API

RobotClientMX

class aspyrobotmx.RobotClientMX(update_addr='tcp://localhost:2000', request_addr='tcp://localhost:2001')

RobotClientMX subclasses aspyrobot.RobotClient to add attributes and methods specific to the MX application. These include operation methods to calibrate, probe and mount samples.

current_task

str – Current task being executed on the robot

task_message

str – Messages about current foreground task

task_progress

str – Current task progress

status

int – Status flag of the robot: bitwise or of codes.RobotStatus

model

str – Model of the robot

time

str – Time on robot controller (can be used as a heartbeat monitor)

at_home

int – Whether the robot is in the home position

motors_on

int – Whether the robot motors are on

motors_on_command

int – Value of motors on instruction

toolset

codes.Toolset – Current toolset the robot is in

foreground_done

int – Whether the foreground is available

safety_gate

int – Is the safety gate open

closest_point

int – Closest labelled point to the robot’s coordinates

lid_open

int – Dewar lid open status

lid_closed

int – Dewar lid closed status

lid_command

int – Value of lid open command

gripper_open

int – Gripper open status

gripper_closed

int – Gripper closed status

gripper_command

int – Value of close gripper command

heater_hot

int – Is the robot heater hot

heater_command

int – Value of heater on/off request

heater_air_command

int – Value of heater air on/off request

ln2_level

int – Is the LN2 high flag set

pins_mounted

int – Number of pins mounted

pins_lost

int – Number of pins lost

dumbbell_state

codes.DumbbellState – Status of the dumbbell

last_toolset_calibration

str – Timestamp of last toolset calibration

last_left_calibration

str – Timestamp of last left position calibration

last_middle_calibration

str – Timestamp of last middle position calibration

last_right_calibration

str – Timestamp of last right position calibration

last_goniometer_calibration

str – Timestamp of last goni calibration

holder_types

dict –

• keys (str): ‘left’, ‘middle’, ‘right’
• values (codes.HolderType): Type of sample holder in position

height_errors

dict –

• keys (str): ‘left’, ‘middle’, ‘right’
• values (float): height error of cassette

puck_states

dict –

• keys (str): ‘left’, ‘middle’, ‘right’
• values (dict): Dict of puck names (eg ‘A’) to codes.PuckStates

port_states

dict –

• keys (str): ‘left’, ‘middle’, ‘right’
• values (list): 96 element list of codes.PortState values

port_distance

dict –

• keys (str): ‘left’, ‘middle’, ‘right’
• values (list): 96 element list of float values

sample_locations

dict –

• keys (str): ‘cavity’, ‘picker‘, ‘placer’, ‘goniometer’
• values (list): [position, port_index] of sample at location

mount_message

str – Mount progress message

calibrate(target, task_args, callback=None)

Calibrate the robot points.

Parameters:

• target – ‘toolset’, ‘cassette’ or ‘goniometer’
• task_args – Arguments for the calibration function
• callback – Callback function to receive operation state updates

clear(level, callback=None)

Clear the robot state.

Parameters:

• level (str) – ‘status’ or ‘all’
• callback – Callback function to receive operation updates

dismount(position, column, port, callback=None)

Dismount a sample to the specified port.

Parameters:

• position – ‘left’, ‘middle’, ‘right’
• column – ‘A’, ‘B’, ..., ‘L’
• port – 1-16
• callback – Callback function to receive operation state updates

inspected(callback=None)

Set the robot state as inspected by staff.

Parameters:callback – Callback function to receive operation state updates

mount(position, column, port, callback=None)

Mount a sample.

Parameters:

• position – ‘left’, ‘middle’, ‘right’
• column – ‘A’, ‘B’, ..., ‘L’
• port – 1-16
• callback – Callback function to receive operation state updates

prepare_for_mount(callback=None)

Move the robot to the cooling point.

Parameters:callback – Callback function to receive operation state updates

probe(ports, callback=None)

Probe the sample holder ports.

Parameters:

• ports – Dictionary with keys: ‘left’, ‘middle’, ‘right’ and values that are 98 element lists of 1s and 0s
• callback – Callback function to receive operation state updates

reset_holders(positions, callback=None)

Clear the holder type and port information for the given dewar positions.

Parameters:

• positions – list of dewar positions: ‘left’, ‘middle’, ‘right’
• callback – Callback function to receive operation state updates

reset_ports(ports, callback=None)

Clear the probe data for specific ports.

Parameters:

• ports – dictionary with keys: ‘left’, ‘middle’, ‘right’ and values the ports to reset in each position
• callback – Callback function to receive operation state updates

run_operation(operation, callback=None, **parameters)

Run an operation on the RobotServer.

Parameters:

• operation (str) – Name of the RobotServer method to run.
• **parameters – keyword arguments to be passed to the operation method.
• callback – Callback function to receive updates about the operation. Should handle arguments: handle, stage, message, error

Raises:

ValueError – Invalid operation name or parameters.

run_query(query_name, **parameters)

Fetch data from the RobotServer.

Executes a query method on the robot server and returns the data.

Parameters:

• query_name (str) – Name of the RobotServer method to run.
• **parameters – keyword arguments to be passed to the query method.

Raises:

RobotError – Error happened on the server.

set_gripper(value, callback=None)

Set gripper close state.

Parameters:

• value – 0 or 1
• callback – Callback function to receive operation state updates

set_heater(value, callback=None)

Set heater on or off.

Parameters:

• value (int) – 1 for on, 0 for off
• callback – Callback function to receive operation state updates

set_heater_air(value, callback=None)

Set heater air on or off.

Parameters:

• value (int) – 1 for on, 0 for off
• callback – Callback function to receive operation state updates

set_lid(value, callback=None)

Set lid open state.

Parameters:

• value – 0 or 1
• callback – Callback function to receive operation state updates

set_port_state(position, column, port, state, callback=None)

Set the state of port to be unknown, error etc.

Parameters:

• position – ‘left’, ‘middle’, ‘right’
• column – ‘A’, ‘B’, ..., ‘L’
• port – 1-16
• state (codes.PortState) – port state integer
• callback – Callback function to receive operation state updates

set_sample_state(position, column, port, state, callback=None)

Set which pin is currently mounted on the goniometer.

Parameters:

• position – ‘left’, ‘middle’, ‘right’
• column – ‘A’, ‘B’, ..., ‘L’
• port – 1-16
• state (codes.SampleState) – sample state integer
• callback – Callback function to receive operation state updates

RobotServerMX

class aspyrobotmx.RobotServerMX(robot, **kwargs)

A subclass of aspyrobot.RobotServer with extra functionality for the sample mounting robots at the MX beamlines of the Australian Synchrotron. Adds operations for calibrating, probing and mounting samples.

Parameters:

• robot (RobotMX) – An instance of RobotMX to enable communication with the robot EPICS IOC.
• **kwargs – Extra keyword parameters to be passed to RobotServer.

clear(handle, level)

Clear robot state.

Parameters:level (str) – ‘status‘ or ‘all’

operation_update(handle, message='', stage='update', error=None)

Add an operation update to the queue to be sent clients.

Parameters:

• handle (int) – Operation handle.
• message (str) – Message to be sent to clients.
• stage (str) – ‘start’, ‘update’ or ‘end’
• error (str) – Error message.

shutdown()

Request the server shuts down.

Causes the publisher and request threads to exit gracefully.

values_update(update)

Add an robot attribute value update to the queue to be sent clients.

Parameters:update (dict) – robot attributes and their values. For example: {‘safety_gate’: 1, ‘motors_on’: 0}

RobotMX

class aspyrobotmx.RobotMX(prefix)

RobotMX subclasses aspyrobot.Robot to add additional PVs for hardware I/O such as the robot gripper, dewar lid and heater.

run_task(name, args='', timeout=0.5)

Execute a foreground task on the robot.

Checks to see that the robot controller foreground thread is free and then executes a task. Blocks until the task is complete.

Parameters:

• name (str) – Robot controller task to run
• args (str) – arguments to supply to the controller
• timeout (float) – Seconds to wait for the task to being

Codes

class aspyrobotmx.codes.CassettePosition

class aspyrobotmx.codes.DumbbellState

class aspyrobotmx.codes.HolderType

class aspyrobotmx.codes.PortState

class aspyrobotmx.codes.ProbeSpeed

class aspyrobotmx.codes.PuckState

class aspyrobotmx.codes.RobotStatus

class aspyrobotmx.codes.SampleState

class aspyrobotmx.codes.Toolset