add actuator device with interlock

bm07/actuator_multiwago.py

-from bliss.controllers.actuator import Actuator
-
-
-class Actuator_multiwago(Actuator):
-    def __init__(self, name, config):
-        Actuator.__init__(self, name, config)
-        self.controller_state = config["controller_state"]
-
-    def _is_in(self):
-        """ Check if the actuator is in position IN
-        Returns:
-            (bool): True if IN. False if OUT, None if no check possible.
-        """
-        if self.key_in:
-            return self.controller_state.get(self.key_in) == 1
-        if self.key_out:
-            return self.controller_state.get(self.key_out) == 0
-        if self.key_cmd:
-            return self.controller.get(self.key_cmd) == 1
-    
-    def _is_out(self):
-        """ Check if the actuator is in position OUT
-        Returns:
-            (bool): True if OUT. False if IN, None if no check possible.
-        """
-        if self.key_out:
-            return self.controller_state.get(self.key_out) == 1
-        if self.key_in:
-            return self.controller_state.get(self.key_in) == 0
-        if self.key_cmd:
-            return self.controller.get(self.key_cmd) == 0
-
-    def is_open(self):
-        return self._is_out()
-
-    def is_close(self):
-        return self._is_in()
-
-    def on(self):
-        self.set_in()
-
-    def off(self):
-        self.set_out()
-
-    def __repr__(self):
-        if self.state == "IN":
-            return "IN/ON/CLOSE"
-        elif self.state == "OUT":
-            return "OUT/OFF/OPEN"
-        else:
-            return self.state
\ No newline at end of file

bm07/actuator_multiwago_interlocked.py

+#from bm07.actuator_multiwago import Actuator_multiwago
+from bliss.controllers.actuator import Actuator
+
+class Actuator_Multiwago_Interlocked(Actuator):
+
+    def __init__(self, name, config):
+        Actuator.__init__(self, name, config)
+        self.controller_state = config.get("controller_state")
+        self.in_name = config.get("in_name")
+        self.out_name = config.get("out_name")
+        self.grob = config.get("grob")
+        self.grob_state_ok = config.get("grob_state_ok")
+        self.controller_state_interlock = config.get("controller_state_interlock")
+        self.controller_state_interlock_ok = config.get("controller_state_interlock_ok")
+
+        #create dynamic method from in/out name
+        setattr(self, self.in_name, self.set_in)
+        setattr(self, self.out_name, self.set_out)
+        setattr(self, "force_"+self.in_name, self._force_in)
+        setattr(self, "force_"+self.out_name, self._force_out)
+
+    def __repr__(self):
+        txt = ""
+        if self.state == "IN":
+            txt+= "State: %s\n"%self.in_name.upper()
+        elif self.state == "OUT":
+            txt+= "State: %s\n"%self.out_name.upper()
+        else:
+            txt+= "State: %s\n"%self.state
+        if self.grob:
+            if self.grob.Status in self.grob_state_ok:
+                txt+="Grob status is good to allow this device movement\n"
+            else:
+                txt+="Grob status is NOT good to allow this device movement\n"
+        elif self.controller_state_interlock:
+            if (self.controller_state.get(self.controller_state_interlock) == self.controller_state_interlock_ok):
+                txt+="%s value is good to allow this device movement\n"%self.controller_state_interlock
+            else:
+                txt+="%s value is NOT good to allow this device movement\n"%self.controller_state_interlock
+        return txt
+
+
+    def set_in(self, timeout=None):
+        if self.grob:
+            if self.grob.Status in self.grob_state_ok:
+                super(Actuator, self).set_in()
+            else:
+                print("Grob is not in the good state : move forbidden")
+        elif self.controller_state_interlock:
+            if (self.controller_state.get(self.controller_state_interlock) == self.controller_state_interlock_ok):
+                super(Actuator, self).set_in()
+            else:
+                print("%s set an interlock : move forbidden"%self.controller_state_interlock)
+        else:
+            super(Actuator, self).set_in()
+
+    def set_out(self, timeout=None):
+        if self.grob:
+            if self.grob.Status in self.grob_state_ok:
+                super(Actuator, self).set_out()
+            else:
+                print("Grob is not in the good state : move forbidden")
+        elif self.controller_state_interlock:
+            if (self.controller_state.get(self.controller_state_interlock) == self.controller_state_interlock_ok):
+                super(Actuator, self).set_out()
+            else:
+                print("%s set an interlock : move forbidden"%self.controller_state_interlock)
+
+        else:
+            super(Actuator, self).set_out()
+
+    def _is_in(self):
+        if self.key_in:
+            return self.controller_state.get(self.key_in) == 1
+        if self.key_out:
+            return self.controller_state.get(self.key_out) == 0
+        if self.key_cmd:
+            return self.controller.get(self.key_cmd) == 1
+    
+    def _is_out(self):
+        if self.key_out:
+            return self.controller_state.get(self.key_out) == 1
+        if self.key_in:
+            return self.controller_state.get(self.key_in) == 0
+        if self.key_cmd:
+            return self.controller.get(self.key_cmd) == 0
+
+    def _force_in(self):
+        super(Actuator,self).set_in()
+
+    def _force_out(self):
+        super(Actuator, self).set_out()
\ No newline at end of file

bm07/datacollection.py

@@ -77,17 +77,6 @@ def acq_externalSingle(expo_s, step_deg, start_angle_deg, end_angle_deg):
     omega.velocity=20
     umv(omega,0)
     
-def dstop_up():
-    wcd07f.set("dstop_up",1) 
-
-def dstop_down():
-    wcd07f.set("dstop_up",0) 
-
-def bstop1_up():
-    wcd07f.set("bstop1",1) 
-
-def bstop1_down():
-    wcd07f.set("bstop1",0) 
 
 def opensh():
     fast_shutter_pseudo.open_manual()

bm07/grob_FIP.py

@@ -126,7 +126,8 @@ class grob_FIP(object):
                        "mount_plate":5, "dismount_plate":6, "mount_gonio":7, "dismount_gonio":8,
                        "send_setup":9, "wash":10, "anneal":11, "mount_versa_pin":12,
                        "move_rel":13, "move_abs":14, "expose":15, "open_grip":16,
-                       "close_grip":17, "set_grip":18, "set_angles":19, "force_mounted_sample":22 }
+                       "close_grip":17, "set_grip":18, "set_angles":19, "force_gripper":20, 
+                       "force_mounted_sample":22 }
         self.addr = { "Command":          {"addr":0, "struct_format":"16H"},
                     "Status":           {"addr":16, "struct_format":"H"},
                     "CurMode":          {"addr":17, "struct_format":"H"},
@@ -212,6 +213,7 @@ class grob_FIP(object):
         self.z = config["gonio_z"]
         self.kappa = config["gonio_kappa"]
         self.detfw = config["det_move"]
+        self.wago = config["wago"]
 
         #geometry
         #mount sample
@@ -235,6 +237,15 @@ class grob_FIP(object):
         self.read_all_memory()
 
     
+    def __repr__(self):
+        self.read_all_memory()
+        txt = ""
+        txt += "Status: %s\n"%self.status_code[self.Status]
+        txt += "Mounted sample: %d\n"%self.NumSampleMounted
+        txt += "Mode: %d\n"%self.CurrentMode
+        txt += "SIMULATED: %s\n"%self.SIMU
+        return txt
+
     def send_command(self, cmd, arg=[]):
         param=arg.copy()
         print(param)
@@ -270,6 +281,13 @@ class grob_FIP(object):
         return True
 
     
+    def force_gripper(self, gripper_number):
+        #0 rien, 3 Pince double
+        self.send_command("force_gripper",[nugripper_numberm])
+
+    def force_mounted_sample(self, sample_number):
+        self.send_command("force_mounted_sample", [sample_number])
+
     def move_gonio_in_sample_mount_geo(self, checkonly=False):
         motor_list_first = [ self.omega, self.y]
         target_list_first = [ self.omega_mountsample, self.y_mountsample]
@@ -335,17 +353,38 @@ class grob_FIP(object):
             return False
 
         #robot mount
-        if self.SIMU:
-            self.state_grob = 2
-            self.send_command("force_mounted_sample", [sample_number])
+        if sample_number==0:
+            if self.SIMU:
+                self.state_grob = 2
+                self.send_command("force_mounted_sample", [0])    
+            else:
+                self.send_command("dismount_sample", [])
         else:
-            self.send_command("mount_sample", [sample_number])
+            if self.SIMU:
+                self.state_grob = 2
+                self.send_command("force_mounted_sample", [sample_number])
+            else:
+                self.send_command("mount_sample", [sample_number])
         
-        with gevent.Timeout(15,False):
-            while self.NumSampleMounted != sample_number:
-                self.read_all_memory()
-                print(self.NumSampleMounted)
-                time.sleep(1)
+        time.sleep(3)
+        self.read_all_memory()
+        #with gevent.Timeout(15,False):
+        while self.Status==2: #self.NumSampleMounted != sample_number:
+            self.read_all_memory()
+            #print(self.NumSampleMounted)
+            if self.SmartMagnet == 3:
+                print("SMARTMAGNET BOOST")
+                self.wago.set("magnet_boost",1)
+                self.wago.set("magnet_degauss",0)
+            elif self.SmartMagnet == 2:
+                print("SMARTMAGNET DEGAUSS")
+                self.wago.set("magnet_boost",0)
+                self.wago.set("magnet_degauss",1)
+            else:
+                self.wago.set("magnet_boost",0)
+                self.wago.set("magnet_degauss",0)
+            time.sleep(0.1)
+
         if self.NumSampleMounted != sample_number:
             return False
         if self.SIMU:
@@ -354,12 +393,11 @@ class grob_FIP(object):
             self.state_gonio = 1
 
         #gonio position for collecting sample
-        if not self.move_gonio_in_sample_collect_geo():
-            return False
+        #if not self.move_gonio_in_sample_collect_geo():
+        #    return False
                 
     def dismount_sample(self):
-        #self.send_command("dismount_sample")
-        self.send_command("force_mounted_sample", [0])
+        self.mount_sample(0)
         
     def mount_plate(self, sample_number):
         self.send_command("mount_plate", [sample_number])