tell_client.py: added more explicit logging and a catch all error for wait_events, May remove this,

2026-05-29 10:10:27 +02:00
parent 2715f4694e
commit c971f70814
1 changed files with 67 additions and 63 deletions
@@ -24,7 +24,7 @@ from aare.common.exception_handler import (
    TellConnectionException,
    TellMountFailedException,
    TellCommandWhileBusyException,
-    ManualMountException
+    ManualMountException, TellCommunicationError
 )
 from aare.common.logger_config import setup_logger

@@ -144,7 +144,7 @@ class TellClient:
        Returns an exception if the command result doesnt return completed or removed"""
        self.wait_not_busy(timeout)
        result = self.get_result(self._last_cmd_id)
-        logger.debug(f"{msg} {result}")
+        logger.debug(f"getting result for command {self._last_cmd_id}: {result}")
        status = result["status"]
        if "completed" != status:
            if "removed" != status:
@@ -195,75 +195,79 @@ class TellClient:
            raise TellCommandWhileBusyException("mount received while robot is busy")

        logger.info(f"loading sample {sample} from segment {segment} - {puck}")
-
+        wait_timeout = timeout + self.estimate_mounting_time(segment)
        self._last_cmd_id = self.start_cmd(
            "mount", segment, puck, sample, force, read_dm, auto_unmount
        )

