#this will evolve for the staubli. Will need to know currently mounted sample. Will need to store this in the db.

#import staubliEpicsLib

#import stateModule

import RobotControlLib

import daq_utils

import db_lib

import daq_lib

import beamline_lib

import time

import daq_macros

import beamline_support

global method_pv,var_pv,pinsPerPuck

pinsPerPuck = 16

global retryMountCount

retryMountCount = 0

def finish():

return 0

def recoverRobot():

RobotControlLib.runCmd("recover")

def DewarAutoFillOn():

RobotControlLib.runCmd("turnOnAutoFill")

def DewarAutoFillOff():

RobotControlLib.runCmd("turnOffAutoFill")

def DewarHeaterOn():

RobotControlLib.runCmd("dewarHeaterOn")

def DewarHeaterOff():

RobotControlLib.runCmd("dewarHeaterOff")

def warmupGripper():

RobotControlLib.runCmd("warmupGripper")

def enableDewarTscreen():

RobotControlLib.runCmd("enableTScreen")

def openPort(portNo):

RobotControlLib.openPort(int(portNo))

def closePorts():

RobotControlLib.runCmd("closePorts")

def rebootEMBL():

RobotControlLib.rebootEMBL()

def cooldownGripper():

RobotControlLib.runCmd("cooldownGripper")

def parkGripper():

RobotControlLib.runCmd("park")

def mountRobotSample(puckPos,pinPos,sampID,init=0,warmup=0):

return 1

def unmountRobotSample(puckPos,pinPos,sampID): #will somehow know where it came from

return 1

def initStaubliControl():

global method_pv,var_pv

method_pv = staubliEpicsLib.MethodPV("SW:startRobotTask")

var_pv = staubliEpicsLib.MethodPV("SW:setRobotVariable")

def testRobotComm(numTurns=0):

print("done executing robot task")