From 271e52bcf9752ace4d60e8bbd506e288c1d74b51 Mon Sep 17 00:00:00 2001
From: Jens Meyer <jens.meyer@esrf.fr>
Date: Mon, 10 Aug 2020 16:17:55 +0200
Subject: [PATCH] Added RUNNING state to indicate the the robot movement was
paused when entering the hutch. The movement will resume when the hutch is
closed.
---
SampleChangerDS/TomoSampleChanger.py | 77 ++++++++++++++++-----------
SampleChangerDS/TomoSampleChanger.xmi | 4 +-
2 files changed, 49 insertions(+), 32 deletions(-)
diff --git a/SampleChangerDS/TomoSampleChanger.py b/SampleChangerDS/TomoSampleChanger.py
index d336e8e..e2c2594 100644
--- a/SampleChangerDS/TomoSampleChanger.py
+++ b/SampleChangerDS/TomoSampleChanger.py
@@ -19,14 +19,14 @@ handle all functionality of the robot.
"""
# PyTango imports
-import PyTango
-from PyTango import DebugIt
-from PyTango.server import run
-from PyTango.server import Device, DeviceMeta
-from PyTango.server import attribute, command
-from PyTango.server import device_property
-from PyTango import AttrQuality, DispLevel, DevState
-from PyTango import AttrWriteType, PipeWriteType
+import tango
+from tango import DebugIt
+from tango.server import run
+from tango.server import Device
+from tango.server import attribute, command
+from tango.server import device_property
+from tango import AttrQuality, DispLevel, DevState
+from tango import AttrWriteType, PipeWriteType
# Additional import
# PROTECTED REGION ID(TomoSampleChanger.additionnal_import) ENABLED START #
@@ -50,8 +50,17 @@ class TomoSampleChanger(Device):
The robot can be installed on different tomgraphy end stations and aligns itself with the set-up used.
The class used the StaubLink/StaubPy/id19Controller.py of the StaubLink project on the ESRF Gitlab to
handle all functionality of the robot.
+
+ **Properties:**
+
+ - Device Property
+ sampleLoaded
+ - Is the sample loaded
+ - Type:'DevBoolean'
+ samplePosition
+ - The position of the loaded sample
+ - Type:'DevString'
"""
- __metaclass__ = DeviceMeta
# PROTECTED REGION ID(TomoSampleChanger.class_variable) ENABLED START #
green_mode = PyTango.GreenMode.Gevent
@@ -273,11 +282,13 @@ class TomoSampleChanger(Device):
# -----------------
sampleLoaded = device_property(
- dtype='bool', default_value=False
+ dtype='DevBoolean',
+ default_value=False
)
samplePosition = device_property(
- dtype='str', default_value="None"
+ dtype='DevString',
+ default_value="None"
)
# ----------
@@ -285,48 +296,48 @@ class TomoSampleChanger(Device):
# ----------
SamplePosition = attribute(
- dtype='str',
+ dtype='DevString',
)
SampleLoaded = attribute(
- dtype='bool',
+ dtype='DevBoolean',
label="Sample loaded",
doc="The name of the sample currently loaded",
)
Aligned = attribute(
- dtype='bool',
+ dtype='DevBoolean',
doc="Sample changer aligned with tomograph end station",
)
ParkingPosition = attribute(
- dtype='bool',
+ dtype='DevBoolean',
)
RemoteMode = attribute(
- dtype='bool',
+ dtype='DevBoolean',
)
AirPressureOK = attribute(
- dtype='bool',
+ dtype='DevBoolean',
label="Air pressure OK",
doc="True when the air pressure is not to high nor to low.",
)
WagoOK = attribute(
- dtype='bool',
+ dtype='DevBoolean',
label="Wago OK",
doc="True when the connection to the interlock Wago controller is alive.",
)
TomographUsed = attribute(
- dtype='str',
+ dtype='DevString',
label="Tomograph used",
doc="The name of the tomography end station where the sample changer is installed.",
)
RobotLibraryName = attribute(
- dtype='str',
+ dtype='DevString',
label="Robot Library Name",
)
@@ -335,6 +346,7 @@ class TomoSampleChanger(Device):
# ---------------
def init_device(self):
+ """Initialises the attributes and properties of the TomoSampleChanger."""
Device.init_device(self)
# PROTECTED REGION ID(TomoSampleChanger.init_device) ENABLED START #
@@ -406,15 +418,21 @@ class TomoSampleChanger(Device):
# PROTECTED REGION END # // TomoSampleChanger.init_device
def always_executed_hook(self):
+ """Method always executed before any TANGO command is executed."""
# PROTECTED REGION ID(TomoSampleChanger.always_executed_hook) ENABLED START #
pass
# PROTECTED REGION END # // TomoSampleChanger.always_executed_hook
def delete_device(self):
+ """Hook to delete resources allocated in init_device.
+
+ This method allows for any memory or other resources allocated in the
+ init_device method to be released. This method is called by the device
+ destructor and by the device Init command.
+ """
# PROTECTED REGION ID(TomoSampleChanger.delete_device) ENABLED START #
pass
# PROTECTED REGION END # // TomoSampleChanger.delete_device
-
# ------------------
# Attributes methods
# ------------------
@@ -490,7 +508,6 @@ class TomoSampleChanger(Device):
# PROTECTED REGION END # // TomoSampleChanger.RobotLibraryName_read
-
# --------
# Commands
# --------
@@ -510,8 +527,9 @@ class TomoSampleChanger(Device):
else:
if self.is_moving == True:
# pause mode activated
+ # The hutch was opened, the movemeny is inerrupted and will resume on hutch closure
if self.robot.power() == 0:
- _state = PyTango.DevState.PAUSE
+ _state = PyTango.DevState.RUNNING
else:
_state = PyTango.DevState.MOVING
else:
@@ -542,8 +560,8 @@ class TomoSampleChanger(Device):
if state == PyTango.DevState.DISABLE:
self._status += "DISABLED"
else:
- if state == PyTango.DevState.PAUSE:
- self._status += "PAUSE"
+ if state == PyTango.DevState.RUNNING:
+ self._status += "PAUSE, movement is paused due to hutch opening"
else:
if state == PyTango.DevState.MOVING:
self._status += "MOVING"
@@ -587,9 +605,6 @@ class TomoSampleChanger(Device):
self._status += "\nReading of the robot status failed\n"
self._status += "\n"
self._status += str(self.state_error)
- else:
- if state == PyTango.DevState.PAUSE:
- self._status += "\nGo to the robot teach pendant and follows instructions\n"
self.set_status(self._status)
return self._status
@@ -597,8 +612,8 @@ class TomoSampleChanger(Device):
# PROTECTED REGION END # // TomoSampleChanger.Status
@command(
- dtype_in='str',
- doc_in="Sample to load",
+ dtype_in='DevString',
+ doc_in="Sample to load",
)
@DebugIt()
def LoadSample(self, argin):
@@ -804,6 +819,7 @@ class TomoSampleChanger(Device):
def main(args=None, **kwargs):
+ """Main function of the TomoSampleChanger module."""
# PROTECTED REGION ID(TomoSampleChanger.main) ENABLED START #
# Enable gevents for the server
@@ -812,5 +828,6 @@ def main(args=None, **kwargs):
# PROTECTED REGION END # // TomoSampleChanger.main
+
if __name__ == '__main__':
main()
diff --git a/SampleChangerDS/TomoSampleChanger.xmi b/SampleChangerDS/TomoSampleChanger.xmi
index 7d8e092..b58e98d 100644
--- a/SampleChangerDS/TomoSampleChanger.xmi
+++ b/SampleChangerDS/TomoSampleChanger.xmi
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="ASCII"?>
<pogoDsl:PogoSystem xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:pogoDsl="http://www.esrf.fr/tango/pogo/PogoDsl">
- <classes name="TomoSampleChanger" pogoRevision="9.6">
+ <classes name="TomoSampleChanger" pogoRevision="9.7">
<description description="Handles the sample changer robot for micro tomography on ID19.
The robot can be installed on different tomgraphy end stations and aligns itself with the set-up used.
The class used the StaubLink/StaubPy/id19Controller.py of the StaubLink project on the ESRF Gitlab to 
handle all functionality of the robot." title="Sample changer for micro tomography on ID19" sourcePath="/mntdirect/_users/meyer/ID19/SampleChanger/SampleChangerDS" language="PythonHL" filestogenerate="XMI file,Code files,Protected Regions" license="GPL" copyright="Copyright (C): 2018
 European Synchrotron Radiation Facility
 BP 220, Grenoble 38043
 France" hasMandatoryProperty="false" hasConcreteProperty="true" hasAbstractCommand="false" hasAbstractAttribute="false">
<inheritances classname="Device_Impl" sourcePath=""/>
<identification contact="at esrf.fr - meyer" author="meyer" emailDomain="esrf.fr" classFamily="BeamlineComponents" siteSpecific="" platform="Unix Like" bus="Not Applicable" manufacturer="none" reference=""/>
@@ -211,7 +211,7 @@
<states name="MOVING" description="Moving to load, unload or align">
<status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
</states>
- <states name="PAUSE" description="Waiting for restart">
+ <states name="RUNNING" description="The robot movement was stopped to enter the hutch. The movement will resume 
when the hutch will be closed.">
<status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
</states>
<states name="FAULT" description="Requested movement failed.">
--
GitLab