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Merged
kjy5 merged 5 commits into from
Jul 5, 2024
Merged

702 ephys link 20 support #703

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a99f266
Remove Ephys Link for v2
kjy5 Jul 5, 2024
2642db4
Switch to Ephys Link v2.0.0
kjy5 Jul 5, 2024
110237d
Ignore EphysLink from StreamingAssets
kjy5 Jul 5, 2024
1a0634d
Let movement work
kjy5 Jul 5, 2024
43aadb1
Copilot loop
kjy5 Jul 5, 2024
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2 changes: 1 addition & 1 deletion .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Assets/StreamingAssets/EphysLink-*
2 changes: 1 addition & 1 deletion Assets/Prefabs/UI/SettingsMenu/Menus/EphysLinkMenu.prefab
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
176 changes: 35 additions & 141 deletions Assets/Scripts/EphysLink/CommunicationManager.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -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)}";
Expand Down Expand Up @@ -55,6 +55,7 @@ private void Awake()
#endregion

#region Connection Handler

public void ServerSettingsLoaded()
{
// Automatically connect if the server credentials are possible
Expand Down Expand Up @@ -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])
Expand All @@ -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;
Expand Down Expand Up @@ -337,6 +339,24 @@ private void GetVersion(Action<string> onSuccessCallback, Action onErrorCallback
.Emit("get_version");
}

/// <summary>
/// Get the platform type.
/// </summary>
/// <param name="onSuccessCallback">Callback function to handle incoming platform type info.</param>
/// <param name="onErrorCallback">Callback function to handle errors.</param>
public void GetPlatformType(Action<string> onSuccessCallback, Action onErrorCallback = null)
{
_connectionManager
.Socket.ExpectAcknowledgement<string>(data =>
{
if (DataKnownAndNotEmpty(data))
onSuccessCallback?.Invoke(data);
else
onErrorCallback?.Invoke();
})
.Emit("get_platform_type");
}

/// <summary>
/// Get manipulators event sender.
/// </summary>
Expand Down Expand Up @@ -368,60 +388,12 @@ public void GetManipulators(
}

/// <summary>
/// Register a manipulator with the server.
/// </summary>
/// <param name="manipulatorId">The ID of the manipulator to register</param>
/// <param name="onSuccessCallback">Callback function to handle a successful registration</param>
/// <param name="onErrorCallback">Callback function to handle errors</param>
public void RegisterManipulator(
string manipulatorId,
Action onSuccessCallback = null,
Action<string> onErrorCallback = null
)
{
_connectionManager
.Socket.ExpectAcknowledgement<string>(error =>
{
if (string.IsNullOrEmpty(error))
onSuccessCallback?.Invoke();
else
onErrorCallback?.Invoke($"register_manipulators invalid response: {error}");
})
.Emit("register_manipulator", manipulatorId);
}

/// <summary>
/// Unregister a manipulator with the server.
/// </summary>
/// <param name="manipulatorId">The ID of the manipulator to unregister</param>
/// <param name="onSuccessCallback">Callback function to handle a successful un-registration</param>
/// <param name="onErrorCallback">Callback function to handle errors</param>
public void UnregisterManipulator(
string manipulatorId,
Action onSuccessCallback = null,
Action<string> onErrorCallback = null
)
{
_connectionManager
.Socket.ExpectAcknowledgement<string>(error =>
{
if (string.IsNullOrEmpty(error))
onSuccessCallback?.Invoke();
else
onErrorCallback?.Invoke(
$"unregister_manipulator invalid response: {error}"
);
})
.Emit("unregister_manipulator", manipulatorId);
}

/// <summary>
/// Request the current position of a manipulator.
/// Request the current position of a manipulator (mm).
/// </summary>
/// <param name="manipulatorId">ID of the manipulator to get the position of</param>
/// <param name="onSuccessCallback">Callback function to pass manipulator position to</param>
/// <param name="onErrorCallback">Callback function to handle errors</param>
public void GetPos(
public void GetPosition(
string manipulatorId,
Action<Vector4> onSuccessCallback,
Action<string> onErrorCallback = null
Expand All @@ -444,7 +416,7 @@ public void GetPos(
onErrorCallback?.Invoke($"get_pos invalid response: {data}");
}
})
.Emit("get_pos", manipulatorId);
.Emit("get_position", manipulatorId);
}

