diff --git a/plugins/Commands.form b/plugins/Commands.form index f263024..299aaee 100644 --- a/plugins/Commands.form +++ b/plugins/Commands.form @@ -161,9 +161,10 @@ - + + - + @@ -171,19 +172,21 @@ - + - - - - - - - - - + + + + + + + + + + + @@ -205,7 +208,7 @@ - + @@ -213,7 +216,7 @@ - + @@ -221,7 +224,7 @@ - + @@ -248,12 +251,11 @@ - + - @@ -355,12 +357,20 @@ - + - + + + + + + + + + diff --git a/plugins/Commands.java b/plugins/Commands.java index c542995..cdb4482 100644 --- a/plugins/Commands.java +++ b/plugins/Commands.java @@ -50,10 +50,13 @@ public class Commands extends Panel { @Override public void onStateChange(State state, State former) { + boolean enabled = (state == State.Ready); for (Component c: SwingUtils.getComponentsByType(this, JComponent.class)){ - c.setEnabled(state == State.Ready); + c.setEnabled(enabled); } - buttonMoveAux.setEnabled(state == State.Ready); + spinnerSegment.setEnabled(enabled && !checkAuxiliary.isSelected()); + spinnerPuck.setEnabled(enabled && !checkAuxiliary.isSelected()); + buttonScanPuck.setEnabled(enabled && !checkAuxiliary.isSelected()); } @Override @@ -135,7 +138,8 @@ public class Commands extends Panel { checkDatamatrix = new javax.swing.JCheckBox(); buttonUnmount = new javax.swing.JButton(); buttonScanPin = new javax.swing.JButton(); - buttonScanPin1 = new javax.swing.JButton(); + buttonScanPuck = new javax.swing.JButton(); + checkAuxiliary = new javax.swing.JCheckBox(); pnLowLevel = new javax.swing.JPanel(); buttonMovePark = new javax.swing.JButton(); buttonMoveCold = new javax.swing.JButton(); @@ -297,11 +301,10 @@ public class Commands extends Panel { .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) .addComponent(jLabel4) .addComponent(checkForce)) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) .addComponent(jLabel5) - .addComponent(checkDatamatrix)) - .addGap(0, 0, 0)) + .addComponent(checkDatamatrix))) ); buttonUnmount.setText("Unmount"); @@ -318,10 +321,17 @@ public class Commands extends Panel { } }); - buttonScanPin1.setText("Scan Puck"); - buttonScanPin1.addActionListener(new java.awt.event.ActionListener() { + buttonScanPuck.setText("Scan Puck"); + buttonScanPuck.addActionListener(new java.awt.event.ActionListener() { public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonScanPin1ActionPerformed(evt); + buttonScanPuckActionPerformed(evt); + } + }); + + checkAuxiliary.setText("Auxiliary"); + checkAuxiliary.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + checkAuxiliaryActionPerformed(evt); } }); @@ -335,8 +345,9 @@ public class Commands extends Panel { .addComponent(buttonMount, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) .addComponent(buttonUnmount, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) .addComponent(buttonScanPin, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(buttonScanPin1, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE)) - .addGap(18, 31, Short.MAX_VALUE) + .addComponent(buttonScanPuck, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(checkAuxiliary)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) .addComponent(jPanel5, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) .addContainerGap()) ); @@ -348,15 +359,17 @@ public class Commands extends Panel { .addGroup(pnTransferLayout.createSequentialGroup() .addContainerGap() .addGroup(pnTransferLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jPanel5, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) .addGroup(pnTransferLayout.createSequentialGroup() .addComponent(buttonMount) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) .addComponent(buttonUnmount) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) .addComponent(buttonScanPin) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(buttonScanPuck) .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) - .addComponent(buttonScanPin1)) - .addComponent(jPanel5, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addComponent(checkAuxiliary))) .addContainerGap()) ); @@ -633,8 +646,8 @@ public class Commands extends Panel { }//GEN-LAST:event_buttonEnableAllActionPerformed private void buttonMountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMountActionPerformed - String segment = (String) spinnerSegment.getValue(); - int puck = (Integer) spinnerPuck.getValue(); + String segment = checkAuxiliary.isSelected() ? "X" : (String) spinnerSegment.getValue(); + int puck = checkAuxiliary.isSelected() ? 1 :(Integer) spinnerPuck.getValue(); int sample = (Integer) spinnerSample.getValue(); String force = checkForce.isSelected() ? "True" : "False"; String readDatamatrix = checkDatamatrix.isSelected() ? "True" : "False"; @@ -647,8 +660,8 @@ public class Commands extends Panel { }//GEN-LAST:event_buttonMoveAuxActionPerformed private void buttonUnmountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonUnmountActionPerformed - String segment = (String) spinnerSegment.getValue(); - int puck = (Integer) spinnerPuck.getValue(); + String segment = checkAuxiliary.isSelected() ? "X" : (String) spinnerSegment.getValue(); + int puck = checkAuxiliary.isSelected() ? 1 :(Integer) spinnerPuck.getValue(); int sample = (Integer) spinnerSample.getValue(); String force = checkForce.isSelected() ? "True" : "False"; execute("unmount('" + segment + "'," + puck + "," + sample + ", force=" + force + ")"); @@ -729,19 +742,19 @@ public class Commands extends Panel { }//GEN-LAST:event_buttonResetPuckIdsActionPerformed private void buttonScanPinActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonScanPinActionPerformed - String segment = (String) spinnerSegment.getValue(); - int puck = (Integer) spinnerPuck.getValue(); + String segment = checkAuxiliary.isSelected() ? "X" : (String) spinnerSegment.getValue(); + int puck = checkAuxiliary.isSelected() ? 1 :(Integer) spinnerPuck.getValue(); int sample = (Integer) spinnerSample.getValue(); String force = checkForce.isSelected() ? "True" : "False"; execute("scan_pin('" + segment + "'," + puck + "," + sample + ", force=" + force + ")", false, true); }//GEN-LAST:event_buttonScanPinActionPerformed - private void buttonScanPin1ActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonScanPin1ActionPerformed - String segment = (String) spinnerSegment.getValue(); - int puck = (Integer) spinnerPuck.getValue(); + private void buttonScanPuckActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonScanPuckActionPerformed + String segment = checkAuxiliary.isSelected() ? "X" : (String) spinnerSegment.getValue(); + int puck = checkAuxiliary.isSelected() ? 1 :(Integer) spinnerPuck.getValue(); String force = checkForce.isSelected() ? "True" : "False"; execute("scan_puck('" + segment + "'," + puck + ", force=" + force + ")", false, true); - }//GEN-LAST:event_buttonScanPin1ActionPerformed + }//GEN-LAST:event_buttonScanPuckActionPerformed private void buttonGetAuxActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonGetAuxActionPerformed int sample = (Integer) spinnerSample.getValue(); @@ -753,6 +766,10 @@ public class Commands extends Panel { execute("put_aux('" + sample + ")"); }//GEN-LAST:event_buttonPutAuxActionPerformed + private void checkAuxiliaryActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_checkAuxiliaryActionPerformed + onStateChange(getState(), null); + }//GEN-LAST:event_checkAuxiliaryActionPerformed + // Variables declaration - do not modify//GEN-BEGIN:variables private javax.swing.JButton buttonClearSampleDb; private javax.swing.JButton buttonDry; @@ -775,8 +792,9 @@ public class Commands extends Panel { private javax.swing.JButton buttonRecover; private javax.swing.JButton buttonResetPuckIds; private javax.swing.JButton buttonScanPin; - private javax.swing.JButton buttonScanPin1; + private javax.swing.JButton buttonScanPuck; private javax.swing.JButton buttonUnmount; + private javax.swing.JCheckBox checkAuxiliary; private javax.swing.JCheckBox checkDatamatrix; private javax.swing.JCheckBox checkForce; private javax.swing.JCheckBox ckeckParkOnDry; diff --git a/script/devices/SmartMagnet.py b/script/devices/SmartMagnet.py index 21b4b25..c0ad89a 100644 --- a/script/devices/SmartMagnet.py +++ b/script/devices/SmartMagnet.py @@ -99,10 +99,10 @@ class SmartMagnet(DeviceBase): self.set_resting_current() def is_resting_current(self): - return self.get_current() != self.config.getFieldValue("restingCurrent") + return self.get_current() == self.config.getFieldValue("restingCurrent") - #Setting resting curren t to better detect sample + #Setting resting current to better detect sample def enforce_sample_detection(self): if not self.is_resting_current(): self.set_resting_current() diff --git a/script/local.py b/script/local.py index 3d405f0..2af1d40 100644 --- a/script/local.py +++ b/script/local.py @@ -97,6 +97,7 @@ run("motion/move_aux") run("motion/get_aux") run("motion/put_aux") run("motion/dry") +run("motion/trash") run("motion/homing_hexiposi") run("motion/scan_pin") run("motion/robot_recover") diff --git a/script/motion/calibrate_tool.py b/script/motion/calibrate_tool.py new file mode 100644 index 0000000..9e47630 --- /dev/null +++ b/script/motion/calibrate_tool.py @@ -0,0 +1,18 @@ +def calibrate_tool(): + """ + """ + print "calibrate_tool" + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + if not robot.is_gonio(): + robot.move_gonio() + robot.put_gonio() diff --git a/script/motion/mount.py b/script/motion/mount.py index 4ef32b7..f3a712d 100644 --- a/script/motion/mount.py +++ b/script/motion/mount.py @@ -9,7 +9,7 @@ def mount(segment, puck, sample, force=False, read_dm=False): start = time.time() - is_aux = segment == AUX_SEGMENT + is_aux = (segment == AUX_SEGMENT) puck_address = get_puck_address(puck) if puck_address is None: puck_obj = get_puck_obj_by_id(puck) @@ -46,8 +46,7 @@ def mount(segment, puck, sample, force=False, read_dm=False): robot.move_aux() robot.get_aux(sample) - robot.move_home() - + else: set_hexiposi(segment) diff --git a/script/motion/recover.py b/script/motion/recover.py index 97d430e..bee6369 100644 --- a/script/motion/recover.py +++ b/script/motion/recover.py @@ -6,15 +6,15 @@ RECOVER_DESC = "mRecovery" RECOVER_TOOL = TOOL_DEFAULT known_segments = [ ("pHome", "pPark", 50), \ - ("pHome", "pGonioH", 30), \ + ("pHome", "pGonio", 30), \ ("pHome", "pScan", 25), \ ("pHome", "pHeater", 75), \ ("pHome", "pDewar", 10), \ ("pHome", "pHelium", 230), \ - ("pGonioH", "pGonioG", 10), \ + ("pGonio", "pGonioG", 10), \ ("pPark", "pHeat", 40), \ ("pHeater", "pHeatB", 10), \ - ("pPark", "pAux", 30), \ + ("pPark", "pAux", 50), \ ] def get_dist_to_line(segment): diff --git a/script/motion/scan_pin.py b/script/motion/scan_pin.py index 5deaa61..9355466 100644 --- a/script/motion/scan_pin.py +++ b/script/motion/scan_pin.py @@ -5,6 +5,7 @@ def scan_pin(segment, puck, sample, force=False): #Initial checks assert_valid_address(segment, puck, sample) assert_puck_detected(segment, puck) + is_aux = (segment == AUX_SEGMENT) robot.assert_no_task() robot.reset_motion() @@ -17,20 +18,31 @@ def scan_pin(segment, puck, sample, force=False): set_status("Scanning pin: " + str(pin_name)) enable_motion() - set_hexiposi(segment) - if not force: - visual_check_hexiposi(segment) - - if not robot.is_dewar(): - robot.move_dewar() + + if is_aux: + if not robot.is_aux(): + robot.move_aux() - robot.get_dewar(segment, puck, sample) - + robot.get_aux(sample) + else: + set_hexiposi(segment) + if not force: + visual_check_hexiposi(segment) + + if not robot.is_dewar(): + robot.move_dewar() + + robot.get_dewar(segment, puck, sample) + (detected, dm) = move_scanner() update_samples_info_sample_scan(get_puck_name(segment, puck), sample, detected, dm) - - robot.move_dewar() - robot.put_dewar(segment, puck, sample) + + if is_aux: + robot.move_aux() + robot.put_aux( sample) + else: + robot.move_dewar() + robot.put_dewar(segment, puck, sample) ret = "Empty" if detected: if (dm is None) or (len(dm.strip())==0): @@ -41,6 +53,8 @@ def scan_pin(segment, puck, sample, force=False): def scan_puck(segment, puck, force=False): + if segment == AUX_SEGMENT: + raise Exception("Cannot scan auxiliary puck") ret = [] for i in range(16): ret.append(scan_pin (segment, puck, i+1, force)) diff --git a/script/motion/trash.py b/script/motion/trash.py new file mode 100644 index 0000000..d9c229d --- /dev/null +++ b/script/motion/trash.py @@ -0,0 +1,27 @@ +def trash(): + """ + """ + print "trash" + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + robot.move_heater(to_bottom = False) + robot.move_heater(to_bottom = True) + + for i in range(3): + robot.open_tool() + time.sleep(1.0) + robot.close_tool() + + robot.move_heater(to_bottom = False) + robot.move_home() + + \ No newline at end of file diff --git a/script/motion/unmount.py b/script/motion/unmount.py index 763d846..84b2464 100644 --- a/script/motion/unmount.py +++ b/script/motion/unmount.py @@ -9,7 +9,7 @@ def unmount(segment = None, puck = None, sample = None, force=False): raise Exception("Mounted sample position is not defined") segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2]) print "Mounted sample position: ", segment, puck , sample - is_aux = segment == AUX_SEGMENT + is_aux = (segment == AUX_SEGMENT) #Initial checks assert_valid_address(segment, puck, sample) @@ -49,10 +49,8 @@ def unmount(segment = None, puck = None, sample = None, force=False): robot.get_gonio() if is_aux: - robot.move_dewar() robot.move_aux() robot.put_aux( sample) - robot.move_home() else: #TODO: Shuld check if smart magnet detection is off? update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)