f_temperature,f_humidity,f_pressure,f_light,crucibleWeight,standard_weight,d_datetime,total_count,repetition,repetition_count,count) print ("insertPreFireMeasurement: ",i_runID,",",sampleID,",",i_positionNumber,",",weightMeasurement,",",status,",", f_temperature,",",f_humidity,",",f_pressure,",",f_light,",",crucibleWeight,",",standard_weight,",", d_datetime,",",total_count,",",repetition,",",repetition_count,",",count) print "insertPreFireMeasurement() -- result: ",value test += 1 if value>0: print "PASS" passed += 1 else: print "FAIL" print "-------------------------------------------------------" print "readWeightFromBalance() " (weight,status)=DataReadWrite.readWeightFromBalance() print "readWeightFromBalance() -- results:",weight,",",status test += 1 if weight>0: print "PASS" passed += 1 else: print "FAIL" print "-------------------------------------------------------" print "readInstantWeightFromBalance()" (weight,status)=DataReadWrite.readInstantWeightFromBalance() print "readInstantWeightFromBalance() -- results:",weight,",",status test += 1 if weight>0: print "PASS"
def weighAllSamplesPreFire(runID,duration,loggingInterval, numberOfSamples,startPosition, tempCorrection,rhCorrection,repetition, robotStatus,POSITION,MCOUNT,CURRENTSTEP, STATUS,DURATION,LOGGERINTERVAL,RUNID, NUMBEROFSAMPLES,TIMEREMAINING,CYCLE,MEAN,STDEV,VARIANCE): # Find elapsed time #first put robot back to zero position=int(startPosition) if position=="": position=1 logger.debug("weighAllSamplesPreFire( %d,%d,%d,%d,%d )" % (runID,duration,loggingInterval,numberOfSamples,startPosition)) status="prefire" preOrPost=1 #HomePosition() listOfValues=() RUNID.set(runID) NUMBEROFSAMPLES.set(numberOfSamples) DURATION.set(duration) POSITION.set(position) CYCLE.set(repetition) MCOUNT.set(0) STATUS.set("Initializing") LOGGERINTERVAL.set(loggingInterval) crucibleWeight=0.0 startTime=datetime.today() endPoint=timedelta(minutes=duration) endTime=startTime+endPoint robotStatus.deiconify() Label(robotStatus,text="Run ID:").grid(row=0,column=0,sticky=W) Label(robotStatus,textvariable=RUNID).grid(row=0,column=1, sticky=W) Label(robotStatus,text="Current sample number:").grid(row=1,column=0,sticky=W) Label(robotStatus,textvariable=POSITION).grid(row=1,column=1, sticky=W) Label(robotStatus,text="Total Number of Samples:").grid(row=2,column=0,sticky=W) Label(robotStatus,textvariable=NUMBEROFSAMPLES).grid(row=2,column=1,sticky=W) Label(robotStatus,text="Cycle Number:").grid(row=3,column=0,sticky=W) Label(robotStatus,textvariable=CYCLE).grid(row=3,column=1,sticky=W) Label(robotStatus,textvariable=MCOUNT).grid(row=4,column=1,sticky=W) Label(robotStatus,text="Current measurement count:").grid(row=4,column=0,sticky=W) Label(robotStatus,text="Logging interval:").grid(row=5,column=0, sticky=W) Label(robotStatus,textvariable=LOGGERINTERVAL).grid(row=5,column=1,sticky=W) Label(robotStatus,text="Duration of Measurements:").grid(row=6,column=0, sticky=W) Label(robotStatus,textvariable=DURATION).grid(row=6,column=1,sticky=W) Label(robotStatus,text="Number of Samples:").grid(row=7,column=0,sticky=W) Label(robotStatus,textvariable=NUMBEROFSAMPLES).grid(row=7,column=1,sticky=W) Label(robotStatus,text="Time remaining for this sample:").grid(row=8,column=0,sticky=W) Label(robotStatus,textvariable=TIMEREMAINING).grid(row=8,column=1,sticky=W) Label(robotStatus,text="Status").grid(row=9,column=0, sticky=W) Label(robotStatus,textvariable=STATUS).grid(row=9,column=1,sticky=W) sleep(5) while position < numberOfSamples+1: statustext="Now on sample %d",int(position) STATUS.set(statustext) logger.debug("Now on position: %d ", int(position)) statustext="Go to position %d",int(position) STATUS.set(statustext) #goToSamplePosition(position) #val = samplePickUp() #if val == False: # return False ## zero the balance for each sample logger.debug("Zero balance") #DataReadWrite.zeroBalance() logger.debug("Open balance door") #DataReadWrite.openBalanceDoor() statustext="Going to outside of balance" STATUS.set(statustext) #logger.debug("Go to outside balance.") #goToOutsideBalanceFromOutside() statustext="Going into the balance." STATUS.set(statustext) logger.debug("go to inside balance.") #goToInsideBalanceFromOutside() logger.debug("put sample on balance.") statustext="Putting sample on balance." STATUS.set(statustext) #val = putSampleOnBalance() #if val == False: # return False ## may need to check to see if arm is clear of door. logger.debug("go to outsisde balance from the inside.") statustext="Going to outside of balance" STATUS.set(statustext) #goToOutsideBalanceFromInside() logger.debug("close balance door") #DataReadWrite.closeBalanceDoor() crucibleWeight=double(DataReadWrite.getCrucibleWeight(runID,position)) if crucibleWeight==False: alertWindow("get Crucible Weight returned an error") sampleID=DataReadWrite.getSampleID(runID,position) startTime=datetime.today() durationOfLogging=int(duration) endPoint=timedelta(minutes=durationOfLogging) endTime=startTime+endPoint repetition_count=0 kcount=0 standard_weight=float(0.0) count=0 #get the latest count for this sample total_count = int(DataReadWrite.getMaxPreFireCount(runID,position)) if (total_count == 0 or total_count == ""): total_count=0 listOfValues=[] a = array([]) weight=double(0.0) statustext="Weighing sample # %d"% position STATUS.set(statustext) while datetime.today() < endTime: timeLeft=endTime-datetime.today() TIMEREMAINING.set(int(timeLeft.seconds/60)) result=[] (measurement,status)=DataReadWrite.readWeightFromBalance() weight=double(crucibleWeight)-double(measurement) if weight>0.0: a=append(a,double(weight)) averageWeight=a.mean() stdevWeight=a.std() logger.debug( "Count: %d the average weight of sample # %d is %f with stdev of %f" % (count,position,float(averageWeight),float(stdevWeight))) ## now update crucible position record now = datetime.today() today = now.strftime("%m-%d-%y %H:%M:%S") repetition_count += 1 total_count += 1 MCOUNT.set(count) temperature=xyzRobot.getTemperature() humidity=xyzRobot.getHumidity() logger.debug( "TMP: temp: %s, humidity: %s" % (temperature,humidity)) standard_weight=0.0 if (temperature==""): temperature=0.0 if (humidity==""): humidity=0.0 value=DataReadWrite.insertPreFireMeasurement(runID,sampleID,position,weight,status, temperature,humidity,crucibleWeight, standard_weight,today,total_count,repetition,repetition_count,count) if value==False: alertWindow("insertPreFireMeasurement has returned an error") count += 1 ### check to see if enough measurements have been made. First at least 100 must have been done if (count > COUNTS_FOR_STATS): (mean,stdev,variance,tempMean,tempStdev,humidityMean,humidityStdev)=DataReadWrite.getStatsForPrefireWeightOfSample(runID,sampleID,count) MEAN.set(mean) STDEV.set(stdev) VARIANCE.set(variance) logger.debug("Mean: %d Stdev: %d Variance: %d TempMean: %d TempStDev: %d HumidityMean: %d HumidityStdDev: %d" % (mean,stdev,variance,tempMean,tempStdev,humidityMean,humidityStdev)) value=DataReadWrite.updateSamplePreFire(runID,sampleID,position,mean,stdev,tempMean,tempStdev,humidityMean,humidityStdev) sleep(loggingInterval) if count==0: ## check to see if balance is giving anything (value,status)=DataReadWrite.readInstantWeightFromBalance() logger.debug( "Instant value from balance (unstable): %f ",float(value)) if (value>0): logger.debug( "Since this is >0 the balance is reading but not stable") logger.debug( "resetting clock. Waiting for a valid entry before storing data...") startTime=datetime.today() endPoint=timedelta(minutes=durationOfLogging) endTime=startTime+endPoint else: logger.error( "There is a problem: no output from balance at all: Count: %d ",int(kcount)) kcount += 1 if kcount==500: logger.error( "There is a problem: no output for 500 counts -- quitting ") KillMotors() exit(1) #DataReadWrite.openBalanceDoor() statustext="Going into balance." STATUS.set(statustext) #goToInsideBalanceFromOutside() statustext="Picking up sample." STATUS.set(statustext) #val=pickUpSampleFromBalance() #if val == False: # return False statustext="Going to outside of balance." STATUS.set(statustext) #goToOutsideBalanceFromInside() statustext="Going to position %d." % position STATUS.set(statustext) #goToSamplePosition(position) statustext="Putting sample down." #val=samplePutDown() #if val == False: # return False statustext="Going to home position." #response=goHome() #if response==False: # logger.error( "Home point not reached. Stopping.") # STATUS.set("Error: home point not reached.") # return False #DataReadWrite.closeBalanceDoor() position += 1 POSITION.set(int(position)) statustext= "Now moving to the next sample %d." % position STATUS.set(statustext) STATUS.set("Done!") robotStatus.withdraw() return runID;
def weighAllSamplesPostFire(runID,duration, intervalsec,numberOfSamples,startPosition,endOfFiring, tempCorrection,rhCorrection,repeat,robotStatus, POSITION,MCOUNT,CURRENTSTEP,STATUS,DURATION, LOGGERINTERVAL,RUNID,NUMBEROFSAMPLES,TIMEREMAINING,TIMEELAPSED,REPS,CYCLE): ## print runID,"-",duration,"-",intervalsec,"-",numberOfSamples,"-",startPosition,"-",endOfFiring,"-",tempCorrection,"-",rhCorrection,"-",repeat logging.debug("weighAllSamplesPostFire( %d,%d,%d,%d,%d,%s,%f,%f,%d)" % (runID, duration, intervalsec, numberOfSamples, startPosition, endOfFiring, tempCorrection, rhCorrection, repeat)) # Find elapsed time #first put robot back to zero position=int(startPosition) if position=="": position=1 #HomePosition() listOfValues=() STATUS.set("Initializing") crucibleWeight=0.0 robotStatus.deiconify() preOrPost=2 status="postfire" now = datetime.today() timeLapsedSinceFiring= now - endOfFiring Label(robotStatus,text="Run ID:").grid(row=0,column=0,sticky=W) Label(robotStatus,textvariable=RUNID).grid(row=0,column=1, sticky=W) Label(robotStatus,text="Current sample number:").grid(row=1,column=0,sticky=W) Label(robotStatus,textvariable=POSITION).grid(row=1,column=1, sticky=W) Label(robotStatus,text="Cycle Number:").grid(row=3,column=0,sticky=W) Label(robotStatus,textvariable=CYCLE).grid(row=3,column=1,sticky=W) Label(robotStatus,textvariable=MCOUNT).grid(row=4,column=1,sticky=W) Label(robotStatus,text="Current measurement count:").grid(row=4,column=0,sticky=W) Label(robotStatus,text="Time elapsed since firing (min):").grid(row=5,column=0,sticky=W) Label(robotStatus,textvariable=TIMEELAPSED).grid(row=5,column=1,sticky=W) Label(robotStatus,text="Logging interval:").grid(row=6,column=0, sticky=W) Label(robotStatus,textvariable=LOGGERINTERVAL).grid(row=6,column=1,sticky=W) Label(robotStatus,text="Duration