mount_sample_id = None
mount_sample_detected = None

def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False):
    """
    """
    global mount_sample_id, mount_sample_detected
    print "mount: ", segment, puck, sample

    start = time.time()

    is_aux = (segment == AUX_SEGMENT)
    
    puck_address = get_puck_address(puck)
    if puck_address is None:
        puck_obj = get_puck_obj_by_id(puck)
        if puck_obj is not None:
            puck_address = puck_obj.name
    if puck_address is not None:
        print "puck address: ", puck_address
        segment = puck_address[:1]
        puck = int(puck_address[1:])        
    #Initial checks
    assert_valid_address(segment, puck, sample)
    assert_puck_detected(segment, puck)    
    
    if robot.simulated:
        time.sleep(3.0)
        mount_sample_detected = True     
        mount_sample_id = "YYY0001"
        update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)    
        set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
        return [mount_sample_detected, mount_sample_id]
            
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()
    hexiposi.assert_homed()    
    assert_mount_position()
        
    lid_open_by_unmount = False
    try:

        if smart_magnet.get_supress() == True:
            smart_magnet.set_supress(False)
            time.sleep(0.2)        
        #To better dectect sample
        smart_magnet.apply_reverse()
        smart_magnet.apply_resting()
        time.sleep(0.5)        
        if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == True:
            mounted_sample = get_setting("mounted_sample_position")
            if auto_unmount and ( mounted_sample is not None):
                previous_segment = mounted_sample[0:1]            
                #auto_unmount set to true so detection remains enabled
                unmount(force = True, auto_unmount = True)
                #We know the lid is open for sure                
                lid_open_by_unmount = True
            else:
                raise Exception("Pin detected on gonio")            
        set_status("Mounting: " + str(segment) + str(puck) + str(sample))    
        #location = robot.get_current_point()
    
        #Enabling
        enable_motion()

        if is_aux:
            if lid_open_by_unmount:
                lid_open_by_unmount = False
                robot.close_lid(segment)  
            if not robot.is_aux():
                robot.move_aux()                      
            robot.get_aux(sample)

        else:

            if not robot.is_home():
                if (not lid_open_by_unmount)  or (segment != previous_segment):
                    robot.move_home()  
                    
            set_hexiposi(segment)  
    
            if not force:        
                visual_check_hexiposi(segment)            
                    
            if not lid_open_by_unmount:    
                robot.open_lid(segment)
            lid_open_by_unmount = False
            
            robot.get_rt(segment, puck, sample) #Should we close lid if this command raise exception?
            robot.close_lid(segment)   
            
        robot.move_gonio()    
        
        if read_dm:
            mount_sample_id = barcode_reader.get_readout()
            print "Datamatrix: " , mount_sample_id
        else:
            mount_sample_id = None
            

        robot.put_gonio() 
     
        #robot.move_home() 

            
        mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)        
        update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)      
        if mount_sample_detected == False:
           raise Exception("No pin detected on gonio")

        set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
        return [mount_sample_detected, mount_sample_id]
    except:
        if lid_open_by_unmount:
            robot.close_lid(segment)   
        raise
    finally:
        smart_magnet.set_default_current()
        smart_magnet.set_supress(True)