137 lines
4.7 KiB
Python
137 lines
4.7 KiB
Python
def safe_unmount():
|
|
return unmount(force = True, auto_unmount = True)
|
|
|
|
|
|
|
|
def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False):
|
|
"""
|
|
Returns if sample is detected in the end
|
|
"""
|
|
evlog = Controller.getInstance().logEvent
|
|
print "unmount: ", segment, puck, sample, force
|
|
cover_info = get_cover_location_mm()
|
|
|
|
if (segment is None) or (puck is None) or (sample is None):
|
|
pos = get_setting("mounted_sample_position")
|
|
if pos is None:
|
|
raise Exception("Mounted sample position is not defined")
|
|
try:
|
|
segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2:])
|
|
print "Mounted sample position: ", segment, puck , sample
|
|
except:
|
|
set_setting("mounted_sample_position", None)
|
|
raise Exception("Invalid mounted sample position: " + str(pos) + " - setting to None")
|
|
|
|
|
|
was_cold = robot.is_cold()
|
|
is_aux = segment == AUX_SEGMENT
|
|
is_rt = segment == RT_SEGMENT
|
|
is_cold = segment in COLD_SEGMENTS
|
|
needs_chilling = is_cold and not was_cold
|
|
needs_drying = is_rt and was_cold
|
|
|
|
#Initial checks
|
|
if not auto_unmount:
|
|
print "assert detector safe"
|
|
assert_detector_safe()
|
|
print "assert valid address"
|
|
assert_valid_address(segment, puck, sample)
|
|
print "asser puck detected"
|
|
assert_puck_detected(segment, puck)
|
|
|
|
if robot.simulated:
|
|
time.sleep(3.0)
|
|
update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)
|
|
set_setting("mounted_sample_position", None)
|
|
return False
|
|
|
|
print "assert no task"
|
|
robot.assert_no_task()
|
|
print "reset motion"
|
|
robot.reset_motion()
|
|
print "wait ready"
|
|
robot.wait_ready()
|
|
print "assert cleared"
|
|
robot.assert_cleared()
|
|
#robot.assert_in_known_point()
|
|
print "assert mount pos"
|
|
assert_mount_position()
|
|
|
|
sample_name = str(segment) + str(puck) + str(sample)
|
|
set_status("Unmounting: " + sample_name)
|
|
evlog("Unmount Sample", sample_name)
|
|
|
|
try:
|
|
if smart_magnet.get_supress() == True:
|
|
smart_magnet.set_supress(False)
|
|
time.sleep(0.2)
|
|
|
|
#smart_magnet.apply_reverse()
|
|
#smart_magnet.apply_resting()
|
|
|
|
if not force:
|
|
sample_det = smart_magnet.check_mounted(idle_time=0.6, timeout = 3.0)
|
|
evlog("SMC Detection", str(sample_det))
|
|
if sample_det == False:
|
|
raise Exception("No pin detected on gonio")
|
|
|
|
#Enabling
|
|
enable_motion()
|
|
|
|
if not is_aux:
|
|
if needs_chilling:
|
|
#added bt domi 26.8.2025
|
|
set_setting("dry_timestamp",time.time())
|
|
set_setting("dry_mount_counter", 0)
|
|
robot.move_dewar(*cover_info)
|
|
robot.move_cold()
|
|
time.sleep(30.)
|
|
invalidate_cover_info(cover_info)
|
|
|
|
else:
|
|
if needs_drying:
|
|
dry(wait_cold=-1)
|
|
#location = robot.get_current_point()
|
|
|
|
cryostage.moveAsync(15.0)
|
|
#cryostage.waitInPosition(15.0, 3500)
|
|
#time.sleep(0.05)
|
|
#if cryostage.getDoneChannel().getValue()=0
|
|
|
|
if not robot.is_gonio():
|
|
robot.move_gonio()
|
|
|
|
|
|
#smart_magnet.set_unmount_current()
|
|
cryostage.waitInPosition(15.0, 3500)
|
|
robot.get_gonio()
|
|
#set_pin_cleaner(True)
|
|
|
|
smart_magnet.apply_reverse()
|
|
smart_magnet.apply_resting()
|
|
#reducing waiting time by 0.3sec
|
|
mount_sample_detected = smart_magnet.check_mounted(idle_time=0.3, timeout = 2.0)
|
|
#mount_sample_detected = smart_magnet.check_mounted(idle_time=0.6, timeout = 2.0)
|
|
evlog("SMC Detection: ", "sample on gonio" if mount_sample_detected else "gonio free")
|
|
|
|
if is_aux:
|
|
robot.move_aux()
|
|
robot.put_aux(sample)
|
|
robot.move_park()
|
|
else:
|
|
#TODO: Should check if smart magnet detection is off?
|
|
update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)
|
|
robot.move_dewar(*cover_info)
|
|
robot.put_dewar(segment, puck, sample)
|
|
|
|
if mount_sample_detected:
|
|
evlog("failed to unmount sample " + sample_name)
|
|
raise Exception("failed to unmount sample " + sample_name)
|
|
else:
|
|
set_setting("mounted_sample_position", None)
|
|
return mount_sample_detected
|
|
finally:
|
|
if not auto_unmount:
|
|
smart_magnet.set_default_current()
|
|
smart_magnet.set_supress(True)
|