Startup

script/tasks/ColdPositionTimeout.py

@@ -0,0 +1,23 @@
+cold_position_timeout = int(get_setting("cold_position_timeout"))
+if cold_position_timeout > 0:    
+    if robot.last_command_position == "cold":         
+        if (time.time() - robot.last_command_timestamp)  > cold_position_timeout:  
+            if robot.is_cold():
+                log("Detected cold position timeout", False)
+                if get_context().state == State.Ready:
+                    if robot.state == State.Ready:
+                        if feedback_psys_safety.take() == True:
+                            #TODO: Chan
+                            get_context().evalLine("dry(wait_cold = -1)") #Dry and park : use get_context().evalLine to change application state
+                        else:
+                            raise Exception("Cannot clear cold position: feedback_psys_safety = False ")                        
+                    else: 
+                        raise Exception("Cannot clear cold position: robot state: " + str(robot.state))                        
+                else:
+                    raise Exception("Cannot clear cold position: system state: " + str(get_context().state))
+                 
+                            
+
+
+
+    

script/tasks/LedMonitoring.py

@@ -0,0 +1,26 @@
+DEWAR_LEVEL_LED = 25.0
+
+try:
+    _level = dewar_level.read()
+except:
+    log("Cannot read Dewar level", False)
+    _level = 0.0
+
+try:      
+    _led_room_temp = is_led_room_temp()
+except:
+    log("Cannot get LED configuration", False)
+    _led_room_temp = False
+
+if _level <= DEWAR_LEVEL_LED:
+    if not _led_room_temp:      
+        log_str="LED Monitoring: Setting LEDs to room temperature range" 
+        log(log_str, False)
+        print (log_str)
+        set_led_range(room_temp = True)
+else:        
+    if _led_room_temp:       
+        log_str="LED Monitoring: Setting LEDs to LN2 range" 
+        log(log_str, False)
+        print (log_str)
+        set_led_range(room_temp = False)

script/tasks/MangnetMonitoring.py

@@ -0,0 +1,24 @@
+try:
+    if feedback_local_safety.take() ==False:
+        magnet_release_state = magnet_release.read()
+        if former_magnet_release_state != magnet_release_state:
+            if magnet_release_state:   
+                print "Pressed release button" 
+                smart_magnet.set_resting_current()
+                smart_magnet_changed = True
+            else:
+                print "Released release button" 
+                smart_magnet.set_default_current()
+                smart_magnet_changed = False
+        former_magnet_release_state = magnet_release_state
+    
+    else:
+        if smart_magnet_changed:
+            smart_magnet.set_default_current()
+        smart_magnet_changed = False
+        former_magnet_release_state = False
+
+except:
+    former_magnet_release_state = False
+    smart_magnet_changed = False
+