config/devices-modbus.properties

@@ -1,50 +1,42 @@
-wago=ch.psi.pshell.modbus.ModbusTCP|wago-mxsc-1:502|||
-led_ok_1=ch.psi.pshell.modbus.DigitalInput|wago 0||1000|
-led_ok_2=ch.psi.pshell.modbus.DigitalInput|wago 1||1000|
-led_ok_3=ch.psi.pshell.modbus.DigitalInput|wago 2||1000|
-feedback_local_safety=ch.psi.pshell.modbus.DigitalInput|wago 3||1000|
-feedback_psys_safety=ch.psi.pshell.modbus.DigitalInput|wago 4||1000|
-filling_phase_separator=ch.psi.pshell.modbus.DigitalInput|wago 5||1000|
-filling_dewar=ch.psi.pshell.modbus.DigitalInput|wago 6||1000|
-dewar_level_high_alarm=ch.psi.pshell.modbus.DigitalInput|wago 7||1000|
-guiding_tool_park=ch.psi.pshell.modbus.DigitalInput|wago 8||1000|
-air_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 9||1000|false
-n2_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 10||1000|
-#spare_di_1=ch.psi.pshell.modbus.DigitalInput|wago 11|||
-#spare_di_2=ch.psi.pshell.modbus.DigitalInput|wago 12|||
-#spare_di_3=ch.psi.pshell.modbus.DigitalInput|wago 13|||
-#spare_di_4=ch.psi.pshell.modbus.DigitalInput|wago 14|||
-he_chamber_valve_1=ch.psi.pshell.modbus.DigitalInput|wago 15||1000|
-he_chamber_valve_2=ch.psi.pshell.modbus.DigitalInput|wago 16||1000|
-smc_magnet_status=ch.psi.pshell.modbus.DigitalInput|wago 17||1000|
-smc_mounted_1=ch.psi.pshell.modbus.DigitalInput|wago 18||1000|
-smc_mounted_2=ch.psi.pshell.modbus.DigitalInput|wago 19||1000|
-relays=ch.psi.pshell.modbus.DigitalOutputArray|wago 0 16||1000|
-release_local_safety=ch.psi.pshell.modbus.DigitalOutput|wago 0|||
-release_psys_safety=ch.psi.pshell.modbus.DigitalOutput|wago 1|||
-ln2_main_power=ch.psi.pshell.modbus.DigitalOutput|wago 2|||
-rim_heater=ch.psi.pshell.modbus.DigitalOutput|wago 3|||
-phase_separator_ln2=ch.psi.pshell.modbus.DigitalOutput|wago 4|||
-dewar_ln2=ch.psi.pshell.modbus.DigitalOutput|wago 5|||false
-valve_he_chamber=ch.psi.pshell.modbus.DigitalOutput|wago 6|||
-gripper_dryer=ch.psi.pshell.modbus.DigitalOutput|wago 7|||
-valve_1=ch.psi.pshell.modbus.DigitalOutput|wago 8|||
-valve_2=ch.psi.pshell.modbus.DigitalOutput|wago 9|||
-valve_3=ch.psi.pshell.modbus.DigitalOutput|wago 10|||
-valve_4=ch.psi.pshell.modbus.DigitalOutput|wago 11|||
-#spare_do_1=ch.psi.pshell.modbus.DigitalOutput|wago 12|||
-smc_sup_det=ch.psi.pshell.modbus.DigitalOutput|wago 13|||
-#spare_do_3=ch.psi.pshell.modbus.DigitalOutput|wago 14|||
-#spare_do_4=ch.psi.pshell.modbus.DigitalOutput|wago 15|||
-phase_separator_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 0||10000|
-dewar_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 1||10000|
-rim_heater_temp=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 2||10000|
-#spare_ai_1=ch.psi.pshell.modbus.AnalogInput|wago 3|||true
-smc_current_rb=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 4||1000|
-#spare_ai_3=ch.psi.pshell.modbus.AnalogInput|wago 5|||
-#spare_ai_4=ch.psi.pshell.modbus.AnalogInput|wago 6|||
