script/local.py

@@ -4,6 +4,7 @@
 import traceback
 from ch.psi.pshell.serial import TcpDevice
 from ch.psi.pshell.modbus import ModbusTCP
+import ch.psi.mxsc.Controller as Controller
 
 
 run("setup/Layout")
@@ -60,6 +61,16 @@ def system_check(robot_move=True):
         if not guiding_tool_park().read():
             raise Exception("Guiding tool not parked")
         
+def get_puck_elect_detection(segment, puck):
+    return str(Controller.getInstance().getPuck(str(segment).upper() + str(puck)).detection)
+
+def get_puck_img_detection(segment, puck):
+    return str(Controller.getInstance().getPuck(str(segment).upper() + str(puck)).imageDetection)
+
+def assert_puck_detected(segment, puck):
+    if get_puck_detection(segment, puck) != "Present":
+        raise Exception ("Puck " + str(segment).upper() + str(puck) + " not present")
+
 
 def start_puck_detection():
     run("tools/RestartPuckDetection")