From a99f26658e8da0a5528fc7427a8fa652e31ba74c Mon Sep 17 00:00:00 2001 From: Kenneth Yang Date: Fri, 5 Jul 2024 12:58:19 -0700 Subject: [PATCH 1/5] Remove Ephys Link for v2 --- Assets/StreamingAssets/EphysLink-v1.3.3.meta | 8 -------- Packages/manifest.json | 2 +- Packages/packages-lock.json | 2 +- 3 files changed, 2 insertions(+), 10 deletions(-) delete mode 100644 Assets/StreamingAssets/EphysLink-v1.3.3.meta diff --git a/Assets/StreamingAssets/EphysLink-v1.3.3.meta b/Assets/StreamingAssets/EphysLink-v1.3.3.meta deleted file mode 100644 index 724dae81..00000000 --- a/Assets/StreamingAssets/EphysLink-v1.3.3.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 596a098a010666444868425ef94616b0 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Packages/manifest.json b/Packages/manifest.json index d9a91b8b..6a83f964 100644 --- a/Packages/manifest.json +++ b/Packages/manifest.json @@ -3,7 +3,7 @@ "com.unity.addressables": "1.21.19", "com.unity.ai.navigation": "1.1.5", "com.unity.animation.rigging": "1.2.1", - "com.unity.ide.rider": "3.0.28", + "com.unity.ide.rider": "3.0.31", "com.unity.ide.visualstudio": "2.0.22", "com.unity.ide.vscode": "1.2.5", "com.unity.inputsystem": "1.7.0", diff --git a/Packages/packages-lock.json b/Packages/packages-lock.json index 3b1e254f..d0c9aadf 100644 --- a/Packages/packages-lock.json +++ b/Packages/packages-lock.json @@ -58,7 +58,7 @@ "url": "https://packages.unity.com" }, "com.unity.ide.rider": { - "version": "3.0.28", + "version": "3.0.31", "depth": 0, "source": "registry", "dependencies": { From 2642db4300ca4e016873954d847282f7c962ebe2 Mon Sep 17 00:00:00 2001 From: Kenneth Yang Date: Fri, 5 Jul 2024 14:13:19 -0700 Subject: [PATCH 2/5] Switch to Ephys Link v2.0.0 --- .../Scripts/EphysLink/CommunicationManager.cs | 174 +----- Assets/Scripts/EphysLink/EphysLinkModels.cs | 115 ++-- .../Probes/ManipulatorBehaviorController.cs | 414 ++++++------ .../Scripts/Pinpoint/Probes/ProbeManager.cs | 345 ++++++---- .../Scripts/Pinpoint/TP_ProbeQuickSettings.cs | 2 +- .../UI/EphysCopilot/DrivePanelHandler.cs | 589 ++++++++---------- .../InsertionSelectionPanelHandler.cs | 370 ++++++----- .../ResetDuraOffsetPanelHandler.cs | 2 +- .../ResetZeroCoordinatePanelHandler.cs | 2 +- .../LiberationSans SDF - Fallback.asset | 78 ++- 10 files changed, 1097 insertions(+), 994 deletions(-) diff --git a/Assets/Scripts/EphysLink/CommunicationManager.cs b/Assets/Scripts/EphysLink/CommunicationManager.cs index c8ba8969..6081f952 100644 --- a/Assets/Scripts/EphysLink/CommunicationManager.cs +++ b/Assets/Scripts/EphysLink/CommunicationManager.cs @@ -20,7 +20,7 @@ public class CommunicationManager : MonoBehaviour #region Properties - private static readonly int[] EPHYS_LINK_MIN_VERSION = { 1, 3, 0 }; + private static readonly int[] EPHYS_LINK_MIN_VERSION = { 2, 0, 0 }; public static readonly string EPHYS_LINK_MIN_VERSION_STRING = $"≥ v{string.Join(".", EPHYS_LINK_MIN_VERSION)}"; @@ -55,6 +55,7 @@ private void Awake() #endregion #region Connection Handler + public void ServerSettingsLoaded() { // Automatically connect if the server credentials are possible @@ -283,6 +284,7 @@ public void VerifyVersion(Action onSuccess, Action onFailure) .TakeWhile(numbers => numbers.Length > 0) .Select(nonEmpty => int.Parse(new string(nonEmpty))) .ToArray(); + print(versionNumbers[0]+"."+versionNumbers[1]+"."+versionNumbers[2]); // Fail if major version mismatch (breaking changes). if (versionNumbers[0] != EPHYS_LINK_MIN_VERSION[0]) @@ -292,7 +294,7 @@ public void VerifyVersion(Action onSuccess, Action onFailure) } // Fail if minor version is too small (missing features). - if (versionNumbers[1] < EPHYS_LINK_MIN_VERSION[0]) + if (versionNumbers[1] < EPHYS_LINK_MIN_VERSION[1]) { onFailure.Invoke(); return; @@ -337,6 +339,24 @@ private void GetVersion(Action onSuccessCallback, Action onErrorCallback .Emit("get_version"); } + /// + /// Get the platform type. + /// + /// Callback function to handle incoming platform type info. + /// Callback function to handle errors. + public void GetPlatformType(Action onSuccessCallback, Action onErrorCallback = null) + { + _connectionManager + .Socket.ExpectAcknowledgement(data => + { + if (DataKnownAndNotEmpty(data)) + onSuccessCallback?.Invoke(data); + else + onErrorCallback?.Invoke(); + }) + .Emit("get_platform_type"); + } + /// /// Get manipulators event sender. /// @@ -368,60 +388,12 @@ public void GetManipulators( } /// - /// Register a manipulator with the server. - /// - /// The ID of the manipulator to register - /// Callback function to handle a successful registration - /// Callback function to handle errors - public void RegisterManipulator( - string manipulatorId, - Action onSuccessCallback = null, - Action onErrorCallback = null - ) - { - _connectionManager - .Socket.ExpectAcknowledgement(error => - { - if (string.IsNullOrEmpty(error)) - onSuccessCallback?.Invoke(); - else - onErrorCallback?.Invoke($"register_manipulators invalid response: {error}"); - }) - .Emit("register_manipulator", manipulatorId); - } - - /// - /// Unregister a manipulator with the server. - /// - /// The ID of the manipulator to unregister - /// Callback function to handle a successful un-registration - /// Callback function to handle errors - public void UnregisterManipulator( - string manipulatorId, - Action onSuccessCallback = null, - Action onErrorCallback = null - ) - { - _connectionManager - .Socket.ExpectAcknowledgement(error => - { - if (string.IsNullOrEmpty(error)) - onSuccessCallback?.Invoke(); - else - onErrorCallback?.Invoke( - $"unregister_manipulator invalid response: {error}" - ); - }) - .Emit("unregister_manipulator", manipulatorId); - } - - /// - /// Request the current position of a manipulator. + /// Request the current position of a manipulator (mm). /// /// ID of the manipulator to get the position of /// Callback function to pass manipulator position to /// Callback function to handle errors - public void GetPos( + public void GetPosition( string manipulatorId, Action onSuccessCallback, Action onErrorCallback = null @@ -444,7 +416,7 @@ public void GetPos( onErrorCallback?.Invoke($"get_pos invalid response: {data}"); } }) - .Emit("get_pos", manipulatorId); + .Emit("get_position", manipulatorId); } /// @@ -510,8 +482,8 @@ public void GetShankCount( /// Goto position request object /// Callback function to handle successful manipulator movement /// Callback function to handle errors - public void GotoPos( - GotoPositionRequest request, + public void SetPosition( + SetPositionRequest request, Action onSuccessCallback, Action onErrorCallback = null ) @@ -532,7 +504,7 @@ public void GotoPos( onErrorCallback?.Invoke($"goto_pos invalid response: {data}"); } }) - .Emit("goto_pos", ToJson(request)); + .Emit("set_position", ToJson(request)); } /// @@ -541,8 +513,8 @@ public void GotoPos( /// Drive to depth request /// Callback function to handle successful manipulator movement /// Callback function to handle errors - public void DriveToDepth( - DriveToDepthRequest request, + public void SetDepth( + SetDepthRequest request, Action onSuccessCallback, Action onErrorCallback ) @@ -552,7 +524,7 @@ Action onErrorCallback { if (DataKnownAndNotEmpty(data)) { - var parsedData = ParseJson(data); + var parsedData = ParseJson(data); if (string.IsNullOrEmpty(parsedData.Error)) onSuccessCallback?.Invoke(parsedData.Depth); else @@ -563,7 +535,7 @@ Action onErrorCallback onErrorCallback?.Invoke($"drive_to_depth invalid response: {data}"); } }) - .Emit("drive_to_depth", ToJson(request)); + .Emit("set_depth", ToJson(request)); } /// @@ -573,7 +545,7 @@ Action onErrorCallback /// Callback function to handle setting inside_brain state successfully /// Callback function to handle errors public void SetInsideBrain( - InsideBrainRequest request, + SetInsideBrainRequest request, Action onSuccessCallback, Action onErrorCallback = null ) @@ -597,84 +569,6 @@ public void SetInsideBrain( .Emit("set_inside_brain", ToJson(request)); } - /// - /// Request a manipulator to be calibrated. - /// - /// ID of the manipulator to be calibrated - /// Callback function to handle a successful calibration - /// Callback function to handle an unsuccessful calibration - public void Calibrate( - string manipulatorId, - Action onSuccessCallback, - Action onErrorCallback = null - ) - { - _connectionManager - .Socket.ExpectAcknowledgement(error => - { - if (error == "") - onSuccessCallback?.Invoke(); - else - onErrorCallback?.Invoke(error); - }) - .Emit("calibrate", manipulatorId); - } - - /// - /// Bypass calibration requirement of a manipulator. - /// - /// This method should only be used for testing and NEVER in production - /// ID of the manipulator to bypass calibration - /// Callback function to handle a successful calibration bypass - /// Callback function to handle errors - public void BypassCalibration( - string manipulatorId, - Action onSuccessCallback, - Action onErrorCallback = null - ) - { - _connectionManager - .Socket.ExpectAcknowledgement(error => - { - if (error == "") - onSuccessCallback?.Invoke(); - else - onErrorCallback?.Invoke(error); - }) - .Emit("bypass_calibration", manipulatorId); - } - - /// - /// Request a write lease for a manipulator. - /// - /// - /// Callback function to handle successfully setting can_write state - /// Callback function to handle errors - public void SetCanWrite( - CanWriteRequest request, - Action onSuccessCallback, - Action onErrorCallback = null - ) - { - _connectionManager - .Socket.ExpectAcknowledgement(data => - { - if (DataKnownAndNotEmpty(data)) - { - var parsedData = ParseJson(data); - if (string.IsNullOrEmpty(parsedData.Error)) - onSuccessCallback?.Invoke(parsedData.State); - else - onErrorCallback?.Invoke(parsedData.Error); - } - else - { - onErrorCallback?.Invoke($"set_can_write invalid response: {data}"); - } - }) - .Emit("set_can_write", ToJson(request)); - } - /// /// Request all movement to stop. /// @@ -705,4 +599,4 @@ private static string ToJson(T data) #endregion } -} +} \ No newline at end of file diff --git a/Assets/Scripts/EphysLink/EphysLinkModels.cs b/Assets/Scripts/EphysLink/EphysLinkModels.cs index fb0e1c79..ac43750e 100644 --- a/Assets/Scripts/EphysLink/EphysLinkModels.cs +++ b/Assets/Scripts/EphysLink/EphysLinkModels.cs @@ -1,5 +1,7 @@ using UnityEngine; +using System; +[Serializable] public struct AngularResponse { public Vector3 Angles; @@ -12,6 +14,7 @@ public AngularResponse(Vector3 angles, string error) } } +[Serializable] public struct BooleanStateResponse { public bool State; @@ -24,47 +27,33 @@ public BooleanStateResponse(bool state, string error) } } -public struct CanWriteRequest +[Serializable] +public struct EphysLinkOptions { - public string ManipulatorId; - public bool CanWrite; - public float Hours; - - public CanWriteRequest(string manipulatorId, bool canWrite, float hours) - { - ManipulatorId = manipulatorId; - CanWrite = canWrite; - Hours = hours; - } -} - -public struct DriveToDepthRequest -{ - public string ManipulatorId; - public float Depth; - public float Speed; - - public DriveToDepthRequest(string manipulatorId, float depth, float speed) - { - ManipulatorId = manipulatorId; - Depth = depth; - Speed = speed; - } -} - -public struct DriveToDepthResponse -{ - public float Depth; - public string Error; - - public DriveToDepthResponse(float depth, string error) + public bool Background; + public bool IgnoreUpdates; + public string Type; + public bool Debug; + public bool UseProxy; + public string ProxyAddress; + public int MpmPort; + public string Serial; + + public EphysLinkOptions(bool background, bool ignoreUpdates, string type, bool debug, bool useProxy, string proxyAddress, int mpmPort, string serial) { - Depth = depth; - Error = error; + Background = background; + IgnoreUpdates = ignoreUpdates; + Type = type; + Debug = debug; + UseProxy = useProxy; + ProxyAddress = proxyAddress; + MpmPort = mpmPort; + Serial = serial; } } +[Serializable] public struct GetManipulatorsResponse { public string[] Manipulators; @@ -82,45 +71,77 @@ public GetManipulatorsResponse(string[] manipulators, int numAxes, Vector4 dimen } -public struct GotoPositionRequest +[Serializable] +public struct PositionalResponse { - public string ManipulatorId; public Vector4 Position; + public string Error; + + public PositionalResponse(Vector4 position, string error) + { + Position = position; + Error = error; + } +} + +[Serializable] +public struct SetDepthRequest +{ + public string ManipulatorId; + public float Depth; public float Speed; - public GotoPositionRequest(string manipulatorId, Vector4 position, float speed) + public SetDepthRequest(string manipulatorId, float depth, float speed) { ManipulatorId = manipulatorId; - Position = position; + Depth = depth; Speed = speed; } } -public struct InsideBrainRequest +[Serializable] +public struct SetDepthResponse +{ + public float Depth; + public string Error; + + public SetDepthResponse(float depth, string error) + { + Depth = depth; + Error = error; + } +} + +[Serializable] +public struct SetInsideBrainRequest { public string ManipulatorId; public bool Inside; - public InsideBrainRequest(string manipulatorId, bool inside) + public SetInsideBrainRequest(string manipulatorId, bool inside) { ManipulatorId = manipulatorId; Inside = inside; } } - -public struct PositionalResponse +; +[Serializable] +public struct SetPositionRequest { - public Vector4 Position; - public string Error; + public string ManipulatorId { get; } + public Vector4 Position { get; } + public float Speed { get; } - public PositionalResponse(Vector4 position, string error) + public SetPositionRequest(string manipulatorId, Vector4 position, float speed) { + ManipulatorId = manipulatorId; Position = position; - Error = error; + Speed = speed; } } +[Serializable] public struct ShankCountResponse { public int ShankCount; diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs index c720c518..c7cc7525 100644 --- a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs @@ -21,8 +21,11 @@ public class ManipulatorBehaviorController : MonoBehaviour #region Components - [SerializeField] private ProbeManager _probeManager; - [SerializeField] private ProbeController _probeController; + [SerializeField] + private ProbeManager _probeManager; + + [SerializeField] + private ProbeController _probeController; #endregion @@ -43,10 +46,12 @@ public Vector4 ZeroCoordinateOffset get => _zeroCoordinateOffset; set { - _zeroCoordinateOffset = new Vector4(float.IsNaN(value.x) ? _zeroCoordinateOffset.x : value.x, + _zeroCoordinateOffset = new Vector4( + float.IsNaN(value.x) ? _zeroCoordinateOffset.x : value.x, float.IsNaN(value.y) ? _zeroCoordinateOffset.y : value.y, float.IsNaN(value.z) ? _zeroCoordinateOffset.z : value.z, - float.IsNaN(value.w) ? _zeroCoordinateOffset.w : value.w); + float.IsNaN(value.w) ? _zeroCoordinateOffset.w : value.w + ); ZeroCoordinateOffsetChangedEvent.Invoke(_zeroCoordinateOffset); } @@ -67,7 +72,8 @@ public bool IsSetToDropToSurfaceWithDepth get => _isSetToDropToSurfaceWithDepth; set { - if (BrainSurfaceOffset != 0) return; + if (BrainSurfaceOffset != 0) + return; _isSetToDropToSurfaceWithDepth = value; IsSetToDropToSurfaceWithDepthChangedEvent.Invoke(value); } @@ -152,7 +158,8 @@ public void Initialize(string manipulatorID, bool calibrated) CommunicationManager.Instance.GetManipulators(reponse => { // Shortcut exit if we have an invalid manipulator ID - if (!reponse.Manipulators.Contains(manipulatorID)) return; + if (!reponse.Manipulators.Contains(manipulatorID)) + return; // Set manipulator ID, number of axes, and dimensions ManipulatorID = manipulatorID; @@ -165,37 +172,20 @@ public void Initialize(string manipulatorID, bool calibrated) // Lock the manipulator from manual control _probeController.SetControllerLock(true); - if (calibrated) - // Bypass calibration and start echoing - CommunicationManager.Instance.BypassCalibration(manipulatorID, StartEchoing); - else - CommunicationManager.Instance.SetCanWrite(new CanWriteRequest - { - ManipulatorId = manipulatorID, - CanWrite = true, - Hours = 1 - }, _ => - { - CommunicationManager.Instance.Calibrate(manipulatorID, - () => - { - CommunicationManager.Instance.SetCanWrite(new CanWriteRequest - { - ManipulatorId = manipulatorID, - CanWrite = false, - Hours = 0 - }, _ => StartEchoing()); - }); - }); + StartEchoing(); return; void StartEchoing() { - CommunicationManager.Instance.GetPos(manipulatorID, pos => - { - if (ZeroCoordinateOffset.Equals(Vector4.zero)) ZeroCoordinateOffset = pos; - EchoPosition(pos); - }); + CommunicationManager.Instance.GetPosition( + manipulatorID, + pos => + { + if (ZeroCoordinateOffset.Equals(Vector4.zero)) + ZeroCoordinateOffset = pos; + EchoPosition(pos); + } + ); } }); } @@ -203,7 +193,8 @@ void StartEchoing() public void Deinitialize() { // Destroy Pathfinder probe. - if (NumAxes == -1) DestroyThisProbe.Invoke(); + if (NumAxes == -1) + DestroyThisProbe.Invoke(); } private void UpdateSpaceAndTransform() @@ -215,10 +206,19 @@ private void UpdateSpaceAndTransform() }; CoordinateTransform = NumAxes switch { - 4 => IsRightHanded - ? new FourAxisRightHandedManipulatorTransform(_probeController.Insertion.Yaw) - : new FourAxisLeftHandedManipulatorTransform(_probeController.Insertion.Yaw), - 3 => new ThreeAxisLeftHandedTransform(_probeController.Insertion.Yaw, _probeController.Insertion.Pitch), + 4 + => IsRightHanded + ? new FourAxisRightHandedManipulatorTransform( + _probeController.Insertion.Yaw + ) + : new FourAxisLeftHandedManipulatorTransform( + _probeController.Insertion.Yaw + ), + 3 + => new ThreeAxisLeftHandedTransform( + _probeController.Insertion.Yaw, + _probeController.Insertion.Pitch + ), _ => CoordinateTransform }; } @@ -226,16 +226,16 @@ private void UpdateSpaceAndTransform() public Vector4 ConvertInsertionAPMLDVToManipulatorPosition(Vector3 insertionAPMLDV) { // Convert apmldv to world coordinate - var convertToWorld = _probeManager.ProbeController.Insertion.T2World_Vector(insertionAPMLDV); + var convertToWorld = _probeManager.ProbeController.Insertion.T2World_Vector( + insertionAPMLDV + ); // Convert to Manipulator space var posInManipulatorSpace = CoordinateSpace.World2Space(convertToWorld); Vector4 posInManipulatorTransform = CoordinateTransform.U2T(posInManipulatorSpace); // Apply brain surface offset - var brainSurfaceAdjustment = float.IsNaN(BrainSurfaceOffset) - ? 0 - : BrainSurfaceOffset; + var brainSurfaceAdjustment = float.IsNaN(BrainSurfaceOffset) ? 0 : BrainSurfaceOffset; if (_probeManager.ManipulatorBehaviorController.IsSetToDropToSurfaceWithDepth) posInManipulatorTransform.w -= brainSurfaceAdjustment; else @@ -252,14 +252,15 @@ public void ComputeBrainSurfaceOffset() { if (_probeManager.IsProbeInBrain()) { - // Just calculate the distance from the probe tip position to the brain surface + // Just calculate the distance from the probe tip position to the brain surface BrainSurfaceOffset -= _probeManager.GetSurfaceCoordinateT().depthT; } else { // We need to calculate the surface coordinate ourselves - var (brainSurfaceCoordinateIdx, _) = - _probeManager.CalculateEntryCoordinate(!IsSetToDropToSurfaceWithDepth); + var (brainSurfaceCoordinateIdx, _) = _probeManager.CalculateEntryCoordinate( + !IsSetToDropToSurfaceWithDepth + ); if (float.IsNaN(brainSurfaceCoordinateIdx.x)) { @@ -267,12 +268,14 @@ public void ComputeBrainSurfaceOffset() return; } - var brainSurfaceToTransformed = - _probeController.Insertion.World2T( - BrainAtlasManager.ActiveReferenceAtlas.AtlasIdx2World(brainSurfaceCoordinateIdx)); + var brainSurfaceToTransformed = _probeController.Insertion.World2T( + BrainAtlasManager.ActiveReferenceAtlas.AtlasIdx2World(brainSurfaceCoordinateIdx) + ); - BrainSurfaceOffset += Vector3.Distance(brainSurfaceToTransformed, - _probeController.Insertion.APMLDV); + BrainSurfaceOffset += Vector3.Distance( + brainSurfaceToTransformed, + _probeController.Insertion.APMLDV + ); } } @@ -291,62 +294,72 @@ public void IncrementBrainSurfaceOffset(float increment) /// Delta (X, Y, Z, D) to move by in world space coordinates /// Action on success /// Action on error - public void MoveByWorldSpaceDelta(Vector4 worldSpaceDelta, Action onSuccessCallback, - Action onErrorCallback = null) + public void MoveByWorldSpaceDelta( + Vector4 worldSpaceDelta, + Action onSuccessCallback, + Action onErrorCallback = null + ) { // Convert to manipulator axes (world -> space -> transform) var manipulatorSpaceDelta = CoordinateSpace.World2Space_Vector(worldSpaceDelta); var manipulatorTransformDelta = CoordinateTransform.U2T(manipulatorSpaceDelta); var manipulatorSpaceDepth = worldSpaceDelta.w; - print("World space delta: " + worldSpaceDelta + "; Manipulator space delta: " + manipulatorSpaceDelta + - "; Manipulator transform delta: " + manipulatorTransformDelta + "; Manipulator space depth: " + - manipulatorSpaceDepth); + print( + "World space delta: " + + worldSpaceDelta + + "; Manipulator space delta: " + + manipulatorSpaceDelta + + "; Manipulator transform delta: " + + manipulatorTransformDelta + + "; Manipulator space depth: " + + manipulatorSpaceDepth + ); // Get manipulator position - CommunicationManager.Instance.GetPos(ManipulatorID, pos => - { - // Apply delta - var targetPosition = pos + new Vector4(manipulatorTransformDelta.x, manipulatorTransformDelta.y, - manipulatorTransformDelta.z); - // Move manipulator - CommunicationManager.Instance.SetCanWrite(new CanWriteRequest - { - ManipulatorId = ManipulatorID, - CanWrite = true, - Hours = 1 - }, b => + CommunicationManager.Instance.GetPosition( + ManipulatorID, + pos => { - if (!b) return; - CommunicationManager.Instance.GotoPos( - new GotoPositionRequest - { - ManipulatorId = ManipulatorID, Position = targetPosition, Speed = AUTOMATIC_MOVEMENT_SPEED - }, + // Apply delta + var targetPosition = + pos + + new Vector4( + manipulatorTransformDelta.x, + manipulatorTransformDelta.y, + manipulatorTransformDelta.z + ); + // Move manipulator + CommunicationManager.Instance.SetPosition( + new SetPositionRequest( + ManipulatorID, + targetPosition, + AUTOMATIC_MOVEMENT_SPEED + ), newPos => { // Process depth movement var targetDepth = newPos.w + manipulatorSpaceDepth; // Move the manipulator - CommunicationManager.Instance.DriveToDepth( - new DriveToDepthRequest - { - ManipulatorId = ManipulatorID, - Depth = targetDepth, - Speed = AUTOMATIC_MOVEMENT_SPEED - }, + CommunicationManager.Instance.SetDepth( + new SetDepthRequest( + ManipulatorID, + targetDepth, + AUTOMATIC_MOVEMENT_SPEED + ), _ => - { - CommunicationManager.Instance.SetCanWrite(new CanWriteRequest - { - ManipulatorId = ManipulatorID, - CanWrite = false, - Hours = 0 - }, onSuccessCallback, onErrorCallback); - }, onErrorCallback); - }, onErrorCallback); - }, onErrorCallback); - }); + CommunicationManager.Instance.GetPosition( + ManipulatorID, + onSuccessCallback, + onErrorCallback + ), + onErrorCallback + ); + }, + onErrorCallback + ); + } + ); } /// @@ -354,33 +367,21 @@ public void MoveByWorldSpaceDelta(Vector4 worldSpaceDelta, Action onSucces /// /// Action on success /// Action on failure - public void MoveBackToZeroCoordinate(Action onSuccessCallback, Action onErrorCallBack) + public void MoveBackToZeroCoordinate( + Action onSuccessCallback, + Action onErrorCallBack + ) { // Send move command - CommunicationManager.Instance.SetCanWrite(new CanWriteRequest - { - ManipulatorId = ManipulatorID, - CanWrite = true, - Hours = 1 - }, b => - { - if (!b) return; - CommunicationManager.Instance.GotoPos(new GotoPositionRequest - { - ManipulatorId = ManipulatorID, - Position = ZeroCoordinateOffset, - Speed = AUTOMATIC_MOVEMENT_SPEED - }, - pos => - { - CommunicationManager.Instance.SetCanWrite(new CanWriteRequest - { - ManipulatorId = ManipulatorID, - CanWrite = false, - Hours = 0 - }, _ => onSuccessCallback(pos), onErrorCallBack); - }, onErrorCallBack); - }, onErrorCallBack); + CommunicationManager.Instance.SetPosition( + new SetPositionRequest( + ManipulatorID, + ZeroCoordinateOffset, + AUTOMATIC_MOVEMENT_SPEED + ), + onSuccessCallback, + onErrorCallBack + ); } #endregion @@ -389,71 +390,102 @@ public void MoveBackToZeroCoordinate(Action onSuccessCallback, Action - { - // Use 2.4 if 4 shank, otherwise default to 1 - var probeType = shankCount == 4 - ? ProbeProperties.ProbeType.Neuropixels24 - : ProbeProperties.ProbeType.Neuropixels1; - - // print("Read type: " + probeType + "; Current type: " + _probeManager.ProbeType); - // Check if change is needed - if (probeType != _probeManager.ProbeType) + CommunicationManager.Instance.GetShankCount( + ManipulatorID, + shankCount => { - // Unregister manipulator - _probeManager.SetIsEphysLinkControlled(false, ManipulatorID, true, () => + // Use 2.4 if 4 shank, otherwise default to 1 + var probeType = + shankCount == 4 + ? ProbeProperties.ProbeType.Neuropixels24 + : ProbeProperties.ProbeType.Neuropixels1; + + // print("Read type: " + probeType + "; Current type: " + _probeManager.ProbeType); + // Check if change is needed + if (probeType != _probeManager.ProbeType) { - // Create new probe - CreatePathfinderProbe.Invoke(probeType); + // Unregister manipulator + _probeManager.SetIsEphysLinkControlled( + false, + ManipulatorID, + true, + () => + { + // Create new probe + CreatePathfinderProbe.Invoke(probeType); - // Destroy current probe - DestroyThisProbe.Invoke(); - }, Debug.LogError); + // Destroy current probe + DestroyThisProbe.Invoke(); + }, + Debug.LogError + ); - // Exit early as this probe no longer exists - return; - } + // Exit early as this probe no longer exists + return; + } - // Otherwise, update probe angles - CommunicationManager.Instance.GetAngles(ManipulatorID, angles => - { - _probeController.SetProbeAngles(new Vector3(angles.x, 90 - angles.y, angles.z)); - - // If only the DV axis moved, then we drop on DV. Otherwise, we drop on depth. - if (Math.Abs(pos.z - _lastManipulatorPosition.z) > 0.0001) - IsSetToDropToSurfaceWithDepth = Math.Abs(pos.x - _lastManipulatorPosition.x) > 0.0001 || - Math.Abs(pos.y - _lastManipulatorPosition.y) > 0.0001; - - // Copy in new 3-axis position into saved 4-axis position - _lastManipulatorPosition = new Vector4(pos.x, pos.y, pos.z, _lastManipulatorPosition.w); - - // Apply brain surface offset on correct axis - var brainSurfaceAdjustment = float.IsNaN(BrainSurfaceOffset) ? 0 : BrainSurfaceOffset; - if (IsSetToDropToSurfaceWithDepth) - _lastManipulatorPosition.w -= brainSurfaceAdjustment; - else - _lastManipulatorPosition.z -= brainSurfaceAdjustment; - - // Convert Pathfinder space coordinates into active atlas space - var convertedPos = - _probeController.Insertion.World2T_Vector( - CoordinateSpace.Space2World_Vector(_lastManipulatorPosition)); - - // Copy and add 4th axis back in - _probeController.SetProbePosition(new Vector4(convertedPos.x, convertedPos.y, - convertedPos.z, - _lastManipulatorPosition.w)); - - // Log and continue echoing - LogAndContinue(); - }, Debug.LogError); - }, Debug.LogError); + // Otherwise, update probe angles + CommunicationManager.Instance.GetAngles( + ManipulatorID, + angles => + { + _probeController.SetProbeAngles( + new Vector3(angles.x, 90 - angles.y, angles.z) + ); + + // If only the DV axis moved, then we drop on DV. Otherwise, we drop on depth. + if (Math.Abs(pos.z - _lastManipulatorPosition.z) > 0.0001) + IsSetToDropToSurfaceWithDepth = + Math.Abs(pos.x - _lastManipulatorPosition.x) > 0.0001 + || Math.Abs(pos.y - _lastManipulatorPosition.y) > 0.0001; + + // Copy in new 3-axis position into saved 4-axis position + _lastManipulatorPosition = new Vector4( + pos.x, + pos.y, + pos.z, + _lastManipulatorPosition.w + ); + + // Apply brain surface offset on correct axis + var brainSurfaceAdjustment = float.IsNaN(BrainSurfaceOffset) + ? 0 + : BrainSurfaceOffset; + if (IsSetToDropToSurfaceWithDepth) + _lastManipulatorPosition.w -= brainSurfaceAdjustment; + else + _lastManipulatorPosition.z -= brainSurfaceAdjustment; + + // Convert Pathfinder space coordinates into active atlas space + var convertedPos = _probeController.Insertion.World2T_Vector( + CoordinateSpace.Space2World_Vector(_lastManipulatorPosition) + ); + + // Copy and add 4th axis back in + _probeController.SetProbePosition( + new Vector4( + convertedPos.x, + convertedPos.y, + convertedPos.z, + _lastManipulatorPosition.w + ) + ); + + // Log and continue echoing + LogAndContinue(); + }, + Debug.LogError + ); + }, + Debug.LogError + ); // Exit early as we've handled Pathfinder return; @@ -462,14 +494,17 @@ private void EchoPosition(Vector4 pos) // Calculate last used direction for dropping to brain surface (between depth and DV) var dvDelta = Math.Abs(pos.z - _lastManipulatorPosition.z); var depthDelta = Math.Abs(pos.w - _lastManipulatorPosition.w); - if (dvDelta > 0.0001 || depthDelta > 0.0001) IsSetToDropToSurfaceWithDepth = depthDelta > dvDelta; + if (dvDelta > 0.0001 || depthDelta > 0.0001) + IsSetToDropToSurfaceWithDepth = depthDelta > dvDelta; _lastManipulatorPosition = pos; // Apply zero coordinate offset var zeroCoordinateAdjustedManipulatorPosition = pos - ZeroCoordinateOffset; // Convert to coordinate space - var manipulatorSpacePosition = CoordinateTransform.T2U(zeroCoordinateAdjustedManipulatorPosition); + var manipulatorSpacePosition = CoordinateTransform.T2U( + zeroCoordinateAdjustedManipulatorPosition + ); // Brain surface adjustment var brainSurfaceAdjustment = float.IsNaN(BrainSurfaceOffset) ? 0 : BrainSurfaceOffset; @@ -479,18 +514,27 @@ private void EchoPosition(Vector4 pos) manipulatorSpacePosition.y -= brainSurfaceAdjustment; // Convert to world space - var zeroCoordinateAdjustedWorldPosition = - CoordinateSpace.Space2World(manipulatorSpacePosition); + var zeroCoordinateAdjustedWorldPosition = CoordinateSpace.Space2World( + manipulatorSpacePosition + ); // Set probe position (change axes to match probe) - var transformedApmldv = BrainAtlasManager.World2T_Vector(zeroCoordinateAdjustedWorldPosition); + var transformedApmldv = BrainAtlasManager.World2T_Vector( + zeroCoordinateAdjustedWorldPosition + ); // Split between 3 and 4 axis assignments if (CoordinateTransform.Prefix == "3lhm") _probeController.SetProbePosition(transformedApmldv); else - _probeController.SetProbePosition(new Vector4(transformedApmldv.x, transformedApmldv.y, - transformedApmldv.z, zeroCoordinateAdjustedManipulatorPosition.w)); + _probeController.SetProbePosition( + new Vector4( + transformedApmldv.x, + transformedApmldv.y, + transformedApmldv.z, + zeroCoordinateAdjustedManipulatorPosition.w + ) + ); // Log and continue echoing LogAndContinue(); @@ -507,9 +551,13 @@ void LogAndContinue() // ["ephys_link", Real time stamp, Manipulator ID, X, Y, Z, W, Phi, Theta, Spin, TipX, TipY, TipZ] string[] data = { - "ephys_link", Time.realtimeSinceStartup.ToString(CultureInfo.InvariantCulture), ManipulatorID, - pos.x.ToString(CultureInfo.InvariantCulture), pos.y.ToString(CultureInfo.InvariantCulture), - pos.z.ToString(CultureInfo.InvariantCulture), pos.w.ToString(CultureInfo.InvariantCulture), + "ephys_link", + Time.realtimeSinceStartup.ToString(CultureInfo.InvariantCulture), + ManipulatorID, + pos.x.ToString(CultureInfo.InvariantCulture), + pos.y.ToString(CultureInfo.InvariantCulture), + pos.z.ToString(CultureInfo.InvariantCulture), + pos.w.ToString(CultureInfo.InvariantCulture), _probeController.Insertion.Yaw.ToString(CultureInfo.InvariantCulture), _probeController.Insertion.Pitch.ToString(CultureInfo.InvariantCulture), _probeController.Insertion.Roll.ToString(CultureInfo.InvariantCulture), @@ -521,10 +569,10 @@ void LogAndContinue() } // Continue echoing position - CommunicationManager.Instance.GetPos(ManipulatorID, EchoPosition); + CommunicationManager.Instance.GetPosition(ManipulatorID, EchoPosition); } } #endregion } -} \ No newline at end of file +} diff --git a/Assets/Scripts/Pinpoint/Probes/ProbeManager.cs b/Assets/Scripts/Pinpoint/Probes/ProbeManager.cs index d6f513c7..ce731711 100644 --- a/Assets/Scripts/Pinpoint/Probes/ProbeManager.cs +++ b/Assets/Scripts/Pinpoint/Probes/ProbeManager.cs @@ -31,7 +31,8 @@ public class ProbeManager : MonoBehaviour public static ProbeManager ActiveProbeManager; // Static events - public static readonly UnityEvent> EphysLinkControlledProbesChangedEvent = new(); + public static readonly UnityEvent> EphysLinkControlledProbesChangedEvent = + new(); public static readonly UnityEvent ActiveProbeUIUpdateEvent = new(); #endregion @@ -63,30 +64,53 @@ public string OverrideName #endregion // Exposed fields to collect links to other components inside of the Probe prefab - [FormerlySerializedAs("probeColliders")][SerializeField] private List _probeColliders; - [FormerlySerializedAs("probeUIManagers")][SerializeField] private List _probeUIManagers; - [FormerlySerializedAs("probeRenderer")][SerializeField] private Renderer _probeRenderer; - [SerializeField] private RecordingRegion _recRegion; + [FormerlySerializedAs("probeColliders")] + [SerializeField] + private List _probeColliders; + + [FormerlySerializedAs("probeUIManagers")] + [SerializeField] + private List _probeUIManagers; + + [FormerlySerializedAs("probeRenderer")] + [SerializeField] + private Renderer _probeRenderer; + + [SerializeField] + private RecordingRegion _recRegion; private AxisControl _axisControl; public ProbeProperties.ProbeType ProbeType; - [FormerlySerializedAs("probeController")][SerializeField] private ProbeController _probeController; + [FormerlySerializedAs("probeController")] + [SerializeField] + private ProbeController _probeController; - [SerializeField] private Material _lineMaterial; - [FormerlySerializedAs("ghostMaterial")][SerializeField] private Material _ghostMaterial; + [SerializeField] + private Material _lineMaterial; + + [FormerlySerializedAs("ghostMaterial")] + [SerializeField] + private Material _ghostMaterial; private Dictionary _defaultMaterials; private HashSet _activeRenderers; #region Channel map public string SelectionLayerName { get; private set; } + /// /// Return the minimum and maximum channel position in the current selection in mm /// - public (float, float) ChannelMinMaxYCoord { get { return (_channelMap.MinChannelHeight, _channelMap.MaxChannelHeight); } } + public (float, float) ChannelMinMaxYCoord + { + get { return (_channelMap.MinChannelHeight, _channelMap.MaxChannelHeight); } + } private TaskCompletionSource _channelMapLoadedSource; - public Task ChannelMapTask { get { return _channelMapLoadedSource.Task; } } + public Task ChannelMapTask + { + get { return _channelMapLoadedSource.Task; } + } private ChannelMap _channelMap; /// @@ -103,7 +127,10 @@ public static string[] GetAllChannelAnnotationData() private Vector3 _recRegionBaseCoordWorldU; private Vector3 _recRegionTopCoordWorldU; - public (Vector3 tipCoordU, Vector3 endCoordU) RecRegionCoordWorldU { get { return (_recRegionBaseCoordWorldU, _recRegionTopCoordWorldU); } } + public (Vector3 tipCoordU, Vector3 endCoordU) RecRegionCoordWorldU + { + get { return (_recRegionBaseCoordWorldU, _recRegionTopCoordWorldU); } + } // Text private const float minYaw = -180; @@ -122,10 +149,7 @@ public static string[] GetAllChannelAnnotationData() private ProbeDisplayType _probeDisplayType; public ProbeDisplayType ProbeDisplay { - get - { - return _probeDisplayType; - } + get { return _probeDisplayType; } set { _probeDisplayType = value; @@ -133,16 +157,15 @@ public ProbeDisplayType ProbeDisplay } } - public ProbeController ProbeController { get => _probeController; + public ProbeController ProbeController + { + get => _probeController; private set => _probeController = value; } public bool Locked { - get - { - return _probeController.Locked; - } + get { return _probeController.Locked; } } public ManipulatorBehaviorController ManipulatorBehaviorController => @@ -155,7 +178,9 @@ private set { ManipulatorBehaviorController.enabled = value; EphysLinkControlChangeEvent.Invoke(); - EphysLinkControlledProbesChangedEvent.Invoke(Instances.Where(manager => manager.IsEphysLinkControlled).ToHashSet()); + EphysLinkControlledProbesChangedEvent.Invoke( + Instances.Where(manager => manager.IsEphysLinkControlled).ToHashSet() + ); } } @@ -165,7 +190,6 @@ private set public Color Color { get => _color; - set { // try to return the current color @@ -260,13 +284,14 @@ private void Start() // Force update color foreach (ProbeUIManager puiManager in _probeUIManagers) puiManager.UpdateColors(); - if (_probeRenderer) _probeRenderer.material.color = _color; + if (_probeRenderer) + _probeRenderer.material.color = _color; UIUpdateEvent.Invoke(); } /// - /// Called by Unity when this object is destroyed. + /// Called by Unity when this object is destroyed. /// Unregisters the probe from tpmanager /// Removes the probe panels and the position text. /// @@ -275,14 +300,13 @@ public void Cleanup() ProbeProperties.ReturnColor(Color); ColliderManager.RemoveProbeColliderInstances(_probeColliders); - + // Force disable Ephys Link if (IsEphysLinkControlled) { IsEphysLinkControlled = false; - CommunicationManager.Instance.UnregisterManipulator(ManipulatorBehaviorController.ManipulatorID); } - + // Delete this gameObject foreach (ProbeUIManager puimanager in _probeUIManagers) puimanager.Cleanup(); @@ -305,7 +329,6 @@ private void OnDestroy() } private void OnEnable() => Instances.Add(this); - #endregion @@ -341,7 +364,10 @@ public async Task GetChannelMap() public void Update2ActiveTransform() { - _probeController.SetSpaceTransform(BrainAtlasManager.ActiveReferenceAtlas.AtlasSpace, BrainAtlasManager.ActiveAtlasTransform); + _probeController.SetSpaceTransform( + BrainAtlasManager.ActiveReferenceAtlas.AtlasSpace, + BrainAtlasManager.ActiveAtlasTransform + ); } public void SetUIVisibility(bool state) @@ -350,7 +376,6 @@ public void SetUIVisibility(bool state) puimanager.SetProbePanelVisibility(state); } - public void OverrideUUID(string newUUID) { UUID = newUUID; @@ -359,7 +384,7 @@ public void OverrideUUID(string newUUID) } /// - /// Update the name of this probe, when it is in the brain + /// Update the name of this probe, when it is in the brain /// public void UpdateName() { @@ -378,16 +403,25 @@ public void ProbeMoved() { ProbeInsertion insertion = _probeController.Insertion; var channelCoords = GetChannelRangemm(); - + // Update the world coordinates for the tip position - Vector3 startCoordWorldT = _probeController.ProbeTipT.position + -_probeController.ProbeTipT.forward * channelCoords.startPosmm; - Vector3 endCoordWorldT = _probeController.ProbeTipT.position + -_probeController.ProbeTipT.forward * channelCoords.endPosmm; + Vector3 startCoordWorldT = + _probeController.ProbeTipT.position + + -_probeController.ProbeTipT.forward * channelCoords.startPosmm; + Vector3 endCoordWorldT = + _probeController.ProbeTipT.position + + -_probeController.ProbeTipT.forward * channelCoords.endPosmm; _recRegionBaseCoordWorldU = BrainAtlasManager.WorldT2WorldU(startCoordWorldT, true); _recRegionTopCoordWorldU = BrainAtlasManager.WorldT2WorldU(endCoordWorldT, true); } #region Channel map - public (float startPosmm, float endPosmm, float recordingSizemm, float fullHeight) GetChannelRangemm() + public ( + float startPosmm, + float endPosmm, + float recordingSizemm, + float fullHeight + ) GetChannelRangemm() { (float startPosmm, float endPosmm) = ChannelMinMaxYCoord; float recordingSizemm = endPosmm - startPosmm; @@ -407,20 +441,20 @@ public async void UpdateSelectionLayer(string selectionLayerName) UpdateChannelMap(); UIUpdateEvent.Invoke(); - } /// /// Update the channel map data according to the selected channels /// Defaults to the first 384 channels - /// + /// /// Sets channelMinY/channelMaxY in mm /// public void UpdateChannelMap() { - #if UNITY_EDITOR - Debug.Log($"(ProbeManager) Minimum channel coordinate {_channelMap.MinChannelHeight} max {_channelMap.MaxChannelHeight}"); + Debug.Log( + $"(ProbeManager) Minimum channel coordinate {_channelMap.MinChannelHeight} max {_channelMap.MaxChannelHeight}" + ); #endif // see if we can bypass this: @@ -437,7 +471,7 @@ public void UpdateChannelMap() /// /// Get a serialized representation of the depth information on each shank of this probe - /// + /// /// SpikeGLX format /// [probe,shank](bottom um, top um, r, g, b, acronym) /// @@ -458,7 +492,7 @@ public List GetProbeDepthIDs() } return depthIDs; } - + /// /// Gets the probe anatomy in depth format (SpikeGLX) /// @@ -469,7 +503,6 @@ private string perShankDepthIDs(int shank) // Create a list of range, acronym color List<(int bot, int top, string acronym, Color color)> probeAnnotationData = new(); - ProbeUIManager uiManager = _probeUIManagers[shank]; Transform electrodeBaseT = uiManager.ShankTipT(); @@ -482,8 +515,11 @@ private string perShankDepthIDs(int shank) // Lerp between the base and top coordinate in small steps - int lastID = BrainAtlasManager.ActiveReferenceAtlas.GetAnnotationIdx(BrainAtlasManager.ActiveReferenceAtlas.World2AtlasIdx(baseCoordWorldU)); - if (lastID < 0) lastID = 0; + int lastID = BrainAtlasManager.ActiveReferenceAtlas.GetAnnotationIdx( + BrainAtlasManager.ActiveReferenceAtlas.World2AtlasIdx(baseCoordWorldU) + ); + if (lastID < 0) + lastID = 0; float curBottom = 0f; @@ -492,8 +528,11 @@ private string perShankDepthIDs(int shank) Vector3 coordU = Vector3.Lerp(baseCoordWorldU, topCoordWorldU, perc); Debug.Log(BrainAtlasManager.ActiveReferenceAtlas.World2AtlasIdx(coordU)); - int ID = BrainAtlasManager.ActiveReferenceAtlas.GetAnnotationIdx(BrainAtlasManager.ActiveReferenceAtlas.World2AtlasIdx(coordU)); - if (ID < 0) ID = 0; + int ID = BrainAtlasManager.ActiveReferenceAtlas.GetAnnotationIdx( + BrainAtlasManager.ActiveReferenceAtlas.World2AtlasIdx(coordU) + ); + if (ID < 0) + ID = 0; Debug.Log(ID); if (Settings.UseBeryl) @@ -503,14 +542,28 @@ private string perShankDepthIDs(int shank) { // Save the current step float newHeight = perc * height * 1000f; - probeAnnotationData.Add((Mathf.RoundToInt(curBottom), Mathf.RoundToInt(newHeight), BrainAtlasManager.ActiveReferenceAtlas.Ontology.ID2Acronym(ID), BrainAtlasManager.ActiveReferenceAtlas.Ontology.ID2Color(ID))); + probeAnnotationData.Add( + ( + Mathf.RoundToInt(curBottom), + Mathf.RoundToInt(newHeight), + BrainAtlasManager.ActiveReferenceAtlas.Ontology.ID2Acronym(ID), + BrainAtlasManager.ActiveReferenceAtlas.Ontology.ID2Color(ID) + ) + ); curBottom = newHeight; lastID = ID; } } // Save the final step - probeAnnotationData.Add((Mathf.RoundToInt(curBottom), Mathf.RoundToInt(height * 1000), BrainAtlasManager.ActiveReferenceAtlas.Ontology.ID2Acronym(lastID), BrainAtlasManager.ActiveReferenceAtlas.Ontology.ID2Color(lastID))); + probeAnnotationData.Add( + ( + Mathf.RoundToInt(curBottom), + Mathf.RoundToInt(height * 1000), + BrainAtlasManager.ActiveReferenceAtlas.Ontology.ID2Acronym(lastID), + BrainAtlasManager.ActiveReferenceAtlas.Ontology.ID2Color(lastID) + ) + ); // Flatten the list data according to the SpikeGLX format // [probe, shank](startpos, endpos, r, g, b, name) @@ -520,9 +573,10 @@ private string perShankDepthIDs(int shank) foreach (var data in probeAnnotationData) { - probeStr += $"({data.bot},{data.top}," + - $"{Mathf.RoundToInt(data.color.r * 255)},{Mathf.RoundToInt(data.color.g * 255)},{Mathf.RoundToInt(data.color.b * 255)}," + - $"{data.acronym})"; + probeStr += + $"({data.bot},{data.top}," + + $"{Mathf.RoundToInt(data.color.r * 255)},{Mathf.RoundToInt(data.color.g * 255)},{Mathf.RoundToInt(data.color.b * 255)}," + + $"{data.acronym})"; } return probeStr; @@ -530,7 +584,7 @@ private string perShankDepthIDs(int shank) /// /// Get a serialized representation of the channel ID data - /// + /// /// (OpenEphys format) /// /// @@ -554,14 +608,22 @@ public string GetChannelAnnotationIDs(bool collapsed = true) { // For now we'll ignore x changes and just use the y coordinate, this way we don't need to calculate the forward vector for the probe // note that we're ignoring depth here, this assume the probe tip is on the electrode surface (which it should be) - Vector3 channelCoordWorldT = shankTipCoordWorldT - _probeController.ProbeTipT.forward * channelMapData[i].y / 1000f; + Vector3 channelCoordWorldT = + shankTipCoordWorldT + - _probeController.ProbeTipT.forward * channelMapData[i].y / 1000f; // Now transform this into WorldU - Vector3 channelCoordWorldU = BrainAtlasManager.WorldT2WorldU(channelCoordWorldT, true); + Vector3 channelCoordWorldU = BrainAtlasManager.WorldT2WorldU( + channelCoordWorldT, + true + ); int elecIdx = si * channelMapData.Count + i; - int ID = BrainAtlasManager.ActiveReferenceAtlas.GetAnnotationIdx(BrainAtlasManager.ActiveReferenceAtlas.World2AtlasIdx(channelCoordWorldU)); - if (ID < 0) ID = -1; + int ID = BrainAtlasManager.ActiveReferenceAtlas.GetAnnotationIdx( + BrainAtlasManager.ActiveReferenceAtlas.World2AtlasIdx(channelCoordWorldU) + ); + if (ID < 0) + ID = -1; if (Settings.UseBeryl) ID = BrainAtlasManager.ActiveReferenceAtlas.Ontology.RemapID_NoLayers(ID); @@ -575,7 +637,6 @@ public string GetChannelAnnotationIDs(bool collapsed = true) } else { - // Populate the data string Vector3 tipCoordWorldT = _probeController.ProbeTipT.position; @@ -583,13 +644,21 @@ public string GetChannelAnnotationIDs(bool collapsed = true) { // For now we'll ignore x changes and just use the y coordinate, this way we don't need to calculate the forward vector for the probe // note that we're ignoring depth here, this assume the probe tip is on the electrode surface (which it should be) - Vector3 channelCoordWorldT = tipCoordWorldT - _probeController.ProbeTipT.forward * channelMapData[i].y / 1000f; + Vector3 channelCoordWorldT = + tipCoordWorldT + - _probeController.ProbeTipT.forward * channelMapData[i].y / 1000f; // Now transform this into WorldU - Vector3 channelCoordWorldU = BrainAtlasManager.WorldT2WorldU(channelCoordWorldT, false); + Vector3 channelCoordWorldU = BrainAtlasManager.WorldT2WorldU( + channelCoordWorldT, + false + ); - int ID = BrainAtlasManager.ActiveReferenceAtlas.GetAnnotationIdx(BrainAtlasManager.ActiveReferenceAtlas.World2AtlasIdx(channelCoordWorldU)); - if (ID < 0) ID = -1; + int ID = BrainAtlasManager.ActiveReferenceAtlas.GetAnnotationIdx( + BrainAtlasManager.ActiveReferenceAtlas.World2AtlasIdx(channelCoordWorldU) + ); + if (ID < 0) + ID = -1; if (Settings.UseBeryl) ID = BrainAtlasManager.ActiveReferenceAtlas.Ontology.RemapID_NoLayers(ID); @@ -619,7 +688,7 @@ public string GetChannelAnnotationIDs(bool collapsed = true) if (data.ID != curID) { // save the previous indexes as a range, then start a new one - collapsedAnnotationData.Add(($"{firstIdx}-{curIdx-1}",curAcronym,curColor)); + collapsedAnnotationData.Add(($"{firstIdx}-{curIdx - 1}", curAcronym, curColor)); // start new firstIdx = curIdx; curID = channelAnnotationData[curIdx].ID; @@ -629,13 +698,19 @@ public string GetChannelAnnotationIDs(bool collapsed = true) } // make sure to get the final set of data - if (firstIdx < (channelAnnotationData.Count-1)) - collapsedAnnotationData.Add(($"{firstIdx}-{channelAnnotationData.Count - 1}", curAcronym, curColor)); - - channelStrings = collapsedAnnotationData.Select(x => $"{x.idxRange},{x.acronym},{x.color}").ToArray(); + if (firstIdx < (channelAnnotationData.Count - 1)) + collapsedAnnotationData.Add( + ($"{firstIdx}-{channelAnnotationData.Count - 1}", curAcronym, curColor) + ); + + channelStrings = collapsedAnnotationData + .Select(x => $"{x.idxRange},{x.acronym},{x.color}") + .ToArray(); } else - channelStrings = channelAnnotationData.Select(x => $"{x.idx},{x.ID},{x.acronym},{x.color}").ToArray(); + channelStrings = channelAnnotationData + .Select(x => $"{x.idx},{x.ID},{x.acronym},{x.color}") + .ToArray(); return string.Join(";", channelStrings); } @@ -657,7 +732,7 @@ public void Probe2Text() ProbeInsertion insertion = _probeController.Insertion; - // If we are using the + // If we are using the if (Settings.ConvertAPML2Probe) { Debug.LogWarning("Not working"); @@ -672,16 +747,20 @@ public void Probe2Text() float mult = Settings.DisplayUM ? 1000f : 1f; - Vector3 tipAtlasU = insertion.PositionSpaceU() + BrainAtlasManager.ActiveReferenceAtlas.AtlasSpace.ReferenceCoord; + Vector3 tipAtlasU = + insertion.PositionSpaceU() + + BrainAtlasManager.ActiveReferenceAtlas.AtlasSpace.ReferenceCoord; Vector3 tipAtlasT = insertion.APMLDV; - Vector3 angles = Settings.UseIBLAngles ? - PinpointUtils.World2IBL(insertion.Angles) : - insertion.Angles; + Vector3 angles = Settings.UseIBLAngles + ? PinpointUtils.World2IBL(insertion.Angles) + : insertion.Angles; (Vector3 entryAtlasT, float depthTransformed) = GetSurfaceCoordinateT(); - Vector3 entryAtlasU = BrainAtlasManager.ActiveAtlasTransform.T2U(entryAtlasT) + BrainAtlasManager.ActiveReferenceAtlas.AtlasSpace.ReferenceCoord; + Vector3 entryAtlasU = + BrainAtlasManager.ActiveAtlasTransform.T2U(entryAtlasT) + + BrainAtlasManager.ActiveReferenceAtlas.AtlasSpace.ReferenceCoord; if (Settings.ConvertAPML2Probe) { @@ -701,16 +780,18 @@ public void Probe2Text() tipAtlasT.y = tipYRot; } - string dataStr = string.Format($"{name}: ReferenceAtlas {BrainAtlasManager.ActiveReferenceAtlas.AtlasSpace.Name}, " + - $"AtlasTransform {BrainAtlasManager.ActiveAtlasTransform.Name}, " + - $"Entry and Tip are ({apStr}, {mlStr}, {dvStr}), " + - $"Entry ({round0(entryAtlasT.x * mult)}, {round0(entryAtlasT.y * mult)}, {round0(entryAtlasT.z * mult)}), " + - $"Tip ({round0(tipAtlasT.x * mult)}, {round0(tipAtlasT.y * mult)}, {round0(tipAtlasT.z * mult)}), " + - $"Angles ({round2(Utils.CircDeg(angles.x, minYaw, maxYaw))}, {round2(angles.y)}, {round2(Utils.CircDeg(angles.z, minRoll, maxRoll))}), " + - $"Depth {round0(depthTransformed * mult)}, " + - $"CCF Entry ({round0(entryAtlasU.x * mult)}, {round0(entryAtlasU.y * mult)}, {round0(entryAtlasU.z * mult)}), " + - $"CCF Tip ({round0(tipAtlasU.x * mult)}, {round0(tipAtlasU.y * mult)}, {round0(tipAtlasU.z * mult)}), " + - $"CCF Depth {round0(Vector3.Distance(entryAtlasU, tipAtlasU))}"); + string dataStr = string.Format( + $"{name}: ReferenceAtlas {BrainAtlasManager.ActiveReferenceAtlas.AtlasSpace.Name}, " + + $"AtlasTransform {BrainAtlasManager.ActiveAtlasTransform.Name}, " + + $"Entry and Tip are ({apStr}, {mlStr}, {dvStr}), " + + $"Entry ({round0(entryAtlasT.x * mult)}, {round0(entryAtlasT.y * mult)}, {round0(entryAtlasT.z * mult)}), " + + $"Tip ({round0(tipAtlasT.x * mult)}, {round0(tipAtlasT.y * mult)}, {round0(tipAtlasT.z * mult)}), " + + $"Angles ({round2(Utils.CircDeg(angles.x, minYaw, maxYaw))}, {round2(angles.y)}, {round2(Utils.CircDeg(angles.z, minRoll, maxRoll))}), " + + $"Depth {round0(depthTransformed * mult)}, " + + $"CCF Entry ({round0(entryAtlasU.x * mult)}, {round0(entryAtlasU.y * mult)}, {round0(entryAtlasU.z * mult)}), " + + $"CCF Tip ({round0(tipAtlasU.x * mult)}, {round0(tipAtlasU.y * mult)}, {round0(tipAtlasU.z * mult)}), " + + $"CCF Depth {round0(Vector3.Distance(entryAtlasU, tipAtlasU))}" + ); #if UNITY_WEBGL && !UNITY_EDITOR Copy2Clipboard(dataStr); @@ -723,6 +804,7 @@ private float round0(float input) { return Mathf.Round(input); } + private float round2(float input) { return Mathf.Round(input * 100) / 100; @@ -732,7 +814,7 @@ private float round2(float input) /// - /// Re-scale probe panels + /// Re-scale probe panels /// /// Set the probe panels of this probe to a new height public void ResizeProbePanel(int newPxHeight) @@ -747,7 +829,10 @@ public void ResizeProbePanel(int newPxHeight) public (Vector3 surfaceCoordinateT, float depthT) GetSurfaceCoordinateT() { - return (_brainSurfaceCoordT, Vector3.Distance(_probeController.Insertion.APMLDV, _brainSurfaceCoordT)); + return ( + _brainSurfaceCoordT, + Vector3.Distance(_probeController.Insertion.APMLDV, _brainSurfaceCoordT) + ); } public Vector3 GetSurfaceCoordinateWorldT() @@ -784,7 +869,9 @@ public void DropProbeToBrainSurface() var entryCoordAtlasT = BrainAtlasManager.ActiveAtlasTransform.U2T( BrainAtlasManager.ActiveReferenceAtlas.World2Atlas( - BrainAtlasManager.ActiveReferenceAtlas.AtlasIdx2World(entryCoordAtlasIdx))); + BrainAtlasManager.ActiveReferenceAtlas.AtlasIdx2World(entryCoordAtlasIdx) + ) + ); _probeController.SetProbePosition(entryCoordAtlasT); } @@ -808,11 +895,14 @@ public void UpdateSurfacePosition() else { // get the surface coordinate in un-transformed world space - _brainSurfaceWorldU = BrainAtlasManager.ActiveReferenceAtlas.AtlasIdx2World(entryCoordAtlasIdx); + _brainSurfaceWorldU = BrainAtlasManager.ActiveReferenceAtlas.AtlasIdx2World( + entryCoordAtlasIdx + ); // go back into transformed space, only using the reference coordinate for the entry coordinate (not the transform coordinate) _brainSurfaceWorldT = BrainAtlasManager.WorldU2WorldT(_brainSurfaceWorldU, true); _brainSurfaceCoordT = BrainAtlasManager.ActiveAtlasTransform.U2T( - BrainAtlasManager.ActiveReferenceAtlas.World2Atlas(_brainSurfaceWorldU, true)); + BrainAtlasManager.ActiveReferenceAtlas.World2Atlas(_brainSurfaceWorldU, true) + ); } } @@ -821,23 +911,28 @@ public void UpdateSurfacePosition() /// /// /// (entryCoordAtlasIdx, probeInBrain) - public (Vector3 entryCoordAtlasIdx, bool probeInBrain) CalculateEntryCoordinate(bool useDV = false) + public (Vector3 entryCoordAtlasIdx, bool probeInBrain) CalculateEntryCoordinate( + bool useDV = false + ) { // note: the backward axis on the probe is the probe's "up" axis (Vector3 tipCoordWorldU, _, _, Vector3 tipForwardWorldU) = _probeController.GetTipWorldU(); - Vector3 tipAtlasIdxU = BrainAtlasManager.ActiveReferenceAtlas.World2AtlasIdx(tipCoordWorldU); + Vector3 tipAtlasIdxU = BrainAtlasManager.ActiveReferenceAtlas.World2AtlasIdx( + tipCoordWorldU + ); Vector3 downDir = useDV ? Vector3.down : tipForwardWorldU; Vector3 downDirAtlas = BrainAtlasManager.ActiveReferenceAtlas.World2Atlas_Vector(downDir); // Check if we're in the brain - bool probeInBrain = BrainAtlasManager.ActiveReferenceAtlas.GetAnnotationIdx(tipAtlasIdxU) > 0; + bool probeInBrain = + BrainAtlasManager.ActiveReferenceAtlas.GetAnnotationIdx(tipAtlasIdxU) > 0; Vector3 tipInBrain = tipAtlasIdxU; // Adjust the tip coordinate to put it into the brain - // This is kind of a dumb algorithm + // This is kind of a dumb algorithm if (!probeInBrain) { // Get which direction we need to go @@ -854,7 +949,11 @@ public void UpdateSurfacePosition() float stepSize = 1000f / BrainAtlasManager.ActiveReferenceAtlas.Resolution.z; bool done = false; - for (int steps = 1; steps < Mathf.RoundToInt(BrainAtlasManager.ActiveReferenceAtlas.Dimensions.z*2f); steps++) + for ( + int steps = 1; + steps < Mathf.RoundToInt(BrainAtlasManager.ActiveReferenceAtlas.Dimensions.z * 2f); + steps++ + ) { Vector3 tempTip = tipAtlasIdxU + towardBox * stepSize * steps; if (BrainAtlasManager.ActiveReferenceAtlas.GetAnnotationIdx(tempTip) > 0) @@ -871,7 +970,7 @@ public void UpdateSurfacePosition() return (new Vector3(float.NaN, float.NaN, float.NaN), false); } } - + Vector3 entryCoordAtlasIdx = FindEntryIdxCoordinate(tipInBrain, downDirAtlas); return (entryCoordAtlasIdx, probeInBrain); @@ -881,7 +980,7 @@ public void UpdateSurfacePosition() /// Use the annotation dataset to discover whether there is a surface coordinate by going *down* from a point searchDistance /// *above* the startPos /// returns the coordinate in the annotation dataset that corresponds to the surface. - /// + /// /// Function guarantees that you enter the brain *once* before exiting, so if you start below the brain you need /// to enter first to discover the surface coordinate. /// @@ -890,7 +989,10 @@ public void UpdateSurfacePosition() /// public Vector3 FindEntryIdxCoordinate(Vector3 bottomIdxCoordU, Vector3 downVector) { - float searchDistance = BrainAtlasManager.ActiveReferenceAtlas.Dimensions.z * 1000f / BrainAtlasManager.ActiveReferenceAtlas.Resolution.z; + float searchDistance = + BrainAtlasManager.ActiveReferenceAtlas.Dimensions.z + * 1000f + / BrainAtlasManager.ActiveReferenceAtlas.Resolution.z; Vector3 topSearchIdxCoordU = bottomIdxCoordU - downVector * searchDistance; // If by chance we are inside the brain, go farther @@ -938,8 +1040,13 @@ public Vector3 FindEntryIdxCoordinate(Vector3 bottomIdxCoordU, Vector3 downVecto /// Is the manipulator in real life calibrated /// Callback function to handle a successful registration /// Callback function to handle a failed registration - public void SetIsEphysLinkControlled(bool register, string manipulatorId = null, bool calibrated = true, - Action onSuccess = null, Action onError = null) + public void SetIsEphysLinkControlled( + bool register, + string manipulatorId = null, + bool calibrated = true, + Action onSuccess = null, + Action onError = null + ) { // Exit early if this was an invalid call switch (register) @@ -954,24 +1061,20 @@ public void SetIsEphysLinkControlled(bool register, string manipulatorId = null, UIUpdateEvent.Invoke(); if (register) - CommunicationManager.Instance.RegisterManipulator(manipulatorId, () => - { - IsEphysLinkControlled = true; - ManipulatorBehaviorController.Initialize(manipulatorId, calibrated); - onSuccess?.Invoke(); - }, err => onError?.Invoke(err)); + { + IsEphysLinkControlled = true; + ManipulatorBehaviorController.Initialize(manipulatorId, calibrated); + onSuccess?.Invoke(); + } else { - CommunicationManager.Instance.UnregisterManipulator(manipulatorId, () => - { - ManipulatorBehaviorController.Deinitialize(); - IsEphysLinkControlled = false; - onSuccess?.Invoke(); - }, err => onError?.Invoke(err)); + ManipulatorBehaviorController.Deinitialize(); + IsEphysLinkControlled = false; + onSuccess?.Invoke(); } } - -#endregion + + #endregion #region AxisControl @@ -1060,6 +1163,7 @@ private void SetMaterialsDefault() } private LineRenderer _lineRenderer; + private void SetMaterialsLine() { #if UNITY_EDITOR @@ -1087,9 +1191,9 @@ private void SetMaterialsLine() _lineRenderer.positionCount = 2; var channelData = GetChannelRangemm(); - _lineRenderer.SetPositions(new Vector3[] { - Vector3.zero, - Vector3.up * channelData.fullHeight}); + _lineRenderer.SetPositions( + new Vector3[] { Vector3.zero, Vector3.up * channelData.fullHeight } + ); } } @@ -1165,14 +1269,17 @@ public static ProbeManagerData ProbeManager2ProbeData(ProbeManager probeManager) data.APITarget = probeManager.APITarget; // Manipulator Behavior data (if it exists) - if (!probeManager.ManipulatorBehaviorController) return data; - + if (!probeManager.ManipulatorBehaviorController) + return data; + data.NumAxes = probeManager.ManipulatorBehaviorController.NumAxes; data.ManipulatorID = probeManager.ManipulatorBehaviorController.ManipulatorID; data.ZeroCoordOffset = probeManager.ManipulatorBehaviorController.ZeroCoordinateOffset; data.Dimensions = probeManager.ManipulatorBehaviorController.Dimensions; data.BrainSurfaceOffset = probeManager.ManipulatorBehaviorController.BrainSurfaceOffset; - data.Drop2SurfaceWithDepth = probeManager.ManipulatorBehaviorController.IsSetToDropToSurfaceWithDepth; + data.Drop2SurfaceWithDepth = probeManager + .ManipulatorBehaviorController + .IsSetToDropToSurfaceWithDepth; data.IsRightHanded = probeManager.ManipulatorBehaviorController.IsRightHanded; return data; @@ -1184,4 +1291,4 @@ public enum ProbeDisplayType Opaque, Transparent, Line -} \ No newline at end of file +} diff --git a/Assets/Scripts/Pinpoint/TP_ProbeQuickSettings.cs b/Assets/Scripts/Pinpoint/TP_ProbeQuickSettings.cs index 6f109805..fa6f4ee9 100644 --- a/Assets/Scripts/Pinpoint/TP_ProbeQuickSettings.cs +++ b/Assets/Scripts/Pinpoint/TP_ProbeQuickSettings.cs @@ -148,7 +148,7 @@ public void ResetZeroCoordinate() { if (ProbeManager.ActiveProbeManager.IsEphysLinkControlled) { - _communicationManager.GetPos(ProbeManager.ActiveProbeManager.ManipulatorBehaviorController.ManipulatorID, + _communicationManager.GetPosition(ProbeManager.ActiveProbeManager.ManipulatorBehaviorController.ManipulatorID, zeroCoordinate => ProbeManager.ActiveProbeManager.ManipulatorBehaviorController.ZeroCoordinateOffset = zeroCoordinate); ProbeManager.ActiveProbeManager.ManipulatorBehaviorController.BrainSurfaceOffset = 0; } diff --git a/Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs b/Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs index be3cfb3d..aa963056 100644 --- a/Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs +++ b/Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs @@ -281,9 +281,13 @@ private float _targetDriveDistance // Converting worldT to AtlasT (to capture new Bregma offset when there is scaling) // then switch axes to get APMLDV. var offsetAdjustedTargetPositionAtlasT = - BrainAtlasManager.ActiveReferenceAtlas.World2Atlas(offsetAdjustedTargetPositionWorldT); + BrainAtlasManager.ActiveReferenceAtlas.World2Atlas( + offsetAdjustedTargetPositionWorldT + ); var offsetAdjustedTargetPositionCoordinateT = - BrainAtlasManager.ActiveAtlasTransform.U2T_Vector(offsetAdjustedTargetPositionAtlasT); + BrainAtlasManager.ActiveAtlasTransform.U2T_Vector( + offsetAdjustedTargetPositionAtlasT + ); targetInsertion.APMLDV = offsetAdjustedTargetPositionCoordinateT; // Compute target drive distance. @@ -313,7 +317,10 @@ private Vector4 _outsidePosition private float _exitMarginDepth => _duraDepth - DURA_MARGIN_DISTANCE; private float _duraDepth => - ResetDuraOffsetPanelHandler.ManipulatorIdToDuraDepth.GetValueOrDefault(_manipulatorId, float.NaN); + ResetDuraOffsetPanelHandler.ManipulatorIdToDuraDepth.GetValueOrDefault( + _manipulatorId, + float.NaN + ); private float _targetDepth => _duraDepth + _targetDriveDistance; private float _nearTargetDepth => _targetDepth - NEAR_TARGET_DISTANCE; @@ -446,145 +453,115 @@ public void OnDrivePastDistanceChanged(string value) public void Drive() { // Get current position - CommunicationManager.Instance.GetPos( + CommunicationManager.Instance.GetPosition( _manipulatorId, position => { // Increment state _driveStateManager.DriveIncrement(); - CommunicationManager.Instance.SetCanWrite( - new CanWriteRequest - { - ManipulatorId = _manipulatorId, - CanWrite = true, - Hours = 1 - }, - canWrite => - { - if (!canWrite) - return; - - // Do something based on current state - switch (_driveStateManager.State) - { - case DriveState.DrivingToNearTarget: - // Update status text - _statusText.text = - "Driving to " - + _drivePastTargetDistance * 1000f - + " µm past target..."; - - // Replace drive buttons with stop - _driveGroup.SetActive(false); - _stopButton.SetActive(true); - - // Drive to near target depth - if (position.w < _nearTargetDepth) - CommunicationManager.Instance.DriveToDepth( - new DriveToDepthRequest - { - ManipulatorId = _manipulatorId, - Depth = _nearTargetDepth, - Speed = _targetDriveSpeed - }, - _ => CompleteAndAdvance(), - Debug.LogError - ); - else - // Already closer than near target depth, so continue - CompleteAndAdvance(); - break; - case DriveState.DrivingToPastTarget: - // Update status text - _statusText.text = - "Driving to " - + _drivePastTargetDistance * 1000f - + " µm past target..."; - - // Replace drive buttons with stop - _driveGroup.SetActive(false); - _stopButton.SetActive(true); - - // Drive to past target depth - if (position.w < _pastTargetDepth) - CommunicationManager.Instance.DriveToDepth( - new DriveToDepthRequest - { - ManipulatorId = _manipulatorId, - Depth = _pastTargetDepth, - Speed = _nearTargetDriveSpeed - }, - _ => CompleteAndAdvance(), - Debug.LogError - ); - else - // Already further than past target depth, so continue - CompleteAndAdvance(); - break; - case DriveState.ReturningToTarget: - // Update status text - _statusText.text = "Returning to target..."; - - // Replace drive buttons with stop - _driveGroup.SetActive(false); - _stopButton.SetActive(true); - - // Drive to target and complete movement - CommunicationManager.Instance.DriveToDepth( - new DriveToDepthRequest - { - ManipulatorId = _manipulatorId, - Depth = _targetDepth, - Speed = _nearTargetDriveSpeed - }, - _ => - { - CommunicationManager.Instance.SetCanWrite( - new CanWriteRequest - { - ManipulatorId = _manipulatorId, - CanWrite = false, - Hours = 0 - }, - _ => - { - _driveStateManager.CompleteMovement(); - - // Complete driving - _statusText.text = "Drive complete"; - _stopButton.SetActive(false); - - // Enable return to surface button - _driveGroup.SetActive(true); - _driveButton.interactable = false; - _exitButton.SetActive(true); - } - ); - }, - Debug.LogError - ); - break; - case DriveState.Outside: - case DriveState.ExitingToOutside: - case DriveState.AtExitMargin: - case DriveState.ExitingToMargin: - case DriveState.AtDura: - case DriveState.ExitingToDura: - case DriveState.AtNearTarget: - case DriveState.ExitingToNearTarget: - case DriveState.AtPastTarget: - case DriveState.AtTarget: - default: - Debug.LogError( - "Invalid Drive state for driving: " - + _driveStateManager.State - ); - return; - } - }, - Debug.LogError - ); + // Do something based on current state + switch (_driveStateManager.State) + { + case DriveState.DrivingToNearTarget: + // Update status text + _statusText.text = + "Driving to " + + _drivePastTargetDistance * 1000f + + " µm past target..."; + + // Replace drive buttons with stop + _driveGroup.SetActive(false); + _stopButton.SetActive(true); + + // Drive to near target depth + if (position.w < _nearTargetDepth) + CommunicationManager.Instance.SetDepth( + new SetDepthRequest( + _manipulatorId, + _nearTargetDepth, + _targetDriveSpeed + ), + _ => CompleteAndAdvance(), + Debug.LogError + ); + else + // Already closer than near target depth, so continue + CompleteAndAdvance(); + break; + case DriveState.DrivingToPastTarget: + // Update status text + _statusText.text = + "Driving to " + + _drivePastTargetDistance * 1000f + + " µm past target..."; + + // Replace drive buttons with stop + _driveGroup.SetActive(false); + _stopButton.SetActive(true); + + // Drive to past target depth + if (position.w < _pastTargetDepth) + CommunicationManager.Instance.SetDepth( + new SetDepthRequest( + _manipulatorId, + _pastTargetDepth, + _nearTargetDriveSpeed + ), + _ => CompleteAndAdvance(), + Debug.LogError + ); + else + // Already further than past target depth, so continue + CompleteAndAdvance(); + break; + case DriveState.ReturningToTarget: + // Update status text + _statusText.text = "Returning to target..."; + + // Replace drive buttons with stop + _driveGroup.SetActive(false); + _stopButton.SetActive(true); + + // Drive to target and complete movement + CommunicationManager.Instance.SetDepth( + new SetDepthRequest( + _manipulatorId, + _targetDepth, + _nearTargetDriveSpeed + ), + _ => + { + _driveStateManager.CompleteMovement(); + + // Complete driving + _statusText.text = "Drive complete"; + _stopButton.SetActive(false); + + // Enable return to surface button + _driveGroup.SetActive(true); + _driveButton.interactable = false; + _exitButton.SetActive(true); + }, + Debug.LogError + ); + break; + case DriveState.Outside: + case DriveState.ExitingToOutside: + case DriveState.AtExitMargin: + case DriveState.ExitingToMargin: + case DriveState.AtDura: + case DriveState.ExitingToDura: + case DriveState.AtNearTarget: + case DriveState.ExitingToNearTarget: + case DriveState.AtPastTarget: + case DriveState.AtTarget: + default: + Debug.LogError( + "Invalid Drive state for driving: " + _driveStateManager.State + ); + return; + } }, Debug.LogError ); @@ -592,186 +569,148 @@ public void Drive() void CompleteAndAdvance() { - CommunicationManager.Instance.SetCanWrite( - new CanWriteRequest - { - ManipulatorId = _manipulatorId, - CanWrite = false, - Hours = 0 - }, - _ => - { - _driveStateManager.CompleteMovement(); - Drive(); - }, - Debug.LogError - ); + _driveStateManager.CompleteMovement(); + Drive(); } } public void Exit() { // Get current position - CommunicationManager.Instance.GetPos( + CommunicationManager.Instance.GetPosition( _manipulatorId, position => { // Increment state _driveStateManager.ExitIncrement(); - CommunicationManager.Instance.SetCanWrite( - new CanWriteRequest - { - ManipulatorId = _manipulatorId, - CanWrite = true, - Hours = 1 - }, - canWrite => - { - if (!canWrite) - return; - - // Do something based on current state - switch (_driveStateManager.State) - { - case DriveState.ExitingToNearTarget: - // Update status text - _statusText.text = "Returning to surface..."; - - // Replace drive buttons with stop - _driveGroup.SetActive(false); - _stopButton.SetActive(true); - - // Drive to near target depth - if ( - _nearTargetDepth > _duraDepth - && position.w > _nearTargetDepth - ) - CommunicationManager.Instance.DriveToDepth( - new DriveToDepthRequest - { - ManipulatorId = _manipulatorId, - Depth = _nearTargetDepth, - Speed = _nearTargetExitSpeed - }, - _ => CompleteAndAdvance(), - Debug.LogError - ); - else - // Dura depth is within near target distance, so continue - CompleteAndAdvance(); - break; - case DriveState.ExitingToDura: - // Update status text - _statusText.text = "Returning to surface..."; - - // Replace drive buttons with stop - _driveGroup.SetActive(false); - _stopButton.SetActive(true); - - // Drive to dura depth (set speed based on dura depth and near target depth) - if (position.w > _duraDepth) - CommunicationManager.Instance.DriveToDepth( - new DriveToDepthRequest - { - ManipulatorId = _manipulatorId, - Depth = _duraDepth, - Speed = - position.w > _nearTargetDepth - ? _nearTargetExitSpeed - : _exitDriveSpeed - }, - _ => CompleteAndAdvance(), - Debug.LogError - ); - else - // Already at dura depth, so continue - CompleteAndAdvance(); - break; - case DriveState.ExitingToMargin: - // Update status text - _statusText.text = "Exiting Dura..."; - - // Replace drive buttons with stop - _driveGroup.SetActive(false); - _stopButton.SetActive(true); - - // Drive to dura margin depth - if (position.w > _exitMarginDepth) - CommunicationManager.Instance.DriveToDepth( - new DriveToDepthRequest - { - ManipulatorId = _manipulatorId, - Depth = _exitMarginDepth, - Speed = - position.w > _nearTargetDepth - ? _nearTargetExitSpeed - : _exitDriveSpeed - }, - _ => CompleteAndAdvance(), - Debug.LogError - ); - else - // Already at dura margin depth, so continue - CompleteAndAdvance(); - break; - case DriveState.ExitingToOutside: - // Update status text - _statusText.text = "Exiting Dura..."; - - // Replace drive buttons with stop - _driveGroup.SetActive(false); - _stopButton.SetActive(true); - - // Reset dura offset - ProbeManager.ManipulatorBehaviorController.BrainSurfaceOffset = - 0; - - // Drive to outside position - if (position.y < _outsidePosition.y) - CommunicationManager.Instance.GotoPos( - new GotoPositionRequest - { - ManipulatorId = _manipulatorId, - Position = _outsidePosition, - Speed = _outsideDriveSpeed - }, - _ => CompleteOutside(), - Debug.LogError - ); - // Drive to outside depth if DV movement is unavailable - else if (position.w > _outsideDepth) - CommunicationManager.Instance.DriveToDepth( - new DriveToDepthRequest - { - ManipulatorId = _manipulatorId, - Depth = _outsideDepth, - Speed = _outsideDriveSpeed - }, - _ => CompleteOutside(), - Debug.LogError - ); - else - // Already outside, so complete - CompleteOutside(); - - break; - case DriveState.Outside: - case DriveState.AtExitMargin: - case DriveState.AtDura: - case DriveState.DrivingToNearTarget: - case DriveState.AtNearTarget: - case DriveState.DrivingToPastTarget: - case DriveState.AtPastTarget: - case DriveState.ReturningToTarget: - case DriveState.AtTarget: - default: - Debug.LogError("Invalid Drive state for exiting."); - return; - } - }, - Debug.LogError - ); + // Do something based on current state + switch (_driveStateManager.State) + { + case DriveState.ExitingToNearTarget: + // Update status text + _statusText.text = "Returning to surface..."; + + // Replace drive buttons with stop + _driveGroup.SetActive(false); + _stopButton.SetActive(true); + + // Drive to near target depth + if (_nearTargetDepth > _duraDepth && position.w > _nearTargetDepth) + CommunicationManager.Instance.SetDepth( + new SetDepthRequest( + _manipulatorId, + _nearTargetDepth, + _nearTargetExitSpeed + ), + _ => CompleteAndAdvance(), + Debug.LogError + ); + else + // Dura depth is within near target distance, so continue + CompleteAndAdvance(); + break; + case DriveState.ExitingToDura: + // Update status text + _statusText.text = "Returning to surface..."; + + // Replace drive buttons with stop + _driveGroup.SetActive(false); + _stopButton.SetActive(true); + + // Drive to dura depth (set speed based on dura depth and near target depth) + if (position.w > _duraDepth) + CommunicationManager.Instance.SetDepth( + new SetDepthRequest( + _manipulatorId, + _duraDepth, + position.w > _nearTargetDepth + ? _nearTargetExitSpeed + : _exitDriveSpeed + ), + _ => CompleteAndAdvance(), + Debug.LogError + ); + else + // Already at dura depth, so continue + CompleteAndAdvance(); + break; + case DriveState.ExitingToMargin: + // Update status text + _statusText.text = "Exiting Dura..."; + + // Replace drive buttons with stop + _driveGroup.SetActive(false); + _stopButton.SetActive(true); + + // Drive to dura margin depth + if (position.w > _exitMarginDepth) + CommunicationManager.Instance.SetDepth( + new SetDepthRequest( + _manipulatorId, + _exitMarginDepth, + position.w > _nearTargetDepth + ? _nearTargetExitSpeed + : _exitDriveSpeed + ), + _ => CompleteAndAdvance(), + Debug.LogError + ); + else + // Already at dura margin depth, so continue + CompleteAndAdvance(); + break; + case DriveState.ExitingToOutside: + // Update status text + _statusText.text = "Exiting Dura..."; + + // Replace drive buttons with stop + _driveGroup.SetActive(false); + _stopButton.SetActive(true); + + // Reset dura offset + ProbeManager.ManipulatorBehaviorController.BrainSurfaceOffset = 0; + + // Drive to outside position + if (position.y < _outsidePosition.y) + CommunicationManager.Instance.SetPosition( + new SetPositionRequest( + _manipulatorId, + _outsidePosition, + _outsideDriveSpeed + ), + _ => CompleteOutside(), + Debug.LogError + ); + // Drive to outside depth if DV movement is unavailable + else if (position.w > _outsideDepth) + CommunicationManager.Instance.SetDepth( + new SetDepthRequest( + _manipulatorId, + _outsideDepth, + _outsideDriveSpeed + ), + _ => CompleteOutside(), + Debug.LogError + ); + else + // Already outside, so complete + CompleteOutside(); + + break; + case DriveState.Outside: + case DriveState.AtExitMargin: + case DriveState.AtDura: + case DriveState.DrivingToNearTarget: + case DriveState.AtNearTarget: + case DriveState.DrivingToPastTarget: + case DriveState.AtPastTarget: + case DriveState.ReturningToTarget: + case DriveState.AtTarget: + default: + Debug.LogError("Invalid Drive state for exiting."); + return; + } }, Debug.LogError ); @@ -779,44 +718,20 @@ public void Exit() void CompleteAndAdvance() { - CommunicationManager.Instance.SetCanWrite( - new CanWriteRequest - { - ManipulatorId = _manipulatorId, - CanWrite = false, - Hours = 0 - }, - _ => - { - _driveStateManager.CompleteMovement(); - Exit(); - }, - Debug.LogError - ); + _driveStateManager.CompleteMovement(); + Exit(); } void CompleteOutside() { - CommunicationManager.Instance.SetCanWrite( - new CanWriteRequest - { - ManipulatorId = _manipulatorId, - CanWrite = false, - Hours = 0 - }, - _ => - { - _driveStateManager.CompleteMovement(); + _driveStateManager.CompleteMovement(); - // Reset UI - _driveButton.interactable = false; - _statusText.text = "Move to Dura to Drive"; - _stopButton.SetActive(false); - _exitButton.SetActive(false); - _driveGroup.SetActive(true); - }, - Debug.LogError - ); + // Reset UI + _driveButton.interactable = false; + _statusText.text = "Move to Dura to Drive"; + _stopButton.SetActive(false); + _exitButton.SetActive(false); + _driveGroup.SetActive(true); } } diff --git a/Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs b/Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs index a3d2ebe7..70143273 100644 --- a/Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs +++ b/Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs @@ -25,14 +25,26 @@ public class InsertionSelectionPanelHandler : MonoBehaviour #region Components - [SerializeField] private Color _apColor; - [SerializeField] private Color _mlColor; - [SerializeField] private Color _dvColor; + [SerializeField] + private Color _apColor; - [SerializeField] private TMP_Text _manipulatorIDText; - [SerializeField] private TMP_Dropdown _targetInsertionDropdown; - [SerializeField] private Button _moveButton; - [SerializeField] private TMP_Text _moveButtonText; + [SerializeField] + private Color _mlColor; + + [SerializeField] + private Color _dvColor; + + [SerializeField] + private TMP_Text _manipulatorIDText; + + [SerializeField] + private TMP_Dropdown _targetInsertionDropdown; + + [SerializeField] + private Button _moveButton; + + [SerializeField] + private TMP_Text _moveButtonText; public ProbeManager ProbeManager { private get; set; } @@ -52,13 +64,19 @@ public class InsertionSelectionPanelHandler : MonoBehaviour /// 1. Not already selected /// 2. Angles are coterminal /// - private IEnumerable _targetProbeManagerOptions => TargetableProbeManagers - .Where(manager => + private IEnumerable _targetProbeManagerOptions => + TargetableProbeManagers.Where(manager => !ManipulatorIDToSelectedTargetProbeManager - .Where(pair => pair.Key != ProbeManager.ManipulatorBehaviorController.ManipulatorID) - .Select(pair => pair.Value).Contains(manager) && IsCoterminal( + .Where(pair => + pair.Key != ProbeManager.ManipulatorBehaviorController.ManipulatorID + ) + .Select(pair => pair.Value) + .Contains(manager) + && IsCoterminal( manager.ProbeController.Insertion.Angles, - ProbeManager.ProbeController.Insertion.Angles)); + ProbeManager.ProbeController.Insertion.Angles + ) + ); private (ProbeInsertion ap, ProbeInsertion ml, ProbeInsertion dv) _movementAxesInsertions; @@ -69,17 +87,28 @@ public class InsertionSelectionPanelHandler : MonoBehaviour /// 1. Are not ephys link controlled /// 2. Are inside the brain (not NaN) /// - public static IEnumerable TargetableProbeManagers => ProbeManager.Instances - .Where(manager => !manager.IsEphysLinkControlled).Where(manager => !float.IsNaN(manager - .FindEntryIdxCoordinate( - BrainAtlasManager.ActiveReferenceAtlas.World2AtlasIdx(manager.ProbeController - .Insertion - .PositionWorldU()), - BrainAtlasManager.ActiveReferenceAtlas.World2Atlas_Vector(manager - .ProbeController - .GetTipWorldU().tipUpWorldU)).x)); - - public static readonly Dictionary ManipulatorIDToSelectedTargetProbeManager = new(); + public static IEnumerable TargetableProbeManagers => + ProbeManager + .Instances.Where(manager => !manager.IsEphysLinkControlled) + .Where(manager => + !float.IsNaN( + manager + .FindEntryIdxCoordinate( + BrainAtlasManager.ActiveReferenceAtlas.World2AtlasIdx( + manager.ProbeController.Insertion.PositionWorldU() + ), + BrainAtlasManager.ActiveReferenceAtlas.World2Atlas_Vector( + manager.ProbeController.GetTipWorldU().tipUpWorldU + ) + ) + .x + ) + ); + + public static readonly Dictionary< + string, + ProbeManager + > ManipulatorIDToSelectedTargetProbeManager = new(); private static readonly UnityEvent _shouldUpdateTargetInsertionOptionsEvent = new(); #endregion @@ -91,7 +120,8 @@ public class InsertionSelectionPanelHandler : MonoBehaviour private void Start() { // Update manipulator ID text - _manipulatorIDText.text = "Manipulator " + ProbeManager.ManipulatorBehaviorController.ManipulatorID; + _manipulatorIDText.text = + "Manipulator " + ProbeManager.ManipulatorBehaviorController.ManipulatorID; _manipulatorIDText.color = ProbeManager.Color; // Attach to dropdown events @@ -130,8 +160,9 @@ public void OnTargetInsertionDropdownValueChanged(int value) if (value == 0) { // Remove record if no insertion selected - ManipulatorIDToSelectedTargetProbeManager.Remove(ProbeManager.ManipulatorBehaviorController - .ManipulatorID); + ManipulatorIDToSelectedTargetProbeManager.Remove( + ProbeManager.ManipulatorBehaviorController.ManipulatorID + ); // Hide line _lineGameObjects.ap.SetActive(false); @@ -148,16 +179,22 @@ public void OnTargetInsertionDropdownValueChanged(int value) else { // Extract insertion name from dropdown text (looks for 'A' in ": AP" and bumps index back to ':') - var probeNameString = _targetInsertionDropdown.options[value] - .text[.._targetInsertionDropdown.options[value].text.LastIndexOf(": A", StringComparison.Ordinal)]; + var probeNameString = _targetInsertionDropdown.options[value].text[ + .._targetInsertionDropdown + .options[value] + .text.LastIndexOf(": A", StringComparison.Ordinal) + ]; // Get selection as probe manager var probeManager = TargetableProbeManagers.First(manager => - manager.name.Equals(probeNameString) || (manager.OverrideName?.Equals(probeNameString) ?? false)); + manager.name.Equals(probeNameString) + || (manager.OverrideName?.Equals(probeNameString) ?? false) + ); // Update record if insertion selected - ManipulatorIDToSelectedTargetProbeManager[ProbeManager.ManipulatorBehaviorController.ManipulatorID] = - probeManager; + ManipulatorIDToSelectedTargetProbeManager[ + ProbeManager.ManipulatorBehaviorController.ManipulatorID + ] = probeManager; // Show lines _lineGameObjects.ap.SetActive(true); @@ -176,11 +213,12 @@ public void OnTargetInsertionDropdownValueChanged(int value) public void MoveOrStopProbeToInsertionTarget() { if (_isMoving) - // Movement in progress -> should stop movement + // Movement in progress -> should stop movement { CommunicationManager.Instance.Stop(state => { - if (!state) return; + if (!state) + return; _isMoving = false; _moveButtonText.text = MOVE_TO_TARGET_INSERTION_STR; @@ -200,8 +238,11 @@ public void MoveOrStopProbeToInsertionTarget() private void InitializeLineRenderers() { // Create hosting game objects - _lineGameObjects = (new GameObject("APLine") { layer = 5 }, new GameObject("MLLine") { layer = 5 }, - new GameObject("DVLine") { layer = 5 }); + _lineGameObjects = ( + new GameObject("APLine") { layer = 5 }, + new GameObject("MLLine") { layer = 5 }, + new GameObject("DVLine") { layer = 5 } + ); // Default them to hidden _lineGameObjects.ap.SetActive(false); @@ -209,9 +250,11 @@ private void InitializeLineRenderers() _lineGameObjects.dv.SetActive(false); // Create line renderer components - _lineRenderers = (_lineGameObjects.ap.AddComponent(), + _lineRenderers = ( + _lineGameObjects.ap.AddComponent(), _lineGameObjects.ml.AddComponent(), - _lineGameObjects.dv.AddComponent()); + _lineGameObjects.dv.AddComponent() + ); // Set materials var defaultSpriteShader = Shader.Find("Sprites/Default"); @@ -226,7 +269,9 @@ private void InitializeLineRenderers() // Set Segment count _lineRenderers.ap.positionCount = - _lineRenderers.ml.positionCount = _lineRenderers.dv.positionCount = NUM_SEGMENTS; + _lineRenderers.ml.positionCount = + _lineRenderers.dv.positionCount = + NUM_SEGMENTS; } /// @@ -239,67 +284,92 @@ public void UpdateTargetInsertionOptions() _targetInsertionDropdown.ClearOptions(); // Add default option - _targetInsertionDropdown.options.Add(new TMP_Dropdown.OptionData("Select a target insertion...")); + _targetInsertionDropdown.options.Add( + new TMP_Dropdown.OptionData("Select a target insertion...") + ); // Add other options - _targetInsertionDropdown.AddOptions(_targetProbeManagerOptions - .Select(probeManager => (probeManager.OverrideName ?? probeManager.name) + ": " + - SurfaceCoordinateToString(probeManager.GetSurfaceCoordinateT())).ToList()); + _targetInsertionDropdown.AddOptions( + _targetProbeManagerOptions + .Select(probeManager => + (probeManager.OverrideName ?? probeManager.name) + + ": " + + SurfaceCoordinateToString(probeManager.GetSurfaceCoordinateT()) + ) + .ToList() + ); // Return early if no manipulator ID - if (ProbeManager.ManipulatorBehaviorController.ManipulatorID == null) return; + if (ProbeManager.ManipulatorBehaviorController.ManipulatorID == null) + return; // Restore selection (if possible) var selectedProbeManager = ManipulatorIDToSelectedTargetProbeManager.GetValueOrDefault( - ProbeManager.ManipulatorBehaviorController.ManipulatorID, null); + ProbeManager.ManipulatorBehaviorController.ManipulatorID, + null + ); if (selectedProbeManager == null) // Select none if no previous selection. _targetInsertionDropdown.SetValueWithoutNotify(0); else _targetInsertionDropdown.SetValueWithoutNotify( - _targetProbeManagerOptions.ToList() - .IndexOf(selectedProbeManager) + 1 + _targetProbeManagerOptions.ToList().IndexOf(selectedProbeManager) + 1 ); - // Color dropdown to match probe color - if (!selectedProbeManager) return; + if (!selectedProbeManager) + return; var colorBlockCopy = _targetInsertionDropdown.colors; colorBlockCopy.normalColor = selectedProbeManager.Color; - colorBlockCopy.selectedColor = new Color(colorBlockCopy.normalColor.r * 0.9f, - colorBlockCopy.normalColor.g * 0.9f, colorBlockCopy.normalColor.b * 0.9f); + colorBlockCopy.selectedColor = new Color( + colorBlockCopy.normalColor.r * 0.9f, + colorBlockCopy.normalColor.g * 0.9f, + colorBlockCopy.normalColor.b * 0.9f + ); colorBlockCopy.highlightedColor = colorBlockCopy.selectedColor; _targetInsertionDropdown.colors = colorBlockCopy; } - private static string SurfaceCoordinateToString((Vector3 surfaceCoordinateT, float depthT) surfaceCoordinate) + private static string SurfaceCoordinateToString( + (Vector3 surfaceCoordinateT, float depthT) surfaceCoordinate + ) { var apMicrometers = Math.Truncate(surfaceCoordinate.surfaceCoordinateT.x * 1000); var mlMicrometers = Math.Truncate(surfaceCoordinate.surfaceCoordinateT.y * 1000); var dvMicrometers = Math.Truncate(surfaceCoordinate.surfaceCoordinateT.z * 1000); var depthMicrometers = Math.Truncate(surfaceCoordinate.depthT * 1000); - return "AP: " + (Settings.DisplayUM ? apMicrometers : apMicrometers / 1000f) + " ML: " + - (Settings.DisplayUM ? mlMicrometers : mlMicrometers / 1000f) + - " DV: " + (Settings.DisplayUM ? dvMicrometers : dvMicrometers / 1000f) + " Depth: " + - (Settings.DisplayUM ? depthMicrometers : depthMicrometers / 1000f); + return "AP: " + + (Settings.DisplayUM ? apMicrometers : apMicrometers / 1000f) + + " ML: " + + (Settings.DisplayUM ? mlMicrometers : mlMicrometers / 1000f) + + " DV: " + + (Settings.DisplayUM ? dvMicrometers : dvMicrometers / 1000f) + + " Depth: " + + (Settings.DisplayUM ? depthMicrometers : depthMicrometers / 1000f); } private void ComputeMovementInsertions() { // Shortcut exit if lines are not drawn (and therefore no path is being planned) - if (!_lineGameObjects.ap.activeSelf) return; + if (!_lineGameObjects.ap.activeSelf) + return; // Update insertion selection listings UpdateTargetInsertionOptions(); // Abort insertion if it is invalid - if (!TargetableProbeManagers.Contains( + if ( + !TargetableProbeManagers.Contains( ManipulatorIDToSelectedTargetProbeManager[ - ProbeManager.ManipulatorBehaviorController.ManipulatorID])) + ProbeManager.ManipulatorBehaviorController.ManipulatorID + ] + ) + ) { // Remove record (deselected) - ManipulatorIDToSelectedTargetProbeManager.Remove(ProbeManager.ManipulatorBehaviorController - .ManipulatorID); + ManipulatorIDToSelectedTargetProbeManager.Remove( + ProbeManager.ManipulatorBehaviorController.ManipulatorID + ); // Hide line _lineGameObjects.ap.SetActive(false); @@ -316,13 +386,17 @@ private void ComputeMovementInsertions() // DV axis _movementAxesInsertions.dv = new ProbeInsertion(ProbeManager.ProbeController.Insertion) { - DV = ProbeManager.ProbeController.Insertion.World2T_Vector(PRE_DEPTH_DRIVE_DV_OFFSET).z + DV = ProbeManager + .ProbeController.Insertion.World2T_Vector(PRE_DEPTH_DRIVE_DV_OFFSET) + .z }; // Recalculate AP and ML based on pre-depth-drive DV - var brainSurfaceTransformed = - ManipulatorIDToSelectedTargetProbeManager[ProbeManager.ManipulatorBehaviorController.ManipulatorID] - .GetSurfaceCoordinateT().surfaceCoordinateT; + var brainSurfaceTransformed = ManipulatorIDToSelectedTargetProbeManager[ + ProbeManager.ManipulatorBehaviorController.ManipulatorID + ] + .GetSurfaceCoordinateT() + .surfaceCoordinateT; // AP Axis _movementAxesInsertions.ap = new ProbeInsertion(_movementAxesInsertions.dv) @@ -339,17 +413,26 @@ private void ComputeMovementInsertions() // Check if within bounds var manipulatorPosition = ProbeManager.ManipulatorBehaviorController.ConvertInsertionAPMLDVToManipulatorPosition( - _movementAxesInsertions - .ml.APMLDV); - if (!_acknowledgedOutOfBounds && (manipulatorPosition.x < 0 || manipulatorPosition.x > - ProbeManager.ManipulatorBehaviorController.CoordinateSpace.Dimensions.x || - manipulatorPosition.y < 0 || manipulatorPosition.y > - ProbeManager.ManipulatorBehaviorController.CoordinateSpace.Dimensions.y || - manipulatorPosition.z < 0 || manipulatorPosition.z > - ProbeManager.ManipulatorBehaviorController.CoordinateSpace.Dimensions.z)) + _movementAxesInsertions.ml.APMLDV + ); + if ( + !_acknowledgedOutOfBounds + && ( + manipulatorPosition.x < 0 + || manipulatorPosition.x + > ProbeManager.ManipulatorBehaviorController.CoordinateSpace.Dimensions.x + || manipulatorPosition.y < 0 + || manipulatorPosition.y + > ProbeManager.ManipulatorBehaviorController.CoordinateSpace.Dimensions.y + || manipulatorPosition.z < 0 + || manipulatorPosition.z + > ProbeManager.ManipulatorBehaviorController.CoordinateSpace.Dimensions.z + ) + ) { QuestionDialogue.Instance.NewQuestion( - "This insertion is outside the bounds of the manipulator. Are you sure you want to continue?"); + "This insertion is outside the bounds of the manipulator. Are you sure you want to continue?" + ); QuestionDialogue.Instance.YesCallback = () => _acknowledgedOutOfBounds = true; QuestionDialogue.Instance.NoCallback = () => _targetInsertionDropdown.value = 0; } @@ -371,88 +454,82 @@ private void ComputeMovementInsertions() private void MoveToTargetInsertion() { // Check if a target insertion is selected - if (!ManipulatorIDToSelectedTargetProbeManager.ContainsKey(ProbeManager.ManipulatorBehaviorController - .ManipulatorID)) return; + if ( + !ManipulatorIDToSelectedTargetProbeManager.ContainsKey( + ProbeManager.ManipulatorBehaviorController.ManipulatorID + ) + ) + return; // Setup and compute movement _isMoving = true; var apPosition = ProbeManager.ManipulatorBehaviorController.ConvertInsertionAPMLDVToManipulatorPosition( - _movementAxesInsertions - .ap.APMLDV); + _movementAxesInsertions.ap.APMLDV + ); var mlPosition = ProbeManager.ManipulatorBehaviorController.ConvertInsertionAPMLDVToManipulatorPosition( - _movementAxesInsertions - .ml.APMLDV); + _movementAxesInsertions.ml.APMLDV + ); var dvPosition = ProbeManager.ManipulatorBehaviorController.ConvertInsertionAPMLDVToManipulatorPosition( - _movementAxesInsertions - .dv.APMLDV); + _movementAxesInsertions.dv.APMLDV + ); // Move - CommunicationManager.Instance.SetCanWrite(new CanWriteRequest - { - ManipulatorId = ProbeManager.ManipulatorBehaviorController.ManipulatorID, - CanWrite = true, - Hours = 1 - }, canWrite => - { - if (canWrite) - CommunicationManager.Instance.GotoPos(new GotoPositionRequest - { - ManipulatorId = ProbeManager.ManipulatorBehaviorController.ManipulatorID, - Position = dvPosition, - Speed = ManipulatorBehaviorController.AUTOMATIC_MOVEMENT_SPEED - }, _ => - { - CommunicationManager.Instance.GotoPos( - new GotoPositionRequest - { - ManipulatorId = ProbeManager.ManipulatorBehaviorController.ManipulatorID, - Position = apPosition, - Speed = ManipulatorBehaviorController.AUTOMATIC_MOVEMENT_SPEED - }, _ => - { - CommunicationManager.Instance.GotoPos(new GotoPositionRequest - { - ManipulatorId = ProbeManager.ManipulatorBehaviorController.ManipulatorID, - Position = mlPosition, - Speed = ManipulatorBehaviorController.AUTOMATIC_MOVEMENT_SPEED - }, _ => + CommunicationManager.Instance.SetPosition( + new SetPositionRequest( + ProbeManager.ManipulatorBehaviorController.ManipulatorID, + dvPosition, + ManipulatorBehaviorController.AUTOMATIC_MOVEMENT_SPEED + ), + _ => + { + CommunicationManager.Instance.SetPosition( + new SetPositionRequest( + ProbeManager.ManipulatorBehaviorController.ManipulatorID, + apPosition, + ManipulatorBehaviorController.AUTOMATIC_MOVEMENT_SPEED + ), + _ => + { + CommunicationManager.Instance.SetPosition( + new SetPositionRequest( + ProbeManager.ManipulatorBehaviorController.ManipulatorID, + mlPosition, + ManipulatorBehaviorController.AUTOMATIC_MOVEMENT_SPEED + ), + _ => { - CommunicationManager.Instance.SetCanWrite( - new CanWriteRequest - { - ManipulatorId = ProbeManager.ManipulatorBehaviorController.ManipulatorID, - CanWrite = false, - Hours = 1 - }, _ => - { - // Hide lines - _lineGameObjects.ap.SetActive(false); - _lineGameObjects.ml.SetActive(false); - _lineGameObjects.dv.SetActive(false); - - // Complete movement - EndMovement(); - _moveButton.interactable = false; - }, Debug.LogError); - }, error => + // Hide lines + _lineGameObjects.ap.SetActive(false); + _lineGameObjects.ml.SetActive(false); + _lineGameObjects.dv.SetActive(false); + + // Complete movement + EndMovement(); + _moveButton.interactable = false; + }, + error => { Debug.LogError(error); EndMovement(); - }); - }, error => - { - Debug.LogError(error); - EndMovement(); - }); - }, error => - { - Debug.LogError(error); - EndMovement(); - }); - }, Debug.LogError); + } + ); + }, + error => + { + Debug.LogError(error); + EndMovement(); + } + ); + }, + error => + { + Debug.LogError(error); + EndMovement(); + } + ); return; void EndMovement() @@ -464,17 +541,18 @@ void EndMovement() private void UpdateMoveButtonInteractable() { - _moveButton.interactable = - ManipulatorIDToSelectedTargetProbeManager.ContainsKey(ProbeManager.ManipulatorBehaviorController - .ManipulatorID); + _moveButton.interactable = ManipulatorIDToSelectedTargetProbeManager.ContainsKey( + ProbeManager.ManipulatorBehaviorController.ManipulatorID + ); } private static bool IsCoterminal(Vector3 first, Vector3 second) { - return Mathf.Abs(first.x - second.x) % 360 < 0.01f && Mathf.Abs(first.y - second.y) % 360 < 0.01f && - Mathf.Abs(first.z - second.z) % 360 < 0.01f; + return Mathf.Abs(first.x - second.x) % 360 < 0.01f + && Mathf.Abs(first.y - second.y) % 360 < 0.01f + && Mathf.Abs(first.z - second.z) % 360 < 0.01f; } #endregion } -} \ No newline at end of file +} diff --git a/Assets/Scripts/Pinpoint/UI/EphysCopilot/ResetDuraOffsetPanelHandler.cs b/Assets/Scripts/Pinpoint/UI/EphysCopilot/ResetDuraOffsetPanelHandler.cs index 3623e377..3f1b4791 100644 --- a/Assets/Scripts/Pinpoint/UI/EphysCopilot/ResetDuraOffsetPanelHandler.cs +++ b/Assets/Scripts/Pinpoint/UI/EphysCopilot/ResetDuraOffsetPanelHandler.cs @@ -44,7 +44,7 @@ public void ResetDuraOffset() // Reset dura offset ProbeManager.ManipulatorBehaviorController.ComputeBrainSurfaceOffset(); - CommunicationManager.Instance.GetPos(ProbeManager.ManipulatorBehaviorController.ManipulatorID, + CommunicationManager.Instance.GetPosition(ProbeManager.ManipulatorBehaviorController.ManipulatorID, pos => { ManipulatorIdToDuraDepth[ProbeManager.ManipulatorBehaviorController.ManipulatorID] = pos.w; diff --git a/Assets/Scripts/Pinpoint/UI/EphysCopilot/ResetZeroCoordinatePanelHandler.cs b/Assets/Scripts/Pinpoint/UI/EphysCopilot/ResetZeroCoordinatePanelHandler.cs index e16072f6..586a4840 100644 --- a/Assets/Scripts/Pinpoint/UI/EphysCopilot/ResetZeroCoordinatePanelHandler.cs +++ b/Assets/Scripts/Pinpoint/UI/EphysCopilot/ResetZeroCoordinatePanelHandler.cs @@ -23,7 +23,7 @@ private void Start() /// public void ResetZeroCoordinate() { - CommunicationManager.Instance.GetPos(ProbeManager.ManipulatorBehaviorController.ManipulatorID, + CommunicationManager.Instance.GetPosition(ProbeManager.ManipulatorBehaviorController.ManipulatorID, zeroCoordinate => { ProbeManager.ManipulatorBehaviorController.ZeroCoordinateOffset = zeroCoordinate; diff --git a/Assets/TextMesh Pro/Resources/Fonts & Materials/LiberationSans SDF - Fallback.asset b/Assets/TextMesh Pro/Resources/Fonts & Materials/LiberationSans SDF - Fallback.asset index 199f384a..270e586a 100644 --- a/Assets/TextMesh Pro/Resources/Fonts & Materials/LiberationSans SDF - Fallback.asset +++ b/Assets/TextMesh Pro/Resources/Fonts & Materials/LiberationSans SDF - Fallback.asset @@ -2,20 +2,24 @@ %TAG !u! tag:unity3d.com,2011: --- !u!21 &2180264 Material: - serializedVersion: 6 + serializedVersion: 8 m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} m_Name: LiberationSans SDF Material m_Shader: {fileID: 4800000, guid: fe393ace9b354375a9cb14cdbbc28be4, type: 3} - m_ShaderKeywords: + m_Parent: {fileID: 0} + m_ModifiedSerializedProperties: 0 + m_ValidKeywords: [] + m_InvalidKeywords: [] m_LightmapFlags: 1 m_EnableInstancingVariants: 0 m_DoubleSidedGI: 0 m_CustomRenderQueue: -1 stringTagMap: {} disabledShaderPasses: [] + m_LockedProperties: m_SavedProperties: serializedVersion: 3 m_TexEnvs: @@ -67,6 +71,7 @@ Material: m_Texture: {fileID: 0} m_Scale: {x: 1, y: 1} m_Offset: {x: 0, y: 0} + m_Ints: [] m_Floats: - _Ambient: 0.5 - _Bevel: 0.5 @@ -175,6 +180,7 @@ MonoBehaviour: m_StyleName: Regular m_PointSize: 86 m_Scale: 1 + m_UnitsPerEM: 0 m_LineHeight: 98.8916 m_AscentLine: 77.853516 m_CapLine: 59 @@ -205,6 +211,7 @@ MonoBehaviour: m_Height: 59 m_Scale: 1 m_AtlasIndex: 0 + m_ClassDefinitionType: 0 - m_Index: 66 m_Metrics: m_Width: 51 @@ -219,6 +226,7 @@ MonoBehaviour: m_Height: 6 m_Scale: 1 m_AtlasIndex: 0 + m_ClassDefinitionType: 0 - m_Index: 72 m_Metrics: m_Width: 42 @@ -233,6 +241,7 @@ MonoBehaviour: m_Height: 47 m_Scale: 1 m_AtlasIndex: 0 + m_ClassDefinitionType: 0 - m_Index: 79 m_Metrics: m_Width: 9 @@ -247,6 +256,7 @@ MonoBehaviour: m_Height: 62 m_Scale: 1 m_AtlasIndex: 0 + m_ClassDefinitionType: 0 - m_Index: 83 m_Metrics: m_Width: 40 @@ -261,6 +271,7 @@ MonoBehaviour: m_Height: 64 m_Scale: 1 m_AtlasIndex: 0 + m_ClassDefinitionType: 0 - m_Index: 2030 m_Metrics: m_Width: 64 @@ -275,6 +286,22 @@ MonoBehaviour: m_Height: 9 m_Scale: 1 m_AtlasIndex: 0 + m_ClassDefinitionType: 0 + - m_Index: 2125 + m_Metrics: + m_Width: 43 + m_Height: 51 + m_HorizontalBearingX: 2 + m_HorizontalBearingY: 51 + m_HorizontalAdvance: 47 + m_GlyphRect: + m_X: 154 + m_Y: 88 + m_Width: 43 + m_Height: 51 + m_Scale: 1 + m_AtlasIndex: 0 + m_ClassDefinitionType: 0 m_CharacterTable: - m_ElementType: 1 m_Unicode: 72 @@ -300,6 +327,10 @@ MonoBehaviour: m_Unicode: 8230 m_GlyphIndex: 2030 m_Scale: 1 + - m_ElementType: 1 + m_Unicode: 8805 + m_GlyphIndex: 2125 + m_Scale: 1 m_AtlasTextures: - {fileID: 28268798066460806} m_AtlasTextureIndex: 0 @@ -330,19 +361,11 @@ MonoBehaviour: m_Y: 0 m_Width: 59 m_Height: 83 - m_FreeGlyphRects: - m_X: 144 - m_Y: 25 - m_Width: 9 - m_Height: 486 - - m_X: 0 - m_Y: 109 - m_Width: 511 - m_Height: 402 - - m_X: 28 - m_Y: 91 - m_Width: 483 - m_Height: 420 + m_Y: 78 + m_Width: 62 + m_Height: 70 + m_FreeGlyphRects: - m_X: 28 m_Y: 28 m_Width: 55 @@ -352,12 +375,28 @@ MonoBehaviour: m_Width: 232 m_Height: 511 - m_X: 144 + m_Y: 25 + m_Width: 9 + m_Height: 53 + - m_X: 0 + m_Y: 148 + m_Width: 511 + m_Height: 363 + - m_X: 0 + m_Y: 109 + m_Width: 144 + m_Height: 402 + - m_X: 28 + m_Y: 91 + m_Width: 116 + m_Height: 420 + - m_X: 206 m_Y: 83 - m_Width: 367 + m_Width: 305 m_Height: 428 - - m_X: 144 + - m_X: 206 m_Y: 78 - m_Width: 76 + m_Width: 14 m_Height: 433 m_fontInfo: Name: Liberation Sans @@ -480,7 +519,8 @@ Texture2D: m_MipCount: 1 m_IsReadable: 1 m_IsPreProcessed: 0 - m_IgnoreMasterTextureLimit: 0 + m_IgnoreMipmapLimit: 0 + 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m_StreamData: serializedVersion: 2 offset: 0 From 110237d2cf810c558e4dcb1d1aa5dafb141fb8a3 Mon Sep 17 00:00:00 2001 From: Kenneth Yang Date: Fri, 5 Jul 2024 16:02:05 -0700 Subject: [PATCH 3/5] Ignore EphysLink from StreamingAssets --- .gitignore | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index fd8d6619..169e186a 100644 --- a/.gitignore +++ b/.gitignore @@ -175,4 +175,4 @@ Library/com.unity.addressables/AddressablesBuildTEP.json Assets/AddressableAssetsData/link.xml Assets/AddressableAssetsData/link.xml.meta -Assets/StreamingAssets/EphysLink-v1.3.3 \ No newline at end of file +Assets/StreamingAssets/EphysLink-* \ No newline at end of file From 1a0634d1253844d42650547ab062432a2800bc85 Mon Sep 17 00:00:00 2001 From: Kenneth Yang Date: Fri, 5 Jul 2024 16:22:07 -0700 Subject: [PATCH 4/5] Let movement work --- .../UI/SettingsMenu/Menus/EphysLinkMenu.prefab | 2 +- Assets/Scripts/EphysLink/EphysLinkModels.cs | 6 +++--- .../UI/EphysLinkSettings/EphysLinkSettings.cs | 16 ++++++++-------- 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/Assets/Prefabs/UI/SettingsMenu/Menus/EphysLinkMenu.prefab b/Assets/Prefabs/UI/SettingsMenu/Menus/EphysLinkMenu.prefab index da4bb62a..778578a3 100644 --- a/Assets/Prefabs/UI/SettingsMenu/Menus/EphysLinkMenu.prefab +++ b/Assets/Prefabs/UI/SettingsMenu/Menus/EphysLinkMenu.prefab @@ -6203,7 +6203,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 5109513604156068580, guid: b5c9c741a0d4edd4c9948dba78e58d2b, type: 3} propertyPath: m_Text - value: 8081 + value: 3000 objectReference: {fileID: 0} - target: {fileID: 5109513604156068580, guid: b5c9c741a0d4edd4c9948dba78e58d2b, type: 3} propertyPath: m_ContentType diff --git a/Assets/Scripts/EphysLink/EphysLinkModels.cs b/Assets/Scripts/EphysLink/EphysLinkModels.cs index ac43750e..67e98139 100644 --- a/Assets/Scripts/EphysLink/EphysLinkModels.cs +++ b/Assets/Scripts/EphysLink/EphysLinkModels.cs @@ -129,9 +129,9 @@ public SetInsideBrainRequest(string manipulatorId, bool inside) [Serializable] public struct SetPositionRequest { - public string ManipulatorId { get; } - public Vector4 Position { get; } - public float Speed { get; } + public string ManipulatorId; + public Vector4 Position; + public float Speed; public SetPositionRequest(string manipulatorId, Vector4 position, float speed) { diff --git a/Assets/Scripts/Pinpoint/UI/EphysLinkSettings/EphysLinkSettings.cs b/Assets/Scripts/Pinpoint/UI/EphysLinkSettings/EphysLinkSettings.cs index 92ecc21d..f9428ad5 100644 --- a/Assets/Scripts/Pinpoint/UI/EphysLinkSettings/EphysLinkSettings.cs +++ b/Assets/Scripts/Pinpoint/UI/EphysLinkSettings/EphysLinkSettings.cs @@ -20,7 +20,7 @@ public class EphysLinkSettings : MonoBehaviour { #region Constants - private const string EPHYS_LINK_NAME = "EphysLink-v1.3.3"; + private const string EPHYS_LINK_NAME = "EphysLink-v2.0.0b0"; private static string EphysLinkExePath => Path.Combine( Application.streamingAssetsPath, @@ -236,10 +236,10 @@ public void OnLaunchEphysLinkPressed() // Parse manipulator type string arg (invariant: custom connection should never happen). var manipulatorTypeString = _manipulatorTypeDropdown.value switch { - 1 => "ump3", - 2 => "new_scale_pathfinder", - 3 => "new_scale", - _ => "sensapex" + 1 => "ump-3", + 2 => "pathfinder-mpm", + 3 => "new-scale", + _ => "ump-4" }; // Make args string (ignore updates, select type). @@ -247,7 +247,7 @@ public void OnLaunchEphysLinkPressed() // Add Pathfinder port if selected. if (_manipulatorTypeDropdown.value == 2) - args += $" --pathfinder_port {_pathfinderPortInputField.text}"; + args += $" --mpm-port {_pathfinderPortInputField.text}"; _ephysLinkProcess = new Process { @@ -277,7 +277,7 @@ void ConnectToServer() { CommunicationManager.Instance.ConnectToServer( "localhost", - 8081, + 3000, HandleSuccessfulConnection, err => { @@ -350,7 +350,7 @@ public void OnConnectDisconnectPressed() if (string.IsNullOrEmpty(_ipAddressInputField.text)) _ipAddressInputField.text = "localhost"; if (string.IsNullOrEmpty(_portInputField.text)) - _portInputField.text = "8081"; + _portInputField.text = "3000"; CommunicationManager.Instance.ConnectToServer( _ipAddressInputField.text, From 43aadb1b07095048566d90e89ce8e6b03ff2e16a Mon Sep 17 00:00:00 2001 From: Kenneth Yang Date: Fri, 5 Jul 2024 16:33:02 -0700 Subject: [PATCH 5/5] Copilot loop --- Assets/Scripts/EphysLink/CommunicationManager.cs | 2 +- Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs | 4 ++-- .../UI/EphysCopilot/InsertionSelectionPanelHandler.cs | 4 ++-- .../UI/EphysLinkSettings/ManipulatorConnectionPanel.cs | 4 ++-- 4 files changed, 7 insertions(+), 7 deletions(-) diff --git a/Assets/Scripts/EphysLink/CommunicationManager.cs b/Assets/Scripts/EphysLink/CommunicationManager.cs index 6081f952..25ad0966 100644 --- a/Assets/Scripts/EphysLink/CommunicationManager.cs +++ b/Assets/Scripts/EphysLink/CommunicationManager.cs @@ -573,7 +573,7 @@ public void SetInsideBrain( /// Request all movement to stop. /// /// Callback function to handle stop result - public void Stop(Action callback) + public void Stop(Action callback) { _connectionManager.Socket.ExpectAcknowledgement(callback).Emit("stop"); } diff --git a/Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs b/Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs index aa963056..c3854093 100644 --- a/Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs +++ b/Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs @@ -737,9 +737,9 @@ void CompleteOutside() public void Stop() { - CommunicationManager.Instance.Stop(b => + CommunicationManager.Instance.Stop(stopError => { - if (!b) + if (!string.IsNullOrEmpty(stopError)) return; // Show drive group and hide stop button. diff --git a/Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs b/Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs index 70143273..f4ecd0f4 100644 --- a/Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs +++ b/Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs @@ -215,9 +215,9 @@ public void MoveOrStopProbeToInsertionTarget() if (_isMoving) // Movement in progress -> should stop movement { - CommunicationManager.Instance.Stop(state => + CommunicationManager.Instance.Stop(stopError => { - if (!state) + if (!string.IsNullOrEmpty(stopError)) return; _isMoving = false; diff --git a/Assets/Scripts/Pinpoint/UI/EphysLinkSettings/ManipulatorConnectionPanel.cs b/Assets/Scripts/Pinpoint/UI/EphysLinkSettings/ManipulatorConnectionPanel.cs index d768e33a..5469da69 100644 --- a/Assets/Scripts/Pinpoint/UI/EphysLinkSettings/ManipulatorConnectionPanel.cs +++ b/Assets/Scripts/Pinpoint/UI/EphysLinkSettings/ManipulatorConnectionPanel.cs @@ -347,9 +347,9 @@ void PostMoveAction() public void StopReturningToZeroCoordinate() { - CommunicationManager.Instance.Stop(stopState => + CommunicationManager.Instance.Stop(stopError => { - if (!stopState) return; + if (!string.IsNullOrEmpty(stopError)) return; // Hide stop button and show move button _returnToZeroCoordinateButtonGameObject.SetActive(true); _stopReturningToZeroCoordinateButtonGameObject.SetActive(false);