From e4529f3f23916706b02ea03fffd9e49a924f6fba Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20S=C3=A1nchez-Gallego?= <gallegoj@uw.edu>
Date: Sun, 23 Jul 2023 17:53:01 +0000
Subject: [PATCH] Park telescopes before operating the enclosure

---
 CHANGELOG.md                  |  1 +
 src/gort/devices/enclosure.py | 42 +++++++++++++++++++++++++++++++----
 2 files changed, 39 insertions(+), 4 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 11a8127..b0c7cf1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,7 @@
 * Prevent multiple devices reconnecting to RabbitMQ at the same time.
 * Set the `OBJECT` header keyword in spectrograph exposures.
 * Telescopes keep track of whether they have been homed.
+* Telescopes will move to park automatically when trying to open or close the dome.
 
 ### 🔧 Fixed
 
diff --git a/src/gort/devices/enclosure.py b/src/gort/devices/enclosure.py
index b3e8fac..0cde8e9 100644
--- a/src/gort/devices/enclosure.py
+++ b/src/gort/devices/enclosure.py
@@ -35,15 +35,49 @@ async def status(self):
 
         return reply.flatten()
 
-    async def open(self):
-        """Open the enclosure dome."""
+    async def _prepare_telescopes(self):
+        """Moves telescopes to park position before opening/closing the enclosure."""
+
+        self.write_to_log(
+            "Moving telescopes to park before operating the dome.",
+            "warning",
+        )
+        await self.gort.telescopes.goto_named_position("park")
+
+    async def open(self, park_telescopes: bool = True):
+        """Open the enclosure dome.
+
+        Parameters
+        ----------
+        park_telescopes
+            Move the telescopes to the park position before opening the
+            enclosure to prevent dust or other debris falling on them.
+
+        """
+
+        if park_telescopes:
+            await self._prepare_telescopes()
 
         self.write_to_log("Opening the enclosure ...", level="info")
         await self.actor.commands.dome.commands.open()
         self.write_to_log("Enclosure is now open.", level="info")
 
-    async def close(self, force: bool = False):
-        """Close the enclosure dome."""
+    async def close(self, park_telescopes: bool = True, force: bool = False):
+        """Close the enclosure dome.
+
+        Parameters
+        ----------
+        park_telescopes
+            Move the telescopes to the park position before closing the
+            enclosure to prevent dust or other debris falling on them.
+        force
+            Tries to closes the dome even if the system believes it is
+            already closed.
+
+        """
+
+        if park_telescopes:
+            await self._prepare_telescopes()
 
         self.write_to_log("Closing the enclosure ...", level="info")
         await self.actor.commands.dome.commands.close(force=force)