beach_collection/MicrotomeControlV2.py at main · StructuralNeurobiologyLab/beach_collection · GitHub

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import os
import time


from leicame import LeicaMicrotomeController


def check_robot_fb(slice_count, logs):
    while True:
        try:
            file_list = sorted(os.listdir(logs))
            if not file_list:
                return True, False
            else:
                fb = file_list[-1][0:-4]
                if fb == 'end':
                    return True, True
                elif int(fb) >= slice_count:
                    return False, False
                else:
                    return True, False
        except OSError:
            print('error when reading file list')


def run_cutting():

    slice_count = 1
    robot_fb = None
    logs = 'logs\\' + sorted(os.listdir('logs'))[-1] + '\\'
    if not os.path.isdir(logs):
        raise ValueError('log folder does not exist')
    reapproach_mode = False

    if logs[-2] == 'r':
        reapproach_mode = True
        print(reapproach_mode)

    # Create an instance of the controller
    mycon = LeicaMicrotomeController()
    # Get Part ID
    print("Getting Part ID...")
    part_id = mycon.get_part_id()

    while True:
        stopping, ending = check_robot_fb(slice_count, logs)
        if stopping:
            print("Turn motor off...")
            motor_off = mycon.cutting_motor_off()
            motor_status = mycon.cutting_motor_status()
            print(motor_status)

        while stopping:
            if ending:
                return None
            time.sleep(1)
            stopping, ending = check_robot_fb(slice_count, logs)


        print('Slice count:', slice_count)
        ##### Cut the slice
        print("Turn motor on...")
        motor_on = mycon.cutting_motor_on()
        motor_status = mycon.cutting_motor_status()
        print(motor_status)

        cut_finished = False
        was_in_cutting_window = False
        file_written = False
        while not cut_finished:
            current_state = mycon.get_handwheel_position()[7:9]
#           print(time.time())
            #print(current_state)
            if current_state == b"03":

                was_in_cutting_window = True
                t1 = time.time()

            elif current_state == b"00" and was_in_cutting_window and not reapproach_mode:
                cut_finished = True
                print("cut finished")
                break

            elif current_state == b"02" and was_in_cutting_window and reapproach_mode:

                cut_finished = True

                print("cut finished")
                break


        slice_count += 1

if __name__ == '__main__':

    run_cutting()