def scan_pin(segment, puck, sample, force=False):
    pin_name = get_sample_name(segment, puck, sample)
    
    print "scan pin", pin_name
    #Initial checks
    assert_valid_address(segment, puck, sample)
    assert_puck_detected(segment, puck)
    is_aux = (segment == AUX_SEGMENT)
    is_rt = (segment == RT_SEGMENT)

    if robot.simulated:
        time.sleep(0.5)
        return "Present"    
    
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()
    
    #Enabling
    
    set_status("Scanning pin: " + str(pin_name))
    
    enable_motion()    

    if is_aux:
        if not robot.is_aux():
            robot.move_aux()      
            
        robot.get_aux(sample)               
    if is_rt:
        if not robot.is_rt():
            robot.move_rt()      
            
        robot.get_rt(puck, sample)               
    else:
        set_hexiposi(segment)
        if not force:        
            visual_check_hexiposi(segment)           
        
        if not robot.is_dewar():
            robot.move_dewar()      
                
        robot.get_dewar(segment, puck, sample)
        
    (detected, dm) = move_scanner() 
    update_samples_info_sample_scan(get_puck_name(segment, puck), sample, detected, dm)      

    if is_aux:
        robot.move_aux()   
        robot.put_aux( sample)
    else:
        robot.move_dewar()        
        robot.put_dewar(segment, puck, sample)
    ret = "Empty"
    if detected:
        if (dm is None) or (len(dm.strip())==0):
            ret = "Present"
        else:
            ret = str(dm)
    return ret


def mount_pucks(pucks):
    """mount evry position from the given pucks

        pucks is a list of puck specification in the format: [segment][puck]

        Example: mount_pucks(['c4', e3', 'e2', 'f1'])
    """
    for p in pucks:
        seg, puc = list(p)
        seg = seg.upper()
        puc = int(puc)
        print "Mounting all positions from {} {}".format(seg.upper(), puc)
        mount_puck_pins(seg, puc)
        # mount_puck_pins(seg, puc, [1, 2, 3]) # mount only pins 1, 2, 3 for each puck

def mount_puck_pins(segment, puck, positions=None):
    """ Mounts every position from the given segment/puck."""
    from time import sleep
    results = []

    if positions is None:
        positions = range(1, 17)
    
    for i in positions:
        b = magnet_position.getValue()
        mount(segment, puck, i, True, False, True)
        a = magnet_position.getValue()
        results.append((b, a))
        print "{:^8.3f}|{:^8.3f}".format(b, a)
        sleep(1.0)

    # print results
    print "{:^8s}|{:^8s}".format("Before", "After")
    for b,a in results:
        print "{:^8.3f}|{:^8.3f}".format(b, a)
    
    
def scan_puck(segment, puck, force=False):
    if segment == AUX_SEGMENT:
        raise Exception("Cannot scan auxiliary puck")
    ret = []
    for i in range(16):
        mgok = magnet_position_ok.getValue()
        mgpos = magnet_position.getValue()
        print "magnet sensor before: {} == {:.3f}".format(mgok, mgpos)
        ret.append(scan_pin (segment, puck, i+1, force))
        print "magnet sensor after: {} == {:.3f}".format(mgok, mgpos)
    return ret


def scan_gripper():
    print "scan gripper"
    #Initial checks
    
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()
    
    #Enabling
    
    set_status("Scanning gripper")
    
    enable_motion()    

    (detected, dm) = move_scanner() 

    robot.move_home()

    ret = "Empty"
    if detected:
        if (dm is None) or (len(dm.strip())==0):
            ret = "Present"
        else:
            ret = str(dm)
    return ret