script/devices/RobotSC.py

@@ -23,7 +23,7 @@ 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"])
+        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"])
         self.setPolling(DEFAULT_ROBOT_POLLING)              
         
@@ -55,6 +55,11 @@ class RobotSC(RobotTCP):
         self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
         self.assert_gonio()
 
+    def move_scanner(self):
+        self.start_task('moveScanner') 
+        self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
+        self.assert_scanner()
+
     def move_gonio(self):
         self.start_task('moveGonio') 
         self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
@@ -133,6 +138,9 @@ class RobotSC(RobotTCP):
 
     def is_gonio(self):
         return  self.is_in_point("pGonioHome")   
+
+    def is_scanner(self):
+        return  self.is_in_point("pScanHome")   
                 
     def is_cleared(self):
         #return self.is_home() or self.is_park() or self.is_dewar() or self.is_dewar_home()        
@@ -156,6 +164,9 @@ class RobotSC(RobotTCP):
     def assert_gonio(self):
         self.assert_in_point("pGonioHome")   
 
+    def assert_scanner(self):
+        self.assert_in_point("pScanHome")   
+
     def assert_cleared(self):
         if not self.is_cleared():
             raise Exception("Robot not in cleared position")