further sample transfer. first gripper movements
This commit is contained in:
Holler Mirko
@@ -23,12 +23,24 @@ class OMNYTransferError(Exception):
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pass
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class OMNYSampleTransferMixin:
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def __init__(self) -> None:
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self.shuttle_was_aligned = {}
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self.shuttle_was_aligned[1]=False
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self.shuttle_was_aligned[2]=False
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self.shuttle_was_aligned[3]=False
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self.shuttle_was_aligned[4]=False
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self.shuttle_was_aligned[5]=False
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self.shuttle_was_aligned[6]=False
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@staticmethod
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def _get_user_param_safe(device, var):
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param = dev[device].user_parameter
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if not param or param.get(var) is None:
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raise ValueError(f"Device {device} has no user parameter definition for {var}.")
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return param.get(var)
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param = dev[device].user_parameter
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if not param or param.get(var) is None:
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raise ValueError(f"Device {device} has no user parameter definition for {var}.")
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return param.get(var)
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def _otransfer_shuttle_aligner_down(self):
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if not dev.oshuttlealign.get_motor_limit_switch()[1]:
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@@ -88,132 +100,132 @@ class OMNYSampleTransferMixin:
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pass
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def _otransfer_shuttle_align(self):
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self._otransfer_gripper_to_park_z()
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self._otransfer_oparkz_safe_shuttle_operation()
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self._otransfer_shuttle_aligner_down()
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_active_shuttle_pos = self._oparkz_slot_check()
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if self.shuttle_was_aligned[_active_shuttle_pos]==True:
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print("shuttle is already aligned.")
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else:
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self._otransfer_gripper_to_park_z()
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self._otransfer_oparkz_safe_shuttle_operation()
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self._otransfer_shuttle_aligner_down()
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#todo
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#global _otransfer_shuttle_was_aligned
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#if (_otransfer_shuttle_was_aligned==0) {
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#make sure shuttle closed
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self._otransfer_ensure_shuttle_closed()
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self._omnycam_parking()
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#make sure shuttle closed
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self._otransfer_ensure_shuttle_closed()
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self._omnycam_parking()
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print("Aligning the shuttle. Please wait.")
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#ensure safety threads are running
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dev.oshuttleopen.controller.socket_put_confirmed("XQ#SAFETY")
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print("Aligning the shuttle")
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#ensure safety threads are running
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dev.oshuttleopen.controller.socket_put_confirmed("XQ#SAFETY")
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#ensure aligner is in down position
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#if (!_ogalil_high_limit_set(1,7))
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#{
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#print("Strange, the aligner is not in the down position. Moving down.")
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#_ogalil_drive_to_limit(1,7,1)
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#}
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#sleep(0.1)
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#ensure aligner is in down position
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#if (!_ogalil_high_limit_set(1,7))
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#{
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#print("Strange, the aligner is not in the down position. Moving down.")
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#_ogalil_drive_to_limit(1,7,1)
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#}
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#sleep(0.1)
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###################################
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#
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# This is a routine for broken hardware
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#
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# The positive movement moves the aligner down. From the geometry
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# of the setup, the negative limit switch will be activated after the
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# positive limit switch, even in a positive movement
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# We have to use this property because the positive switch is stuck.
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###################################
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###################################
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#
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# This is a routine for broken hardware
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#
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# The positive movement moves the aligner down. From the geometry
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# of the setup, the negative limit switch will be activated after the
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# positive limit switch, even in a positive movement
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# We have to use this property because the positive switch is stuck.
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###################################
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# ensure we are in negative switch (with aligner down)
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if not dev.oshuttlealign.get_motor_limit_switch()[0]:
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print("Not in correct start position for alignment.")
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dev.oshuttlealign.controller.socket_put_confirmed("MO")
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if self.OMNYTools.yesno("Shall I try to move it to the correct start position? Do this only once!"):
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print("starting...")
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dev.oshuttlealign.controller.socket_put_confirmed("SHH")
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=200")
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time.sleep(0.01)
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dev.oshuttlealign.controller.socket_put_confirmed("LDH=1")
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dev.oshuttlealign.controller.socket_put_confirmed("BGH")
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time.sleep(1)
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# ensure we are in negative switch (with aligner down)
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if not dev.oshuttlealign.get_motor_limit_switch()[0]:
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print("Not in correct start position for alignment.")
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dev.oshuttlealign.controller.socket_put_confirmed("MO")
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dev.oshuttlealign.controller.socket_put_confirmed("LDH=0")
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else:
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raise OMNYTransferError("issue with aligner")
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# now start aligner movement
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if self.OMNYTools.yesno("Shall I try to move it to the correct start position? Do this only once!"):
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print("starting...")
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dev.oshuttlealign.controller.socket_put_confirmed("SHH")
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=200")
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time.sleep(0.01)
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dev.oshuttlealign.controller.socket_put_confirmed("LDH=1")
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dev.oshuttlealign.controller.socket_put_confirmed("BGH")
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time.sleep(1)
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dev.oshuttlealign.controller.socket_put_confirmed("MO")
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dev.oshuttlealign.controller.socket_put_confirmed("LDH=0")
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else:
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raise OMNYTransferError("issue with aligner")
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# now start aligner movement
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# disable negative switch
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dev.oshuttlealign.controller.socket_put_confirmed("LDH=2")
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# disable negative switch
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dev.oshuttlealign.controller.socket_put_confirmed("LDH=2")
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# move negative direction (ie up) and check out of negative switch
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dev.oshuttlealign.controller.socket_put_confirmed("SHH")
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dev.oshuttlealign.controller.socket_put_confirmed("SPH=3000")
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dev.oshuttlealign.controller.socket_put_confirmed("ACH=60000")
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dev.oshuttlealign.controller.socket_put_confirmed("DCH=60000")
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# move negative direction (ie up) and check out of negative switch
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dev.oshuttlealign.controller.socket_put_confirmed("SHH")
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dev.oshuttlealign.controller.socket_put_confirmed("SPH=3000")
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dev.oshuttlealign.controller.socket_put_confirmed("ACH=60000")
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dev.oshuttlealign.controller.socket_put_confirmed("DCH=60000")
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=-5000")
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time.sleep(0.01)
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dev.oshuttlealign.controller.socket_put_confirmed("BGH")
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while(self._otransfer_wait_aligner_movement()==True):
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time.sleep(0.2)
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=-5000")
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time.sleep(0.01)
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dev.oshuttlealign.controller.socket_put_confirmed("BGH")
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while(self._otransfer_wait_aligner_movement()==True):
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time.sleep(0.2)
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if dev.oshuttlealign.get_motor_limit_switch()[0]:
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dev.oshuttlealign.controller.socket_put_confirmed("MOH")
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raise OMNYTransferError("Aligner did not move or switch error.")
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if dev.oshuttlealign.get_motor_limit_switch()[0]:
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dev.oshuttlealign.controller.socket_put_confirmed("MOH")
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raise OMNYTransferError("Aligner did not move or switch error.")
