Fixed platform comments, use subclassing for uMp3-3

src/ephys_link/common.py

@@ -14,9 +14,9 @@
 
 
 def dprint(message: str) -> None:
-    """Print message if debug is enabled
+    """Print message if debug is enabled.
 
-    :param message: Message to print
+    :param message: Message to print.
     :type message: str
     :return: None
     """
@@ -26,13 +26,13 @@ def dprint(message: str) -> None:
 
 # Input data formats
 class GotoPositionInputDataFormat(TypedDict):
-    """Data format for positional requests
+    """Data format for positional requests.
 
-    :param manipulator_id: ID of the manipulator to move
+    :param manipulator_id: ID of the manipulator to move.
     :type manipulator_id: str
-    :param pos: Position to move to in mm (X, Y, Z, W)
+    :param pos: Position to move to in mm (X, Y, Z, W).
     :type pos: list[float]
-    :param speed: Speed to move at in mm/s
+    :param speed: Speed to move at in mm/s.
     :type speed: float
     """
 
@@ -42,11 +42,11 @@ class GotoPositionInputDataFormat(TypedDict):
 
 
 class InsideBrainInputDataFormat(TypedDict):
-    """Data format for setting inside brain state
+    """Data format for setting inside brain state.
 
-    :param manipulator_id: ID of the manipulator to move
+    :param manipulator_id: ID of the manipulator to move.
     :type manipulator_id: str
-    :param inside: Whether the manipulator is inside the brain
+    :param inside: Whether the manipulator is inside the brain.
     :type inside: bool
     """
 
@@ -55,13 +55,13 @@ class InsideBrainInputDataFormat(TypedDict):
 
 
 class DriveToDepthInputDataFormat(TypedDict):
-    """Data format for depth driving requests
+    """Data format for depth driving requests.
 
-    :param manipulator_id: ID of the manipulator to move
+    :param manipulator_id: ID of the manipulator to move.
     :type manipulator_id: str
-    :param depth: Depth to drive to in mm
+    :param depth: Depth to drive to in mm.
     :type depth: float
-    :param speed: Speed to drive at in mm/s
+    :param speed: Speed to drive at in mm/s.
     :type speed: float
     """
 
@@ -71,13 +71,13 @@ class DriveToDepthInputDataFormat(TypedDict):
 
 
 class CanWriteInputDataFormat(TypedDict):
-    """Data format for setting can write state
+    """Data format for setting can write state.
 
-    :param manipulator_id: ID of the manipulator to move
+    :param manipulator_id: ID of the manipulator to move.
     :type manipulator_id: str
-    :param can_write: Whether the manipulator can write
+    :param can_write: Whether the manipulator can write.
     :type can_write: bool
-    :param hours: Number of hours the manipulator can write for
+    :param hours: Number of hours the manipulator can write for.
     :type hours: float
     """
 
@@ -88,15 +88,15 @@ class CanWriteInputDataFormat(TypedDict):
 
 # Output data dictionaries
 class GetManipulatorsOutputData(dict):
-    """Output format for (manipulators)
+    """Output format for get manipulators request.
 
-    :param manipulators: List of manipulator IDs (as strings)
+    :param manipulators: List of manipulator IDs (as strings).
     :type manipulators: list
-    :param num_axes: Number of axes this manipulator has
+    :param num_axes: Number of axes this manipulator has.
     :type num_axes: int
-    :param dimensions: Size of the movement space in mm (first 3 axes)
+    :param dimensions: Size of the movement space in mm (first 3 axes).
     :type dimensions: list
-    :param error: Error message
+    :param error: Error message.
     :type error: str
 
     :example: Example generated dictionary
@@ -118,11 +118,11 @@ def json(self) -> str:
 
 
 class PositionalOutputData(dict):
-    """Output format for (position, error)
+    """Output format for positional requests.
 
-    :param position: Position in mm (as a list, can be empty) in X, Y, Z, W order
+    :param position: Position in mm (as a list, empty on error) in X, Y, Z, W order.
     :type position: list
-    :param error: Error message
+    :param error: Error message.
     :type error: str
 
     :example: Example generated dictionary
@@ -139,11 +139,11 @@ def json(self) -> str:
 
 
 class AngularOutputData(dict):
-    """Output format for (angles, error)
+    """Output format for manipulator angle requests.
 
-    :param angles: Angles in degrees (as a list, can be empty) in yaw, pitch, roll order
+    :param angles: Angles in degrees (as a list, can be empty) in yaw, pitch, roll order.
     :type angles: list
-    :param error: Error message
+    :param error: Error message.
     :type error: str
     """
 
@@ -157,11 +157,11 @@ def json(self) -> str:
 
 
 class ShankCountOutputData(dict):
-    """Output format for (num_shanks, error)
+    """Output format for number of shanks.
 
-    :param shank_count: Number of shanks on the probe
+    :param shank_count: Number of shanks on the probe (-1 if error).
     :type shank_count: int
-    :param error: Error message
+    :param error: Error message.
     :type error: str
     """
 
@@ -175,11 +175,11 @@ def json(self) -> str:
 
 
 class DriveToDepthOutputData(dict):
-    """Output format for depth driving (depth, error)
+    """Output format for depth driving.
 
-    :param depth: Depth in mm
+    :param depth: Depth in mm (0 on error).
     :type depth: float
-    :param error: Error message
+    :param error: Error message.
     :type error: str
 
     :example: Example generated dictionary :code:`{"depth": 1.23, "error": ""}`
@@ -195,11 +195,11 @@ def json(self) -> str:
 
 
 class StateOutputData(dict):
-    """Output format for (state, error)
+    """Output format for boolean state requests.
 
