script/devices/RobotSC.py

@@ -52,7 +52,8 @@ class RobotSC(RobotTCP):
         self.assert_dewar()
         self.start_task('putDewar',segment, puck, sample, is_room_temp()) 
         self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
-        self.assert_dewar()
+        #self.assert_dewar()
+        self.assert_cold
 
     def put_gonio(self):    
         pin_offset = get_pin_offset()

script/motion/dry.py

@@ -8,6 +8,7 @@ def dry(heat_time=30.0, speed=0.5, wait_cold = 30.0):
                           Else move to cold and wait (in seconds) before returning.
     """
     print "dry"
+    
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
@@ -15,6 +16,8 @@ def dry(heat_time=30.0, speed=0.5, wait_cold = 30.0):
     robot.assert_cleared()
     #robot.assert_in_known_point()
 
+    set_status("Drying")
+    
     #Enabling
     enable_motion()    
 

script/motion/homing_hexiposi.py

@@ -9,7 +9,8 @@ def homing_hexiposi():
     robot.assert_cleared()
     #robot.assert_in_known_point()
     #location = robot.get_current_point()
-
+    
+    set_status("Homing hexiposi")
     hexiposi.move_home()
     hexiposi.waitState(State.Ready,-1)    
     

script/motion/mount.py

@@ -6,6 +6,7 @@ def mount(segment, puck, sample, force=False, read_dm=False):
     """
     global mount_sample_id, mount_sample_detected
     print "mount: ", segment, puck, sample, force
+
     start = time.time()
 
     puck_address = get_puck_address(puck)
@@ -27,6 +28,8 @@ def mount(segment, puck, sample, force=False, read_dm=False):
     #robot.assert_in_known_point()
     hexiposi.assert_homed()
     
+    set_status("Mounting: " + str(segment) + str(puck) + str(sample))
+    
     try:
         smart_magnet.enforce_sample_detection()                       
         if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == True:
@@ -74,15 +77,19 @@ def mount(segment, puck, sample, force=False, read_dm=False):
             dry_mount_count = 0    
         set_setting("dry_mount_counter", dry_mount_count+1)    
         #TODO: Auto-dry procedure
-        if is_force_dry():
-            pass
                
-        robot.move_dewar() 
+        robot.move_cold() 
         mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)        
         #TODO: Should do on finally?
         update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)      
         if mount_sample_detected == False:
             raise Exception("No pin detected on gonio")
+
+        if is_force_dry():
+            print "Auto dry"
+            log("Starting auto dry", False)
+            dry()            
         return [mount_sample_detected, mount_sample_id]
     finally:
         smart_magnet.set_default_current()
+

script/motion/recover.py

@@ -123,7 +123,9 @@ def recover():
 
     if robot.get_current_point() is not None:
         raise Exception("Robot is in known location")
-       
+
+    set_status("Recovering")
+    
     #Enabling
     enable_motion()
 

script/motion/robot_recover.py

@@ -8,6 +8,8 @@ def robot_recover():
     robot.reset_motion()
     robot.wait_ready()
 
+    set_status("Recovering robot")
+    
     #Enabling
     enable_motion()    
 

script/motion/scan_pin.py

@@ -12,6 +12,7 @@ robot.assert_cleared()
 
 #Enabling
 
+set_status("Scanning pin: " + str(pin_name))
 
 enable_motion()    
 set_hexiposi(segment)
@@ -44,5 +45,4 @@ print "Datamatrix: " , mount_sample_id
 robot.move_dewar()        
 robot.put_dewar(segment, puck, sample)
 
-
         

script/motion/unmount.py

@@ -21,6 +21,8 @@ def unmount(segment = None, puck = None, sample = None, force=False):
     #robot.assert_in_known_point()
     hexiposi.assert_homed()
 
+    set_status("Umounting: " + str(segment) + str(puck) + str(sample))
+
     try:
         smart_magnet.enforce_sample_detection()               
         if smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0) == False: