changed default values from None in RobotSC

- some comparisons would fail with "None"
  as initial values
- whitespace on the other file

config/devices.properties

@@ -1,5 +1,5 @@
+eh_door_lock=ch.psi.pshell.epics.ChannelString|X06SA-EH1-LAC:02_05 true None|Read||
 cryopos=ch.psi.pshell.epics.Motor|X06SA-ES-CJ:TRY1|||true
-eh_door_lock=ch.psi.pshell.epics.ChannelString|X06SA-EH1-LAC:02_05|Read||true
 img=ch.psi.pshell.prosilica.Prosilica|204464 "PacketSize=1504;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=290;RegionY=130;Width=1000;Height=1000;MulticastEnable=Off"||-200|false
 gripper_cam=ch.psi.pshell.imaging.MjpegSource|http://axis-accc8ea5e463.psi.ch/axis-cgi/mjpg/video.cgi?camera=1 reopen||-200|false
 monitoring_cam=ch.psi.pshell.imaging.MjpegSource|http://axis-accc8ea5e463.psi.ch/axis-cgi/mjpg/video.cgi?camera=2 reopen||-200|

config/jcae.properties

@@ -1,11 +1,12 @@
-#Tue Sep 06 15:10:24 CEST 2016
-ch.psi.jcae.ContextFactory.addressList=
+#Tue Jun 13 13:06:34 CEST 2023
+ch.psi.jcae.ContextFactory.addressList=129.129.109.255 sls-x06sa-cagw.psi.ch\:5832 sls-bl-cagw.psi.ch\:5820
 ch.psi.jcae.ContextFactory.serverPort=
 ch.psi.jcae.ContextFactory.maxArrayBytes=20000000
 ch.psi.jcae.ChannelFactory.retries=1
-ch.psi.jcae.ChannelFactory.timeout=500
+ch.psi.jcae.ChannelFactory.timeout=1000
 ch.psi.jcae.impl.DefaultChannelService.retries=2
 ch.psi.jcae.impl.DefaultChannelService.timeout=1000
 ch.psi.jcae.ContextFactory.autoAddressList=true
 ch.psi.jcae.ContextFactory.useShellVariables=false
-ch.psi.jcae.ContextFactory.addLocalBroadcastInterfaces=false
+ch.psi.jcae.ContextFactory.addLocalBroadcastInterfaces=true
+ch.psi.jcae.ContextFactory.maxSendArrayBytes=

config/settings.properties

@@ -1,11 +1,11 @@
-#Tue Apr 05 08:55:24 CEST 2022
+#Wed Jun 14 07:48:21 CEST 2023
 dry_mount_counter=0
 room_temperature_enabled=false
 pin_offset=-0.0
 cryopos_in=5.0
 puck_types=true
 imaging_enabled=false
-dry_timestamp=1.649141147348E9
+dry_timestamp=1.686638562447E9
 roi_h=1000
 led_level=0.0
 beamline_status_enabled=false

config/variables.properties

@@ -1,4 +1,4 @@
-#Wed Mar 16 11:01:10 CET 2022
-LastRunDate=220316
-FileSequentialNumber=314
+#Tue Apr 25 09:45:31 CEST 2023
+LastRunDate=230425
+FileSequentialNumber=334
 DaySequentialNumber=2

devices/A2.properties

@@ -1,3 +1,3 @@
-#Thu Nov 11 10:57:12 CET 2021
+#Tue Sep 13 11:05:36 CEST 2022
 detection=Mechanical
 disabled=false

devices/A3.properties

@@ -1,3 +1,3 @@
-#Tue Mar 10 08:15:12 CET 2020
+#Tue Sep 13 11:05:59 CEST 2022
 detection=Mechanical
 disabled=false

devices/A5.properties

@@ -1,3 +1,3 @@
-#Tue Jan 21 09:46:49 CET 2020
+#Thu Apr 20 15:15:22 CEST 2023
 detection=Mechanical
-disabled=false
+disabled=true

devices/B1.properties

@@ -1,3 +1,3 @@
-#Wed Sep 16 08:50:16 CEST 2020
+#Wed Nov 09 16:49:21 CET 2022
 detection=Mechanical
 disabled=false

devices/B2.properties

@@ -1,3 +1,3 @@
-#Thu Nov 12 09:42:34 CET 2020
+#Tue Sep 13 11:06:23 CEST 2022
 detection=Mechanical
 disabled=false

devices/B3.properties

@@ -1,3 +1,3 @@
-#Tue Nov 19 11:00:48 CET 2019
+#Tue Sep 13 11:06:46 CEST 2022
 detection=Mechanical
 disabled=false

devices/B4.properties

@@ -1,3 +1,3 @@
-#Tue Jan 18 08:14:20 CET 2022
+#Wed Nov 02 08:29:43 CET 2022
 detection=Mechanical
 disabled=false

devices/C2.properties

@@ -1,3 +1,3 @@
-#Thu Nov 12 10:06:30 CET 2020
+#Tue Sep 13 11:07:03 CEST 2022
 detection=Mechanical
 disabled=false

devices/D3.properties

@@ -1,3 +1,3 @@
-#Thu Sep 19 08:23:53 CEST 2019
+#Mon Jan 30 13:23:59 CET 2023
 detection=Mechanical
 disabled=false

devices/D5.properties

@@ -1,3 +1,3 @@
-#Fri Dec 04 15:49:00 CET 2020
+#Mon Jan 30 14:57:22 CET 2023
 detection=Mechanical
 disabled=false

devices/E1.properties

@@ -1,3 +1,3 @@
-#Thu Mar 03 10:13:51 CET 2022
+#Mon Mar 13 14:54:55 CET 2023
 detection=Mechanical
 disabled=false

devices/E2.properties

@@ -1,3 +1,3 @@
-#Tue Aug 18 13:57:56 CEST 2020
+#Mon Jan 30 14:28:54 CET 2023
 detection=Mechanical
 disabled=false

devices/F1.properties

@@ -1,3 +1,3 @@
-#Tue Aug 18 13:58:36 CEST 2020
+#Fri Jan 27 14:56:27 CET 2023
 detection=Mechanical
 disabled=false

devices/F2.properties

@@ -1,3 +1,3 @@
-#Tue Sep 10 08:18:28 CEST 2019
+#Mon Oct 03 15:49:00 CEST 2022
 detection=Mechanical
 disabled=false

devices/F3.properties

@@ -1,3 +1,3 @@
-#Wed Mar 23 09:53:12 CET 2022
+#Fri Oct 28 09:25:14 CEST 2022
 detection=Mechanical
-disabled=true
+disabled=false

devices/led_ctrl_1.properties

@@ -1,4 +1,4 @@
-#Wed Mar 16 11:04:48 CET 2022
+#Tue Mar 14 11:09:55 CET 2023
 minValue=0.0
 unit=V
 offset=0.0

devices/led_ctrl_2.properties

@@ -1,4 +1,4 @@
-#Wed Mar 16 11:04:48 CET 2022
+#Tue Mar 14 11:09:55 CET 2023
 minValue=0.0
 unit=V
 offset=0.0

devices/led_ctrl_3.properties

@@ -1,4 +1,4 @@
-#Wed Mar 16 11:04:48 CET 2022
+#Tue Mar 14 11:09:55 CET 2023
 minValue=0.0
 unit=V
 offset=0.0

script/data/pucks.py

@@ -47,4 +47,4 @@ def restore_puck_info():
     except:
         print >> sys.stderr, "Error reading pucks info file: " + str(sys.exc_info()[1])
         info = []
-    set_puck_info(info)
+    set_puck_info(info)    

script/data/samples.py

@@ -39,7 +39,7 @@ def save_samples_info():
     output_file.write(data)
     output_file.close()   
     get_context().sendEvent("samples_updated", True)
-    save_puck_info()
+    save_puck_info() 
 
 def restore_samples_info():
     restore_puck_info()
@@ -145,7 +145,7 @@ def get_puck_datamatrix_info():
             info["user"] = si ["userName"]
             info["type"] = si ["puckType"]
             ret[si["puckBarcode"]] =  info
-    return ret    
+    return ret
 
 def get_puck_address(barcode):
     try:

script/devices/Hexiposi.py

@@ -35,7 +35,6 @@ class Hexiposi(DiscretePositionerBase):
             self.homed = self.status["homed"]
             self.error = self.status["errorCode"]
             self.remote = self.status["mode"] == "remote"
-            self.moving = self.status["errorCode"]
             self.pos = self.status["position"]
             self.moving = self.status["moving"]
             self.offset = self.status["offset"]        
@@ -115,13 +114,32 @@ class Hexiposi(DiscretePositionerBase):
                     print "Timeout waiting Hexiposi busy"
                     break
                 self.update()   
+                
+    #Retrying after end of move -> once in a while move raises a not in position exception.
+    def assertInPosition(self, pos):
+        poll_interval = 2.0
+        max_turn_time = 8.0 # s
+        retries = int(max_turn_time / poll_interval)
+        for i in range(retries):
+            #st = self.get_status()
+            #print "asserting hexiposi in position " + pos + " --- moving:" + str(st["moving"]) + " --- state:" + str(self.getState())
+            try:
+                super(Hexiposi, self).assertInPosition(pos)
+                return
+            except:                            
+                if i < retries - 1:
+                    time.sleep(poll_interval)
+                else:
+                    raise
+            
+        
 
     def is_in_position(self, pos):
         return self.take() == pos
 
 
     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):

script/devices/RobotSC.py

@@ -30,8 +30,8 @@ class RobotSC(RobotTCP):
         self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "recover", "moveDewar", "moveCold", "movePark", "moveGonio","moveHeater", "moveScanner","moveHome", "moveAux"])
         self.set_known_points(["pPark", "pGonioA", "pDewar", "pGonioG", "pScan", "pHeater", "pHeat", "pHeatB", "pLaser","pHelium", "pHome", "pCold", "pAux","p1"])
         self.setPolling(DEFAULT_ROBOT_POLLING)          
-        self.last_command_timestamp = None
-        self.last_command_position = None
+        self.last_command_timestamp = 0.0
+        self.last_command_position = "none"
         self.ongoing_task = None
         #self.setSimulated()   
         
@@ -229,7 +229,12 @@ class RobotSC(RobotTCP):
     def stop_task(self):
         RobotTCP.stop_task(self)
         #TODO: Restore safe position          
-          
+
+    def gripper_has_sample(self):
+        """checks gripper switches for presence of sample"""
+        hasSample, toolOpen = self.eval_bool("diToolHasSample"), self.eval_bool("diToolOpen")
+        return (not toolOpen) and hasSample            
+        
 
     def set_remote_mode(self):
         robot.set_profile("remote")

script/hexiposi_tester.py

@@ -0,0 +1,13 @@
+import random
+import time
+def hexiposi_tester(num_moves = 10, wait = 3.0):
+    release_safety()
+    for n in range(num_moves):
+        pos = random.choice("ABCDEF")
+        print str(n) + " of " + str(num_moves) + ") moving to " + pos
+        hexiposi.move(pos)
+        #print "   sleep " + str(wait) + " s"
+        time.sleep(wait)
+
+    print " done "
+        

script/local.py

@@ -28,7 +28,6 @@ ROOM_TEMPERATURE_ENABLED_PREFERENCE = "room_temperature_enabled"
 BEAMLINE_STATUS_ENABLED_PREFERENCE = "beamline_status_enabled"
 VALVE_CONTROL_ENABLED_PREFERENCE = "valve_control"
 
-
 def is_imaging_enabled():
     setting = get_setting(IMAGING_ENABLED_PREFERENCE)
     return not (str(setting).lower() == 'false')
@@ -95,6 +94,14 @@ cold_position_timeout = get_setting("cold_position_timeout")
 if cold_position_timeout is None:
     set_setting("cold_position_timeout", 0)
 
+def blower_on():
+    robot.evaluate("doFOut1=true")
+
+
+def blower_off():
+    robot.evaluate("doFOut1=false")
+
+
 
 def is_room_temperature_enabled():
     setting = get_setting(ROOM_TEMPERATURE_ENABLED_PREFERENCE)
@@ -103,6 +110,35 @@ def is_room_temperature_enabled():
 set_setting(ROOM_TEMPERATURE_ENABLED_PREFERENCE, is_room_temperature_enabled())
 
 
+def is_gripper_really_empty(timeout=2.0):
+    evlog = Controller.getInstance().logEvent
+    timeout = timeout + time.time()
+    while time.time() < timeout:
+        if robot.eval_bool("diToolHasSample"):
+            time.sleep(0.10)
+        else:
+            return True        
+
+    msg = "is_gripper_really_empty() WARNING GRIPPER-TEST 1st try: gripper should be empty, sample detected (dwell for 2s and try again)"
+    evlog(msg)
+    time.sleep(2.0)
+
+    robot.eval_bool("diToolOpen")
+    robot.eval_bool("diToolHasSample")
+
+    timeout = 2.0 + time.time()
+    while time.time() < timeout:
+        if robot.eval_bool("diToolHasSample"):
+            time.sleep(0.10)
+        else:
+            return True        
+
+    msg = "WARNING GRIPPER-TEST 2nd try: gripper should be empty, sample detected"
+    evlog(msg)
+    
+    return False
+    
+
 def is_beamline_status_enabled():
     setting = get_setting(BEAMLINE_STATUS_ENABLED_PREFERENCE)
     return str(setting).lower() == 'true'
@@ -354,10 +390,10 @@ def assert_mount_position():
 
 
 def is_puck_loading():
-    guiding_tools_parked = guiding_tool_park.read() and guiding_tool_park_2.read()
+    guiding_tool_parked = guiding_tool_park.read() and guiding_tool_park_2.read()
     return robot.state == State.Ready and robot.take()["pos"] == 'pPark' and \
     feedback_psys_safety.take() == False and \
-    not guiding_tools_parked
+    not guiding_tool_parked
 
 def set_pin_offset(val):
     if abs(val) >5:
@@ -432,4 +468,4 @@ restore_samples_info()
     
 
 print "Initialization complete"
-    
+    

script/motion/check_gripper.py

@@ -0,0 +1,34 @@
+def check_gripper(sample):
+    print "tool open: " + str(robot.is_tool_open())
+    print "gripper: " + str(robot.gripper_has_sample())
+    print "di gripper has sample: " + str(robot.eval_bool("diToolHasSample"))
+    print "di gripper open: " + str(robot.eval_bool("diToolOpen"))
+
+def fetch_check_gripper(sample):
+    if not robot.is_aux():
+        robot.move_aux()
+    robot.get_aux(sample)
+    print "tool open: " + str(robot.is_tool_open())
+    print "gripper: " + str(robot.gripper_has_sample())
+    print "di has sample: " + str(robot.eval_bool("diToolHasSample"))
+    print "di tool open: " + str(robot.eval_bool("diToolOpen"))
+
+def swap_samples(a, b, empty):
+    robot.get_aux(a)
+    robot.put_aux(empty)
+    robot.get_aux(b)
+    robot.put_aux(a)
+    robot.get_aux(empty)
+    robot.put_aux(b)
+
+def fetch_go_cold():
+    robot.move_gonio()
+    robot.get_gonio()
+    robot.move_cold()
+
+def pickup(seg, puck, sam):
+    robot.move_dewar()
+    robot.get_dewar(seg, puck, sam)
+    robot.move_cold()
+
+    

script/motion/mount.py

@@ -1,7 +1,7 @@
 mount_sample_id = None
 mount_sample_detected = None
 
-def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False):
+def mount(segment, puck, sample, force=True, read_dm=False, auto_unmount=False):
     """
     """
     global mount_sample_id, mount_sample_detected
@@ -16,6 +16,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
 
     previous_mounted = get_setting("mounted_sample_position")
     if previous_mounted is not None:
+        print "here now"
         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
@@ -27,7 +28,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
     needs_drying = is_rt and was_cold
     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)
@@ -36,17 +37,19 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
         if puck_obj is not None:
             puck_address = puck_obj.name
     if puck_address is not None:
-        print "puck address: ", puck_address
+        print "      puck address: ", puck_address
         segment = puck_address[:1]
         puck = int(puck_address[1:])        
 
+
     sampleAddress = str(segment) + str(puck) + "-" + str(sample)
     set_status("Mounting: " + sampleAddress)
     evlog(">>>>>>>>>>>>>>> MOUNT <<<<<<<<<<<<<<<<<<<<<")
     evlog("mount() Mount Sample", sampleAddress)
 
-    #Initial checks
     print "%4.1f s asserting" % (tg() - t1,)
+
+    #Initial checks
     assert_valid_address(segment, puck, sample)
     assert_puck_detected(segment, puck)
 
