Add static method decorators for movement tolerance, fixed unchanged (#451)

* Add static method decorators for movement tolerance, fixed unchanged

* Hatch static analysis

* Refactor get_movement_tolerance method to remove self parameter

Author: kjy5

src/ephys_link/__about__.py

@@ -1 +1 @@
-__version__ = "2.0.1"
+__version__ = "2.0.2"

src/ephys_link/bindings/fake_binding.py

@@ -57,8 +57,9 @@ async def get_angles(self, manipulator_id: str) -> Vector3:
     async def get_shank_count(self, manipulator_id: str) -> int:
         return 1
 
+    @staticmethod
     @override
-    def get_movement_tolerance(self) -> float:
+    def get_movement_tolerance() -> float:
         return 0.001
 
     @override

src/ephys_link/bindings/mpm_binding.py

@@ -113,7 +113,8 @@ async def get_position(self, manipulator_id: str) -> Vector4:
         manipulator_data: dict[str, float] = await self._manipulator_data(manipulator_id)
         stage_z: float = manipulator_data["Stage_Z"]
 
-        await sleep(self.POLL_INTERVAL)  # Wait for the stage to stabilize.
+        # Wait for the stage to stabilize.
+        await sleep(self.POLL_INTERVAL)
 
         return Vector4(
             x=manipulator_data["Stage_X"],
@@ -139,8 +140,9 @@ async def get_angles(self, manipulator_id: str) -> Vector3:
     async def get_shank_count(self, manipulator_id: str) -> int:
         return int((await self._manipulator_data(manipulator_id))["ShankCount"])  # pyright: ignore [reportAny]
 
+    @staticmethod
     @override
-    def get_movement_tolerance(self) -> float:
+    def get_movement_tolerance() -> float:
         return 0.01
 
     @override
@@ -219,7 +221,11 @@ async def set_depth(self, manipulator_id: str, depth: float, speed: float) -> fl
         )
 
         # Wait for the manipulator to reach the target depth or be stopped or get stuck.
-        while not self._movement_stopped and not abs(current_depth - depth) <= self.get_movement_tolerance():
+        while (
+            not self._movement_stopped
+            and not abs(current_depth - depth) <= self.get_movement_tolerance()
+            and unchanged_counter < self.UNCHANGED_COUNTER_LIMIT
+        ):
             # Wait for a short time before checking again.
             await sleep(self.POLL_INTERVAL)
 
@@ -281,6 +287,7 @@ def unified_space_to_platform_space(self, unified_space: Vector4) -> Vector4:
         )
 
     # Helper functions.
+
     async def _query_data(self) -> dict[str, Any]:  # pyright: ignore [reportExplicitAny]
         try:
             # Update cache if it's expired.

src/ephys_link/bindings/ump_4_binding.py

@@ -77,8 +77,9 @@ async def get_shank_count(self, manipulator_id: str) -> NoReturn:
         error_message = "UMP-4 does not support getting shank count"
         raise AttributeError(error_message)
 
+    @staticmethod
     @override
-    def get_movement_tolerance(self) -> float:
+    def get_movement_tolerance() -> float:
         return 0.001
 
     @override

src/ephys_link/utils/base_binding.py

@@ -99,8 +99,9 @@ async def get_shank_count(self, manipulator_id: str) -> int:
             Number of shanks on the manipulator.
         """
 
+    @staticmethod
     @abstractmethod
-    def get_movement_tolerance(self) -> float:
+    def get_movement_tolerance() -> float:
         """Get the tolerance for how close the final position must be to the target position in a movement (mm).
 
         Returns: