DEV: Added load_sample function

.ropeproject .gitignore

xpdsim/robot.py

@@ -2,12 +2,48 @@
 
 
 class Robot(be.Mover):
-    # Include class variables (and the mpas) that appear in reference code?
-    def __init__(self, name, fields, initial_set, theta, sample_map, **kwargs):
+    def __init__(self, name, fields, initial_set, theta, sample_map=None):
         theta = be.Mover('theta', {'rad': lambda x: x}, {'x': 0})
         self.theta = theta
-        self._current_sample_gemorety = None
+        if sample_map is None:
+            # sample_map maps positions with image cycles @ build_image_cycle
+            # sample_map = {path (str): Cycler (iterable like object to cycle
+            # through images}
+        self._current_sample_geometry = None
         super().__init__(name, fields, initial_set, **kwargs)
 
+    def load_sample(self, saple_number, sample_geometry=None):
+        # If no sample is loaded, current_sample_number = 0
+        # is reported by the robot
+        if self.current_sample_number.get() != 0:
+            raise RuntimeError("Sample %d is already loaded."
+                               % self.current_sample_number.get())
+
+        #Rotate theta into loading position if necessary
+        load_pos = self.TH_POS[sample_geometry]['load']
+        if load_post is not None:
+            print('Moving theta to load position')
+            self.theta.move(load_pos, wait=True)
+
+        # Loading the sample is a three-step procedure:
+        # Set sample_number; issue load_cmd; issue execute_cmd.
+        set_and_wait(self.sample_number, sample_number)
+        set_and_wait(self.load_cmd, 1)
+        self.execute_cmd.put(1)
+        print('Loading...')
+        self._poll_until_idle()
+
+        # Rotate theta into measurement position if necessary
+        measure_pos = self.TH_POS[sample_geometry]['measure']
+        if measure_pos is not None:
+            print('Moving theta to measure position')
+            self.theta.move(measure_pos, wait=True)
+
+        # Stash the current sample geomtery for reference when we unload
+        self._current_sample_geometry = sample_geometry
+
+
+
+
     # What functions should be included?