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# enable negative switch again
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# but disable forward switch (is broken)
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dev.oshuttlealign.controller.socket_put_confirmed("LDH=1")
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# enable negative switch again
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# but disable forward switch (is broken)
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dev.oshuttlealign.controller.socket_put_confirmed("LDH=1")
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# movements for alignment and down again
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=-19500")
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time.sleep(0.01)
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dev.oshuttlealign.controller.socket_put_confirmed("BGH")
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while(self._otransfer_wait_aligner_movement()==True):
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time.sleep(0.2)
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time.sleep(0.5)
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=3000")
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time.sleep(0.01)
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dev.oshuttlealign.controller.socket_put_confirmed("BGH")
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while(self._otransfer_wait_aligner_movement()==True):
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time.sleep(0.2)
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time.sleep(0.5)
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=-3000")
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time.sleep(0.01)
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dev.oshuttlealign.controller.socket_put_confirmed("BGH")
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time.sleep(0.01)
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while(self._otransfer_wait_aligner_movement()==True):
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time.sleep(0.2)
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time.sleep(0.5)
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=23500")
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time.sleep(0.01)
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dev.oshuttlealign.controller.socket_put_confirmed("BGH")
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time.sleep(0.01)
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while(self._otransfer_wait_aligner_movement()==True):
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time.sleep(0.2)
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#_ogalil_put_confirmed( 1,"MOH")
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time.sleep(0.2)
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# move down (positive movement) and check for negative (backward motion) switch
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searchwrongendswitch=0
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#_ogalil_put_confirmed( 1,"SHH")
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while searchwrongendswitch<22 and dev.oshuttlealign.get_motor_limit_switch()[0] == False:
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=200")
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# movements for alignment and down again
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=-19500")
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time.sleep(0.01)
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dev.oshuttlealign.controller.socket_put_confirmed("BGH")
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while(self._otransfer_wait_aligner_movement()==True):
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time.sleep(0.2)
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time.sleep(0.5)
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=3000")
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time.sleep(0.01)
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dev.oshuttlealign.controller.socket_put_confirmed("BGH")
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while(self._otransfer_wait_aligner_movement()==True):
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time.sleep(0.2)
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time.sleep(0.5)
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=-3000")
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time.sleep(0.01)
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dev.oshuttlealign.controller.socket_put_confirmed("BGH")
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time.sleep(0.01)
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while(self._otransfer_wait_aligner_movement()==True):
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time.sleep(0.2)
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searchwrongendswitch+=1
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if dev.oshuttlealign.get_motor_limit_switch()[0]:
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print("Aligner is back down.")
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time.sleep(0.5)
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=23500")
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time.sleep(0.01)
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dev.oshuttlealign.controller.socket_put_confirmed("BGH")
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time.sleep(0.01)
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while(self._otransfer_wait_aligner_movement()==True):
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time.sleep(0.2)
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#_ogalil_put_confirmed( 1,"MOH")
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time.sleep(0.2)
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dev.oshuttlealign.controller.socket_put_confirmed("MOH")
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#todo
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#_otransfer_shuttle_was_aligned=1
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# move down (positive movement) and check for negative (backward motion) switch
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searchwrongendswitch=0
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#_ogalil_put_confirmed( 1,"SHH")
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if not dev.oshuttlealign.get_motor_limit_switch()[0]:
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raise OMNYTransferError("The shuttle aligner did not move back.")
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while searchwrongendswitch<22 and dev.oshuttlealign.get_motor_limit_switch()[0] == False:
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dev.oshuttlealign.controller.socket_put_confirmed("PRH=200")
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time.sleep(0.01)
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dev.oshuttlealign.controller.socket_put_confirmed("BGH")
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time.sleep(0.01)
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while(self._otransfer_wait_aligner_movement()==True):
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time.sleep(0.2)
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searchwrongendswitch+=1
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if dev.oshuttlealign.get_motor_limit_switch()[0]:
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print("Aligner is back down.")
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dev.oshuttlealign.controller.socket_put_confirmed("MOH")
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self.shuttle_was_aligned[_active_shuttle_pos]=True
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if not dev.oshuttlealign.get_motor_limit_switch()[0]:
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raise OMNYTransferError("The shuttle aligner did not move back.")
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def _otransfer_shield_open(self, pin_position):
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if(pin_position>0 and pin_position<7):
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@@ -241,6 +253,9 @@ class OMNYSampleTransferMixin:
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while self._otransfer_wait_opener_movement()==True:
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time.sleep(0.1)
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dev.oshuttleopen.controller.socket_put_confirmed("MOG")
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print("Shuttle is open.")
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else:
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print("Shuttle is open already.")
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if not self._otransfer_is_shuttle_open():
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raise OMNYTransferError("Did not manage to open the lid")
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@@ -420,9 +435,6 @@ class OMNYSampleTransferMixin:
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raise OMNYTransferError("System is in transfer mode.")
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def otransfer_park_slot(self,slot_number:int):
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#todo
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#global _otransfer_shuttle_was_aligned
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#_otransfer_shuttle_was_aligned=0
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if slot_number < 2 or slot_number > 6:
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raise OMNYTransferError(f"Invalid slot number {slot_number} specified. Valid numbers range from 2 to 6.")
