def wait90TopviewThread(prefix1, prefix90):
global sampXadjust, sampYadjust, sampZadjust
sampXadjust = 0
sampYadjust = 0
sampZadjust = 0
startTime = time.time()
if (getPvDesc("gripTemp") > -170):
threadTimeout = 130.0
else:
threadTimeout = 30.0
while (1):
omegaCP = beamline_lib.motorPosFromDescriptor("omega")
if (omegaCP > 89.5 and omegaCP < 90.5):
logger.info("leaving topview thread for 90")
break
if (time.time() - startTime > threadTimeout):
logger.info("leaving topview thread for " + str(threadTimeout))
setPvDesc("topViewTrigMode", 0)
setPvDesc("topViewImMode", 2)
setPvDesc("topViewDataType", 1)
setPvDesc("topViewAcquire", 1, wait=False)
return
time.sleep(0.10)
try:
daq_macros.topViewWrite()
daq_macros.topViewSnap(prefix90, os.getcwd() + "/pinAlign", 1)
snapshot1Name = prefix1 + "_001.jpg"
snapshot2Name = prefix90 + "_001.jpg"
if (
not filecmp.cmp(os.getcwd() + "/pinAlign/" + snapshot1Name,
os.getcwd() + "/pinAlign/" + snapshot2Name)
): #this would mean something is wrong if true because the pictures are identical
comm_s = os.environ[
"LSDCHOME"] + "/runPinAlign.py " + snapshot1Name + " " + snapshot2Name
logger.info(comm_s)
lines = os.popen(comm_s).readlines()
logger.info("printing lines right after popen ")
logger.info(lines)
logger.info(" done")
if (lines[0].find("CANNOT CENTER") == -1):
offsetTokens = lines[0].split()
logger.info(offsetTokens[0] + " " + offsetTokens[1] + " " +
offsetTokens[2])
xlimLow = getPvDesc("robotXMountPos") + getPvDesc(
"robotXMountLowLim")
xlimHi = getPvDesc("robotXMountPos") + getPvDesc(
"robotXMountHiLim")
xpos = beamline_lib.motorPosFromDescriptor("sampleX")
target = xpos + float(offsetTokens[0]) * 1000.0
if (target < xlimLow or target > xlimHi):
logger.info("Pin X move beyond limit - Mount next sample.")
##else it thinks it worked return 0
else:
sampXadjust = 1000.0 * float(offsetTokens[0])
sampYadjust = 1000.0 * float(offsetTokens[1])
sampZadjust = 1000.0 * float(offsetTokens[2])
sampXCP = beamline_lib.motorPosFromDescriptor("sampleX")
sampYCP = beamline_lib.motorPosFromDescriptor("sampleY")
sampZCP = beamline_lib.motorPosFromDescriptor("sampleZ")
sampXAbsolute = sampXCP + sampXadjust
sampYAbsolute = sampYCP + sampYadjust
sampZAbsolute = sampZCP + sampZadjust
setPvDesc("robotXWorkPos", sampXAbsolute)
setPvDesc("robotYWorkPos", sampYAbsolute)
setPvDesc("robotZWorkPos", sampZAbsolute)
else:
logger.info("Cannot align pin - Mount next sample.")
#else it thinks it worked return 0
for outputline in lines:
logger.info(outputline)
except Exception as e:
e_s = str(e)
message = "TopView check ERROR, will continue: " + e_s
daq_lib.gui_message(message)
logger.error(message)
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
