62 lines
1.6 KiB
Python
62 lines
1.6 KiB
Python
def scan_pin(segment, puck, sample, force=False):
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pin_name = get_sample_name(segment, puck, sample)
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print "scan pin", pin_name
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#Initial checks
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assert_valid_address(segment, puck, sample)
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assert_puck_detected(segment, puck)
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is_aux = (segment == AUX_SEGMENT)
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robot.assert_no_task()
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robot.reset_motion()
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robot.wait_ready()
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robot.assert_cleared()
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#robot.assert_in_known_point()
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#Enabling
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set_status("Scanning pin: " + str(pin_name))
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enable_motion()
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if is_aux:
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if not robot.is_aux():
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robot.move_aux()
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robot.get_aux(sample)
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else:
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set_hexiposi(segment)
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if not force:
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visual_check_hexiposi(segment)
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if not robot.is_dewar():
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robot.move_dewar()
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robot.get_dewar(segment, puck, sample)
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(detected, dm) = move_scanner()
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update_samples_info_sample_scan(get_puck_name(segment, puck), sample, detected, dm)
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if is_aux:
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robot.move_aux()
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robot.put_aux( sample)
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else:
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robot.move_dewar()
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robot.put_dewar(segment, puck, sample)
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ret = "Empty"
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if detected:
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if (dm is None) or (len(dm.strip())==0):
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ret = "Present"
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else:
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ret = str(dm)
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return ret
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def scan_puck(segment, puck, force=False):
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if segment == AUX_SEGMENT:
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raise Exception("Cannot scan auxiliary puck")
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ret = []
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for i in range(16):
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ret.append(scan_pin (segment, puck, i+1, force))
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return ret
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