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recover smartmagnet use in mount & unmount scripts

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- they were removed for the smargon tests
This commit is contained in:
panepucci
2021-08-13 09:52:34 +02:00
parent a22aa0f152
commit 293a0c549a
2 changed files with 61 additions and 17 deletions
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script/motion/mount.py
+38 -15
View File
@@ -62,11 +62,22 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
assert_mount_position()
do_unmount = False
print "%4.1f s asserted " % (tg() - t1,)
# detect sample before moving to cold
if smart_magnet.get_supress() == True:
smart_magnet.set_supress(False)
time.sleep(0.2)
sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
Controller.getInstance().logEvent("Sample Detection", str(sample_det))
print "%4.1f s SMC checked" % (tg() - t1,)
mounting_in_same_segment = False
mounting_in_same_segment = False
try:
try:
if sample_det == True:
if was_warm and previous_segment in COLD_SEGMENTS:
print " was warm previous %s %s %s" % (previous_segment, COLD_SEGMENTS, previous_mounted)
robot.move_cold()
@@ -81,6 +92,10 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
print "%4.1f s ....done" % (tg() - t1,)
do_unmount = True
if sample_det == True:
raise Exception("Pin detected on gonio")
if is_normal and not robot.is_cold():
print "mount():83 needs_chilling"
@@ -117,7 +132,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
if (not robot.is_dewar()) and (not mounting_in_same_segment):
robot.move_dewar()
print "%4.1f s get_dewar" % (tg() - t1,)
print "%4.1f s get_dewar" % (tg() - t1,)
robot.get_dewar(segment, puck, sample, mounting_in_same_segment=mounting_in_same_segment)
if read_dm:
@@ -139,14 +154,14 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
print "%4.1f s moving cryo out" % (tg() - t1,)
curpos = cryopos.getPosition()
curpos = cryopos.getPosition()
speed = cryopos.getSpeed() / 1000.
movetime = int(round(3000 + abs(15. - curpos) / speed))
cryopos.move(15.0, movetime)
speed = cryopos.getSpeed() / 1000.
movetime = int(round(3000 + abs(15. - curpos) / speed))
cryopos.move(15.0, movetime)
cryopos.waitValueInRange(15.0, 1.0, movetime)
print " ....done\n%4.1f s putting_gonio with pin_offset = %.1f mm" % (tg() - t1, pin_offset)
robot.put_gonio()
print " ....done\n%4.1f s putting_gonio with pin_offset = %.1f mm" % (tg() - t1, pin_offset)
robot.put_gonio()
print "%4.1f s .....done" % (tg() - t1,)
if is_normal:
print "%4.1f s async moving cryo to 5mm " % (tg() - t1,)
@@ -179,14 +194,22 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
else:
robot.move_cold()
update_samples_info_sample_mount(get_puck_name(segment, puck), sample, True, mount_sample_id)
mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
Controller.getInstance().logEvent("Sample Detection", str(mount_sample_detected))
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")
if is_force_dry():
smart_magnet.set_default_current()
print "%4.1f Auto dry async" % (tg() - t1,)
log("Starting auto dry", False)
set_exec_pars(then = "dry()")
set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
return [mount_sample_detected, mount_sample_id]
finally:
finally:
print "%4.1f s magnet suppress/default current" % (tg() - t1,)
smart_magnet.set_default_current()
smart_magnet.set_supress(True)
script/motion/unmount.py
+23 -2
View File
@@ -55,6 +55,20 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
Controller.getInstance().logEvent("Unmount Sample", str(segment) + str(puck) + str(sample))
try:
if smart_magnet.get_supress() == True:
smart_magnet.set_supress(False)
time.sleep(0.2)
#smart_magnet.apply_reverse()
#smart_magnet.apply_resting()
if not force:
sample_det = smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0)
Controller.getInstance().logEvent("Sample Detection", str(sample_det))
if sample_det == False:
raise Exception("No pin detected on gonio")
#Enabling
enable_motion()
if is_normal:
@@ -82,6 +96,11 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
robot.get_gonio()
smart_magnet.apply_reverse()
smart_magnet.apply_resting()
mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
Controller.getInstance().logEvent("Sample Detection", str(mount_sample_detected))
if is_aux:
robot.move_aux()
robot.put_aux(sample)
@@ -94,6 +113,8 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
robot.put_dewar(segment, puck, sample)
set_setting("mounted_sample_position", None)
return False
return mount_sample_detected
finally:
pass
if not auto_unmount:
smart_magnet.set_default_current()
smart_magnet.set_supress(True)