script/devices/RobotSC.py

@@ -22,8 +22,8 @@ joint_forces = False
 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","pHelium"])
+        self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "robotRecover", "moveDewar", "movePark", "moveGonio","moveHeater", "moveScanner","moveHome"])
+        self.set_known_points(["pPark", "pHome","pDewarHome", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop","pHelium"])
         self.setPolling(DEFAULT_ROBOT_POLLING)              
         
     def move_dewar(self):
@@ -31,6 +31,11 @@ class RobotSC(RobotTCP):
         self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
         self.assert_dewar()
 
+    def move_home(self):
+        self.start_task('moveHome')  
+        self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
+        self.assert_home()
+
     def get_dewar(self, segment, puck, sample):
         segment = self.toSegmentNumber(segment)
         self.start_task('getDewar',segment, puck, sample, is_room_temp()) 
@@ -73,11 +78,7 @@ class RobotSC(RobotTCP):
         self.start_task('moveGonio') 
         self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
         self.assert_gonio()
-
-    def move_home(self):
-        self.start_task('moveHome')   
-        self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
-        self.assert_home()    
+ 
 
     def move_park(self):
         self.start_task('movePark')   
@@ -136,15 +137,12 @@ class RobotSC(RobotTCP):
         robot.set_profile("remote")
                 
     def set_local(self):
-        robot.set_profile("default")
-
-    def is_home(self):
-        return  self.is_in_point("pHome")       
+        robot.set_profile("default")   
     
     def is_park(self):
         return  self.is_in_point("pPark")   
     
-    def is_dewar_home(self):
+    def is_home(self):
         return  self.is_in_point("pDewarHome")
 
     def is_dewar(self):
@@ -173,10 +171,7 @@ class RobotSC(RobotTCP):
 
     def is_cleared(self):
         #return self.is_home() or self.is_park() or self.is_dewar() or self.is_dewar_home()        
-        return self.get_current_point() is not None
-
-    def assert_home(self):
-        self.assert_in_point("pHome")    
+        return self.get_current_point() is not None  
 
     def assert_heater_home(self):
         self.assert_in_point("pHeaterHome") 
@@ -190,7 +185,7 @@ class RobotSC(RobotTCP):
     def assert_park(self):
         self.assert_in_point("pPark")   
     
-    def assert_dewar_home(self):
+    def assert_home(self):
         self.assert_in_point("pDewarHome")
 
     def assert_dewar(self):

script/devices/RobotTCP.py

@@ -45,7 +45,7 @@ class RobotTCP(TcpDevice, Stoppable):
          self.frame = FRAME_DEFAULT
          self.polling_interval = 0.01
          self.reset = True           
-         self.default_tolerance = 10    
+         self.default_tolerance = 5    
          self.default_speed = 100     
 
          self.task_start_retries = 3
@@ -377,7 +377,7 @@ class RobotTCP(TcpDevice, Stoppable):
         if desc is None: desc = self.default_desc
         if tool is None: tool = self.tool
         #If joint_or_point is a list assumes ir is a point
-        if not is_string(point):
+        if not is_string(joint_or_point):
             robot.set_pnt(joint_or_point , "tcp_p")   
             joint_or_point =  "tcp_p"         
         ret = self.eval_int("movej(" + joint_or_point + ", " + tool + ", " + desc +")")

script/devices/Wago.py

@@ -93,7 +93,6 @@ def is_led_room_temp():
 
 
 
-
 ###################################################################################################
 #  Safety release
 ###################################################################################################
@@ -120,3 +119,51 @@ def release_psys():
     time.sleep(0.01)
     release_psys_safety.write(False)
 
+
+
+###################################################################################################
+#  Drier
+###################################################################################################
+
+MAX_HEATER_TIME = 15000
+
+
+def set_air_stream(state):
+    """
+    """
+    valve_1.write(state)
+    valve_2.write(not state)
+
+
+set_heater_chrono = None
+
+def monitor_heater_time():
+    while get_heater():
+        if set_heater_chrono.isTimeout(MAX_HEATER_TIME):
+            set_heater(False)
+            log("Heater timeout expired: turned off", False)
+            return
+        time.sleep(0.1)
+
+
+def set_heater(state):
+    """
+    """
+    global set_heater_chrono
+    if  get_heater() != state:
+        gripper_dryer.write(state)    
+        if state: 
+            set_heater_chrono = Chrono()      
+            fork(monitor_heater_time)
+
+
+def get_air_stream():
+    """
+    """
+    return valve_1.read()
+
+
+def get_heater():
+    """
+    """
+    return gripper_dryer.read()