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