of Measurements:").grid(row=7,column=0, sticky=W) Label(robotStatus,textvariable=DURATION).grid(row=7,column=1,sticky=W) Label(robotStatus,text="Number of Samples:").grid(row=8,column=0,sticky=W) Label(robotStatus,textvariable=NUMBEROFSAMPLES).grid(row=8,column=1,sticky=W) Label(robotStatus,text="Time remaining for this sample:").grid(row=9,column=0,sticky=W) Label(robotStatus,textvariable=TIMEREMAINING).grid(row=9,column=1,sticky=W) Label(robotStatus,text="Status").grid(row=10,column=0, sticky=W) Label(robotStatus,textvariable=STATUS).grid(row=10,column=1,sticky=W) startTime=datetime.today() endPoint=timedelta(minutes=duration) endTime=startTime+endPoint POSITION.set(int(position)) NUMBEROFSAMPLES.set(int(numberOfSamples)) DURATION.set(duration) LOGGERINTERVAL.set(intervalsec) CYCLE.set(repeat) sleep(5) while position < numberOfSamples+1: logging.debug("Now on position: %d",int(position)) ##goToSamplePosition(position) ##val=samplePickUp() ##if val == False: ## return False ## zerothe balance for each sample ##DataReadWrite.zeroBalance() ##DataReadWrite.openBalanceDoor() ##goToOutsideBalanceFromOutside() ##goToInsideBalanceFromOutisde() ##val=putSampleOnBalance() ##if val == False: ## return False ## may need to check to see if arm is clear of door. #goToOutsideBalanceFromInside() #DataReadWrite.closeBalanceDoor() crucibleWeight=double(DataReadWrite.getCrucibleWeight(runID,position)) if (crucibleWeight is False): alertWindow("getCrucibleWeight returned an error.") exit(1) sampleID=int(DataReadWrite.getSampleID(runID,position)) startTime=datetime.today() durationOfLogging=int(duration) endPoint=timedelta(minutes=durationOfLogging) endTime=startTime+endPoint count=0 kcount=0 repetition_count=0 standard_weight=float(0.0) listOfValues=[] a=array([]) statustext="Weighing sample # %d"% position STATUS.set(statustext) total_count=int(DataReadWrite.getMaxPostFireCount(runID,position)) if (total_count==0 or total_count==""): total_count=0 while datetime.today() < endTime: timeLeft=endTime-datetime.today() TIMEREMAINING.set(int(timeLeft.seconds/60)) kcount=0 standard_weight=0.0 measurement=double(0.0) weight=double(0.0) result=[] (measurement,status)=DataReadWrite.readWeightFromBalance() weight=double(measurement)-double(crucibleWeight) if weight>0.0: a=append(a,double(weight)) averageWeight=a.mean() stdevWeight=a.std() logger.debug( "Count: %i the average weight of sample # %i is %f with stdev of %f" % (count, position, averageWeight,stdevWeight)) ## now update crucible position record now = datetime.today() today = now.strftime("%m-%d-%y %H:%M:%S") total_count += 1 count += 1 repetition_count += 1 MCOUNT.set(count) temperature=xyzRobot.getTemperature() humidity=xyzRobot.getHumidity() logger.debug( "TMP: temp: %s, humidity: %s" % (temperature,humidity)) standard_weight=0.0 timeDiff=now - endOfFiring timeElapsed=int(timeDiff.seconds/60) TIMEELAPSED.set(timeElapsed) timeElapsedQuarterPower=double(pow(abs(timeElapsed),0.25)) value=DataReadWrite.insertPostFireMeasurement(runID,sampleID,position, weight,status,temperature,humidity,endOfFiring, crucibleWeight,standard_weight,now,total_count,repeat,repetition_count,count) if (value is False): alertWindow("insertPostFireMeasurement returned with an error.") exit(1) ### check to see if enough measurements have been made. First at least 100 must have been done if (count > COUNTS_FOR_STATS): (mean,stdev,variance,tempMean,tempStdev,humidityMean,humidityStdev)=DataReadWrite.getStatsForPostFireWeightOfSample(runID,sampleID,count) logger.debug("TempMean: %d TempStDev: %d HumidityMean: %d HumidityStdDev: %d" % (tempMean,tempStdev,humidityMean,humidityStdev)) value=DataReadWrite.updateSamplePostFire(runID,sampleID,position,tempMean,tempStdev,humidityMean,humidityStdev,count,repeat,timeElapsed) sleep(intervalsec) if count==0: ## check to see if balance is giving anything (value,status)=DataReadWrite.readInstantWeightFromBalance() logger.debug( "Instant value from balance (unstable): %f",float(value)) if (value>0): STATUS.set("Resetting clock") logger.warning( "Since this is >0 the balance is reading but not stable") logger.warning( "resetting clock. Waiting for a valid entry before storing data...") startTime=datetime.today() endPoint=timedelta(minutes=durationOfLogging) endTime=startTime+endPoint else: STATUS.set("Error. No output from balance. Trying again.") logger.warning("There is a problem: no output from balance at all: Count: %d",int(kcount)) kcount += 1 if kcount==500: STATUS.set("Tried 500 times but nothing from balance. Quitting") logger.error( "There is a problem: no output for 500 counts -- quitting ") ##KillMotors() exit(1) sleep(intervalsec) statustext="Done! Going to retrieve sample from balance." STATUS.set(statustext) ##DataReadWrite.openBalanceDoor() ##goToInsideBalanceFromOutside() statustext="Picking up sample from balance." STATUS.set(statustext) #val=pickUpSampleFromBalance() #if val == False: # return False STATUS.set("Going outside balance from inside") ##goToOutsideBalanceFromInside() statustext="Going to position %d" % int(position) STATUS.set(statustext) ##goToSamplePosition(position) STATUS.set("Putting sample down") ##val=samplePutDown() ##if val == False: ## return False STATUS.set("Now going to home position.") #response=goHome() ##DataReadWrite.closeBalanceDoor() ##if response==False: ## logger.error( "Was unable to go home. Quitting.") ## return False position +=1 POSITION.set(int(position)) statustext="Now on position %d" % position STATUS.set(statustext) STATUS.set("Done!") #robotStatus.withdraw() return runID;
def weighAllCrucibles(initials,numberOfSamples,loggerInterval, duration,startPosition,tempCorrection,rhCorrection,robotStatus, POSITION,MCOUNT,CURRENTSTEP,STATUS, DURATION,LOGGERINTERVAL,RUNID,NUMBEROFSAMPLES,TIMEREMAINING): # Find elapsed time #first put robot back to zero logger.info("weightAllCrucibles: %s, %d, %d, %d, %d" % (initials,numberOfSamples,loggerInterval,duration,startPosition)) position=int(startPosition) #HomePosition() listOfValues=() LOGGERINTERVAL.set(loggerInterval) DURATION.set(duration) POSITION.set(position) STATUS.set("Initializing") now = datetime.today() today = now.strftime("%m-%d-%y %H:%M:%S") ### set up gui ######### robotStatus.deiconify() Label(robotStatus,text="Run ID:").grid(row=0,column=0,sticky=W) Label(robotStatus,textvariable=RUNID).grid(row=0,column=1, sticky=W) Label(robotStatus,text="Current sample number:").grid(row=1,column=0,sticky=W) Label(robotStatus,textvariable=POSITION).grid(row=1,column=1, sticky=W) Label(robotStatus,textvariable=MCOUNT).grid(row=2,column=1,sticky=W) Label(robotStatus,text="Current measurement count:").grid(row=2,column=0,sticky=W) Label(robotStatus,text="Logging interval:").grid(row=3,column=0, sticky=W) Label(robotStatus,textvariable=LOGGERINTERVAL).grid(row=3,column=1,sticky=W) Label(robotStatus,text="Duration of Measurements:").grid(row=4,column=0, sticky=W) Label(robotStatus,textvariable=DURATION).grid(row=4,column=1,sticky=W) Label(robotStatus,text="Number of Samples:").grid(row=5,column=0,sticky=W) Label(robotStatus,textvariable=NUMBEROFSAMPLES).grid(row=5,column=1,sticky=W) Label(robotStatus,text="Time remaining for this sample:").grid(row=6,column=0,sticky=W) Label(robotStatus,textvariable=TIMEREMAINING).grid(row=6,column=1,sticky=W) Label(robotStatus,text="Status").grid(row=7,column=0, sticky=W) Label(robotStatus,textvariable=STATUS).grid(row=7,column=1,sticky=W) NUMBEROFSAMPLES.set(numberOfSamples) sleep(5) #first create a new run so we have an ID. logger.debug("DataReadWrite.insertRun( %s,%s,%d )" %(initials,today,numberOfSamples)) runID=DataReadWrite.insertRun(initials,today,numberOfSamples) statustext = "Run ID is %d" % int(runID) logger.info( statustext) RUNID.set(int(runID)) while position < numberOfSamples+1: POSITION.set(position) #statustext="Going to position: %d"% int(position) #logger.info( statustext) #set this crucible for this run logger.debug("DataReadWrite.insertInitialCrucible(%d,%d,%s)" % (runID,position,today)) DataReadWrite.insertInitialCrucible(runID,position,today) # assume we start in position 1 -- which is the 0,0 point for the grid #logger.info( "going to sample position: %d ", position) STATUS.set(statustext) #goToSamplePosition(position) #statustext="Picking up sample %d" % int(position) #STATUS.set(statustext) #logger.info( "picking up sample.") #val = samplePickUp() #if val == False: # return False; ## zero the balance for each sample logger.debug("going to zero balance...") DataReadWrite.zeroBalance() logger.debug( "opening balance door.") #DataReadWrite.openBalanceDoor() #statustext="Going to outside of balance x: %d y: %d" %( BALANCE_OUTSIDE[X], BALANCE_OUTSIDE[Y]) #STATUS.set(statustext) logger.debug( "go to outside of balance.") #goToOutsideBalanceFromOutside() logger.debug( "go to inside balance") #statustext="Going to inside balance x: %d y: %d" %( BALANCE_INSIDE[X], BALANCE_INSIDE[Y]) #STATUS.set(statustext) #goToInsideBalanceFromOutside() logger.debug( "put sample on balance") STATUS.set("Putting sample on balance") #val = putSampleOnBalance() #if val==False: # STATUS.set("ERROR") # robotStatus.quit() # return False; STATUS.set("Moving to outside balance.") logger.info( "Move to outside balance.") #goToOutsideBalanceFromInside() ## may need to check to see if arm is clear of door. #DataReadWrite.closeBalanceDoor() durationOfLogging=int(duration) startTime=datetime.today() endPoint=timedelta(minutes=durationOfLogging) endTime=startTime+endPoint listOfValues=[] weight=float(0.0) count=0 kcount=0 tempHumidityArray=[] statustext="Weighing sample # %d"% position STATUS.set(statustext) a = array([]) tempArray=array([]) humidityArray=array([]) averageTemp=0.0 stdevTemp=0.0 averageHumidity=0.0 stdevHumidity=0.0 while datetime.today() < endTime: timeLeft=endTime-datetime.today() TIMEREMAINING.set(int(timeLeft.seconds/60)) result=[] (weight,status)=DataReadWrite.readWeightFromBalance() temp=xyzRobot.getTemperature() humidity=xyzRobot.getHumidity() if weight>0.0: #print "NOW GOING TO UPDATE PLOT" #plotGraph.add_data_point(1, 23.2323) listOfValues.append(weight) a=append(a,float(weight)) averageWeight=mean(a) stdevWeight=std(a) averageTemp=0.0 averageHumidity=0.0 stdevTemp=0.0 stdevHumidity=0.0 logger.debug( "temp: %f humidity: %f " % (temp, humidity)) temp=xyzRobot.getTemperature() humidity=xyzRobot.getHumidity() if (temp==""): temp=0.0 if temp>0: tempArray=append(tempArray,temp) if (tempArray.size > 2): averageTemp=mean(tempArray) stdevTemp=std(tempArray) else: averageTemp=temp stdevTemp=0.0 if humidity>0: humidityArray=append(humidityArray,humidity) if humidityArray.size > 2: averageHumidity=mean(humidityArray) stdevHumidity=std(humidityArray) else: averageHumidity=humidity stdevHumidity=0.0 print "position:",position,"averageWeight:",averageWeight,"stdevWeight:",stdevWeight,"averageTemp:",averageTemp,"stdevTemp:",stdevTemp,"averageHumidity:",averageHumidity,"stdevHumidity:",stdevHumidity,"today:",today,"run:",runID,"count:",count print "position=%d,averageWeight=%s,stdevWeight=%s,averageTemp=%s,stdevTemp=%s,averageHumidity=%s,stdevHumidity=%s,today=%s,runID=%d,count=%d" % (position,averageWeight,stdevWeight,averageTemp,stdevTemp,averageHumidity,stdevHumidity,today,runID,count) logger.debug( "Count: %d the average weight of crucible # %i is: %f with stdev of: %f" %(count, position,averageWeight,stdevWeight)) ## now update crucible position record now = datetime.today() today = now.strftime("%m-%d-%y %H:%M:%S") count += 1 MCOUNT.set(count) ## kludge averageWeight=16 DataReadWrite.updateCrucible(position,averageWeight,stdevWeight,averageTemp,stdevTemp,averageHumidity,stdevHumidity,today,runID,count) sleep(loggerInterval) statustext="Weight recorded #%d %f %f" %(count,averageWeight,stdevWeight) STATUS.set(statustext) if count==0: ## check to see if balance is giving anything (value,status)=DataReadWrite.readInstantWeightFromBalance() logger.info( "Balance current reads: %f ",float(value)) if (value>0): logger.info( "Since this is >0 the balance is reading but not stable") logger.info( "resetting clock. Waiting for a valid entry before storing data...") startTime=datetime.today() endPoint=timedelta(minutes=durationOfLogging) endTime=startTime+endPoint else: STATUS.set("Error: nothing from balance. Checking to see if this resolves itself") logger.info( "There is a problem: no output from balance at all: Count: %d",int(kcount)) kcount += 1 if kcount==500: logger.error( "There is a problem: no output for 500 counts -- quitting ") xyzRobot.KillMotors() exit(1) logger.info("Open the balance door") #DataReadWrite.openBalanceDoor() STATUS.set("Go back into balance to get sample.") logger.info( "enter balance") #goToInsideBalanceFromOutside() logger.info( "pick up sample") STATUS.set("Pick up sample from balance") #val = pickUpSampleFromBalance() #if val == False: # STATUS.set("Error: missing sample") # robotStatus.quit() # return False logger.info( "leave balance . . . ") STATUS.set("Leave balance.") #goToOutsideBalanceFromInside() statustext="Return to position %d", int(position) STATUS.set(statustext) logger.info( "now return to position: %d ", int(position)) STATUS.set("Put sample down.") #goToSamplePosition(position) logger.info( "put the sample down. . . ") #val=samplePutDown() #if val == False: # STATUS.set("Error sample held when there shouldn't be one") # robotStatus.quit() # return False; logger.info( "close the balance door . . ") #DataReadWrite.closeBalanceDoor() STATUS.set("Now go to home position") #response=goHome() #if response==False: # logger.error( "Home point not reached. Stopping.") # return False; position += 1 POSITION.set(position) statustext="Now starting next sample: %d",position STATUS.set(statustext) statustext="go on to the next position: %d", int(position) logger.info(statustext) STATUS.set("Done!") robotStatus.withdraw() return (runID)