script/motion/mount.py

@@ -1,16 +1,40 @@
-def mount(segment, puck, sample, unmount = False):
+def mount(segment, puck, sample, force=False):
     """
     """
-    cmd = "firstmount" if unmount else "mount"
+    print "mount: ", segment, puck, sample, force
+    
+    #Initial checks
     assertValidAddress(segment, puck, sample)
+    robot.assert_no_task()
+    robot.state.assertReady()
+    robot.assert_cleared()
 
-    hexiposi.move(segment)
+    if hexiposi.homed == False:
+        raise Exception ("Hexiposi is not homed")
 
-    img_segment = get_img_cover_pos()
-    if img_segment != segment:
-        raise Excepton ("Image detection of cover does not match hexiposi: " + str(img_segment))
+    #Enabling
+    enable_motion()
+    
+    set_hexiposi(segment)
 
-    if type(segment) == str:
-        segment = ord(segment.upper()) - ord('A') +1
-    robot.start_task(cmd,segment, puck, sample)
-    #robot.mount(segment, puck, sample)
+    
+    if not force:
+        #Clearing for image processing
+        robot.move_park()        
+        assert_img_in_cover_pos(segment)
+    
+    location = get_current_point()
+    print "Location: " + location
+
+    robot.move_dewar()        
+    try:
+        robot.get_dewar(segment, puck, sample)
+    except:
+        #robot.move_dewar()        
+        raise
+
+    try:
+        robot.put_gonio()    
+    except:        
+        #TODO: recover
+        raise

script/motion/tools.py

@@ -1,20 +1,39 @@
 POSITION_TOLERANCE = 50
 
-def enable_power():
+def enable_motion():
     """
-    Check safety and enable arm power
+    Check safety and enable arm power if in remote mode
     """
-    release_psys()  
-    time.sleep(0.1)   
-    if feedback_psys_safety.read() == False:
-        raise Exception("Cannot enable power: check doors")
+    if robot.working_mode != "manual":
+        release_psys()  
+        time.sleep(0.1)   
+        if feedback_psys_safety.read() == False:
+            raise Exception("Cannot enable power: check doors")
+            
     release_local()
     if feedback_local_safety.read() == False:
         raise Exception("Cannot enable power: check sample changer emergency stop button")
-    time.sleep(0.25)    
-    if not robot.state.isNormal():
-        raise Exception("Cannot enable power: robot state is " + str(robot.state))
-    robot.enable()
+
+    if robot.working_mode == "manual":
+        pass
+    else:
+        time.sleep(0.25)    
+        if not robot.state.isNormal():
+            raise Exception("Cannot enable power: robot state is " + str(robot.state))
+        robot.enable()
+
+def set_hexiposi(pos):
+    """
+    Set the hexiposi posiiton in remote mode, or wait for it to be set in manual mode
+    """
+    if robot.working_mode == "manual":
+        set_status("Move Hexiposi to position " + str(pos) + " ...")
+        try:
+            hexiposi.waitInPosition(pos, -1)
+        finally:
+            set_status(None)    
+    else:
+        hexiposi.move(pos)
     
 
 
@@ -57,8 +76,6 @@ def move_to_laser():
     raise Exception ("Must be in home position to start move to laser")
     
 
-
-
 def update_tool(tool=None, x_offset=0.0, y_offset=0.0, z_offset=0.0):
     #Updating tool:
     t=robot.get_tool_trsf(tool)

script/motion/unmount.py

@@ -1,15 +1,44 @@
-def unmount(segment, puck, sample):
+def unmount(segment, puck, sample, force=False):
     """
     """
+    print "unmount: ", segment, puck, sample, force
+    
+    #Initial checks
     assertValidAddress(segment, puck, sample)
+    robot.assert_no_task()
+    robot.state.assertReady()
+    robot.assert_cleared()
 
-    hexiposi.move(segment)
+    if hexiposi.homed == False:
+        raise Exception ("Hexiposi is not homed")
 
-    img_segment = get_img_cover_pos()
-    if img_segment != segment:
-        raise Excepton ("Image detection of cover does not match hexiposi: " + str(img_segment))
+    #Enabling
+    enable_motion()
 
-    if type(segment) == str:
-        segment = ord(segment.upper()) - ord('A') +1
+    set_hexiposi(segment)
 
-    robot.unmount(segment, puck, sample)
+    if not force:
+        #Clearing for image processing
+        robot.move_park()
+        assert_img_in_cover_pos(segment)
+
+    location = get_current_point()
+
+    
+    try:
+        robot.get_gonio()
+    except:
+        #TODO: recover
+        raise
+
+    try:
+        robot.move_dewar()        
+    except:
+        #TODO: recover
+        raise
+
+    try:
+        robot.pet_dewar(segment, puck, sample)
+    except:
+        #robot.move_dewar()        
+        raise