Tell: added error hadnling and check_smart_magent_mounted class

daq/src/mxlibs3/tell_client.py

@@ -24,6 +24,13 @@ from mxlibs3.pshell_client import PShellClient
 
 logger = setup_logger(__name__, "/tmp/mxlogs")
 
+class ManualMountException(Exception):
+    pass
+
+
+class SmartMagnetFaultException(Exception):
+    pass
+
 
 class TellMountFailedException(Exception):
     pass
@@ -599,6 +606,54 @@ class TellClient:
     def is_busy(self):
         return "busy" == self.get_state().lower()
 
+    def check_smart_magnet_mounted(self, timeout: float = 10.0, idle_time: float = 1.0, interval: float = 0.1):
+        initial_state = self.pshell.eval("smart_magnet.state&")
+        logger.debug(f"checking smart magnet_initial state: {initial_state}")
+        if initial_state == "Paused":
+            self.pshell.eval("smart_magnet.set_supress(False)&")
+            self.pshell.eval("smart_magnet.set_resting_current()&")
+        elif initial_state == "Fault":
+            logger.error(f"tell smart magnet is in unknown state {initial_state}")
+            raise SmartMagnetFaultException
+        #time.sleep(1.0)
+        state = self.pshell.eval("smart_magnet.state&")
+
+        try:
+            # sample_present = bool(self.pshell.eval(
+            #     f"smart_magnet.check_mounted(idle_time={str(idle_time)}, timeout={str(timeout)}, interval={str(interval)})"))
+            #logger.debug(f"sample present: {sample_present} of type {type(sample_present)}")
+            #time.sleep(1.0)
+            if state == "Busy":
+                logger.debug('state busy')
+                self.pshell.eval("smart_magnet.set_supress(True)&")
+                self.pshell.eval("smart_magnet.state&")
+                sample_present = True
+            elif state == "Ready":
+                logger.debug('No sample detected, ready to mount')
+                sample_present = False
+            elif state == "Paused":
+                logger.debug("Smart magnet detection is paused")
+                return None
+            else:
+                self.pshell.eval("smart_magnet.set_supress(True)&")
+                logger.error(f"Tell smart magnet is in unknown state {state}")
+                raise SmartMagnetFaultException
+            if sample_present:
+                print(self.get_mounted_sample())
+                if self.get_mounted_sample() is None:
+                    logger.warning("Check mount: A manually mounted sample is detected.")
+                    logger.warning("Remove before mounting with the robot.")
+                    raise ManualMountException
+                return True
+            elif self.get_mounted_sample():
+                logger.error("Check mount: No sample detected, but robot thinks is mounted")
+                raise SmartMagnetFaultException
+            return False
+        except Exception as e:
+            logger.error(f"check_smart_magnet_mounted failed: {e}")
+            raise e
+            #sample_present = False
+
 
 def is_true(value):
     """check if argument is semantically true"""