def unmountRobotSample(puckPos,pinPos,sampID): #will somehow know where it came from
# absPos = (pinsPerPuck*puckPos)+pinPos+1
absPos = (pinsPerPuck*(puckPos%3))+pinPos+1
robotOnline = db_lib.getBeamlineConfigParam(daq_utils.beamline,'robot_online')
print("robot online = " + str(robotOnline))
if (robotOnline):
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if (detDist<199.0):
beamline_support.setPvValFromDescriptor("govRobotDetDistOut",200.0)
beamline_support.setPvValFromDescriptor("govHumanDetDistOut",200.0)
daq_lib.setRobotGovState("SE")
print("unmounting " + str(puckPos) + " " + str(pinPos) + " " + str(sampID))
print("absPos = " + str(absPos))
platePos = int(puckPos/3)
rotMotTarget = daq_utils.dewarPlateMap[platePos][0]
rotCP = beamline_lib.motorPosFromDescriptor("dewarRot")
print("dewar target,CP")
print(rotMotTarget,rotCP)
if (abs(rotMotTarget-rotCP)>1):
print("rot dewar")
try:
RobotControlLib.runCmd("park")
except Exception as e:
e_s = str(e)
daq_lib.gui_message("ROBOT park ERROR: " + e_s)
print(e)
return 0
beamline_lib.mvaDescriptor("dewarRot",rotMotTarget)
try:
par_init=(beamline_support.get_any_epics_pv("SW:RobotState","VAL")!="Ready")
par_cool=(beamline_support.getPvValFromDescriptor("gripTemp")>-170)
if par_cool == False and daq_utils.beamline == "fmx":
time.sleep(3)
RobotControlLib.unmount1(init=par_init,cooldown=par_cool)
except Exception as e:
e_s = str(e)
daq_lib.gui_message("ROBOT unmount ERROR: " + e_s)
print(e)
return 0
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if (detDist<200.0):
beamline_lib.mvaDescriptor("detectorDist",200.0)
if (beamline_lib.motorPosFromDescriptor("detectorDist") < 199.0):
print("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
daq_lib.gui_message("ROBOT unmount2 ERROR: " + e_s)
print(e)
return 0
if (not daq_lib.waitGovRobotSE()):
daq_lib.clearMountedSample()
print("could not go to SE")
return 0
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 < ROBOT_MIN_DISTANCE):
setPvDesc("govRobotDetDistOut", ROBOT_MIN_DISTANCE)
setPvDesc("govHumanDetDistOut", ROBOT_MIN_DISTANCE)
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
if daq_utils.beamline == "fmx":
det_z_pv = 'XF:17IDC-ES:FMX{Det-Ax:Z}Mtr'
detDist = caget(f'{det_z_pv}.RBV')
if detDist < ROBOT_MIN_DISTANCE:
caput(
f'{det_z_pv}.VAL', ROBOT_MIN_DISTANCE, wait=True
) # TODO shouldn't this wait for SE transition or something??
detDist = caget(f'{det_z_pv}.RBV')
else:
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if detDist < ROBOT_MIN_DISTANCE and abs(
detDist - ROBOT_MIN_DISTANCE) > ROBOT_DISTANCE_TOLERANCE:
logger.error(
f"ERROR - Detector closer than {ROBOT_MIN_DISTANCE} and move than {ROBOT_DISTANCE_TOLERANCE} from {ROBOT_MIN_DISTANCE}! actual distance: {detDist}. Stopping."
)
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 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