Parking cleanups

bin/pocs_shell

@@ -193,9 +193,12 @@ Hardware names: {}   (or all for all hardware)'''.format(
             try:
                 self.pocs.run()
             except KeyboardInterrupt:
-                print_warning('POCS interrupted, skipping states and parking')
-                self.pocs.observatory.mount.home_and_park()
-                self._running = False
+                print_warning('POCS interrupted, parking')
+                if self.pocs.state not in ['sleeping', 'housekeeping', 'parked', 'parking']:
+                    self.pocs.park()
+                else:
+                    self.pocs.observatory.mount.home_and_park()
+                self._obs_run_retries = 0  # Don't retry
             finally:
                 print_info('POCS stopped.')
         else:

pocs/state/states/default/parked.py

@@ -2,26 +2,26 @@
 def on_enter(event_data):
     """ """
     pocs = event_data.model
-    pocs.say("I'm parked now. Phew.")
+    pocs.say("I'm parked now.")
 
-    has_valid_observations = pocs.observatory.scheduler.has_valid_observations
-
-    if has_valid_observations:
-        if pocs.is_safe():
-            if pocs.should_retry is False or pocs.run_once is True:
-                pocs.say("Done retrying for this run, going to clean up and shut down!")
-                pocs.next_state = 'housekeeping'
-            else:  # This branch will only happen if there is an error causing a shutdown
+    if pocs.run_once is True:
+        pocs.say("Done running loop, going to clean up and sleep!")
+        pocs.next_state = 'housekeeping'
+    elif pocs.should_retry is False:
+        pocs.say("Done with retrying loop, going to clean up and sleep!")
+        pocs.next_state = 'housekeeping'
+    else:
+        if pocs.observatory.scheduler.has_valid_observations:
+            if pocs.is_safe():
                 pocs.say("Things look okay for now. I'm going to try again.")
                 pocs.next_state = 'ready'
-        else:  # Normal end of night
-            pocs.say("Cleaning up for the night!")
-            pocs.next_state = 'housekeeping'
-    else:
-        pocs.say("No observations found.")
-        # TODO Should check if we are close to morning and if so do some morning
-        # calibration frames rather than just waiting for 30 minutes then shutting down.
-        if pocs.run_once is False:
+            else:  # Normal end of night
+                pocs.say("Cleaning up for the night!")
+                pocs.next_state = 'housekeeping'
+        else:
+            pocs.say("No observations found.")
+            # TODO Should check if we are close to morning and if so do some morning
+            # calibration frames rather than just waiting for 30 minutes then shutting down.
             pocs.say("Going to stay parked for half an hour then will try again.")
 
             while True:
@@ -40,6 +40,3 @@ def on_enter(event_data):
                     break
                 else:
                     pocs.say("Seems to be bad weather. I'll wait another 30 minutes.")
-        else:
-            pocs.say("Only wanted to run once so cleaning up!")
-            pocs.next_state = 'housekeeping'