def __UpdateReagentRobotStatus(self):
"""Updates the reagent robot status in response to system changes"""
# Get the reagent robot control and check words
nControlWordX, nCheckWordX = self.__pSystemModel.model["ReagentDelivery"].getRobotXControlWords()
nControlWordY, nCheckWordY = self.__pSystemModel.model["ReagentDelivery"].getRobotYControlWords()
# Enable or disable the robots
if (nControlWordX == 0x10) and not ((nCheckWordX >> ROBONET_STATUS_READY) & 1):
self.__pHardwareComm.FakePLC_EnableReagentRobotX()
elif (nControlWordX == 0x08) and ((nCheckWordX >> ROBONET_STATUS_READY) & 1):
self.__pHardwareComm.FakePLC_DisableReagentRobotX()
if (nControlWordY == 0x10) and not ((nCheckWordY >> ROBONET_STATUS_READY) & 1):
self.__pHardwareComm.FakePLC_EnableReagentRobotY()
elif (nControlWordY == 0x08) and ((nCheckWordX >> ROBONET_STATUS_READY) & 1):
self.__pHardwareComm.FakePLC_DisableReagentRobotY()
# Home the robots
if self.__pHardwareComm.FakePLC_CheckForHomingReagentRobotX() and self.__pHardwareComm.FakePLC_CheckForHomingReagentRobotY():
# Check either of the reagent robots movement threads are running
if ((self.__pHomeReagentRobotThread == None) or not self.__pHomeReagentRobotThread.is_alive()) and \
((self.__pMoveReagentRobotThread == None) or not self.__pMoveReagentRobotThread.is_alive()):
# No, so kick off the homing thread
nReagentRobotActualPositionRawX, nReagentRobotActualPositionRawZ = self.__pSystemModel.model["ReagentDelivery"].getCurrentPositionRaw()
self.__pHomeReagentRobotThread = HomeReagentRobotThread()
self.__pHomeReagentRobotThread.SetParameters(self.__pHardwareComm, nReagentRobotActualPositionRawX, nReagentRobotActualPositionRawZ)
self.__pHomeReagentRobotThread.setDaemon(True)
self.__pHomeReagentRobotThread.start()
# Clear the homing flags
self.__pHardwareComm.FakePLC_ResetReagentRobotHoming()
