class FlexHCD(SampleChanger):
__TYPE__ = "HCD"
def __init__(self, *args, **kwargs):
super(FlexHCD, self).__init__(self.__TYPE__, True, *args, **kwargs)
def init(self):
sc3_pucks = self.getProperty("sc3_pucks", True)
for i in range(8):
cell = Cell(self, i + 1, sc3_pucks)
self._add_component(cell)
self.robot = self.getProperty("tango_device")
if self.robot:
self.robot = DeviceProxy(self.robot)
self.exporter_addr = self.getProperty("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.getObjectByRole("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",
}
return SampleChanger.init(self)
@task
def prepare_load(self):
if self.controller:
self.controller.hutch_actions(condition=True)
else:
self.prepareLoad()
@task
def _prepare_centring_task(self):
if self.controller:
self.controller.hutch_actions(condition=False, sc_loading=True)
else:
gevent.sleep(2)
self.get_command_object("unlockMinidiffMotors")(wait=True)
self.get_command_object("prepareCentring")(wait=True)
def prepare_centring(self):
self._prepare_centring_task()
def get_sample_properties(self):
return (Pin.__HOLDER_LENGTH_PROPERTY__,)
def get_basket_list(self):
basket_list = []
# put here only the baskets that exist, not all the possible ones
# if self.exporter_addr:
# basket_list =
for cell in self.get_components():
for basket in cell.get_components():
if isinstance(basket, Basket):
basket_list.append(basket)
return basket_list
def _do_change_mode(self, *args, **kwargs):
return
def _do_update_info(self):
# self._update_selection()
self._update_state()
def _do_scan(self, component, recursive=True, saved={"barcodes": None}):
return
def _execute_cmd(self, cmd, *args, **kwargs):
timeout = kwargs.pop("timeout", None)
if args:
cmd_str = "flex.%s(%s)" % (cmd, ",".join(map(repr, args)))
else:
cmd_str = "flex.%s()" % cmd
cmd_id = self.robot.eval(cmd_str)
if not cmd_id:
cmd_id = self.robot.eval(cmd_str)
with gevent.Timeout(
timeout, RuntimeError("Timeout while executing %s" % repr(cmd_str))
):
while True:
if self.robot.is_finished(cmd_id):
break
gevent.sleep(0.2)
res = self.robot.get_result(cmd_id)
if res:
res = pickle.loads(base64.decodestring(res))
if isinstance(res, Exception):
raise res
else:
return res
def _execute_cmd_exporter(self, cmd, *args, **kwargs):
ret = None
timeout = kwargs.pop("timeout", 900)
if args:
args_str = "%s" % "\t".join(map(repr, args))
if kwargs.pop("command", None):
exp_cmd = self.add_command(
{
"type": "exporter",
"exporter_address": self.exporter_addr,
"name": "%s" % cmd,
},
"%s" % cmd,
)
if args:
ret = exp_cmd(args_str)
else:
ret = exp_cmd()
if kwargs.pop("attribute", None):
exp_attr = self.add_channel(
{
"type": "exporter",
"exporter_address": self.exporter_addr,
"name": "%s" % cmd,
},
"%s" % cmd[3:],
)
if cmd.startswith("get"):
return exp_attr.getValue()
if cmd.startswith("set"):
ret = exp_attr.setValue(args_str)
self._wait_ready(timeout=timeout)
return ret
def _ready(self):
# return self.swstate_attr.getValue() == "Ready"
return True
def _wait_ready(self, timeout=None):
err_msg = "Timeout waiting for sample changer to be ready"
# None means infinite timeout <=0 means default timeout
if timeout is not None and timeout <= 0:
timeout = self.timeout
with gevent.Timeout(timeout, RuntimeError(err_msg)):
while not self._ready():
time.sleep(0.5)
def _do_select(self, component):
if isinstance(component, Cell):
cell_pos = component.get_index() + 1
elif isinstance(component, Basket) or isinstance(component, Pin):
cell_pos = component.get_cell_no()
if self.exporter_addr:
self._execute_cmd_exporter("moveDewar", cell_pos, command=True)
else:
self._execute_cmd("moveDewar", cell_pos)
self._update_selection()
@task
def load_sample(
self,
holderLength,
sample_id=None,
sample_location=None,
sampleIsLoadedCallback=None,
failureCallback=None,
prepareCentring=True,
):
cell, basket, sample = sample_location
sample = self.get_component_by_address(Pin.get_sample_address(cell, basket, sample))
return self.load(sample)
def chained_load(self, old_sample, sample):
if self.exporter_addr:
unload_load_task = gevent.spawn(
self._execute_cmd_exporter,
"load_sample",
sample.get_cell_no(),
sample.get_basket_no(),
sample.get_vial_no(),
command=True,
)
else:
unload_load_task = gevent.spawn(
self._execute_cmd,
"chainedUnldLd",
[
old_sample.get_cell_no(),
old_sample.get_basket_no(),
old_sample.get_vial_no(),
],
[sample.get_cell_no(), sample.get_basket_no(), sample.get_vial_no()],
)
gevent.sleep(15)
err_msg = "Timeout waiting for sample changer to be in safe position"
while not unload_load_task.ready():
if self.exporter_addr:
loading_state = self._execute_cmd_exporter(
"getCurrentLoadSampleState", attribute=True
)
if "on_gonio" in loading_state:
self._set_loaded_sample(sample)
with gevent.Timeout(20, RuntimeError(err_msg)):
while not self._execute_cmd_exporter(
"getRobotIsSafe", attribute=True
):
gevent.sleep(0.5)
return True
else:
loading_state = str(
self._execute_cmd("sampleStatus", "LoadSampleStatus")
)
if "on_gonio" in loading_state:
self._set_loaded_sample(sample)
with gevent.Timeout(20, RuntimeError(err_msg)):
while (
not self._execute_cmd(
"get_robot_cache_variable", "data:dioRobotIsSafe"
)
== "true"
):
gevent.sleep(0.5)
return True
gevent.sleep(1)
logging.getLogger("HWR").info("unload load task done")
for msg in self.get_robot_exceptions():
logging.getLogger("HWR").error(msg)
return self._check_pin_on_gonio()
def _check_pin_on_gonio(self):
if self.exporter_addr:
_on_gonio = self._execute_cmd_exporter("pin_on_gonio", command=True)
else:
_on_gonio = self._execute_cmd("pin_on_gonio")
if _on_gonio:
# finish the loading actions
self._prepare_centring_task()
return True
else:
logging.getLogger("HWR").info("reset loaded sample")
self._reset_loaded_sample()
# if self.controller:
# self.controller.hutch_actions(release_interlock=True)
return False
def reset_loaded_sample(self):
if self.exporter_addr:
self._execute_cmd_exporter("reset_loaded_position", command=True)
else:
self._execute_cmd("reset_loaded_position")
self._reset_loaded_sample()
def get_robot_exceptions(self):
if self.exporter_addr:
"""
return self._execute_cmd_exporter('getRobotExceptions',
attribute=True)
"""
return ""
else:
return self._execute_cmd("getRobotExceptions")
@task
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
@task
def unload_sample(
self,
holderLength,
sample_id=None,
sample_location=None,
successCallback=None,
failureCallback=None,
):
cell, basket, sample = sample_location
sample = self.get_component_by_address(Pin.get_sample_address(cell, basket, sample))
return self.unload(sample)
@task
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 get_gripper(self):
if self.exporter_addr:
gripper_type = self._execute_cmd_exporter(
"get_gripper_type", attribute=True
)
else:
gripper_type = self._execute_cmd("get_gripper_type")
return self.gripper_types.get(gripper_type, "?")
