Merge pull request #393 from vshekar/automated-robot-recovery-procedure

Robot recovery procedure during automated collection for EMBL robot

daq_macros.py

@@ -19,6 +19,7 @@
 import parseSheet
 import attenCalc
 import raddoseLib
+import robot_lib
 from raddoseLib import *
 import logging
 logger = logging.getLogger(__name__)
@@ -248,6 +249,15 @@ def changeImageCenterHighMag(x,y,czoom):
   "face_on_omega" : 0
 }
 
+def run_robot_recovery_procedure():
+  """ Generic recovery procedure to be used during automated
+  collection"""
+  # Recover robot
+  robot_lib.recoverRobot()
+  # Dry Gripper
+  robot_lib.dryGripper()
+  # Park Gripper and cool gripper
+  robot_lib.cooldownGripper()
 
 def run_top_view_optimized():
     RE(topview_optimized())

embl_robot.py

@@ -442,6 +442,7 @@ def unmount(self, gov_robot, puckPos, pinPos, sampID):
         absPos = (PINS_PER_PUCK*(puckPos%3))+pinPos+1
         if getBlConfig('robot_online'):
           try:
+            logger.info("Unmounting sample")
             RobotControlLib.unmount2(absPos)
           except Exception as e:
             e_s = str(e)
@@ -450,10 +451,24 @@ def unmount(self, gov_robot, puckPos, pinPos, sampID):
               daq_macros.disableMount()
               daq_lib.gui_message(e_s + ". FATAL ROBOT ERROR - CALL STAFF! robotOff() executed.")
               return UNMOUNT_FAILURE
-            message = "ROBOT unmount2 ERROR: " + e_s
-            daq_lib.gui_message(message)
-            logger.error(message)
-            return UNMOUNT_FAILURE
+            elif "SE" in e_s:
+              # In case there is an SE Timeout error, run the recovery procedure
+              daq_macros.run_robot_recovery_procedure()
+              try:
+                # Try to unmount again
+                RobotControlLib.unmount2(absPos)
+              except Exception as e:
+                # If there is an exception again, return UNMOUNT_FAILURE
+                daq_macros.run_robot_recovery_procedure()
+                message = f"ROBOT unmount2 ERROR: {e}"
+                daq_lib.gui_message(message)
+                logger.error(message)
+                return UNMOUNT_FAILURE
+            else:
+              message = "ROBOT unmount2 ERROR: " + e_s
+              daq_lib.gui_message(message)
+              logger.error(message)
+              return UNMOUNT_FAILURE
           gov_status = gov_lib.setGovRobot(gov_robot, 'SE')
           if not gov_status.success:
             daq_lib.clearMountedSample()

robot_lib.py

@@ -133,3 +133,6 @@ def openGripper():
 
 def closeGripper():
     robot.closeGripper()
+
+def cooldownGripper():
+  robot.cooldownGripper()