hexiposi improvements from x06sa

script/devices/Hexiposi.py

@@ -11,8 +11,8 @@ class Hexiposi(DiscretePositionerBase):
              url = "http://" + url
          if not url.endswith(":"):
              url =  url + ":"
-         self.url_set = url + str (self.PORT_SET)+ "/hexiposi/" #"/TellWeb/"
-         self.url_get =  url + str (self.PORT_GET)+ "/hexiposi/" #"/TellWeb/"
+         self.url_set = url + str (self.PORT_SET)+ "/hexiposi/"
+         self.url_get =  url + str (self.PORT_GET)+ "/hexiposi/"
          self.moved = True     
          self.homing_state = State.Disabled
          self.rback = self.UNKNOWN_POSITION 
@@ -117,14 +117,18 @@ class Hexiposi(DiscretePositionerBase):
                 
     #Retrying after end of move -> once in a while move raises a not in position exception.
     def assertInPosition(self, pos):
-        retries = 3
+        poll_interval = 2.0
+        max_turn_time = 8.0 # s
+        retries = int(max_turn_time / poll_interval)
         for i in range(retries):
+            #st = self.get_status()
+            #print "asserting hexiposi in position " + pos + " --- moving:" + str(st["moving"]) + " --- state:" + str(self.getState())
             try:
                 super(Hexiposi, self).assertInPosition(pos)
                 return
             except:                            
-                if i <(retries-1):
-                    time.sleep(0.5)            
+                if i < retries - 1:
+                    time.sleep(poll_interval)
                 else:
                     raise
             

script/hexiposi_tester.py

@@ -0,0 +1,13 @@
+import random
+import time
+def hexiposi_tester(num_moves = 10, wait = 3.0):
+    release_safety()
+    for n in range(num_moves):
+        pos = random.choice("ABCDEF")
+        print str(n) + " of " + str(num_moves) + ") moving to " + pos
+        hexiposi.move(pos)
+        #print "   sleep " + str(wait) + " s"
+        time.sleep(wait)
+
+    print " done "
+        

script/local.py

@@ -94,6 +94,14 @@ cold_position_timeout = get_setting("cold_position_timeout")
 if cold_position_timeout is None:
     set_setting("cold_position_timeout", 0)
 
+def blower_on():
+    robot.evaluate("doFOut1=true")
+
+
+def blower_off():
+    robot.evaluate("doFOut1=false")
+
+
 
 def is_room_temperature_enabled():
     setting = get_setting(ROOM_TEMPERATURE_ENABLED_PREFERENCE)
@@ -467,4 +475,4 @@ restore_samples_info()
     
 
 print "Initialization complete"
-    
+