def recoverRobot():
try:
rebootEMBL()
time.sleep(8.0)
_,bLoaded,_ = RobotControlLib.recover()
if bLoaded:
daq_macros.robotOff()
daq_macros.disableMount()
daq_lib.gui_message("Found a sample in the gripper - CALL STAFF! disableMount() executed.")
else:
RobotControlLib.runCmd("goHome")
except Exception as e:
e_s = str(e)
daq_lib.gui_message("ROBOT Recover failed! " + e_s)
def unmountRobotSample(puckPos, pinPos,
sampID): #will somehow know where it came from
absPos = (pinsPerPuck * (puckPos % 3)) + pinPos + 1
robotOnline = getBlConfig('robot_online')
logger.info("robot online = " + str(robotOnline))
if (robotOnline):
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if (detDist < ROBOT_MIN_DISTANCE):
setPvDesc("govRobotDetDistOut", ROBOT_MIN_DISTANCE)
setPvDesc("govHumanDetDistOut", ROBOT_MIN_DISTANCE)
daq_lib.setRobotGovState("SE")
logger.info("unmounting " + str(puckPos) + " " + str(pinPos) + " " +
str(sampID))
logger.info("absPos = " + str(absPos))
platePos = int(puckPos / 3)
rotMotTarget = daq_utils.dewarPlateMap[platePos][0]
rotCP = beamline_lib.motorPosFromDescriptor("dewarRot")
logger.info("dewar target,CP")
logger.info("%s %s" % (rotMotTarget, rotCP))
if (abs(rotMotTarget - rotCP) > 1):
logger.info("rot dewar")
try:
RobotControlLib.runCmd("park")
except Exception as e:
e_s = str(e)
message = "ROBOT park ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
beamline_lib.mvaDescriptor("dewarRot", rotMotTarget)
try:
par_init = (beamline_support.get_any_epics_pv(
"SW:RobotState", "VAL") != "Ready")
par_cool = (getPvDesc("gripTemp") > -170)
RobotControlLib.unmount1(init=par_init, cooldown=par_cool)
except Exception as e:
e_s = str(e)
message = "ROBOT unmount ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
if daq_utils.beamline == "fmx":
det_z_pv = 'XF:17IDC-ES:FMX{Det-Ax:Z}Mtr'
detDist = caget(f'{det_z_pv}.RBV')
if detDist < ROBOT_MIN_DISTANCE:
caput(
f'{det_z_pv}.VAL', ROBOT_MIN_DISTANCE, wait=True
) # TODO shouldn't this wait for SE transition or something??
detDist = caget(f'{det_z_pv}.RBV')
else:
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if detDist < ROBOT_MIN_DISTANCE and abs(
detDist - ROBOT_MIN_DISTANCE) > ROBOT_DISTANCE_TOLERANCE:
logger.error(
f"ERROR - Detector closer than {ROBOT_MIN_DISTANCE} and move than {ROBOT_DISTANCE_TOLERANCE} from {ROBOT_MIN_DISTANCE}! actual distance: {detDist}. Stopping."
)
return 0
try:
RobotControlLib.unmount2(absPos)
except Exception as e:
e_s = str(e)
if (e_s.find("Fatal") != -1):
daq_macros.robotOff()
daq_macros.disableMount()
daq_lib.gui_message(
e_s +
". FATAL ROBOT ERROR - CALL STAFF! robotOff() executed.")
