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