forked from NSLS-II/lsdc
/
robot_lib.py
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/
robot_lib.py
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#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
from daq_utils import getBlConfig
import daq_lib
import beamline_lib
import time
import daq_macros
import beamline_support
from beamline_support import getPvValFromDescriptor as getPvDesc, setPvValFromDescriptor as setPvDesc
import os
import sys
import traceback
import filecmp
import _thread
import logging
import epics.ca
from config_params import TOP_VIEW_CHECK
logger = logging.getLogger(__name__)
global method_pv,var_pv,pinsPerPuck
pinsPerPuck = 16
global sampXadjust, sampYadjust, sampZadjust
sampXadjust = 0
sampYadjust = 0
sampZadjust = 0
global retryMountCount
retryMountCount = 0
def finish():
if (getBlConfig('robot_online')):
try:
RobotControlLib.runCmd("finish")
return 1
except Exception as e:
e_s = str(e)
message = "ROBOT Finish ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
def warmupGripperRecoverThread(savedThreshold,junk):
time.sleep(120.0)
setPvDesc("warmupThreshold",savedThreshold)
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 recoverRobot():
try:
rebootEMBL()
time.sleep(8.0)
RobotControlLib.runCmd("recover")
except Exception as e:
e_s = str(e)
daq_lib.gui_message("ROBOT Recover failed! " + e_s)
def dryGripper():
try:
saveThreshold = getPvDesc("warmupThresholdRBV")
setPvDesc("warmupThreshold",50)
_thread.start_new_thread(warmupGripperRecoverThread,(saveThreshold,0))
warmupGripperForDry()
except Exception as e:
e_s = str(e)
daq_lib.gui_message("Dry gripper failed! " + e_s)
setPvDesc("warmupThreshold",saveThreshold)
def DewarAutoFillOn():
RobotControlLib.runCmd("turnOnAutoFill")
def DewarAutoFillOff():
RobotControlLib.runCmd("turnOffAutoFill")
def DewarHeaterOn():
RobotControlLib.runCmd("dewarHeaterOn")
def DewarHeaterOff():
RobotControlLib.runCmd("dewarHeaterOff")
def warmupGripper():
try:
RobotControlLib.runCmd("warmupGripper")
daq_lib.mountCounter = 0
except:
daq_lib.gui_message("ROBOT warmup failed!")
def warmupGripperForDry():
RobotControlLib.runCmd("warmupGripper")
daq_lib.mountCounter = 0
def enableDewarTscreen():
RobotControlLib.runCmd("enableTScreen")
def openPort(portNo):
RobotControlLib.openPort(int(portNo))
def closePorts():
RobotControlLib.runCmd("closePorts")
def rebootEMBL():
try:
RobotControlLib.rebootEMBL()
except Exception as e:
exc_type, exc_value, exc_tb = sys.exc_info()
if exc_type == epics.ca.ChannelAccessGetFailure and str(exc_value) == "Get failed; status code: 192":
logger.info('channel access failure detected but error 192 is expected, so continuing')
else:
# channel access exception with error 192 seems "normal". only raise for other exceptions
logger.error('rebootEMBL exception: %s' % traceback.format_exception(exc_type, exc_value, exc_tb))
raise(e)
def cooldownGripper():
try:
RobotControlLib.runCmd("cooldownGripper")
except:
daq_lib.gui_message("ROBOT cooldown failed!")
def parkGripper():
try:
RobotControlLib.runCmd("park")
except Exception as e:
e_s = str(e)
message = "Park gripper Failed!: " + e_s
daq_lib.gui_message(message)
logger.error(message)
def setWorkposThread(init,junk):
logger.info("setting work pos in thread")
setPvDesc("robotGovActive",1)
setPvDesc("robotXWorkPos",getPvDesc("robotXMountPos"))
setPvDesc("robotYWorkPos",getPvDesc("robotYMountPos"))
setPvDesc("robotZWorkPos",getPvDesc("robotZMountPos"))
setPvDesc("robotOmegaWorkPos",90.0)
if (init):
time.sleep(20)
setPvDesc("robotGovActive",0)
def testRobot():
try:
RobotControlLib.testRobot()
logger.info("Test Robot passed!")
daq_lib.gui_message("Test Robot passed!")
except Exception as e:
e_s = str(e)
message = "Test Robot failed!: " + e_s
daq_lib.gui_message(message)
logger.error(message)
def openGripper():
RobotControlLib.openGripper()
def closeGripper():
RobotControlLib.closeGripper()
def mountRobotSample(puckPos,pinPos,sampID,init=0,warmup=0):
global retryMountCount
global sampXadjust, sampYadjust, sampZadjust
absPos = (pinsPerPuck*(puckPos%3))+pinPos+1
if (getBlConfig('robot_online')):
if (not daq_lib.waitGovRobotSE()):
daq_lib.setGovRobot('SE')
if (getBlConfig(TOP_VIEW_CHECK) == 1):
try:
if (daq_utils.beamline == "fmx"):
_thread.start_new_thread(setWorkposThread,(init,0))
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):
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:
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:
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)
if (getBlConfig(TOP_VIEW_CHECK) == 1):
daq_lib.setGovRobot('SA') #make sure we're in SA before moving motors
if (sampYadjust != 0):
pass
else:
logger.info("Cannot align pin - Mount next sample.")
#else it thinks it worked return 0
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 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
def initStaubliControl():
global method_pv,var_pv
method_pv = staubliEpicsLib.MethodPV("SW:startRobotTask")
var_pv = staubliEpicsLib.MethodPV("SW:setRobotVariable")
def testRobotComm(numTurns=0):
if (numTurns>0):
var_pv.execute("nCamDelay",numTurns)
method_pv.execute("Test",50000)
logger.info("executing robot task")
staubliEpicsLib.waitReady()
logger.info("done executing robot task")