/// <summary>
Expand Down Expand Up @@ -510,8 +482,8 @@ public void GetShankCount(
/// <param name="request">Goto position request object</param>
/// <param name="onSuccessCallback">Callback function to handle successful manipulator movement</param>
/// <param name="onErrorCallback">Callback function to handle errors</param>
public void GotoPos(
GotoPositionRequest request,
public void SetPosition(
SetPositionRequest request,
Action<Vector4> onSuccessCallback,
Action<string> onErrorCallback = null
)
Expand All @@ -532,7 +504,7 @@ public void GotoPos(
onErrorCallback?.Invoke($"goto_pos invalid response: {data}");
}
})
.Emit("goto_pos", ToJson(request));
.Emit("set_position", ToJson(request));
}

/// <summary>
Expand All @@ -541,8 +513,8 @@ public void GotoPos(
/// <param name="request">Drive to depth request</param>
/// <param name="onSuccessCallback">Callback function to handle successful manipulator movement</param>
/// <param name="onErrorCallback">Callback function to handle errors</param>
public void DriveToDepth(
DriveToDepthRequest request,
public void SetDepth(
SetDepthRequest request,
Action<float> onSuccessCallback,
Action<string> onErrorCallback
)
Expand All @@ -552,7 +524,7 @@ Action<string> onErrorCallback
{
if (DataKnownAndNotEmpty(data))
{
var parsedData = ParseJson<DriveToDepthResponse>(data);
var parsedData = ParseJson<SetDepthResponse>(data);
if (string.IsNullOrEmpty(parsedData.Error))
onSuccessCallback?.Invoke(parsedData.Depth);
else
Expand All @@ -563,7 +535,7 @@ Action<string> onErrorCallback
onErrorCallback?.Invoke($"drive_to_depth invalid response: {data}");
}
})
.Emit("drive_to_depth", ToJson(request));
.Emit("set_depth", ToJson(request));
}

/// <summary>
Expand All @@ -573,7 +545,7 @@ Action<string> onErrorCallback
/// <param name="onSuccessCallback">Callback function to handle setting inside_brain state successfully</param>
/// <param name="onErrorCallback">Callback function to handle errors</param>
public void SetInsideBrain(
InsideBrainRequest request,
SetInsideBrainRequest request,
Action<bool> onSuccessCallback,
Action<string> onErrorCallback = null
)
Expand All @@ -597,89 +569,11 @@ public void SetInsideBrain(
.Emit("set_inside_brain", ToJson(request));
}

/// <summary>
/// Request a manipulator to be calibrated.
/// </summary>
/// <param name="manipulatorId">ID of the manipulator to be calibrated</param>
/// <param name="onSuccessCallback">Callback function to handle a successful calibration</param>
/// <param name="onErrorCallback">Callback function to handle an unsuccessful calibration</param>
public void Calibrate(
string manipulatorId,
Action onSuccessCallback,
Action<string> onErrorCallback = null
)
{
_connectionManager
.Socket.ExpectAcknowledgement<string>(error =>
{
if (error == "")
onSuccessCallback?.Invoke();
else
onErrorCallback?.Invoke(error);
})
.Emit("calibrate", manipulatorId);
}

/// <summary>
/// Bypass calibration requirement of a manipulator.
/// </summary>
/// <remarks>This method should only be used for testing and NEVER in production</remarks>
/// <param name="manipulatorId">ID of the manipulator to bypass calibration</param>
/// <param name="onSuccessCallback">Callback function to handle a successful calibration bypass</param>
/// <param name="onErrorCallback">Callback function to handle errors</param>
public void BypassCalibration(
string manipulatorId,
Action onSuccessCallback,
Action<string> onErrorCallback = null
)
{
_connectionManager
.Socket.ExpectAcknowledgement<string>(error =>
{
if (error == "")
onSuccessCallback?.Invoke();
else
onErrorCallback?.Invoke(error);
})
.Emit("bypass_calibration", manipulatorId);
}

/// <summary>
/// Request a write lease for a manipulator.
/// </summary>
/// <param name="request"></param>
/// <param name="onSuccessCallback">Callback function to handle successfully setting can_write state</param>
/// <param name="onErrorCallback">Callback function to handle errors</param>
public void SetCanWrite(
CanWriteRequest request,
Action<bool> onSuccessCallback,
Action<string> onErrorCallback = null
)
{
_connectionManager
.Socket.ExpectAcknowledgement<string>(data =>
{
if (DataKnownAndNotEmpty(data))
{
var parsedData = ParseJson<BooleanStateResponse>(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));
}

/// <summary>
/// Request all movement to stop.
/// </summary>
/// <param name="callback">Callback function to handle stop result</param>
public void Stop(Action<bool> callback)
public void Stop(Action<string> callback)
{
_connectionManager.Socket.ExpectAcknowledgement(callback).Emit("stop");
}
Expand All @@ -705,4 +599,4 @@ private static string ToJson<T>(T data)

#endregion
}
}
}
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