DrvCommands.py

# Respond to Command, the command routines are async so we can use await, etc.

# imports
from DomeControl import DomeControl
import asyncio
import re
import time
from setup_logger import logger

class DrvCommands:
 
  def __init__(self):
    self.dmctl = DomeControl()

  async def go_home(self, info):
    print("going home! DrvCommands: go_home")
    await self.dmctl.go_home(info)
 
  async def open_shutter(self, info):
    print("DrvCommands: open_shutter")
    curr_az = info.getInf("ADAZ")
    if (curr_az < 63 or curr_az > 68):
      await self.dmctl.go_home(info)
      time.sleep(5)
    self.dmctl.open_shutter(info)
   
  async def close_shutter(self, info):
    print("DrvCommands: close_shutter")
    curr_az = info.getInf("ADAZ")
    if (curr_az < 63 or curr_az > 68):
      await self.dmctl.go_home(info)
      time.sleep(5)
    self.dmctl.close_shutter(info)
 
  async def set_azimuth(self, az, info):
    print("DrvCommands: set_azimuth: " + str(az))
    await self.dmctl.goto_azimuth(az, info)

  async def send_inf(self, writer, info):
    print("DrvCommands: send_inf")
    inf_pack = info.getInfPack()
    print(inf_pack)
    writer.write(inf_pack)
    print("Sent " + str(inf_pack))
 
  async def command_to_function(self, cmd, writer, info):
    # cmd - command received from driver.
    # writer - asyncronous serial writer to send byte strings to ASCOM driver.
    # info - an instance of the InfPacket class we use as a data structure.

    # if we see a G followed by three numbers, ie. G123 it
    # means move dome to azimuth "123"

    #print("DrvCommands: command_to_function: " + cmd )
    logger.debug('DrvCommands: ' + cmd)

    p = re.compile('G\d{3}')
    if (p.match(cmd)):
      print("calling goto_azimuth: " + str(cmd[1:4]))
      await self.dmctl.goto_azimuth(cmd[1:4], info)
    elif (cmd == "GINF"):         # request for info packet
      print("command_to_function: sending inf")
      await self.send_inf(writer, info)
    elif (cmd == "GHOM"):         # request to send the dome home
      await self.go_home(info)
    elif (cmd == "GOPN"):         # request to open the dome shutters
      await self.open_shutter(info)
    elif (cmd == "GCLS"):         # request to close the dome shutters
      await self.close_shutter(info)
    elif ("ST" in cmd ):         # abort
      self.dmctl.abort(info)
    
    await self.send_inf(writer, info)