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DAQ: added back mount_handler logic - to be tested.

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appleb_m
2026-04-28 15:07:15 +02:00
parent 95384d175a
commit ff772ef487
2 changed files with 71 additions and 29 deletions
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src/aare/daq/daq.py
+26 -8
View File
@@ -68,8 +68,9 @@ from aare.common.exception_handler import (
SmargonCommunicationError,
TellCommunicationError,
JFJochCommunicationError, AerotechCommunicationError, MagnetPositionSensorErorr, UnmountingFailed,
DataCollectionException, RasterScanException
DataCollectionException, RasterScanException, TellMountFailedException
)
from aare.devices.tell_client import TellEventValueEnum
logger = setup_logger("aareDAQ")
#TODO tidy up DAQ - migrate functions itno different scripts, to reduce size?
@@ -921,9 +922,26 @@ class AareDAQ:
raise Exception("Goniometer is not in position based on magnet position sensor readout")
def __mount_failure_handler(self, value):
logger.debug(f"Mount response: {value}")
pass
def __mount_handler(self, target : SampleShortInfo, mount_attempted: bool = False):
value = self.__devs.tell.mount(address=target.tell_address(), force=True, auto_unmount=True, read_dm=False,
wait=True, timeout=360.0)
logger.debug(f"Mount response: {value.value}")
if value == TellEventValueEnum.NO_PIN_IN_GRIPPER:
if mount_attempted:
raise MountingFailed("No Pin in Gripper")
else:
logger.warning("No Pin in Gripper - retrying mounting")
self.__mount_handler(target, mount_attempted=True)
elif value == TellEventValueEnum.PIN_IS_LOST_GRIPPER:
logger.error("Pin is lost")
raise MountingFailed("Pin is lost")
elif value == TellEventValueEnum.ROBOT_CLEAR_AFTER_MOUNT or value == TellEventValueEnum.DRY or value == TellEventValueEnum.COLD:
logger.info(f"Robot is {value.value} - freeing beamline for user")
else:
logger.info(f"Mount response: {value.value} is not currently handled")
return
def __mount(self, target: SampleShortInfo | None):
self.__devs.smargon_move_home()
@@ -951,11 +969,11 @@ class AareDAQ:
log_msg = (f"Unmounting sample: {previous_sample} \n "
f"and {log_msg}")
logger.debug(log_msg)
value = self.__devs.tell.mount(address=target.tell_address(), force=True, auto_unmount=True, read_dm=False,
wait=True, timeout=360.0)
self.__mount_failure_handler(value)
logger.info(f"Mount result: {value}")
self.__mount_handler(target)
self.__cfg.current_sample = target
except TellMountFailedException as e:
logger.error(f"Failed to mount: {target} due to exception: {e}")
raise
except Exception as e:
logger.error(f"Mount failed: {e}")
src/aare/devices/tell_client.py
+45 -21
View File
@@ -1,6 +1,7 @@
import ast
import json
import re
from enum import Enum
from typing import List
from aare.common.beamline import MXBeamline
@@ -29,6 +30,30 @@ from aare.common.logger_config import setup_logger
logger = setup_logger("aareDAQ")
class TellEventTypeEnum(Enum):
STATE = "state"
MOTION_TASK = "Motion Task"
MOTION_SYNC = "Motion Sync"
GIPPER_DETECTION = "Gripper detection"
UNKNOWN = "Unknown event type"
class TellEventValueEnum(Enum):
SUCCESS = "success"
NO_PIN_IN_GRIPPER = "No Pin in Gripper"
PIN_STILL_IN_GRIPPER = "Pin still in Gripper"
PIN_IS_LOST_GRIPPER = "Pin is lost"
UNKNOWN = "Unknown value"
ROBOT_CLEAR_AFTER_MOUNT = "Robot Clear after mount"
DRY = "dry"
COLD = "cold"
PARK = "park"
UNMOUNT = "unmount"
MOUNT = "mount"
MANUAL = "manual"
class TellClient:
"""High-level Tell robot API using a pluggable backend"""
def __init__(self, bl: MXBeamline, backend: TellBackend | None = None):
@@ -159,7 +184,7 @@ class TellClient:
auto_unmount: bool = False,
wait: bool = False,
timeout: float = 600.0,
):
) -> TellEventTypeEnum | TellEventValueEnum | None:
SampleDewarAddress.model_validate(address)
segment = address.puck.segment
@@ -194,38 +219,37 @@ class TellClient:
timeout=wait_timeout, msg=f"Mount {segment}{puck}-{sample}: "
)
return value
elif event == "Gripper detection" and value == "No Pin in Gripper":
logger.info(f"gripper detection: {event} occurred with value: {value}")
return value
elif event == "Gripper detection" and value == "Pin still in Gripper":
logger.info(f"gripper detection: {event} occurred with value: {value}")
return value
elif event == "Gripper detection" and value == "Pin is lost":
logger.info(f"gripper detection: {event} occurred with value: {value}")
return value
elif event == "Gripper detection":
logger.info(f"gripper detection: {event} occurred with value: {value}")
elif event == "Motion Task" and value == "dry":
logger.info(f"event: {event} occurred with value: {value}")
logger.info(" Drying occurring, releasing interface to user")
return value
elif event == "Motion Sync" and value == "Robot Clear after mount":
logger.info(f"event: {event} occurred with value: {value}")
logger.info(" Mounting complete, releasing interface to user")
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_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 None
return TellEventValueEnum.SUCCESS
def unmount(self, force=False, wait=False, timeout=360.0):
if self.is_busy():