@@ -74,16 +77,17 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
         time.sleep(0.2)
     sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
     evlog("mount() SMC Sample Detection", str(sample_det))
-
-    #hasSample =  robot.gripper_has_sample()
-    #if hasSample:
-    #    msg = "CRITICAL ERROR: the gripper has a sample stuck to it, call local contact."
-    #    evlog(msg)
-    #    evlog("mount() terminating mount early")
-    #    raise Exception(msg)
+
+
+    hasSample =  robot.gripper_has_sample()
+    if hasSample:
+        msg = "CRITICAL ERROR: the gripper has a sample stuck to it, call local contact."
+        evlog(msg)
+        evlog("mount() terminating mount early")
+        raise Exception(msg)
 
     mounting_in_same_segment = False
-  
+
     try:
         if sample_det == True:
             if was_warm and previous_segment in COLD_SEGMENTS:
@@ -118,12 +122,16 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
         if needs_drying:
             dry(wait_cold=-1) # move to park after dry
 
+        ###
+        ### FETCH SAMPLE TO MOUNT
+        ###
+
         if is_aux:
             if not robot.is_aux():
                 robot.move_aux()
             robot.get_aux(sample)
-        
-        elif is_rt: 
+
+        elif is_rt:
             if not robot.is_rt():
                 robot.move_rt()
             robot.get_rt(puck, sample)
@@ -131,30 +139,32 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
         else:
             evlog("moving lid to " + segment)
 
-            set_hexiposi(segment)            
+            set_hexiposi(segment)
             if not force:
                 visual_check_hexiposi(segment)
             if (not robot.is_dewar()) and (not mounting_in_same_segment):
                 robot.move_dewar()
             robot.get_dewar(segment, puck, sample, mounting_in_same_segment=mounting_in_same_segment)
 
-        #hasSample =  robot.gripper_has_sample()
-        #msg = "mount() WARNING GRIPPER-TEST - after get_(dewar,rt,aux) gripper has sample: {}".format(hasSample)
-        #evlog(msg)
+    
+        hasSample =  robot.gripper_has_sample()
+        msg = "mount() WARNING GRIPPER-TEST - after get_(dewar,rt,aux) gripper has sample: {}".format(hasSample)
+        evlog(msg)
 
-        #if not hasSample:
-        #    if is_aux or is_rt:
-        #        robot.move_park()
-        #    else:
-        #        robot.move_cold()
-        #    msg = "MISSING SAMPLE in position {} - try the next one".format(sampleAddress)
-        #    evlog(msg)
-        #    evlog("mount() terminating mount early")
-        #    raise Exception(msg)
+        if not hasSample:
+            if is_aux or is_rt:
+                robot.move_park()
+            else:
+                robot.move_cold()
+            msg = "MISSING SAMPLE in position {} - try the next one".format(sampleAddress)
+            evlog(msg)
+            evlog("mount() terminating mount early")
+            raise Exception(msg)
 
         if read_dm:
             barcode_reader.start_read(10.0)
-            robot.move_scanner()     
+            robot.move_scanner()
+
         robot.move_gonio()    
         
         if read_dm:
@@ -162,17 +172,18 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
             evlog("mount() read pin barcode: %s" % (mount_sample_id,))
         else:
             mount_sample_id = None
-            
+ 
         curpos = cryopos.getPosition()
         speed = cryopos.getSpeed() / 1000.
         movetime = int(round(3000 + abs(15.  - curpos) / speed))
         cryopos.move(15.0, movetime)
         cryopos.waitValueInRange(15.0, 1.0, movetime)
-        
+
         robot.put_gonio()
-        
+        robot.close_tool() # closes gripper
+
         if is_normal:
-            cryopos.moveAsync(12.0)
+            cryopos.moveAsync(15.0)
 
         if count_mount:
             try:
@@ -180,7 +191,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
             except:
                 dry_mount_count = 0
             finally:
-                set_setting("dry_mount_counter", dry_mount_count+1)    
+                set_setting("dry_mount_counter", dry_mount_count+1)
 
         elif zero_counts:
             set_setting("dry_mount_counter", 0)
@@ -188,7 +199,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
         if is_rt:
             robot.move_park()
         elif is_normal:
-            robot.move_cold() 
+            robot.move_cold()
         elif is_aux:
             robot.move_park()
         else:
@@ -197,38 +208,36 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
         mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) 
         evlog("mount() SMC 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("MISSING SAMPLE: No pin detected on gonio")
 
         # Check gripper for frozen sample after trying to mount on gonio
         # if we detect a sample after closing gripper then we move the
         # gripper back to cold/park and call for local contact or give user
         # option to dry gripper and lose the sample
 
-#        reallyEmpty = is_gripper_really_empty(1.2)
-#        if not reallyEmpty:
-#            msg = "CRITICAL The gripper still has sample {} after mount attempt, call local contact".format(sampleAddress)
-#            evlog(msg)
-#            evlog("mount() terminating mount early")
-#            raise Exception(msg)
-#        sampleDelivered = True
-#        robot.open_tool() # open gripper
-#
-#        if sampleDelivered and not mount_sample_detected:
-#            msg = "CRITICAL The sample {} seems to have been lost during mount procedure. Try another sample or call your local contact".format(sampleAddress)
-#            evlog(msg)
-#            evlog("mount() terminating mount early")
-#            raise Exception(msg)
-#
+        reallyEmpty = is_gripper_really_empty(1.2)
+        if not reallyEmpty:
+            msg = "CRITICAL The gripper still has sample {} after mount attempt, call local contact".format(sampleAddress)
+            evlog(msg)
+            evlog("mount() terminating mount early")
+            raise Exception(msg)
+        sampleDelivered = True
+        robot.open_tool() # open gripper
+
+        if sampleDelivered and not mount_sample_detected:
+            msg = "CRITICAL The sample {} seems to have been lost during mount procedure; call your local contact".format(sampleAddress)
+            evlog(msg)
+            evlog("mount() terminating mount early")
+            raise Exception(msg)
 
         smart_magnet.set_default_current()
+
         if is_aux and was_cold:
            evlog("mount() drying after tool mount")
            set_exec_pars(then = "dry(wait_cold=-1)")        
         elif is_force_dry():
            evlog("mount() Starting async auto dry")
            set_exec_pars(then = "dry()")
-    
+
         set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
         return [mount_sample_detected, mount_sample_id]
     finally:

script/motion/put_aux.py

@@ -2,7 +2,8 @@ def put_aux(sample):
     """
     """
     print "put_aux: ",sample
-    
+
+    sample = int(sample) #assert_valid_sample only acceps int as parameters
     #Initial checks
     assert_valid_sample(sample)
     

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    
+    return True    

script/motion/trash.py

@@ -1,7 +1,8 @@
-def trash():
+def trash_sample():
     """
     """
-    print "trash"
+    evlog = Controller.getInstance().logEvent
+    evlog("trash_sample")
 
     if robot.simulated:
         time.sleep(3.0)
@@ -20,6 +21,13 @@ def trash():
     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)    
@@ -39,5 +47,3 @@ def trash():
         robot.move_cold()
     else:
         robot.move_home()
-
-trash_sample = trash

script/motion/unmount.py

@@ -1,13 +1,24 @@
-def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False, next_segment="-*-", mounting_in_same_segment=False):
+def finalize_unmount(auto_unmount, raising=False):
+    evlog = Controller.getInstance().logEvent
+    if not auto_unmount:
+        evlog("setting magnet to default current and no detection")
+        smart_magnet.set_default_current()
+        smart_magnet.set_supress(True)
+    if raising:
+        evlog(">>>>>>>>> raising exception")
+    evlog("############### UNMOUNT-FINISHED ####################")
+
+def unmount(segment = None, puck = None, sample = None, force=True, auto_unmount = False, next_segment="-*-", mounting_in_same_segment=False):
     """
     """
     evlog = Controller.getInstance().logEvent
     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:
+            evlog("Mounted sample position is not defined")
             raise Exception("Mounted sample position is not defined")
         segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2:])
         print "%4.1f Mounted sample position: %s%s-%s" % (tg() - t1, segment, puck , sample)
@@ -17,22 +28,31 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
     evlog(">>>>>>>>>>>>>>> UNMOUNT <<<<<<<<<<<<<<<<<<<<<")
     msg = "unmount() Unmounting %s" % (sampleAddress,)
     evlog(msg)
-
+    
     is_aux = (segment == AUX_SEGMENT)
     is_rt = (segment == RT_SEGMENT)
-    is_normal = not (is_aux or is_rt)
+    is_cryo_sample = not (is_aux or is_rt)
 
     was_cold = robot.is_cold()
     was_warm = not was_cold
     needs_chilling = not is_rt and was_warm
     needs_drying = is_rt and was_cold
     move_cold_at_end = str(next_segment) in COLD_SEGMENTS
-        
+    
+    try:
+        assert_puck_detected(segment, puck)
+    except:
+        msg = "PUCK DISLODGED: puck no longer detected"
+        evlog(msg)
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception(msg)
+
+
 
