Add dome-d50, revise Dome functionality

D50's dome added, implementing necessary coopreration between it's dome and mount.
Solved discovered issues with connections and general Dome behaviour.

include/dome.h

@@ -23,6 +23,10 @@
 #include "device.h"
 
 #define DEF_WEATHER_TIMEOUT 10
+#define DEF_CENTRALD_CONTACT_TIMEOUT 10
+#define DEF_INITIAL_SETTLE_TIME 12
+
+#define EVENT_DOMECLOSE_RETRY		RTS2_LOCAL_EVENT + 402
 
 /**
  * Dome, copulas and roof controllers.
@@ -41,12 +45,14 @@ class Dome:public rts2core::Device
 		Dome (int argc, char **argv, int in_device_type = DEVICE_TYPE_DOME, bool inhibit_auto_close = false);
 		virtual ~Dome ();
 
+		virtual void postEvent (rts2core::Event * event);
+
 		virtual void changeMasterState (rts2_status_t old_state, rts2_status_t new_state);
 
 		/**
-		 * Increases ignore timeout by given amount of seconds.
+		 * Set ignore timeout to given amount of seconds from now
 		 *
-		 * @param _ignore_time  Seconds by which a timeout will be increased.
+		 * @param _ignore_time  Seconds of timeout from now
 		 */ 
 		void setIgnoreTimeout (time_t _ignore_time);
 
@@ -174,6 +180,13 @@ class Dome:public rts2core::Device
 		rts2core::ValueString *stateMaster;
 
 		bool closeFailReported;
+
+		double centraldLastContactTime;
+
+		rts2core::ValueTime *closeRepeatTimeAfterPark;
+
+		// this is for not to close the dome right after the daemon initialization, so the connections have time to settle down
+		double initialSettleTime;
 };
 
 }

lib/rts2/dome.cpp

@@ -56,6 +56,9 @@ Dome::Dome (int in_argc, char **in_argv, int in_device_type, bool inhibit_auto_c
 	addOption (OPT_STATE_MASTER, "state-master", 1, "state master - server which guverns opening and closing of dome for evening and morning");
 	addOption (OPT_DONOTCLOSE, "notclose", 0, "do not close (switch to bad weather) on startup");
 	addOption (OPT_IGNORETIMEOUT, "ignore-timeout", 1, "set initial ignore timeout to now + value in seconds");
+
+	createValue (closeRepeatTimeAfterPark, "close_repeat_time", "time [s] after which to retry the close (when equipment repositioning was necessary)", false, RTS2_VALUE_WRITABLE);
+	closeRepeatTimeAfterPark->setValueDouble (3);
 }
 
 
@@ -110,14 +113,28 @@ int Dome::init ()
 		}
 		setMasterConn (conn);
 	}
+
+	centraldLastContactTime = getNow ();
+
+	initialSettleTime = getNow () + DEF_INITIAL_SETTLE_TIME;
+
+	setTimeout (5 * USEC_SEC);
+	setIdleInfoInterval (5);
+
 	return 0;
 }
 
 
 int Dome::domeOpenStart ()
 {
+	deleteTimers (EVENT_DOMECLOSE_RETRY);
+
 	if (isOpened () == -2)
+	{
+		maskState (DOME_DOME_MASK | BOP_EXPOSURE | DEVICE_BLOCK_OPEN | DEVICE_BLOCK_CLOSE, DOME_OPENED | DEVICE_BLOCK_CLOSE, "dome opened");
+		logStream (MESSAGE_REPORTIT | MESSAGE_INFO) << "dome (already) opened" << sendLog;
 		return 0;
+	}
 
 	if (isGoodWeather () == false)
 		return -1;
@@ -137,8 +154,14 @@ int Dome::domeOpenStart ()
 
 int Dome::domeCloseStart ()
 {
+	deleteTimers (EVENT_DOMECLOSE_RETRY);
+
 	if (isClosed () == -2)
+	{
+		maskState (DOME_DOME_MASK | DEVICE_BLOCK_OPEN | DEVICE_BLOCK_CLOSE, DOME_CLOSED | DEVICE_BLOCK_OPEN, "dome closed");
+		//logStream (MESSAGE_INFO) << "dome (already) closed" << sendLog;
 		return 0;
+	}
 
 	int ret = startClose ();
 