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if slot_number == 2:
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@@ -442,15 +454,15 @@ class OMNYSampleTransferMixin:
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raise OMNYTransferError(f"Invalid slot number {slot_number} specified. Valid numbers range from 2 to 6.")
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#if the valve of the loadlock is not closed, ask before movement
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#todo if(epics_get("XOMNY-ES1-LL1VG1:POSITION")!="CLOSED") {
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user_input = input("Please confirm that the leica transfer is in back position [y/n].")
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if user_input != "y":
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raise OMNYTransferError
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if self.OMNYTools.yesno("Please confirm that the leica transfer is in back position."):
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raise OMNYTransferError("Leica shuttle is not in back position.")
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else:
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self._oparkz_leica_slot(slot_number)
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def _oparkz_leica_slot(self, slot_number: int):
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if slot_number < 2 or slot_number > 6:
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raise OMNYTransferError(f"Invalid slot number {slot_number} specified. Valid numbers range from 2 to 6.")
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self.shuttle_was_aligned[slot_number]=False
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if slot_number == 2:
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self._oparkz_drive_and_check(-6-29*3-42-.05)
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elif slot_number == 3:
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@@ -527,7 +539,10 @@ class OMNYSampleTransferMixin:
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#make sure shuttle closed
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self._otransfer_ensure_shuttle_closed()
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if pin_position>6 or pin_position==0:
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if dev.otransx.get().readback > -2:
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self._otransfer_gripper_to_park_z()
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self._otransfer_ensure_shuttle_closed()
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zoffsettransfer=0
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xoffsettransfer=0
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@@ -559,7 +574,8 @@ class OMNYSampleTransferMixin:
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if pin_position in range(1,10):
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#if gripper is at ST, this will move the gripper close to the parking
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#lot prior opening the shuttle
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self._otransfer_gripper_to_park_z()
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if dev.otransx.get().readback < -2:
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self._otransfer_gripper_to_park_z()
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self._otransfer_shuttle_align()
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self._otransfer_shield_open(pin_position)
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_otransy_approach_height=otrans_pin_positions[pin_position][1] #vertical position
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@@ -59,6 +59,13 @@ class GalilController(Controller):
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"all_axes_referenced",
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]
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OKBLUE = '\033[94m'
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OKCYAN = '\033[96m'
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OKGREEN = '\033[92m'
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WARNING = '\033[93m'
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FAIL = '\033[91m'
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ENDC = '\033[0m'
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@threadlocked
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def socket_put(self, val: str) -> None:
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self.sock.put(f"{val}\r".encode())
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@@ -277,14 +284,27 @@ class GalilController(Controller):
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if axis is not None:
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if self.sock.host == "mpc3217.psi.ch":
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#case of omny. possibly consider moving to ogalil
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motor_on = self.is_motor_on(axis.axis_Id)
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if motor_on == True:
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motor_on = self.WARNING + "ON" + self.ENDC
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else:
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motor_on = "OFF"
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folerr_status = self.folerr_status(axis.axis_Id_numeric)
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if folerr_status == True:
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folerr_status = self.WARNING + "True" + self.ENDC
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else:
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folerr_status = "False"
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position = axis.readback.read().get(axis.name).get("value")
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position = f'{position:.3f}'
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t.add_row(
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[
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f"{axis.axis_Id_numeric}/{axis.axis_Id}",
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axis.name,
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self.axis_is_referenced(axis.axis_Id_numeric),
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self.is_motor_on(axis.axis_Id),
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motor_on,
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self.get_motor_limit_switch(axis.axis_Id),
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axis.readback.read().get(axis.name).get("value"),
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position,
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self.motor_temperature(axis.axis_Id_numeric),
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self.folerr_status(axis.axis_Id_numeric),
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]
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@@ -98,6 +98,13 @@ class OMNYGalilController(GalilController):
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"_ogalil_folerr_not_ignore",
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]
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OKBLUE = '\033[94m'
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OKCYAN = '\033[96m'
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OKGREEN = '\033[92m'
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WARNING = '\033[93m'
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FAIL = '\033[91m'
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ENDC = '\033[0m'
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def on(self) -> None:
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"""Open a new socket connection to the controller"""
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self._ogalil_switchsocket_switch_all_on()
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