script/devices/BarcodeReader.py

@@ -4,6 +4,9 @@ class BarcodeReader(DeviceBase):
 
     def doInitialize(self):
         self.disable()
+        self.readout = None
+        self.processing = False
+        self.task_callable=None
         
     def enable(self):
         microscan_cmd.write("<H>")
@@ -17,6 +20,7 @@ class BarcodeReader(DeviceBase):
         self.state.assertReady()
         try:
             self.setState(State.Busy)
+            microscan.flush()
             ret =  microscan.waitString(int(timeout * 1000))    
             self.setCache(ret, None)
             return ret
@@ -31,17 +35,38 @@ class BarcodeReader(DeviceBase):
 
 
     def read(self,timeout=1.0):    
-        initial = self.state
-        if initial == State.Disabled:
-            self.enable()
+        if self.processing:
+            raise Exception("Ongoing read operation")
+        self.processing = True
         try:
-            return self.get()
-        finally:
+            initial = self.state
             if initial == State.Disabled:
-                self.disable()
-            
-        
+                self.enable()
+            try:
+                return self.get(timeout)
+            finally:
+                if initial == State.Disabled:
+                    self.disable()
+        finally:
+            self.processing = False
     
+    def _read_task(self, timeout):
+        global readout
+        self.readout = self.read(timeout)
+        return self.readout
+    
+    def start_read(self, timeout=1.0):
+        self.readout = None
+        self.task_callable = fork((self._read_task, (timeout,)))   
+
+    def get_readout(self):
+        return self.readout
+
+    def wait_readout(self):
+        if self.task_callable is not None:
+            join(self.task_callable)
+            self.task_callable = None
+        return self.readout
 
 
 add_device(BarcodeReader("barcode_reader"), force = True)         

script/devices/RobotSC.py

@@ -19,12 +19,11 @@ simulation = False
 
 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"])
+        self.set_known_points(["pHome", "pPark", "pDewarHome", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop"])
         self.setPolling(DEFAULT_ROBOT_POLLING)              
         
     def move_dewar(self):
@@ -60,6 +59,16 @@ class RobotSC(RobotTCP):
         self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
         self.assert_scanner()
 
+    def move_scanner(self):
+        self.start_task('moveScanner') 
+        self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
+        self.assert_scanner()
+
+    #def do_scan(self):
+    #    self.start_task('doScan') 
+    #    self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
+    #    self.assert_scan_stop()
+
     def move_gonio(self):
         self.start_task('moveGonio') 
         self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
@@ -156,6 +165,9 @@ class RobotSC(RobotTCP):
     def is_scanner(self):
         return  self.is_in_point("pScanHome")   
                 
+    #def is_scan_stop(self):
+    #    return  self.is_in_point("pScanStop")   
+
     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
@@ -187,9 +199,15 @@ class RobotSC(RobotTCP):
     def assert_scanner(self):
         self.assert_in_point("pScanHome")   
 
+    #def assert_scan_stop(self):
+    #    self.assert_in_point("pScanStop")   
+
     def assert_cleared(self):
         if not self.is_cleared():
-            raise Exception("Robot not in cleared position")        
+            raise Exception("Robot not in cleared position")  
+
+    def wait_ready(self):
+        robot.waitState(State.Ready, 1000) #robot.state.assertReady()
 
 if simulation:
     #add_device(RobotSC("robot","129.129.126.92:1000"),force = True)
@@ -234,9 +252,4 @@ if joint_forces:
     add_device(jf4(), force = True)   
     add_device(jf5(), force = True)   
     add_device(jf6(), force = True)   
-    add_device(jfc(), force = True)   
-
-
-
-    
-"""
+    add_device(jfc(), force = True)   

script/devices/RobotTCP.py

@@ -3,6 +3,7 @@ import threading
 FRAME_DEFAULT = "world"
 FLANGE = "flange"
 
+MAX_NUMBER_PARAMETERS = 20
 
 run("devices/RobotMotors")
 
@@ -129,7 +130,7 @@ class RobotTCP(TcpDevice, Stoppable):
     def execute(self, command, *args, **kwargs):        
         timeout = None if (kwargs is None) or (not kwargs.has_key("timeout")) else kwargs["timeout"]                
         msg = str(command)
-        if len(args)>10:
+        if len(args)>MAX_NUMBER_PARAMETERS:
             raise Exception("Exceeded maximum number of parameters")
         for i in range(len(args)):            
             msg += (self.cmd_separator if  (i==0) else self.array_separator) + str(args[i])                 
@@ -671,7 +672,7 @@ class RobotTCP(TcpDevice, Stoppable):
         #for task in tasks:
         #    if self.get_task_status(task)[0]>=0:
         #        raise Exception("Ongoing high-level task: " + task)        
-        ts = robot.get_tasks_status(*tasks)
+        ts = self.get_tasks_status(*tasks)
         for i in range(len(ts)):
             if ts[i] > 0:
                 raise Exception("Ongoing high-level task: " + tasks[i])        

script/devices/SmartMagnet.py

@@ -10,7 +10,7 @@ class SmartMagnet(DeviceBase):
                    }))    
 
     def doInitialize(self):
-        DeviceBase.doInitialize(self)
+        super(SmartMagnet, self).doInitialize()
         self.get_current()
 
     def set_current(self, current):
@@ -93,7 +93,7 @@ class SmartMagnet(DeviceBase):
     def set_remanence_current(self):
         self.set_current(self.config.getFieldValue("remanenceCurrent")) 
 
-    def set_default_current():
+    def set_default_current(self):
         if self.is_mounted():
             self.set_holding_current()
         else: