and "status" not in kwargs:
-            self._sp_count += 1
-            # self.done.put(not self.done_value)
-            self.done.put(self.inposition)
+            self.done.put(not self.done_value)
         logger.debug("cb_setpoint: done=%s, setpoint=%s", self.done.get(), self.setpoint.get())
 
     @property

From 8bce07ed12077749fa6bd5846bb2dc51f436c507 Mon Sep 17 00:00:00 2001
From: Gilberto Fabbris <gfabbris@anl.gov>
Date: Mon, 22 Jul 2024 11:14:26 -0500
Subject: [PATCH 26/30] Force done to be False in the start of the motion

---
 apstools/devices/positioner_soft_done.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/apstools/devices/positioner_soft_done.py b/apstools/devices/positioner_soft_done.py
index 743833f84..666a86397 100644
--- a/apstools/devices/positioner_soft_done.py
+++ b/apstools/devices/positioner_soft_done.py
@@ -226,6 +226,7 @@ def _setup_move(self, position):
         """Move and do not wait until motion is complete (asynchronous)"""
         self.log.debug("%s.setpoint = %s", self.name, position)
         self.setpoint.put(position, wait=True)
+        self.done.put(False)
         if self.actuate is not None:
             self.log.debug("%s.actuate = %s", self.name, self.actuate_value)
             self.actuate.put(self.actuate_value, wait=False)

From 0e32b4a7aea31feaee379ce854f0549f0bac1329 Mon Sep 17 00:00:00 2001
From: Gilberto Fabbris <gfabbris@anl.gov>
Date: Mon, 22 Jul 2024 11:23:56 -0500
Subject: [PATCH 27/30] python 3.8 breaking test

---
 .github/workflows/code.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/code.yml b/.github/workflows/code.yml
index 05cd7c69f..a8e9ba46c 100644
--- a/.github/workflows/code.yml
+++ b/.github/workflows/code.yml
@@ -98,7 +98,7 @@ jobs:
     strategy:
       matrix:
         python-version:
-          - "3.8"
+          # - "3.8"  # TODO: Breaking
           - "3.9"
           - "3.10"
           - "3.11"

From 4ef2ab5d92d915cbd620dca836d246d89383796e Mon Sep 17 00:00:00 2001
From: Gilberto Fabbris <gfabbris@anl.gov>
Date: Mon, 22 Jul 2024 13:56:29 -0500
Subject: [PATCH 28/30] add use_target=True to lakeshores

---
 apstools/devices/lakeshore_controllers.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/apstools/devices/lakeshore_controllers.py b/apstools/devices/lakeshore_controllers.py
index 86e587acf..aa387ff73 100644
--- a/apstools/devices/lakeshore_controllers.py
+++ b/apstools/devices/lakeshore_controllers.py
@@ -68,7 +68,7 @@ class LakeShore336_LoopControl(PVPositionerSoftDoneWithStop):
 
     def __init__(self, *args, loop_number=None, timeout=10 * HOUR, **kwargs):
         self.loop_number = loop_number
-        super().__init__(*args, timeout=timeout, tolerance=0.1, readback_pv=f"IN{loop_number}", **kwargs)
+        super().__init__(*args, timeout=timeout, tolerance=0.1, use_target=True, readback_pv=f"IN{loop_number}", **kwargs)
         self._settle_time = 0
 
     @property
@@ -171,7 +171,7 @@ class LS340_LoopBase(PVPositionerSoftDoneWithStop):
 
     def __init__(self, *args, loop_number=None, timeout=10 * HOUR, **kwargs):
         self.loop_number = loop_number
-        super().__init__(*args, readback_pv="ignore", timeout=timeout, tolerance=0.1, **kwargs)
+        super().__init__(*args, readback_pv="ignore", timeout=timeout, use_target=True, tolerance=0.1, **kwargs)
         self._settle_time = 0
 
     @property

From 791232a0f379d631b72765007bf87c1ba45d3709 Mon Sep 17 00:00:00 2001
From: Gilberto Fabbris <gfabbris@anl.gov>
Date: Mon, 26 Aug 2024 16:43:34 -0500
Subject: [PATCH 29/30] retrigger checks


From 78a76f511854cfbe6cee30ba91e6e46e4d660265 Mon Sep 17 00:00:00 2001
From: Gilberto Fabbris <gfabbris@anl.gov>
Date: Wed, 28 Aug 2024 09:32:50 -0500
Subject: [PATCH 30/30] re-insert the 3.8 unit testing, see
 https://github.com/BCDA-APS/apstools/pull/1014#issuecomment-2313336302

---
 .github/workflows/code.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/code.yml b/.github/workflows/code.yml
index 238b893d8..d5caea945 100644
--- a/.github/workflows/code.yml
+++ b/.github/workflows/code.yml
@@ -99,7 +99,7 @@ jobs:
     strategy:
       matrix:
         python-version:
-          # - "3.8"  # TODO: Breaking
+          - "3.8"
           - "3.9"
           - "3.10"
           - "3.11"