script/client/TellClient.py

@@ -38,7 +38,12 @@ class TellClient(PShellClient):
         if  self.state != "Ready":
              raise Exception("Invalid state: " + str(self.state))
              
-        
+    def set_in_mount_position(self, value):
+        self.eval("in_mount_position = " + str(value) +"&")
+
+    def is_in_mount_position(self):
+        return self.eval("in_mount_position&").lower()=="true" 
+
     def get_samples_info(self):
         return json.loads(self.eval("get_samples_info()&"))
 
@@ -89,6 +94,11 @@ class TellClient(PShellClient):
         self.abort()
         self.eval("robot.stop_task()&")
 
+    def set_gonio_mount_position(homing = False):
+        if homing:
+            self.eval("home_fast_table()")
+        self.eval("set_mount_position()")
+
     def get_mounted_sample(self):
         ret = self.eval("get_setting('mounted_sample_position')&").strip()
         return None if len(ret)==0 else ret
@@ -111,14 +121,21 @@ class TellClient(PShellClient):
     def get_detected_pucks(self):
        return self.eval("get_detected_pucks()&")   
 
+    def set_pin_offset(self, value):
+        self.eval("set_pin_offset(" + str(value)+ ")&")  
+
+    def get_pin_offset(self):
+       return self.eval("get_pin_offset()&")   
 
     def print_info(self):    
         print ("State: " + str(self.get_state()))
-        print ("Mounted Sample: " + str(self.get_mounted_sample()))
-        print ("System Check: " + str(self.get_system_check()))
+        print ("Mounted sample: " + str(self.get_mounted_sample()))
+        print ("System check: " + str(self.get_system_check()))
         print ("Robot state: " + str(self.get_robot_state()))
         print ("Robot status: " + str(self.get_robot_status()))
-        print ("Detected Pucks: " + str(self.get_detected_pucks()))
+        print ("Detected pucks: " + str(self.get_detected_pucks()))
+        print ("Pin offset: " + str(self.get_pin_offset()))
+        print ("Mount position: " + str(self.is_in_mount_position()))
         print ("")
 
 if __name__ == "__main__": 

script/client/tell.py

@@ -14,18 +14,20 @@ def info():
 
 def help():
     print ("Commands: \n\thelp()\n\tinfo()\n\tmount(segment, puck, sample)\n\tunmount() \n\tdry() "  \
-                       "\n\tscan(segment, puck, sample=None) \n\tmove_cold() \n\ttrash() \n\tabort()\n")
+                       "\n\tscan(segment, puck, sample=None) \n\tmove_cold() \n\ttrash() \n\tabort() " \
+                       "\n\tset_pin_offset(value)")
 
-def set_gonio():
-    pass
+def assert_transfer_allowed():
+    if not tell.is_in_mount_position():
+        raise Exception("Gonio is not in mount position")
     
 def mount(segment, puck, sample):
-    set_gonio()
+    assert_transfer_allowed()
     cmd = tell.mount(segment, puck, sample, True, True, True)
     print (tell.wait_cmd(cmd))   
 
 def unmount():
-    set_gonio()
+    assert_transfer_allowed()
     cmd=tell.unmount(force=True)  
     print (tell.wait_cmd(cmd))   
 
@@ -51,6 +53,9 @@ def scan(segment, puck, sample=None):
 def abort(): 
     tell.abort_cmd()
 
+def set_pin_offset(value):
+    tell.set_pin_offset(value)
+
 info()
 help()
 

script/motion/mount.py

@@ -23,10 +23,6 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
     assert_valid_address(segment, puck, sample)
     assert_puck_detected(segment, puck)
 
-    if auto_unmount: 
-        if get_setting("mounted_sample_position") is not None:
-            unmount()
-
     if robot.simulated:
         time.sleep(3.0)
         mount_sample_detected = True     
@@ -41,14 +37,17 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
     robot.assert_cleared()
     #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:
-            raise Exception("Pin detected on gonio")
-        
+            if auto_unmount and (get_setting("mounted_sample_position") is not None):
+                unmount(force = True)
+            else:
+                raise Exception("Pin detected on gonio")
+                
+        set_status("Mounting: " + str(segment) + str(puck) + str(sample))    
         #location = robot.get_current_point()
     
         #Enabling

script/motion/unmount.py

@@ -7,7 +7,7 @@ def unmount(segment = None, puck = None, sample = None, force=False):
         pos = get_setting("mounted_sample_position")
         if pos is None:
             raise Exception("Mounted sample position is not defined")
-        segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2])
+        segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2:])
         print "Mounted sample position: ", segment, puck , sample
     is_aux = (segment == AUX_SEGMENT)