def unload(self, sample):
self.prepare_load(wait=True)
self.enable_power()
try:
SampleChanger.unload(self, sample)
finally:
for msg in self.get_robot_exceptions():
logging.getLogger("HWR").error(msg)
def init(self):
"""
Descript. :
"""
cmd_get_config = self.get_channel_object("GetPlateConfig",
optional=True)
if cmd_get_config:
try:
(
self.num_rows,
self.num_cols,
self.num_drops,
) = cmd_get_config.get_value()
except Exception:
pass
else:
self.num_cols = self.get_property("numCols")
self.num_rows = self.get_property("numRows")
self.num_drops = self.get_property("numDrops")
self.reference_pos_x = self.get_property("referencePosX")
if not self.reference_pos_x:
self.reference_pos_x = 0.5
self.stored_pos_x = self.reference_pos_x
self.stored_pos_y = 0.5
self.crims_url = self.get_property("crimsWsRoot")
self.cmd_move_to_drop = self.get_command_object("MoveToDrop")
if not self.cmd_move_to_drop:
self.cmd_move_to_location = self.get_command_object(
"startMovePlateToLocation")
self._init_sc_contents()
self.chan_current_phase = self.get_channel_object("CurrentPhase")
self.chan_plate_location = self.get_channel_object("PlateLocation")
if self.chan_plate_location is not None:
self.chan_plate_location.connect_signal(
"update", self.plate_location_changed)
self.plate_location_changed(self.chan_plate_location.get_value())
self.chan_state = self.get_channel_object("State")
if self.chan_state is not None:
self.chan_state.connect_signal("update", self.state_changed)
SampleChanger.init(self)
def load(self, sample):
self.prepare_load(wait=True)
self.enable_power()
try:
res = SampleChanger.load(self, sample)
finally:
for msg in self.get_robot_exceptions():
logging.getLogger("HWR").error(msg)
if res:
self.prepare_centring()
return res
def init(self):
sc3_pucks = self.get_property("sc3_pucks", True)
for i in range(8):
cell = Cell(self, i + 1, sc3_pucks)
self._add_component(cell)
self.robot = self.get_property("tango_device")
if self.robot:
self.robot = DeviceProxy(self.robot)
self.exporter_addr = self.get_property("exporter_address")
if self.exporter_addr:
self.swstate_attr = self.add_channel(
{
"type": "exporter",
"exporter_address": self.exporter_addr,
"name": "swstate",
},
"State",
)
self.controller = self.get_object_by_role("controller")
self.prepareLoad = self.get_command_object("moveToLoadingPosition")
self.timeout = 3
self.gripper_types = {
-1: "No Gripper",
1: "UNIPUCK",
2: "MINISPINE",
3: "FLIPPING",
4: "UNIPUCK_DOUBLE",
5: "PLATE",
}
SampleChanger.init(self)
# self._set_state(SampleChangerState.Disabled)
self._update_selection()
self.state = self._read_state()