def center_on_click(
x,
y,
fovx,
fovy,
source="screen",
maglevel=0,
jog=0
): #maglevel=0 means lowmag, high fov, #1 = himag with digizoom option,
#source=screen = from screen click, otherwise from macro with full pixel dimensions
if (getBlConfig('robot_online')
): #so that we don't move things when robot moving?
robotGovState = (getPvDesc("robotSaActive")
or getPvDesc("humanSaActive"))
if (not robotGovState):
return
if not (checkC2C_X(x, fovx)):
return
if (source == "screen"):
waitGovNoSleep()
setPvDesc("image_X_scalePix",
daq_utils.screenPixX) #these are video dimensions in the gui
setPvDesc("image_Y_scalePix", daq_utils.screenPixY)
setPvDesc("image_X_centerPix", daq_utils.screenPixX / 2)
setPvDesc("image_Y_centerPix", daq_utils.screenPixY / 2)
setPvDesc("image_X_scaleMM", float(fovx))
setPvDesc("image_Y_scaleMM", float(fovy))
else:
if (
int(maglevel) == 0
): #I think hardcoded to not use maglevel anymore, replaced with more flexible fov
setPvDesc("image_X_scalePix", daq_utils.lowMagPixX)
setPvDesc("image_Y_scalePix", daq_utils.lowMagPixY)
setPvDesc("image_X_centerPix", daq_utils.lowMagPixX / 2)
setPvDesc("image_Y_centerPix", daq_utils.lowMagPixY / 2)
setPvDesc("image_X_scaleMM", float(fovx))
setPvDesc("image_Y_scaleMM", float(fovy))
else:
setPvDesc("image_X_scalePix", daq_utils.lowMagPixX)
setPvDesc("image_Y_scalePix", daq_utils.lowMagPixY)
setPvDesc("image_X_centerPix", daq_utils.highMagPixX / 2)
setPvDesc("image_Y_centerPix", daq_utils.highMagPixY / 2)
setPvDesc("image_X_scaleMM", float(fovx))
setPvDesc("image_Y_scaleMM", float(fovy))
omega_mod = beamline_lib.motorPosFromDescriptor("omega") % 360.0
lib_gon_center_xtal(x, y, omega_mod, 0)
if (jog):
beamline_lib.mvrDescriptor("omega", float(jog))
def center_on_click(x,y,fovx,fovy,source="screen",maglevel=0,jog=0): #maglevel=0 means lowmag, high fov, #1 = himag with digizoom option,
#source=screen = from screen click, otherwise from macro with full pixel dimensions
if (db_lib.getBeamlineConfigParam(daq_utils.beamline,'robot_online')): #so that we don't move things when robot moving?
robotGovState = (beamline_support.getPvValFromDescriptor("robotSaActive") or beamline_support.getPvValFromDescriptor("humanSaActive"))
if (not robotGovState):
return
# if (daq_utils.beamline == "amx"):
if (1):
if not (checkC2C_X(x,fovx)):
return
if (source == "screen"):
waitGovNoSleep()
beamline_support.setPvValFromDescriptor("image_X_scalePix",daq_utils.screenPixX) #these are video dimensions in the gui
beamline_support.setPvValFromDescriptor("image_Y_scalePix",daq_utils.screenPixY)
beamline_support.setPvValFromDescriptor("image_X_centerPix",daq_utils.screenPixX/2)
beamline_support.setPvValFromDescriptor("image_Y_centerPix",daq_utils.screenPixY/2)
beamline_support.setPvValFromDescriptor("image_X_scaleMM",float(fovx))
beamline_support.setPvValFromDescriptor("image_Y_scaleMM",float(fovy))
else:
if (int(maglevel)==0): #I think hardcoded to not use maglevel anymore, replaced with more flexible fov
beamline_support.setPvValFromDescriptor("image_X_scalePix",daq_utils.lowMagPixX)
beamline_support.setPvValFromDescriptor("image_Y_scalePix",daq_utils.lowMagPixY)
beamline_support.setPvValFromDescriptor("image_X_centerPix",daq_utils.lowMagPixX/2)
beamline_support.setPvValFromDescriptor("image_Y_centerPix",daq_utils.lowMagPixY/2)
beamline_support.setPvValFromDescriptor("image_X_scaleMM",float(fovx))
beamline_support.setPvValFromDescriptor("image_Y_scaleMM",float(fovy))
else:
beamline_support.setPvValFromDescriptor("image_X_scalePix",daq_utils.lowMagPixX)
beamline_support.setPvValFromDescriptor("image_Y_scalePix",daq_utils.lowMagPixY)
beamline_support.setPvValFromDescriptor("image_X_centerPix",daq_utils.highMagPixX/2)
beamline_support.setPvValFromDescriptor("image_Y_centerPix",daq_utils.highMagPixY/2)
beamline_support.setPvValFromDescriptor("image_X_scaleMM",float(fovx))
beamline_support.setPvValFromDescriptor("image_Y_scaleMM",float(fovy))
omega_mod = beamline_lib.motorPosFromDescriptor("omega")%360.0
# daq_utils.broadcast_output("\ncenter on x = %s, y = %s, omega = %f, phi = %f\n" % (x,y,omega_mod,0))
# xcheck = checkC2C_X(x,fovx)
# if (xcheck):
lib_gon_center_xtal(x,y,omega_mod,0)
if (jog):
beamline_lib.mvrDescriptor("omega",float(jog))
def mountRobotSample(puckPos, pinPos, sampID, init=0, warmup=0):
global retryMountCount
global sampXadjust, sampYadjust, sampZadjust
absPos = (pinsPerPuck * (puckPos % 3)) + pinPos + 1
logger.info(f'init: {init} warmup: {warmup}')
if (getBlConfig('robot_online')):
if (not daq_lib.waitGovRobotSE()):
daq_lib.setGovRobot('SE')
if (getBlConfig(TOP_VIEW_CHECK) == 1):
try:
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):
logger.debug('main loading part')
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:
logger.debug('mounting')
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:
logger.debug('quick mount')
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)
logger.info(f'{getBlConfig(TOP_VIEW_CHECK)} {daq_utils.beamline}')
if (getBlConfig(TOP_VIEW_CHECK) == 1):
if (sampYadjust == 0):
logger.info("Cannot align pin - Mount next sample.")
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