From c1c45cdf9933c343c364b40176f606963d116f98 Mon Sep 17 00:00:00 2001
From: Kenneth Yang <82800265+kjy5@users.noreply.github.com>
Date: Sat, 24 Jun 2023 13:47:40 -0700
Subject: [PATCH] New scale patch (#166)

* Duplicate Z to D, restrict to Z-axis movement when inside brain

* Pass manipulator type

* Autoformat code

---------

Co-authored-by: kjy5 <kjy5@users.noreply.github.com>
---
 ephys_link/common.py                          | 6 ++++--
 ephys_link/platform_handler.py                | 3 ++-
 ephys_link/platforms/new_scale_handler.py     | 3 +++
 ephys_link/platforms/new_scale_manipulator.py | 4 ++--
 4 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/ephys_link/common.py b/ephys_link/common.py
index 6b8928e..ea1fc5b 100644
--- a/ephys_link/common.py
+++ b/ephys_link/common.py
@@ -70,6 +70,8 @@ class GetManipulatorsOutputData(dict):
 
     :param manipulators: Tuple of manipulator IDs (as strings)
     :type manipulators: list
+    :param type: Type of the output data (temporary solution until #165 is implemented)
+    :type type: str
     :param error: Error message
     :type error: str
 
@@ -77,10 +79,10 @@ class GetManipulatorsOutputData(dict):
         :code:`{"manipulators": ["1", "2"], "error": ""}`
     """
 
-    def __init__(self, manipulators: list, error: str) -> None:
+    def __init__(self, manipulators: list, type: str, error: str) -> None:
         """Constructor"""
         super(GetManipulatorsOutputData, self).__init__(
-            manipulators=manipulators, error=error
+            manipulators=manipulators, type=type, error=error
         )
 
 
diff --git a/ephys_link/platform_handler.py b/ephys_link/platform_handler.py
index e73033a..216da71 100644
--- a/ephys_link/platform_handler.py
+++ b/ephys_link/platform_handler.py
@@ -29,6 +29,7 @@ def __init__(self):
         # Registered manipulators are stored as a dictionary of IDs (string) to
         # manipulator objects
         self.manipulators = {}
+        self.type = "sensapex"  # Remove this after #165
 
     # Platform Handler Methods
 
@@ -72,7 +73,7 @@ def get_manipulators(self) -> com.GetManipulatorsOutputData:
         except Exception as e:
             print(f"[ERROR]\t\t Getting manipulators: {type(e)}: {e}\n")
         finally:
-            return com.GetManipulatorsOutputData(devices, error)
+            return com.GetManipulatorsOutputData(devices, self.type, error)
 
     def register_manipulator(self, manipulator_id: str) -> str:
         """Register a manipulator
diff --git a/ephys_link/platforms/new_scale_handler.py b/ephys_link/platforms/new_scale_handler.py
index 9050bf7..373e638 100644
--- a/ephys_link/platforms/new_scale_handler.py
+++ b/ephys_link/platforms/new_scale_handler.py
@@ -24,6 +24,9 @@ def __init__(self) -> None:
         """Initialize New Scale handler"""
         super().__init__()
 
+        # FIXME: Remove after #165
+        self.type = "new_scale"
+
         # Load New Scale API
         clr.AddReference("../resources/NstMotorCtrl")
         # noinspection PyUnresolvedReferences
diff --git a/ephys_link/platforms/new_scale_manipulator.py b/ephys_link/platforms/new_scale_manipulator.py
index 803f7dc..b86211f 100644
--- a/ephys_link/platforms/new_scale_manipulator.py
+++ b/ephys_link/platforms/new_scale_manipulator.py
@@ -74,7 +74,7 @@ def get_pos(self) -> com.PositionalOutputData:
                 self._x.CurPosition / 1000,
                 self._y.CurPosition / 1000,
                 self._z.CurPosition / 1000,
-                0,
+                self._z.CurPosition / 1000,
             ]
             com.dprint(f"[SUCCESS]\t Got position of manipulator {self._id}\n")
             return com.PositionalOutputData(position, "")
@@ -117,7 +117,7 @@ async def goto_pos(
             # Alter target position if inside brain
             if self._inside_brain:
                 target_position = self.get_pos()["position"]
-                target_position[3] = position_um[3]
+                target_position[2] = position_um[2]
 
             # Send move command
             for i in range(3):