script/data/samples.py

@@ -134,18 +134,32 @@ def update_puck_table():
 
 #Sample mount/unmount
 
+def same_address(puck_add_1, sample_pos_1, puck_add_2, sample_pos_2):    
+    if str(puck_add_1) != str(puck_add_2):         
+        return False    
+    try:
+        sample_pos_1 = int(sample_pos_1)
+    except: 
+        return False
+    try:
+        sample_pos_2 = int(sample_pos_2)
+    except: 
+        return False    
+    return sample_pos_1 == sample_pos_2
+
+
 def update_samples_info_sample_mount(puck_address, sample_position, sample_detected, sample_id):
     try:
-        if (samples_info is not None) and (puck_address is not None):
+        if (samples_info is not None) and (puck_address is not None):            
             for si in samples_info:
-                if str(si["puckAddress"]) == str(puck_address) and str(si["samplePosition"]) == str(sample_position):
+                if same_address( si["puckAddress"], si["samplePosition"], puck_address, sample_position):
                     if sample_detected:
                         if si["sampleStatus"] != "Mounted":
-                            si["sampleStatus"] = "Mounted"
+                            si["sampleStatus"] = "Mounted"                            
                             try:
                                 mount_count = int(si["sampleMountCount"])
                             except:
-                                mount_count = 0
+                                mount_count = 0                            
                             si["sampleMountCount"] = mount_count + 1
                     else:
                         si["sampleStatus"] = "Unknown"
@@ -157,12 +171,13 @@ def update_samples_info_sample_mount(puck_address, sample_position, sample_detec
                     return
     except:
         pass
+
     
 def update_samples_info_sample_unmount(puck_address, sample_position):
     try:
         if (samples_info is not None) and (puck_address is not None):
             for si in samples_info:
-                if str(si["puckAddress"]) == str(puck_address) and str(si["samplePosition"]) == str(sample_position):
+                if same_address( si["puckAddress"], si["samplePosition"], puck_address, sample_position):
                     si["sampleStatus"] = "HasBeenMounted"
                     save_samples_info()  
                     return
@@ -173,7 +188,7 @@ def update_samples_info_sample_scan(puck_address, sample_position, sample_detect
     try:
         if (samples_info is not None) and (puck_address is not None):
             for si in samples_info:
-                if str(si["puckAddress"]) == str(puck_address) and str(si["samplePosition"]) == str(sample_position):
+                if same_address( si["puckAddress"], si["samplePosition"], puck_address, sample_position):
                     if sample_detected:
                         if si["sampleStatus"] == "Unknown":
                                 si["sampleStatus"] = "Present"
@@ -185,7 +200,7 @@ def update_samples_info_sample_scan(puck_address, sample_position, sample_detect
                     save_samples_info()  
                     return
     except:
-        pass
+        pass 
 
 
 

script/devices/SmartMagnet.py

@@ -104,7 +104,8 @@ class SmartMagnet(DeviceBase):
             self.set_resting_current()
 
     def is_resting_current(self):
-        return self.get_current() == self.config.getFieldValue("restingCurrent")
+        is_resting = 2.0 > abs( float(self.get_current()) - float(self.config.getFieldValue("restingCurrent")) )
+        return is_resting
 
 
     def apply_reverse(self):

script/motion/mount.py

@@ -55,7 +55,8 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
             smart_magnet.set_supress(False)
             time.sleep(0.2)        
         #To better dectect sample
-        smart_magnet.apply_resting()        
+        smart_magnet.apply_resting()
+        time.sleep(0.5)        
         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):
                 #auto_unmount set to true so detection remains enabled

script/motion/recover.py

@@ -118,7 +118,7 @@ def move_to_safest_point(segment, vicinity_tolerance = 100):
     #print "Recovered to point " + str(robot.get_curjoint_or_pointrent_point())
 
      
-def recover():
+def recover(move_park = True):
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
@@ -144,7 +144,12 @@ def recover():
                 location = robot.get_current_point()
                 if location is None:
                     raise Exception("Robot didn't reach known point")
-                return "Success recovering to point: " +  str(location)
+                print "Success recovered to point: " +  str(location)
+                if move_park:
+                    robot.move_park()                  
+                    return "Success recovered to park position"
+                else:
+                    return "Success recovered to point: " +  str(location)                
             #finally:     
             #    robot.set_default_speed()
     if not is_on_known_segment: