From f53c96eb5303f4cc0b0bcb2734fd7f20050485fa Mon Sep 17 00:00:00 2001
From: James Synge <jamessynge@users.noreply.github.com>
Date: Mon, 25 Dec 2017 09:19:30 -0500
Subject: [PATCH] Add minimal support for domes into POCS. (#248)

* Add minimal support for domes into POCS.
* Close dome when entering the parking state and when powering down.
* Tests TBS.
---
 pocs/core.py                         |  7 ++++--
 pocs/observatory.py                  | 33 ++++++++++++++++++++++++++++
 pocs/state/states/default/parking.py |  6 +++++
 3 files changed, 44 insertions(+), 2 deletions(-)

diff --git a/pocs/core.py b/pocs/core.py
index 0f7c60a7e..b2a310f31 100644
--- a/pocs/core.py
+++ b/pocs/core.py
@@ -40,7 +40,6 @@ class POCS(PanStateMachine, PanBase):
 
     Attributes:
         name (str): Name of PANOPTES unit
-        next_state (str): The next state for the state machine
         observatory (`pocs.observatory.Observatory`): The `~pocs.observatory.Observatory` object
 
     """
@@ -223,8 +222,13 @@ def power_down(self):
                 "Shutting down {}, please be patient and allow for exit.".format(
                     self.name))
 
+            if not self.observatory.close_dome():
+                self.logger.critical('Unable to close dome!')
+
             # Park if needed
             if self.state not in ['parking', 'parked', 'sleeping', 'housekeeping']:
+                # TODO(jamessynge): Figure out how to handle the situation where we have both
+                # mount and dome, but this code is only checking for a mount.
                 if self.observatory.mount.is_connected:
                     if not self.observatory.mount.is_parked:
                         self.logger.info("Parking mount")
@@ -295,7 +299,6 @@ def is_safe(self, no_warning=False):
             if no_warning is False:
                 self.logger.warning('Unsafe conditions: {}'.format(is_safe_values))
 
-            # Not safe so park unless we are not active
             if self.state not in ['sleeping', 'parked', 'parking', 'housekeeping', 'ready']:
                 self.logger.warning('Safety failed so sending to park')
                 self.park()
diff --git a/pocs/observatory.py b/pocs/observatory.py
index aeefaf844..bfa41de60 100644
--- a/pocs/observatory.py
+++ b/pocs/observatory.py
@@ -101,6 +101,9 @@ def current_observation(self):
     def current_observation(self, new_observation):
         self.scheduler.current_observation = new_observation
 
+    @property
+    def has_dome(self):
+        return self.dome is not None
 
 ##########################################################################
 # Methods
@@ -110,6 +113,8 @@ def initialize(self):
         """Initialize the observatory and connected hardware """
         self.logger.debug("Initializing mount")
         self.mount.initialize()
+        if self.dome:
+            self.dome.connect()
 
     def power_down(self):
         """Power down the observatory. Currently does nothing
@@ -428,6 +433,34 @@ def autofocus_cameras(self, camera_list=None, coarse=False):
 
         return autofocus_events
 
+    def open_dome(self):
+        """Open the dome, if there is one.
+
+        Returns: False if there is a problem opening the dome,
+                 else True if open (or if not exists).
+        """
+        if not self.dome:
+            return True
+        if not self.dome.connect():
+            return False
+        if not self.dome.is_open:
+            self.logger.info('Opening dome')
+        return self.dome.open()
+
+    def close_dome(self):
+        """Close the dome, if there is one.
+
+        Returns: False if there is a problem closing the dome,
+                 else True if closed (or if not exists).
+        """
+        if not self.dome:
+            return True
+        if not self.dome.connect():
+            return False
+        if not self.dome.is_closed:
+            self.logger.info('Closed dome')
+        return self.dome.close()
+
 ##########################################################################
 # Private Methods
 ##########################################################################
diff --git a/pocs/state/states/default/parking.py b/pocs/state/states/default/parking.py
index d542c41f2..a90b9ac71 100644
--- a/pocs/state/states/default/parking.py
+++ b/pocs/state/states/default/parking.py
@@ -7,5 +7,11 @@ def on_enter(event_data):
 
     pocs.next_state = 'parked'
 
+    if pocs.observatory.has_dome:
+        pocs.say('Closing dome')
+        if not pocs.observatory.close_dome():
+            self.logger.critical('Unable to close dome!')
+            pocs.say('Unable to close dome!')
+
     pocs.say("I'm takin' it on home and then parking.")
     pocs.observatory.mount.home_and_park()