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auxtools implementation

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gac-S_Changer
2021-06-16 11:07:39 +02:00
parent 160eeee2a5
commit 65d7fcc8aa
7 changed files with 102 additions and 69 deletions
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config/settings.properties
+4 -3
View File
@@ -1,10 +1,11 @@
#Fri May 28 13:11:56 CEST 2021
dry_mount_counter=1
#Wed Jun 16 11:03:52 CEST 2021
dry_mount_counter=0
mounted_sample_position=X11
room_temperature_enabled=true
pin_offset=-0.0
puck_types=true
imaging_enabled=false
dry_timestamp=1.622109289176E9
dry_timestamp=1.623598457599E9
roi_h=1000
led_level=0.0
beamline_status_enabled=false
devices/E5.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Tue Aug 27 11:23:51 CEST 2019
#Wed Jun 02 10:32:23 CEST 2021
detection=Mechanical
disabled=false
disabled=true
devices/F4.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Tue Sep 10 08:18:31 CEST 2019
#Wed Jun 02 10:36:29 CEST 2021
detection=Mechanical
disabled=false
disabled=true
script/devices/RobotSC.py
+1 -1
View File
@@ -12,7 +12,7 @@ DESC_DEFAULT = DESC_FAST
AUX_SEGMENT = "X"
RT_SEGMENT = "R"
COLD_SEGMENTS = "ABCDEF"
DEFAULT_ROBOT_POLLING = 500
TASK_WAIT_ROBOT_POLLING = 50
script/motion/mount.py
+65 -48
View File
@@ -7,15 +7,25 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
global mount_sample_id, mount_sample_detected
print "mount: ", segment, puck, sample, force
start = time.time()
#time.sleep(2)
start = time.time()
is_aux = (segment == AUX_SEGMENT)
is_rt = (segment == RT_SEGMENT)
is_normal = not (is_aux or is_rt)
#ZACH
needs_chilling = (not is_aux) and (not is_rt) and (not robot.is_cold())
needs_drying = (is_aux or is_rt ) and robot.is_cold()
previous_mounted = get_setting("mounted_sample_position")
if previous_mounted is not None:
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
mounting_in_same_segment = (previous_segment == segment)
# ZAC
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
count_mount = is_normal or (is_aux and was_cold)
zero_counts = (is_aux and not was_cold) or (is_rt and was_cold)
puck_address = get_puck_address(puck)
if puck_address is None:
@@ -46,36 +56,32 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
hexiposi.assert_homed()
assert_mount_position()
do_unmount = False
# detect sample before moving to cold
if smart_magnet.get_supress() == True:
smart_magnet.set_supress(False)
time.sleep(0.2)
sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
Controller.getInstance().logEvent("Sample Detection", str(sample_det))
mounting_in_same_segment = False
try:
#ZACH
if needs_chilling:
robot.move_cold()
time.sleep(30.0)
if smart_magnet.get_supress() == True:
smart_magnet.set_supress(False)
time.sleep(0.2)
#To better dectect sample
#smart_magnet.apply_reverse()
#smart_magnet.apply_resting()
#time.sleep(0.5)
sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
Controller.getInstance().logEvent("Sample Detection", str(sample_det))
if sample_det == True:
if was_warm and previous_segment in COLD_SEGMENTS:
print "was warm previous %s %s $s" % (previous_segment, COLD_SEGMENTS, previous_mounted)
robot.move_cold()
time.sleep(30.0)
if auto_unmount and (get_setting("mounted_sample_position") is not None):
pos = get_setting("mounted_sample_position")
former_segment = pos[0:1]
mounting_in_same_segment = (former_segment == segment)
if mounting_in_same_segment:
print "Mounting from the same segment"
#auto_unmount set to true so detection remains enabled
sample_det = unmount(force = True, auto_unmount = True, mounting_in_same_segment=mounting_in_same_segment)
sample_det = unmount(force = True, auto_unmount = True, mounting_in_same_segment=mounting_in_same_segment, next_segment=segment)
do_unmount = True
if sample_det == True:
raise Exception("Pin detected on gonio")
set_status("Mounting: " + str(segment) + str(puck) + str(sample))
Controller.getInstance().logEvent("Mount Sample", str(segment) + str(puck) + str(sample))
#location = robot.get_current_point()
@@ -84,31 +90,27 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
