From 0b2deea50b2992fb11725c2236cf517a3eaa9254 Mon Sep 17 00:00:00 2001
From: Kenneth Yang <82800265+kjy5@users.noreply.github.com>
Date: Tue, 24 Oct 2023 14:48:57 -0700
Subject: [PATCH] Throw error if finish movement and can't write (#248)

---
 src/ephys_link/platforms/new_scale_manipulator.py | 12 ++++++++++--
 src/ephys_link/platforms/sensapex_manipulator.py  |  4 ++++
 2 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/src/ephys_link/platforms/new_scale_manipulator.py b/src/ephys_link/platforms/new_scale_manipulator.py
index 01b3185..3650f3e 100644
--- a/src/ephys_link/platforms/new_scale_manipulator.py
+++ b/src/ephys_link/platforms/new_scale_manipulator.py
@@ -100,8 +100,8 @@ async def goto_pos(
         """
         # Check if able to write
         if not self._can_write:
-            print(f"[ERROR]\t\t Manipulator {self._id} movement " f"canceled")
-            return com.PositionalOutputData([], "Manipulator " "movement canceled")
+            print(f"[ERROR]\t\t Manipulator {self._id} movement canceled")
+            return com.PositionalOutputData([], "Manipulator movement canceled")
 
         # Stop current movement
         if self._is_moving:
@@ -147,6 +147,10 @@ async def goto_pos(
             # Mark movement as finished
             self._is_moving = False
 
+            # Return success unless write was disabled during movement (meaning a stop occurred)
+            if not self._can_write:
+                return com.PositionalOutputData([], "Manipulator movement canceled")
+
             com.dprint(
                 f"[SUCCESS]\t Moved manipulator {self._id} to position"
                 f" {manipulator_final_position}\n"
@@ -207,6 +211,10 @@ async def drive_to_depth(
             # Mark movement as finished
             self._is_moving = False
 
+            # Return success unless write was disabled during movement (meaning a stop occurred)
+            if not self._can_write:
+                return com.DriveToDepthOutputData(0, "Manipulator movement canceled")
+
             com.dprint(
                 f"[SUCCESS]\t Moved manipulator {self._id} to position"
                 f" {manipulator_final_position}\n"
diff --git a/src/ephys_link/platforms/sensapex_manipulator.py b/src/ephys_link/platforms/sensapex_manipulator.py
index 015559a..2772fa6 100644
--- a/src/ephys_link/platforms/sensapex_manipulator.py
+++ b/src/ephys_link/platforms/sensapex_manipulator.py
@@ -102,6 +102,10 @@ async def goto_pos(
             # Mark movement as finished
             self._is_moving = False
 
+            # Return success unless write was disabled during movement (meaning a stop occurred)
+            if not self._can_write:
+                return com.PositionalOutputData([], "Manipulator movement canceled")
+
             com.dprint(
                 f"[SUCCESS]\t Moved manipulator {self._id} to position"
                 f" {manipulator_final_position}\n"