-    :param state: State of the event
+    :param state: State of the event.
     :type state: bool
-    :param error: Error message
+    :param error: Error message.
     :type error: str
 
     :example: Example generated dictionary :code:`{"state": True, "error": ""}`

src/ephys_link/platforms/new_scale_manipulator.py

@@ -65,10 +65,9 @@ def query_all_axes(self):
             axis.QueryPosStatus()
 
     def get_pos(self) -> com.PositionalOutputData:
-        """Get the current position of the manipulator and convert it into mm
+        """Get the current position of the manipulator and convert it into mm.
 
-        :return: Callback parameters (position in (x, y, z, 0) (or an empty array on
-            error) in mm, error message)
+        :return: Position of manipulator in (x, y, z, z) in mm (or an empty array on error) and error message (if any).
         :rtype: :class:`ephys_link.common.PositionalOutputData`
         """
         self.query_all_axes()
@@ -89,14 +88,14 @@ def get_pos(self) -> com.PositionalOutputData:
             return com.PositionalOutputData([], "Error getting position")
 
     async def goto_pos(self, position: list[float], speed: float) -> com.PositionalOutputData:
-        """Move manipulator to position
+        """Move manipulator to position.
 
-        :param position: The position to move to in mm
+        :param position: The position to move to in mm.
         :type position: list[float]
-        :param speed: The speed to move at (in mm/s)
+        :param speed: The speed to move at (in mm/s).
         :type speed: float
-        :return: Callback parameters (position in (x, y, z, w) (or an empty array on
-            error), error message)
+        :return: Resulting position of manipulator in (x, y, z, z) in mm (or an empty array on error)
+         and error message (if any).
         :rtype: :class:`ephys_link.common.PositionalOutputData`
         """
         # Check if able to write
@@ -159,14 +158,14 @@ async def goto_pos(self, position: list[float], speed: float) -> com.PositionalO
             print(f"{e}\n")
             return com.PositionalOutputData([], "Error moving manipulator")
 
-    async def drive_to_depth(self, depth: float, speed: int) -> com.DriveToDepthOutputData:
-        """Drive the manipulator to a certain depth
+    async def drive_to_depth(self, depth: float, speed: float) -> com.DriveToDepthOutputData:
+        """Drive the manipulator to a certain depth.
 
-        :param depth: The depth to drive to in mm
+        :param depth: The depth to drive to in mm.
         :type depth: float
-        :param speed: The speed to drive at in mm/s
-        :type speed: int
-        :return: Callback parameters (depth (or 0 on error), error message)
+        :param speed: The speed to drive at in mm/s.
+        :type speed: float
+        :return: Resulting depth of manipulator in mm (or 0 on error) and error message (if any).
         :rtype: :class:`ephys_link.common.DriveToDepthOutputData`
         """
         # Check if able to write
@@ -220,7 +219,7 @@ async def drive_to_depth(self, depth: float, speed: int) -> com.DriveToDepthOutp
             return com.DriveToDepthOutputData(0, "Error driving " "manipulator")
 
     def calibrate(self) -> bool:
-        """Calibrate the manipulator
+        """Calibrate the manipulator.
 
         :return: None
         """
@@ -229,7 +228,7 @@ def calibrate(self) -> bool:
     def get_calibrated(self) -> bool:
         """Return the calibration state of the manipulator.
 
-        :return: True if the manipulator is calibrated, False otherwise
+        :return: True if the manipulator is calibrated, False otherwise.
         :rtype: bool
         """
         return self._calibrated
@@ -242,14 +241,13 @@ def set_calibrated(self) -> None:
         self._calibrated = True
 
     def set_can_write(self, can_write: bool, hours: float, sio: socketio.AsyncServer) -> None:
-        """Set if the manipulator can move
+        """Set if the manipulator can move.
 
-        :param can_write: True if the manipulator can move, False otherwise
+        :param can_write: True if the manipulator can move, False otherwise.
         :type can_write: bool
-        :param hours: The number of hours to allow the manipulator to move (0 =
-            forever)
+        :param hours: The number of hours to allow the manipulator to move (0 = forever).
         :type hours: float
-        :param sio: SocketIO object from server to emit reset event
+        :param sio: SocketIO object from server to emit reset event.
         :type sio: :class:`socketio.AsyncServer`
         :return: None
         """
@@ -262,34 +260,34 @@ def set_can_write(self, can_write: bool, hours: float, sio: socketio.AsyncServer
             self._reset_timer.start()
 
     def get_can_write(self) -> bool:
-        """Return if the manipulator can move
+        """Return if the manipulator can move.
 
-        :return: True if the manipulator can move, False otherwise
+        :return: True if the manipulator can move, False otherwise.
         :rtype: bool
         """
         return self._can_write
 
     def reset_can_write(self, sio: socketio.AsyncServer) -> None:
-        """Reset the :attr:`can_write` flag
+        """Reset the :attr:`can_write` flag.
 
-        :param sio: SocketIO object from server to emit reset event
+        :param sio: SocketIO object from server to emit reset event.
         :type sio: :class:`socketio.AsyncServer`
         :return: None
         """
         self._can_write = False
         asyncio.run(sio.emit("write_disabled", self._id))
 
     def set_inside_brain(self, inside: bool) -> None:
-        """Set if the manipulator is inside the brain
+        """Set if the manipulator is inside the brain.
 
-        :param inside: True if the manipulator is inside the brain, False otherwise
+        :param inside: True if the manipulator is inside the brain, False otherwise.
         :type inside: bool
         :return: None
         """
         self._inside_brain = inside
 
     def stop(self) -> None:
-        """Stop all axes on manipulator
+        """Stop all axes on manipulator.
 
         :returns None
         """