Robot¶

Robot node sits between robot controlling program and other Leginon acquisition
sequence.

Leginon Robot node communicates with the grid-loading robot controlling program to

<highlights>
<simplelist type="vert">
<member> check that the robot exists and is activated</member>
<member> tell the robot to load/unload a specific grid</member>
<member> hear from the robot when the grid loading/unloading is successful/failed</member>
</simplelist>
</highlights>

Note: This node works only with NRAMM grid loading robot. You should modify it to suit
your robot for the above functions. As long as it has the same event binding to perform the
following functions, your custom node can be used with any Leginon acquisition
sequence.

For normal MSI application, the user select grids from exisiting grid tray in the Robot
node first, then the node interacts with an acquisition sequence in Leginon application
to

<highlights>
<simplelist type="vert">
<member> start the image acquisition sequence</member>
<member> recieve a notice that the acquisition sequence is completed</member>
</simplelist>
</highlights>

In the case of 2nd acquisition sequence of grids with targets selected on the old grid
atlas, the robot need to also

<highlights>
<simplelist type="vert">
<member> recieve information on which grid to be loaded</member>
</simplelist>
</highlights>
Normal MSI application Required bindings:

<highlights>
<simplelist type="vert">
<member> Robot - (MakeTargetListEvent) -> MosaicTargetMaker</member>
<member> target handler such as Acquisition or TargetFilter - (TargetListDone) ->
Robot</member>
</simplelist>
</highlights>
Required bindings for 2nd Pass application that re-registrate targets on the specific
grid:

<highlights>
<simplelist type="vert">
<member> Robot - (GridLoadedEvent) -> RobotAtlasTargetFinder</member>
<member> RobotAtlasTargetFinder - (UnloadGridEvent) -> Robot</member>
<member> RobotAtlasTargetFinder - (QueueGridEvent) -> Robot</member>
</simplelist>
</highlights>

Additional Requirement: project database with robot grid and tray information.