def scan_pin(segment, puck, sample, force=False):
    pin_name = get_sample_name(segment, puck, sample)
    
    print "scan pin", pin_name
    #Initial checks
    assert_valid_address(segment, puck, sample)
    assert_puck_detected(segment, puck)
    is_aux = (segment == AUX_SEGMENT)

    if robot.simulated:
        time.sleep(0.5)
        return "Present"    
    
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()
    
    #Enabling
    
    set_status("Scanning pin: " + str(pin_name))
    
    enable_motion()    

    if is_aux:
        if not robot.is_aux():
            robot.move_aux()      
            
        robot.get_aux(sample)               
    else:
        set_hexiposi(segment)
        if not force:        
            visual_check_hexiposi(segment)           
        
        if not robot.is_dewar():
            robot.move_dewar()      
                
        robot.get_dewar(segment, puck, sample)
        
    (detected, dm) = move_scanner() 
    update_samples_info_sample_scan(get_puck_name(segment, puck), sample, detected, dm)      

    if is_aux:
        robot.move_aux()   
        robot.put_aux( sample)
    else:
        robot.move_dewar()        
        robot.put_dewar(segment, puck, sample)
    ret = "Empty"
    if detected:
        if (dm is None) or (len(dm.strip())==0):
            ret = "Present"
        else:
            ret = str(dm)
    return ret

    
def scan_puck(segment, puck, force=False):
    if segment == AUX_SEGMENT:
        raise Exception("Cannot scan auxiliary puck")
    ret = []
    for i in range(16):
        ret.append(scan_pin (segment, puck, i+1, force))
    return ret


def scan_gripper():
    print "scan gripper"
    #Initial checks
    
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()
    
    #Enabling
    
    set_status("Scanning gripper")
    
    enable_motion()    

    (detected, dm) = move_scanner() 

    robot.move_home()

    ret = "Empty"
    if detected:
        if (dm is None) or (len(dm.strip())==0):
            ret = "Present"
        else:
            ret = str(dm)
    return ret