From 300b3efb77c54a2fcb8660e7ef42171be92de2b9 Mon Sep 17 00:00:00 2001 From: gac-S_Changer Date: Thu, 7 Jun 2018 14:30:46 +0200 Subject: [PATCH] --- script/devices/RobotSC.py | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/script/devices/RobotSC.py b/script/devices/RobotSC.py index 6c9a795..eaf45a0 100644 --- a/script/devices/RobotSC.py +++ b/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")