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b/Assets/Editor/ModelsManager.cs index a0e6768c..af21e28e 100644 --- a/Assets/Editor/ModelsManager.cs +++ b/Assets/Editor/ModelsManager.cs @@ -1,7 +1,10 @@ +using System.Collections; using System.IO; using System.Net; +using Unity.EditorCoroutines.Editor; using UnityEditor; using UnityEngine; +using UnityEngine.Networking; namespace Editor { @@ -25,22 +28,38 @@ public static void UpdateSchemas() private static void GetSchemas(string srcURL, string outFile) { + if (!Directory.Exists(outFile)) Directory.CreateDirectory(outFile); - if (!Directory.Exists(outFile)) - { - Directory.CreateDirectory(outFile); - } - - string[] files = Directory.GetFiles(srcURL, "*.cs"); + var files = Directory.GetFiles(srcURL, "*.cs"); - foreach (string file in files) + foreach (var file in files) { - string fileName = Path.GetFileName(file); - string destFilePath = Path.Combine(outFile, fileName); + var fileName = Path.GetFileName(file); + var destFilePath = Path.Combine(outFile, fileName); File.Copy(file, destFilePath, true); } AssetDatabase.Refresh(); } + + private static IEnumerator DownloadFile(string url, string outputPath) + { + using var request = UnityWebRequest.Get(url); + yield return request.SendWebRequest(); + + if ( + request.result + is UnityWebRequest.Result.ConnectionError + or UnityWebRequest.Result.ProtocolError + ) + { + Debug.LogError(request.error); + } + else + { + File.WriteAllBytes(outputPath, request.downloadHandler.data); + Debug.Log("File downloaded successfully!"); + } + } } } \ No newline at end of file diff --git a/Assets/InputSystem/ProbeControlInputActions.cs b/Assets/InputSystem/ProbeControlInputActions.cs index 9e4f3182..684ba9f7 100644 --- a/Assets/InputSystem/ProbeControlInputActions.cs +++ b/Assets/InputSystem/ProbeControlInputActions.cs @@ -1,7 +1,7 @@ //------------------------------------------------------------------------------ // // This code was auto-generated by com.unity.inputsystem:InputActionCodeGenerator -// version 1.7.0 +// version 1.9.0 // from Assets/InputSystem/ProbeControlInputActions.inputactions // // Changes to this file may cause incorrect behavior and will be lost if @@ -14,6 +14,7 @@ using System.Collections.Generic; using UnityEngine.InputSystem; using UnityEngine.InputSystem.Utilities; +using UnityEngine; public partial class @ProbeControlInputActions: IInputActionCollection2, IDisposable { @@ -592,6 +593,11 @@ public @ProbeControlInputActions() m_ProbeControl_InputControl = m_ProbeControl.FindAction("InputControl", throwIfNotFound: true); } + ~@ProbeControlInputActions() + { + Debug.Assert(!m_ProbeControl.enabled, "This will cause a leak and performance issues, ProbeControlInputActions.ProbeControl.Disable() has not been called."); + } + public void Dispose() { UnityEngine.Object.Destroy(asset); diff --git a/Assets/InputSystem/ProbeMetaControls.cs b/Assets/InputSystem/ProbeMetaControls.cs index 535269b1..60696cc9 100644 --- a/Assets/InputSystem/ProbeMetaControls.cs +++ b/Assets/InputSystem/ProbeMetaControls.cs @@ -1,7 +1,7 @@ //------------------------------------------------------------------------------ // // This code was auto-generated by com.unity.inputsystem:InputActionCodeGenerator -// version 1.7.0 +// version 1.9.0 // from Assets/InputSystem/ProbeMetaControls.inputactions // // Changes to this file may cause incorrect behavior and will be lost if @@ -14,6 +14,7 @@ using System.Collections.Generic; using UnityEngine.InputSystem; using UnityEngine.InputSystem.Utilities; +using UnityEngine; public partial class @ProbeMetaControls: IInputActionCollection2, IDisposable { @@ -134,6 +135,11 @@ public @ProbeMetaControls() m_ProbeMetaControl_SwitchAxisMode = m_ProbeMetaControl.FindAction("SwitchAxisMode", throwIfNotFound: true); } + ~@ProbeMetaControls() + { + Debug.Assert(!m_ProbeMetaControl.enabled, "This will cause a leak and performance issues, ProbeMetaControls.ProbeMetaControl.Disable() has not been called."); + } + public void Dispose() { UnityEngine.Object.Destroy(asset); diff --git a/Assets/Materials/BrainRegion/BrainRegionOpaqueLit.mat b/Assets/Materials/BrainRegion/BrainRegionOpaqueLit.mat index 60f82caf..a34cc45b 100644 --- a/Assets/Materials/BrainRegion/BrainRegionOpaqueLit.mat +++ b/Assets/Materials/BrainRegion/BrainRegionOpaqueLit.mat @@ -18,7 +18,8 @@ Material: m_DoubleSidedGI: 0 m_CustomRenderQueue: -1 stringTagMap: {} - disabledShaderPasses: [] + disabledShaderPasses: + - MOTIONVECTORS m_LockedProperties: m_SavedProperties: serializedVersion: 3 @@ -120,6 +121,7 @@ Material: - _MLClip: {r: 0, g: 11.4, b: 0, a: 0} - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1} m_BuildTextureStacks: [] + m_AllowLocking: 1 --- !u!114 &7950688029384146499 MonoBehaviour: m_ObjectHideFlags: 11 @@ -132,4 +134,4 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3} m_Name: m_EditorClassIdentifier: - version: 7 + version: 9 diff --git a/Assets/Materials/BrainRegion/BrainRegionOpaqueUnlit.mat b/Assets/Materials/BrainRegion/BrainRegionOpaqueUnlit.mat index ada06e3a..dcfd40ec 100644 --- a/Assets/Materials/BrainRegion/BrainRegionOpaqueUnlit.mat +++ b/Assets/Materials/BrainRegion/BrainRegionOpaqueUnlit.mat @@ -12,7 +12,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3} m_Name: m_EditorClassIdentifier: - version: 7 + version: 9 --- !u!21 &2100000 Material: serializedVersion: 8 @@ -31,7 +31,8 @@ Material: m_DoubleSidedGI: 0 m_CustomRenderQueue: -1 stringTagMap: {} - disabledShaderPasses: [] + disabledShaderPasses: + - MOTIONVECTORS m_LockedProperties: m_SavedProperties: serializedVersion: 3 @@ -127,3 +128,4 @@ Material: - _EmissionColor: {r: 0, g: 0, b: 0, a: 1} - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1} m_BuildTextureStacks: [] + m_AllowLocking: 1 diff --git a/Assets/Materials/BrainRegion/BrainRegionTransparentLit.mat b/Assets/Materials/BrainRegion/BrainRegionTransparentLit.mat index 2b7b47d0..d83f19c0 100644 --- a/Assets/Materials/BrainRegion/BrainRegionTransparentLit.mat +++ b/Assets/Materials/BrainRegion/BrainRegionTransparentLit.mat @@ -18,7 +18,8 @@ Material: m_DoubleSidedGI: 0 m_CustomRenderQueue: -1 stringTagMap: {} - disabledShaderPasses: [] + disabledShaderPasses: + - MOTIONVECTORS m_LockedProperties: m_SavedProperties: serializedVersion: 3 @@ -117,6 +118,7 @@ Material: - _MLClip: {r: 0, g: 11.4, b: 0, a: 0} - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1} m_BuildTextureStacks: [] + m_AllowLocking: 1 --- !u!114 &1531999738427662394 MonoBehaviour: m_ObjectHideFlags: 11 @@ -129,4 +131,4 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3} m_Name: m_EditorClassIdentifier: - version: 7 + version: 9 diff --git a/Assets/Materials/BrainRegion/BrainRegionTransparentUnlit.mat b/Assets/Materials/BrainRegion/BrainRegionTransparentUnlit.mat index 1eb713ba..0b0bfa8f 100644 --- a/Assets/Materials/BrainRegion/BrainRegionTransparentUnlit.mat +++ b/Assets/Materials/BrainRegion/BrainRegionTransparentUnlit.mat @@ -18,7 +18,8 @@ Material: m_DoubleSidedGI: 0 m_CustomRenderQueue: -1 stringTagMap: {} - disabledShaderPasses: [] + disabledShaderPasses: + - MOTIONVECTORS m_LockedProperties: m_SavedProperties: serializedVersion: 3 @@ -117,6 +118,7 @@ Material: - _MLClip: {r: 0, g: 11.4, b: 0, a: 0} - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1} m_BuildTextureStacks: [] + m_AllowLocking: 1 --- !u!114 &1531999738427662394 MonoBehaviour: m_ObjectHideFlags: 11 @@ -129,4 +131,4 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3} m_Name: m_EditorClassIdentifier: - version: 7 + version: 9 diff --git a/Assets/Materials/CraniotomyMaterial.mat b/Assets/Materials/CraniotomyMaterial.mat index 812eb4bf..30c76e87 100644 --- a/Assets/Materials/CraniotomyMaterial.mat +++ b/Assets/Materials/CraniotomyMaterial.mat @@ -12,7 +12,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3} m_Name: m_EditorClassIdentifier: - version: 7 + version: 9 --- !u!21 &2100000 Material: serializedVersion: 8 @@ -36,6 +36,7 @@ Material: disabledShaderPasses: - SHADOWCASTER - DepthOnly + - MOTIONVECTORS m_LockedProperties: m_SavedProperties: serializedVersion: 3 @@ -134,3 +135,4 @@ Material: - _EmissionColor: {r: 0, g: 0, b: 0, a: 1} - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1} m_BuildTextureStacks: [] + m_AllowLocking: 1 diff --git a/Assets/Materials/EphysAtlasLineMaterial.mat b/Assets/Materials/EphysAtlasLineMaterial.mat index 85ad055d..1aacc64f 100644 --- a/Assets/Materials/EphysAtlasLineMaterial.mat +++ b/Assets/Materials/EphysAtlasLineMaterial.mat @@ -12,7 +12,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3} m_Name: m_EditorClassIdentifier: - version: 7 + version: 9 --- !u!21 &2100000 Material: serializedVersion: 8 @@ -32,7 +32,8 @@ Material: m_CustomRenderQueue: 2000 stringTagMap: RenderType: Opaque - disabledShaderPasses: [] + disabledShaderPasses: + - MOTIONVECTORS m_LockedProperties: m_SavedProperties: serializedVersion: 3 @@ -132,3 +133,4 @@ Material: - _EmissionColor: {r: 0, g: 0, b: 0, a: 1} - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1} m_BuildTextureStacks: [] + m_AllowLocking: 1 diff --git a/Assets/Materials/LitGrey.mat b/Assets/Materials/LitGrey.mat index d77a7d83..77016c03 100644 --- a/Assets/Materials/LitGrey.mat +++ b/Assets/Materials/LitGrey.mat @@ -19,7 +19,8 @@ Material: m_CustomRenderQueue: -1 stringTagMap: RenderType: Opaque - disabledShaderPasses: [] + disabledShaderPasses: + - MOTIONVECTORS m_LockedProperties: m_SavedProperties: serializedVersion: 3 @@ -118,6 +119,7 @@ Material: - _EmissionColor: {r: 0, g: 0, b: 0, a: 1} - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1} m_BuildTextureStacks: [] + m_AllowLocking: 1 --- !u!114 &5545177365015435086 MonoBehaviour: m_ObjectHideFlags: 11 @@ -130,4 +132,4 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3} m_Name: m_EditorClassIdentifier: - version: 7 + version: 9 diff --git a/Assets/Materials/Probe/GoldConnectorCable.mat b/Assets/Materials/Probe/GoldConnectorCable.mat index 0eae63dc..364a8a18 100644 --- a/Assets/Materials/Probe/GoldConnectorCable.mat +++ b/Assets/Materials/Probe/GoldConnectorCable.mat @@ -12,7 +12,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3} m_Name: m_EditorClassIdentifier: - version: 7 + version: 9 --- !u!21 &2100000 Material: serializedVersion: 8 @@ -32,7 +32,8 @@ Material: m_CustomRenderQueue: 2000 stringTagMap: RenderType: Opaque - disabledShaderPasses: [] + disabledShaderPasses: + - MOTIONVECTORS m_LockedProperties: m_SavedProperties: serializedVersion: 3 @@ -131,3 +132,4 @@ Material: - _EmissionColor: {r: 0, g: 0, b: 0, a: 1} - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1} m_BuildTextureStacks: [] + m_AllowLocking: 1 diff --git a/Assets/Materials/Probe/Green.mat b/Assets/Materials/Probe/Green.mat index 0b857a5a..987e0380 100644 --- a/Assets/Materials/Probe/Green.mat +++ b/Assets/Materials/Probe/Green.mat @@ -19,7 +19,8 @@ Material: m_CustomRenderQueue: 2000 stringTagMap: RenderType: Opaque - disabledShaderPasses: [] + disabledShaderPasses: + - MOTIONVECTORS m_LockedProperties: m_SavedProperties: serializedVersion: 3 @@ -118,6 +119,7 @@ Material: - _EmissionColor: {r: 0, g: 0, b: 0, a: 1} - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1} m_BuildTextureStacks: [] + m_AllowLocking: 1 --- !u!114 &2484206933931674713 MonoBehaviour: m_ObjectHideFlags: 11 @@ -130,4 +132,4 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3} m_Name: m_EditorClassIdentifier: - version: 7 + version: 9 diff --git a/Assets/Materials/Probe/IBLProbeMaterial.mat b/Assets/Materials/Probe/IBLProbeMaterial.mat index 7fc4857e..4d29ecf1 100644 --- a/Assets/Materials/Probe/IBLProbeMaterial.mat +++ b/Assets/Materials/Probe/IBLProbeMaterial.mat @@ -20,7 +20,8 @@ Material: m_CustomRenderQueue: 2000 stringTagMap: RenderType: Opaque - disabledShaderPasses: [] + disabledShaderPasses: + - MOTIONVECTORS m_LockedProperties: m_SavedProperties: serializedVersion: 3 @@ -119,6 +120,7 @@ Material: - _EmissionColor: {r: 0, g: 0, b: 0, a: 1} - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1} m_BuildTextureStacks: [] + m_AllowLocking: 1 --- !u!114 &8990643678099489018 MonoBehaviour: m_ObjectHideFlags: 11 @@ -131,4 +133,4 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3} m_Name: m_EditorClassIdentifier: - version: 7 + version: 9 diff --git a/Assets/Materials/Probe/LitBlackMaterial.mat b/Assets/Materials/Probe/LitBlackMaterial.mat index 52972597..d2023f9b 100644 --- a/Assets/Materials/Probe/LitBlackMaterial.mat +++ b/Assets/Materials/Probe/LitBlackMaterial.mat @@ -19,7 +19,8 @@ Material: m_CustomRenderQueue: 2000 stringTagMap: RenderType: Opaque - disabledShaderPasses: [] + disabledShaderPasses: + - MOTIONVECTORS m_LockedProperties: m_SavedProperties: serializedVersion: 3 @@ -118,6 +119,7 @@ Material: - _EmissionColor: {r: 0, g: 0, b: 0, a: 1} - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1} m_BuildTextureStacks: [] + m_AllowLocking: 1 --- !u!114 &5791354437846213698 MonoBehaviour: m_ObjectHideFlags: 11 @@ -130,4 +132,4 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3} m_Name: m_EditorClassIdentifier: - version: 7 + version: 9 diff --git a/Assets/Materials/Probe/NeuronMaterial.mat b/Assets/Materials/Probe/NeuronMaterial.mat index b3f852bb..5b6403b5 100644 --- a/Assets/Materials/Probe/NeuronMaterial.mat +++ b/Assets/Materials/Probe/NeuronMaterial.mat @@ -18,7 +18,8 @@ Material: m_DoubleSidedGI: 0 m_CustomRenderQueue: -1 stringTagMap: {} - disabledShaderPasses: [] + disabledShaderPasses: + - MOTIONVECTORS m_LockedProperties: m_SavedProperties: serializedVersion: 3 @@ -115,6 +116,7 @@ Material: - _EmissionColor: {r: 0, g: 0, b: 0, a: 1} - 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8016510558008620343, guid: 482bfae3ba88b424e96d7fcd669f7b73, type: 3} - propertyPath: _probePrefabIDs.Array.data[3] + propertyPath: '_probePrefabIDs.Array.data[3]' value: 28 objectReference: {fileID: 0} - target: {fileID: 8016510558008620343, guid: 482bfae3ba88b424e96d7fcd669f7b73, type: 3} @@ -11799,3 +11974,4 @@ SceneRoots: - {fileID: 608524081} - {fileID: 8634027648085377985} - {fileID: 9130107592048835190} + - {fileID: 2439981618345730369} diff --git a/Assets/Scripts/Core/Util/IsExternalInit.cs b/Assets/Scripts/Core/Util/IsExternalInit.cs new file mode 100644 index 00000000..0893f5e5 --- /dev/null +++ b/Assets/Scripts/Core/Util/IsExternalInit.cs @@ -0,0 +1,7 @@ +using System.ComponentModel; + +namespace System.Runtime.CompilerServices +{ + [EditorBrowsable(EditorBrowsableState.Never)] + public class IsExternalInit { } +} diff --git a/Assets/Scripts/Core/Util/IsExternalInit.cs.meta b/Assets/Scripts/Core/Util/IsExternalInit.cs.meta new file mode 100644 index 00000000..08f96bf0 --- /dev/null +++ b/Assets/Scripts/Core/Util/IsExternalInit.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: c889421ec241fbf448a0105d64279cea \ No newline at end of file diff --git a/Assets/Scripts/Core/Util/ResettingScriptableObject.cs b/Assets/Scripts/Core/Util/ResettingScriptableObject.cs new file mode 100644 index 00000000..fc90ac4e --- /dev/null +++ b/Assets/Scripts/Core/Util/ResettingScriptableObject.cs @@ -0,0 +1,31 @@ +using UnityEngine; +#if UNITY_EDITOR +using UnityEditor; +#endif + +namespace Core.Util +{ + public abstract class ResettingScriptableObject : ScriptableObject + { +#if UNITY_EDITOR + private string _initialJson = string.Empty; + + private void OnEnable() + { + if (Application.isPlaying) + return; + EditorApplication.playModeStateChanged -= OnPlayModeStateChanged; + EditorApplication.playModeStateChanged += OnPlayModeStateChanged; + _initialJson = EditorJsonUtility.ToJson(this); + } + + private void OnPlayModeStateChanged(PlayModeStateChange state) + { + if (state != PlayModeStateChange.ExitingPlayMode) + return; + EditorApplication.playModeStateChanged -= OnPlayModeStateChanged; + EditorJsonUtility.FromJsonOverwrite(_initialJson, this); + } +#endif + } +} diff --git a/Assets/Scripts/Core/Util/ResettingScriptableObject.cs.meta b/Assets/Scripts/Core/Util/ResettingScriptableObject.cs.meta new file mode 100644 index 00000000..6cdda06f --- /dev/null +++ b/Assets/Scripts/Core/Util/ResettingScriptableObject.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 22194e125c099d94da23503a00587831 \ No newline at end of file diff --git a/Assets/Scripts/EphysLink/CommunicationManager.cs b/Assets/Scripts/EphysLink/CommunicationManager.cs index 2cbeda3c..9792a95c 100644 --- a/Assets/Scripts/EphysLink/CommunicationManager.cs +++ b/Assets/Scripts/EphysLink/CommunicationManager.cs @@ -1,4 +1,6 @@ using System; +using System.Globalization; +using System.IO; using System.Linq; using BestHTTP.SocketIO3; using UnityEngine; @@ -339,6 +341,15 @@ private void GetVersion(Action onSuccessCallback, Action onErrorCallback .Emit("get_version"); } + /// + /// Get Ephys Link version. + /// + /// Version number. + private async Awaitable GetVersion() + { + return await EmitAndGetStringResponse("get_version", null); + } + /// /// Get the platform type. /// @@ -357,6 +368,15 @@ public void GetPlatformType(Action onSuccessCallback, Action onErrorCall .Emit("get_platform_type"); } + /// + /// Get the platform type. + /// + /// Platform type. + public async Awaitable GetPlatformType() + { + return await EmitAndGetStringResponse("get_platform_type", null); + } + /// /// Get manipulators event sender. /// @@ -387,6 +407,18 @@ public void GetManipulators( .Emit("get_manipulators"); } + /// + /// Get connected manipulators and some basic information about them. + /// + /// Manipulators and their information. + public async Awaitable GetManipulators() + { + return await EmitAndGetResponse( + "get_manipulators", + null + ); + } + /// /// Request the current position of a manipulator (mm). /// @@ -419,6 +451,19 @@ public void GetPosition( .Emit("get_position", manipulatorId); } + /// + /// Request the current position of a manipulator (mm). + /// + /// ID of the manipulator to get teh position of. + /// with manipulator's position. + public async Awaitable GetPosition(string manipulatorId) + { + return await EmitAndGetResponse( + "get_position", + manipulatorId + ); + } + /// /// Request the current angles of a manipulator. /// @@ -450,6 +495,16 @@ public void GetAngles( .Emit("get_angles", manipulatorId); } + /// + /// Request the current angles of a manipulator. + /// + /// ID of the manipulator to get the position of + /// with manipulator's angles. + public async Awaitable GetAngles(string manipulatorId) + { + return await EmitAndGetResponse("get_angles", manipulatorId); + } + public void GetShankCount( string manipulatorId, Action onSuccessCallback, @@ -475,6 +530,19 @@ public void GetShankCount( .Emit("get_shank_count", manipulatorId); } + /// + /// Request the number of shanks on a manipulator. + /// + /// ID of the manipulator to get the shank count of. + /// with the number of shanks. + public async Awaitable GetShankCount(string manipulatorId) + { + return await EmitAndGetResponse( + "get_shank_count", + manipulatorId + ); + } + /// /// Request a manipulator be moved to a specific position. /// @@ -507,6 +575,19 @@ public void SetPosition( .Emit("set_position", ToJson(request)); } + /// + /// Request a manipulator be moved to a specific position. + /// + /// Goto position request object + /// with the manipulator's new position. + public async Awaitable SetPosition(SetPositionRequest request) + { + return await EmitAndGetResponse( + "set_position", + request + ); + } + /// /// Request a manipulator drive down to a specific depth. /// @@ -538,6 +619,19 @@ Action onErrorCallback .Emit("set_depth", ToJson(request)); } + /// + /// Request a manipulator drive down to a specific depth. + /// + /// Drive to depth request + /// with the manipulator's new depth. + public async Awaitable SetDepth(SetDepthRequest request) + { + return await EmitAndGetResponse( + "set_depth", + request + ); + } + /// /// Set the inside brain state of a manipulator. /// @@ -570,7 +664,20 @@ public void SetInsideBrain( } /// - /// Request a manipulator stops moving. + /// Set the inside brain state of a manipulator. + /// + /// Set inside brain request. + /// with the manipulator's new inside brain state. + public async Awaitable SetInsideBrain(SetInsideBrainRequest request) + { + return await EmitAndGetResponse( + "set_inside_brain", + request + ); + } + + /// + /// Request a manipulator stops moving. /// /// /// @@ -585,19 +692,25 @@ Action onErrorCallback .Socket.ExpectAcknowledgement(data => { if (DataKnownAndNotEmpty(data)) - { // Non-empty response means error. onErrorCallback?.Invoke(data); - } else - { // Empty response means success. onSuccessCallback?.Invoke(); - } }) .Emit("stop", manipulatorId); } + /// + /// Request a manipulator stops moving. + /// + /// ID of the manipulator to stop + /// Empty string if successful, error message if failed. + public async Awaitable Stop(string manipulatorId) + { + return await EmitAndGetStringResponse("stop", manipulatorId); + } + /// /// Request all movement to stop. /// @@ -609,33 +722,144 @@ public void StopAll(Action onSuccessCallback, Action onErrorCallback) .Socket.ExpectAcknowledgement(data => { if (DataKnownAndNotEmpty(data)) - { // Non-empty response means error. onErrorCallback?.Invoke(data); - } else - { // Empty response means success. onSuccessCallback?.Invoke(); - } }) .Emit("stop_all"); } + /// + /// Request all manipulators to stop. + /// + /// Empty string if successful, error message if failed. + public async Awaitable StopAll() + { + return await EmitAndGetStringResponse("stop_all", null); + } + + #endregion + + #region Utility Functions + + /// + /// Quick error handler to log the error string if it exists. + /// + /// Error response to check. + /// True if there was an error, false otherwise. + public static bool HasError(string error) + { + // Shortcut exit if there was no error. + if (string.IsNullOrEmpty(error)) + return false; + + // Log the error. + Debug.LogError(error); + OutputLog.Log( + new[] + { + "ephys_link", + DateTime.Now.ToString(CultureInfo.InvariantCulture), + $"ERROR: {error}" + } + ); + + // Return true to indicate an error. + return true; + } + #endregion #region Helper functions + /// + /// Generic function to emit and event and get a response from the server. + /// + /// Event to emit to. + /// Parameter to send with the event. + /// Expected (parsed) response type. + /// Type of the request parameter. + /// Response from server. Parsed to if it's not a string. + /// Invalid response from server (empty or unknown). + private async Awaitable EmitAndGetResponse(string eventName, TR requestParameter) + { + // Query server and capture response. + var dataCompletionSource = new AwaitableCompletionSource(); + _connectionManager + .Socket.ExpectAcknowledgement(data => dataCompletionSource.SetResult(data)) + .Emit( + eventName, + typeof(TR) == typeof(string) ? requestParameter : ToJson(requestParameter) + ); + + // Wait for data. + var data = await dataCompletionSource.Awaitable; + + // Return data if it exists. Parse if return type is not string. + if (DataKnownAndNotEmpty(data)) + return ParseJson(data); + + // Throw exception if data is empty. + throw new InvalidDataException($"{eventName} invalid response: {data}"); + } + + /// + /// Emit an event and get a string response from the server. + /// + /// Event to emit to. + /// Parameter to send with the event. + /// Type of the request parameter. + /// Response from server as a string. + private async Awaitable EmitAndGetStringResponse( + string eventName, + TR requestParameter + ) + { + // Query server and capture response. + var dataCompletionSource = new AwaitableCompletionSource(); + _connectionManager + .Socket.ExpectAcknowledgement(data => dataCompletionSource.SetResult(data)) + .Emit( + eventName, + typeof(TR) == typeof(string) ? requestParameter : ToJson(requestParameter) + ); + + // Wait for data. + var data = await dataCompletionSource.Awaitable; + + // Return data. + return data; + } + + /// + /// Check if data is not empty and is not the "unkown event" error. + /// + /// Data to check. + /// True if data is not empty and not the "unkown event" error, false otherwise. private static bool DataKnownAndNotEmpty(string data) { return !string.IsNullOrEmpty(data) && !data.Equals(UNKOWN_EVENT); } + /// + /// Parse a JSON string into a data object. + /// + /// JSON string to parse. + /// Type of the data object. + /// Parsed data object. private static T ParseJson(string json) { return JsonUtility.FromJson(json); } + /// + /// Convert a data object into a JSON string. + /// + /// Data object to convert. + /// Type of the data object. + /// JSON string. private static string ToJson(T data) { return JsonUtility.ToJson(data); diff --git a/Assets/Scripts/EphysLink/EphysLinkModels.cs b/Assets/Scripts/EphysLink/EphysLinkModels.cs index 67e98139..039b30b5 100644 --- a/Assets/Scripts/EphysLink/EphysLinkModels.cs +++ b/Assets/Scripts/EphysLink/EphysLinkModels.cs @@ -125,7 +125,7 @@ public SetInsideBrainRequest(string manipulatorId, bool inside) } } -; + [Serializable] public struct SetPositionRequest { diff --git a/Assets/Scripts/EphysLink/trajectoryplanner.ephyslink.asmdef b/Assets/Scripts/EphysLink/trajectoryplanner.ephyslink.asmdef index eb38189a..2fb193cd 100644 --- a/Assets/Scripts/EphysLink/trajectoryplanner.ephyslink.asmdef +++ b/Assets/Scripts/EphysLink/trajectoryplanner.ephyslink.asmdef @@ -7,7 +7,8 @@ "vbl.brainatlas.runtime", "vbl.brainatlas.atlas", "vbl.brainatlas.coordsystems", - "vblcore.coordinates" + "vblcore.coordinates", + "trajectoryplanner.log" ], "includePlatforms": [], "excludePlatforms": [], diff --git a/Assets/Scripts/Pinpoint/Probes/Controllers/CartesianProbeController.cs b/Assets/Scripts/Pinpoint/Probes/Controllers/CartesianProbeController.cs index 7f7a9aa2..900bfc53 100644 --- a/Assets/Scripts/Pinpoint/Probes/Controllers/CartesianProbeController.cs +++ b/Assets/Scripts/Pinpoint/Probes/Controllers/CartesianProbeController.cs @@ -476,22 +476,25 @@ private void ClearClickRotate() /// /// /// - private void MoveProbe_XYZD(Vector4 direction, float speed) + private async void MoveProbe_XYZD(Vector4 direction, float speed) { - // Get the positional delta + // Get the positional delta. var posDelta = Vector4.Scale(direction * speed,UnlockedDir); if (ManipulatorManualControl) { - // Cancel if a movement is in progress + // Cancel if a movement is in progress. if (ManipulatorKeyboardMoveInProgress) return; - // Disable/ignore more input until movement is done + // Disable/ignore more input until movement is done. ManipulatorKeyboardMoveInProgress = true; - // Call movement and re-enable input when done - ProbeManager.ManipulatorBehaviorController.MoveByWorldSpaceDelta(posDelta, - _ => ManipulatorKeyboardMoveInProgress = false, Debug.LogError); + // Call movement and re-enable input when done. + if (!await ProbeManager.ManipulatorBehaviorController.MoveByWorldSpaceDelta(posDelta)) + return; + + // Re-enable input. + ManipulatorKeyboardMoveInProgress = false; } else { diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs deleted file mode 100644 index 694351a7..00000000 --- a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs +++ /dev/null @@ -1,511 +0,0 @@ -using System; -using System.Globalization; -using System.Linq; -using BrainAtlas; -using BrainAtlas.CoordinateSystems; -using EphysLink; -using Pinpoint.CoordinateSystems; -using UnityEngine; -using UnityEngine.Events; - -namespace Pinpoint.Probes -{ - public class ManipulatorBehaviorController : MonoBehaviour - { - #region Constants - - // Default movement speed: 0.5 mm/s - public const float AUTOMATIC_MOVEMENT_SPEED = 0.5f; - - #endregion - - #region Components - - [SerializeField] - private ProbeManager _probeManager; - - [SerializeField] - private ProbeController _probeController; - - #endregion - - #region Properties - - public string ManipulatorID { get; private set; } - - public int NumAxes { get; set; } - - public Vector3 Dimensions { get; private set; } - - /** - * Getter and setter or the zero coordinate offset of the manipulator. - * If passed a NaN value, the previous value is kept. - */ - public Vector4 ZeroCoordinateOffset - { - get => _zeroCoordinateOffset; - set - { - _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 - ); - - ZeroCoordinateOffsetChangedEvent.Invoke(_zeroCoordinateOffset); - } - } - - public float BrainSurfaceOffset - { - get => _brainSurfaceOffset; - set - { - _brainSurfaceOffset = value; - BrainSurfaceOffsetChangedEvent.Invoke(_brainSurfaceOffset); - } - } - - public bool IsSetToDropToSurfaceWithDepth - { - get => _isSetToDropToSurfaceWithDepth; - set - { - if (BrainSurfaceOffset != 0) - return; - _isSetToDropToSurfaceWithDepth = value; - IsSetToDropToSurfaceWithDepthChangedEvent.Invoke(value); - } - } - - public CoordinateSpace CoordinateSpace { get; private set; } - private CoordinateTransform CoordinateTransform { get; set; } - - public bool IsRightHanded - { - get => _isRightHanded; - set - { - _isRightHanded = value; - UpdateSpaceAndTransform(); - } - } - - // Helper functions to create and destroy a probe - public Action CreatePathfinderProbe { private get; set; } - public Action DestroyThisProbe { private get; set; } - - #region Private internal fields - - private Vector4 _lastManipulatorPosition = Vector4.zero; - private Vector4 _lastLoggedManipulatorPosition = Vector4.zero; - private Vector4 _zeroCoordinateOffset = Vector4.zero; - private float _brainSurfaceOffset; - private bool _isSetToDropToSurfaceWithDepth = true; - private bool _isRightHanded; - private float _lastLoggedTime; - private bool _isSetToInsideBrain; - - #endregion - - #endregion - - #region Events - - public UnityEvent ZeroCoordinateOffsetChangedEvent; - public UnityEvent BrainSurfaceOffsetChangedEvent; - public UnityEvent IsSetToDropToSurfaceWithDepthChangedEvent; - - #endregion - - #region Unity - - /// - /// Setup this instance - /// - private void Awake() - { - // Start off as disabled - enabled = false; - - // Update manipulator inside brain state - // _probeController.MovedThisFrameEvent.AddListener(() => - // { - // if (_isSetToInsideBrain != _probeManager.IsProbeInBrain()) - // CommunicationManager.Instance.SetInsideBrain(ManipulatorID, _probeManager.IsProbeInBrain(), - // insideBrain => - // { - // _isSetToInsideBrain = insideBrain; - // _probeController.UnlockedDir = insideBrain ? new Vector4(0, 0, 0, 1) : Vector4.one; - // }); - // }); - } - - private void OnDisable() - { - ManipulatorID = null; - _zeroCoordinateOffset = Vector4.zero; - _brainSurfaceOffset = 0; - } - - #endregion - - - #region Public Methods - - public void Initialize(string manipulatorID, bool calibrated) - { - CommunicationManager.Instance.GetManipulators(response => - { - // Shortcut exit if we have an invalid manipulator ID - if (!response.Manipulators.Contains(manipulatorID)) - return; - - // Set manipulator ID, number of axes, and dimensions - ManipulatorID = manipulatorID; - NumAxes = response.NumAxes; - Dimensions = response.Dimensions; - - // Update transform and space - UpdateSpaceAndTransform(); - - // Lock the manipulator from manual control - _probeController.SetControllerLock(true); - - StartEchoing(); - return; - - void StartEchoing() - { - CommunicationManager.Instance.GetPosition( - manipulatorID, - pos => - { - if (ZeroCoordinateOffset.Equals(Vector4.zero)) - ZeroCoordinateOffset = pos; - EchoPosition(pos); - } - ); - } - }); - } - - private void UpdateSpaceAndTransform() - { - CoordinateSpace = new ManipulatorSpace(Dimensions); - CoordinateTransform = NumAxes switch - { - 4 - => IsRightHanded - ? new FourAxisRightHandedManipulatorTransform( - _probeController.Insertion.Yaw - ) - : new FourAxisLeftHandedManipulatorTransform( - _probeController.Insertion.Yaw - ), - 3 - => new ThreeAxisLeftHandedTransform( - _probeController.Insertion.Yaw, - _probeController.Insertion.Pitch - ), - _ => CoordinateTransform - }; - } - - public Vector4 ConvertInsertionAPMLDVToManipulatorPosition(Vector3 insertionAPMLDV) - { - // Convert apmldv to world coordinate - 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; - if (_probeManager.ManipulatorBehaviorController.IsSetToDropToSurfaceWithDepth) - posInManipulatorTransform.w -= brainSurfaceAdjustment; - else - posInManipulatorTransform.z += brainSurfaceAdjustment; - - // Apply coordinate offsets and return result - return posInManipulatorTransform + ZeroCoordinateOffset; - } - - /// - /// Set manipulator space offset from brain surface as Depth from manipulator or probe coordinates. - /// - public void ComputeBrainSurfaceOffset() - { - if (_probeManager.IsProbeInBrain()) - { - // 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 - ); - - if (float.IsNaN(brainSurfaceCoordinateIdx.x)) - { - Debug.LogError("Could not find brain surface! Canceling set brain offset."); - return; - } - - var brainSurfaceToTransformed = _probeController.Insertion.World2T( - BrainAtlasManager.ActiveReferenceAtlas.AtlasIdx2World(brainSurfaceCoordinateIdx) - ); - - BrainSurfaceOffset += Vector3.Distance( - brainSurfaceToTransformed, - _probeController.Insertion.APMLDV - ); - } - } - - /// - /// Manual adjustment of brain surface offset. - /// - /// Amount to change the brain surface offset by - public void IncrementBrainSurfaceOffset(float increment) - { - BrainSurfaceOffset += increment; - } - - /// - /// Move manipulator by a given delta in world space - /// - /// 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 - ) - { - // 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 - ); - - // Get manipulator position - CommunicationManager.Instance.GetPosition( - ManipulatorID, - pos => - { - // 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 => - { - print("New pos: " + newPos + "; Setting depth..."); - // Process depth movement - var targetDepth = newPos.w + manipulatorSpaceDepth; - // Move the manipulator - CommunicationManager.Instance.SetDepth( - new SetDepthRequest( - ManipulatorID, - targetDepth, - AUTOMATIC_MOVEMENT_SPEED - ), - _ => - CommunicationManager.Instance.GetPosition( - ManipulatorID, - onSuccessCallback, - onErrorCallback - ), - onErrorCallback - ); - }, - onErrorCallback - ); - } - ); - } - - /// - /// Drive the manipulator back to the zero coordinate position - /// - /// Action on success - /// Action on failure - public void MoveBackToZeroCoordinate( - Action onSuccessCallback, - Action onErrorCallBack - ) - { - // Send move command - CommunicationManager.Instance.SetPosition( - new SetPositionRequest( - ManipulatorID, - ZeroCoordinateOffset, - AUTOMATIC_MOVEMENT_SPEED - ), - onSuccessCallback, - onErrorCallBack - ); - } - - #endregion - - #region Private Methods - - private void EchoPosition(Vector4 pos) - { - // Exit if disabled and there is no probe controller. - if (!enabled && _probeController == null) - return; - - // 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; - _lastManipulatorPosition = pos; - - // Apply zero coordinate offset. - var zeroCoordinateAdjustedManipulatorPosition = pos - ZeroCoordinateOffset; - - // Convert to coordinate space. - var manipulatorSpacePosition = CoordinateTransform.T2U( - zeroCoordinateAdjustedManipulatorPosition - ); - - // Brain surface adjustment. - var brainSurfaceAdjustment = float.IsNaN(BrainSurfaceOffset) ? 0 : BrainSurfaceOffset; - if (IsSetToDropToSurfaceWithDepth) - { - // Apply depth adjustment to manipulator position for non-3 axis manipulators. - if (CoordinateTransform.Prefix != "3lhm") - zeroCoordinateAdjustedManipulatorPosition.w += brainSurfaceAdjustment; - } - else - { - manipulatorSpacePosition.y -= brainSurfaceAdjustment; - } - - // Convert to world space. - var zeroCoordinateAdjustedWorldPosition = CoordinateSpace.Space2World( - manipulatorSpacePosition - ); - - // Set probe position (change axes to match probe). - var transformedApmldv = BrainAtlasManager.World2T_Vector( - zeroCoordinateAdjustedWorldPosition - ); - - // Set probe position. - // For 3-axis manipulators, use depth to adjust brain offset if applying offset on depth. - if (CoordinateTransform.Prefix == "3lhm") - { - if (IsSetToDropToSurfaceWithDepth) - _probeController.SetProbePosition( - new Vector4( - transformedApmldv.x, - transformedApmldv.y, - transformedApmldv.z, - brainSurfaceAdjustment - ) - ); - else - _probeController.SetProbePosition(transformedApmldv); - } - else - { - _probeController.SetProbePosition( - new Vector4( - transformedApmldv.x, - transformedApmldv.y, - transformedApmldv.z, - zeroCoordinateAdjustedManipulatorPosition.w - ) - ); - } - - // Log and continue echoing - LogAndContinue(); - return; - - void LogAndContinue() - { - // Don't log if the last position is the same. - var positionDifference = _lastLoggedManipulatorPosition - pos; - if ( - Mathf.Abs(positionDifference.x) > 0.0001 - || Mathf.Abs(positionDifference.y) > 0.0001 - || Mathf.Abs(positionDifference.z) > 0.0001 - || Mathf.Abs(positionDifference.w) > 0.0001 - ) - // Log every 4 hz - if (Time.time - _lastLoggedTime >= 0.25) - { - _lastLoggedTime = Time.time; - var tipPos = _probeController.ProbeTipT.position; - - // ["ephys_link", Real time stamp, Manipulator ID, X, Y, Z, W, Phi, Theta, Spin, TipX, TipY, TipZ] - OutputLog.Log( - new[] - { - "ephys_link", - DateTime.Now.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 - ), - tipPos.x.ToString(CultureInfo.InvariantCulture), - tipPos.y.ToString(CultureInfo.InvariantCulture), - tipPos.z.ToString(CultureInfo.InvariantCulture) - } - ); - - // Update last logged position - _lastLoggedManipulatorPosition = pos; - } - - // Continue echoing position - CommunicationManager.Instance.GetPosition(ManipulatorID, EchoPosition); - } - } - - #endregion - } -} diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.meta b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.meta new file mode 100644 index 00000000..ecaf62e5 --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: c2bc1aabdb00c0948831ca62cc76473f +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController.cs new file mode 100644 index 00000000..3a34e3b7 --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController.cs @@ -0,0 +1,452 @@ +using System; +using System.Globalization; +using System.Linq; +using BrainAtlas; +using BrainAtlas.CoordinateSystems; +using EphysLink; +using Pinpoint.CoordinateSystems; +using UnityEngine; +using UnityEngine.Events; + +namespace Pinpoint.Probes.ManipulatorBehaviorController +{ + public partial class ManipulatorBehaviorController : MonoBehaviour + { + #region Constants + + // Default movement speed: 0.5 mm/s + public const float AUTOMATIC_MOVEMENT_SPEED = 0.5f; + + #endregion + + #region Components + + [SerializeField] + private ProbeManager _probeManager; + + [SerializeField] + private ProbeController _probeController; + + #endregion + + #region Properties + + public string ManipulatorID { get; private set; } + + public int NumAxes { get; set; } + + public Vector3 Dimensions { get; private set; } + + /// + /// Getter and setter or the zero coordinate offset of the manipulator. + /// If passed a NaN value, the previous value is kept. + /// + public Vector4 ReferenceCoordinateOffset + { + get => _referenceCoordinateOffset; + set + { + _referenceCoordinateOffset = new Vector4( + float.IsNaN(value.x) ? _referenceCoordinateOffset.x : value.x, + float.IsNaN(value.y) ? _referenceCoordinateOffset.y : value.y, + float.IsNaN(value.z) ? _referenceCoordinateOffset.z : value.z, + float.IsNaN(value.w) ? _referenceCoordinateOffset.w : value.w + ); + + ZeroCoordinateOffsetChangedEvent.Invoke(_referenceCoordinateOffset); + } + } + + public float BrainSurfaceOffset + { + get => _brainSurfaceOffset; + set + { + _brainSurfaceOffset = value; + BrainSurfaceOffsetChangedEvent.Invoke(_brainSurfaceOffset); + } + } + + public CoordinateSpace CoordinateSpace { get; private set; } + private CoordinateTransform CoordinateTransform { get; set; } + + public bool IsRightHanded + { + get => _isRightHanded; + set + { + _isRightHanded = value; + UpdateSpaceAndTransform(); + } + } + + public readonly ProbeAutomationStateManager ProbeAutomationStateManager = new(); + + // Helper functions to create and destroy a probe + public Action CreatePathfinderProbe { private get; set; } + public Action DestroyThisProbe { private get; set; } + + #region Private internal fields + + private Vector4 _lastLoggedManipulatorPosition = Vector4.zero; + private Vector4 _referenceCoordinateOffset = Vector4.zero; + private float _brainSurfaceOffset; + private bool _isRightHanded; + private float _lastLoggedTime; + private bool _isSetToInsideBrain; + + #endregion + + #endregion + + #region Events + + public UnityEvent ZeroCoordinateOffsetChangedEvent; + public UnityEvent BrainSurfaceOffsetChangedEvent; + public UnityEvent IsSetToDropToSurfaceWithDepthChangedEvent; + + #endregion + + #region Unity + + /// + /// Setup this instance. + /// + private void Awake() + { + // Start off as disabled + enabled = false; + } + + /// + /// Cleanup this instance. + /// + private void OnDisable() + { + ManipulatorID = null; + _referenceCoordinateOffset = Vector4.zero; + _brainSurfaceOffset = 0; + } + + #endregion + + + #region Public Methods + + /// + /// Initialize the manipulator behavior controller with the given manipulator ID and calibration status.
+ /// Starts to echo the manipulator position and locks the manipulator from manual control. + /// + /// ID of the manipulator to represent. + /// Whether this manipulator has been calibrated. + public async void Initialize(string manipulatorID, bool calibrated) + { + // Get manipulator information + var manipulatorResponse = await CommunicationManager.Instance.GetManipulators(); + if (CommunicationManager.HasError(manipulatorResponse.Error)) + return; + + // Shortcut exit if we have an invalid manipulator ID + if (!manipulatorResponse.Manipulators.Contains(manipulatorID)) + return; + + // Set manipulator ID, number of axes, and dimensions + ManipulatorID = manipulatorID; + NumAxes = manipulatorResponse.NumAxes; + Dimensions = manipulatorResponse.Dimensions; + + // Update transform and space + UpdateSpaceAndTransform(); + + // Lock the manipulator from manual control + _probeController.SetControllerLock(true); + + // Start echoing the manipulator position. + EchoPosition(); + } + + /// + /// Configure this manipulator's coordinate space and transform based on its handedness, number of axes, and angles. + /// + private void UpdateSpaceAndTransform() + { + CoordinateSpace = new ManipulatorSpace(Dimensions); + CoordinateTransform = NumAxes switch + { + 4 + => IsRightHanded + ? new FourAxisRightHandedManipulatorTransform( + _probeController.Insertion.Yaw + ) + : new FourAxisLeftHandedManipulatorTransform( + _probeController.Insertion.Yaw + ), + 3 + => new ThreeAxisLeftHandedTransform( + _probeController.Insertion.Yaw, + _probeController.Insertion.Pitch + ), + _ => CoordinateTransform + }; + } + + /// + /// Convert insertion AP, ML, DV coordinates to manipulator translation stage position. + /// + /// AP, ML, DV coordinates from an insertion. + /// Computed manipulator translation stage positions to match this coordinate. + public Vector4 ConvertInsertionAPMLDVToManipulatorPosition(Vector3 insertionAPMLDV) + { + // Convert apmldv to world coordinate + var convertToWorld = BrainAtlasManager.ActiveReferenceAtlas.Atlas2World_Vector( + BrainAtlasManager.ActiveAtlasTransform.T2U_Vector(insertionAPMLDV) + ); + + // Convert to Manipulator space + var posInManipulatorSpace = CoordinateSpace.World2Space(convertToWorld); + Vector4 posInManipulatorTransform = CoordinateTransform.U2T(posInManipulatorSpace); + + // Apply brain surface offset + posInManipulatorTransform.w -= float.IsNaN(BrainSurfaceOffset) ? 0 : BrainSurfaceOffset; + + // Apply coordinate offsets and return result + return posInManipulatorTransform + ReferenceCoordinateOffset; + } + + /// + /// Compute if a given AP, ML, DV coordinate is within the manipulator's reach. + /// + /// Coordinate to check. + /// True if the coordinates are within the bounds, false otherwise. + public bool IsAPMLDVWithinManipulatorBounds(Vector3 apmldv) + { + var manipulatorPosition = ConvertInsertionAPMLDVToManipulatorPosition(apmldv); + return !(manipulatorPosition.x < 0) + && !(manipulatorPosition.x > Dimensions.x) + && !(manipulatorPosition.y < 0) + && !(manipulatorPosition.y > Dimensions.y) + && !(manipulatorPosition.z < 0) + && !(manipulatorPosition.z > Dimensions.z); + } + + /// + /// Set manipulator space offset from brain surface as Depth from manipulator or probe coordinates. + /// + public void ComputeBrainSurfaceOffset() + { + if (_probeManager.IsProbeInBrain()) + { + // 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(); + + if (float.IsNaN(brainSurfaceCoordinateIdx.x)) + { + Debug.LogError("Could not find brain surface! Canceling set brain offset."); + return; + } + + var brainSurfaceToTransformed = BrainAtlasManager.ActiveAtlasTransform.U2T( + BrainAtlasManager.ActiveReferenceAtlas.World2Atlas( + BrainAtlasManager.ActiveReferenceAtlas.AtlasIdx2World( + brainSurfaceCoordinateIdx + ) + ) + ); + + BrainSurfaceOffset += Vector3.Distance( + brainSurfaceToTransformed, + _probeController.Insertion.APMLDV + ); + } + } + + /// + /// Manual adjustment of brain surface offset. + /// + /// Amount to change the brain surface offset by + public void IncrementBrainSurfaceOffset(float increment) + { + BrainSurfaceOffset += increment; + } + + /// + /// Move manipulator by a given delta in world space + /// + /// Delta (X, Y, Z, D) to move by in world space coordinates + /// True on successful movement, false otherwise. + public async Awaitable MoveByWorldSpaceDelta(Vector4 worldSpaceDelta) + { + // Convert to manipulator axes (world -> space -> transform). + var manipulatorSpaceDelta = CoordinateSpace.World2Space_Vector(worldSpaceDelta); + var manipulatorTransformDelta = CoordinateTransform.U2T(manipulatorSpaceDelta); + var manipulatorSpaceDepth = worldSpaceDelta.w; + + // Get manipulator position. + var positionResponse = await CommunicationManager.Instance.GetPosition(ManipulatorID); + if (CommunicationManager.HasError(positionResponse.Error)) + return false; + + // Apply delta. + var targetPosition = + positionResponse.Position + + new Vector4( + manipulatorTransformDelta.x, + manipulatorTransformDelta.y, + manipulatorTransformDelta.z + ); + + // Move manipulator. + var setPositionResponse = await CommunicationManager.Instance.SetPosition( + new SetPositionRequest(ManipulatorID, targetPosition, AUTOMATIC_MOVEMENT_SPEED) + ); + if (CommunicationManager.HasError(setPositionResponse.Error)) + return false; + + // Process depth movement. + var targetDepth = positionResponse.Position.w + manipulatorSpaceDepth; + + // Move manipulator. + var setDepthResponse = await CommunicationManager.Instance.SetDepth( + new SetDepthRequest(ManipulatorID, targetDepth, AUTOMATIC_MOVEMENT_SPEED) + ); + + return !CommunicationManager.HasError(setDepthResponse.Error); + } + + /// + /// Drive the manipulator back to the zero coordinate position + /// + public async Awaitable MoveBackToZeroCoordinate() + { + // Send move command + var setPositionResponse = await CommunicationManager.Instance.SetPosition( + new SetPositionRequest( + ManipulatorID, + ReferenceCoordinateOffset, + AUTOMATIC_MOVEMENT_SPEED + ) + ); + return !CommunicationManager.HasError(setPositionResponse.Error); + } + + #endregion + + #region Private Methods + + /// + /// Echo the manipulator position to the probe controller. + /// + private async void EchoPosition() + { + // Continue echoing position while enabled and there exists a probe controller. + while (enabled && _probeController) + await UpdateProbePositionFromManipulator(); + } + + /// + /// Update the probe's position based on the manipulator's position. + /// + private async Awaitable UpdateProbePositionFromManipulator() + { + // Get manipulator position. + var positionResponse = await CommunicationManager.Instance.GetPosition(ManipulatorID); + + // Shortcut exit if there was an error. + if (CommunicationManager.HasError(positionResponse.Error)) + return; + + // Apply zero coordinate offset. + var zeroCoordinateAdjustedManipulatorPosition = + positionResponse.Position - ReferenceCoordinateOffset; + + // Convert to coordinate space. + var manipulatorSpacePosition = CoordinateTransform.T2U( + zeroCoordinateAdjustedManipulatorPosition + ); + + // Brain surface adjustment. + var brainSurfaceAdjustment = float.IsNaN(BrainSurfaceOffset) ? 0 : BrainSurfaceOffset; + // Apply depth adjustment to manipulator position for non-3 axis manipulators. + if (CoordinateTransform.Prefix != "3lhm") + zeroCoordinateAdjustedManipulatorPosition.w += brainSurfaceAdjustment; + + // Convert to world space. + var zeroCoordinateAdjustedWorldPosition = CoordinateSpace.Space2World( + manipulatorSpacePosition + ); + + // Set probe position (change axes to match probe). + var transformedApmldv = BrainAtlasManager.World2T_Vector( + zeroCoordinateAdjustedWorldPosition + ); + + // Set probe position. + // For 3-axis manipulators, use depth to adjust brain offset if applying offset on depth. + if (CoordinateTransform.Prefix == "3lhm") + _probeController.SetProbePosition( + new Vector4( + transformedApmldv.x, + transformedApmldv.y, + transformedApmldv.z, + brainSurfaceAdjustment + ) + ); + else + _probeController.SetProbePosition( + new Vector4( + transformedApmldv.x, + transformedApmldv.y, + transformedApmldv.z, + zeroCoordinateAdjustedManipulatorPosition.w + ) + ); + + // Don't log if the last position is the same. + var positionDifference = _lastLoggedManipulatorPosition - positionResponse.Position; + if ( + !(Mathf.Abs(positionDifference.x) > 0.0001) + && !(Mathf.Abs(positionDifference.y) > 0.0001) + && !(Mathf.Abs(positionDifference.z) > 0.0001) + && !(Mathf.Abs(positionDifference.w) > 0.0001) + ) + return; + + // Log every 4 hz + if (!(Time.time - _lastLoggedTime >= 0.25)) + return; + + _lastLoggedTime = Time.time; + var tipPos = _probeController.ProbeTipT.position; + + // ["ephys_link", Real time stamp, Manipulator ID, X, Y, Z, W, Phi, Theta, Spin, TipX, TipY, TipZ] + OutputLog.Log( + new[] + { + "ephys_link", + DateTime.Now.ToString(CultureInfo.InvariantCulture), + ManipulatorID, + positionResponse.Position.x.ToString(CultureInfo.InvariantCulture), + positionResponse.Position.y.ToString(CultureInfo.InvariantCulture), + positionResponse.Position.z.ToString(CultureInfo.InvariantCulture), + positionResponse.Position.w.ToString(CultureInfo.InvariantCulture), + _probeController.Insertion.Yaw.ToString(CultureInfo.InvariantCulture), + _probeController.Insertion.Pitch.ToString(CultureInfo.InvariantCulture), + _probeController.Insertion.Roll.ToString(CultureInfo.InvariantCulture), + tipPos.x.ToString(CultureInfo.InvariantCulture), + tipPos.y.ToString(CultureInfo.InvariantCulture), + tipPos.z.ToString(CultureInfo.InvariantCulture) + } + ); + + // Update last logged position + _lastLoggedManipulatorPosition = positionResponse.Position; + } + + #endregion + } +} diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs.meta b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController.cs.meta similarity index 100% rename from Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs.meta rename to Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController.cs.meta diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_DuraCalibration.