X06SA/script/motion/unmount.py

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:
            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_normal = 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
    
    
    #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)
        raise Exception("CRITICAL ERROR: the gripper has a sample stuck to it, call local contact.")
#        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 not force:            
            sample_det = smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0)
            Controller.getInstance().logEvent("Sample Detection", str(sample_det))       
            if sample_det == False:
                raise Exception("No pin detected on gonio")        
    
        #Enabling
        enable_motion()

        if is_normal:
            evlog("unmount() set_hexiposi(%s)" % (segment,))
            set_hexiposi(segment)
    
            if not force:        
                visual_check_hexiposi(segment)
            if needs_chilling:
                robot.move_cold()
                time.sleep(30.)
        else:
            if needs_drying:
                dry(wait_cold=-1)

        #location = robot.get_current_point()
        
        if not robot.is_gonio():
            robot.move_gonio()
                
        #smart_magnet.set_unmount_current()

        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.get_gonio()

        if is_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)

        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))       

        if not auto_unmount:
            if was_cold:
                robot.move_cold()
            else:
                robot.move_park()
                    

        # Check gripper for frozen sample after trying to put back to puck
        # 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(0.8)
        if not reallyEmpty:
            msg = "unmount() CRITICAL gripper still has a sample {} after puck delivery attempt, call local contact!".format(sampleAddress)
            evlog(msg)
            raise Exception(msg)

        robot.open_tool() # open gripper
 
        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 ####################")