script/client/TellClient.py

@@ -63,9 +63,9 @@ class TellClient(PShellClient):
             raise Exception(result["exception"] )
         return result["return"]        
 
-    def mount(self, segment, puck, sample, force=False, read_dm=False):
+    def mount(self, segment, puck, sample, force=False, read_dm=False, auto_unmount=False):
         #return self.run("motion/mount", pars= [segment,puck, sample, force, read_dm], background=True)
-        return self.start_cmd("mount", segment, puck, sample, force, read_dm)
+        return self.start_cmd("mount", segment, puck, sample, force, read_dm, auto_unmount)
 
     def unmount(self, segment = None, puck = None, sample = None, force=False):
         return self.start_cmd("unmount", segment, puck, sample, force)
@@ -76,7 +76,7 @@ class TellClient(PShellClient):
     def scan_puck(self, segment, puck, force=False):
         return self.start_cmd("scan_puck", segment, puck, force)     
 
-    def dry(heat_time=30.0, speed=0.5, wait_cold = 30.0):    
+    def dry(self, heat_time=30.0, speed=0.5, wait_cold = 30.0):    
         return self.start_cmd("dry", heat_time, speed, wait_cold)
         
     def move_cold(self):

script/client/tell.py

@@ -1,35 +1,55 @@
 import sys
-from TellClient import TellClient
+import os
 import code
+import readline
+import rlcompleter
+import atexit
 
-tell = TellClient("http://Alexandres-MBP.psi.ch:8080")
+from TellClient import TellClient
+
+tell = TellClient("http://PC12288:8080")
 
 def info():
     tell.print_info()
 
 def help():
-    print ("Commands: help(), info(), mount(segment, puck, sample), unmount(), scan(segment, puck, sample=None), move_cold(), trash(), abort()\n")
+    print ("Commands: \n\thelp()\n\tinfo()\n\tmount(segment, puck, sample)\n\tunmount() \n\tdry() "  \
+                       "\n\tscan(segment, puck, sample=None) \n\tmove_cold() \n\ttrash() \n\tabort()\n")
 
+def set_gonio():
+    pass
+    
 def mount(segment, puck, sample):
-    tell.mount(segment, puck, sample, True, True)
-
-def move_cold():
-    tell.mount(force=True)  
+    set_gonio()
+    cmd = tell.mount(segment, puck, sample, True, True, True)
+    print (tell.wait_cmd(cmd))   
 
 def unmount():
-    tell.move_cold()      
+    set_gonio()
+    cmd=tell.unmount(force=True)  
+    print (tell.wait_cmd(cmd))   
+
+def move_cold():
+    cmd=tell.move_cold()      
+    print (tell.wait_cmd(cmd))   
 
 def trash():
-    tell.trash() 
+    cmd=tell.trash() 
+    print (tell.wait_cmd(cmd))   
+
+def dry():    
+    cmd=tell.dry()
+    print (tell.wait_cmd(cmd))   
+        
+def scan(segment, puck, sample=None):
+    if sample is None:
+        cmd=tell.scan_puck(segment, puck, True)      
+    else:
+        cmd=tell.scan_pin(segment, puck, sample, True)      
+    print (tell.wait_cmd(cmd))   
 
 def abort(): 
     tell.abort_cmd()
-    
-def scan(segment, puck, sample=None):
-    if sample is None:
-        tell.scan_pin(segment, puck, True)      
-    else:
-        tell.scan_pin(segment, puck, sample, True)      
 
 info()
 help()
@@ -38,5 +58,17 @@ help()
 #    tell.print_info()
 #print ("", end='\r> ')
 
-code.interact(local=locals())
+historyPath = os.path.expanduser("./.history")
+def save_history(historyPath=historyPath):    
+    readline.write_history_file(historyPath)
+if os.path.exists(historyPath):
+    readline.read_history_file(historyPath)
+atexit.register(save_history)
+
+#vars = globals(); vars.update(locals())
+vars =locals()
+readline.set_completer(rlcompleter.Completer(vars).complete)
+readline.parse_and_bind("tab: complete")
+
+code.interact(banner = "", local=vars)
 

script/devices/RobotSC.py

@@ -12,7 +12,6 @@ DESC_DEFAULT = DESC_FAST
 AUX_SEGMENT = "X"
 
 
-
 DEFAULT_ROBOT_POLLING = 500
 TASK_WAIT_ROBOT_POLLING = 50
 
@@ -30,7 +29,7 @@ class RobotSC(RobotTCP):
         self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "recover", "moveDewar", "moveCold", "movePark", "moveGonio","moveHeater", "moveScanner","moveHome", "moveAux"])
         self.set_known_points(["pPark", "pGonio", "pDewar", "pGonioG", "pScan", "pHeater", "pHeat", "pHeatB", "pScanStop","pHelium", "pHome", "pCold", "pAux"])
         self.setPolling(DEFAULT_ROBOT_POLLING)          
-        self.setSimulated()   
+        #self.setSimulated()   
         
     def move_dewar(self):
         self.start_task('moveDewar')  

script/local.py

@@ -51,7 +51,9 @@ def is_barcode_reader_scan_pucks():
 
 def set_barcode_reader_scan_pucks(value):
     set_setting(BARCODE_READER_SCAN_PUCKS, True if value else False )
-  
+
+def reset_mounted_sample_position():
+ set_setting("mounted_sample_position", None)  
 
 #In order to apply current config
 set_imaging_enabled(is_imaging_enabled())    

script/motion/mount.py

@@ -23,6 +23,10 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
     assert_valid_address(segment, puck, sample)
     assert_puck_detected(segment, puck)
 
+    if auto_unmount: 
+        if get_setting("mounted_sample_position") is not None:
+            unmount()
+
     if robot.simulated:
         time.sleep(3.0)
         mount_sample_detected = True