hexiposi improvements from x06sa

- the base class checks inposition immediately after
  motion stops and that raises not in position
  exception every now and then

config/settings.properties

@@ -1,15 +1,16 @@
-#Tue Apr 05 09:11:38 CEST 2022
-dry_mount_counter=0
+#Tue Apr 25 15:32:25 CEST 2023
+dry_mount_counter=2
+mounted_sample_position=D51
 room_temperature_enabled=false
 pin_offset=-0.0
 puck_types=true
 imaging_enabled=false
-dry_timestamp=1.649142698729E9
+dry_timestamp=1.682426895613E9
 roi_h=1000
 led_level=0.0
 beamline_status_enabled=false
 tool_default=tPSI
-force_dry_mount_count=12
+force_dry_mount_count=10
 roi_y=124
 barcode_reader_scan_pucks=false
 cold_position_timeout=3600

config/variables.properties

@@ -1,4 +1,4 @@
-#Wed Mar 02 10:58:36 CET 2022
-LastRunDate=220302
-FileSequentialNumber=206
+#Mon Jan 30 10:39:42 CET 2023
+LastRunDate=230130
+FileSequentialNumber=225
 DaySequentialNumber=2

devices/A1.properties

@@ -1,3 +1,3 @@
-#Tue May 25 11:05:57 CEST 2021
+#Tue Mar 28 09:33:45 CEST 2023
 detection=Mechanical
 disabled=false

devices/A2.properties

@@ -1,3 +1,3 @@
-#Wed Sep 08 08:15:44 CEST 2021
+#Mon Mar 13 10:25:03 CET 2023
 detection=Mechanical
 disabled=false

devices/A3.properties

@@ -1,3 +1,3 @@
-#Sat Apr 02 16:26:23 CEST 2022
+#Mon Mar 13 10:25:10 CET 2023
 detection=Mechanical
-disabled=true
+disabled=false

devices/A4.properties

@@ -1,3 +1,3 @@
-#Tue Nov 30 11:36:11 CET 2021
+#Mon Mar 13 10:24:34 CET 2023
 detection=Mechanical
 disabled=false

devices/A5.properties

@@ -1,3 +1,3 @@
-#Thu Jun 06 15:40:38 CEST 2019
+#Tue Jul 26 15:51:30 CEST 2022
 detection=Mechanical
 disabled=false

devices/B1.properties

@@ -1,3 +1,3 @@
-#Mon Nov 15 08:48:20 CET 2021
+#Wed Jun 29 09:37:46 CEST 2022
 detection=Mechanical
 disabled=false

devices/B2.properties

@@ -1,3 +1,3 @@
-#Fri Apr 01 11:06:19 CEST 2022
+#Mon Mar 13 10:25:16 CET 2023
 detection=Mechanical
-disabled=true
+disabled=false

devices/B3.properties

@@ -1,3 +1,3 @@
-#Mon Apr 29 16:40:05 CEST 2019
+#Wed Sep 14 09:20:11 CEST 2022
 detection=Mechanical
 disabled=false

devices/B4.properties

@@ -1,3 +1,3 @@
-#Tue Nov 30 11:36:31 CET 2021
+#Wed Nov 02 10:13:00 CET 2022
 detection=Mechanical
 disabled=false

devices/C1.properties

@@ -1,3 +1,3 @@
-#Fri Apr 01 11:06:42 CEST 2022
+#Wed Jun 29 09:37:52 CEST 2022
 detection=Mechanical
-disabled=true
+disabled=false

devices/C2.properties

@@ -1,3 +1,3 @@
-#Tue May 25 11:08:06 CEST 2021
+#Wed Nov 02 10:15:35 CET 2022
 detection=Mechanical
 disabled=false

devices/C3.properties

@@ -1,3 +1,3 @@
-#Sun Apr 25 10:13:29 CEST 2021
+#Wed Nov 02 10:15:39 CET 2022
 detection=Mechanical
 disabled=false

devices/C4.properties

@@ -1,3 +1,3 @@
-#Mon Nov 15 08:49:21 CET 2021
+#Tue Mar 28 09:33:50 CEST 2023
 detection=Mechanical
 disabled=false

devices/C5.properties

@@ -1,3 +1,3 @@
-#Wed Mar 23 13:38:45 CET 2022
+#Wed Nov 02 10:15:43 CET 2022
 detection=Mechanical
-disabled=true
+disabled=false

devices/D1.properties

@@ -1,3 +1,3 @@
-#Tue Aug 03 11:48:24 CEST 2021
+#Wed Sep 14 09:20:18 CEST 2022
 detection=Mechanical
 disabled=false

devices/D3.properties

@@ -1,3 +1,3 @@
-#Thu Sep 19 08:23:53 CEST 2019
+#Tue Mar 28 09:33:56 CEST 2023
 detection=Mechanical
 disabled=false

devices/D4.properties

@@ -1,3 +1,3 @@
-#Thu Sep 19 08:23:55 CEST 2019
+#Tue Mar 28 09:34:02 CEST 2023
 detection=Mechanical
 disabled=false

devices/E1.properties

@@ -1,3 +1,3 @@
-#Wed Mar 23 13:38:50 CET 2022
+#Thu Apr 14 09:52:40 CEST 2022
 detection=Mechanical
-disabled=true
+disabled=false

devices/E3.properties

@@ -1,3 +1,3 @@
-#Tue Jan 18 10:28:22 CET 2022
+#Wed Dec 07 08:15:09 CET 2022
 detection=Mechanical
 disabled=false

devices/E5.properties

@@ -1,3 +1,3 @@
-#Tue Nov 30 11:36:19 CET 2021
+#Tue Mar 28 09:34:08 CEST 2023
 detection=Mechanical
 disabled=false

devices/F1.properties

@@ -1,3 +1,3 @@
-#Wed Aug 25 10:06:27 CEST 2021
+#Mon Jan 30 10:18:42 CET 2023
 detection=Mechanical
 disabled=false

devices/F2.properties

@@ -1,3 +1,3 @@
-#Wed Aug 25 10:06:21 CEST 2021
+#Mon Jan 30 10:18:44 CET 2023
 detection=Mechanical
 disabled=false

devices/F3.properties

@@ -1,3 +1,3 @@
-#Fri Apr 01 11:06:30 CEST 2022
+#Wed May 18 13:59:19 CEST 2022
 detection=Mechanical
-disabled=true
+disabled=false

devices/F4.properties

@@ -1,3 +1,3 @@
-#Mon Nov 15 08:51:45 CET 2021
+#Mon Mar 13 10:25:26 CET 2023
 detection=Mechanical
 disabled=false

devices/F5.properties

@@ -1,3 +1,3 @@
-#Mon Nov 15 08:51:49 CET 2021
+#Tue Feb 07 13:10:12 CET 2023
 detection=Mechanical
 disabled=false

devices/led_ctrl_1.properties

@@ -1,4 +1,4 @@
-#Fri Mar 11 13:48:49 CET 2022
+#Wed Mar 29 08:57:56 CEST 2023
 minValue=0.0
 unit=V
 offset=0.0

devices/led_ctrl_2.properties

@@ -1,4 +1,4 @@
-#Fri Mar 11 13:48:49 CET 2022
+#Wed Mar 29 08:57:56 CEST 2023
 minValue=0.0
 unit=V
 offset=0.0

devices/led_ctrl_3.properties

@@ -1,4 +1,4 @@
-#Fri Mar 11 13:48:49 CET 2022
+#Wed Mar 29 08:57:56 CEST 2023
 minValue=0.0
 unit=V
 offset=0.0

devices/smart_magnet.properties

@@ -1,7 +1,7 @@
-#Thu Mar 25 17:47:27 CET 2021
+#Fri Aug 05 08:40:31 CEST 2022
 reverseTime=0.2
 unmountCurrent=20.0
-holdingCurrent=50.0
+holdingCurrent=60.0
 restingCurrent=50.0
 reverseCurrent=-10.0
 remanenceCurrent=-10.0

plugins/Zach.form

@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Form version="1.5" maxVersion="1.9" type="org.netbeans.modules.form.forminfo.JPanelFormInfo">
+  <AuxValues>
+    <AuxValue name="FormSettings_autoResourcing" type="java.lang.Integer" value="0"/>
+    <AuxValue name="FormSettings_autoSetComponentName" type="java.lang.Boolean" value="false"/>
+    <AuxValue name="FormSettings_generateFQN" type="java.lang.Boolean" value="true"/>
+    <AuxValue name="FormSettings_generateMnemonicsCode" type="java.lang.Boolean" value="false"/>
+    <AuxValue name="FormSettings_i18nAutoMode" type="java.lang.Boolean" value="false"/>
+    <AuxValue name="FormSettings_layoutCodeTarget" type="java.lang.Integer" value="1"/>
+    <AuxValue name="FormSettings_listenerGenerationStyle" type="java.lang.Integer" value="0"/>
+    <AuxValue name="FormSettings_variablesLocal" type="java.lang.Boolean" value="false"/>
+    <AuxValue name="FormSettings_variablesModifier" type="java.lang.Integer" value="2"/>
+  </AuxValues>
+
+  <Layout>
+    <DimensionLayout dim="0">
+      <Group type="103" groupAlignment="0" attributes="0">
+          <Group type="102" alignment="0" attributes="0">
+              <EmptySpace min="-2" pref="76" max="-2" attributes="0"/>
+              <Component id="jButton1" min="-2" max="-2" attributes="0"/>
+              <EmptySpace pref="300" max="32767" attributes="0"/>
+          </Group>
+      </Group>
+    </DimensionLayout>
+    <DimensionLayout dim="1">
+      <Group type="103" groupAlignment="0" attributes="0">
+          <Group type="102" alignment="0" attributes="0">
+              <EmptySpace min="-2" pref="34" max="-2" attributes="0"/>
+              <Component id="jButton1" min="-2" max="-2" attributes="0"/>
+              <EmptySpace pref="80" max="32767" attributes="0"/>
+          </Group>
+      </Group>
+    </DimensionLayout>
+  </Layout>
+  <SubComponents>
+    <Component class="javax.swing.JButton" name="jButton1">
+      <Properties>
+        <Property name="text" type="java.lang.String" value="jButton1"/>
+      </Properties>
+    </Component>
+  </SubComponents>
+</Form>

plugins/Zach.java

@@ -0,0 +1,77 @@
+
+import ch.psi.pshell.ui.Panel;
+import ch.psi.utils.State;
+
+/**
+ *
+ */
+public class Zach extends Panel {
+
+    public Zach() {
+        initComponents();
+    }
+
+    //Overridable callbacks
+    @Override
+    public void onInitialize(int runCount) {
+
+    }
+
+    @Override
+    public void onStateChange(State state, State former) {
+
+    }
+
+    @Override
+    public void onExecutedFile(String fileName, Object result) {
+    }
+
+    @Override
+    protected void onTimer() {
+    }
+
+    @Override
+    protected void onLoaded() {
+
+    }
+
+    @Override
+    protected void onUnloaded() {
+
+    }
+
+    //Invoked by 'update()' to update components in the event thread
+    @Override
+    protected void doUpdate() {
+    }
+
+    @SuppressWarnings("unchecked")
+    // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
+    private void initComponents() {
+
+        jButton1 = new javax.swing.JButton();
+
+        jButton1.setText("jButton1");
+
+        javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
+        this.setLayout(layout);
+        layout.setHorizontalGroup(
+            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(layout.createSequentialGroup()
+                .addGap(76, 76, 76)
+                .addComponent(jButton1)
+                .addContainerGap(300, Short.MAX_VALUE))
+        );
+        layout.setVerticalGroup(
+            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(layout.createSequentialGroup()
+                .addGap(34, 34, 34)
+                .addComponent(jButton1)
+                .addContainerGap(80, Short.MAX_VALUE))
+        );
+    }// </editor-fold>//GEN-END:initComponents
+
+    // Variables declaration - do not modify//GEN-BEGIN:variables
+    private javax.swing.JButton jButton1;
+    // End of variables declaration//GEN-END:variables
+}

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 
@@ -114,13 +114,32 @@ class Hexiposi(DiscretePositionerBase):
                     print "Timeout waiting Hexiposi busy"
                     break
                 self.update()   
+                
+    #Retrying after end of move -> once in a while move raises a not in position exception.
+    def assertInPosition(self, pos):
+        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(poll_interval)
+                else:
+                    raise
+            
+        
 
     def is_in_position(self, pos):
         return self.take() == pos
 
 
     def assert_in_position(self, pos):
-        if not is_in_position(pos):
+        if not self.is_in_position(pos):
             raise Exception ("Hexiposi is not in position")
     
     def assert_homed(self):

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)
@@ -107,7 +115,6 @@ 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        
@@ -181,7 +188,7 @@ run("motion/get_aux")
 run("motion/put_aux")
 run("motion/get_rt")
 run("motion/put_rt")
-run("motion/trash_sample")
+run("motion/trash")
 run("motion/dry")
 run("motion/homing_hexiposi")
 run("motion/calibrate_tool")
@@ -468,4 +475,4 @@ restore_samples_info()
     
 
 print "Initialization complete"
-    
+    

script/motion/dry.py

@@ -1,7 +1,7 @@
 IS_PSI_GRIPPER = get_setting("tool_default") == "tPSI"
 #                       PSI                         SUNA
 DEFAULT_DRY_HEAT_TIME = 45.0 if IS_PSI_GRIPPER else 45.0
-DEFAULT_DRY_SPEED =     0.4  if IS_PSI_GRIPPER else 0.4
+DEFAULT_DRY_SPEED =     0.3  if IS_PSI_GRIPPER else 0.3
 DEFAULT_DRY_WAIT_COLD = 40.0 if IS_PSI_GRIPPER else 40.0
 
 def dry(heat_time=None, speed=None, wait_cold = None):    

script/motion/mount.py

@@ -1,81 +1,81 @@
-mount_sample_id = None
-mount_sample_detected = None
-
-def mount(segment, puck, sample, force=True, read_dm=False, auto_unmount=False):
-    """
-    """
-    global mount_sample_id, mount_sample_detected
+mount_sample_id = None
+mount_sample_detected = None
+
+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()
-
-    is_aux = (segment == AUX_SEGMENT)
-    is_rt = (segment == RT_SEGMENT)
-    is_normal = not (is_aux or is_rt)
-
-    previous_mounted = get_setting("mounted_sample_position")
-    if previous_mounted is not None:
+    tg = time.time
+    t1 = tg()
+
+    is_aux = (segment == AUX_SEGMENT)
+    is_rt = (segment == RT_SEGMENT)
+    is_normal = not (is_aux or is_rt)
+
+    previous_mounted = get_setting("mounted_sample_position")
+    if previous_mounted is not None:
         print "here now"
-        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)
-
-    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)
-
-    pin_offset = get_pin_offset()
-    
-    puck_address = get_puck_address(puck)
-    if puck_address is None:
-        puck_obj = get_puck_obj_by_id(puck)
-        if puck_obj is not None:
-            puck_address = puck_obj.name
-    if puck_address is not None:
-        print "      puck address: ", puck_address
-        segment = puck_address[:1]
-        puck = int(puck_address[1:])        
+        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)
+
+    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)
+
+    pin_offset = get_pin_offset()
+    
+    puck_address = get_puck_address(puck)
+    if puck_address is None:
+        puck_obj = get_puck_obj_by_id(puck)
+        if puck_obj is not None:
+            puck_address = puck_obj.name
+    if puck_address is not None:
+        print "      puck address: ", puck_address
+        segment = puck_address[:1]
+        puck = int(puck_address[1:])        
 
 
     sampleAddress = str(segment) + str(puck) + "-" + str(sample)
     set_status("Mounting: " + sampleAddress)
     evlog(">>>>>>>>>>>>>>> MOUNT <<<<<<<<<<<<<<<<<<<<<")
     evlog("mount() Mount Sample", sampleAddress)
+
+    print "%4.1f s asserting" % (tg() - t1,)
 
-    print "%4.1f s asserting" % (tg() - t1,)
-
-    #Initial checks
-    assert_valid_address(segment, puck, sample)
-    assert_puck_detected(segment, puck)
-
-    if robot.simulated:
-        time.sleep(3.0)
-        mount_sample_detected = True     
-        mount_sample_id = "YYY0001"
-        update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)    
-        set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
-        return [mount_sample_detected, mount_sample_id]
-            
-    robot.assert_no_task()
-    robot.reset_motion()
-    robot.wait_ready()
-    robot.assert_cleared()
-    #robot.assert_in_known_point()
-    hexiposi.assert_homed()    
-    assert_mount_position()
-    do_unmount = False    
-    print "%4.1f s asserted " % (tg() - t1,)
-
-    # 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)
-    evlog("mount() SMC Sample Detection", str(sample_det))
+    #Initial checks
+    assert_valid_address(segment, puck, sample)
+    assert_puck_detected(segment, puck)
+
+    
+    if robot.simulated:
+        time.sleep(3.0)
+        mount_sample_detected = True     
+        mount_sample_id = "YYY0001"
+        update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)    
+        set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
+        return [mount_sample_detected, mount_sample_id]
+            
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.wait_ready()
+    robot.assert_cleared()
+    #robot.assert_in_known_point()
+    hexiposi.assert_homed()    
+    assert_mount_position()
+    do_unmount = False    
+    print "%4.1f s asserted " % (tg() - t1,)
+
+    # 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)
     evlog("mount() SMC Sample Detection", str(sample_det))
 
 
@@ -84,68 +84,68 @@ def mount(segment, puck, sample, force=True, read_dm=False, auto_unmount=False):
         msg = "CRITICAL ERROR: the gripper has a sample stuck to it, call local contact."
         evlog(msg)
         evlog("mount() terminating mount early")
+        raise Exception(msg)
+
     mounting_in_same_segment = False
-    mounting_in_same_segment = False
-
-    try:
-        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):
-                if mounting_in_same_segment:
-                    print "      Mounting from the same segment"                
-                #auto_unmount set to true so detection remains enabled
-                print "%4.1f s unmounting" % (tg() - t1,)
-                sample_det = unmount(force = True, auto_unmount = True, mounting_in_same_segment=mounting_in_same_segment, next_segment=segment)
-                print "%4.1f s ....done" % (tg() - t1,)
-
-                do_unmount = True
-        if sample_det == True:
+
+    try:
+        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):
+                if mounting_in_same_segment:
+                    print "      Mounting from the same segment"                
+                #auto_unmount set to true so detection remains enabled
+                print "%4.1f s unmounting" % (tg() - t1,)
+                sample_det = unmount(force = True, auto_unmount = True, mounting_in_same_segment=mounting_in_same_segment, next_segment=segment)
+                print "%4.1f s ....done" % (tg() - t1,)
+
+                do_unmount = True
         if sample_det == True:
             msg = "CRITICAL a pin is being detected on gonio after an unmount attempt, either trash the sample or try unmounting again"
             evlog(msg)
-            raise Exception(msg)
-
-        if not do_unmount:
-            enable_motion()
-
-        if needs_drying:
-            dry(wait_cold=-1) # move to park after dry
+            evlog("mount() terminating mount early")
+            raise Exception(msg)
+
+        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()
-            robot.get_aux(sample)
-
-        elif is_rt:
-            if not robot.is_rt():
-                robot.move_rt()
-            robot.get_rt(puck, sample)
-
-        else:
-            print "%4.1f s moving lid " % (tg() - t1,)
-
-            set_hexiposi(segment)
-            if not force:        
-                visual_check_hexiposi(segment)
-            if (not robot.is_dewar()) and (not mounting_in_same_segment):
-                robot.move_dewar()
-            print "%4.1f s get_dewar" % (tg() - t1,)
-            robot.get_dewar(segment, puck, sample, mounting_in_same_segment=mounting_in_same_segment)
+        ###
+
+        if is_aux:
+            if not robot.is_aux():
+                robot.move_aux()
+            robot.get_aux(sample)
+
+        elif is_rt:
+            if not robot.is_rt():
+                robot.move_rt()
+            robot.get_rt(puck, sample)
+
+        else:
+            print "%4.1f s moving lid " % (tg() - t1,)
+
+            set_hexiposi(segment)
+            if not force:        
+                visual_check_hexiposi(segment)
+            if (not robot.is_dewar()) and (not mounting_in_same_segment):
+                robot.move_dewar()
+            print "%4.1f s get_dewar" % (tg() - t1,)
             robot.get_dewar(segment, puck, sample, mounting_in_same_segment=mounting_in_same_segment)
 
     
         hasSample =  robot.gripper_has_sample()
         msg = "mount() WARNING GRIPPER-TEST - after get_(dewar,rt,aux) gripper has sample: {}".format(hasSample)
         evlog(msg)
-        if not hasSample:
+
         if not hasSample:
             if was_warm and (is_aux or is_rt):
                 robot.move_park()
@@ -154,56 +154,56 @@ def mount(segment, puck, sample, force=True, read_dm=False, auto_unmount=False):
             msg = "MISSING SAMPLE in position {} - try the next one".format(sampleAddress)
             evlog(msg)
             evlog("mount() terminating mount early")
-
-        if read_dm:
-            barcode_reader.start_read(10.0)
-            robot.move_scanner()
-
-        robot.move_gonio()    
-        
-        if read_dm:
+            raise Exception(msg)
+
+        if read_dm:
+            barcode_reader.start_read(10.0)
+            robot.move_scanner()
+
+        robot.move_gonio()    
+        
         if read_dm:
-            evlog("mount() read pin barcode: %s" % (mount_sample_id,))
-        else:
-            mount_sample_id = None
+            mount_sample_id = barcode_reader.get_readout()
+            evlog("mount() read pin barcode: %s" % (mount_sample_id,))
+        else:
             mount_sample_id = None
-        curpos = cryopos.getPosition()
-        if is_room_temperature_enabled():
-            if curpos < 50:
-                cryopos.move(50.)
-        else:
-            speed = cryopos.getSpeed() / 1000.0
-            movetime = int(round(3000 + (15.  - curpos) / speed))
+ 
+        curpos = cryopos.getPosition()
+        if is_room_temperature_enabled():
+            if curpos < 50:
+                cryopos.move(50.)
+        else:
+            speed = cryopos.getSpeed() / 1000.0
             movetime = int(round(3000 + (15.  - curpos) / speed))
-            cryopos.waitValueInRange(15.0, 1.0, movetime)
+            cryopos.move(15.0, movetime)
             cryopos.waitValueInRange(15.0, 1.0, movetime)
     
-        robot.put_gonio()
-        robot.close_tool() # closes gripper
-
-        if is_normal:
-            cryopos.moveAsync(5.0)
-        
-        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:
-            robot.move_park()
-        elif is_normal:
-            robot.move_cold()
-        elif is_aux:
-            robot.move_park()
-        else:
-            robot.move_cold()
-
+    
+        robot.put_gonio()
+        robot.close_tool() # closes gripper
+
+        if is_normal:
+            cryopos.moveAsync(5.0)
+        
+        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:
+            robot.move_park()
+        elif is_normal:
+            robot.move_cold()
+        elif is_aux:
+            robot.move_park()
+        else:
+            robot.move_cold()
 
         mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) 
         evlog("mount() SMC Detection", str(mount_sample_detected))       
@@ -218,25 +218,25 @@ def mount(segment, puck, sample, force=True, read_dm=False, auto_unmount=False):
         if not reallyEmpty:
             msg = "CRITICAL The gripper still has sample {} after mount attempt, call local contact".format(sampleAddress)
             evlog(msg)
-            raise Exception(msg)
-        sampleDelivered = True
-        robot.open_tool() # open gripper
+            evlog("mount() terminating mount early")
+            raise Exception(msg)
+        sampleDelivered = True
         robot.open_tool() # open gripper
 
-            msg = "CRITICAL The sample {} seems to have been lost during mount procedure; call your local contact".format(sampleAddress)
+        if sampleDelivered and not mount_sample_detected:
             msg = "CRITICAL The sample {} seems to have been lost during mount procedure, call your local contact".format(sampleAddress)
             evlog(msg)
             evlog("mount() terminating mount early")
             raise Exception(msg)
 
         smart_magnet.set_default_current()
-        if is_aux and was_cold:
-           evlog("mount() drying after tool mount")
-           set_exec_pars(then = "dry(wait_cold=-1)")        
-        elif is_force_dry():
-           evlog("mount() Starting async auto dry")
-           set_exec_pars(then = "dry()")
-
+
+        if is_aux and was_cold:
+           evlog("mount() drying after tool mount")
+           set_exec_pars(then = "dry(wait_cold=-1)")        
+        elif is_force_dry():
+           evlog("mount() Starting async auto dry")
+           set_exec_pars(then = "dry()")
 
-        return [mount_sample_detected, mount_sample_id]
-    finally:
+        set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
+        return [mount_sample_detected, mount_sample_id]

script/motion/tools.py

@@ -57,6 +57,7 @@ def set_hexiposi(pos, force = True):
             set_status(None)    
     else:
         hexiposi.move(pos)
+        
 
 #Can be used if cover has following error (no checking readback)
 def _set_hexiposi(pos):
@@ -179,4 +180,4 @@ def is_pin_detected_in_scanner():
              return False
          if abs(s-av) > 0.1:
              return False
-    return True    
+    return True

script/motion/trash.py

@@ -0,0 +1,49 @@
+def trash_sample():
+    """
+    """
+    evlog = Controller.getInstance().logEvent
+    evlog("trash_sample")
+
+    if robot.simulated:
+        time.sleep(3.0)
+        return    
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.wait_ready()
+    robot.assert_cleared()
+    #robot.assert_in_known_point()
+
+    was_cold = robot.is_cold()
+
+    #Enabling
+    enable_motion()
+
+    robot.move_gonio()
+    
+    curpos = cryopos.getPosition()
+    speed = cryopos.getSpeed() / 1000.0
+    movetime = int(round(3000 + (15.  - curpos) / speed))
+    cryopos.move(15.0, movetime)
+    cryopos.waitValueInRange(15.0, 1.0, movetime)
+
+    robot.get_gonio()
+    robot.move_heater(to_bottom = False)    
+    robot.move_heater(to_bottom = True)    
+
+    try:
+        for i in range(3):
+            robot.open_tool()
+            time.sleep(0.5)
+            robot.close_tool()
+            time.sleep(0.5)
+    finally:
+        robot.open_tool()
+        
+                
+    robot.move_heater(to_bottom =  False)    
+    if was_cold:
+        robot.move_cold()
+    else:
+        robot.move_home()

script/motion/trash_sample.py

@@ -1,52 +0,0 @@
-def trash_sample():
-    """
-    """
-    evlog = Controller.getInstance().logEvent
-    evlog("trash_sample")
-
-    aerotech_x.waitValueInRange(-78, 1.0, 20000)
-    
-    #Initial checks
-    robot.assert_no_task()
-    robot.reset_motion()
-    robot.wait_ready()
-    robot.assert_cleared()
-    #robot.assert_in_known_point()
-
-    #Enabling
-    enable_motion()
-
-    curpos = cryopos.getPosition()
-    speed = cryopos.getSpeed()
-    movetime = int(round(5000 + (15.  - curpos) / speed))
-    cryopos.move(15.0, movetime)
-    cryopos.waitValueInRange(15.0, 1.0, movetime)
-
-    smart_magnet.set_supress(False)
-    smart_magnet.set_current(10.0)
-    time.sleep(0.5)
-    if not robot.is_trash():
-        robot.trash_sample()
-
-    robot.move_cold()
-    time.sleep(0.5)
-    smart_magnet.set_current(30.0)
-
-    sample_det = False
-    msg = None
-    try:
-        sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
-        evlog("SMC Detection", str(sample_det))
-    except:
-        msg = "failed to check SMC status"
-
-    if sample_det:
-        msg = "sample detected *after* trash action!"
-
-    smart_magnet.set_default_current()
-    smart_magnet.set_supress(True)
-
-    if msg:
-        raise Exception(msg)
-        
-    

script/motion/unmount.py

@@ -1,3 +1,13 @@
+def finalize_unmount(auto_unmount, raising=False):
+    evlog = Controller.getInstance().logEvent
+    if not auto_unmount:
+        evlog("setting magnet to default current and no detection")
+        smart_magnet.set_default_current()
+        smart_magnet.set_supress(True)
+    if raising:
+        evlog(">>>>>>>>> raising exception")
+    evlog("############### UNMOUNT-FINISHED ####################")
+
 def unmount(segment = None, puck = None, sample = None, force=True, auto_unmount = False, next_segment="-*-", mounting_in_same_segment=False):
     """
     """
@@ -8,6 +18,7 @@ def unmount(segment = None, puck = None, sample = None, force=True, auto_unmount
     if (segment is None) or (puck is None) or (sample is None):
         pos = get_setting("mounted_sample_position")
         if pos is None:
+            evlog("Mounted sample position is not defined")
             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)
@@ -20,7 +31,7 @@ def unmount(segment = None, puck = None, sample = None, force=True, auto_unmount
     
     is_aux = (segment == AUX_SEGMENT)
     is_rt = (segment == RT_SEGMENT)
-    is_normal = not (is_aux or is_rt)
+    is_cryo_sample = not (is_aux or is_rt)
 
     was_cold = robot.is_cold()
     was_warm = not was_cold
@@ -28,7 +39,16 @@ def unmount(segment = None, puck = None, sample = None, force=True, auto_unmount
     needs_drying = is_rt and was_cold
     move_cold_at_end = str(next_segment) in COLD_SEGMENTS
     
-    
+    try:
+        assert_puck_detected(segment, puck)
+    except:
+        msg = "PUCK DISLODGED: puck no longer detected"
+        evlog(msg)
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception(msg)
+
+
+
     #Initial checks
     if not auto_unmount:    
         print "%4.1f s asserting" % (tg() - t1,)
@@ -63,47 +83,71 @@ def unmount(segment = None, puck = None, sample = None, force=True, auto_unmount
     if hasSample:
         msg = "unmount() CRITICAL GRIPPER-TEST - the gripper has a sample already!!!"
         evlog(msg)
+        finalize_unmount(auto_unmount, raising=True)
         raise Exception("CRITICAL ERROR: the gripper has a sample stuck to it, call local contact.")
 
 
 
+    if smart_magnet.get_supress() == True:
+        smart_magnet.set_supress(False)
+        time.sleep(0.2)        
+    
+    if not force:            
+        sample_det = smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0)
+        evlog("Sample Detection", str(sample_det))       
+        if sample_det == False:
+            evlog("No pin detected on gonio")        
+            finalize_unmount(auto_unmount, raising=True)
+            raise Exception("No pin detected on gonio")        
+
+    evlog("enabling motion")
     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)
+    except:
+        evlog("error in enable_motion()")
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception("error in enable_motion()")
     
-            if not force:        
-                visual_check_hexiposi(segment)
-            if needs_chilling:
-                robot.move_cold()
-                time.sleep(30.)
-        else:
-            if needs_drying:
-                dry(wait_cold=-1)
+    if is_cryo_sample:
+        evlog("set_hexiposi(%s)" % (segment,))
+        try:
+            set_hexiposi(segment)
+        except:
+            evlog("failed to move hexiposi for unmount")
+            finalize_unmount(auto_unmount, raising=True)
+            raise Exception("failed to move hexiposi for unmount")
 
-        #location = robot.get_current_point()
-        
+        if needs_chilling:
+            evlog("unmount() cooling gripper for 30s prior to unmount")
+            try:
+                robot.move_cold()
+            except:
+                evlog("failure moving gripper into cold position")
+                finalize_unmount(auto_unmount, raising=True)
+                raise Exception("failure moving gripper into cold position")
+            time.sleep(30.)
+    else:
+        if needs_drying:
+            evlog("drying gripper before unmount")
+            try:
+                dry(wait_cold=-1)
+            except:
+                evlog("problems drying gripper dry(wait_cold=-1)")
+                finalize_unmount(auto_unmount, raising=True)
+                raise Exception("problems drying gripper dry(wait_cold=-1)")
+
+    evlog("moving arm to gonio")
+    try:
         if not robot.is_gonio():
             robot.move_gonio()
-                
-        #smart_magnet.set_unmount_current()
+    except:
+        evlog("error in move_gonio()")
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception("error in move_gonio()")
 
+
+    evlog("retracting cryojet if necessary")
+    try:
         curpos = cryopos.getPosition()
         if is_room_temperature_enabled():
             if curpos < 50:
@@ -113,10 +157,22 @@ def unmount(segment = None, puck = None, sample = None, force=True, auto_unmount
             movetime = int(round(3000 + (15.  - curpos) / speed))
             cryopos.move(15.0, movetime)
             cryopos.waitValueInRange(15.0, 1.0, movetime)
-    
+    except:
+        evlog("error retracting cryojet")
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception("error retracting cryojet")
 
+    evlog("getting gonio")
+    try:
         robot.get_gonio()
+    except:
+        evlog("error in get_gonio()")
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception("error in get_gonio()")
 
+
+    evlog("returning sample")
+    try:
         if is_aux:
             robot.move_aux()   
             robot.put_aux(sample)
@@ -128,39 +184,56 @@ def unmount(segment = None, puck = None, sample = None, force=True, auto_unmount
             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)
+    except:
+        evlog("error in move/put (aux, rt, dewar)")
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception("error in move/put (aux, rt, dewar)")
 
-        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))       
+        # FIXME, this check is necessary in case the puck was lifted/flipped during unmount
+    evlog("checking for puck dislodgement")
+    try:
+        time.sleep(1.0)
+        assert_puck_detected(segment, puck)
+    except:
+        msg = "PUCK DISLODGED: puck no longer detected after put_dewar()"
+        evlog(msg)
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception(msg)
 
 
-        if not was_cold:
+    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))       
+
+
+    evlog("moving gripper to either cold or park")
+    try:
+        if is_cryo_sample:
+            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
+    except:
+        evlog("error in move_(cold/park)")
+        finalize_unmount(auto_unmount, raising=True)
+        raise Exception("error in move_(cold/park)")
 
-        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)
+    evlog("checking if gripper really empty")
+    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)
+        finalize_unmount(auto_unmount, raising=True)
+        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 ####################")
+    robot.open_tool()
+    
+    set_setting("mounted_sample_position", None)
+    finalize_unmount(auto_unmount)
+    return mount_sample_detected

script/pretend_dry.py

@@ -0,0 +1,21 @@
+###
+### run this file to replace the real dry() function
+### with this fake version when TESTING ONLY!!!!!!
+###
+
+def dry(heat_time=None, speed=None, wait_cold = None):
+    """run this file to replace the real dry() function
+       with this fake version when TESTING ONLY!!!!!!
+    """
+    print "#################################"
+    print "## PRETENDING to DRY real fast ##"
+    print "#################################"
+
+
+
+def _test_update_mount_counts(count=0):
+    global samples_info
+    for _s in samples_info:
+        _s["sampleMountCount"] = count
+        print "sample %s mounted %d times" % (_s["puckAddress"], _s["sampleMountCount"])
+