fix: move_to_center and move_to_perimeter wait for idle before returning

API endpoints now call check_idle_async(timeout=60) after move_polar
to ensure the machine has completed the movement before returning success.

This gives the frontend accurate feedback that the move is complete.

Tests updated to use the API endpoints directly instead of calling
move_polar + manual idle check.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

main.py

@@ -1937,6 +1937,12 @@ async def move_to_center():
         logger.info("Moving device to center position")
         await pattern_manager.reset_theta()
         await pattern_manager.move_polar(0, 0)
+
+        # Wait for machine to reach idle before returning
+        idle = await connection_manager.check_idle_async(timeout=60)
+        if not idle:
+            logger.warning("Machine did not reach idle after move to center")
+
         return {"success": True}
     except HTTPException:
         raise
@@ -1956,8 +1962,15 @@ async def move_to_perimeter():
         # Clear stop_requested to ensure manual move works after pattern stop
         state.stop_requested = False
 
+        logger.info("Moving device to perimeter position")
         await pattern_manager.reset_theta()
         await pattern_manager.move_polar(0, 1)
+
+        # Wait for machine to reach idle before returning
+        idle = await connection_manager.check_idle_async(timeout=60)
+        if not idle:
+            logger.warning("Machine did not reach idle after move to perimeter")
+
         return {"success": True}
     except HTTPException:
         raise

tests/integration/test_hardware.py

@@ -274,15 +274,15 @@ class TestTableMovement:
             state.conn = None
 
     def test_move_to_perimeter(self, hardware_port, run_hardware):
-        """Test moving ball to perimeter (rho=1.0).
+        """Test moving ball to perimeter (rho=1.0) via API endpoint.
 
-        Moves the ball from current position to the outer edge of the table.
+        Uses the /move_to_perimeter endpoint which waits for idle before returning.
         """
         if not run_hardware:
             pytest.skip("Hardware tests disabled")
 
+        from httpx import Client
         from modules.connection import connection_manager
-        from modules.core import pattern_manager
         from modules.core.state import state
 
         # Connect
@@ -290,23 +290,17 @@ class TestTableMovement:
         state.conn = conn
 
         try:
-            # Start motion controller
-            if not pattern_manager.motion_controller.running:
-                pattern_manager.motion_controller.start()
-
-            # Move to perimeter (theta=0, rho=1.0)
-            print("Moving to perimeter (rho=1.0)...")
+            # Use the API endpoint which waits for idle
+            print("Moving to perimeter via API...")
 
-            async def do_move():
-                await pattern_manager.move_polar(theta=0, rho=1.0, speed=200)
+            from main import app
+            from fastapi.testclient import TestClient
 
-            loop = asyncio.get_event_loop()
-            loop.run_until_complete(do_move())
+            client = TestClient(app)
+            response = client.post("/move_to_perimeter")
 
-            # Wait for machine to reach idle state
-            print("Waiting for idle...")
-            idle = loop.run_until_complete(connection_manager.check_idle_async(timeout=30))
-            assert idle, "Machine did not reach idle state after move"
+            assert response.status_code == 200, f"API returned {response.status_code}: {response.text}"
+            assert response.json()["success"] is True
 
             # Verify we're near the perimeter
             assert state.current_rho > 0.9, \
@@ -315,20 +309,18 @@ class TestTableMovement:
             print(f"At perimeter: theta={state.current_theta:.3f}, rho={state.current_rho:.3f}")
 
         finally:
-            pattern_manager.motion_controller.stop()
             conn.close()
             state.conn = None
 
     def test_move_to_center(self, hardware_port, run_hardware):
-        """Test moving ball to center (rho=0.0).
+        """Test moving ball to center (rho=0.0) via API endpoint.
 
-        Moves the ball from current position to the center of the table.
+        Uses the /move_to_center endpoint which waits for idle before returning.
         """
         if not run_hardware:
             pytest.skip("Hardware tests disabled")
 
         from modules.connection import connection_manager
-        from modules.core import pattern_manager
         from modules.core.state import state
 
         # Connect
@@ -336,23 +328,17 @@ class TestTableMovement:
         state.conn = conn
 
         try:
-            # Start motion controller
-            if not pattern_manager.motion_controller.running:
-                pattern_manager.motion_controller.start()
-
-            # Move to center (theta=0, rho=0.0)
-            print("Moving to center (rho=0.0)...")
+            # Use the API endpoint which waits for idle
+            print("Moving to center via API...")
 
-            async def do_move():
-                await pattern_manager.move_polar(theta=0, rho=0.0, speed=200)
+            from main import app
+            from fastapi.testclient import TestClient
 
-            loop = asyncio.get_event_loop()
-            loop.run_until_complete(do_move())
+            client = TestClient(app)
+            response = client.post("/move_to_center")
 
-            # Wait for machine to reach idle state
-            print("Waiting for idle...")
-            idle = loop.run_until_complete(connection_manager.check_idle_async(timeout=30))
-            assert idle, "Machine did not reach idle state after move"
+            assert response.status_code == 200, f"API returned {response.status_code}: {response.text}"
+            assert response.json()["success"] is True
 
             # Verify we're near the center
             assert state.current_rho < 0.1, \
@@ -361,7 +347,6 @@ class TestTableMovement:
             print(f"At center: theta={state.current_theta:.3f}, rho={state.current_rho:.3f}")
 
         finally:
-            pattern_manager.motion_controller.stop()
             conn.close()
             state.conn = None