script/motion/calibrate_tool.py

@@ -29,4 +29,4 @@ def calibrate_tool():
     
     robot.put_calibration_tool()
     
-    #robot.save_program()
+    robot.save_program()

script/motion/dry.py

@@ -8,7 +8,12 @@ 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"
-    
+
+
+    if robot.simulated:
+        time.sleep(3.0)
+        return  
+            
     #Initial chec
     robot.assert_no_task()
     robot.reset_motion()

script/motion/mount.py

@@ -22,6 +22,15 @@ def mount(segment, puck, sample, force=False, read_dm=False):
     #Initial checks
     assert_valid_address(segment, puck, sample)
     assert_puck_detected(segment, puck)
+
+    if robot.simulated:
+        time.sleep(3.0)
+        mount_sample_detected = True     
+        mount_sample_id = "YYY0001"
+        update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)    
+        set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
+        return [mount_sample_detected, mount_sample_id]
+            
     robot.assert_no_task()
     robot.reset_motion()
     robot.wait_ready()
@@ -84,8 +93,7 @@ def mount(segment, puck, sample, force=False, read_dm=False):
         except:
             dry_mount_count = 0    
         set_setting("dry_mount_counter", dry_mount_count+1)    
-        #TODO: Auto-dry procedure
-        
+                
         if is_aux:
             robot.move_home() 
         else:
@@ -98,6 +106,7 @@ def mount(segment, puck, sample, force=False, read_dm=False):
                 raise Exception("No pin detected on gonio")
     
             if is_force_dry():
+                smart_magnet.set_default_current()
                 print "Auto dry"
                 log("Starting auto dry", False)
                 dry()            

script/motion/move_cold.py

@@ -3,6 +3,10 @@ def move_cold():
     """
     print "move_cold"
     
+    if robot.simulated:
+        time.sleep(3.0)
+        return
+            
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()

script/motion/put_gonio.py

@@ -2,6 +2,11 @@ def put_gonio(force=False):
     """
     """
     print "put_gonio: ", force
+
+
+    if robot.simulated:
+        time.sleep(3.0)
+        return      
     
     #Initial checks
     robot.assert_no_task()

script/motion/scan_pin.py

@@ -6,6 +6,10 @@ def scan_pin(segment, puck, sample, force=False):
     assert_valid_address(segment, puck, sample)
     assert_puck_detected(segment, puck)
     is_aux = (segment == AUX_SEGMENT)
+
+    if robot.simulated:
+        time.sleep(0.5)
+        return "Present"    
     
     robot.assert_no_task()
     robot.reset_motion()

script/motion/trash.py

@@ -2,6 +2,10 @@ def trash():
     """
     """
     print "trash"
+
+    if robot.simulated:
+        time.sleep(3.0)
+        return    
     
     #Initial checks
     robot.assert_no_task()

script/motion/unmount.py

@@ -14,6 +14,12 @@ def unmount(segment = None, puck = None, sample = None, force=False):
     #Initial checks
     assert_valid_address(segment, puck, sample)
     assert_puck_detected(segment, puck)
+
+   if robot.simulated:
+        time.sleep(3.0)
+        update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)   
+        set_setting("mounted_sample_position", None)
+        return     
    
     robot.assert_no_task()
     robot.reset_motion()