From 609a87a986e7c09a683417e7cd4c9cfd462a0023 Mon Sep 17 00:00:00 2001
From: "EPanepucci (x06sa-cons-701)" <ezequiel.panepucci@psi.ch>
Date: Wed, 26 Apr 2023 09:29:10 +0200
Subject: [PATCH] pulling some changes from x10sa

- bugfix: hexiposi missing "self." for method call
- pretend dry for development
- bugfix: ensure cryojet retracted in trash sample
- typos and whitespace
---
 script/devices/Hexiposi.py |  2 +-
 script/local.py            |  1 -
 script/motion/tools.py     |  4 ++--
 script/motion/trash.py     |  7 +++++++
 script/pretend_dry.py      | 21 +++++++++++++++++++++
 5 files changed, 31 insertions(+), 4 deletions(-)
 create mode 100644 script/pretend_dry.py

diff --git a/script/devices/Hexiposi.py b/script/devices/Hexiposi.py
index ff30a57..282733f 100644
--- a/script/devices/Hexiposi.py
+++ b/script/devices/Hexiposi.py
@@ -120,7 +120,7 @@ class Hexiposi(DiscretePositionerBase):
 
 
     def assert_in_position(self, pos):
-        if not is_in_position(pos):
+        if not self.is_in_position(pos):
             raise Exception ("Hexiposi is not in position")
     
     def assert_homed(self):
diff --git a/script/local.py b/script/local.py
index f7662d6..75796db 100644
--- a/script/local.py
+++ b/script/local.py
@@ -115,7 +115,6 @@ def is_gripper_really_empty(timeout=2.0):
     timeout = timeout + time.time()
     while time.time() < timeout:
         if robot.eval_bool("diToolHasSample"):
-            print "test"
             time.sleep(0.10)
         else:
             return True        
diff --git a/script/motion/tools.py b/script/motion/tools.py
index 58bb7fc..aa6f730 100644
--- a/script/motion/tools.py
+++ b/script/motion/tools.py
@@ -14,7 +14,7 @@ def release_safety():
     if air_pressure_ok.take() != True:
         raise Exception("Cannot release safety: air preassure not ok") 
     if n2_pressure_ok.take() != True:
-        raise Exception("Cannot release safety: n2 pressure not ok")         
+        raise Exception("Cannot release safety: N2 pressure not ok")         
     auto = not is_manual_mode()
     if auto:
         if feedback_psys_safety.read() == False:
@@ -177,4 +177,4 @@ def is_pin_detected_in_scanner():
              return False
          if abs(s-av) > 0.1:
              return False
-    return True    
\ No newline at end of file
+    return True    
diff --git a/script/motion/trash.py b/script/motion/trash.py
index f1ebd25..2864836 100644
--- a/script/motion/trash.py
+++ b/script/motion/trash.py
@@ -21,6 +21,13 @@ def trash_sample():
     enable_motion()
 
     robot.move_gonio()
+    
+    curpos = cryopos.getPosition()
+    speed = cryopos.getSpeed() / 1000.0
+    movetime = int(round(3000 + (15.  - curpos) / speed))
+    cryopos.move(15.0, movetime)
+    cryopos.waitValueInRange(15.0, 1.0, movetime)
+
     robot.get_gonio()
     robot.move_heater(to_bottom = False)    
     robot.move_heater(to_bottom = True)    
diff --git a/script/pretend_dry.py b/script/pretend_dry.py
new file mode 100644
index 0000000..bc4215e
--- /dev/null
+++ b/script/pretend_dry.py
@@ -0,0 +1,21 @@
+###
+### run this file to replace the real dry() function
+### with this fake version when TESTING ONLY!!!!!!
+###
+
+def dry(heat_time=None, speed=None, wait_cold = None):
+    """run this file to replace the real dry() function
+       with this fake version when TESTING ONLY!!!!!!
+    """
+    print "#################################"
+    print "## PRETENDING to DRY real fast ##"
+    print "#################################"
+
+
+
+def _test_update_mount_counts(count=0):
+    global samples_info
+    for _s in samples_info:
+        _s["sampleMountCount"] = count
+        print "sample %s mounted %d times" % (_s["puckAddress"], _s["sampleMountCount"])
+