script/motion/tools.py

@@ -34,7 +34,17 @@ def set_hexiposi(pos):
             set_status(None)    
     else:
         hexiposi.move(pos)
-    
+
+def visual_check_hexiposi(segment):
+    #if robot.working_mode == "manual" ?
+    if hexiposi.moved:
+        #Clearing for image processing
+        if not robot.is_park():
+            print "Moving robot to park to clear camera view..."
+            robot.move_park()        
+        assert_img_in_cover_pos(segment)    
+        hexiposi.moved = False           
+
 
 
 def wait_end_of_move():
@@ -88,12 +98,12 @@ def update_tool(tool=None, x_offset=0.0, y_offset=0.0, z_offset=0.0):
 
 
 def assertValidAddress(segment, puck, sample):
-    if type(segment) == str:
+    if is_string(segment):
         segment = ord(segment.upper()) - ord('A') +1
     if segment<=0 or segment >6:
-        raise Excepton ("Invalid segment")
+        raise Exception ("Invalid segment")
     if puck<=0 or puck >5:
-        raise Excepton ("Invalid puck")
+        raise Exception ("Invalid puck")
     if sample<=0 or sample >16:
-        raise Excepton ("Invalid sample")
+        raise Exception ("Invalid sample")