Added error handling in the align, load_sample and unload_sample macros.

macros/SampleChanger.mac

@@ -535,7 +535,8 @@ def tomo_sc_load_sample '{
     local sample_pos
     local aligned
     local align_pos
-    local robot_state
+    local ret
+    local robot_state, robot_status
     
     if ($# < 1 || $# > 2 ) {
         print "usage: $0 <sample position or name>"
@@ -586,15 +587,29 @@ def tomo_sc_load_sample '{
         _tango_error (ret)
     }
     
-    print "\nMove to experiment position"
-    tomo_sc_experiment_position (align_pos[0], align_pos[1], align_pos[2])
-    
-    print "\nSample loading done!"
+    sleep(1)
+    ret = tango_get  (TOMO_SC_ROBOT_DEVICE, "State", robot_state)
+    _tango_error (ret)
+    if ( robot_state == 0 ) {
+        print "\nMove to experiment position"
+        tomo_sc_experiment_position (align_pos[0], align_pos[1], align_pos[2])
+    
+        print "\nSample loading done!"
+    } else {
+        print "\nSample loading did not finish as expected!"
+        print "\nThe sample changer status is:"
+        ret = tango_get  (TOMO_SC_ROBOT_DEVICE, "Status", robot_status)
+        _tango_error (ret)
+        print robot_status
+        exit
+    }
 }'
 
 
 def tomo_sc_unload_sample '{
-
+    local ret
+    local robot_state, robot_status
+    
     print "Beam shutter closing"
     shclose
     
@@ -609,12 +624,26 @@ def tomo_sc_unload_sample '{
     ret = tango_get  (TOMO_SC_ROBOT_DEVICE, "State", robot_state)
     _tango_error (ret)
     while (robot_state == 6) {
-        sleep(5)
+        sleep(3)
         printf (".")
         ret = tango_get  (TOMO_SC_ROBOT_DEVICE, "State", robot_state)
         _tango_error (ret)
     }
-    print "\nSample unloading done!"
+    
+    sleep(1)
+    ret = tango_get  (TOMO_SC_ROBOT_DEVICE, "State", robot_state)
+    _tango_error (ret)
+    if ( robot_state == 0 ) {
+        print "\nSample unloading done!"
+    } else {
+        print "\nSample unloading did not finish as expected!"
+        print "\nThe sample changer status is:"
+        ret = tango_get  (TOMO_SC_ROBOT_DEVICE, "Status", robot_status)
+        _tango_error (ret)
+        print robot_status
+        exit
+    }
+    
 }'
 
 
@@ -622,6 +651,7 @@ def tomo_sc_align '{
     local ret
     local confirm
     local is_aligned
+    local robot_state, robot_status
     
     print "Move to alignment position"
     tomo_sc_change_position
@@ -642,22 +672,32 @@ def tomo_sc_align '{
         ret = tango_get  (TOMO_SC_ROBOT_DEVICE, "State", robot_state)
         _tango_error (ret)
         # test to 6 == robot is moving, if not return error!
-        print robot_state
         while (robot_state == 6) {
-            sleep(5)
+            sleep(3)
             printf (".")
             ret = tango_get  (TOMO_SC_ROBOT_DEVICE, "State", robot_state)
             _tango_error (ret)
         }
         
-        ret = tango_get  (TOMO_SC_ROBOT_DEVICE, "Aligned", is_aligned)
+        sleep(1)
+        ret = tango_get  (TOMO_SC_ROBOT_DEVICE, "State", robot_state)
         _tango_error (ret)
+        if ( robot_state == 0 ) {
+            ret = tango_get  (TOMO_SC_ROBOT_DEVICE, "Aligned", is_aligned)
+            _tango_error (ret)
         
-        if (is_aligned == 1) {
-            print "\n\nThe sample changer is aligned!"
+            if (is_aligned == 1) {
+                print "\n\nThe sample changer is aligned!"
+            } else {
+                print "\n\nThe alignment procedure ended without error, but the alignment failed!"
+                print "Please check the sample changer!"
+            }
         } else {
-            print "\n\nThe alignment procedure ended without error, but the alignment failed!"
-            print "Please check the sample changer!"
+            print "\nAlignment did not finish as expected!"
+            print "\nThe sample changer status is:"
+            ret = tango_get  (TOMO_SC_ROBOT_DEVICE, "Status", robot_status)
+            _tango_error (ret)
+            print robot_status
         }
     }
 }'