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