return 0
message = "ROBOT unmount2 ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
if (not daq_lib.waitGovRobotSE()):
daq_lib.clearMountedSample()
logger.info("could not go to SE")
return 0
return 1
def mountRobotSample(puckPos, pinPos, sampID, init=0, warmup=0):
global retryMountCount
global sampXadjust, sampYadjust, sampZadjust
absPos = (pinsPerPuck * (puckPos % 3)) + pinPos + 1
logger.info(f'init: {init} warmup: {warmup}')
if (getBlConfig('robot_online')):
if (not daq_lib.waitGovRobotSE()):
daq_lib.setGovRobot('SE')
if (getBlConfig(TOP_VIEW_CHECK) == 1):
try:
sample = db_lib.getSampleByID(sampID)
sampName = sample['name']
reqCount = sample['request_count']
prefix1 = sampName + "_" + str(puckPos) + "_" + str(
pinPos) + "_" + str(reqCount) + "_PA_0"
prefix90 = sampName + "_" + str(puckPos) + "_" + str(
pinPos) + "_" + str(reqCount) + "_PA_90"
daq_macros.topViewSnap(prefix1,
os.getcwd() + "/pinAlign",
1,
acquire=0)
except Exception as e:
e_s = str(e)
message = "TopView check ERROR, will continue: " + e_s
daq_lib.gui_message(message)
logger.error(message)
logger.info("mounting " + str(puckPos) + " " + str(pinPos) + " " +
str(sampID))
logger.info("absPos = " + str(absPos))
platePos = int(puckPos / 3)
rotMotTarget = daq_utils.dewarPlateMap[platePos][0]
rotCP = beamline_lib.motorPosFromDescriptor("dewarRot")
logger.info("dewar target,CP")
logger.info("%s %s" % (rotMotTarget, rotCP))
if (abs(rotMotTarget - rotCP) > 1):
logger.info("rot dewar")
try:
if (init == 0):
RobotControlLib.runCmd("park")
except Exception as e:
e_s = str(e)
message = "ROBOT Park ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
beamline_lib.mvaDescriptor("dewarRot", rotMotTarget)
try:
if (init):
logger.debug('main loading part')
setPvDesc("boostSelect", 0)
if (getPvDesc("sampleDetected") == 0
): #reverse logic, 0 = true
setPvDesc("boostSelect", 1)
else:
robotStatus = beamline_support.get_any_epics_pv(
"SW:RobotState", "VAL")
if (robotStatus != "Ready"):
if (daq_utils.beamline == "fmx"):
daq_macros.homePins()
time.sleep(3.0)
if (not daq_lib.setGovRobot('SE')):
return
if (getBlConfig(TOP_VIEW_CHECK) == 1):
omegaCP = beamline_lib.motorPosFromDescriptor("omega")
if (omegaCP > 89.5 and omegaCP < 90.5):
beamline_lib.mvrDescriptor("omega", 85.0)
logger.info("calling thread")
_thread.start_new_thread(wait90TopviewThread,
(prefix1, prefix90))
logger.info("called thread")
setPvDesc("boostSelect", 0)
if (getPvDesc("gripTemp") > -170):
try:
logger.debug('mounting')
RobotControlLib.mount(absPos)
except Exception as e:
e_s = str(e)
message = "ROBOT mount ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
else:
time.sleep(0.5)
if (getPvDesc("sampleDetected") == 0):
logger.info("full mount")
RobotControlLib.mount(absPos)
else:
logger.debug('quick mount')
RobotControlLib.initialize()
RobotControlLib._mount(absPos)
setPvDesc("boostSelect", 1)
else:
if (getBlConfig(TOP_VIEW_CHECK) == 1):
omegaCP = beamline_lib.motorPosFromDescriptor("omega")
if (omegaCP > 89.5 and omegaCP < 90.5):
beamline_lib.mvrDescriptor("omega", 85.0)
logger.info("calling thread")
_thread.start_new_thread(wait90TopviewThread,
(prefix1, prefix90))
logger.info("called thread")
if (warmup):
RobotControlLib._mount(absPos, warmup=True)
else:
RobotControlLib._mount(absPos)
logger.info(f'{getBlConfig(TOP_VIEW_CHECK)} {daq_utils.beamline}')
if (getBlConfig(TOP_VIEW_CHECK) == 1):
if (sampYadjust == 0):
logger.info("Cannot align pin - Mount next sample.")
daq_lib.setGovRobot('SA')
return 1
except Exception as e:
logger.error(e)
e_s = str(e)
if (e_s.find("Fatal") != -1):
daq_macros.robotOff()
daq_macros.disableMount()
daq_lib.gui_message(
e_s +
". FATAL ROBOT ERROR - CALL STAFF! robotOff() executed.")