@@ -153,9 +176,10 @@ int Dome::domeCloseStart ()
 	{
 		if ((getState () & DOME_DOME_MASK) != DOME_WAIT_CLOSING)
 		{
-			logStream (MESSAGE_REPORTIT | MESSAGE_INFO) << "wait for equipment to stow" << sendLog;
+			logStream (MESSAGE_REPORTIT | MESSAGE_INFO) << "waiting for devices to move into a position safe for dome to close" << sendLog;
 		}
-		maskState (DOME_DOME_MASK | BOP_EXPOSURE, DOME_WAIT_CLOSING, "wait for equipment to stow");
+		maskState (DOME_DOME_MASK | BOP_EXPOSURE, DOME_WAIT_CLOSING, "waiting for devices to move into a position safe for dome to close");
+		addTimer (closeRepeatTimeAfterPark->getValueDouble (), new rts2core::Event (EVENT_DOMECLOSE_RETRY));
 		return 0;
 	}
 
@@ -171,6 +195,8 @@ int Dome::domeCloseStart ()
 
 int Dome::domeStop ()
 {
+	deleteTimers (EVENT_DOMECLOSE_RETRY);
+
 	int ret = stop ();
 	if (ret < 0)
 	{
@@ -205,13 +231,15 @@ int Dome::checkOpening ()
 		}
 		if (ret == -1)
 		{
+			setTimeout (2 * USEC_SEC);	// this can be "overloaded" by a value in local endOpen ();
 			endOpen ();
 			infoAll ();
 			logStream (MESSAGE_CRITICAL | MESSAGE_REPORTIT) << "dome opening interrupted" << sendLog;
 			maskState (DOME_DOME_MASK | BOP_EXPOSURE | DEVICE_BLOCK_OPEN | DEVICE_BLOCK_CLOSE, DOME_OPENED | DEVICE_BLOCK_CLOSE, "dome opening interrupted");
 		}
 		if (ret == -2)
 		{
+			setTimeout (2 * USEC_SEC);	// this can be "overloaded" by a value in local endOpen ();
 			ret = endOpen ();
 			infoAll ();
 			if (ret)
@@ -237,13 +265,15 @@ int Dome::checkOpening ()
 		}
 		if (ret == -1)
 		{
+			setTimeout (10 * USEC_SEC);	// this can be "overloaded" by a value in local endClose ();
 			endClose ();
 			infoAll ();
 			logStream (MESSAGE_CRITICAL | MESSAGE_REPORTIT) << "dome closing interrupted" << sendLog;
 			maskState (DOME_DOME_MASK | DEVICE_BLOCK_OPEN | DEVICE_BLOCK_CLOSE, DOME_CLOSED | DEVICE_BLOCK_OPEN, "closing finished with error");
 		}
 		if (ret == -2)
 		{
+			setTimeout (5 * USEC_SEC);	// this can be "overloaded" by a value in local endClose ();
 			ret = endClose ();
 			infoAll ();
 			if (ret)
@@ -267,6 +297,9 @@ int Dome::checkOpening ()
 
 int Dome::idle ()
 {
+	if (getNow () < initialSettleTime)	// give connections time to settle down
+		return Device::idle ();
+
 	checkOpening ();
 	if (isGoodWeather ())
 	{
@@ -286,7 +319,10 @@ int Dome::idle ()
 	}
 	// update our own weather state..
 	bool allCen = allCentraldRunning ();
-	if (allCen && getNextOpen () < getNow ())
+	if (allCen)
+		centraldLastContactTime = getNow ();
+
+	if ((allCen || centraldLastContactTime + DEF_CENTRALD_CONTACT_TIMEOUT > getNow ()) && getNextOpen () < getNow ())
 	{
 		valueGood (nextGoodWeather);
 		setWeatherState (true, "can open dome");
@@ -302,13 +338,28 @@ int Dome::idle ()
 	return Device::idle ();
 }
 
