99 lines
3.6 KiB
Python
99 lines
3.6 KiB
Python
def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False):
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"""
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"""
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print "unmount: ", segment, puck, sample, force
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start = time.time()
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#ZACH
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is_aux = (segment == AUX_SEGMENT)
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needs_chilling = not is_aux and (not robot.is_cold())
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needs_drying = is_aux and robot.is_cold()
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if (segment is None) or (puck is None) or (sample is None):
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pos = get_setting("mounted_sample_position")
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if pos is None:
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raise Exception("Mounted sample position is not defined")
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segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2:])
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print "Mounted sample position: ", segment, puck , sample
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#Initial checks
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print "assert valid address"
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assert_valid_address(segment, puck, sample)
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print "asser puck detected"
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assert_puck_detected(segment, puck)
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if robot.simulated:
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time.sleep(3.0)
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update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)
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set_setting("mounted_sample_position", None)
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return
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print "assert no task"
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robot.assert_no_task()
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print "reset motion"
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robot.reset_motion()
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print "wait ready"
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robot.wait_ready()
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print "assert cleared"
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robot.assert_cleared()
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#robot.assert_in_known_point()
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print "assert homed"
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hexiposi.assert_homed()
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print "assert mount pos"
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assert_mount_position()
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print "Pass A: " , time.time() - start; start = time.time()
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set_status("Umounting: " + str(segment) + str(puck) + str(sample))
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try:
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if smart_magnet.get_supress() == True:
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smart_magnet.set_supress(False)
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time.sleep(0.2)
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smart_magnet.apply_resting()
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if not force:
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if smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0) == False:
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raise Exception("No pin detected on gonio")
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print "Pass B: " , time.time() - start; start = time.time()
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#Enabling
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enable_motion()
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print "Pass C: " , time.time() - start; start = time.time()
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if not is_aux:
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set_hexiposi(segment)
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print "Pass D: " , time.time() - start; start = time.time()
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if not force:
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visual_check_hexiposi(segment)
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if needs_chilling:
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robot.move_cold()
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time.sleep(30.)
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else:
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if needs_drying:
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dry(wait_cold=-1)
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#location = robot.get_current_point()
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print "Pass E: " , time.time() - start; start = time.time()
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if not robot.is_gonio():
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robot.move_gonio()
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print "Pass F: " , time.time() - start; start = time.time()
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#smart_magnet.set_unmount_current()
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robot.get_gonio()
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print "Pass G: " , time.time() - start; start = time.time()
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#smart_magnet.apply_reverse()
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#smart_magnet.apply_resting()
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if is_aux:
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robot.move_aux()
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robot.put_aux( sample)
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else:
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#TODO: Shuld check if smart magnet detection is off?
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update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)
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robot.move_dewar()
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print "Pass H: " , time.time() - start; start = time.time()
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robot.put_dewar(segment, puck, sample)
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print "Pass I: " , time.time() - start; start = time.time()
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set_setting("mounted_sample_position", None)
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finally:
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if not auto_unmount:
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smart_magnet.set_default_current()
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smart_magnet.set_supress(True)
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