fixing broken calibration thread condition

domehunter/dome_control.py

@@ -184,7 +184,7 @@ def __init__(self,
         self.home_az = Longitude(home_azimuth * u.deg)
         # need something to let us know when dome is calibrating so home sensor
         # activation doesnt zero encoder counts
-        self.calibrating = False
+        self._calibrating = False
         # instance variable to track rotations during calibration
         self.rotation_count = 0
         # instance variable that is over written in calibrate routine
@@ -407,10 +407,12 @@ def calibrate_dome_encoder_counts(self, num_cal_rotations=2):
         logger.debug(f'calibrate_dome_encoder_counts: Starting calibration rotations.')
         self._move_event.set()
         self._rotate_dome(Direction.CW)
-        self.calibrating = True
-        calibrate = threading.Thread(target=self._thread_condition,
-                                       args=(self._calibration_condition,))
+        self._calibrating = True
+        calibrate = threading.Thread(target=self._calibrate)
+        cal_monitor = threading.Thread(target=self._thread_condition,
+                                       args=(self._calibration_completed,))
         calibrate.start()
+        cal_monitor.start()
 
     def find_home(self):
         """
@@ -483,7 +485,7 @@ def _thread_condition(self, trigger_condition):
         self._stop_moving()
         # reset various dome state variables/events
         self._move_event.clear()
-        self.calibrating = False
+        self._calibrating = False
         self.rotation_count = 0
         return
 
@@ -501,12 +503,17 @@ def _goto_az_condition(self):
         return delta_az <= self.az_position_tolerance
 
     def _find_home_condition(self):
-        """Send True if the dome is at home."""
+        """Return True if the dome is at home."""
         # need a callable method for _thread_condition
         return self._home_sensor.is_active
 
-    def _calibration_condition(self):
-        """Send True once dome completes desired number of rotations"""
+    def _calibration_completed(self):
+        """Return True if both calibrating and move_event flags are True"""
+        cal_in_progress = self._calibrating and self._move_event.is_set()
+        return not cal_in_progress
+
+    def _calibrate(self):
+        """Calibration method to be called from within a non-blocking thread"""
         start = time.time()
         # if self.testing:
         #     for i in range(self.num_cal_rotations):
@@ -516,18 +523,9 @@ def _calibration_condition(self):
 
         while True:
             logger.debug(f'Loop {time.time() - start}: rot_count [{self.rotation_count}], encoder_count [{self.encoder_count}]')
-
-            # for testing, we want to simulate the home activation/inactivation
-            # as well as ticks in a rotation. We only want this once per
-            # rotation but need a continuous polling condition to allow for
-            # immediate aborts.
-            # so here we check for a difference in the last loops rot count
-            # and the current one, so that the clause is only triggered
-            # once after each triggering of the home switch.
             logger.debug(f'Simulated rotation underway {self._simulated_rotation_event.is_set()}')
             if self.testing and not self._simulated_rotation_event.is_set():
                 logger.debug(f'Calibration monitor thread: Completion of simulated rotation detected, simulating next rotation.')
-
                 simulated_rotation = threading.Thread(target=self._simulate_rotation)
                 if self.rotation_count >= self.num_cal_rotations:
                     # if we have completed the number of calibration rotations,
@@ -541,7 +539,6 @@ def _calibration_condition(self):
         # counted over n rotations
         self._degrees_per_tick = Angle(
             360 / (self.encoder_count / self.rotation_count) * u.deg)
-        return True
 
     def _set_at_home(self):
         """
@@ -552,11 +549,11 @@ def _set_at_home(self):
         # don't want to zero encoder while calibrating
         # note: because Direction.CW is +1 and Direction.CCW is -1, need to
         # add 1 to self.current_direction, to get CCW to evaluate to False
-        if not self.calibrating and bool(self.current_direction + 1):
+        if not self._calibrating and bool(self.current_direction + 1):
             logger.debug(f'_set_at_home: Passing home clockwise, zeroing encoder counts.')
             self._encoder_count = 0
         # if we are calibrating, increment the rotation count
-        if self.calibrating:
+        if self._calibrating:
             logger.debug(f'_set_at_home: Home triggered during calibration, incrementing calibration rotation count.')
             self.rotation_count += 1
 

examples/dome_control_example.ipynb

@@ -6,15 +6,16 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "from domehunter.dome_control import Dome\n",
-    "import astropy.units as u\n",
-    "from astropy.coordinates import Angle, Longitude\n",
-    "\n",
     "\"\"\"\n",
     "When the domehunter package tries to import the sn3218 library it will either find it isn't installed, \n",
     "or it wont detect the hardware it is expecting in both cases a warning will be raised. If you are \n",
     "testing without the automationHAT this warning can be ignored.\n",
-    "\"\"\""
+    "\"\"\"\n",
+    "\n",
+    "from domehunter.dome_control import Dome\n",
+    "import astropy.units as u\n",
+    "from astropy.coordinates import Angle, Longitude\n",
+    "import time"
    ]
   },
   {
@@ -124,7 +125,9 @@
    "source": [
     "\"\"\"Now we can tell it to go to an azimuth of 300 degrees. The dome will realise it is quicker to rotate anticlockwise\"\"\"\n",
     "\n",
-    "testdome.goto_az(300)"
+    "testdome.goto_az(300)\n",
+    "while testdome.movement_thread_active:\n",
+    "    time.sleep(1)"
    ]
   },
   {
@@ -163,18 +166,13 @@
     "every movement, once the dome_az is update the encoder is set to the corresponding number of \n",
     "ticks as if it had just rotated from azimuth of zero to the current location \n",
     "(encoder_count = dome_az/az_per_tick)\n",
-    "\"\"\""
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "\"\"\"Now send the dome to an azimuth of 2 degrees, in this case the dome will decide to rotate clockwise.\"\"\"\n",
     "\n",
-    "testdome.goto_az(2)"
+    "Now send the dome to an azimuth of 2 degrees, in this case the dome will decide to rotate clockwise.\n",
+    "\"\"\"\n",
+    "\n",
+    "testdome.goto_az(2)\n",
+    "while testdome.movement_thread_active:\n",
+    "    time.sleep(1)"
    ]
   },
   {