+void Dome::postEvent (rts2core::Event * event)
+{
+	switch (event->getType ())
+	{
+		case EVENT_DOMECLOSE_RETRY:
+			logStream (MESSAGE_DEBUG) << "postEvent: EVENT_DOMECLOSE_RETRY" << sendLog;
+			domeCloseStart ();
+			break;
+	}
+	rts2core::Device::postEvent (event);
+}
+
 int Dome::closeDomeWeather ()
 {
 	int ret = 0;
 	if (getIgnoreMeteo () == false)
 	{
 		if (domeAutoClose == NULL || domeAutoClose->getValueBool () == true)
+		{
+			logStream (MESSAGE_DEBUG) << "closeDomeWeather: domeCloseStart" << sendLog;
 			ret = domeCloseStart ();
+		}
 		setMasterStandby ();
 		return ret;
 	}
@@ -326,15 +377,21 @@ int Dome::standby ()
 {
 	ignoreTimeout->setValueDouble (getNow () - 1);
 	if (domeAutoClose == NULL || domeAutoClose->getValueBool () == true)
+	{
+		logStream (MESSAGE_DEBUG) << "standby: domeCloseStart" << sendLog;
 		return domeCloseStart ();
+	}
 	return 0;
 }
 
 int Dome::off ()
 {
 	ignoreTimeout->setValueDouble (getNow () - 1);
 	if (domeAutoClose == NULL || domeAutoClose->getValueBool () == true)
+	{
+		logStream (MESSAGE_DEBUG) << "off: domeCloseStart" << sendLog;
 		return domeCloseStart ();
+	}
 	return 0;
 }
 
@@ -406,7 +463,7 @@ void Dome::setIgnoreTimeout (time_t _ignore_time)
 {
 	time_t now;
 	time (&now);
-	now += _ignore_time;
+	ignoreTimeout->setValueDouble (getNow () + _ignore_time);
 }
 
 bool Dome::getIgnoreMeteo ()
@@ -436,6 +493,7 @@ int Dome::commandAuthorized (rts2core::Connection * conn)
 	}
 	else if (conn->isCommand (COMMAND_CLOSE))
 	{
+		logStream (MESSAGE_DEBUG) << "commandAuthorized: COMMAND_CLOSE" << sendLog;
 		return (domeCloseStart () == 0 ? 0 : -2);
 	}
 	else if (conn->isCommand (COMMAND_STOP))

src/dome/Makefile.am

@@ -1,8 +1,8 @@
 bin_PROGRAMS = rts2-dome-bart rts2-dome-apm rts2-dome-fram \
 	rts2-cupola-mark rts2-cupola-dummy rts2-dome-bootes1a \
 	rts2-dome-bootes1b rts2-dome-zelio rts2-dome-opentpl \
-	rts2-cupola-maxdomeii rts2-cupola-saao rts2-cupola-tcsng \
-	rts2-cupola-ddw
+	rts2-dome-d50 rts2-cupola-maxdomeii rts2-cupola-saao \
+	rts2-cupola-tcsng rts2-cupola-ddw
 
 SUBDIRS = zelio
 
@@ -32,6 +32,8 @@ rts2_dome_zelio_SOURCES = zelio.cpp
 
 rts2_dome_opentpl_SOURCES = opentpl.cpp
 
+rts2_dome_d50_SOURCES = d50.cpp
+
 rts2_dome_ahe_SOURCES = ahe.cpp 
 
 rts2_cupola_maxdomeii_SOURCES = maxdomeii.cpp

src/dome/bart.cpp

@@ -66,8 +66,6 @@ namespace rts2dome
 class Bart:public Ford
 {
 	private:
-		unsigned char spinac[2];
-
 		int handle_zasuvky (int zas);
 
 		time_t domeTimeout;
@@ -354,10 +352,10 @@ int Bart::info ()
 	ret = zjisti_stav_portu ();
 	if (ret)
 		return -1;
-	sw_state->setValueInteger (!getPortState (KONCAK_OTEVRENI_JIH));
-	sw_state->setValueInteger (sw_state->getValueInteger () | (!getPortState (SMER) << 1));
-	sw_state->setValueInteger (sw_state->getValueInteger () | (!getPortState (KONCAK_ZAVRENI_JIH) << 2));
-	sw_state->setValueInteger (sw_state->getValueInteger () | (!getPortState (MOTOR) << 3));
+	sw_state->setValueInteger ((!getPortState (KONCAK_OTEVRENI_JIH))
+		| (!getPortState (SMER) << 1)
+		| (!getPortState (KONCAK_ZAVRENI_JIH) << 2)
+		| (!getPortState (MOTOR) << 3));
 	domeMotorPower->setValueBool (getPortState (MOTOR));
 	domeMotorDirection->setValueInteger (getPortState (SMER));
 	domeSouthSwitchOpened->setValueInteger (getPortState (KONCAK_OTEVRENI_JIH));