From c266fcbd967682b222844b515730a15900ade161 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20S=C3=A1nchez-Gallego?= <gallegoj@uw.edu>
Date: Tue, 26 Nov 2024 03:30:40 +0000
Subject: [PATCH] Add reporting of roll-off error state and allow resetting on
 error

---
 CHANGELOG.md                         |  7 +++++++
 python/lvmecp/actor/commands/dome.py | 12 ++++++++++++
 python/lvmecp/dome.py                |  6 ++++++
 python/lvmecp/etc/lvmecp.yml         |  9 +++++----
 4 files changed, 30 insertions(+), 4 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8198813..36316bc 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,12 @@
 # Changelog
 
+## Next version
+
+### ✨ Improved
+
+* Add reporting of roll-off error state and allow resetting on error.
+
+
 ## 0.8.4 - November 3, 2024
 
 ### ✨ Improved
diff --git a/python/lvmecp/actor/commands/dome.py b/python/lvmecp/actor/commands/dome.py
index edb7b8b..965c482 100644
--- a/python/lvmecp/actor/commands/dome.py
+++ b/python/lvmecp/actor/commands/dome.py
@@ -95,3 +95,15 @@ async def stop(command: ECPCommand):
     await command.actor.plc.dome.stop()
 
     return command.finish()
+
+
+@dome.command()
+async def reset(command: ECPCommand, force=False):
+    """Resets dome error state."""
+
+    try:
+        await command.actor.plc.dome.reset()
+    except DomeError as err:
+        return command.fail(err)
+
+    return command.finish()
diff --git a/python/lvmecp/dome.py b/python/lvmecp/dome.py
index cb1940b..84c1a01 100644
--- a/python/lvmecp/dome.py
+++ b/python/lvmecp/dome.py
@@ -166,3 +166,9 @@ async def stop(self):
         await self.plc.modbus["drive_enabled"].set(False)
 
         await self.update(use_cache=False)
+
+    async def reset(self):
+        """Resets the roll-off error state."""
+
+        await self.modbus["rolloff_error_reset"].set(1)
+        await asyncio.sleep(1)
diff --git a/python/lvmecp/etc/lvmecp.yml b/python/lvmecp/etc/lvmecp.yml
index dea5a96..152eb6a 100644
--- a/python/lvmecp/etc/lvmecp.yml
+++ b/python/lvmecp/etc/lvmecp.yml
@@ -114,13 +114,14 @@ modbus:
       address: 149
       mode: holding_register
       group: dome
-    dome_status1:
+    rolloff_lockout:
       address: 410
-      mode: holding_register
       group: dome
-    dome_status2:
+    rolloff_error:
       address: 411
-      mode: holding_register
+      group: dome
+    rolloff_error_reset:
+      address: 412
       group: dome
     oxygen_read_utilities_room:
       address: 599