if not do_unmount:
enable_motion()
#ZACH
# ZAC
# a room temp pin is being mounted but the gripper is cold
if needs_drying:
dry(wait_cold=-1) # move to park after dry
if is_aux:
if not robot.is_aux():
robot.move_aux()
robot.move_aux()
robot.get_aux(sample)
elif is_rt:
if not robot.is_rt():
robot.move_rt()
robot.move_rt()
robot.get_rt(puck, sample)
else:
set_hexiposi(segment)
if not force:
visual_check_hexiposi(segment)
visual_check_hexiposi(segment)
if (not robot.is_dewar()) and (not mounting_in_same_segment):
robot.move_dewar()
robot.move_dewar()
robot.get_dewar(segment, puck, sample, mounting_in_same_segment=mounting_in_same_segment)
piked_sample = robot.gripper_has_sample()
@@ -131,18 +133,34 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
robot.put_gonio()
#has_sample_after_put = robot.gripper_has_sample()
#log("Sample Detection - mount after put: " + str(has_sample_after_put), False)
try:
dry_mount_count = int(get_setting("dry_mount_counter"))
except:
dry_mount_count = 0
set_setting("dry_mount_counter", dry_mount_count+1)
if is_aux or is_rt:
robot.move_home()
if count_mount:
try:
dry_mount_count = int(get_setting("dry_mount_counter"))
except:
dry_mount_count = 0
finally:
set_setting("dry_mount_counter", dry_mount_count+1)
elif zero_counts:
set_setting("dry_mount_counter", 0)
if is_rt:
print "mount/moving home in RT"
robot.move_home()
elif is_normal:
print "mount/moving cold in cold"
robot.move_cold()
elif is_aux:
if was_cold:
print "mount/moving cold after auxtool mount"
robot.move_cold()
else:
print "mount/moving cold after auxtool mount"
robot.move_park()
else:
robot.move_cold()
robot.move_cold()
mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
Controller.getInstance().logEvent("Sample Detection", str(mount_sample_detected))
update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)
@@ -167,4 +185,3 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
finally:
smart_magnet.set_default_current()
smart_magnet.set_supress(True)
script/motion/trash.py
+13 -4
View File
@@ -6,6 +6,9 @@ def trash():
if robot.simulated:
time.sleep(3.0)
return
was_cold = robot.is_cold()
#Initial checks
robot.assert_no_task()
@@ -17,8 +20,11 @@ def trash():
#Enabling
enable_motion()
robot.move_heater(to_bottom = False)
robot.move_heater(to_bottom = True)
robot.move_gonio()
robot.get_gonio()
#robot.move_heater(to_bottom = False)
#robot.move_heater(to_bottom = True)
try:
for i in range(3):
@@ -30,7 +36,10 @@ def trash():
robot.open_tool()
robot.move_heater(to_bottom = False)
robot.move_cold()
#robot.move_heater(to_bottom = False)
if was_cold:
robot.move_cold()
else:
robot.move_aux()
script/motion/unmount.py
+15 -9
View File
@@ -1,4 +1,4 @@
def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False, mounting_in_same_segment=False):
def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False, next_segment="-*-", mounting_in_same_segment=False):
"""
"""
print "unmount: ", segment, puck, sample, force
@@ -13,8 +13,13 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
#ZACH
is_aux = (segment == AUX_SEGMENT)
is_rt = (segment == RT_SEGMENT)
needs_chilling = (not is_aux) and (not is_rt) and (not robot.is_cold())
needs_drying = (is_aux or is_rt ) and robot.is_cold()
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
@@ -64,11 +69,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
#Enabling
enable_motion()
if is_aux or is_rt:
if needs_drying:
dry(wait_cold=-1)
else:
if is_normal:
set_hexiposi(segment)
if not force:
@@ -76,6 +77,10 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
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():
@@ -84,6 +89,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
#smart_magnet.set_unmount_current()
robot.get_gonio()
has_sample_after_get = robot.gripper_has_sample()
log("Sample Detection - unmount after get_gonio: " + str(has_sample_after_get), False)
@@ -94,7 +100,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
if is_aux:
robot.move_aux()
robot.put_aux( sample)
robot.put_aux(sample)
elif is_rt:
robot.move_rt()
robot.put_rt(puck, sample)