def get_available_grippers(self):
grippers = []
if self.exporter_addr:
ret = sorted(
self._execute_cmd_exporter("getSupportedGrippers", attribute=True)
)
for gripper in ret:
grippers.append(self.gripper_types[gripper])
return grippers
@task
def change_gripper(self, gripper=None):
self.prepare_load(wait=True)
self.enable_power()
if self.exporter_addr:
if gripper:
self._execute_cmd_exporter("setGripper", gripper, command=True)
else:
self._execute_cmd_exporter("changeGripper", command=True)
else:
self._execute_cmd("changeGripper")
@task
def home(self):
self.prepare_load(wait=True)
self.enable_power()
if self.exporter_addr:
self._execute_cmd_exporter("homeClear", command=True)
else:
self._execute_cmd("homeClear")
@task
def enable_power(self):
if not self.exporter_addr:
self._execute_cmd("enablePower", 1)
@task
def defreeze(self):
self.prepare_load(wait=True)
self.enable_power()
if self.exporter_addr:
self._execute_cmd_exporter("defreezeGripper", command=True)
else:
self._execute_cmd("defreezeGripper")
def _do_load(self, sample=None):
self._update_state()
if self.exporter_addr:
load_task = gevent.spawn(
self._execute_cmd_exporter,
"load_sample",
sample.get_cell_no(),
sample.get_basket_no(),
sample.get_vial_no(),
command=True,
)
else:
load_task = gevent.spawn(
self._execute_cmd,
"load_sample",
sample.get_cell_no(),
sample.get_basket_no(),
sample.get_vial_no(),
)
gevent.sleep(5)
err_msg = "Timeout waiting for sample changer to be in safe position"
while not load_task.ready():
if self.exporter_addr:
loading_state = self._execute_cmd_exporter(
"getCurrentLoadSampleState", attribute=True
)
if "on_gonio" in loading_state:
self._set_loaded_sample(sample)
with gevent.Timeout(20, RuntimeError(err_msg)):
while not self._execute_cmd_exporter(
"getRobotIsSafe", attribute=True
):
gevent.sleep(0.5)
return True
else:
loading_state = str(
self._execute_cmd("sampleStatus", "LoadSampleStatus")
)
if "on_gonio" in loading_state:
self._set_loaded_sample(sample)
with gevent.Timeout(20, RuntimeError(err_msg)):
while (
not self._execute_cmd(
"get_robot_cache_variable", "data:dioRobotIsSafe"
)
== "true"
):
gevent.sleep(0.5)
return True
gevent.sleep(1)
if self.exporter_addr:
loaded_sample = self._execute_cmd_exporter(
"get_loaded_sample", attribute=True
)
else:
loaded_sample = self._execute_cmd("get_loaded_sample")
if loaded_sample == (
sample.get_cell_no(),
sample.get_basket_no(),
sample.get_vial_no(),
):
self._set_loaded_sample(sample)
return True
return self._check_pin_on_gonio()
def _do_unload(self, sample=None):
loaded_sample = self.get_loaded_sample()
if loaded_sample is not None and loaded_sample != sample:
raise RuntimeError("Cannot unload another sample")
if self.exporter_addr:
self._execute_cmd_exporter(
"unload_sample",
sample.get_cell_no(),
sample.get_basket_no(),
sample.get_vial_no(),
command=True,
)
loaded_sample = self._execute_cmd_exporter(
"get_loaded_sample", attribute=True
)
else:
self._execute_cmd(
"unload_sample",
sample.get_cell_no(),
sample.get_basket_no(),
sample.get_vial_no(),
)
loaded_sample = self._execute_cmd("get_loaded_sample")
if loaded_sample == (-1, -1, -1):
self._reset_loaded_sample()
if self.controller:
self.controller.hutch_actions(release_interlock=True)
return True
return False
def _do_abort(self):
if self.exporter_addr:
self._execute_cmd_exporter("abort", command=True)
else:
self._execute_cmd("abort")
def _do_reset(self):
if self.exporter_addr:
self._execute_cmd_exporter("homeClear", command=True)
else:
self._execute_cmd("homeClear")
def clear_basket_info(self, basket):
return self._reset_basket_info(basket)
def _reset_basket_info(self, basket):
pass
def clear_cell_info(self, cell):
return self._reset_cell_info(cell)
def _reset_cell_info(self, cell):
pass
def _update_state(self):
# see if the command exists for exporter
if not self.exporter_addr:
defreezing = self._execute_cmd("isDefreezing")
if defreezing:
self._set_state(SampleChangerState.Ready)
try:
state = self._read_state()
except Exception:
state = SampleChangerState.Unknown
self._set_state(state)
def is_sequencer_ready(self):
if self.prepareLoad:
cmdobj = self.get_command_object
return all(
[cmd.isSpecReady() for cmd in (cmdobj("moveToLoadingPosition"),)]
)
return True
def _read_state(self):
# should read state from robot
if self.exporter_addr:
# state = self.swstate_attr.get_value().upper()
state = self._execute_cmd_exporter("State", attrubute=True)
else:
state = "RUNNING" if self._execute_cmd("robot.isBusy") else "STANDBY"
if state == "STANDBY" and not self.is_sequencer_ready():
state = "RUNNING"
state = "READY"
state_converter = {
"ALARM": SampleChangerState.Alarm,
"FAULT": SampleChangerState.Fault,
"RUNNING": SampleChangerState.Moving,
"READY": SampleChangerState.Ready,
"STANDBY": SampleChangerState.Ready,
}
return state_converter.get(state, SampleChangerState.Unknown)
def _is_device_busy(self, state=None):
if state is None:
state = self._read_state()
return state not in (
SampleChangerState.Ready,
SampleChangerState.Loaded,
SampleChangerState.Alarm,
SampleChangerState.Disabled,
SampleChangerState.Fault,
SampleChangerState.StandBy,
)
def _is_device_ready(self):
state = self._read_state()
return state in (SampleChangerState.Ready, SampleChangerState.Charging)
def _wait_device_ready(self, timeout=None):
with gevent.Timeout(timeout, Exception("Timeout waiting for device ready")):
while not self._is_device_ready():
gevent.sleep(0.01)
def _update_selection(self):
if self.exporter_addr:
sample_cell, sample_puck, sample = self._execute_cmd_exporter(
"get_loaded_sample", attribute=True
)
cell = sample_cell
puck = sample_puck
else:
cell, puck = self._execute_cmd("get_cell_position")
sample_cell, sample_puck, sample = self._execute_cmd("get_loaded_sample")
for c in self.get_components():
i = c.get_index()
if cell == i + 1:
self._set_selected_component(c)
break
# find sample
for s in self.get_sample_list():
if s.get_coords() == (sample_cell, sample_puck, sample):
self._set_loaded_sample(s)
# self._set_selected_sample(s)
return
for s in self.get_sample_list():
s._set_loaded(False)
self._set_selected_sample(None)
def prepare_hutch(self, **kwargs):
if self.exporter_addr:
return
user_port = kwargs.get("user_port")
robot_port = kwargs.get("robot_port")
if user_port is not None:
self._execute_cmd("robot.user_port(user_port)")
if robot_port is not None:
self._execute_cmd("robot.robot_port(robot_port)")
class EMBLFlexHCD(SampleChanger):
__TYPE__ = "HCD"
def __init__(self, *args, **kwargs):
super(EMBLFlexHCD, self).__init__(self.__TYPE__, True, *args, **kwargs)
def init(self):
sc3_pucks = self.getProperty("sc3_pucks", True)
for i in range(8):
cell = Cell(self, i + 1, sc3_pucks)
self._add_component(cell)
self.robot = self.getProperty("tango_device")
if self.robot:
self.robot = DeviceProxy(self.robot)
self.exporter_addr = self.getProperty("exporter_address")
self.swstate_attr = self.add_channel(
{
"type": "exporter",
"exporter_address": self.exporter_addr,
"name": "swstate",
},
"State",
)
self.controller = self.getObjectByRole("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()
def get_sample_list(self):
sample_list = super().get_sample_list()
sc_present_sample_list = self._execute_cmd_exporter(
"getPresentSamples", attribute=True).split(":")
present_sample_list = []
for sample in sample_list:
for present_sample_str in sc_present_sample_list:
present_sample = present_sample_str.split(",")
if sample.get_address() == (str(present_sample[0]) + ":" +
str(present_sample[1]) + ":" +
"%02d" % int(present_sample[4])):
present_sample_list.append(sample)
return present_sample_list
@task
def prepare_load(self):
if self.controller:
self.controller.hutch_actions(enter=True)
else:
self.prepareLoad()
@task
def _prepare_centring_task(self):
if self.controller:
#gevent.sleep(2)
self.controller.hutch_actions(enter=False, sc_loading=True)
else:
gevent.sleep(2)
self.get_command_object("unlockMinidiffMotors")(wait=True)
self.get_command_object("prepareCentring")(wait=True)
def prepare_centring(self):
self._prepare_centring_task()
def get_sample_properties(self):
return (Pin.__HOLDER_LENGTH_PROPERTY__, )
def get_basket_list(self):
basket_list = []
# put here only the baskets that exist, not all the possible ones
for cell in self.get_components():
for basket in cell.get_components():
if isinstance(basket, Basket):
basket_list.append(basket)
return basket_list
def _do_change_mode(self, *args, **kwargs):
return
def _do_update_info(self):
# self._update_selection()
self._update_state()
def _do_scan(self, component, recursive=True, saved={"barcodes": None}):
return
def _execute_cmd(self, cmd, *args, **kwargs):
timeout = kwargs.pop("timeout", None)
if args:
cmd_str = "flex.%s(%s)" % (cmd, ",".join(map(repr, args)))
else:
cmd_str = "flex.%s()" % cmd
cmd_id = self.robot.eval(cmd_str)
if not cmd_id:
cmd_id = self.robot.eval(cmd_str)
with gevent.Timeout(
timeout,
RuntimeError("Timeout while executing %s" % repr(cmd_str))):
while True:
if self.robot.is_finished(cmd_id):
break
gevent.sleep(0.2)
res = self.robot.get_result(cmd_id)
if res:
res = pickle.loads(base64.b64decode(res))
if isinstance(res, Exception):
raise res
else:
return res
def _execute_cmd_exporter(self, cmd, *args, **kwargs):
ret = None
timeout = kwargs.pop("timeout", 900)
if args:
args_str = "%s" % "\t".join(map(repr, args))
if kwargs.pop("command", None):
exp_cmd = self.add_command(
{
"type": "exporter",
"exporter_address": self.exporter_addr,
"name": "%s" % cmd,
},
"%s" % cmd,
)
if args:
ret = exp_cmd(args_str)
else:
ret = exp_cmd()
if kwargs.pop("attribute", None):
exp_attr = self.add_channel(
{
"type": "exporter",
"exporter_address": self.exporter_addr,
"name": "%s" % cmd,
},
"%s" % cmd[3:],
)
if cmd.startswith("get"):
return exp_attr.get_value()
if cmd.startswith("set"):
ret = exp_attr.set_value(args_str)
self._wait_ready(timeout=timeout)
return ret
def _assert_ready(self):
if not self._ready():
raise RuntimeError("Sample changer is busy cant mount/unmount")
def _ready(self):
return self._execute_cmd_exporter("getState",
attribute=True) == "Ready"
def _busy(self):
return self._execute_cmd_exporter("getState",
attribute=True) != "Ready"
def _wait_ready(self, timeout=None):
# None means wait forever timeout <=0 use default timeout
if timeout is not None and timeout <= 0:
timeout = self.timeout
err_msg = "Timeout waiting for sample changer to be ready"
with gevent.Timeout(timeout, RuntimeError(err_msg)):
while not self._ready():
gevent.sleep(0.5)
def _wait_busy(self, timeout=None):
# None means wait forever timeout <=0 use default timeout
if timeout is not None and timeout <= 0:
timeout = self.timeout
err_msg = "Timeout waiting for sample changer action to start"
with gevent.Timeout(timeout, RuntimeError(err_msg)):
while not self._busy():
gevent.sleep(0.5)
def _do_select(self, component):
if isinstance(component, Cell):
cell_pos = component.get_index() + 1
elif isinstance(component, Basket) or isinstance(component, Pin):
cell_pos = component.get_cell_no()
self._execute_cmd_exporter("moveDewar", cell_pos, command=True)
self._update_selection()
@task
def load_sample(
self,
holderLength,
sample_id=None,
sample_location=None,
sampleIsLoadedCallback=None,
failureCallback=None,
prepareCentring=True,
):
# self._assert_ready()
cell, basket, sample = sample_location
sample = self.get_component_by_address(
Pin.get_sample_address(cell, basket, sample))
return self.load(sample)
def chained_load(self, old_sample, sample):
return self._do_load(sample)
def _set_loaded_sample_and_prepare(self, sample):
res = False
if not -1 in sample:
self._set_loaded_sample(self.get_sample_with_address(sample))
self._prepare_centring_task()
res = True
return res
def _hw_get_mounted_sample(self):
loaded_sample = tuple(
self._execute_cmd_exporter("getMountedSamplePosition",
attribute=True))
return (str(loaded_sample[0]) + ":" + str(loaded_sample[1]) + ":" +
"%02d" % loaded_sample[2])
def get_loaded_sample(self):
sample = None
loaded_sample_addr = self._hw_get_mounted_sample()
for s in self.get_sample_list():
if s.get_address() == loaded_sample_addr:
sample = s
return sample
def get_sample_with_address(self, address):
sample = None
address = str(address[0]) + ":" + str(
address[1]) + ":" + "%02d" % address[2]
for s in self.get_sample_list():
if s.get_address() == address:
sample = s
return sample
def reset_loaded_sample(self):
self._execute_cmd_exporter("resetLoadedPosition", command=True)
self._reset_loaded_sample()
def get_robot_exceptions(self):
return [
self._execute_cmd_exporter('getLastTaskException', attribute=True)
] or [""]
@task
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
@task
def unload_sample(
self,
holderLength,
sample_id=None,
sample_location=None,
successCallback=None,
failureCallback=None,
):
self._assert_ready()
cell, basket, sample = sample_location
sample = self.get_component_by_address(
Pin.get_sample_address(cell, basket, sample))
return self.unload(sample)
@task
def unload(self, sample):
self.prepare_load(wait=True)
self.enable_power()
if not sample:
sample = self._hw_get_mounted_sample()
try:
SampleChanger.unload(self, sample)
finally:
for msg in self.get_robot_exceptions():
logging.getLogger("HWR").error(msg)
def get_gripper(self):
gripper_type = self._execute_cmd_exporter("get_gripper_type",
attribute=True)
return self.gripper_types.get(gripper_type, "?")
def get_available_grippers(self):
grippers = []
try:
ret = sorted(
self._execute_cmd_exporter("getSupportedGrippers",
attribute=True))
for gripper in ret:
grippers.append(self.gripper_types[gripper])
except Exception:
grippers = [-1]
return grippers
@task
def change_gripper(self, gripper=None):
self.prepare_load(wait=True)
self.enable_power()
if gripper:
self._execute_cmd_exporter("setGripper", gripper, command=True)
else:
self._execute_cmd_exporter("changeGripper", command=True)
@task
def home(self):
self.prepare_load(wait=True)
self.enable_power()
self._execute_cmd_exporter("homeClear", command=True)
@task
def enable_power(self):
if not self.exporter_addr:
self._execute_cmd("enablePower", 1)
@task
def defreeze(self):
self.prepare_load(wait=True)
self.enable_power()
self._execute_cmd_exporter("defreezeGripper", command=True)
def _do_load(self, sample=None):
self._update_state()
# We wait for the sample changer if its already doing something, like defreezing
# wait for 6 minutes then timeout !
self._wait_ready(600)
# Start loading
load_task = gevent.spawn(
self._execute_cmd_exporter,
"loadSample",
sample.get_cell_no(),
sample.get_basket_no(),
sample.get_vial_no(),
command=True,
)
# Wait for sample changer to start activity
self._wait_busy(30)
# Wait for the sample to be loaded, (put on the goniometer)
err_msg = "Timeout while waiting to sample to be loaded"
with gevent.Timeout(600, RuntimeError(err_msg)):
while not load_task.ready():
loaded_sample = tuple(
self._execute_cmd_exporter("getMountedSamplePosition",
attribute=True))
if loaded_sample == (
sample.get_cell_no(),
sample.get_basket_no(),
sample.get_vial_no(),
):
break
gevent.sleep(2)
with gevent.Timeout(600, RuntimeError(err_msg)):
while True:
is_safe = self._execute_cmd_exporter("getRobotIsSafe",
attribute=True)
if is_safe:
break
gevent.sleep(2)
for msg in self.get_robot_exceptions():
logging.getLogger("HWR").error(msg)
return self._set_loaded_sample_and_prepare(loaded_sample)
def _do_unload(self, sample=None):
self._execute_cmd_exporter(
"unloadSample",
sample.get_cell_no(),
sample.get_basket_no(),
sample.get_vial_no(),
command=True,
)
loaded_sample = tuple(
self._execute_cmd_exporter("getMountedSamplePosition",
attribute=True))
for msg in self.get_robot_exceptions():
logging.getLogger("HWR").error(msg)
if loaded_sample == (-1, -1, -1):
self._reset_loaded_sample()
if self.controller:
self.controller.hutch_actions(release_interlock=True)
return True
return False
def _do_abort(self):
self._execute_cmd_exporter("abort", command=True)
def _do_reset(self):
self._execute_cmd_exporter("homeClear", command=True)
def clear_basket_info(self, basket):
return self._reset_basket_info(basket)
def _reset_basket_info(self, basket):
pass
def clear_cell_info(self, cell):
return self._reset_cell_info(cell)
def _reset_cell_info(self, cell):
pass
def _update_state(self):
try:
state = self._read_state()
status = self._execute_cmd_exporter("getStatus", attribute=True)
except Exception:
state = SampleChangerState.Unknown
status = "Unknown"
self._set_state(state, status)
def is_sequencer_ready(self):
if self.prepareLoad:
cmdobj = self.get_command_object
return all([
cmd.isSpecReady()
for cmd in (cmdobj("moveToLoadingPosition"), )
])
return True
def _read_state(self):
state = self._execute_cmd_exporter("getState", attribute=True).upper()
state_converter = {
"ALARM": SampleChangerState.Alarm,
"FAULT": SampleChangerState.Fault,
"RUNNING": SampleChangerState.Moving,
"READY": SampleChangerState.Ready,
"STANDBY": SampleChangerState.Ready,
}
return state_converter.get(state, SampleChangerState.Unknown)
def _is_device_busy(self, state=None):
if state is None:
state = self._read_state()
return state not in (
SampleChangerState.Ready,
SampleChangerState.Loaded,
SampleChangerState.Alarm,
SampleChangerState.Disabled,
SampleChangerState.Fault,
SampleChangerState.StandBy,
)
def _is_device_ready(self):
state = self._read_state()
return state in (SampleChangerState.Ready, SampleChangerState.Charging)
def _wait_device_ready(self, timeout=None):
with gevent.Timeout(timeout,
Exception("Timeout waiting for device ready")):
while not self._is_device_ready():
gevent.sleep(0.01)
def _update_selection(self):
sample_cell, sample_puck, sample = self._execute_cmd_exporter(
"getMountedSamplePosition", attribute=True)
cell = sample_cell
puck = sample_puck
for c in self.get_components():
i = c.get_index()
if cell == i + 1:
self._set_selected_component(c)
break
# find sample
for s in self.get_sample_list():
if s.get_coords() == (sample_cell, sample_puck, sample):
self._set_loaded_sample(s)
self._set_selected_sample(s)
else:
s._set_loaded(False)
self._set_selected_sample(None)
def prepare_hutch(self, **kwargs):
return
class FlexHCD(SampleChanger):
__TYPE__ = 'HCD'
def __init__(self, *args, **kwargs):
super(FlexHCD, self).__init__(self.__TYPE__, True, *args, **kwargs)
def init(self):
sc3_pucks = self.getProperty('sc3_pucks', True)
for i in range(8):
cell = Cell(self, i + 1, sc3_pucks)
self._addComponent(cell)
self.robot = self.getProperty('tango_device')
if self.robot:
self.robot = DeviceProxy(self.robot)
self.exporter_addr = self.getProperty('exporter_address')
if self.exporter_addr:
self.swstate_attr = self.addChannel(
{
'type': 'exporter',
'exporter_address': self.exporter_addr,
'name': 'swstate'
}, 'State')
self.controller = self.getObjectByRole('controller')
self.prepareLoad = self.getCommandObject('moveToLoadingPosition')
self.timeout = 3
self.gripper_types = {
-1: "No Gripper",
1: "UNIPUCK",
2: "MINISPINE",
3: "FLIPPING",
4: "UNIPUCK_DOUBLE",
5: "PLATE"
}
return SampleChanger.init(self)
@task
def prepare_load(self):
if self.controller:
self.controller.hutch_actions(condition=True)
else:
self.prepareLoad()
@task
def prepare_centring(self):
if self.controller:
self.controller.hutch_actions(condition=False, sc_loading=True)
else:
gevent.sleep(2)
self.getCommandObject('unlockMinidiffMotors')(wait=True)
self.getCommandObject('prepareCentring')(wait=True)
def prepareCentring(self):
self.prepare_centring()
def getSampleProperties(self):
return (Pin.__HOLDER_LENGTH_PROPERTY__, )
def getBasketList(self):
basket_list = []
# put here only the baskets that exist, not all the possible ones
# if self.exporter_addr:
# basket_list =
for cell in self.getComponents():
for basket in cell.getComponents():
if isinstance(basket, Basket):
basket_list.append(basket)
return basket_list
def _doChangeMode(self, *args, **kwargs):
return
def _doUpdateInfo(self):
# self._updateSelection()
self._updateState()
def _doScan(self, component, recursive=True, saved={'barcodes': None}):
return
def _execute_cmd(self, cmd, *args, **kwargs):
timeout = kwargs.pop('timeout', None)
if args:
cmd_str = 'flex.%s(%s)' % (cmd, ",".join(map(repr, args)))
else:
cmd_str = 'flex.%s()' % cmd
cmd_id = self.robot.eval(cmd_str)
if not cmd_id:
cmd_id = self.robot.eval(cmd_str)
with gevent.Timeout(
timeout,
RuntimeError("Timeout while executing %s" % repr(cmd_str))):
while True:
if self.robot.is_finished(cmd_id):
break
gevent.sleep(0.2)
res = self.robot.get_result(cmd_id)
if res:
res = cPickle.loads(base64.decodestring(res))
if isinstance(res, Exception):
raise res
else:
return res
def _execute_cmd_exporter(self, cmd, *args, **kwargs):
timeout = kwargs.pop('timeout', 900)
if args:
args_str = "%s" % "\t".join(map(repr, args))
if kwargs.pop('command', None):
exp_cmd = self.addCommand(
{
'type': 'exporter',
'exporter_address': self.exporter_addr,
'name': '%s' % cmd
}, "%s" % cmd)
if args:
ret = exp_cmd(args_str)
else:
ret = exp_cmd()
if kwargs.pop('attribute', None):
exp_attr = self.addChannel(
{
'type': 'exporter',
'exporter_address': self.exporter_addr,
'name': '%s' % cmd
}, "%s" % cmd[3:])
if cmd.startswith('get'):
return exp_attr.getValue()
if cmd.startswith('set'):
ret = exp_attr.setValue(args_str)
self._wait_ready(timeout=timeout)
return ret
def _ready(self):
return self.swstate_attr.getValue() == 'Ready'
def _wait_ready(self, timeout=None):
err_msg = "Timeout waiting for sample changer to be ready"
# None means infinite timeout <=0 means default timeout
if timeout is not None and timeout <= 0:
timeout = self.timeout
with gevent.Timeout(timeout, RuntimeError(err_msg)):
while not self._ready():
time.sleep(0.5)
def _doSelect(self, component):
if isinstance(component, Cell):
cell_pos = component.getIndex() + 1
elif isinstance(component, Basket) or isinstance(component, Pin):
cell_pos = component.getCellNo()
if self.exporter_addr:
self._execute_cmd_exporter('moveDewar', cell_pos, command=True)
else:
self._execute_cmd('moveDewar', cell_pos)
self._updateSelection()
@task
def load_sample(self,
holderLength,
sample_id=None,
sample_location=None,
sampleIsLoadedCallback=None,
failureCallback=None,
prepareCentring=True):
cell, basket, sample = sample_location
sample = self.getComponentByAddress(
Pin.getSampleAddress(cell, basket, sample))
return self.load(sample)
def chained_load(self, old_sample, sample):
if self.exporter_addr:
unload_load_task = gevent.spawn(self._execute_cmd_exporter,
'loadSample',
sample.getCellNo(),
sample.getBasketNo(),
sample.getVialNo(),
command=True)
else:
unload_load_task = gevent.spawn(
self._execute_cmd, 'chainedUnldLd', [
old_sample.getCellNo(),
old_sample.getBasketNo(),
old_sample.getVialNo()
],
[sample.getCellNo(),
sample.getBasketNo(),
sample.getVialNo()])
gevent.sleep(15)
err_msg = "Timeout waiting for sample changer to be in safe position"
while not unload_load_task.ready():
if self.exporter_addr:
loading_state = self._execute_cmd_exporter(
'getCurrentLoadSampleState', attribute=True)
if 'on_gonio' in loading_state:
self._setLoadedSample(sample)
with gevent.Timeout(20, RuntimeError(err_msg)):
while not self._execute_cmd_exporter('getRobotIsSafe',
attribute=True):
gevent.sleep(0.5)
return True
else:
loading_state = str(
self._execute_cmd('sampleStatus', 'LoadSampleStatus'))
if 'on_gonio' in loading_state:
self._setLoadedSample(sample)
with gevent.Timeout(20, RuntimeError(err_msg)):
while not self._execute_cmd(
'get_robot_cache_variable',
'data:dioRobotIsSafe') == 'true':
gevent.sleep(0.5)
return True
gevent.sleep(1)
logging.getLogger('HWR').info("unload load task done")
for msg in self.get_robot_exceptions():
logging.getLogger('HWR').error(msg)
return self._check_pin_on_gonio()
def _check_pin_on_gonio(self):
print "_check_pin_on_gonio"
if self.exporter_addr:
_on_gonio = self._execute_cmd_exporter('pin_on_gonio',
command=True)
else:
_on_gonio = self._execute_cmd('pin_on_gonio')
if _on_gonio:
# finish the loading actions
self.prepare_centring()
return True
else:
logging.getLogger('HWR').info("reset loaded sample")
self._resetLoadedSample()
# if self.controller:
# self.controller.hutch_actions(release_interlock=True)
return False
def reset_loaded_sample(self):
if self.exporter_addr:
self._execute_cmd_exporter('reset_loaded_position', command=True)
else:
self._execute_cmd('reset_loaded_position')
self._resetLoadedSample()
def get_robot_exceptions(self):
if self.exporter_addr:
"""
return self._execute_cmd_exporter('getRobotExceptions',
attribute=True)
"""
return ""
else:
return self._execute_cmd('getRobotExceptions')
@task
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.prepareCentring()
return res
@task
def unload_sample(self,
holderLength,
sample_id=None,
sample_location=None,
successCallback=None,
failureCallback=None):
cell, basket, sample = sample_location
sample = self.getComponentByAddress(
Pin.getSampleAddress(cell, basket, sample))
return self.unload(sample)
@task
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 get_gripper(self):
if self.exporter_addr:
gripper_type = self._execute_cmd_exporter('get_gripper_type',
attribute=True)
else:
gripper_type = self._execute_cmd('get_gripper_type')
return self.gripper_types.get(gripper_type, '?')
def get_available_grippers(self):
grippers = []
if self.exporter_addr:
ret = self._execute_cmd_exporter('getSupportedGrippers',
attribute=True)
ret.sort()
for gripper in ret:
grippers.append(self.gripper_types[gripper])
return grippers
@task
def change_gripper(self, gripper=None):
self.prepare_load(wait=True)
self.enable_power()
if self.exporter_addr:
if gripper:
self._execute_cmd_exporter('setGripper', gripper, command=True)
else:
self._execute_cmd_exporter('changeGripper', command=True)
else:
self._execute_cmd('changeGripper')
@task
def home(self):
self.prepare_load(wait=True)
self.enable_power()
if self.exporter_addr:
self._execute_cmd_exporter('homeClear', command=True)
else:
self._execute_cmd('homeClear')
@task
def enable_power(self):
if not self.exporter_addr:
self._execute_cmd('enablePower', 1)
@task
def defreeze(self):
self.prepare_load(wait=True)
self.enable_power()
if self.exporter_addr:
self._execute_cmd_exporter('defreezeGripper', command=True)
else:
self._execute_cmd('defreezeGripper')
def _doLoad(self, sample=None):
self._updateState()
if self.exporter_addr:
load_task = gevent.spawn(self._execute_cmd_exporter,
'loadSample',
sample.getCellNo(),
sample.getBasketNo(),
sample.getVialNo(),
command=True)
else:
load_task = gevent.spawn(self._execute_cmd, 'loadSample',
sample.getCellNo(), sample.getBasketNo(),
sample.getVialNo())
gevent.sleep(5)
err_msg = "Timeout waiting for sample changer to be in safe position"
while not load_task.ready():
if self.exporter_addr:
loading_state = self._execute_cmd_exporter(
'getCurrentLoadSampleState', attribute=True)
if 'on_gonio' in loading_state:
self._setLoadedSample(sample)
with gevent.Timeout(20, RuntimeError(err_msg)):
while not self._execute_cmd_exporter('getRobotIsSafe',
attribute=True):
gevent.sleep(0.5)
return True
else:
loading_state = str(
self._execute_cmd('sampleStatus', 'LoadSampleStatus'))
if 'on_gonio' in loading_state:
self._setLoadedSample(sample)
with gevent.Timeout(20, RuntimeError(err_msg)):
while not self._execute_cmd(
'get_robot_cache_variable',
'data:dioRobotIsSafe') == 'true':
gevent.sleep(0.5)
return True
gevent.sleep(1)
if self.exporter_addr:
loaded_sample = self._execute_cmd_exporter('get_loaded_sample',
attribute=True)
else:
loaded_sample = self._execute_cmd('get_loaded_sample')
if loaded_sample == (sample.getCellNo(), sample.getBasketNo(),
sample.getVialNo()):
self._setLoadedSample(sample)
return True
return self._check_pin_on_gonio()
def _doUnload(self, sample=None):
loaded_sample = self.getLoadedSample()
if loaded_sample is not None and loaded_sample != sample:
raise RuntimeError("Cannot unload another sample")
if self.exporter_addr:
self._execute_cmd_exporter('unloadSample',
sample.getCellNo(),
sample.getBasketNo(),
sample.getVialNo(),
command=True)
loaded_sample = self._execute_cmd_exporter('get_loaded_sample',
attribute=True)
else:
self._execute_cmd('unloadSample', sample.getCellNo(),
sample.getBasketNo(), sample.getVialNo())
loaded_sample = self._execute_cmd('get_loaded_sample')
if loaded_sample == (-1, -1, -1):
self._resetLoadedSample()
if self.controller:
self.controller.hutch_actions(release_interlock=True)
return True
return False
def _doAbort(self):
if self.exporter_addr:
self._execute_cmd_exporter('abort', command=True)
else:
self._execute_cmd('abort')
def _doReset(self):
if self.exporter_addr:
self._execute_cmd_exporter('homeClear', command=True)
else:
self._execute_cmd('homeClear')
def clearBasketInfo(self, basket):
return self._reset_basket_info(basket)
def _reset_basket_info(self, basket):
pass
def clearCellInfo(self, cell):
return self._reset_cell_info(cell)
def _reset_cell_info(self, cell):
pass
def _updateState(self):
# see if the command exists for exporter
if not self.exporter_addr:
defreezing = self._execute_cmd('isDefreezing')
if defreezing:
self._setState(SampleChangerState.Ready)
try:
state = self._readState()
except Exception:
state = SampleChangerState.Unknown
self._setState(state)
def isSequencerReady(self):
if self.prepareLoad:
cmdobj = self.getCommandObject
return all([
cmd.isSpecReady()
for cmd in (cmdobj('moveToLoadingPosition'), )
])
return True
def _readState(self):
# should read state from robot
if self.exporter_addr:
state = self.swstate_attr.getValue().upper()
else:
state = 'RUNNING' if self._execute_cmd(
'robot.isBusy') else 'STANDBY'
if state == 'STANDBY' and not self.isSequencerReady():
state = 'RUNNING'
state_converter = {
'ALARM': SampleChangerState.Alarm,
'FAULT': SampleChangerState.Fault,
'RUNNING': SampleChangerState.Moving,
'READY': SampleChangerState.Ready,
'STANDBY': SampleChangerState.Ready
}
return state_converter.get(state, SampleChangerState.Unknown)
def _isDeviceBusy(self, state=None):
if state is None:
state = self._readState()
return state not in (SampleChangerState.Ready,
SampleChangerState.Loaded,
SampleChangerState.Alarm,
SampleChangerState.Disabled,
SampleChangerState.Fault,
SampleChangerState.StandBy)
def _isDeviceReady(self):
state = self._readState()
return state in (SampleChangerState.Ready, SampleChangerState.Charging)
def _waitDeviceReady(self, timeout=None):
with gevent.Timeout(timeout,
Exception("Timeout waiting for device ready")):
while not self._isDeviceReady():
gevent.sleep(0.01)
def _updateSelection(self):
if self.exporter_addr:
sample_cell, sample_puck, sample = self._execute_cmd_exporter(
'get_loaded_sample', attribute=True)
cell = sample_cell
puck = sample_puck
else:
cell, puck = self._execute_cmd('get_cell_position')
sample_cell, sample_puck, sample = self._execute_cmd(
'get_loaded_sample')
for c in self.getComponents():
i = c.getIndex()
if cell == i + 1:
self._setSelectedComponent(c)
break
# find sample
for s in self.getSampleList():
if s.getCoords() == (sample_cell, sample_puck, sample):
self._setLoadedSample(s)
# self._setSelectedSample(s)
return
for s in self.getSampleList():
s._setLoaded(False)
self._setSelectedSample(None)
def prepare_hutch(self, **kwargs):
if self.exporter_addr:
return
user_port = kwargs.get('user_port')
robot_port = kwargs.get('robot_port')
if user_port is not None:
self._execute_cmd('robot.user_port(user_port)')
if robot_port is not None:
self._execute_cmd('robot.robot_port(robot_port)')
class FlexHCD(SampleChanger):
__TYPE__ = "HCD"
def __init__(self, *args, **kwargs):
super(FlexHCD, self).__init__(self.__TYPE__, True, *args, **kwargs)
def init(self):
sc3_pucks = self.getProperty("sc3_pucks", True)
for i in range(8):
cell = Cell(self, i + 1, sc3_pucks)
self._addComponent(cell)
self.robot = self.getProperty("tango_device")
if self.robot:
self.robot = DeviceProxy(self.robot)
self.exporter_addr = self.getProperty("exporter_address")
if self.exporter_addr:
self.swstate_attr = self.addChannel(
{
"type": "exporter",
"exporter_address": self.exporter_addr,
"name": "swstate",
},
"State",
)
self.controller = self.getObjectByRole("controller")
self.prepareLoad = self.getCommandObject("moveToLoadingPosition")
self.timeout = 3
self.gripper_types = {
-1: "No Gripper",
1: "UNIPUCK",
2: "MINISPINE",
3: "FLIPPING",
4: "UNIPUCK_DOUBLE",
5: "PLATE",
}
return SampleChanger.init(self)
@task
def prepare_load(self):
if self.controller:
self.controller.hutch_actions(condition=True)
else:
self.prepareLoad()
@task
def prepare_centring(self):
if self.controller:
self.controller.hutch_actions(condition=False, sc_loading=True)
else:
gevent.sleep(2)
self.getCommandObject("unlockMinidiffMotors")(wait=True)
self.getCommandObject("prepareCentring")(wait=True)
def prepareCentring(self):
self.prepare_centring()
def getSampleProperties(self):
return (Pin.__HOLDER_LENGTH_PROPERTY__,)
def getBasketList(self):
basket_list = []
# put here only the baskets that exist, not all the possible ones
# if self.exporter_addr:
# basket_list =
for cell in self.getComponents():
for basket in cell.getComponents():
if isinstance(basket, Basket):
basket_list.append(basket)
return basket_list
def _doChangeMode(self, *args, **kwargs):
return
def _doUpdateInfo(self):
# self._updateSelection()
self._updateState()
def _doScan(self, component, recursive=True, saved={"barcodes": None}):
return
def _execute_cmd(self, cmd, *args, **kwargs):
timeout = kwargs.pop("timeout", None)
if args:
cmd_str = "flex.%s(%s)" % (cmd, ",".join(map(repr, args)))
else:
cmd_str = "flex.%s()" % cmd
cmd_id = self.robot.eval(cmd_str)
if not cmd_id:
cmd_id = self.robot.eval(cmd_str)
with gevent.Timeout(
timeout, RuntimeError("Timeout while executing %s" % repr(cmd_str))
):
while True:
if self.robot.is_finished(cmd_id):
break
gevent.sleep(0.2)
res = self.robot.get_result(cmd_id)
if res:
res = cPickle.loads(base64.decodestring(res))
if isinstance(res, Exception):
raise res
else:
return res
def _execute_cmd_exporter(self, cmd, *args, **kwargs):
timeout = kwargs.pop("timeout", 900)
if args:
args_str = "%s" % "\t".join(map(repr, args))
if kwargs.pop("command", None):
exp_cmd = self.addCommand(
{
"type": "exporter",
"exporter_address": self.exporter_addr,
"name": "%s" % cmd,
},
"%s" % cmd,
)
if args:
ret = exp_cmd(args_str)
else:
ret = exp_cmd()
if kwargs.pop("attribute", None):
exp_attr = self.addChannel(
{
"type": "exporter",
"exporter_address": self.exporter_addr,
"name": "%s" % cmd,
},
"%s" % cmd[3:],
)
if cmd.startswith("get"):
return exp_attr.getValue()
if cmd.startswith("set"):
ret = exp_attr.setValue(args_str)
self._wait_ready(timeout=timeout)
return ret
def _ready(self):
return self.swstate_attr.getValue() == "Ready"
def _wait_ready(self, timeout=None):
err_msg = "Timeout waiting for sample changer to be ready"
# None means infinite timeout <=0 means default timeout
if timeout is not None and timeout <= 0:
timeout = self.timeout
with gevent.Timeout(timeout, RuntimeError(err_msg)):
while not self._ready():
time.sleep(0.5)
def _doSelect(self, component):
if isinstance(component, Cell):
cell_pos = component.getIndex() + 1
elif isinstance(component, Basket) or isinstance(component, Pin):
cell_pos = component.getCellNo()
if self.exporter_addr:
self._execute_cmd_exporter("moveDewar", cell_pos, command=True)
else:
self._execute_cmd("moveDewar", cell_pos)
self._updateSelection()
@task
def load_sample(
self,
holderLength,
sample_id=None,
sample_location=None,
sampleIsLoadedCallback=None,
failureCallback=None,
prepareCentring=True,
):
cell, basket, sample = sample_location
sample = self.getComponentByAddress(Pin.getSampleAddress(cell, basket, sample))
return self.load(sample)
def chained_load(self, old_sample, sample):
if self.exporter_addr:
unload_load_task = gevent.spawn(
self._execute_cmd_exporter,
"loadSample",
sample.getCellNo(),
sample.getBasketNo(),
sample.getVialNo(),
command=True,
)
else:
unload_load_task = gevent.spawn(
self._execute_cmd,
"chainedUnldLd",
[
old_sample.getCellNo(),
old_sample.getBasketNo(),
old_sample.getVialNo(),
],
[sample.getCellNo(), sample.getBasketNo(), sample.getVialNo()],
)
gevent.sleep(15)
err_msg = "Timeout waiting for sample changer to be in safe position"
while not unload_load_task.ready():
if self.exporter_addr:
loading_state = self._execute_cmd_exporter(
"getCurrentLoadSampleState", attribute=True
)
if "on_gonio" in loading_state:
self._setLoadedSample(sample)
with gevent.Timeout(20, RuntimeError(err_msg)):
while not self._execute_cmd_exporter(
"getRobotIsSafe", attribute=True
):
gevent.sleep(0.5)
return True
else:
loading_state = str(
self._execute_cmd("sampleStatus", "LoadSampleStatus")
)
if "on_gonio" in loading_state:
self._setLoadedSample(sample)
with gevent.Timeout(20, RuntimeError(err_msg)):
while (
not self._execute_cmd(
"get_robot_cache_variable", "data:dioRobotIsSafe"
)
== "true"
):
gevent.sleep(0.5)
return True
gevent.sleep(1)
logging.getLogger("HWR").info("unload load task done")
for msg in self.get_robot_exceptions():
logging.getLogger("HWR").error(msg)
return self._check_pin_on_gonio()
def _check_pin_on_gonio(self):
if self.exporter_addr:
_on_gonio = self._execute_cmd_exporter("pin_on_gonio", command=True)
else:
_on_gonio = self._execute_cmd("pin_on_gonio")
if _on_gonio:
# finish the loading actions
self.prepare_centring()
return True
else:
logging.getLogger("HWR").info("reset loaded sample")
self._resetLoadedSample()
# if self.controller:
# self.controller.hutch_actions(release_interlock=True)
return False
def reset_loaded_sample(self):
if self.exporter_addr:
self._execute_cmd_exporter("reset_loaded_position", command=True)
else:
self._execute_cmd("reset_loaded_position")
self._resetLoadedSample()
def get_robot_exceptions(self):
if self.exporter_addr:
"""
return self._execute_cmd_exporter('getRobotExceptions',
attribute=True)
"""
return ""
else:
return self._execute_cmd("getRobotExceptions")
@task
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.prepareCentring()
return res
@task
def unload_sample(
self,
holderLength,
sample_id=None,
sample_location=None,
successCallback=None,
failureCallback=None,
):
cell, basket, sample = sample_location
sample = self.getComponentByAddress(Pin.getSampleAddress(cell, basket, sample))
return self.unload(sample)
@task
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 get_gripper(self):
if self.exporter_addr:
gripper_type = self._execute_cmd_exporter(
"get_gripper_type", attribute=True
)
else:
gripper_type = self._execute_cmd("get_gripper_type")
return self.gripper_types.get(gripper_type, "?")
def get_available_grippers(self):
grippers = []
if self.exporter_addr:
ret = sorted(
self._execute_cmd_exporter("getSupportedGrippers", attribute=True)
)
for gripper in ret:
grippers.append(self.gripper_types[gripper])
return grippers
@task
def change_gripper(self, gripper=None):
self.prepare_load(wait=True)
self.enable_power()
if self.exporter_addr:
if gripper:
self._execute_cmd_exporter("setGripper", gripper, command=True)
else:
self._execute_cmd_exporter("changeGripper", command=True)
else:
self._execute_cmd("changeGripper")
@task
def home(self):
self.prepare_load(wait=True)
self.enable_power()
if self.exporter_addr:
self._execute_cmd_exporter("homeClear", command=True)
else:
self._execute_cmd("homeClear")
@task
def enable_power(self):
if not self.exporter_addr:
self._execute_cmd("enablePower", 1)
@task
def defreeze(self):
self.prepare_load(wait=True)
self.enable_power()
if self.exporter_addr:
self._execute_cmd_exporter("defreezeGripper", command=True)
else:
self._execute_cmd("defreezeGripper")
def _doLoad(self, sample=None):
self._updateState()
if self.exporter_addr:
load_task = gevent.spawn(
self._execute_cmd_exporter,
"loadSample",
sample.getCellNo(),
sample.getBasketNo(),
sample.getVialNo(),
command=True,
)
else:
load_task = gevent.spawn(
self._execute_cmd,
"loadSample",
sample.getCellNo(),
sample.getBasketNo(),
sample.getVialNo(),
)
gevent.sleep(5)
err_msg = "Timeout waiting for sample changer to be in safe position"
while not load_task.ready():
if self.exporter_addr:
loading_state = self._execute_cmd_exporter(
"getCurrentLoadSampleState", attribute=True
)
if "on_gonio" in loading_state:
self._setLoadedSample(sample)
with gevent.Timeout(20, RuntimeError(err_msg)):
while not self._execute_cmd_exporter(
"getRobotIsSafe", attribute=True
):
gevent.sleep(0.5)
return True
else:
loading_state = str(
self._execute_cmd("sampleStatus", "LoadSampleStatus")
)
if "on_gonio" in loading_state:
self._setLoadedSample(sample)
with gevent.Timeout(20, RuntimeError(err_msg)):
while (
not self._execute_cmd(
"get_robot_cache_variable", "data:dioRobotIsSafe"
)
== "true"
):
gevent.sleep(0.5)
return True
gevent.sleep(1)
if self.exporter_addr:
loaded_sample = self._execute_cmd_exporter(
"get_loaded_sample", attribute=True
)
else:
loaded_sample = self._execute_cmd("get_loaded_sample")
if loaded_sample == (
sample.getCellNo(),
sample.getBasketNo(),
sample.getVialNo(),
):
self._setLoadedSample(sample)
return True
return self._check_pin_on_gonio()
def _doUnload(self, sample=None):
loaded_sample = self.getLoadedSample()
if loaded_sample is not None and loaded_sample != sample:
raise RuntimeError("Cannot unload another sample")
if self.exporter_addr:
self._execute_cmd_exporter(
"unloadSample",
sample.getCellNo(),
sample.getBasketNo(),
sample.getVialNo(),
command=True,
)
loaded_sample = self._execute_cmd_exporter(
"get_loaded_sample", attribute=True
)
else:
self._execute_cmd(
"unloadSample",
sample.getCellNo(),
sample.getBasketNo(),
sample.getVialNo(),
)
loaded_sample = self._execute_cmd("get_loaded_sample")
if loaded_sample == (-1, -1, -1):
self._resetLoadedSample()
if self.controller:
self.controller.hutch_actions(release_interlock=True)
return True
return False
def _doAbort(self):
if self.exporter_addr:
self._execute_cmd_exporter("abort", command=True)
else:
self._execute_cmd("abort")
def _doReset(self):
if self.exporter_addr:
self._execute_cmd_exporter("homeClear", command=True)
else:
self._execute_cmd("homeClear")
def clearBasketInfo(self, basket):
return self._reset_basket_info(basket)
def _reset_basket_info(self, basket):
pass
def clearCellInfo(self, cell):
return self._reset_cell_info(cell)
def _reset_cell_info(self, cell):
pass
def _updateState(self):
# see if the command exists for exporter
if not self.exporter_addr:
defreezing = self._execute_cmd("isDefreezing")
if defreezing:
self._setState(SampleChangerState.Ready)
try:
state = self._readState()
except Exception:
state = SampleChangerState.Unknown
self._setState(state)
def isSequencerReady(self):
if self.prepareLoad:
cmdobj = self.getCommandObject
return all(
[cmd.isSpecReady() for cmd in (cmdobj("moveToLoadingPosition"),)]
)
return True
def _readState(self):
# should read state from robot
if self.exporter_addr:
state = self.swstate_attr.getValue().upper()
else:
state = "RUNNING" if self._execute_cmd("robot.isBusy") else "STANDBY"
if state == "STANDBY" and not self.isSequencerReady():
state = "RUNNING"
state_converter = {
"ALARM": SampleChangerState.Alarm,
"FAULT": SampleChangerState.Fault,
"RUNNING": SampleChangerState.Moving,
"READY": SampleChangerState.Ready,
"STANDBY": SampleChangerState.Ready,
}
return state_converter.get(state, SampleChangerState.Unknown)
def _isDeviceBusy(self, state=None):
if state is None:
state = self._readState()
return state not in (
SampleChangerState.Ready,
SampleChangerState.Loaded,
SampleChangerState.Alarm,
SampleChangerState.Disabled,
SampleChangerState.Fault,
SampleChangerState.StandBy,
)
def _isDeviceReady(self):
state = self._readState()
return state in (SampleChangerState.Ready, SampleChangerState.Charging)
def _waitDeviceReady(self, timeout=None):
with gevent.Timeout(timeout, Exception("Timeout waiting for device ready")):
while not self._isDeviceReady():
gevent.sleep(0.01)
def _updateSelection(self):
if self.exporter_addr:
sample_cell, sample_puck, sample = self._execute_cmd_exporter(
"get_loaded_sample", attribute=True
)
cell = sample_cell
puck = sample_puck
else:
cell, puck = self._execute_cmd("get_cell_position")
sample_cell, sample_puck, sample = self._execute_cmd("get_loaded_sample")
for c in self.getComponents():
i = c.getIndex()
if cell == i + 1:
self._setSelectedComponent(c)
break
# find sample
for s in self.getSampleList():
if s.getCoords() == (sample_cell, sample_puck, sample):
self._setLoadedSample(s)
# self._setSelectedSample(s)
return
for s in self.getSampleList():
s._setLoaded(False)
self._setSelectedSample(None)
def prepare_hutch(self, **kwargs):
if self.exporter_addr:
return
user_port = kwargs.get("user_port")
robot_port = kwargs.get("robot_port")
if user_port is not None:
self._execute_cmd("robot.user_port(user_port)")
if robot_port is not None:
self._execute_cmd("robot.robot_port(robot_port)")