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Fix hexiposi isuues

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This commit is contained in:
gac-S_Changer
2021-06-29 11:50:43 +02:00
parent 49c8d1d4b5
commit 6841d4db3e
16 changed files with 73 additions and 43 deletions
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config/config.properties
+2 -2
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@@ -1,4 +1,4 @@
#Tue Jan 26 15:45:35 CET 2021
#Tue Jan 26 15:55:46 CET 2021
autoSaveScanData=true
simulation=false
commandExecutionEvents=false
@@ -19,7 +19,7 @@ hideServerMessages=true
serverPort=8080
versionTrackingEnabled=true
dataPath={data}/{year}_{month}/{date}/{date}_{time}_{name}
serverEnabled=false
serverEnabled=true
dataScanReleaseRecords=false
depthDimension=0
dataScanPreserveTypes=false
config/devices.properties
+1 -1
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@@ -55,7 +55,7 @@ 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|||
#th2e=ch.psi.pshell.modbus.ModbusTCP|129.129.110.:502|||
#th2e=ch.psi.pshell.modbus.ModbusTCP|129.129.110.200:502|||
#temperature=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 1||10000|
#humidity=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 5||10000|
#dew_point=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 9||10000|
config/settings.properties
+5 -5
View File
@@ -1,15 +1,15 @@
#Tue Jan 26 15:46:23 CET 2021
dry_mount_counter=4
#Tue Jun 29 11:41:14 CEST 2021
dry_mount_counter=0
room_temperature_enabled=false
pin_offset=1.0
pin_offset=-0.0
puck_types=true
pin_cleaner_timer=60
imaging_enabled=false
dry_timestamp=1.611668783052E9
dry_timestamp=1.624897174596E9
roi_h=1000
led_level=0.0
beamline_status_enabled=false
force_dry_mount_count=15
force_dry_mount_count=12
roi_y=123
barcode_reader_scan_pucks=false
cold_position_timeout=3600
config/variables.properties
+2 -2
View File
@@ -1,2 +1,2 @@
#Thu Jan 21 10:33:11 CET 2021
FileSequentialNumber=207
#Sat Jun 26 08:39:48 CEST 2021
FileSequentialNumber=224
devices/A1.properties
+2 -2
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@@ -1,3 +1,3 @@
#Fri Jan 31 16:58:30 CET 2020
#Fri Mar 12 11:42:04 CET 2021
detection=Mechanical
disabled=false
disabled=true
devices/B5.properties
+1 -1
View File
@@ -1,3 +1,3 @@
#Thu Jan 21 09:38:30 CET 2021
#Thu Apr 01 10:21:16 CEST 2021
detection=Mechanical
disabled=false
devices/C5.properties
+1 -1
View File
@@ -1,3 +1,3 @@
#Thu Sep 19 08:23:43 CEST 2019
#Sat May 01 01:32:19 CEST 2021
detection=Mechanical
disabled=false
devices/led_ctrl_1.properties
+1 -1
View File
@@ -1,4 +1,4 @@
#Thu Jan 21 10:56:46 CET 2021
#Mon May 31 09:18:14 CEST 2021
minValue=0.0
unit=V
offset=0.0
devices/led_ctrl_2.properties
+1 -1
View File
@@ -1,4 +1,4 @@
#Thu Jan 21 10:56:46 CET 2021
#Mon May 31 09:18:14 CEST 2021
minValue=0.0
unit=V
offset=0.0
devices/led_ctrl_3.properties
+1 -1
View File
@@ -1,4 +1,4 @@
#Thu Jan 21 10:56:46 CET 2021
#Mon May 31 09:18:14 CEST 2021
minValue=0.0
unit=V
offset=0.0
script/devices/Hexiposi.py
+35 -18
View File
@@ -43,7 +43,7 @@ class Hexiposi(DiscretePositionerBase):
if (self.homed==False):
rback = self.UNKNOWN_POSITION
else:
rback = self._posIndexToName(self.dpos)
rback = self._dicretePositionToName(self.dpos)
if (rback == self.UNKNOWN_POSITION) or (rback != self.rback):
self.moved = True
self.rback = rback
@@ -86,7 +86,11 @@ class Hexiposi(DiscretePositionerBase):
self.stop_move()
def doRead(self):
return str(self.val)
#return str(self.val)\
try:
return self.getPositions()[self.val]
except:
self.UNKNOWN_POSITION
def doReadReadback(self):
self.get_status()
@@ -98,24 +102,40 @@ class Hexiposi(DiscretePositionerBase):
val = ord(val) - ord('B') +1
if val==0: val=6 #A
return val
def _posIndexToName(self, val):
if self.dpos == 1: return "B" # "A"
elif self.dpos == 2:return "C" # "B"
elif self.dpos == 4:return "D" # "C"
elif self.dpos == 8:return "E" # "D"
elif self.dpos == 16:return "F" # "E"
elif self.dpos == 32:return "A" # "F"
if val == 1: return "B" # "A"
elif val == 2:return "C" # "B"
elif val == 3:return "D" # "C"
elif val == 4:return "E" # "D"
elif val == 5:return "F" # "E"
elif val == 6:return "A" # "F"
else: return self.UNKNOWN_POSITION
def _dicretePositionToName(self, val):
if val == 1: return "B" # "A"
elif val == 2:return "C" # "B"
elif val == 4:return "D" # "C"
elif val == 8:return "E" # "D"
elif val == 16:return "F" # "E"
elif val == 32:return "A" # "F"
else: return self.UNKNOWN_POSITION
def doWrite(self, val):
def doWrite(self, value):
self.assert_homed()
#val = ord(val) - ord('A') +1
val = self._posNameToIndex(val)
val = self._posNameToIndex(value)
readback = self._posNameToIndex(self.rback)
if (val is None) or val<1 or val>6:
raise Exception("Invalid value: " + str(val))
moving = val != self.val
print "Moving hexiposi to:", val, " current:", self.val, " moving:",moving
#moving = val != self.val or (val!=readback)
moving = val!=readback
log_str = "Moving hexiposi to:" + str(value) + " pos:" +str(self._posIndexToName(self.val)) + " rbk:" +str(self.rback) + " moving:" + str(moving) + " enc:" + str(self.pos)
Controller.getInstance().logEvent(log_str); log(log_str, False) ; print log_str
self.val = val
self.move_pos(self.val)
#Workaround as state does not changes immediatelly
@@ -131,12 +151,9 @@ class Hexiposi(DiscretePositionerBase):
break
self.update()
def is_in_position(self, pos):
return self.take() == pos
def assert_in_position(self, pos):
if not self.is_in_position(pos):
if self.position != pos:
raise Exception ("Hexiposi is not in position: " + str(pos))
def assert_homed(self):
@@ -185,4 +202,4 @@ class hexiposi_position(ReadonlyRegisterBase):
add_device(hexiposi_position(), True)
hexiposi_position.polling = 1000
hexiposi.set_deadband(1.3)
hexiposi.set_deadband(1.0)
script/local.py
+1 -1
View File
@@ -252,7 +252,7 @@ except:
print >> sys.stderr, traceback.format_exc()
try:
hexiposi.set_offset(16.3)
hexiposi.set_offset(16.4)
hexiposi.polling=500
except:
script/motion/dry.py
+1 -1
View File
@@ -1,5 +1,5 @@
DEFAULT_DRY_HEAT_TIME = 40.0
DEFAULT_DRY_SPEED = 0.35
DEFAULT_DRY_SPEED = 0.3
DEFAULT_DRY_WAIT_COLD = 40.0
def dry(heat_time=None, speed=None, wait_cold = None):
script/motion/mount.py
+1 -1
View File
@@ -90,7 +90,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
robot.get_aux(sample)
else:
set_hexiposi(segment, force=True)
set_hexiposi(segment, force=False)
if not force:
visual_check_hexiposi(segment)
script/motion/tools.py
+5 -4
View File
@@ -41,7 +41,7 @@ def enable_motion():
raise Exception("Cannot enable power: robot state is " + str(robot.state))
robot.enable()
def set_hexiposi(pos, force = True):
def set_hexiposi(pos, force = False):
"""
Set the hexiposi position in remote mode, or wait for it to be set in manual mode
"""
@@ -58,14 +58,15 @@ def set_hexiposi(pos, force = True):
set_status(None)
else:
hexiposi.move(pos)
#hexiposi.assert_in_position(pos)
hexiposi.assert_in_position(pos)
#Can be used if cover has following error (no checking readback)
def _set_hexiposi(pos):
hexiposi.moveAsync(pos)
time.sleep(1.0)
hexiposi.waitReady(-1)
hexiposi.waitReady(-1)
def visual_check_hexiposi(segment):
if is_imaging_enabled():
script/motion/unmount.py
+13 -1
View File
@@ -67,7 +67,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
enable_motion()
if not is_aux:
set_hexiposi(segment, force=True)
set_hexiposi(segment, force=False)
if not force:
visual_check_hexiposi(segment)
@@ -95,6 +95,18 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
robot.move_aux()
robot.put_aux( sample)
else:
#TODO: remove this check when issue with Hexiposi is fixed (moving to dfifferent position (B) when commanding to position where it was already)
if hexiposi.position != segment:
robot.move_cold() #Save the sample
log_str = "Hexiposi detected in wrong position " + str(hexiposi.readback.take()) + " - not in " + str(segment)
Controller.getInstance().logEvent(log_str); log(log_str, False) ; print log_str
set_hexiposi(segment, force=False)
if hexiposi.position != segment:
log_str = "Cannot restore hexiposi position"
Controller.getInstance().logEvent(log_str); log(log_str, False) ; print log_str
raise Exception(log_str)
#TODO: Should check if smart magnet detection is off?
update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)
robot.move_dewar()