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Merged
kjy5 merged 3 commits into from
Feb 16, 2024
Merged

Drive on exit #653

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10bcccf
State issue when stopped
kjy5 Feb 16, 2024
c4def58
Updated deprecated function
kjy5 Feb 16, 2024
e51cdec
More deprecated function
kjy5 Feb 16, 2024
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5 changes: 2 additions & 3 deletions Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -443,9 +443,8 @@ private void EchoPosition(Vector4 pos)
CoordinateSpace.Space2World(manipulatorSpacePosition);

// Set probe position (change axes to match probe)
var transformedApmldv =
_probeController.Insertion.World2T_Vector(zeroCoordinateAdjustedWorldPosition);

var transformedApmldv = BrainAtlasManager.World2T_Vector(zeroCoordinateAdjustedWorldPosition);

// Split between 3 and 4 axis assignments
if (CoordinateTransform.Prefix == "3lhm")
_probeController.SetProbePosition(transformedApmldv);
Expand Down
38 changes: 21 additions & 17 deletions Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ private enum DriveState
DrivingToNearTarget,
AtNearTarget,
ExitingToNearTarget,
DriveToPastTarget,
DrivingToPastTarget,
AtPastTarget,
ReturningToTarget,
AtTarget
Expand Down Expand Up @@ -84,15 +84,23 @@ public void DriveIncrement()
State = DriveState.DrivingToNearTarget;
break;
case DriveState.AtNearTarget:
State = DriveState.DriveToPastTarget;
State = DriveState.DrivingToPastTarget;
break;
case DriveState.AtPastTarget:
State = DriveState.ReturningToTarget;
break;

// Driving transition case: Switch to driving transition state
case DriveState.ExitingToDura:
State = DriveState.DrivingToNearTarget;
break;
case DriveState.ExitingToNearTarget:
State = DriveState.DrivingToPastTarget;
break;

// Driving in progress: maintain state
case DriveState.DrivingToNearTarget:
case DriveState.DriveToPastTarget:
case DriveState.DrivingToPastTarget:
case DriveState.ReturningToTarget:
break;

Expand All @@ -101,8 +109,6 @@ public void DriveIncrement()
case DriveState.ExitingToOutside:
case DriveState.AtExitMargin:
case DriveState.ExitingToMargin:
case DriveState.ExitingToDura:
case DriveState.ExitingToNearTarget:
case DriveState.AtTarget:
default:
Debug.LogError("Cannot drive down from state: " + State);
Expand Down Expand Up @@ -134,7 +140,7 @@ public void ExitIncrement()
State = DriveState.ExitingToDura;
break;
case DriveState.ReturningToTarget:
case DriveState.DriveToPastTarget:
case DriveState.DrivingToPastTarget:
State = DriveState.ExitingToNearTarget;
break;

Expand Down Expand Up @@ -173,7 +179,7 @@ public void CompleteMovement()
case DriveState.ExitingToNearTarget:
State = DriveState.AtNearTarget;
break;
case DriveState.DriveToPastTarget:
case DriveState.DrivingToPastTarget:
State = DriveState.AtPastTarget;
break;
case DriveState.ReturningToTarget:
Expand Down Expand Up @@ -242,8 +248,6 @@ private float _targetDriveDistance
// Converting worldT back to APMLDV (position transformed)
targetInsertion.APMLDV = targetInsertion.World2T(offsetAdjustedTargetPositionWorldT);

print("Target distance: " + Vector3.Distance(targetInsertion.APMLDV, _duraAPMLDV));

return Vector3.Distance(targetInsertion.APMLDV, _duraAPMLDV);
}
}
Expand All @@ -255,7 +259,7 @@ private Vector4 _outsidePosition
{
// Create outside position APMLDV
var targetAPMLDV = _duraAPMLDV;
targetAPMLDV.z = ProbeManager.ProbeController.Insertion
targetAPMLDV.z = BrainAtlasManager
.World2T_Vector(InsertionSelectionPanelHandler.PRE_DEPTH_DRIVE_DV_OFFSET).z;

// Convert to manipulator position
Expand Down Expand Up @@ -427,7 +431,7 @@ public void Drive()
// Already closer than near target depth, so continue
CompleteAndAdvance();
break;
case DriveState.DriveToPastTarget:
case DriveState.DrivingToPastTarget:
// Update status text
_statusText.text = "Driving to " + _drivePastTargetDistance * 1000f +
" µm past target...";
Expand Down Expand Up @@ -484,7 +488,7 @@ public void Drive()
case DriveState.AtPastTarget:
case DriveState.AtTarget:
default:
Debug.LogError("Invalid Drive state for driving: "+_driveStateManager.State);
Debug.LogError("Invalid Drive state for driving: " + _driveStateManager.State);
return;
}
}, Debug.LogError);
Expand Down Expand Up @@ -597,7 +601,7 @@ public void Exit()
case DriveState.AtDura:
case DriveState.DrivingToNearTarget:
case DriveState.AtNearTarget:
case DriveState.DriveToPastTarget:
case DriveState.DrivingToPastTarget:
case DriveState.AtPastTarget:
case DriveState.ReturningToTarget:
case DriveState.AtTarget:
Expand Down Expand Up @@ -646,23 +650,23 @@ public void Stop()
_exitButton.SetActive(true);
_stopButton.SetActive(false);

// Disable drive button if exiting or at Dura and above, otherwise enable.
// Disable drive button if at Dura and above, otherwise enable.
switch (_driveStateManager.State)
{
case DriveState.AtDura:
case DriveState.ExitingToMargin:
case DriveState.AtExitMargin:
case DriveState.ExitingToOutside:
case DriveState.ExitingToDura:
case DriveState.ExitingToNearTarget:
case DriveState.Outside:
_driveButton.interactable = false;
break;
case DriveState.DrivingToNearTarget:
case DriveState.AtNearTarget:
case DriveState.DriveToPastTarget:
case DriveState.DrivingToPastTarget:
case DriveState.AtPastTarget:
case DriveState.ReturningToTarget:
case DriveState.ExitingToDura:
case DriveState.ExitingToNearTarget:
case DriveState.AtTarget:
_driveButton.interactable = true;
break;
Expand Down