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)

    #ZACH
    needs_chilling = not is_aux and (not robot.is_cold())
    needs_drying = is_aux 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_detector_safe()    
    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    
    
    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):
                #auto_unmount set to true so detection remains enabled
                sample_det = unmount(force = True, auto_unmount = True)
                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)
                    
        else:
            set_hexiposi(segment)
            
            if not force:        
                visual_check_hexiposi(segment)           
    
            if not robot.is_dewar():
                robot.move_dewar()      
                
            robot.get_dewar(segment, puck, sample)

            
        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() 
        cleaner_timer = float(get_setting("pin_cleaner_timer")) 
        if  cleaner_timer > 0:
            start_pin_cleaner(cleaner_timer)

        
        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:
            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 == 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)