script/motion/dry.py

@@ -1,6 +1,6 @@
 
 
-def dry(heat_time=30.0, speed=0.5, wait_cold = 30.0):    
+def dry(heat_time=30.0, speed=0.4, wait_cold = 30.0):    
     """
         heat_time (float): in seconds
         speed (float): % of nominal speed
@@ -9,7 +9,7 @@ def dry(heat_time=30.0, speed=0.5, wait_cold = 30.0):
     """
     print "dry"
     
-    #Initial checks
+    #Initial chec
     robot.assert_no_task()
     robot.reset_motion()
     robot.wait_ready()
@@ -40,4 +40,4 @@ def dry(heat_time=30.0, speed=0.5, wait_cold = 30.0):
         robot.move_cold()  
         time.sleep(wait_cold)
     else:
-        robot.move_dewar()
+        robot.move_park()

script/motion/mount.py

@@ -56,7 +56,7 @@ def mount(segment, puck, sample, force=False, read_dm=False):
         if read_dm:
             barcode_reader.start_read(10.0)
             robot.move_scanner()     
-            time.sleep(1.0)           
+            #time.sleep(1.0)           
             
         robot.move_gonio()    
         

script/motion/move_scanner.py

@@ -1,3 +1,4 @@
+
 def move_scanner():
     """
     """
@@ -13,14 +14,17 @@ def move_scanner():
     #Enabling
     enable_motion()    
 
-    #barcode_reader.start_read(20.0)
-
+    barcode_reader.start_read(10.0)
     if not robot.is_scanner():
         robot.move_scanner()
 
-    #robot.do_scan()
-    #dm = barcode_reader.get_readout()
-    dm = barcode_reader.read(0.5)
+    time.sleep(0.25)
+    dm = barcode_reader.get_readout()    
+    if dm is None:
+        detected =  is_pin_detected_in_scanner()
+    else: 
+        detected = True
 
-    print "Datamatrix: " , dm
-    #print "Datamatrix: " , barcode_reader.wait_readout()
+    print ("Detected: " + str( detected) +  " - Datamatrix: " + str(dm))
+
+    return (detected, dm)

script/motion/scan_pin.py

@@ -1,48 +1,42 @@
-segment, puck, sample, force = "B",1,1, True
-pin_name = get_sample_name(segment, puck, sample)
+def scan_pin(segment, puck, sample, force=False):
+    pin_name = get_sample_name(segment, puck, sample)
+    
+    print "scan pin", pin_name
+    #Initial checks
+    assert_valid_address(segment, puck, sample)
+    assert_puck_detected(segment, puck)
+    
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.wait_ready()
+    robot.assert_cleared()
+    #robot.assert_in_known_point()
+    
+    #Enabling
+    
+    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()      
+            
+    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)
 
+    return (detected, dm)
 
-print "scan pin", pin_name
-#Initial checks
-robot.assert_no_task()
-robot.reset_motion()
-robot.wait_ready()
-robot.assert_cleared()
-#robot.assert_in_known_point()
-
-#Enabling
-
-set_status("Scanning pin: " + str(pin_name))
-
-enable_motion()    
-set_hexiposi(segment)
-if not force:        
-    visual_check_hexiposi(segment)           
-
-
-robot.move_park()
-
-gripper_cam.update()
-background_img = gripper_cam.getImage()
-
-
-if not robot.is_dewar():
-    robot.move_dewar()      
-        
-robot.get_dewar(segment, puck, sample)
-
-robot.move_park()
-gripper_cam.update()
-sample_img = gripper_cam.getImage()
-
-barcode_reader.start_read(10.0)
-robot.move_scanner()     
-time.sleep(1.0)           
-
-mount_sample_id = barcode_reader.get_readout()
-print "Datamatrix: " , mount_sample_id
-
-robot.move_dewar()        
-robot.put_dewar(segment, puck, sample)
-
-        
+    
+def scan_puck(segment, puck, force=False):
+    ret = []
+    for i in range(16):
+        ret.append(scan_pin (segment, puck, i+1, force))
+    return ret

script/motion/tools.py

@@ -155,4 +155,16 @@ def get_sample_name(segment, puck, sample):
     puck_name = get_puck_name(segment, puck)
     return None if (puck_name is None) else puck_name + str(sample)
 
-    
+
+def is_pin_detected_in_scanner():
+    samples = []
+    for i in range(10):
+        samples.append(laser_distance.read())
+        time.sleep(0.05)
+    av = mean(samples)
+    for s in samples:
+         if s<=1:
+             return False
+         if abs(s-av) > 0.1:
+             return False
+    return True