script/devices/RobotSC.py

@@ -23,7 +23,7 @@ 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","moveHome"])
-        self.set_known_points(["pPark", "pHome","pDewarHome", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop","pHelium"])
+        self.set_known_points(["pPark", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop","pHelium", "pHome"])
         self.setPolling(DEFAULT_ROBOT_POLLING)              
         
     def move_dewar(self):
@@ -97,7 +97,7 @@ class RobotSC(RobotTCP):
     def robot_recover(self):
         self.start_task('robotRecover')
         self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
-        self.assert_dewar_home()
+        self.assert_home()
 
     def toSegmentNumber(self, segment):
         if is_string(segment):
@@ -143,7 +143,7 @@ class RobotSC(RobotTCP):
         return  self.is_in_point("pPark")   
     
     def is_home(self):
-        return  self.is_in_point("pDewarHome")
+        return  self.is_in_point("pHome")
 
     def is_dewar(self):
         return  self.is_in_point("pDewarWait")   
@@ -186,7 +186,7 @@ class RobotSC(RobotTCP):
         self.assert_in_point("pPark")   
     
     def assert_home(self):
-        self.assert_in_point("pDewarHome")
+        self.assert_in_point("pHome")
 
     def assert_dewar(self):
         self.assert_in_point("pDewarWait")   

script/devices/Wago.py

@@ -138,13 +138,16 @@ def set_air_stream(state):
 set_heater_chrono = None
 
 def monitor_heater_time():
-    while get_heater():
-        if set_heater_chrono.isTimeout(MAX_HEATER_TIME):
-            set_heater(False)
-            log("Heater timeout expired: turned off", False)
-            return
-        time.sleep(0.1)
-
+    time.sleep(0.5)
+    try:
+        while get_heater():
+            if set_heater_chrono.isTimeout(MAX_HEATER_TIME):
+                set_heater(False)
+                log("Heater timeout expired: turned off", False)
+                return
+            time.sleep(0.1)
+    except:
+        print sys.exc_info()
 
 def set_heater(state):
     """

script/motion/recover.py

@@ -6,14 +6,14 @@ RECOVER_DESC = "mRecovery"
 RECOVER_TOOL = TOOL_DEFAULT
 
 known_segments = [ ("pHome",         "pPark",         50), \
-                   ("pHome",         "pDewarHome",    30), \
                    ("pHome",         "pGonioHome",    30), \
                    ("pHome",         "pScanHome",     25), \
-                   ("pHome",         "pHeaterHome",   25), \
-                   ("pDewarHome",    "pDewarWait",    10), \
+                   ("pHome",         "pHeaterHome",   75), \
+                   ("pHome",         "pDewarWait",    10), \
+                   ("pHome",         "pHelium",      230), \
                    ("pGonioHome",    "pGonioGet",     10), \
-                   ("pHeaterHome",   "pHeater",       10), \
-                   ("pHeater",       "pHeaterBottom", 10), \
+                   ("pPark",         "pHeater",       40), \
+                   ("pHeaterHome",   "pHeaterBottom", 10), \
                  ]
 
 def get_dist_to_line(segment):
@@ -85,6 +85,7 @@ def get_current_distance():
 
 
 def move_to_segment(segment):
+    tolerance = segment[2]
     p =  robot.get_cartesian_pos()
     v = Vector3D(p[0], p[1], p[2])
     lv = get_pojection_at_line(segment)
@@ -103,7 +104,8 @@ def move_to_segment(segment):
 #Moves to first point of the segment ehich is safer, unless in the vicinity of the second
 def move_to_safest_point(segment, vicinity_tolerance = 100):
     d1, d2 = robot.get_distance_to_pnt(segment[0]),  robot.get_distance_to_pnt(segment[1])
-    if (d2<=d1) and (d2 <= vicinity_tolerance):
+    #Always moving to primary point
+    if False : #(d2<=d1) and (d2 <= vicinity_tolerance):
         print "Moving to secondary point " + str(segment[1] + " - d1=" + str(d1) + " d2=" + str(d2) )
         robot.movel(segment[1], tool=RECOVER_TOOL, desc=RECOVER_DESC, sync=True) 
     else: