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Merge branch 'master' of git.psi.ch:tell/X06SA

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This commit is contained in:
panepucci
2021-07-28 15:22:31 +02:00
parent fd7fa4cf90 7760a652a1
commit 474b45c879
8 changed files with 124 additions and 67 deletions
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1
script/data/pucks.py
View File

@@ -48,4 +48,3 @@ def restore_puck_info():
print >> sys.stderr, "Error reading pucks info file: " + str(sys.exc_info()[1])
info = []
set_puck_info(info)

3
script/data/samples.py
View File

@@ -8,7 +8,6 @@ samples_info = []
def set_samples_info(info):
log("Update samples info: " + str(info))
global samples_info
if (is_string(info)):
info = json.loads(info)
@@ -361,4 +360,4 @@ test_sample_data = [ \
"sampleMountCount": 0,
} , \
]

78
script/devices/RobotSC.py
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@@ -32,28 +32,41 @@ class RobotSC(RobotTCP):
self.setPolling(DEFAULT_ROBOT_POLLING)
self.last_command_timestamp = None
self.last_command_position = None
self.ongoing_task = None
#self.setSimulated()
def move_dewar(self):
self.start_task('moveDewar')
def wait_async_motion(self):
og_position, og_assert = self.ongoing_task
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_dewar()
self.last_command_position = "dewar"
if callable(og_assert):
og_assert()
self.last_command_position = og_position
self.last_command_timestamp = time.time()
self.ongoing_task = None
def move_dewar_async(self):
self.start_task('moveDewar')
self.ongoing_task = ("dewar", self.assert_dewar)
def move_dewar(self):
self.move_dewar_async()
self.wait_async_motion()
def move_cold_async(self):
self.start_task('moveCold')
self.ongoing_task = ("cold", self.assert_cold)
def move_cold(self):
self.start_task('moveCold')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_cold()
self.last_command_position = "cold"
self.last_command_timestamp = time.time()
self.move_cold_async()
self.wait_async_motion()
def move_home_async(self):
self.start_task('moveHome')
self.ongoing_task = ("home", self.assert_home)
def move_home(self):
self.start_task('moveHome')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_home()
self.last_command_position = "home"
self.last_command_timestamp = time.time()
self.move_home_async()
self.wait_async_motion()
def get_dewar(self, segment, puck, sample):
segment = self.toSegmentNumber(segment)
@@ -76,7 +89,6 @@ class RobotSC(RobotTCP):
def put_gonio(self):
pin_offset = get_pin_offset()
pin_angle_offset = get_pin_angle_offset()
print "Pin offset = " + str(pin_offset)
self.start_task('putGonio', pin_offset)
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_gonio()
@@ -85,7 +97,6 @@ class RobotSC(RobotTCP):
def get_gonio(self):
pin_offset = get_pin_offset()
print "Pin offset = " + str(pin_offset)
self.start_task('getGonio', pin_offset)
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_gonio()
@@ -127,20 +138,22 @@ class RobotSC(RobotTCP):
# self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
# self.assert_scan_stop()
def move_gonio(self):
def move_gonio_async(self):
assert_detector_safe()
self.start_task('moveGonio')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_gonio()
self.last_command_position = "gonio"
self.last_command_timestamp = time.time()
self.ongoing_task = ("gonio", self.assert_gonio)
def move_gonio(self):
self.move_gonio_async()
self.wait_async_motion()
def move_park_async(self):
self.start_task('movePark')
self.ongoing_task = ("park", self.assert_park)
def move_park(self):
self.start_task('movePark')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_park()
self.last_command_position = "park"
self.last_command_timestamp = time.time()
self.move_park_async()
self.wait_async_motion()
def move_heater(self, speed=-1, to_bottom=True):
self.start_task('moveHeater', speed, to_bottom)
@@ -160,12 +173,13 @@ class RobotSC(RobotTCP):
self.last_command_position = "home"
self.last_command_timestamp = time.time()
def move_aux(self):
def move_aux_async(self):
self.start_task('moveAux')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_aux()
self.last_command_position = "aux"
self.last_command_timestamp = time.time()
self.ongoing_task = ("aux", self.assert_aux)
def move_aux(self):
self.move_aux_async()
self.wait_async_motion()
def get_calibration_tool(self):
self.start_task('getCalTool')
@@ -359,4 +373,4 @@ if joint_forces:
add_device(jf4(), force = True)
add_device(jf5(), force = True)
add_device(jf6(), force = True)
add_device(jfc(), force = True)
add_device(jfc(), force = True)

9
script/motion/dry.py
View File

@@ -9,17 +9,18 @@ def dry(heat_time=None, speed=None, wait_cold = None):
wait_cold(float): if negative, move to dewar after drying
Else move to cold and wait (in seconds) before returning.
"""
print "dry"
if heat_time is None:
heat_time = DEFAULT_DRY_HEAT_TIME
if speed is None:
speed = DEFAULT_DRY_SPEED
if wait_cold is None:
wait_cold = DEFAULT_DRY_WAIT_COLD
print "dry heat_time = {}, speed = {}, wait_cold = {}".format(heat_time, speed, wait_cold)
if robot.simulated:
time.sleep(10.0)
return
@@ -55,4 +56,4 @@ def dry(heat_time=None, speed=None, wait_cold = None):
robot.move_cold()
time.sleep(wait_cold)
else:
robot.move_park()
robot.move_park()

1
script/motion/get_aux.py
View File

@@ -3,6 +3,7 @@ def get_aux(sample):
"""
print "get_aux: ",sample
sample = int(sample) #assert_valid_sample only acceps int as parameters
#Initial checks
assert_valid_sample(sample)

71
script/motion/mount.py
View File

@@ -5,19 +5,20 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
"""
"""
global mount_sample_id, mount_sample_detected
tg = time.time
t1 = tg()
print "mount: ", segment, puck, sample, force
start = time.time()
is_aux = (segment == AUX_SEGMENT)
is_rt = (segment == RT_SEGMENT)
is_normal = not (is_aux or is_rt)
previous_mounted = get_setting("mounted_sample_position")
if previous_mounted is not None:
previous_segment, previous_puck, previous_sample = previous_mounted[0], int(previous_mounted[1]), int(previous_mounted[2:])
else:
previous_segment, previous_puck, previous_sample = "-", 0, 0
mounting_in_same_segment = (previous_segment == segment)
# ZAC
was_cold = robot.is_cold()
@@ -27,6 +28,8 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
count_mount = is_normal or (is_aux and was_cold)
zero_counts = (is_aux and not was_cold) or (is_rt and was_cold)
pin_offset = get_pin_offset()
puck_address = get_puck_address(puck)
if puck_address is None:
puck_obj = get_puck_obj_by_id(puck)
@@ -37,6 +40,8 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
segment = puck_address[:1]
puck = int(puck_address[1:])
#Initial checks
print "%4.1f s asserting" % (tg() - t1,)
#Initial checks
assert_valid_address(segment, puck, sample)
assert_puck_detected(segment, puck)
@@ -56,6 +61,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
hexiposi.assert_homed()
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:
@@ -64,16 +70,26 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
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
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)
print " was warm previous %s %s %s" % (previous_segment, COLD_SEGMENTS, previous_mounted)
robot.move_cold()
time.sleep(30.0)
if auto_unmount and (get_setting("mounted_sample_position") is not None):
if mounting_in_same_segment:
print " Mounting from the same segment"
#auto_unmount set to true so detection remains enabled
sample_det = unmount(force = True, auto_unmount = True, next_segment=segment)
print "%4.1f s unmounting" % (tg() - t1,)
sample_det = unmount(force = True, auto_unmount = True, mounting_in_same_segment=mounting_in_same_segment, next_segment=segment)
print "%4.1f s ....done" % (tg() - t1,)
do_unmount = True
if sample_det == True:
raise Exception("Pin detected on gonio")
@@ -92,8 +108,6 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
if not do_unmount:
enable_motion()
# ZAC
# a room temp pin is being mounted but the gripper is cold
if needs_drying:
dry(wait_cold=-1) # move to park after dry
@@ -103,33 +117,53 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
robot.get_aux(sample)
elif is_rt:
if not robot.is_rt():
robot.move_rt()
robot.get_rt(puck, sample)
# TODO: implement room temperature for X06SA
pass
else:
print "%4.1f s moving lid " % (tg() - t1,)
set_hexiposi(segment)
if not force:
visual_check_hexiposi(segment)
if not robot.is_dewar():
if (not robot.is_dewar()) and (not mounting_in_same_segment):
robot.move_dewar()
robot.get_dewar(segment, puck, sample)
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:
print "%4.1f s barcode read" % (tg() - t1,)
barcode_reader.start_read(10.0)
robot.move_scanner()
print "%4.1f s ...done" % (tg() - t1,)
#time.sleep(1.0)
print "%4.1f s move to gonio " % (tg() - t1,)
robot.move_gonio()
print "%4.1f s ....done" % (tg() - t1,)
if read_dm:
print "%4.1f s reading pin barcode" % (tg() - t1,)
mount_sample_id = barcode_reader.get_readout()
print "Datamatrix: " , mount_sample_id
print "%4.1f s ....done --- barcode: %s" % (tg() - t1, mount_sample_id)
else:
mount_sample_id = None
print "%4.1f s moving cryo out" % (tg() - t1,)
curpos = cryopos.getPosition()
speed = cryopos.getSpeed()
movetime = int(round(5000 + (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 "%4.1f s .....done" % (tg() - t1,)
if is_normal:
print "%4.1f s async moving cryo to 5mm " % (tg() - t1,)
cryopos.moveAsync(5.0)
if count_mount:
try:
@@ -143,16 +177,17 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
set_setting("dry_mount_counter", 0)
if is_rt:
print "mount/moving park in RT"
robot.move_park()
print "%4.1f s mount/moving home in RT" % (tg() - t1,)
robot.move_home()
elif is_normal:
print "mount/moving cold in cold"
print "%4.1f mount/moving cold in cold " % (tg() - t1,)
robot.move_cold()
elif is_aux:
if was_cold:
print "mount/moving park in AUX"
print "%4.1f s mount/moving cold after auxtool mount " % (tg() - t1,)
robot.move_cold()
else:
print "%4.1f s mount/moving park after auxtool mount" % (tg() - t1,)
robot.move_park()
else:
robot.move_cold()
@@ -166,13 +201,13 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
if is_force_dry():
smart_magnet.set_default_current()
print "Auto dry"
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))
return [mount_sample_detected, mount_sample_id]
finally:
print "%4.1f s magnet suppress/default current" % (tg() - t1,)
smart_magnet.set_default_current()
smart_magnet.set_supress(True)

