gac-S_Changer
142 lines
3.7 KiB
Python
142 lines
3.7 KiB
Python
def scan_pin(segment, puck, sample, force=False):
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pin_name = get_sample_name(segment, puck, sample)
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print "scan pin", pin_name
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#Initial checks
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assert_valid_address(segment, puck, sample)
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assert_puck_detected(segment, puck)
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is_aux = (segment == AUX_SEGMENT)
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is_rt = (segment == RT_SEGMENT)
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if robot.simulated:
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time.sleep(0.5)
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return "Present"
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robot.assert_no_task()
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robot.reset_motion()
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robot.wait_ready()
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robot.assert_cleared()
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#robot.assert_in_known_point()
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#Enabling
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set_status("Scanning pin: " + str(pin_name))
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enable_motion()
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if is_aux:
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if not robot.is_aux():
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robot.move_aux()
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robot.get_aux(sample)
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if is_rt:
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if not robot.is_rt():
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robot.move_rt()
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robot.get_rt(puck, sample)
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else:
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set_hexiposi(segment)
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if not force:
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visual_check_hexiposi(segment)
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if not robot.is_dewar():
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robot.move_dewar()
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robot.get_dewar(segment, puck, sample)
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(detected, dm) = move_scanner()
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update_samples_info_sample_scan(get_puck_name(segment, puck), sample, detected, dm)
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if is_aux:
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robot.move_aux()
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robot.put_aux( sample)
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else:
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robot.move_dewar()
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robot.put_dewar(segment, puck, sample)
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ret = "Empty"
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if detected:
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if (dm is None) or (len(dm.strip())==0):
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ret = "Present"
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else:
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ret = str(dm)
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return ret
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def mount_pucks(pucks):
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"""mount evry position from the given pucks
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pucks is a list of puck specification in the format: [segment][puck]
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Example: mount_pucks(['c4', e3', 'e2', 'f1'])
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"""
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for p in pucks:
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seg, puc = list(p)
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seg = seg.upper()
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puc = int(puc)
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print "Mounting all positions from {} {}".format(seg.upper(), puc)
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mount_puck_pins(seg, puc)
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# mount_puck_pins(seg, puc, [1, 2, 3]) # mount only pins 1, 2, 3 for each puck
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def mount_puck_pins(segment, puck, positions=None):
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""" Mounts every position from the given segment/puck."""
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from time import sleep
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results = []
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if positions is None:
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positions = range(1, 17)
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for i in positions:
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b = magnet_position.getValue()
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mount(segment, puck, i, True, False, True)
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a = magnet_position.getValue()
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results.append((b, a))
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print "{:^8.3f}|{:^8.3f}".format(b, a)
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sleep(1.0)
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# print results
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print "{:^8s}|{:^8s}".format("Before", "After")
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for b,a in results:
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print "{:^8.3f}|{:^8.3f}".format(b, a)
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def scan_puck(segment, puck, force=False):
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if segment == AUX_SEGMENT:
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raise Exception("Cannot scan auxiliary puck")
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ret = []
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for i in range(16):
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mgok = magnet_position_ok.getValue()
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mgpos = magnet_position.getValue()
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print "magnet sensor before: {} == {:.3f}".format(mgok, mgpos)
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ret.append(scan_pin (segment, puck, i+1, force))
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print "magnet sensor after: {} == {:.3f}".format(mgok, mgpos)
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return ret
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def scan_gripper():
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print "scan gripper"
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#Initial checks
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robot.assert_no_task()
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robot.reset_motion()
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robot.wait_ready()
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robot.assert_cleared()
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#robot.assert_in_known_point()
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#Enabling
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set_status("Scanning gripper")
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enable_motion()
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(detected, dm) = move_scanner()
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robot.move_home()
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ret = "Empty"
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if detected:
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if (dm is None) or (len(dm.strip())==0):
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ret = "Present"
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else:
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ret = str(dm)
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return ret
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