TELL: major refactor, removing redundant code, added a simulated tell client, updated docstrings and comments and converted wait functions to use inbuilt pshell functionality.

src/aare/devices/tell_client.py

@@ -23,22 +23,27 @@ from pshell import PShellClient
 logger = setup_logger("aareDAQ")
 
 class ManualMountException(Exception):
+    """Custom exception for manual mounting"""
     pass
 
 
 class SmartMagnetFaultException(Exception):
+    """Custom exception for smart magnet fault"""
     pass
 
 
 class TellMountFailedException(Exception):
+    """Custom exception for mount failure"""
     pass
 
 
 class TellCommandWhileBusyException(Exception):
+    """Custom exception for trying to move Tell when it is busy"""
     pass
 
 
 class TellConnectionException(Exception):
+    """Custom exception for connection problems"""
     pass
 
 VALID_DEWAR_POSITIONS = [f"{p}{n}" for n in "12345" for p in "ABCDEFX"]
@@ -217,8 +222,8 @@ class TellClient:
         return output
 
     def set_samples_info(self, info: List[PuckWithTellPosition]):
-        if self.__simulation:
-            return
+        """sets the samples in the robot dewar based on the given list of PuckWithTellPosition objects
+            and runs set_sample_info in the background"""
 
         j = []
         for x in info:
@@ -242,8 +247,7 @@ class TellClient:
         # self.pshell.eval("set_samples_info(" + json.dumps(info) + ")&")
 
     def start_cmd(self, cmd, *argv):
-        if self.__simulation:
-            return 666  # FIXME should be different?
+        """starts a command on the robot and returns the command id"""
         cmd = cmd + "("
         for a in argv:
             cmd = cmd + (("'" + a + "'") if type(a) is str else str(a)) + ", "
@@ -280,7 +284,9 @@ class TellClient:
             time.sleep(0.2)
 
     def check_command_ok(self, timeout: float = 360.0, msg: str = ""):
-        self.wait_mount_complete(timeout)
+        """checks to see if the last command issued to the robot was completed and returns the result
+        Returns an exception if the command result doesnt return completed or removed"""
+        self.wait_not_busy(timeout)
         result = self.get_result(self._last_cmd_id)
         logger.debug(f"{msg} {result}")
         status = result["status"]