script/motion/dry.py

@@ -34,7 +34,7 @@ def dry(heat_time, speed):
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/get_dewar.py

@@ -7,7 +7,7 @@ def get_dewar(segment, puck, sample, force=False):
     assertValidAddress(segment, puck, sample)
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
     hexiposi.assert_homed()

script/motion/get_gonio.py

@@ -6,7 +6,7 @@ def get_gonio(force=False):
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/homing_hexiposi.py

@@ -5,7 +5,7 @@ def homing_hexiposi():
     
     #Initial checks
     robot.assert_no_task()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
     #location = robot.get_current_point()

script/motion/mount.py

@@ -1,4 +1,4 @@
-def mount(segment, puck, sample, force=False):
+def mount(segment, puck, sample, force=False, read_dm=False):
     """
     """
     print "mount: ", segment, puck, sample, force
@@ -7,7 +7,7 @@ def mount(segment, puck, sample, force=False):
     assertValidAddress(segment, puck, sample)
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
     hexiposi.assert_homed()
@@ -29,8 +29,17 @@ def mount(segment, puck, sample, force=False):
         robot.move_dewar()      
             
     robot.get_dewar(segment, puck, sample)
+
+    if read_dm:
+        barcode_reader.start_read(10.0)
+        robot.move_scanner()                
+        
     robot.move_gonio()    
 
+    if read_dm:
+        dm = barcode_reader.get_readout()
+        print "Datamatrix: " , dm
+
     smart_magnet.set_mount_current()
     try:
         robot.put_gonio()        

script/motion/move_dewar.py

@@ -6,7 +6,7 @@ def move_dewar():
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/move_gonio.py

@@ -6,7 +6,7 @@ def move_gonio():
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/move_heater.py

@@ -6,7 +6,7 @@ def move_heater():
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/move_home.py

@@ -6,7 +6,7 @@ def move_home():
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/move_park.py

@@ -6,7 +6,7 @@ def move_park():
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/move_scanner.py

@@ -6,13 +6,21 @@ def move_scanner():
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 
     #Enabling
-    enable_motion()
+    enable_motion()    
 
+    #barcode_reader.start_read(20.0)
 
     if not robot.is_scanner():
         robot.move_scanner()
+
+    #robot.do_scan()
+    #dm = barcode_reader.get_readout()
+    dm = barcode_reader.read(0.5)
+
+    print "Datamatrix: " , dm
+    #print "Datamatrix: " , barcode_reader.wait_readout()

script/motion/put_dewar.py

@@ -7,7 +7,7 @@ def put_dewar(segment, puck, sample, force=False):
     assertValidAddress(segment, puck, sample)
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
     hexiposi.assert_homed()

script/motion/put_gonio.py

@@ -6,7 +6,7 @@ def put_gonio(segment, puck, sample, force=False):
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/robot_recover.py

@@ -0,0 +1,16 @@
+def robot_recover():
+    """
+    """
+    print "robot_recover"
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.wait_ready()
+
+    #Enabling
+    enable_motion()    
+
+    #barcode_reader.start_read(20.0)
+
+    robot.robot_recover()

script/motion/unmount.py

@@ -7,11 +7,15 @@ def unmount(segment, puck, sample, force=False):
     assertValidAddress(segment, puck, sample)
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
     hexiposi.assert_homed()
 
+    if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == False:
+        raise Exception("No pin detected on gonio")
+    
+
     #Enabling
     enable_motion()
 
@@ -25,6 +29,11 @@ def unmount(segment, puck, sample, force=False):
     if not robot.is_gonio():
         robot.move_gonio()
             
-    robot.get_gonio()
-    robot.move_dewar()        
-    robot.put_dewar(segment, puck, sample)
+    smart_magnet.set_unmount_current()
+    try:
+        robot.get_gonio()
+        robot.move_dewar()        
+        robot.put_dewar(segment, puck, sample)
+    finally:
+        smart_magnet.set_default_current()
+