DEFAULT_DRY_HEAT_TIME = 40.0
DEFAULT_DRY_SPEED = 0.3
DEFAULT_DRY_WAIT_COLD = 40.0

def dry(heat_time=None, speed=None, wait_cold = None):    
    """
        heat_time (float): in seconds
        speed (float): % of nominal speed
        wait_cold(float): if negative, move to dewar after drying
                          Else move to cold and wait (in seconds) before returning.
    """
    print "dry()"
    if heat_time is None: 
        heat_time = DEFAULT_DRY_HEAT_TIME

    if speed is None: 
        speed = DEFAULT_DRY_SPEED

    if wait_cold is None: 
        wait_cold = DEFAULT_DRY_WAIT_COLD

    if robot.simulated:
        time.sleep(10.0)
        return  
            
    #Initial chec
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()

    set_status("Drying")
    
    #Enabling
    enable_motion()    

    try:
        set_heater(True)
        robot.move_heater(speed, False)    
        time.sleep(heat_time)
        robot.move_heater(speed, True)    
        set_air_stream(True)        
        robot.move_heater(speed, False)    
    finally:
        set_heater(False)
        set_air_stream(False)


    set_setting("dry_mount_counter", 0)
    set_setting("dry_timestamp", time.time())

    if wait_cold >=0 :       
        cover_info = get_cover_location_mm()
        robot.move_dewar(*cover_info)  
        robot.move_cold()  
        time.sleep(wait_cold)
    else:
        robot.move_park()
    return True