return 0
if (e_s.find("tilted") != -1
or e_s.find("Load Sample Failed") != -1):
if (getBlConfig("queueCollect") == 0):
daq_lib.gui_message(e_s + ". Try mounting again")
return 0
else:
if (retryMountCount == 0):
retryMountCount += 1
mountStat = mountRobotSample(puckPos, pinPos, sampID,
init)
if (mountStat == 1):
retryMountCount = 0
return mountStat
else:
retryMountCount = 0
daq_lib.gui_message("ROBOT: Could not recover from " +
e_s)
return 2
daq_lib.gui_message("ROBOT mount ERROR: " + e_s)
return 0
return 1
else:
return 1
def mountRobotSample(puckPos,pinPos,sampID,init=0,warmup=0):
global retryMountCount
# absPos = (pinsPerPuck*puckPos)+pinPos+1
absPos = (pinsPerPuck*(puckPos%3))+pinPos+1
if (db_lib.getBeamlineConfigParam(daq_utils.beamline,'robot_online')):
if (not daq_lib.waitGovRobotSE()):
daq_lib.setGovRobotSE()
print("mounting " + str(puckPos) + " " + str(pinPos) + " " + str(sampID))
print("absPos = " + str(absPos))
platePos = int(puckPos/3)
rotMotTarget = daq_utils.dewarPlateMap[platePos][0]
rotCP = beamline_lib.motorPosFromDescriptor("dewarRot")
print("dewar target,CP")
print(rotMotTarget,rotCP)
if (abs(rotMotTarget-rotCP)>1):
print("rot dewar")
try:
if (init == 0):
RobotControlLib.runCmd("park")
except Exception as e:
e_s = str(e)
daq_lib.gui_message("ROBOT Park ERROR: " + e_s)
print(e)
return 0
beamline_lib.mvaDescriptor("dewarRot",rotMotTarget)
try:
if (init):
beamline_support.setPvValFromDescriptor("boostSelect",0)
if (beamline_support.getPvValFromDescriptor("sampleDetected") == 0): #reverse logic, 0 = true
beamline_support.setPvValFromDescriptor("boostSelect",1)
else:
# if (beamline_support.getPvValFromDescriptor("gripTemp") > 20.0): #gripper warm
robotStatus = beamline_support.get_any_epics_pv("SW:RobotState","VAL")
if (robotStatus != "Ready"):
if (daq_utils.beamline == "fmx"):
daq_macros.homePins()
time.sleep(3.0)
if (not daq_lib.setGovRobotSE()):
return
RobotControlLib.mount(absPos)
else:
if (warmup):
RobotControlLib._mount(absPos,warmup=True)
else:
RobotControlLib._mount(absPos)
daq_lib.setGovRobotSA()
return 1
except Exception as e:
print(e)
e_s = str(e)
if (e_s.find("Fatal") != -1):
daq_macros.robotOff()
daq_macros.disableMount()
daq_lib.gui_message(e_s + ". FATAL ROBOT ERROR - CALL STAFF! robotOff() executed.")
return 0
if (e_s.find("tilted") != -1 or e_s.find("Load Sample Failed") != -1):
if (db_lib.getBeamlineConfigParam(daq_utils.beamline,"queueCollect") == 0):
daq_lib.gui_message(e_s + ". Try mounting again")
return 0
else:
if (retryMountCount == 0):
retryMountCount+=1
mountStat = mountRobotSample(puckPos,pinPos,sampID,init)
if (mountStat == 1):
retryMountCount = 0
return mountStat
else:
retryMountCount = 0
daq_lib.gui_message("ROBOT: Could not recover from " + e_s)
return 2
daq_lib.gui_message("ROBOT mount ERROR: " + e_s)
return 0
return 1
else:
return 1
def unmountRobotSample(puckPos,pinPos,sampID): #will somehow know where it came from
# absPos = (pinsPerPuck*puckPos)+pinPos+1
absPos = (pinsPerPuck*(puckPos%3))+pinPos+1
robotOnline = db_lib.getBeamlineConfigParam(daq_utils.beamline,'robot_online')
print("robot online = " + str(robotOnline))
if (robotOnline):
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if (detDist<199.0):
beamline_support.setPvValFromDescriptor("govRobotDetDistOut",200.0)
beamline_support.setPvValFromDescriptor("govHumanDetDistOut",200.0)
daq_lib.setRobotGovState("SE")
print("unmounting " + str(puckPos) + " " + str(pinPos) + " " + str(sampID))
print("absPos = " + str(absPos))
platePos = int(puckPos/3)
rotMotTarget = daq_utils.dewarPlateMap[platePos][0]
rotCP = beamline_lib.motorPosFromDescriptor("dewarRot")
print("dewar target,CP")
print(rotMotTarget,rotCP)
if (abs(rotMotTarget-rotCP)>1):
print("rot dewar")
try:
RobotControlLib.runCmd("park")
except Exception as e:
e_s = str(e)
daq_lib.gui_message("ROBOT park ERROR: " + e_s)
print(e)
return 0
beamline_lib.mvaDescriptor("dewarRot",rotMotTarget)
try:
par_init=(beamline_support.get_any_epics_pv("SW:RobotState","VAL")!="Ready")
par_cool=(beamline_support.getPvValFromDescriptor("gripTemp")>-170)
if par_cool == False and daq_utils.beamline == "fmx":
time.sleep(3)
RobotControlLib.unmount1(init=par_init,cooldown=par_cool)
except Exception as e:
e_s = str(e)
daq_lib.gui_message("ROBOT unmount ERROR: " + e_s)
print(e)
return 0
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if (detDist<200.0):
beamline_lib.mvaDescriptor("detectorDist",200.0)
if (beamline_lib.motorPosFromDescriptor("detectorDist") < 199.0):
print("ERROR - Detector < 200.0!")
return 0
try:
RobotControlLib.unmount2(absPos)
except Exception as e:
e_s = str(e)
if (e_s.find("Fatal") != -1):
daq_macros.robotOff()
daq_macros.disableMount()
daq_lib.gui_message(e_s + ". FATAL ROBOT ERROR - CALL STAFF! robotOff() executed.")
return 0
daq_lib.gui_message("ROBOT unmount2 ERROR: " + e_s)
print(e)
return 0
if (not daq_lib.waitGovRobotSE()):
daq_lib.clearMountedSample()
print("could not go to SE")
return 0
return 1
def unmountRobotSample(puckPos, pinPos,
sampID): #will somehow know where it came from
absPos = (pinsPerPuck * (puckPos % 3)) + pinPos + 1
robotOnline = getBlConfig('robot_online')
logger.info("robot online = " + str(robotOnline))
if (robotOnline):
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if (detDist < 200.0):
setPvDesc("govRobotDetDistOut", 200.0)
setPvDesc("govHumanDetDistOut", 200.0)
daq_lib.setRobotGovState("SE")
logger.info("unmounting " + str(puckPos) + " " + str(pinPos) + " " +
str(sampID))
logger.info("absPos = " + str(absPos))
platePos = int(puckPos / 3)
rotMotTarget = daq_utils.dewarPlateMap[platePos][0]
rotCP = beamline_lib.motorPosFromDescriptor("dewarRot")
logger.info("dewar target,CP")
logger.info("%s %s" % (rotMotTarget, rotCP))
if (abs(rotMotTarget - rotCP) > 1):
logger.info("rot dewar")
try:
RobotControlLib.runCmd("park")
except Exception as e:
e_s = str(e)
message = "ROBOT park ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
beamline_lib.mvaDescriptor("dewarRot", rotMotTarget)
try:
par_init = (beamline_support.get_any_epics_pv(
"SW:RobotState", "VAL") != "Ready")
par_cool = (getPvDesc("gripTemp") > -170)
RobotControlLib.unmount1(init=par_init, cooldown=par_cool)
except Exception as e:
e_s = str(e)
message = "ROBOT unmount ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if (detDist < 200.0):
beamline_lib.mvaDescriptor("detectorDist", 200.0)
if (beamline_lib.motorPosFromDescriptor("detectorDist") < 199.0):
logger.error("ERROR - Detector < 200.0!")
return 0
try:
RobotControlLib.unmount2(absPos)
except Exception as e:
e_s = str(e)
if (e_s.find("Fatal") != -1):
daq_macros.robotOff()
daq_macros.disableMount()
daq_lib.gui_message(
e_s +
". FATAL ROBOT ERROR - CALL STAFF! robotOff() executed.")
return 0
message = "ROBOT unmount2 ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
if (not daq_lib.waitGovRobotSE()):
daq_lib.clearMountedSample()
logger.info("could not go to SE")
return 0
return 1