-#spare_ai_5=ch.psi.pshell.modbus.AnalogInput|wago 7|||
-led_ctrl_1=ch.psi.pshell.modbus.ProcessVariable|wago 0|||
-led_ctrl_2=ch.psi.pshell.modbus.ProcessVariable|wago 1|||
-led_ctrl_3=ch.psi.pshell.modbus.ProcessVariable|wago 2|||
-smc_current=ch.psi.pshell.modbus.ProcessVariable|wago 3|||
+wago=ch.psi.pshell.modbus.ModbusTCP|tell6s-wago:502|||
+led_ok_1=ch.psi.pshell.modbus.DigitalInput|wago 0||1000|
+led_ok_2=ch.psi.pshell.modbus.DigitalInput|wago 1||1000|
+led_ok_3=ch.psi.pshell.modbus.DigitalInput|wago 2||1000|
+feedback_local_safety=ch.psi.pshell.modbus.DigitalInput|wago 3||1000|
+feedback_psys_safety=ch.psi.pshell.modbus.DigitalInput|wago 4||1000|
+filling_dewar=ch.psi.pshell.modbus.DigitalInput|wago 5||1000|
+dewar_level_high_alarm=ch.psi.pshell.modbus.DigitalInput|wago 6||1000|
+guiding_tool_park=ch.psi.pshell.modbus.DigitalInput|wago 7||1000|
+air_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 8||1000|false
+n2_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 9||1000|
+smc_magnet_status=ch.psi.pshell.modbus.DigitalInput|wago 10||1000|
+smc_mounted_1=ch.psi.pshell.modbus.DigitalInput|wago 11||1000|
+smc_mounted_2=ch.psi.pshell.modbus.DigitalInput|wago 12||1000|
+#spare_di_1=ch.psi.pshell.modbus.DigitalInput|wago 13|||
+#spare_di_2=ch.psi.pshell.modbus.DigitalInput|wago 14|||
+#spare_di_3=ch.psi.pshell.modbus.DigitalInput|wago 15|||
+#spare_di_4=ch.psi.pshell.modbus.DigitalInput|wago 16|||
+relays=ch.psi.pshell.modbus.DigitalOutputArray|wago 0 16||1000|
+release_local_safety=ch.psi.pshell.modbus.DigitalOutput|wago 0|||
+release_psys_safety=ch.psi.pshell.modbus.DigitalOutput|wago 1|||
+#spare_do_1=ch.psi.pshell.modbus.DigitalOutput|wago 2|||
+#spare_do_2=ch.psi.pshell.modbus.DigitalOutput|wago 3|||
+#spare_do_3=ch.psi.pshell.modbus.DigitalOutput|wago 4|||
+gripper_dryer=ch.psi.pshell.modbus.DigitalOutput|wago 5|||
+smc_sup_det=ch.psi.pshell.modbus.DigitalOutput|wago 6|||
+valve_1=ch.psi.pshell.modbus.DigitalOutput|wago 7|||
+valve_2=ch.psi.pshell.modbus.DigitalOutput|wago 8|||
+valve_3=ch.psi.pshell.modbus.DigitalOutput|wago 9|||
+valve_4=ch.psi.pshell.modbus.DigitalOutput|wago 10|||
+dewar_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 0||10000|
+rim_heater_temp=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 1||10000|
+#spare_ai_1=ch.psi.pshell.modbus.AnalogInput|wago 2|||false
+#spare_ai_2=ch.psi.pshell.modbus.AnalogInput|wago 3|||
+smc_current_rb=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 4||1000|
+#spare_ai_3=ch.psi.pshell.modbus.AnalogInput|wago 5|||
+#spare_ai_4=ch.psi.pshell.modbus.AnalogInput|wago 6|||
+#spare_ai_5=ch.psi.pshell.modbus.AnalogInput|wago 7|||
+led_ctrl_1=ch.psi.pshell.modbus.ProcessVariable|wago 0|||
+led_ctrl_2=ch.psi.pshell.modbus.ProcessVariable|wago 1|||
+led_ctrl_3=ch.psi.pshell.modbus.ProcessVariable|wago 2|||
+smc_current=ch.psi.pshell.modbus.ProcessVariable|wago 3|||

config/settings.properties

@@ -1,10 +1,10 @@
-#Tue Jan 22 15:05:15 CET 2019
+#Wed Jan 23 17:07:28 CET 2019
 barcode_reader_scan_pucks=false
-dry_mount_counter=3
-dry_timestamp=1.548165108162E9
+dry_mount_counter=0
+dry_timestamp=1.548248191529E9
 force_dry_mount_count=0
 force_dry_timeout=0
 imaging_enabled=false
 led_level=0.0
-mounted_sample_position=A315
+mounted_sample_position=A17
 puck_types=true

plugins/SmartMagnetPanel.java

@@ -47,11 +47,11 @@ public class SmartMagnetPanel extends DevicePanel {
         switch(state){
             case Ready:
                 ledStatus.setColor(Color.GREEN);
-                ledMounted.setColor(Color.BLACK);
+                ledMounted.setColor(Color.GREEN);
                 break;
             case Busy:
                 ledStatus.setColor(Color.GREEN);
-                ledMounted.setColor(Color.GREEN);
+                ledMounted.setColor(Color.ORANGE);
                 break;
             case Fault:
                 ledStatus.setColor(Color.RED);

script/data/samples.py

@@ -36,7 +36,8 @@ def save_samples_info():
     data = get_samples_info(True)
     output_file = open( get_context().setup.expandPath("{context}/samples_info.json") , "w")
     output_file.write(data)
-    output_file.close()    
+    output_file.close()   
+    get_context().sendEvent("samples_updated", True)
 
 def restore_samples_info():
     try:

script/devices/Hexiposi.py

@@ -134,7 +134,9 @@ class Hexiposi(DiscretePositionerBase):
     #    return self.moving == False
     
     def updateState(self):   
-        if self.offline: 
+        if self.isSimulated():
+            self.setState(State.Ready)
+        elif self.offline: 
             self.setState(State.Offline)                    
         elif self.homed == False:
             self.setState(self.homing_state)            
@@ -148,6 +150,9 @@ class Hexiposi(DiscretePositionerBase):
 #http://myriotell:8003/hexiposi/get
 dev = Hexiposi("hexiposi", "myriotell6s")
 
+#If no Rotation Lid is mounted set it to simulated
+#dev.setSimulated()
+
 add_device(dev, True)
 hexiposi.polling=1000
 #print dev.url

script/devices/RobotSC.py

@@ -63,12 +63,14 @@ 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()
 
     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()

script/local.py

@@ -143,6 +143,13 @@ def system_check(robot_move=True):
                 raise Exception("Psys safety not released")
         if not guiding_tool_park.read():
             raise Exception("Guiding tool not parked")
+
+def system_check_msg():
+    try:
+        system_check(True)
+        return "Ok"
+    except:
+        return sys.exc_info()[1]
         
 def get_puck_elect_detection(segment, puck):
     return str(Controller.getInstance().getPuck(str(segment).upper() + str(puck)).detection)
@@ -278,6 +285,14 @@ context = get_context()
 
 cover_detection_debug = False
 
+in_mount_position = False
+
+
+def assert_mount_position():
+    print "Source: ",  get_exec_pars().source 
+    if not in_mount_position and get_exec_pars().source == CommandSource.server :
+        raise Exception("Not in mount position")
+
 
 def is_puck_loading():
     return robot.state == State.Ready and robot.take()["pos"] == 'pPark' and \

script/motion/mount.py

@@ -10,6 +10,11 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
     start = time.time()
 
     is_aux = (segment == AUX_SEGMENT)
+
+    #ZACH
+    #needs_chilling = not is_aux and (not robot.is_cold())
+    #needs_drying = is_aux and robot.is_cold()
+    
     puck_address = get_puck_address(puck)
     if puck_address is None:
         puck_obj = get_puck_obj_by_id(puck)
@@ -36,10 +41,16 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
     robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
-    hexiposi.assert_homed()
+    hexiposi.assert_homed()    
+    assert_mount_position()
         
     
     try:
+        #ZACH
+        #if needs_chilling:
+        #    robot.move_cold()
+        #    time.sleep(30.0)
+
         smart_magnet.enforce_sample_detection()                       
         if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == True:
             if auto_unmount and (get_setting("mounted_sample_position") is not None):
@@ -53,6 +64,10 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
         #Enabling
         enable_motion()
 
+        #ZACH
+        #if needs_drying:
+        #    dry(wait_cold=-1)
+
         if is_aux:
             if not robot.is_aux():
                 robot.move_aux()      

script/motion/trash.py

@@ -31,6 +31,6 @@ def trash():
         
                 
     robot.move_heater(to_bottom =  False)    
-    robot.move_home()
+    robot.move_cold()
 
     

script/motion/unmount.py

@@ -27,6 +27,7 @@ def unmount(segment = None, puck = None, sample = None, force=False):
     robot.assert_cleared()
     #robot.assert_in_known_point()
     hexiposi.assert_homed()
+    assert_mount_position()
 
     set_status("Umounting: " + str(segment) + str(puck) + str(sample))
 
@@ -47,7 +48,7 @@ def unmount(segment = None, puck = None, sample = None, force=False):
                 visual_check_hexiposi(segment)
     
         #location = robot.get_current_point()
-    
+        
         if not robot.is_gonio():
             robot.move_gonio()