gac-S_Changer
124 lines
4.2 KiB
Python
124 lines
4.2 KiB
Python
mount_sample_id = None
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mount_sample_detected = None
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def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False):
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"""
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"""
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global mount_sample_id, mount_sample_detected
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print "mount: ", segment, puck, sample
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start = time.time()
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is_aux = (segment == AUX_SEGMENT)
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puck_address = get_puck_address(puck)
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if puck_address is None:
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puck_obj = get_puck_obj_by_id(puck)
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if puck_obj is not None:
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puck_address = puck_obj.name
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if puck_address is not None:
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print "puck address: ", puck_address
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segment = puck_address[:1]
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puck = int(puck_address[1:])
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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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if robot.simulated:
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time.sleep(3.0)
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mount_sample_detected = True
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mount_sample_id = "YYY0001"
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update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)
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set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
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return [mount_sample_detected, mount_sample_id]
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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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hexiposi.assert_homed()
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assert_mount_position()
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lid_open_by_unmount = False
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try:
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if smart_magnet.get_supress() == True:
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smart_magnet.set_supress(False)
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time.sleep(0.2)
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#To better dectect sample
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smart_magnet.apply_reverse()
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smart_magnet.apply_resting()
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time.sleep(0.5)
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if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == True:
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mounted_sample = get_setting("mounted_sample_position")
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if auto_unmount and ( mounted_sample is not None):
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previous_segment = mounted_sample[0:1]
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#auto_unmount set to true so detection remains enabled
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unmount(force = True, auto_unmount = True)
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#We know the lid is open for sure
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lid_open_by_unmount = True
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else:
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raise Exception("Pin detected on gonio")
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set_status("Mounting: " + str(segment) + str(puck) + str(sample))
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#location = robot.get_current_point()
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#Enabling
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enable_motion()
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if is_aux:
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if lid_open_by_unmount:
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lid_open_by_unmount = False
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robot.close_lid(segment)
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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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if not robot.is_home():
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if (not lid_open_by_unmount) or (segment != previous_segment):
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robot.move_home()
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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 lid_open_by_unmount:
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robot.open_lid(segment)
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lid_open_by_unmount = False
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robot.get_rt(segment, puck, sample) #Should we close lid if this command raise exception?
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robot.close_lid(segment)
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robot.move_gonio()
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if read_dm:
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mount_sample_id = barcode_reader.get_readout()
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print "Datamatrix: " , mount_sample_id
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else:
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mount_sample_id = None
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robot.put_gonio()
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#robot.move_home()
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mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
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update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)
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if mount_sample_detected == False:
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raise Exception("No pin detected on gonio")
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set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
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return [mount_sample_detected, mount_sample_id]
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except:
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if lid_open_by_unmount:
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robot.close_lid(segment)
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raise
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finally:
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smart_magnet.set_default_current()
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smart_magnet.set_supress(True)
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