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gac-S_Changer
2018-06-06 15:35:08 +02:00
parent e335e3e404
commit eddcf227c3
17 changed files with 714 additions and 359 deletions
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28
script/motion/get_dewar.py Normal file
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@@ -0,0 +1,28 @@
def get_dewar(segment, puck, sample, force=False):
"""
"""
print "get_dewar: ", segment, puck, sample, force
#Initial checks
assertValidAddress(segment, puck, sample)
robot.assert_no_task()
robot.reset_motion()
robot.state.assertReady()
robot.assert_cleared()
#robot.assert_in_known_point()
hexiposi.assert_homed()
#location = robot.get_current_point()
#Enabling
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)

20
script/motion/get_gonio.py Normal file
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@@ -0,0 +1,20 @@
def get_gonio(force=False):
"""
"""
print "get_gonio: ", force
#Initial checks
robot.assert_no_task()
robot.reset_motion()
robot.state.assertReady()
robot.assert_cleared()
#robot.assert_in_known_point()
#Enabling
enable_motion()
if not robot.is_gonio():
robot.move_gonio()
robot.get_gonio()

15
script/motion/homing_hexiposi.py Normal file
View File

@@ -0,0 +1,15 @@
def homing_hexiposi():
"""
"""
print "homing_hexiposi"
#Initial checks
robot.assert_no_task()
robot.state.assertReady()
robot.assert_cleared()
#robot.assert_in_known_point()
#location = robot.get_current_point()
hexiposi.move_home()
hexiposi.waitState(State.Ready,-1)

36
script/motion/mount.py
View File

@@ -6,35 +6,25 @@ def mount(segment, puck, sample, force=False):
#Initial checks
assertValidAddress(segment, puck, sample)
robot.assert_no_task()
robot.reset_motion()
robot.state.assertReady()
robot.assert_cleared()
if hexiposi.homed == False:
raise Exception ("Hexiposi is not homed")
#robot.assert_in_known_point()
hexiposi.assert_homed()
#location = robot.get_current_point()
#Enabling
enable_motion()
set_hexiposi(segment)
if not force:
#Clearing for image processing
robot.move_park()
assert_img_in_cover_pos(segment)
location = robot.get_current_point()
print "Location: " + location
if not force:
visual_check_hexiposi(segment)
robot.move_dewar_wait()
try:
robot.get_dewar(segment, puck, sample)
except:
#robot.move_dewar()
raise
try:
robot.put_gonio()
except:
#TODO: recover
raise
if not robot.is_dewar():
robot.move_dewar()
robot.get_dewar(segment, puck, sample)
robot.move_gonio()
robot.put_gonio()
robot.move_dewar()

28
script/motion/put_dewar.py Normal file
View File

@@ -0,0 +1,28 @@
def put_dewar(segment, puck, sample, force=False):
"""
"""
print "put_dewar: ", segment, puck, sample, force
#Initial checks
assertValidAddress(segment, puck, sample)
robot.assert_no_task()
robot.reset_motion()
robot.state.assertReady()
robot.assert_cleared()
#robot.assert_in_known_point()
hexiposi.assert_homed()
#Enabling
enable_motion()
set_hexiposi(segment)
if not force:
visual_check_hexiposi(segment)
#location = robot.get_current_point()
if not robot.is_dewar():
robot.move_dewar()
robot.put_dewar(segment, puck, sample)

18
script/motion/put_gonio.py Normal file
View File

@@ -0,0 +1,18 @@
def put_gonio(segment, puck, sample, force=False):
"""
"""
print "put_gonio: ", force
#Initial checks
robot.assert_no_task()
robot.reset_motion()
robot.state.assertReady()
robot.assert_cleared()
#robot.assert_in_known_point()
#Enabling
enable_motion()
if not robot.is_gonio():
robot.move_gonio()
robot.put_gonio()

20
script/motion/tools.py
View File

@@ -34,7 +34,17 @@ def set_hexiposi(pos):
set_status(None)
else:
hexiposi.move(pos)
def visual_check_hexiposi(segment):
#if robot.working_mode == "manual" ?
if hexiposi.moved:
#Clearing for image processing
if not robot.is_park():
print "Moving robot to park to clear camera view..."
robot.move_park()
assert_img_in_cover_pos(segment)
hexiposi.moved = False
def wait_end_of_move():
@@ -88,12 +98,12 @@ def update_tool(tool=None, x_offset=0.0, y_offset=0.0, z_offset=0.0):
def assertValidAddress(segment, puck, sample):
if type(segment) == str:
if is_string(segment):
segment = ord(segment.upper()) - ord('A') +1
if segment<=0 or segment >6:
raise Excepton ("Invalid segment")
raise Exception ("Invalid segment")
if puck<=0 or puck >5:
raise Excepton ("Invalid puck")
raise Exception ("Invalid puck")
if sample<=0 or sample >16:
raise Excepton ("Invalid sample")
raise Exception ("Invalid sample")

38
script/motion/unmount.py
View File

@@ -6,39 +6,25 @@ def unmount(segment, puck, sample, force=False):
#Initial checks
assertValidAddress(segment, puck, sample)
robot.assert_no_task()
robot.reset_motion()
robot.state.assertReady()
robot.assert_cleared()
if hexiposi.homed == False:
raise Exception ("Hexiposi is not homed")
#robot.assert_in_known_point()
hexiposi.assert_homed()
#Enabling
enable_motion()
set_hexiposi(segment)
if not force:
#Clearing for image processing
robot.move_park()
assert_img_in_cover_pos(segment)
if not force:
visual_check_hexiposi(segment)
location = robot.get_current_point()
#location = robot.get_current_point()
try:
robot.get_gonio()
except:
#TODO: recover
raise
try:
robot.move_dewar_wait()
except:
#TODO: recover
raise
try:
robot.put_dewar(segment, puck, sample)
except:
#robot.move_dewar()
raise
if not robot.is_gonio():
robot.move_gonio()
robot.get_gonio()
robot.move_dewar()
robot.put_dewar(segment, puck, sample)