From 46dc7eb5a0db9fde2cf172abdd6660f356653121 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20S=C3=A1nchez-Gallego?= <gallegoj@uw.edu>
Date: Tue, 28 May 2024 20:48:05 -0700
Subject: [PATCH] Full implementation

---
 src/hal/actor/commands/abort_exposures.py | 28 +++++++++++++++++++----
 src/hal/helpers/apogee.py                 |  2 ++
 src/hal/helpers/boss.py                   | 12 ++++++----
 3 files changed, 33 insertions(+), 9 deletions(-)

diff --git a/src/hal/actor/commands/abort_exposures.py b/src/hal/actor/commands/abort_exposures.py
index 1686c65..e68d085 100644
--- a/src/hal/actor/commands/abort_exposures.py
+++ b/src/hal/actor/commands/abort_exposures.py
@@ -8,14 +8,16 @@
 
 from __future__ import annotations
 
+import asyncio
+
 from typing import TYPE_CHECKING
 
 from . import hal_command_parser
 
 
 if TYPE_CHECKING:
-
-    from .. import HALCommandType
+    from hal.actor import HALCommandType
+    from hal.macros.expose import ExposeMacro
 
 
 __all__ = ["abort_exposures"]
@@ -25,12 +27,28 @@
 async def abort_exposures(command: HALCommandType):
     """Aborts ongoing exposures.."""
 
-    if command.actor.observatory == "APO":
-        return command.fail("abort-exposures is not supported for APO.")
+    expose_macro = command.actor.helpers.macros["expose"]
+    assert isinstance(expose_macro, ExposeMacro)
+
+    if expose_macro.running:
+        command.warning("Cancelling the expose macro.")
+        expose_macro.cancel(now=True)
+
+    command.warning("Aborting ongoing exposures.")
 
     tasks = [
         command.actor.helpers.apogee.abort(command),
         command.actor.helpers.boss.abort(command),
     ]
 
-    return command.finish()
+    results = await asyncio.gather(*tasks, return_exceptions=True)
+    for iresult, result in enumerate(results):
+        instrument = ["APOGEE", "BOSS"][iresult]
+        if isinstance(result, Exception):
+            return command.fail(f"Failed to abort {instrument} exposure: {result!s}")
+        elif result is not True:
+            return command.fail(f"Unkown error while aborting {instrument} exposure.")
+        else:
+            continue
+
+    return command.finish(text="Exposures have been aborted.")
diff --git a/src/hal/helpers/apogee.py b/src/hal/helpers/apogee.py
index cf62a83..ccba18a 100644
--- a/src/hal/helpers/apogee.py
+++ b/src/hal/helpers/apogee.py
@@ -311,6 +311,8 @@ async def abort(self, command: HALCommandType):
 
         await self._send_command(command, "apogee", "stop", time_limit=60)
 
+        return True
+
 
 class APOGEEGangHelper:
     """Helper for the APOGEE gang connector."""
diff --git a/src/hal/helpers/boss.py b/src/hal/helpers/boss.py
index 5b5ef03..418c1d5 100644
--- a/src/hal/helpers/boss.py
+++ b/src/hal/helpers/boss.py
@@ -252,10 +252,14 @@ async def readout(self, command: HALCommandType):
     async def abort(self, command: HALCommandType):
         """Aborts the ongoing exposure."""
 
-        if not self.actor.observatory == "LCO":
-            raise ValueError("abort is not supported at APO.")
-
         if not self.is_exposing():
+            command.warning("No exposure to abort.")
             return True
 
-        await self._send_command(command, "apogee", "abort", time_limit=60)
+        if self.actor.observatory == "LCO":
+            await self._send_command(command, "yao", "abort --reset", time_limit=60)
+        else:
+            await self._send_command(command, "boss", "abort", time_limit=60)
+            await self._send_command(command, "boss", "clearExposure", time_limit=30)
+
+        return True