gac-S_Changer
171 lines
6.4 KiB
Python
171 lines
6.4 KiB
Python
mount_sample_id = None
|
|
mount_sample_detected = None
|
|
|
|
def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False):
|
|
"""
|
|
"""
|
|
global mount_sample_id, mount_sample_detected
|
|
print "mount: ", segment, puck, sample, force
|
|
|
|
start = time.time()
|
|
#time.sleep(2)
|
|
is_aux = (segment == AUX_SEGMENT)
|
|
is_rt = (segment == RT_SEGMENT)
|
|
|
|
|
|
#ZACH
|
|
needs_chilling = (not is_aux) and (not is_rt) and (not robot.is_cold())
|
|
needs_drying = (is_aux or is_rt ) and robot.is_cold()
|
|
|
|
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:])
|
|
#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
|
|
mounting_in_same_segment = False
|
|
|
|
try:
|
|
#ZACH
|
|
if needs_chilling:
|
|
robot.move_cold()
|
|
time.sleep(30.0)
|
|
|
|
if smart_magnet.get_supress() == True:
|
|
smart_magnet.set_supress(False)
|
|
time.sleep(0.2)
|
|
#To better dectect sample
|
|
#smart_magnet.apply_reverse()
|
|
#smart_magnet.apply_resting()
|
|
#time.sleep(0.5)
|
|
|
|
sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
|
|
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
|
|
sample_det = unmount(force = True, auto_unmount = True, mounting_in_same_segment=mounting_in_same_segment)
|
|
do_unmount = True
|
|
if sample_det == True:
|
|
raise Exception("Pin detected on gonio")
|
|
set_status("Mounting: " + str(segment) + str(puck) + str(sample))
|
|
Controller.getInstance().logEvent("Mount Sample", str(segment) + str(puck) + str(sample))
|
|
#location = robot.get_current_point()
|
|
|
|
#Enabling. If did unmount then it is already enabled.
|
|
if not do_unmount:
|
|
enable_motion()
|
|
|
|
#ZACH
|
|
# a room temp pin is being mounted but the gripper is cold
|
|
if needs_drying:
|
|
dry(wait_cold=-1) # move to park after dry
|
|
|
|
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:
|
|
set_hexiposi(segment)
|
|
|
|
if not force:
|
|
visual_check_hexiposi(segment)
|
|
|
|
if (not robot.is_dewar()) and (not mounting_in_same_segment):
|
|
robot.move_dewar()
|
|
|
|
robot.get_dewar(segment, puck, sample, mounting_in_same_segment=mounting_in_same_segment)
|
|
|
|
piked_sample = robot.gripper_has_sample()
|
|
log("Sample Detection - mount: after get_dewar: " + str(piked_sample) + str(segment) + str(puck) + str(sample), False)
|
|
|
|
if read_dm:
|
|
barcode_reader.start_read(10.0)
|
|
robot.move_scanner()
|
|
#time.sleep(1.0)
|
|
|
|
robot.move_gonio()
|
|
|
|
if read_dm:
|
|
mount_sample_id = barcode_reader.get_readout()
|
|
print "Datamatrix: " , mount_sample_id
|
|
else:
|
|
mount_sample_id = None
|
|
|
|
|
|
robot.put_gonio()
|
|
#has_sample_after_put = robot.gripper_has_sample()
|
|
#log("Sample Detection - mount after put: " + str(has_sample_after_put), False)
|
|
|
|
try:
|
|
dry_mount_count = int(get_setting("dry_mount_counter"))
|
|
except:
|
|
dry_mount_count = 0
|
|
set_setting("dry_mount_counter", dry_mount_count+1)
|
|
|
|
if is_aux or is_rt:
|
|
robot.move_home()
|
|
else:
|
|
robot.move_cold()
|
|
|
|
mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
|
|
Controller.getInstance().logEvent("Sample Detection", str(mount_sample_detected))
|
|
update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)
|
|
|
|
if mount_sample_detected != piked_sample:
|
|
log("Sample Detection Error - after put on SM:" + str(mount_sample_detected) + " gripper:" + str(piked_sample), False)
|
|
#if has_sample_after_put and mount_sample_detected:
|
|
# log("Sample Detection Error - put SM:" + str(mount_sample_detected) + " gripper:" + str(has_sample_after_put), False)
|
|
|
|
if mount_sample_detected == False:
|
|
raise Exception("No pin detected on gonio")
|
|
|
|
|
|
if is_force_dry():
|
|
smart_magnet.set_default_current()
|
|
print "Auto dry"
|
|
log("Starting auto dry", False)
|
|
set_exec_pars(then = "dry()")
|
|
|
|
set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
|
|
return [mount_sample_detected, mount_sample_id]
|
|
finally:
|
|
smart_magnet.set_default_current()
|
|
smart_magnet.set_supress(True)
|
|
|