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)

    sampleAddress = str(segment) + str(puck) + "-" + str(sample)

    evlog(">>>>>>>>>>>>>>> UNMOUNT <<<<<<<<<<<<<<<<<<<<<")
    msg = "unmount() Unmounting %s" % (sampleAddress,)
    evlog(msg)
    
    is_aux = (segment == AUX_SEGMENT)
    is_rt = (segment == RT_SEGMENT)
    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"
        assert_valid_address(segment, puck, sample)
        print "    assert puck detected"
        assert_puck_detected(segment, puck)
    
        if robot.simulated:
            time.sleep(3.0)
            update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)   
            set_setting("mounted_sample_position", None)
            return False
    
        print "    assert no task"
        robot.assert_no_task()
        print "    reset motion"
        robot.reset_motion()
        print "    wait ready"
        robot.wait_ready()
        print "    assert cleared"
        robot.assert_cleared()
        #robot.assert_in_known_point()
        print "    assert homed"
        hexiposi.assert_homed()
        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)
        finalize_unmount(auto_unmount, raising=True)
        raise Exception("CRITICAL ERROR: the gripper has a sample stuck to it, call local contact.")



    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("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")        

    evlog("enabling motion")
    try:
        enable_motion()
    except:
        evlog("error in enable_motion()")
        finalize_unmount(auto_unmount, raising=True)
        raise Exception("error in enable_motion()")
    
    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")

        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()
        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()")


    evlog("returning sample")
    try:
        if is_aux:
            robot.move_aux()   
            robot.put_aux(sample)
        elif is_rt:
            robot.move_rt()   
            robot.put_rt(puck, sample)
        else:
            #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)")

        # 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))

    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