script/devices/Gonio.py

@@ -1,7 +1,7 @@
 
 
 def home_fast_table():
-    caput ("SAR-EXPMX:ASYN.AOUT", "enable plc 1")
+    caput ("SAR-EXPMX1:ASYN.AOUT", "enable plc 1")
 
 def get_fx_pos():
     return caget("SAR-EXPMX:MOT_FX.RBV",  'f') 
@@ -35,3 +35,9 @@ def set_cx_pos(pos):
     return caput("SAR-EXPMX:MOT_CX.VAL", float(pos))         
         
     
+def set_mount_position():
+    set_fx_pos(0.0)
+    set_fy_pos(0.0)
+    set_ry_pos(0.0)
+    set_cz_pos(0.0)
+    set_cx_pos(0.0)

script/devices/RobotSC.py

@@ -23,7 +23,7 @@ class RobotSC(RobotTCP):
     def __init__(self, name, server, timeout = 1000, retries = 1):
         RobotTCP.__init__(self, name, server, timeout, retries)   
         self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "robotRecover", "moveDewar", "movePark", "moveGonio","moveHeater", "moveScanner"])
-        self.set_known_points(["pHome", "pPark", "pDewarHome", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop"])
+        self.set_known_points(["pHome", "pPark", "pDewarHome", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop","pHelium"])
         self.setPolling(DEFAULT_ROBOT_POLLING)              
         
     def move_dewar(self):
@@ -161,6 +161,9 @@ class RobotSC(RobotTCP):
 
     def is_gonio(self):
         return  self.is_in_point("pGonioHome")   
+         
+    def is_helium(self):
+        return  self.is_in_point("pHelium")   
 
     def is_scanner(self):
         return  self.is_in_point("pScanHome")   
@@ -194,7 +197,10 @@ class RobotSC(RobotTCP):
         self.assert_in_point("pDewarWait")   
 
     def assert_gonio(self):
-        self.assert_in_point("pGonioHome")   
+        self.assert_in_point("pGonioHome")  
+
+    def assert_helium(self):
+        self.assert_in_point("pHelium")
 
     def assert_scanner(self):
         self.assert_in_point("pScanHome")   

script/devices/RobotTCP.py

@@ -108,7 +108,7 @@ class RobotTCP(TcpDevice, Stoppable):
     def _sendReceive(self, msg_id, msg = "", timeout =  None):  
         tx = self.header if (self.header != None) else  ""
         tx = tx + msg_id + " " + msg        
-        if (len(tx)>127):
+        if (len(tx)>150):
             raise Exception("Exceeded maximum message size")
         self.getLogger().finer("TX = '" +  str(tx)+ "'")
         if (self.trailer != None): tx = tx + self.trailer
@@ -736,7 +736,7 @@ class RobotTCP(TcpDevice, Stoppable):
                 log("Failed starting : " + str(program) + str(args), False)       
                 print "Failed starting : " + str(program)  + str(args)
                 if self.exception_on_task_start_failure:
-                    raise Exception("Cannot start task: " + program + + str(args))                                
+                    raise Exception("Cannot start task: " + program + str(args))                                
                               
         log("Task started: " + str(program) + str(args) + " - status: " + str(status) + " (" + str(code) + ")", False)        
         self.current_task, self.current_task_ret  = program, None

script/imgproc/CoverDetection.py

@@ -1,6 +1,8 @@
 ################################################################################################### 
 # Procedure to detect the cover orientation
 ################################################################################################### 
+assert_imaging_enabled()
+
 
 #Parameters
 FRAMES_INTEGRATION = 3
@@ -27,7 +29,7 @@ smooth(ip)
 #bandpass_filter(ip, 30, 1000)
 edges(ip)
 auto_threshold(ip, method = "MaxEntropy")
-#binary_erode(ip, False)
+#binary_erode(ip, True)
 #binary_dilate(ip, True)
 ip.getProcessor().erode(1, 255)
 cx,cy = int(ip.width/2), int(ip.height/2)
@@ -80,7 +82,7 @@ if angle is not None:
 
 #Plot the correlations values  agains angle
 if DEBUG:
-    p = plot(ydata, xdata=xdata)[0]
+    plot(ydata, xdata=xdata)
 
 #Output results
 if DEBUG:

script/imgproc/LedDetectionProc.py

@@ -1,6 +1,8 @@
 ################################################################################################### 
 # Procedure to detect the puck light spots.
 ################################################################################################### 
+assert_imaging_enabled()
+
 
 COVER_PRESENT = True
 ROOM_TEMP = is_room_temp()

script/imgproc/Utils.py

@@ -9,8 +9,6 @@ from ch.psi.pshell.imaging.Overlays import *
 import ch.psi.pshell.imaging.Pen as Pen
 import java.awt.Rectangle as Rectangle
 
-
-
 def get_img_cover_pos():
     [position, angle, confidence] = run("imgproc/CoverDetection") 
     return position

script/local.py

@@ -11,6 +11,37 @@ import ch.psi.pshell.core.Nameable as Nameable
 run("setup/Layout")
 
 
+
+###################################################################################################
+# Configuration
+###################################################################################################
+
+
+def is_imaging_enabled():
+    setting = get_setting("ImagingEnabled")
+    return not (str(setting) == 'False')
+
+def set_imaging_enabled(value):
+    set_setting("ImagingEnabled", True if value else False )
+
+def assert_imaging_enabled():
+    if is_imaging_enabled() == False:
+        raise Exception ("Imaging is disabled")
+
+#"unipuck", "minispine" or "mixed"
+def set_puck_types(value):
+    set_setting("ImagingEnabled", True if value else False )
+    
+def get_puck_types():
+    setting = get_setting("ImagingEnabled")
+    if setting == "unipuck" or  setting == "minispine":
+        return setting
+    return "mixed"
+
+#In order to apply current config
+set_imaging_enabled(is_imaging_enabled())    
+set_puck_types(get_puck_types())
+
 ###################################################################################################
 #  Scripted devices and pseudo-devices
 ###################################################################################################

script/motion/put_gonio.py

@@ -1,4 +1,4 @@
-def put_gonio(segment, puck, sample, force=False):
+def put_gonio(force=False):
     """
     """
     print "put_gonio: ", force

script/motion/tools.py

@@ -65,14 +65,15 @@ def _set_hexiposi(pos):
             
 
 def visual_check_hexiposi(segment):
-    #if is_manual_mode(): ?
-    if hexiposi.moved:
-        #Clearing for image processing
-        if not robot.is_park():
-            print "Moving robot to park to clear camera view..."
-            robot.move_park()        
-        assert_img_in_cover_pos(segment)    
-        hexiposi.moved = False           
+    if is_imaging_enabled():
+        #if is_manual_mode(): ?
+        if hexiposi.moved:
+            #Clearing for image processing
+            if not robot.is_park():
+                print "Moving robot to park to clear camera view..."
+                robot.move_park()        
+            assert_img_in_cover_pos(segment)    
+            hexiposi.moved = False           
 
 
 
@@ -82,7 +83,7 @@ def wait_end_of_move():
         time.sleep(0.01)
 
 
-def move_home():        
+def move_to_home():        
     #robot.reset_motion("jHome")
     robot.movej("pHome", robot.tool , DESC_SCAN)    
     wait_end_of_move()