-        wait_timeout = timeout + self.estimate_mounting_time(segment)
        logger.info("waiting for mount to complete")
-        if wait and segment in "ABCDEF":
-            event, value = self.backend.wait_events(
-                {
-                    "state": None,
-                    "Motion Task": "dry",
-                    "Gripper detection": None,
-                    "Motion Sync": "Robot Clear after mount",
-                },
-                timeout=wait_timeout,
-            )
-            logger.info(f"event: {event} occurred with value: {value}")
-            if event is None or event == "state":
-                logger.info(f"event: {event} occurred with value: {value}, checking command completed okay")
+        try:
+            if wait and segment in "ABCDEF":
+                event, value = self.backend.wait_events(
+                    {
+                        "state": None,
+                        "Motion Task": "dry",
+                        "Gripper detection": None,
+                        "Motion Sync": "Robot Clear after mount",
+                    },
+                    timeout=wait_timeout,
+                )
+                logger.info(f"event: {event} occurred with value: {value}")
+                if event is None or event == "state":
+                    logger.info(f"event: {event} occurred with value: {value}, checking command completed okay")
+                    self.check_command_ok(
+                        timeout=wait_timeout, msg=f"Mount {segment}{puck}-{sample}: "
+                    )
+                    return value
+                elif (
+                        event == TellEventTypeEnum.GIPPER_DETECTION.value
+                        and value == TellEventValueEnum.NO_PIN_IN_GRIPPER.value
+                ):
+                    logger.info(f"{TellEventValueEnum.NO_PIN_IN_GRIPPER.value}")
+                    return TellEventValueEnum.NO_PIN_IN_GRIPPER
+                elif event == TellEventTypeEnum.GIPPER_DETECTION.value and value == TellEventValueEnum.PIN_STILL_IN_GRIPPER.value:
+                    logger.info(f"{TellEventValueEnum.PIN_STILL_IN_GRIPPER.value}")
+                    return TellEventValueEnum.PIN_STILL_IN_GRIPPER
+                elif event == TellEventTypeEnum.GIPPER_DETECTION.value and value == TellEventValueEnum.PIN_IS_LOST_GRIPPER.value:
+                    logger.info(f"{TellEventValueEnum.PIN_IS_LOST_GRIPPER.value}")
+                    return TellEventValueEnum.PIN_IS_LOST_GRIPPER
+                elif event == TellEventTypeEnum.GIPPER_DETECTION.value:
+                    return TellEventTypeEnum.GIPPER_DETECTION
+                elif event == TellEventTypeEnum.MOTION_TASK.value and value == TellEventValueEnum.DRY.value:
+                    logger.info(f"{TellEventValueEnum.DRY.value}")
+                    return TellEventValueEnum.DRY
+                elif event == TellEventTypeEnum.MOTION_TASK.value and value == TellEventValueEnum.COLD.value:
+                    logger.info(f"{TellEventValueEnum.COLD.value}")
+                    logger.info("As cold, likely robot is cooling from previous mount/dry "
+                                "DAQ will block until command is complete")
+                    self.check_command_ok(
+                        timeout=wait_timeout, msg=f"Mount {segment}{puck}-{sample}: "
+                    )
+                    return TellEventValueEnum.COLD
+                elif event == TellEventTypeEnum.MOTION_TASK.value and value == TellEventValueEnum.UNKNOWN.value:
+                    logger.info(f"{TellEventValueEnum.UNKNOWN.value}")
+                    return TellEventValueEnum.UNKNOWN
+                elif event == TellEventTypeEnum.MOTION_SYNC.value and value == TellEventValueEnum.ROBOT_CLEAR_AFTER_MOUNT.value:
+                    logger.info(f"{TellEventValueEnum.ROBOT_CLEAR_AFTER_MOUNT.value}")
+                    return TellEventValueEnum.ROBOT_CLEAR_AFTER_MOUNT
+                else:
+                    logger.info(f"Unexpected event: {event} occurred with value: {value}")
+                    logger.info("Checking command completed okay anyway")
+                    self.check_command_ok(
+                        timeout=wait_timeout, msg=f"Mount {segment}{puck}-{sample}: "
+                    )
+                    return TellEventValueEnum.UNKNOWN
+            elif wait and segment == "X":
+                logger.info("Loading an auxiliary puck")
                self.check_command_ok(
                    timeout=wait_timeout, msg=f"Mount {segment}{puck}-{sample}: "
                )
-                return value
-            elif (
-                    event == TellEventTypeEnum.GIPPER_DETECTION.value
-                    and value == TellEventValueEnum.NO_PIN_IN_GRIPPER.value
-            ):
-                logger.info(f"{TellEventValueEnum.NO_PIN_IN_GRIPPER.value}")
-                return TellEventValueEnum.NO_PIN_IN_GRIPPER
-            elif event == TellEventTypeEnum.GIPPER_DETECTION.value and value == TellEventValueEnum.PIN_STILL_IN_GRIPPER.value:
-                logger.info(f"{TellEventValueEnum.PIN_STILL_IN_GRIPPER.value}")
-                return TellEventValueEnum.PIN_STILL_IN_GRIPPER
-            elif event == TellEventTypeEnum.GIPPER_DETECTION.value and value == TellEventValueEnum.PIN_IS_LOST_GRIPPER.value:
-                logger.info(f"{TellEventValueEnum.PIN_IS_LOST_GRIPPER.value}")
-                return TellEventValueEnum.PIN_IS_LOST_GRIPPER
-            elif event == TellEventTypeEnum.GIPPER_DETECTION.value:
-                return TellEventTypeEnum.GIPPER_DETECTION
-            elif event == TellEventTypeEnum.MOTION_TASK.value and value == TellEventValueEnum.DRY.value:
-                logger.info(f"{TellEventValueEnum.DRY.value}")
-                return TellEventValueEnum.DRY
-            elif event == TellEventTypeEnum.MOTION_TASK.value and value == TellEventValueEnum.COLD.value:
-                logger.info(f"{TellEventValueEnum.COLD.value}")
-                logger.info("As cold, likely robot is cooling from previous mount/dry "
-                            "DAQ will block until command is complete")
-                self.check_command_ok(
-                    timeout=wait_timeout, msg=f"Mount {segment}{puck}-{sample}: "
-                )
-                return TellEventValueEnum.COLD
-            elif event == TellEventTypeEnum.MOTION_TASK.value and value == TellEventValueEnum.UNKNOWN.value:
-                logger.info(f"{TellEventValueEnum.UNKNOWN.value}")
-                return TellEventValueEnum.UNKNOWN
-            elif event == TellEventTypeEnum.MOTION_SYNC.value and value == TellEventValueEnum.ROBOT_CLEAR_AFTER_MOUNT.value:
-                logger.info(f"{TellEventValueEnum.ROBOT_CLEAR_AFTER_MOUNT.value}")
-                return TellEventValueEnum.ROBOT_CLEAR_AFTER_MOUNT
-            else:
-                logger.info(f"Unexpected event: {event} occurred with value: {value}")
-                logger.info("Checking command completed okay anyway")
-                self.check_command_ok(
-                    timeout=wait_timeout, msg=f"Mount {segment}{puck}-{sample}: "
-                )
-                return TellEventValueEnum.UNKNOWN
-        elif wait and segment == "X":
-            logger.info("Loading an auxiliary puck")
-            self.check_command_ok(
-                timeout=wait_timeout, msg=f"Mount {segment}{puck}-{sample}: "
-            )
-        logger.info("post waiting")
-        return TellEventValueEnum.SUCCESS
+            logger.info("post waiting")
+            return TellEventValueEnum.SUCCESS
+
+        except Exception as e:
+            logger.error(f"Exception occurred: {e}")
+            raise TellCommunicationError(message=f"Mount {segment}{puck}-{sample}", critical=True)

    def unmount(self, force=False, wait=False, timeout=360.0):
        if self.is_busy():