continue sample transfer
This commit is contained in:
Holler Mirko
@@ -390,143 +390,98 @@ class OMNYSampleTransferMixin:
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if self._otransfer_mode_query():
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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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self._oparkz_drive_and_check(-0.9-29*3-42-.05)
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elif slot_number == 3:
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self._oparkz_drive_and_check(-0.9-29*3)
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elif slot_number == 4:
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self._oparkz_drive_and_check(-0.9-29*2)
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elif slot_number == 5:
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self._oparkz_drive_and_check(-0.9-29)
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elif slot_number == 6:
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self._oparkz_drive_and_check(-0.9)
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def otransfer_park_slot '{
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if ($# != 1 ) {
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printf("Wrong number of arguments. otransfer_park_slot <slot>\n")
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exit
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}
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def otransfer_park_loadlock_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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#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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else:
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self._oparkz_leica_slot(slot_number)
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_oparkz_slot($1)
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}'
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def _oparkz_leica_slot(self, slot_number: int):
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if slot_number < 2 or slot_number > 6:
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raise OMNYTransferError(f"Invalid slot number {slot_number} specified. Valid numbers range from 2 to 6.")
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if slot_number == 2:
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self._oparkz_drive_and_check(-6-29*3-42-.05)
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elif slot_number == 3:
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self._oparkz_drive_and_check(-6-29*3)
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elif slot_number == 4:
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self._oparkz_drive_and_check(-6-29*2)
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elif slot_number == 5:
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self._oparkz_drive_and_check(-6-29)
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elif slot_number == 6:
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self._oparkz_drive_and_check(-6)
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def otransfer_park_loadlock_slot '{
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if ($# != 1 ) {
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printf("Wrong number of arguments. otransfer_park_loadlock_slot <slot>\n")
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exit
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}
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#if the valve of the loadlock is not closed, ask before movement
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if(epics_get("XOMNY-ES1-LL1VG1:POSITION")!="CLOSED") {
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printf("Please confirm that the leica transfer is in back position.")
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if(!yesno(1))
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exit
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}
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def _oparkz_drive_and_check(self, targetpos):
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oparkz_current = dev.oparkz.get().readback
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if np.fabs(oparkz_current-targetpos)>=0.05:
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self._otransfer_mode_ensurenot()
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#make sure shield closed
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self._otransfer_ensure_shuttle_closed()
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self._otransfer_shuttle_aligner_down()
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umv(dev.oparkz, targetpos)
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_oparkz_leica_slot($1)
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}'
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def _oparkz_check(self, targetpos) -> bool:
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oparkz_current = dev.oparkz.get().readback
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if np.fabs(oparkz_current-targetpos)<0.05:
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return True
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else:
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return False
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def _oparkz_drive_and_check(targetpos) '{
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if (fabs(A[oparkz]-targetpos)>=0.05)
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{
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_otransfer_mode_ensurenot
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#make sure shield closed
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if (!_ogalil_low_limit_set(1,6))
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{
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_ogalil_drive_to_limit(1,6,0)
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}
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if (!_ogalil_low_limit_set(1,6))
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{
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exit
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}
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_otransfer_shuttle_aligner_down
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umv oparkz targetpos
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}
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}'
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def _oparkz_check(targetpos) '{
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if (fabs(A[oparkz]-targetpos)<0.05)
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return(1)
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else
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return(0)
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}'
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def _oparkz_slot_check() '{
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local parkingposition
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parkingposition=10
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if(_oparkz_check(-0.9))
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parkingposition=6
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if(_oparkz_check(-0.9-29))
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parkingposition=5
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if(_oparkz_check(-0.9-29*2))
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parkingposition=4
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if(_oparkz_check(-0.9-29*3))
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parkingposition=3
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if(_oparkz_check(-0.9-29*3-42-.05))
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parkingposition=2
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def _oparkz_slot_check(self):
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parkingposition=10
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if self._oparkz_check(-0.9):
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parkingposition=6
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elif self._oparkz_check(-0.9-29):
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parkingposition=5
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elif self._oparkz_check(-0.9-29*2):
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parkingposition=4
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elif self._oparkz_check(-0.9-29*3):
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parkingposition=3
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elif self._oparkz_check(-0.9-29*3-42-.05):
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parkingposition=2
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if (parkingposition == 10) {
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printf("Oparkz is not in a parking position.\n")
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}
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else {
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printf("Active parkting position: %d\n", parkingposition)
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}
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return(parkingposition)
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}'
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if parkingposition == 10:
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print("Oparkz is not in a parking position.")
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else:
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print(f"Active parkting position: {parkingposition}")
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return parkingposition
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def _oparkz_slot(slot_number) '{
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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)
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_oparkz_drive_and_check(-0.9-29*3-42-.05)
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if(slot_number == 3)
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_oparkz_drive_and_check(-0.9-29*3)
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if(slot_number == 4)
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_oparkz_drive_and_check(-0.9-29*2)
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if(slot_number == 5)
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_oparkz_drive_and_check(-0.9-29)
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if(slot_number == 6)
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_oparkz_drive_and_check(-0.9)
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if(slot_number < 2 || slot_number >6) {
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printf("Invalid slot number.\n")
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exit
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}
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}'
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def _oparkz_drive_and_check_leica(self, targetpos):
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oparkz_current = dev.oparkz.get().readback
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if (oparkz_current-targetpos)>=0.05:
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self._otransfer_mode_ensurenot()
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#make sure shuttle closed
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self._otransfer_ensure_shuttle_closed()
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self._otransfer_shuttle_aligner_down()
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umv(dev.oparkz, targetpos)
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def _oparkz_leica_slot(slot_number) '{
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if(slot_number == 2)
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_oparkz_drive_and_check(-6-29*3-42-.05)
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if(slot_number == 3)
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_oparkz_drive_and_check(-6-29*3)
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if(slot_number == 4)
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_oparkz_drive_and_check(-6-29*2)
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if(slot_number == 5)
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_oparkz_drive_and_check(-6-29)
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if(slot_number == 6)
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_oparkz_drive_and_check(-6)
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if(slot_number < 2 || slot_number >6) {
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printf("Invalid slot number.\n")
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exit
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}
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}'
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def _oparkz_drive_and_check_leica(targetpos) '{
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if (fabs(A[oparkz]-targetpos)>=0.05)
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{
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_otransfer_mode_ensurenot
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#make sure shuttle closed
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if(!_ogalil_low_limit_set(1,6))
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{
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_ogalil_drive_to_limit(1,6,0)
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}
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if (!_ogalil_low_limit_set(1,6))
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{
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printf("shuttle did not close. exiting.\n")
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exit
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}
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_otransfer_shuttle_aligner_down
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umv oparkz targetpos
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# umv oparkz targetpos
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}
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}'
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#when mounting a sample, this variable is defined at the release position of the sample
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def _otransfer_get_release_position() '{
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local rel_pos
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#when mounting a sample, this variable is defined at the release position of the sample
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def _otransfer_get_release_position(self):
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_ogalil_put(0,"MGrelpos")
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rel_pos=_ogalil_get(0)
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return(rel_pos)
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