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gripper switches implementation, readout only

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gac-S_Changer
2021-10-13 15:31:37 +02:00
parent e504939e66
commit 6eba018159
6 changed files with 136 additions and 71 deletions
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config/settings.properties
+4 -3
View File
@@ -1,10 +1,11 @@
#Thu Oct 07 15:50:53 CEST 2021
dry_mount_counter=0
#Wed Oct 13 15:20:54 CEST 2021
dry_mount_counter=5
mounted_sample_position=D214
room_temperature_enabled=false
pin_offset=-0.0
puck_types=true
imaging_enabled=false
dry_timestamp=1.633614653956E9
dry_timestamp=1.634130424209E9
roi_h=1000
led_level=0.0
beamline_status_enabled=false
script/devices/RobotSC.py
+3 -13
View File
@@ -247,19 +247,9 @@ class RobotSC(RobotTCP):
#TODO: Restore safe position
def gripper_has_sample(self):
"""checks gripper switches for presence of sample
return: None => unclear
True => sample in gripper (grip. closed)
False => no sample in gripper (grip. closed)
"""
sample, without = self.eval_bool("di_toolWithSample"), self.eval_bool("di_toolNoSample")
if sample and not without:
return True
if not sample and without:
return False
else:
return None
"""checks gripper switches for presence of sample"""
hasSample, toolOpen = self.eval_bool("diToolHasSample"), self.eval_bool("diToolOpen")
return (not toolOpen) and hasSample
def set_remote_mode(self):
script/local.py
+32
View File
@@ -102,6 +102,38 @@ def is_room_temperature_enabled():
set_setting(ROOM_TEMPERATURE_ENABLED_PREFERENCE, is_room_temperature_enabled())
def is_gripper_really_empty(timeout=2.0):
timeout = timeout + time.time()
while time.time() < timeout:
if robot.eval_bool("diToolHasSample"):
print "test"
time.sleep(0.10)
else:
return True
msg = "WARNING 1st try: gripper should be empty, sample detected (dwell for 2s and try again)"
log(msg, False)
print msg
time.sleep(2.0)
robot.eval_bool("diToolOpen")
robot.eval_bool("diToolHasSample")
timeout = 2.0 + time.time()
while time.time() < timeout:
if robot.eval_bool("diToolHasSample"):
print "test"
time.sleep(0.10)
else:
return True
msg = "WARNING 2nd try: gripper should be empty, sample detected"
log(msg, False)
print printmsg
return False
def is_beamline_status_enabled():
setting = get_setting(BEAMLINE_STATUS_ENABLED_PREFERENCE)
return str(setting).lower() == 'true'
script/motion/check_gripper.py
+4 -4
View File
@@ -1,8 +1,8 @@
def check_gripper(sample):
print "tool open: " + str(robot.is_tool_open())
print "gripper: " + str(robot.gripper_has_sample())
print "di with sample: " + str(robot.eval_bool("di_toolWithSample"))
print "di no sample: " + str(robot.eval_bool("di_toolNoSample"))
print "di gripper has sample: " + str(robot.eval_bool("diToolHasSample"))
print "di gripper open: " + str(robot.eval_bool("diToolOpen"))
def fetch_check_gripper(sample):
if not robot.is_aux():
@@ -10,8 +10,8 @@ def fetch_check_gripper(sample):
robot.get_aux(sample)
print "tool open: " + str(robot.is_tool_open())
print "gripper: " + str(robot.gripper_has_sample())
print "di with sample: " + str(robot.eval_bool("di_toolWithSample"))
print "di no sample: " + str(robot.eval_bool("di_toolNoSample"))
print "di with sample: " + str(robot.eval_bool("diToolHasSample"))
print "di no sample: " + str(robot.eval_bool("diToolOpen"))
def swap_samples(a, b, empty):
robot.get_aux(a)
script/motion/mount.py
+51 -35
View File
@@ -1,13 +1,13 @@
mount_sample_id = None
mount_sample_detected = None
def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False):
def mount(segment, puck, sample, force=True, read_dm=False, auto_unmount=False):
"""
"""
global mount_sample_id, mount_sample_detected
evlog = Controller.getInstance().logEvent
tg = time.time
t1 = tg()
print " mount: ", segment, puck, sample, force
is_aux = (segment == AUX_SEGMENT)
is_rt = (segment == RT_SEGMENT)
@@ -20,7 +20,6 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
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
@@ -41,6 +40,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
puck = int(puck_address[1:])
print "%4.1f s asserting" % (tg() - t1,)
#Initial checks
assert_valid_address(segment, puck, sample)
assert_puck_detected(segment, puck)
@@ -68,13 +68,14 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
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))
evlog("SMC Sample Detection", str(sample_det))
print "%4.1f s SMC checked" % (tg() - t1,)
mounting_in_same_segment = False
sampleAddress = str(segment) + str(puck) + "-" + str(sample)
try:
if sample_det == True:
if was_warm and previous_segment in COLD_SEGMENTS:
@@ -94,17 +95,19 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
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()
#Enabling. If did unmount then it is already enabled.
set_status("Mounting: " + sampleAddress)
evlog("Mount Sample", sampleAddress)
if not do_unmount:
enable_motion()
if needs_drying:
dry(wait_cold=-1) # move to park after dry
###
### FETCH SAMPLE TO MOUNT
###
if is_aux:
if not robot.is_aux():
robot.move_aux()
@@ -126,20 +129,20 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
print "%4.1f s get_dewar" % (tg() - t1,)
robot.get_dewar(segment, puck, sample, mounting_in_same_segment=mounting_in_same_segment)
# grip_is_open = robot.is_tool_open()
# grip_is_closed = not grip_is_open
# pik = robot.gripper_has_sample()
# grip_has_sample = grip_is_closed and pik
# msg = "Sample Detection - mount: after get_dewar: gripper has sample={} sample={}{}{}".format(str(grip_has_sample), str(segment), str(puck), str(sample))
# log(msg, False)
# print msg
#
# if not grip_has_sample:
# if is_aux or is_rt:
# robot.move_park()
# else:
# robot.move_cold()
hasSample = robot.gripper_has_sample()
msg = "WARNING GRIPPER-TEST - after robot.get_* gripper has sample={} sample={}".format(hasSample, sampleAddress)
evlog(msg)
print "%4.1f s %s" % (tg() - t1, msg)
if not hasSample:
msg = "WARNING GRIPPER-TEST no sample in position {}".format(sampleAddress)
evlog(msg)
print "%4.1f s %s" % (tg() - t1, msg)
if is_aux or is_rt:
robot.move_park()
else:
robot.move_cold()
raise Exception(msg)
if read_dm:
@@ -155,6 +158,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
if read_dm:
print "%4.1f s reading pin barcode" % (tg() - t1,)
mount_sample_id = barcode_reader.get_readout()
print "%4.1f s ....done --- barcode: %s" % (tg() - t1, mount_sample_id)
evlog("read pin barcode: %s" % (mount_sample_id,))
else:
mount_sample_id = None
@@ -173,6 +177,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
print " ....done\n%4.1f s putting_gonio with pin_offset = %.1f mm" % (tg() - t1, pin_offset)
robot.put_gonio()
print "%4.1f s .....done" % (tg() - t1,)
robot.close_tool() # closes gripper
if is_normal:
@@ -193,7 +198,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
if is_rt:
print "%4.1f s mount/moving home in RT" % (tg() - t1,)
robot.move_park()
elif is_normal:
elif is_normal:
print "%4.1f s mount/moving cold in cold " % (tg() - t1,)
robot.move_cold()
elif is_aux:
@@ -206,22 +211,33 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
else:
robot.move_cold()
mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
evlog("Sample Detection", str(mount_sample_detected))
update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)
if mount_sample_detected != piked_sample:
log("Sample Detection Error - after put on SM:" + str(mount_sample_detected) + " gripper:" + str(piked_sample), False)
#if has_sample_after_put and mount_sample_detected:
# log("Sample Detection Error - put SM:" + str(mount_sample_detected) + " gripper:" + str(has_sample_after_put), False)
if mount_sample_detected == False:
# Check gripper for frozen sample after trying to mount on gonio
# 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(1.2)
if not reallyEmpty:
msg = "WARNING GRIPPER-TEST still has a sample {} after mount attempt".format(sampleAddress)
evlog(msg)
print "%4.1f s %s" % (tg() - t1, msg)
# raise Exception(msg)
sampleDelivered = True
robot.open_tool() # open gripper
if sampleDelivered and not mount_sample_detected:
msg = "WARNING GRIPPER-TEST sample {} lost during mount".format(sampleAddress)
evlog("SMC Sample Detection false after put gonio")
print "%4.1f s %s" % (tg() - t1, msg)
# raise Exception(msg)
if is_force_dry():
smart_magnet.set_default_current()
print "%4.1f Auto dry async" % (tg() - t1,)
print "%4.1f Auto dry async" % (tg() - t1,)
evlog("Starting async auto dry")
set_exec_pars(then = "dry()")
script/motion/unmount.py
+42 -16
View File
@@ -1,7 +1,7 @@
def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False, next_segment="-*-", mounting_in_same_segment=False):
def unmount(segment = None, puck = None, sample = None, force=True, auto_unmount = False, next_segment="-*-", mounting_in_same_segment=False):
"""
"""
print "unmount: ", segment, puck, sample, force
evlog = Controller.getInstance().logEvent
tg = time.time
t1 = tg()
@@ -12,6 +12,12 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
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)
msg = "Unmounting %s" % (sampleAddress,)
print msg
evlog(msg)
is_aux = (segment == AUX_SEGMENT)
is_rt = (segment == RT_SEGMENT)
is_normal = not (is_aux or is_rt)
@@ -52,7 +58,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
assert_mount_position()
set_status("Unmounting: " + str(segment) + str(puck) + str(sample))
Controller.getInstance().logEvent("Unmount Sample", str(segment) + str(puck) + str(sample))
evlog("Unmount Sample", str(segment) + str(puck) + str(sample))
try:
if smart_magnet.get_supress() == True:
@@ -72,6 +78,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
enable_motion()
if is_normal:
evlog("UNMOUNT() set_hexiposi(%s)" % (segment,))
set_hexiposi(segment)
if not force:
@@ -105,14 +112,6 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
robot.get_gonio()
has_sample_after_get = robot.gripper_has_sample()
log("Sample Detection - unmount after get_gonio: " + str(has_sample_after_get), False)
smart_magnet.apply_reverse()
smart_magnet.apply_resting()
mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
Controller.getInstance().logEvent("Sample Detection", str(mount_sample_detected))
if is_aux:
robot.move_aux()
robot.put_aux(sample)
@@ -124,14 +123,41 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
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)
if was_cold:
robot.move_cold()
else:
has_sample_after_get = robot.gripper_has_sample()
evlog("Sample Detection - unmount after get_gonio: ", 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("Sample Detection", str(mount_sample_detected))
robot.close_tool() # closes gripper
if not was_cold:
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 = "WARNING GRIPPER-TEST gripper still has a sample {} after mount attempt".format(sampleAddress)
evlog(msg)
print msg
if is_aux or is_rt:
robot.move_park()
# raise Exception(msg)
robot.open_tool() # open gripper
if has_sample_after_get == mount_sample_detected:
log("Sample Detection Error - unmount from SM:" + str(mount_sample_detected) + " gripper:" + str(has_sample_after_get)+ str(segment) + str(puck) + str(sample), False)
msg = "WARNING GRIPPER-TEST Sample Detection Error - unmount from SM:" + str(mount_sample_detected) + " gripper:" + str(has_sample_after_get) + sampleAddress
print msg
evlog(msg)
#has_sample_after_put = robot.gripper_has_sample()
#log("Sample Detection - unmount after put: " + str(has_sample_after_put), False)
#if has_sample_after_put: