Skip parking if already PARKED; add state monitoring loop

- Skip parking in the park_dome method if the dome is already in the
  PARKED state.
- Add a helper function to monitor the dome's transition to the PARKED
  state, skipping intermediary states before reaching the final PARKED
  state.

python/lsst/ts/observatory/control/maintel/mtcs.py

@@ -579,6 +579,61 @@ async def dome_el_in_position(self) -> str:
  await self._dome_el_in_position.wait()
  return "Dome elevation in position."
 
+ async def wait_for_dome_state(
+ self,
+ expected_states: set[MTDome.MotionState],
+ bad_states: set[MTDome.MotionState],
+ timeout: float,
+ check_in_position: bool = False,
+ ) -> None:
+ """Wait for a specific dome state.
+
+ Parameters
+ ----------
+ expected_states : set[MTDome.MotionState]
+ Valid states to transition into while un-parking.
+ bad_states : set[MTDome.MotionState]
+ States that are not allowed while un-parking and should raise an
+ error.
+ timeout : float
+ Maximum time to wait for the correct state.
+
+ Raises
+ ------
+ RuntimeError
+ If a bad state is encountered or the expected state is not reached
+ in time.
+ """
+ az_motion = await self.rem.mtdome.evt_azMotion.aget(timeout=self.long_timeout)
+ while az_motion.state not in expected_states:
+ az_motion = await self.rem.mtdome.evt_azMotion.next(
+ Flush=False, timeout=timeout
+ )
+
+ if az_motion.state in bad_states:
+ raise RuntimeError(
+ f"Dome transitioned to an invalid state:" f" {az_motion.state}"
+ )
+
+ # If check_in_position is True, verify the dome is in the correct
+ # position.
+ if check_in_position and not az_motion.inPosition:
+ self.log.debug(
+ f"Dome not yet in position. Current state: " f"{az_motion.state}."
+ )
+
+ self.log.debug(
+ f"Dome state: {az_motion.state}, inPosition: " f"{az_motion.inPosition}"
+ )
+
+ # If we reach this point, the dome has successfully reached an
+ # expected state.
+ if check_in_position and not az_motion.inPosition:
+ raise RuntimeError(
+ f"Dome reached the expected state "
+ f"{az_motion.state} but is not yet in position."
+ )
+
  async def park_dome(self) -> None:
  """Park the dome by moving it to the park azimuth."""
  self.log.info(f"Parking dome at azimuth {self.dome_park_az}.")
@@ -588,19 +643,36 @@ async def park_dome(self) -> None:
  message="All components need to be enabled for parking the Dome."
  )
 
- # Move the dome to the park position
- await self.rem.mtdome.cmd_park.start(timeout=self.long_timeout)
+ # check first if Dome is already in PARKED state
+ az_motion = await self.rem.mtdome.evt_azMotion.aget(timeout=self.fast_timeout)
 
- # Wait for the dome to emit the evt_azMotion event in the PARKED state
- self.log.info("Waiting for dome to reach the PARKED status.")
+ if az_motion.state == MTDome.MotionState.PARKED:
+ self.log.info("Dome is already in PARKED state.")
+ else:
+ # Move the dome to the park position
+ await self.rem.mtdome.cmd_park.start(timeout=self.long_timeout)
+
+ # Define expected and bad states for parking
+ expected_states = {MTDome.MotionState.PARKED}
+ bad_states = {
+ MTDome.MotionState.ERROR,
+ MTDome.MotionState.UNDETERMINED,
+ MTDome.MotionState.DISABLED,
+ MTDome.MotionState.DISABLING,
+ }
 
- az_motion = await self.rem.mtdome.evt_azMotion.next()
+ # Wait for the dome to emit the evt_azMotion event in the PARKED
+ # state
+ self.log.info("Waiting for dome to reach the PARKED state.")
 
- # Check if the dome is in the PARKED state and in position
- if az_motion.state == MTDome.MotionState.PARKED and az_motion.inPosition:
- self.log.info("Dome parked successfully.")
- else:
- raise RuntimeError("Dome did not reach the park azimuth.")
+ # Wait for the dome to park, ensuring it doesn't reach an invalid
+ # state
+ await self.wait_for_dome_state(
+ expected_states,
+ bad_states,
+ timeout=self.long_timeout,
+ check_in_position=True,
+ )
 
  def set_azel_slew_checks(self, wait_dome: bool) -> typing.Any:
  """Handle azEl slew to wait or not for the dome.