script/motion/get_dewar.py

@@ -4,7 +4,7 @@ def get_dewar(segment, puck, sample, force=False):
     print "get_dewar: ", segment, puck, sample, force
     
     #Initial checks
-    assertValidAddress(segment, puck, sample)
+    assert_valid_address(segment, puck, sample)
     assert_puck_detected(segment, puck)
     
     robot.assert_no_task()

script/motion/mount.py

@@ -4,7 +4,7 @@ def mount(segment, puck, sample, force=False, read_dm=False):
     print "mount: ", segment, puck, sample, force
     start = time.time()
     #Initial checks
-    assertValidAddress(segment, puck, sample)
+    assert_valid_address(segment, puck, sample)
     assert_puck_detected(segment, puck)
     
     robot.assert_no_task()
@@ -45,8 +45,11 @@ def mount(segment, puck, sample, force=False, read_dm=False):
     smart_magnet.set_mount_current()
     try:
         robot.put_gonio()        
-        robot.move_dewar()               
-        if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == False:
+        robot.move_dewar() 
+        sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)        
+        #TODO: Should do on finally?
+        update_samples_info_sample_mount(get_puck_name(segment, puck), sample, sample_detected)      
+        if sample_detected == False:
             raise Exception("No pin detected on gonio")
     finally:
         smart_magnet.set_default_current()

script/motion/move_cold.py

@@ -0,0 +1,18 @@
+def move_cold():
+    """
+    """
+    print "move_cold"
+    
+    #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_cold():
+        robot.move_cold()  

script/motion/put_dewar.py

@@ -4,7 +4,7 @@ def put_dewar(segment, puck, sample, force=False):
     print "put_dewar: ", segment, puck, sample, force
     
     #Initial checks
-    assertValidAddress(segment, puck, sample)
+    assert_valid_address(segment, puck, sample)
     assert_puck_detected(segment, puck)
     
     robot.assert_no_task()

script/motion/tools.py

@@ -128,7 +128,7 @@ def update_tool(tool=None, x_offset=0.0, y_offset=0.0, z_offset=0.0):
     robot.save_program()
 
 
-def assertValidAddress(segment, puck, sample):
+def assert_valid_address(segment, puck, sample):
     if is_string(segment):
         segment = ord(segment.upper()) - ord('A') +1
     if segment<=0 or segment >6:
@@ -137,4 +137,20 @@ def assertValidAddress(segment, puck, sample):
         raise Exception ("Invalid puck")
     if sample<=0 or sample >16:
         raise Exception ("Invalid sample")
-        
+
+def get_puck_name(segment, puck):
+    try:
+        assert_valid_address(segment, puck, 1)
+        if type(segment) is int:
+            segment = chr( ord('A') + (pos-1))
+        elif type(segment) is str:
+            segment = pos.upper()    
+        else:
+            return None
+        return segment + str(puck)         
+    except:
+        return None
+
+
+
+    

script/motion/unmount.py

@@ -4,7 +4,7 @@ def unmount(segment, puck, sample, force=False):
     print "unmount: ", segment, puck, sample, force
     
     #Initial checks
-    assertValidAddress(segment, puck, sample)
+    assert_valid_address(segment, puck, sample)
     assert_puck_detected(segment, puck)
     
     robot.assert_no_task()
@@ -34,6 +34,8 @@ def unmount(segment, puck, sample, force=False):
     smart_magnet.set_unmount_current()
     try:
         robot.get_gonio()
+        #TODO: Shuld check if smart magnet detection is off?
+        update_samples_info_sample_unmount(get_puck_name(segment, puck))      
         robot.move_dewar()        
         robot.put_dewar(segment, puck, sample)
     finally: