From b8babf3d89950ca9d56bec9fab349978c93ee4ad Mon Sep 17 00:00:00 2001
From: Shekar V <vshekar1@bnl.gov>
Date: Mon, 1 Jul 2024 12:22:41 -0400
Subject: [PATCH 1/3] Added tested code for robot recovery procedure

---
 daq_macros.py | 10 ++++++++++
 embl_robot.py | 23 +++++++++++++++++++----
 robot_lib.py  |  3 +++
 3 files changed, 32 insertions(+), 4 deletions(-)

diff --git a/daq_macros.py b/daq_macros.py
index a83c7429..4e6da73a 100644
--- a/daq_macros.py
+++ b/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())
diff --git a/embl_robot.py b/embl_robot.py
index 9d540a15..fadd7beb 100644
--- a/embl_robot.py
+++ b/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 (e_s.find("SE") != -1):
+              # 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
+                e_s = str(e)
+                message = "ROBOT unmount2 ERROR: " + e_s
+                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()
diff --git a/robot_lib.py b/robot_lib.py
index d9c4bff6..e553f9c2 100644
--- a/robot_lib.py
+++ b/robot_lib.py
@@ -133,3 +133,6 @@ def openGripper():
 
 def closeGripper():
     robot.closeGripper()
+
+def cooldownGripper():
+  robot.cooldownGripper()
\ No newline at end of file

From 6ece1031913b2eeb0cbdd44b1f7b970e1b605560 Mon Sep 17 00:00:00 2001
From: Shekar V <vshekar1@bnl.gov>
Date: Mon, 1 Jul 2024 12:33:39 -0400
Subject: [PATCH 2/3] Added recovery if unmount attempt 2 is unsuccessful

---
 embl_robot.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/embl_robot.py b/embl_robot.py
index fadd7beb..e411a5bd 100644
--- a/embl_robot.py
+++ b/embl_robot.py
@@ -459,6 +459,7 @@ def unmount(self, gov_robot, puckPos, pinPos, sampID):
                 RobotControlLib.unmount2(absPos)
               except Exception as e:
                 # If there is an exception again, return UNMOUNT_FAILURE
+                daq_macros.run_robot_recovery_procedure()
                 e_s = str(e)
                 message = "ROBOT unmount2 ERROR: " + e_s
                 daq_lib.gui_message(message)

From 7e132decaf84fbfb25e3e157e4df805f0112d1bb Mon Sep 17 00:00:00 2001
From: Shekar V <gv.shekar@gmail.com>
Date: Fri, 5 Jul 2024 10:39:22 -0400
Subject: [PATCH 3/3] Apply suggestions from code review

Co-authored-by: Jun Aishima <jaishima@bnl.gov>
---
 embl_robot.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/embl_robot.py b/embl_robot.py
index e411a5bd..6b9b516f 100644
--- a/embl_robot.py
+++ b/embl_robot.py
@@ -451,7 +451,7 @@ 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
-            elif (e_s.find("SE") != -1):
+            elif "SE" in e_s:
               # In case there is an SE Timeout error, run the recovery procedure
               daq_macros.run_robot_recovery_procedure()
               try:
@@ -460,8 +460,7 @@ def unmount(self, gov_robot, puckPos, pinPos, sampID):
               except Exception as e:
                 # If there is an exception again, return UNMOUNT_FAILURE
                 daq_macros.run_robot_recovery_procedure()
-                e_s = str(e)
-                message = "ROBOT unmount2 ERROR: " + e_s
+                message = f"ROBOT unmount2 ERROR: {e}"
                 daq_lib.gui_message(message)
                 logger.error(message)
                 return UNMOUNT_FAILURE