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_DuraCalibration.cs new file mode 100644 index 00000000..e59d481d --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_DuraCalibration.cs @@ -0,0 +1,99 @@ +using System; +using System.Globalization; +using EphysLink; +using UnityEngine; + +namespace Pinpoint.Probes.ManipulatorBehaviorController +{ + /// + /// Manage the Dura calibration of the manipulator. + /// + public partial class ManipulatorBehaviorController + { + #region Properties + + /// + /// Record of the manipulator's depth at the Dura. + /// + private float _duraDepth; + + /// + /// AP, ML, DV coordinate of the Dura. + /// + private Vector3 _duraCoordinate; + + /// + /// Skip passing through the exit margin. + /// + private bool _skipExitMargin; + + #endregion + + /// + /// Reset the dura offset of the probe and enable the next step + /// + /// True if the dura offset was reset successfully, false otherwise. + public async Awaitable ResetDuraOffset() + { + // Get the current manipulator depth. + var positionResponse = await CommunicationManager.Instance.GetPosition(ManipulatorID); + if (CommunicationManager.HasError(positionResponse.Error)) + return false; + + // Save the Dura's position. + _duraDepth = positionResponse.Position.w; + + // Check if there is enough room for exit margin. + var continueWithDuraResetCompletionSource = new AwaitableCompletionSource(); + + // Alert user if there is not enough space for exit margin. + if (_duraDepth < 1.5f * DURA_MARGIN_DISTANCE) + { + QuestionDialogue.Instance.NewQuestion( + "The depth axis is too retracted and does not leave enough space for a safe exit. Are you sure you want to continue (safety measures will be skipped)?" + ); + QuestionDialogue.Instance.YesCallback = () => + { + continueWithDuraResetCompletionSource.SetResult(true); + + // Mark that they are ok with skipping the exit margin. + _skipExitMargin = true; + }; + QuestionDialogue.Instance.NoCallback = () => + continueWithDuraResetCompletionSource.SetResult(false); + } + else + { + continueWithDuraResetCompletionSource.SetResult(true); + } + + // Shortcut exit if user does not want to continue. + if (!await continueWithDuraResetCompletionSource.Awaitable) + return false; + + // Reset dura offset. + ComputeBrainSurfaceOffset(); + + // Force update probe position. + await UpdateProbePositionFromManipulator(); + + // Save the probe's coordinates at the Dura. + _duraCoordinate = _probeController.Insertion.APMLDV; + + // Log the event. + OutputLog.Log( + new[] + { + "Automation", + DateTime.Now.ToString(CultureInfo.InvariantCulture), + "ResetDuraOffset", + ManipulatorID, + BrainSurfaceOffset.ToString(CultureInfo.InvariantCulture) + } + ); + + // Return success. + return true; + } + } +} diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_DuraCalibration.cs.meta b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_DuraCalibration.cs.meta new file mode 100644 index 00000000..9368860b --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_DuraCalibration.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 0609c7d3d307feb4cb539412cc7669ec diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_Insertion.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_Insertion.cs new file mode 100644 index 00000000..30bc89d1 --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_Insertion.cs @@ -0,0 +1,487 @@ +using System; +using System.Globalization; +using BrainAtlas; +using EphysLink; +using UnityEngine; + +namespace Pinpoint.Probes.ManipulatorBehaviorController +{ + public partial class ManipulatorBehaviorController + { + #region Constants + + #region Relative distances + + /// + /// Extra safety margin for the Dura to outside to ensure probe is fully retracted (mm). + /// + private const float DURA_MARGIN_DISTANCE = 0.2f; + + /// + /// Distance from target to start slowing down probe (mm). + /// + private const float NEAR_TARGET_DISTANCE = 1f; + + #endregion + + #region Speed multipliers + + /// + /// Slowdown factor for the probe when it is near the target. + /// + private const float NEAR_TARGET_SPEED_MULTIPLIER = 2f / 3f; + + /// + /// Extra speed multiplier for the probe when it is exiting. + /// + private const int EXIT_DRIVE_SPEED_MULTIPLIER = 6; + + #endregion + + #endregion + + #region Properties + + /// + /// Is the probe driving in the insertion cycle? + /// + /// Used to identify which buttons should be made available. + public bool IsMoving { get; private set; } + + private float _actualExitMarginToDuraDistance => _duraDepth - _entryCoordinateDepth; + + #endregion + + #region Drive Functions + + /// + /// Start or resume inserting the probe to the target insertion. + /// + /// Probe manager for the target insertion. + /// Base driving speed in mm/s. + /// Distance to drive past target in mm. + /// Probe is not in a drivable state. + /// Unhandled probe drive state. + public async void Drive( + ProbeManager targetInsertionProbeManager, + float baseSpeed, + float drivePastDistance + ) + { + while ( + ProbeAutomationStateManager.ProbeAutomationState != ProbeAutomationState.AtTarget + ) + { + // Throw exception if state is not valid. + if (!ProbeAutomationStateManager.IsInsertable()) + throw new InvalidOperationException( + "Cannot drive to target insertion if the probe is not in a drivable state." + ); + + // Get target depth. + var targetDepth = GetTargetDepth(targetInsertionProbeManager); + + // Set state to driving state (if needed). + ProbeAutomationStateManager.SetToInsertionDrivingState(); + + // Log set to driving state. + LogDriveToTargetInsertion(targetDepth, baseSpeed, drivePastDistance); + + // Set probe to be moving. + IsMoving = true; + + // Handle driving state. + switch (ProbeAutomationStateManager.ProbeAutomationState) + { + case ProbeAutomationState.DrivingToNearTarget: + // Drive to near target if not already there. + if ( + GetCurrentDistanceToTarget(targetInsertionProbeManager) + > NEAR_TARGET_DISTANCE + ) + { + var driveToNearTargetResponse = + await CommunicationManager.Instance.SetDepth( + new SetDepthRequest( + ManipulatorID, + targetDepth - NEAR_TARGET_DISTANCE, + baseSpeed + ) + ); + + // Shortcut exit if there was an error. + if (CommunicationManager.HasError(driveToNearTargetResponse.Error)) + return; + } + + break; + case ProbeAutomationState.DrivingToPastTarget: + // Drive to past target. + var driveToPastTargetResponse = + await CommunicationManager.Instance.SetDepth( + new SetDepthRequest( + ManipulatorID, + targetDepth + drivePastDistance, + baseSpeed * NEAR_TARGET_SPEED_MULTIPLIER + ) + ); + + // Shortcut exit if there was an error. + if (CommunicationManager.HasError(driveToPastTargetResponse.Error)) + return; + break; + case ProbeAutomationState.ReturningToTarget: + // Drive up to target. + var returnToTargetResponse = await CommunicationManager.Instance.SetDepth( + new SetDepthRequest( + ManipulatorID, + targetDepth, + baseSpeed * NEAR_TARGET_SPEED_MULTIPLIER + ) + ); + + // Shortcut exit if there was an error. + if (CommunicationManager.HasError(returnToTargetResponse.Error)) + return; + break; + case ProbeAutomationState.IsUncalibrated: + case ProbeAutomationState.IsCalibrated: + case ProbeAutomationState.DrivingToTargetEntryCoordinate: + case ProbeAutomationState.AtEntryCoordinate: + case ProbeAutomationState.AtDuraInsert: + case ProbeAutomationState.AtNearTargetInsert: + case ProbeAutomationState.AtPastTarget: + case ProbeAutomationState.AtTarget: + case ProbeAutomationState.ExitingToDura: + case ProbeAutomationState.AtDuraExit: + case ProbeAutomationState.ExitingToMargin: + case ProbeAutomationState.AtExitMargin: + case ProbeAutomationState.ExitingToTargetEntryCoordinate: + throw new InvalidOperationException( + $"Not a valid driving state: {ProbeAutomationStateManager.ProbeAutomationState}" + ); + default: + throw new ArgumentOutOfRangeException( + $"Unhandled