Fix new scale drive and stop (#326)

* Fix New Scale checking for movement

* Relaxed tolerance on NS

* Fix drive failure error reporting

* Stop new scale if cannot write

src/ephys_link/__about__.py

@@ -1 +1 @@
-__version__ = "1.2.3"
+__version__ = "1.2.5"

src/ephys_link/platforms/new_scale_manipulator.py

@@ -49,6 +49,7 @@ def __init__(
 
         super().__init__()
         self._id = manipulator_id
+        self._movement_tolerance = 0.01
         self._x = x_axis
         self._y = y_axis
         self._z = z_axis
@@ -131,13 +132,13 @@ async def goto_pos(self, position: list[float], speed: float) -> com.PositionalO
                 )
                 self._axes[i].MoveAbsolute(target_position_um[i])
 
-            # Check and wait for completion
+            # Check and wait for completion (while able to write)
             self.query_all_axes()
             while (
                 not (self._x.CurStatus & AT_TARGET_FLAG)
                 or not (self._y.CurStatus & AT_TARGET_FLAG)
                 or not (self._z.CurStatus & AT_TARGET_FLAG)
-            ):
+            ) and self._can_write:
                 await asyncio.sleep(POSITION_POLL_DELAY)
                 self.query_all_axes()
 
@@ -153,11 +154,9 @@ async def goto_pos(self, position: list[float], speed: float) -> com.PositionalO
                 return com.PositionalOutputData([], "Manipulator movement canceled")
 
             # Return error if movement did not reach target.
-            if not all(
-                abs(manipulator_final_position[i] - position[i]) < self._movement_tolerance
-                for i in range(len(position))
-            ):
-                com.dprint(f"[ERROR]\t\t Manipulator {self._id} did not reach target position")
+            if not all(abs(manipulator_final_position[i] - position[i]) < self._movement_tolerance for i in range(3)):
+                com.dprint(f"[ERROR]\t\t Manipulator {self._id} did not reach target position.")
+                com.dprint(f"\t\t\t Expected: {position}, Got: {manipulator_final_position}")
                 return com.PositionalOutputData([], "Manipulator did not reach target position")
 
             # Made it to the target.
@@ -204,9 +203,9 @@ async def drive_to_depth(self, depth: float, speed: float) -> com.DriveToDepthOu
             )
             self._z.MoveAbsolute(target_depth_um)
 
-            # Check and wait for completion
+            # Check and wait for completion (while able to write)
             self._z.QueryPosStatus()
-            while not (self._z.CurStatus & AT_TARGET_FLAG):
+            while not (self._z.CurStatus & AT_TARGET_FLAG) and self._can_write:
                 await asyncio.sleep(0.1)
                 self._z.QueryPosStatus()
 
@@ -233,7 +232,7 @@ async def drive_to_depth(self, depth: float, speed: float) -> com.DriveToDepthOu
             print(f"[ERROR]\t\t Moving manipulator {self._id} to depth {depth}")
             print(f"{e}\n")
             # Return 0 and error message on failure
-            return com.DriveToDepthOutputData(0, "Error driving " "manipulator")
+            return com.DriveToDepthOutputData(0, "Error driving manipulator")
 
     def calibrate(self) -> bool:
         """Calibrate the manipulator.

src/ephys_link/platforms/sensapex_manipulator.py

@@ -143,7 +143,7 @@ async def drive_to_depth(self, depth: float, speed: float) -> com.DriveToDepthOu
             return com.DriveToDepthOutputData(movement_result["position"][3], "")
 
         # Return 0 and error message on failure
-        return com.DriveToDepthOutputData(0, "Error driving " "manipulator")
+        return com.DriveToDepthOutputData(0, movement_result["error"])
 
     def set_inside_brain(self, inside: bool) -> None:
         """Set if the manipulator is inside the brain.

src/ephys_link/server.py

@@ -247,7 +247,7 @@ async def drive_to_depth(self, _, data: str) -> str:
             print(f"[ERROR]\t\t Error in drive_to_depth: {e}\n")
             return com.DriveToDepthOutputData(-1, "Error in drive_to_depth").json()
         else:
-            com.dprint(f"[EVENT]\t\t Drive manipulator {manipulator_id} " f"to depth {depth}")
+            com.dprint(f"[EVENT]\t\t Drive manipulator {manipulator_id} to depth {depth}")
             drive_result = await self.platform.drive_to_depth(manipulator_id, depth, speed)
             return drive_result.json()