     #Initial checks
     if not auto_unmount:    
         print "%4.1f s asserting" % (tg() - t1,)
-        print "assert valid address"
+        print "    assert valid address"
         assert_valid_address(segment, puck, sample)
         print "    assert puck detected"
         assert_puck_detected(segment, puck)
@@ -41,108 +61,179 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
             time.sleep(3.0)
             update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)   
             set_setting("mounted_sample_position", None)
-            return False     
+            return False
     
-        print "assert no task"
+        print "    assert no task"
         robot.assert_no_task()
-        print "reset motion"
+        print "    reset motion"
         robot.reset_motion()
-        print "wait ready"
+        print "    wait ready"
         robot.wait_ready()
-        print "assert cleared"
+        print "    assert cleared"
         robot.assert_cleared()
         #robot.assert_in_known_point()
-        print "assert homed"
+        print "    assert homed"
         hexiposi.assert_homed()
-        print "assert mount pos"
+        print "    assert mount pos"
         assert_mount_position()
     
     set_status("Unmounting: " + str(segment) + str(puck) + str(sample))
 
-#    hasSample =  robot.gripper_has_sample()
-#    if hasSample:
-#        msg = "unmount() CRITICAL GRIPPER-TEST - the gripper has a sample already!!!"
-#        evlog(msg)
-#        raise Exception("CRITICAL ERROR: the gripper has a sample stuck to it, call local contact.")
+    hasSample =  robot.gripper_has_sample()
+    if hasSample:
+        msg = "unmount() CRITICAL GRIPPER-TEST - the gripper has a sample already!!!"
+        evlog(msg)
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception("CRITICAL ERROR: the gripper has a sample stuck to it, call local contact.")
 
 
-    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 smart_magnet.get_supress() == True:
+        smart_magnet.set_supress(False)
+        time.sleep(0.2)        
+    
+    if not force:            
         sample_det = smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0)
-        evlog("SMC Detection", str(sample_det))
+        evlog("Sample Detection", str(sample_det))       
+        if sample_det == False:
+            evlog("No pin detected on gonio")        
+            finalize_unmount(auto_unmount, raising=True)
+            raise Exception("No pin detected on gonio")        
 
-        if not force:            
-            if sample_det == False:
-                raise Exception("No pin detected on gonio")        
-    
-        #Enabling
+    evlog("enabling motion")
+    try:
         enable_motion()
-
-        if is_normal:
-            evlog("unmount() set_hexiposi(%s)" % (segment,))
-            set_hexiposi(segment)
+    except:
+        evlog("error in enable_motion()")
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception("error in enable_motion()")
     
-            if not force:        
-                visual_check_hexiposi(segment)
-            if needs_chilling:
-                robot.move_cold()
-                time.sleep(30.)
-        else:
-            if needs_drying:
-                dry(wait_cold=-1)
+    if is_cryo_sample:
+        evlog("set_hexiposi(%s)" % (segment,))
+        try:
+            set_hexiposi(segment)
+        except:
+            evlog("failed to move hexiposi for unmount")
+            finalize_unmount(auto_unmount, raising=True)
+            raise Exception("failed to move hexiposi for unmount")
 
-        #location = robot.get_current_point()
-        
+        if needs_chilling:
+            evlog("unmount() cooling gripper for 30s prior to unmount")
+            try:
+                robot.move_cold()
+            except:
+                evlog("failure moving gripper into cold position")
+                finalize_unmount(auto_unmount, raising=True)
+                raise Exception("failure moving gripper into cold position")
+            time.sleep(30.)
+    else:
+        if needs_drying:
+            evlog("drying gripper before unmount")
+            try:
+                dry(wait_cold=-1)
+            except:
+                evlog("problems drying gripper dry(wait_cold=-1)")
+                finalize_unmount(auto_unmount, raising=True)
+                raise Exception("problems drying gripper dry(wait_cold=-1)")
+
+    evlog("moving arm to gonio")
+    try:
         if not robot.is_gonio():
             robot.move_gonio()
+    except:
+        evlog("error in move_gonio()")
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception("error in move_gonio()")
 
+
+    evlog("retracting cryojet if necessary")
+    try:
         curpos = cryopos.getPosition()
-        speed = cryopos.getSpeed() / 1000.
-        movetime = int(round(3000 + abs(15.  - curpos) / speed))
-        cryopos.move(15.0, movetime)
-        cryopos.waitValueInRange(15.0, 1.0, movetime)
+        if is_room_temperature_enabled():
+            if curpos < 50:
+                cryopos.move(50.)
+        else:
+            speed = cryopos.getSpeed() / 1000.
+            movetime = int(round(3000 + abs(15.  - curpos) / speed))
+            cryopos.move(15.0, movetime)
+            cryopos.waitValueInRange(15.0, 1.0, movetime)
+    except:
+        evlog("error retracting cryojet")
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception("error retracting cryojet")
 
+    evlog("getting gonio")
+    try:
         robot.get_gonio()
+    except:
+        evlog("error in get_gonio()")
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception("error in 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))       
 
+    evlog("returning sample")
+    try:
         if is_aux:
-            robot.move_aux()
+            robot.move_aux()   
             robot.put_aux(sample)
         elif is_rt:
             robot.move_rt()   
             robot.put_rt(puck, sample)
         else:
-            update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)
-            robot.move_dewar()
-            robot.put_dewar(segment, puck, sample)
+            #TODO: Should check if smart magnet detection is off?
+            update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)      
+            robot.move_dewar()        
+            robot.put_dewar(segment, puck, sample, mounting_in_same_segment=mounting_in_same_segment)
+    except:
+        evlog("error in move/put (aux, rt, dewar)")
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception("error in move/put (aux, rt, dewar)")
 
-        if not auto_unmount:
-            if was_cold:
-                robot.move_cold()
-            else:
-                robot.move_park()
-                    
+        # FIXME, this check is necessary in case the puck was lifted/flipped during unmount
+    evlog("checking for puck dislodgement")
+    try:
+        time.sleep(1.0)
+        assert_puck_detected(segment, puck)
+    except:
+        msg = "PUCK DISLODGED: puck no longer detected after put_dewar()"
+        evlog(msg)
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception(msg)
 
-#        robot.close_tool() # closes gripper
-#
-#        has_sample_after_get = robot.gripper_has_sample()   
-#        evlog("unmount() sample detections after put_(dewar,rt,aux):")
-#        evlog("          GRIPPER: ", str(has_sample_after_get))
-#
-        set_setting("mounted_sample_position", None)
-        return mount_sample_detected
-    finally:
-        if not auto_unmount:
-            smart_magnet.set_default_current()
-            smart_magnet.set_supress(True)
-        evlog("############### UNMOUNT-FINISHED ####################")
+
+    robot.close_tool() # closes gripper
+
+    has_sample_after_get = robot.gripper_has_sample()   
+    evlog("unmount() sample detections after put_(dewar,rt,aux):")
+    evlog("          GRIPPER: ", str(has_sample_after_get))
+
+    smart_magnet.apply_reverse()
+    smart_magnet.apply_resting()
+    mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) 
+    evlog("              SMC: ", str(mount_sample_detected))       
+
+
+    evlog("moving gripper to either cold or park")
+    try:
+        if is_cryo_sample:
+            robot.move_cold()
+        else:
+            robot.move_park()
+    except:
+        evlog("error in move_(cold/park)")
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception("error in move_(cold/park)")
+
+    evlog("checking if gripper really empty")
+    reallyEmpty = is_gripper_really_empty(0.8)
+    if not reallyEmpty:
+        msg = "unmount() CRITICAL gripper still has a sample {} after puck delivery attempt, call local contact!".format(sampleAddress)
+        evlog(msg)
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception(msg)
+
+    robot.open_tool()
+    
+    set_setting("mounted_sample_position", None)
+    finalize_unmount(auto_unmount)
+    return mount_sample_detected

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"])
+

script/tasks/ColdPositionTimeout.py

@@ -16,9 +16,3 @@ if "Locked" == eh_door_lock.getValue():
                             raise Exception("Cannot clear cold position: robot state: " + str(robot.state))                        
                     else:
                         raise Exception("Cannot clear cold position: system state: " + str(get_context().state))
-                 
-                            
-
-
-
-