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Optimize mount from same segment

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This commit is contained in:
gac-S_Changer
2020-03-04 13:50:05 +01:00
parent 8afff9ec2c
commit f54d35cd12
11 changed files with 49 additions and 34 deletions
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config/devices-modbus.properties
+4 -3
View File
@@ -1,4 +1,4 @@
wago=ch.psi.pshell.modbus.ModbusTCP|tell6s-wago:502|||
wago=ch.psi.pshell.modbus.ModbusTCP|tell10s-wago:502|||
led_ok_1=ch.psi.pshell.modbus.DigitalInput|wago 0||1000|
led_ok_2=ch.psi.pshell.modbus.DigitalInput|wago 1||1000|
led_ok_3=ch.psi.pshell.modbus.DigitalInput|wago 2||1000|
@@ -24,8 +24,8 @@ release_psys_safety=ch.psi.pshell.modbus.DigitalOutput|wago 1|||
#spare_do_3=ch.psi.pshell.modbus.DigitalOutput|wago 4|||
gripper_dryer=ch.psi.pshell.modbus.DigitalOutput|wago 5|||
smc_sup_det=ch.psi.pshell.modbus.DigitalOutput|wago 6|||
valve_1=ch.psi.pshell.modbus.DigitalOutput|wago 7|||
valve_2=ch.psi.pshell.modbus.DigitalOutput|wago 8|||
valve_1=ch.psi.pshell.modbus.DigitalOutput|wago 8|||
valve_2=ch.psi.pshell.modbus.DigitalOutput|wago 7|||
valve_3=ch.psi.pshell.modbus.DigitalOutput|wago 9|||
valve_4=ch.psi.pshell.modbus.DigitalOutput|wago 10|||
dewar_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 0||10000|
@@ -40,3 +40,4 @@ led_ctrl_1=ch.psi.pshell.modbus.ProcessVariable|wago 0|||
led_ctrl_2=ch.psi.pshell.modbus.ProcessVariable|wago 1|||
led_ctrl_3=ch.psi.pshell.modbus.ProcessVariable|wago 2|||
smc_current=ch.psi.pshell.modbus.ProcessVariable|wago 3|||
config/settings.properties
+5 -5
View File
@@ -1,15 +1,15 @@
#Tue Jan 21 16:44:18 CET 2020
dry_mount_counter=2
mounted_sample_position=X16
#Wed Mar 04 13:44:38 CET 2020
dry_mount_counter=6
mounted_sample_position=A25
room_temperature_enabled=false
pin_offset=0.0
puck_types=true
imaging_enabled=false
dry_timestamp=1.569403361248E9
dry_timestamp=1.583324556612E9
roi_h=1000
led_level=0.0
beamline_status_enabled=false
force_dry_mount_count=8
force_dry_mount_count=10
roi_y=124
barcode_reader_scan_pucks=false
cold_position_timeout=3600
config/variables.properties
+2 -2
View File
@@ -1,2 +1,2 @@
#Tue Jan 21 13:32:17 CET 2020
FileSequentialNumber=28
#Fri Feb 28 10:25:18 CET 2020
FileSequentialNumber=41
devices/led_ctrl_1.properties
+2 -2
View File
@@ -1,8 +1,8 @@
#Thu Jan 09 11:20:58 CET 2020
#Wed Mar 04 10:29:38 CET 2020
minValue=0.0
unit=V
offset=0.0
maxValue=0.4
maxValue=1.0
precision=2
sign_bit=0
scale=3.0E-4
devices/led_ctrl_2.properties
+2 -2
View File
@@ -1,8 +1,8 @@
#Thu Jan 09 11:20:58 CET 2020
#Wed Mar 04 10:29:38 CET 2020
minValue=0.0
unit=V
offset=0.0
maxValue=0.4
maxValue=1.0
precision=2
sign_bit=0
scale=3.0E-4
devices/led_ctrl_3.properties
+2 -2
View File
@@ -1,8 +1,8 @@
#Thu Jan 09 11:20:58 CET 2020
#Wed Mar 04 10:29:38 CET 2020
minValue=0.0
unit=V
offset=0.0
maxValue=0.4
maxValue=1.0
precision=2
sign_bit=0
scale=3.0E-4
script/devices/RobotSC.py
+17 -9
View File
@@ -27,7 +27,7 @@ class RobotSC(RobotTCP):
def __init__(self, name, server, timeout = 1000, retries = 1):
RobotTCP.__init__(self, name, server, timeout, retries)
self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "recover", "moveDewar", "moveCold", "movePark", "moveGonio","moveHeater", "moveScanner","moveHome", "moveAux"])
self.set_known_points(["pPark", "pGonioA", "pDewar", "pGonioG", "pScan", "pHeater", "pHeat", "pHeatB", "pLaser","pHelium", "pHome", "pCold", "pAux"])
self.set_known_points(["pPark", "pGonioA", "pDewar", "pGonioG", "pScan", "pHeater", "pHeat", "pHeatB", "pLaser","pHelium", "pHome", "pCold", "pAux","p1"])
self.setPolling(DEFAULT_ROBOT_POLLING)
self.last_command_timestamp = None
self.last_command_position = None
@@ -54,21 +54,23 @@ class RobotSC(RobotTCP):
self.last_command_position = "home"
self.last_command_timestamp = time.time()
def get_dewar(self, segment, puck, sample):
def get_dewar(self, segment, puck, sample, mounting_in_same_segment=False):
segment = self.toSegmentNumber(segment)
self.start_task('getDewar',segment, puck, sample, is_room_temp())
self.start_task('getDewar',segment, puck, sample, is_room_temp(), mounting_in_same_segment)
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_dewar()
if not mounting_in_same_segment:
self.assert_dewar()
self.last_command_position = "dewar"
self.last_command_timestamp = time.time()
def put_dewar(self, segment, puck, sample):
def put_dewar(self, segment, puck, sample, mounting_in_same_segment=False):
segment = self.toSegmentNumber(segment)
self.assert_dewar()
self.start_task('putDewar',segment, puck, sample, is_room_temp())
self.start_task('putDewar',segment, puck, sample, is_room_temp(), mounting_in_same_segment)
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
#self.assert_dewar()
self.assert_cold()
if not mounting_in_same_segment:
self.assert_cold()
self.last_command_position = "dewar"
self.last_command_timestamp = time.time()
@@ -255,7 +257,10 @@ class RobotSC(RobotTCP):
return self.is_in_point("pAux")
def is_laser(self):
return self.is_in_point("pLaser")
return self.is_in_point("pLaser")
def is_p1(self):
return self.is_in_point("p1")
def is_cleared(self):
#return self.is_home() or self.is_park() or self.is_dewar() or self.is_dewar_home()
@@ -295,7 +300,10 @@ class RobotSC(RobotTCP):
self.assert_in_point("pAux")
def assert_laser(self):
self.assert_in_point("pLaser")
self.assert_in_point("pLaser")
def assert_p1(self):
self.assert_in_point("p1")
def assert_cleared(self):
if not self.is_cleared():
script/motion/mount.py
+9 -3
View File
@@ -44,6 +44,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
hexiposi.assert_homed()
assert_mount_position()
do_unmount = False
mounting_in_same_segment = False
try:
#ZACH
@@ -63,8 +64,13 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
Controller.getInstance().logEvent("Sample Detection", str(sample_det))
if sample_det == True:
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
unmount(force = True, auto_unmount = True)
unmount(force = True, auto_unmount = True, mounting_in_same_segment=mounting_in_same_segment)
do_unmount = True
else:
raise Exception("Pin detected on gonio")
@@ -93,10 +99,10 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
if not force:
visual_check_hexiposi(segment)
if not robot.is_dewar():
if (not robot.is_dewar()) and (not mounting_in_same_segment):
robot.move_dewar()
robot.get_dewar(segment, puck, sample)
robot.get_dewar(segment, puck, sample, mounting_in_same_segment=mounting_in_same_segment)
if read_dm:
script/motion/recover.py
+3 -2
View File
@@ -5,14 +5,15 @@ import org.apache.commons.math3.geometry.euclidean.threed.Line as Line3D
RECOVER_DESC = "mRecovery"
RECOVER_TOOL = TOOL_DEFAULT
known_segments = [ ("pGonioA", "pGonioG", 10), \
known_segments = [ ("pGonioA", "pGonioG", 10), \
("p1", "pGonioA", 100), \
("p1", "pScan", 100), \
("pPark", "pScan", 40), \
("pHome", "pPark", 60), \
("pScan", "pHeater", 50), \
("pHome", "pDewar", 10), \
("pHeater", "pHeatB", 10), \
("pHome", "pAux", 50), \
("pScan", "pGonioA", 100), \
]
script/motion/tools.py
+1 -2
View File
@@ -45,11 +45,10 @@ def set_hexiposi(pos, force = False):
"""
Set the hexiposi position in remote mode, or wait for it to be set in manual mode
"""
robot.assert_cleared()
if force == False:
if hexiposi.position == pos:
return
robot.assert_cleared()
if is_manual_mode():
set_status("Move Hexiposi to position " + str(pos) + " ...")
try:
script/motion/unmount.py
+2 -2
View File
@@ -1,4 +1,4 @@
def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False):
def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False, mounting_in_same_segment=False):
"""
"""
print "unmount: ", segment, puck, sample, force
@@ -95,7 +95,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
#TODO: Should check if smart magnet detection is off?
update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)
robot.move_dewar()
robot.put_dewar(segment, puck, sample)
robot.put_dewar(segment, puck, sample, mounting_in_same_segment=mounting_in_same_segment)
set_setting("mounted_sample_position", None)
finally:
if not auto_unmount: