216 lines
8.2 KiB
Python
216 lines
8.2 KiB
Python
mount_sample_id = None
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mount_sample_detected = None
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def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False):
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"""
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"""
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global mount_sample_id, mount_sample_detected
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tg = time.time
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t1 = tg()
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print "mount: ", segment, puck, sample, force
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is_aux = (segment == AUX_SEGMENT)
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is_rt = (segment == RT_SEGMENT)
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is_normal = not (is_aux or is_rt)
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previous_mounted = get_setting("mounted_sample_position")
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if previous_mounted is not None:
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previous_segment, previous_puck, previous_sample = previous_mounted[0], int(previous_mounted[1]), int(previous_mounted[2:])
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else:
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previous_segment, previous_puck, previous_sample = "-", 0, 0
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mounting_in_same_segment = (previous_segment == segment)
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# ZAC
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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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count_mount = is_normal or (is_aux and was_cold)
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zero_counts = (is_aux and not was_cold) or (is_rt and was_cold)
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pin_offset = get_pin_offset()
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puck_address = get_puck_address(puck)
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if puck_address is None:
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puck_obj = get_puck_obj_by_id(puck)
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if puck_obj is not None:
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puck_address = puck_obj.name
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if puck_address is not None:
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print "puck address: ", puck_address
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segment = puck_address[:1]
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puck = int(puck_address[1:])
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#Initial checks
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print "%4.1f s asserting" % (tg() - t1,)
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#Initial checks
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assert_valid_address(segment, puck, sample)
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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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mount_sample_detected = True
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mount_sample_id = "YYY0001"
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update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)
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set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
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return [mount_sample_detected, mount_sample_id]
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robot.assert_no_task()
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robot.reset_motion()
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robot.wait_ready()
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robot.assert_cleared()
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#robot.assert_in_known_point()
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hexiposi.assert_homed()
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assert_mount_position()
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do_unmount = False
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print "%4.1f s asserted " % (tg() - t1,)
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# detect sample before moving to cold
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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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sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
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Controller.getInstance().logEvent("Sample Detection", str(sample_det))
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print "%4.1f s SMC checked" % (tg() - t1,)
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mounting_in_same_segment = False
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try:
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if sample_det == True:
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if was_warm and previous_segment in COLD_SEGMENTS:
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print " was warm previous %s %s %s" % (previous_segment, COLD_SEGMENTS, previous_mounted)
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robot.move_cold()
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time.sleep(30.0)
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if auto_unmount and (get_setting("mounted_sample_position") is not None):
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if mounting_in_same_segment:
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print " Mounting from the same segment"
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#auto_unmount set to true so detection remains enabled
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print "%4.1f s unmounting" % (tg() - t1,)
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sample_det = unmount(force = True, auto_unmount = True, mounting_in_same_segment=mounting_in_same_segment, next_segment=segment)
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print "%4.1f s ....done" % (tg() - t1,)
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do_unmount = True
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if sample_det == True:
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raise Exception("Pin detected on gonio")
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if is_normal and not robot.is_cold():
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print "mount():83 needs_chilling"
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robot.move_cold()
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time.sleep(30.0)
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set_status("Mounting: " + str(segment) + str(puck) + str(sample))
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Controller.getInstance().logEvent("Mount Sample", str(segment) + str(puck) + str(sample))
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#location = robot.get_current_point()
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#Enabling. If did unmount then it is already enabled.
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if not do_unmount:
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enable_motion()
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if needs_drying:
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dry(wait_cold=-1) # move to park after dry
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if is_aux:
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if not robot.is_aux():
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robot.move_aux()
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robot.get_aux(sample)
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elif is_rt:
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if not robot.is_rt():
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robot.move_rt()
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robot.get_rt(puck, sample)
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# TODO: implement room temperature for X06SA
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else:
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print "%4.1f s moving lid " % (tg() - t1,)
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set_hexiposi(segment)
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if not force:
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visual_check_hexiposi(segment)
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if (not robot.is_dewar()) and (not mounting_in_same_segment):
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robot.move_dewar()
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print "%4.1f s get_dewar" % (tg() - t1,)
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robot.get_dewar(segment, puck, sample, mounting_in_same_segment=mounting_in_same_segment)
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if read_dm:
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print "%4.1f s barcode read" % (tg() - t1,)
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barcode_reader.start_read(10.0)
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robot.move_scanner()
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print "%4.1f s ...done" % (tg() - t1,)
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#time.sleep(1.0)
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print "%4.1f s move to gonio " % (tg() - t1,)
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robot.move_gonio()
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print "%4.1f s ....done" % (tg() - t1,)
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if read_dm:
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print "%4.1f s reading pin barcode" % (tg() - t1,)
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mount_sample_id = barcode_reader.get_readout()
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print "%4.1f s ....done --- barcode: %s" % (tg() - t1, mount_sample_id)
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else:
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mount_sample_id = None
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print "%4.1f s moving cryo out" % (tg() - t1,)
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curpos = cryopos.getPosition()
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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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print " ....done\n%4.1f s putting_gonio with pin_offset = %.1f mm" % (tg() - t1, pin_offset)
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robot.put_gonio()
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print "%4.1f s .....done" % (tg() - t1,)
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if is_normal:
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print "%4.1f s async moving cryo to 5mm " % (tg() - t1,)
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cryopos.moveAsync(12.0)
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if count_mount:
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try:
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dry_mount_count = int(get_setting("dry_mount_counter"))
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except:
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dry_mount_count = 0
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finally:
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set_setting("dry_mount_counter", dry_mount_count+1)
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elif zero_counts:
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set_setting("dry_mount_counter", 0)
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if is_rt:
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print "%4.1f s mount/moving home in RT" % (tg() - t1,)
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robot.move_home()
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elif is_normal:
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print "%4.1f mount/moving cold in cold " % (tg() - t1,)
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robot.move_cold()
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elif is_aux:
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if was_cold:
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print "%4.1f s mount/moving cold after auxtool mount " % (tg() - t1,)
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robot.move_cold()
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else:
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print "%4.1f s mount/moving park after auxtool mount" % (tg() - t1,)
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robot.move_park()
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else:
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robot.move_cold()
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mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
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Controller.getInstance().logEvent("Sample Detection", str(mount_sample_detected))
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update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)
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if mount_sample_detected == False:
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raise Exception("No pin detected on gonio")
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if is_force_dry():
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smart_magnet.set_default_current()
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print "%4.1f Auto dry async" % (tg() - t1,)
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log("Starting auto dry", False)
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set_exec_pars(then = "dry()")
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set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
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return [mount_sample_detected, mount_sample_id]
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finally:
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print "%4.1f s magnet suppress/default current" % (tg() - t1,)
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smart_magnet.set_default_current()
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smart_magnet.set_supress(True)
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