From a01a68d045a6212a873f6745245902556ca66483 Mon Sep 17 00:00:00 2001
From: bliss administrator <blissadm@lid191.esrf.fr>
Date: Mon, 10 Aug 2020 15:04:15 +0200
Subject: [PATCH] Uncommitted modifications from October 2019.
---
SampleChangerDS/TomoSampleChanger.py | 41 ++++++++++++++++++++-------
SampleChangerDS/TomoSampleChanger.xmi | 5 +++-
2 files changed, 35 insertions(+), 11 deletions(-)
diff --git a/SampleChangerDS/TomoSampleChanger.py b/SampleChangerDS/TomoSampleChanger.py
index a74a8bb..d336e8e 100644
--- a/SampleChangerDS/TomoSampleChanger.py
+++ b/SampleChangerDS/TomoSampleChanger.py
@@ -138,7 +138,7 @@ class TomoSampleChanger(Device):
self.is_error = True
self.is_moving = False
- self.is_loaded = False
+ #self.is_loaded = False
self.write_properties()
#
@@ -372,10 +372,21 @@ class TomoSampleChanger(Device):
try:
# initialise the robot access
- self.robot = id19Controller.ID19Controller(controllerAssociated='id19robot', logOnController=False)
+ self.robot = id19Controller.ID19Controller(controllerAssociated='id19robot', logOnController=False) # Normal
self.robot.cs8LibraryName = 'id19tomo'
self.robot.autoFirmwareUpdate()
+ self.robot._prog_display.threadOnController()
+ self.robot._prog_key_handler.threadOnController()
+
+ self.robot.allLightOn()
+ time.sleep(1)
+ self.robot.allLightOff()
+
+ self.robot.torqueMaxAllowed = {'j1': 9990, 'j2': 9990, 'j3': 9990, 'j4': 9990, 'j5': 9990, 'j6': 9990}
+
+ self.robot.torqueMonitor.threadOnController() # If emmergency function used, torque monitor must be reactivated.
+
# set the robot movements to full speed
self.robot.speed = 100
print ("Controller initialized!!!!!!!")
@@ -498,7 +509,11 @@ class TomoSampleChanger(Device):
_state = PyTango.DevState.DISABLE
else:
if self.is_moving == True:
- _state = PyTango.DevState.MOVING
+ # pause mode activated
+ if self.robot.power() == 0:
+ _state = PyTango.DevState.PAUSE
+ else:
+ _state = PyTango.DevState.MOVING
else:
if self.attr_ParkingPosition_read == False:
_state = PyTango.DevState.FAULT
@@ -527,14 +542,17 @@ class TomoSampleChanger(Device):
if state == PyTango.DevState.DISABLE:
self._status += "DISABLED"
else:
- if state == PyTango.DevState.MOVING:
- self._status += "MOVING"
- self._status += "\n\n" + self.last_task
+ if state == PyTango.DevState.PAUSE:
+ self._status += "PAUSE"
else:
- if state == PyTango.DevState.ON:
- self._status += "ON"
+ if state == PyTango.DevState.MOVING:
+ self._status += "MOVING"
+ self._status += "\n\n" + self.last_task
else:
- self._status += "UNKNOWN"
+ if state == PyTango.DevState.ON:
+ self._status += "ON"
+ else:
+ self._status += "UNKNOWN"
self._status += "\n"
if state == PyTango.DevState.FAULT:
@@ -569,7 +587,10 @@ 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
diff --git a/SampleChangerDS/TomoSampleChanger.xmi b/SampleChangerDS/TomoSampleChanger.xmi
index 89b9830..7d8e092 100644
--- a/SampleChangerDS/TomoSampleChanger.xmi
+++ b/SampleChangerDS/TomoSampleChanger.xmi
@@ -211,10 +211,13 @@
<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">
+ <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+ </states>
<states name="FAULT" description="Requested movement failed.">
<status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
</states>
- <states name="DISABLE" description="annot move due to active interlock condition.">
+ <states name="DISABLE" description="Cannot move due to active interlock condition.">
<status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
</states>
<preferences docHome="./doc_html" makefileHome="/segfs/tango/cppserver/env"/>
--
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