Merge pull request #363 from vshekar/retry-mount-if-dewar-not-in-posi…

…tion

Retry mount during auto collection

embl_robot.py

@@ -219,7 +219,7 @@ def preMount(self, gov_robot, puckPos, pinPos, sampID, **kwargs):
         rotCP = beamline_lib.motorPosFromDescriptor("dewarRot")
         logger.info("dewar target,CP")
         logger.info("%s %s" % (rotMotTarget,rotCP))
-        if (abs(rotMotTarget-rotCP)>1):
+        if (abs(rotMotTarget-rotCP)>0.01):
           logger.info("rot dewar")
           try:
             if (init == 0):
@@ -300,13 +300,18 @@ def mount(self, gov_robot, puckPos,pinPos,sampID,**kwargs):
             daq_macros.disableMount()
             daq_lib.gui_message(e_s + ". FATAL ROBOT ERROR - CALL STAFF! robotOff() executed.")
             return MOUNT_FAILURE
-          if (e_s.find("tilted") != -1 or e_s.find("Load Sample Failed") != -1):
+          if (e_s.find("tilted") != -1 or e_s.find("Load Sample Failed") != -1 or e_s.find("Fail to calculate Pin Position") != -1):
             if (getBlConfig("queueCollect") == 0):
               daq_lib.gui_message(e_s + ". Try mounting again")
               return MOUNT_FAILURE
             else:
               if (retryMountCount == 0):
                 retryMountCount+=1
+                if e_s.find("Fail to calculate Pin Position") != -1:
+                  # This error happens when the dewar has not rotated to the correct position
+                  # If it happens, try running the premount again
+                  logger.info('Trying premount')
+                  self.preMount(gov_robot, puckPos, pinPos, sampID, init=1)
                 mountStat = self.mount(gov_robot, puckPos,pinPos,sampID, **kwargs)
                 if (mountStat == MOUNT_STEP_SUCCESSFUL):
                   retryMountCount = 0