script/motion/unmount.py

@@ -13,7 +13,7 @@ def unmount(segment = None, puck = None, sample = None, force=False):
     #Initial checks
     assert_valid_address(segment, puck, sample)
     assert_puck_detected(segment, puck)
-    
+   
     robot.assert_no_task()
     robot.reset_motion()
     robot.wait_ready()
@@ -21,25 +21,27 @@ def unmount(segment = None, puck = None, sample = None, force=False):
     #robot.assert_in_known_point()
     hexiposi.assert_homed()
 
-    if smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0) == False:
-        raise Exception("No pin detected on gonio")
-    
-
-    #Enabling
-    enable_motion()
-
-    set_hexiposi(segment)
-
-    if not force:        
-        visual_check_hexiposi(segment)
-
-    #location = robot.get_current_point()
-
-    if not robot.is_gonio():
-        robot.move_gonio()
-            
-    smart_magnet.set_unmount_current()
     try:
+        smart_magnet.enforce_sample_detection()               
+        if smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0) == False:
+            raise Exception("No pin detected on gonio")
+        
+    
+        #Enabling
+        enable_motion()
+    
+        set_hexiposi(segment)
+    
+        if not force:        
+            visual_check_hexiposi(segment)
+    
+        #location = robot.get_current_point()
+    
+        if not robot.is_gonio():
+            robot.move_gonio()
+                
+        smart_magnet.set_unmount_current()
+        
         robot.get_gonio()
         #TODO: Shuld check if smart magnet detection is off?
         update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)