6
script/motion/move_cold.py
View File

@@ -2,10 +2,10 @@ def move_cold(reset_timestamp=False):
"""
"""
if reset_timestamp:
print "move_cold and reset ry_timestamp"
set_setting("dry_timestamp", time.time())
print "move_cold and resetting dry_timestamp"
else:
print "move_cold"
print "move cold"
if robot.simulated:
time.sleep(3.0)
@@ -23,4 +23,4 @@ def move_cold(reset_timestamp=False):
if not robot.is_cold():
robot.move_cold()
robot.move_cold()

22
script/motion/unmount.py
View File

@@ -1,15 +1,16 @@
def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False, next_segment="-*-"):
def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False, next_segment="-*-", mounting_in_same_segment=False):
"""
"""
print "unmount: ", segment, puck, sample, force, auto_unmount
print "unmount: ", segment, puck, sample, force
tg = time.time
t1 = tg()
if (segment is None) or (puck is None) or (sample is None):
pos = get_setting("mounted_sample_position")
if pos is None:
raise Exception("Mounted sample position is not defined")
segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2:])
print "Mounted sample position: ", segment, puck , sample
print "%4.1f Mounted sample position: %s%s-%s" % (tg() - t1, segment, puck , sample)
# ZAC: these need to happen after defining segment, puck, sample
is_aux = (segment == AUX_SEGMENT)
is_rt = (segment == RT_SEGMENT)
@@ -24,9 +25,10 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
#Initial checks
if not auto_unmount:
print "%4.1f s asserting" % (tg() - t1,)
print "assert valid address"
assert_valid_address(segment, puck, sample)
print "asser puck detected"
print " assert puck detected"
assert_puck_detected(segment, puck)
if robot.simulated:
@@ -69,18 +71,18 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
#Enabling
enable_motion()
if not is_aux:
if is_normal:
set_hexiposi(segment)
if not force:
visual_check_hexiposi(segment)
if needs_chilling:
print "umount():78 chilling"
robot.move_cold()
time.sleep(30.)
else:
if needs_drying:
dry(wait_cold=-1)
#location = robot.get_current_point()
if not robot.is_gonio():
@@ -88,6 +90,12 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
#smart_magnet.set_unmount_current()
curpos = cryopos.getPosition()
speed = cryopos.getSpeed()
movetime = int(round(5000 + (15. - curpos) / speed))
cryopos.move(15.0, movetime)
cryopos.waitValueInRange(15.0, 1.0, movetime)
robot.get_gonio()
smart_magnet.apply_reverse()