gac-s_changer
82 lines
2.5 KiB
Python
82 lines
2.5 KiB
Python
def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False):
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"""
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"""
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print "unmount: ", segment, puck, sample, force
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if (segment is None) or (puck is None) or (sample is None):
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pos = get_setting("mounted_sample_position")
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if pos is None:
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raise Exception("Mounted sample position is not defined")
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segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2:])
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print "Mounted sample position: ", segment, puck , sample
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is_aux = (segment == AUX_SEGMENT)
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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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update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)
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set_setting("mounted_sample_position", None)
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return
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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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set_status("Umounting: " + str(segment) + str(puck) + str(sample))
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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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smart_magnet.apply_reverse()
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smart_magnet.apply_resting()
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if not force:
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if smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0) == False:
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raise Exception("No pin detected on gonio")
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#Enabling
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enable_motion()
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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_gonio():
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robot.move_gonio()
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robot.get_gonio()
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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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#TODO: Shuld check if smart magnet detection is off?
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update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)
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robot.move_home()
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robot.open_lid(segment)
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robot.put_rt(segment, puck, sample)
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set_setting("mounted_sample_position", None)
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#imporant to be the very last command for the logic on chained mount
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if not auto_unmount:
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robot.close_lid(segment)
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robot.move_park()
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finally:
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if not auto_unmount:
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smart_magnet.set_default_current()
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smart_magnet.set_supress(True)
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