probe drive state: {ProbeAutomationStateManager.ProbeAutomationState}" + ); + } + + // Increment cycle state. + ProbeAutomationStateManager.IncrementInsertionCycleState(); + + // Log the event. + LogDriveToTargetInsertion(targetDepth, baseSpeed, drivePastDistance); + } + + // Set probe to be done moving. + IsMoving = false; + } + + /// + /// Stop the probe's movement. + /// + public async void Stop() + { + var stopResponse = await CommunicationManager.Instance.Stop(ManipulatorID); + + // Log and exit if there was an error. + if (!string.IsNullOrEmpty(stopResponse)) + { + Debug.LogError(stopResponse); + return; + } + + // Set probe to be not moving. + IsMoving = false; + + // Log stop event. + OutputLog.Log( + new[] + { + "Automation", + DateTime.Now.ToString(CultureInfo.InvariantCulture), + "Drive", + ManipulatorID, + "Stop" + } + ); + } + + /// + /// Start or resume exiting the probe to the target insertion. + /// + /// Probe manager for the target insertion. + /// Base driving speed in mm/s. + /// Probe is not in an exitable state. + /// Unhandled probe exit state. + public async void Exit(ProbeManager targetInsertionProbeManager, float baseSpeed) + { + while ( + ProbeAutomationStateManager.ProbeAutomationState + != ProbeAutomationState.AtEntryCoordinate + ) + { + // Throw exception if state is not valid. + if (!ProbeAutomationStateManager.IsExitable()) + throw new InvalidOperationException( + "Cannot exit to target insertion if the probe is not in a state that can exit." + ); + + // Get target depth. + var targetDepth = GetTargetDepth(targetInsertionProbeManager); + + // Set state to exiting state (if needed). + ProbeAutomationStateManager.SetToExitingDrivingState(); + + // Log set to exiting state. + LogDriveToTargetInsertion(targetDepth, baseSpeed); + + // Set probe to be moving. + IsMoving = true; + + // Handle exiting state. + switch (ProbeAutomationStateManager.ProbeAutomationState) + { + case ProbeAutomationState.ExitingToDura: + // Exit back up to the Dura. + var exitToDuraResponse = await CommunicationManager.Instance.SetDepth( + new SetDepthRequest( + ManipulatorID, + _duraDepth, + baseSpeed * EXIT_DRIVE_SPEED_MULTIPLIER + ) + ); + + // Shortcut exit if there was an error. + if (CommunicationManager.HasError(exitToDuraResponse.Error)) + return; + break; + case ProbeAutomationState.ExitingToMargin: + // Remove brain surface offset. + BrainSurfaceOffset = 0; + + // Shortcut skip if user wanted to skip exit margin. + if (_skipExitMargin) + break; + + // Exit to the safe margin above the Dura. + var exitToMarginResponse = await CommunicationManager.Instance.SetDepth( + new SetDepthRequest( + ManipulatorID, + _duraDepth - DURA_MARGIN_DISTANCE, + baseSpeed * EXIT_DRIVE_SPEED_MULTIPLIER + ) + ); + + // Shortcut exit if there was an error. + if (CommunicationManager.HasError(exitToMarginResponse.Error)) + return; + break; + case ProbeAutomationState.ExitingToTargetEntryCoordinate: + // Drive to the target entry coordinate (same place before calibrating to the Dura). + var exitToTargetEntryCoordinateResponse = + await CommunicationManager.Instance.SetPosition( + new SetPositionRequest( + ManipulatorID, + ConvertInsertionAPMLDVToManipulatorPosition( + _trajectoryCoordinates.third + ), + AUTOMATIC_MOVEMENT_SPEED + ) + ); + + // Shortcut exit if there was an error. + if ( + CommunicationManager.HasError(exitToTargetEntryCoordinateResponse.Error) + ) + return; + break; + case ProbeAutomationState.IsUncalibrated: + case ProbeAutomationState.IsCalibrated: + case ProbeAutomationState.DrivingToTargetEntryCoordinate: + case ProbeAutomationState.AtEntryCoordinate: + case ProbeAutomationState.AtDuraInsert: + case ProbeAutomationState.DrivingToNearTarget: + case ProbeAutomationState.AtNearTargetInsert: + case ProbeAutomationState.DrivingToPastTarget: + case ProbeAutomationState.AtPastTarget: + case ProbeAutomationState.ReturningToTarget: + case ProbeAutomationState.AtTarget: + case ProbeAutomationState.AtDuraExit: + case ProbeAutomationState.AtExitMargin: + throw new InvalidOperationException( + $"Not a valid exit state: {ProbeAutomationStateManager.ProbeAutomationState}" + ); + default: + throw new ArgumentOutOfRangeException( + $"Unhandled probe exit state: {ProbeAutomationStateManager.ProbeAutomationState}" + ); + } + + // Increment cycle state. + ProbeAutomationStateManager.IncrementInsertionCycleState(); + + // Log the event. + LogDriveToTargetInsertion(targetDepth, baseSpeed); + } + + // Set probe to be done moving. + IsMoving = false; + } + + #endregion + + #region Helper Functions + + /// + /// Log a drive event. + /// + /// Target depth of drive. + /// Base speed of drive. + /// Distance (mm) driven past the target. Only supplied in insertion drives. + private void LogDriveToTargetInsertion( + float targetDepth, + float baseSpeed, + float drivePastDistance = 0 + ) + { + OutputLog.Log( + new[] + { + "Automation", + DateTime.Now.ToString(CultureInfo.InvariantCulture), + "DriveToTargetInsertion", + ManipulatorID, + ProbeAutomationStateManager.ProbeAutomationState.ToString(), + targetDepth.ToString(CultureInfo.InvariantCulture), + baseSpeed.ToString(CultureInfo.InvariantCulture), + drivePastDistance.ToString(CultureInfo.InvariantCulture) + } + ); + } + + /// + /// Compute the target coordinate adjusted for the probe's actual position. + /// + /// + /// APMLDV coordinates of where the probe should actually go. + private Vector3 GetOffsetAdjustedTargetCoordinate(ProbeManager targetInsertionProbeManager) + { + // Extract target insertion. + var targetInsertion = targetInsertionProbeManager.ProbeController.Insertion; + + var targetWorldT = targetInsertion.PositionWorldT(); + var relativePositionWorldT = _probeController.Insertion.PositionWorldT() - targetWorldT; + var probeTipTForward = _probeController.ProbeTipT.forward; + var offsetAdjustedRelativeTargetPositionWorldT = Vector3.ProjectOnPlane( + relativePositionWorldT, + probeTipTForward + ); + var offsetAdjustedTargetCoordinateWorldT = + targetWorldT + offsetAdjustedRelativeTargetPositionWorldT; + + // Converting worldT to AtlasT (to capture new reference coordinate offset when there is scaling) + // then switch axes to get APMLDV. + var offsetAdjustedTargetCoordinateAtlasT = + BrainAtlasManager.ActiveReferenceAtlas.World2Atlas( + offsetAdjustedTargetCoordinateWorldT + ); + var offsetAdjustedTargetCoordinateT = BrainAtlasManager.ActiveAtlasTransform.U2T_Vector( + offsetAdjustedTargetCoordinateAtlasT + ); + + return offsetAdjustedTargetCoordinateT; + } + + /// + /// Compute the absolute distance from the target insertion to the Dura. + /// + /// Target to computer distance to. + /// Distance in mm to the target from the Dura. + private float GetTargetDistanceToDura(ProbeManager targetInsertionProbeManager) + { + return Vector3.Distance( + GetOffsetAdjustedTargetCoordinate(targetInsertionProbeManager), + _duraCoordinate + ); + } + + /// + /// Compute the current distance to the target insertion. + /// + /// + /// Distance in mm to the target from the probe. NaN on error. + private float GetCurrentDistanceToTarget(ProbeManager targetInsertionProbeManager) + { + return Vector3.Distance( + _probeController.Insertion.APMLDV, + GetOffsetAdjustedTargetCoordinate(targetInsertionProbeManager) + ); + } + + /// + /// Compute the target depth for the probe to drive to. + /// + /// Target to drive (insert) to. + /// The depth the manipulator needs to drive to reach the target insertion. + private float GetTargetDepth(ProbeManager targetInsertionProbeManager) + { + return _duraDepth + GetTargetDistanceToDura(targetInsertionProbeManager); + } + + /// + /// Compute the ETA for a probe to reach a target insertion (or exit). + /// + /// Target to calculate ETA to. + /// Base driving speed in mm/s. + /// Distance to drive past target in mm. + /// MM:SS format ETA for reaching a target or exiting, based on the probe's state. + public string GetETA( + ProbeManager targetInsertionProbeManager, + float baseSpeed, + float drivePastDistance + ) + { + // Get current distance to target. + var distanceToTarget = GetCurrentDistanceToTarget(targetInsertionProbeManager); + + // Compute ETA. + var secondsToDestination = ProbeAutomationStateManager.ProbeAutomationState switch + { + ProbeAutomationState.DrivingToNearTarget + => Mathf.Max(0, distanceToTarget - NEAR_TARGET_DISTANCE) / baseSpeed // To near target. + + (NEAR_TARGET_DISTANCE + 2 * drivePastDistance) + / (baseSpeed * NEAR_TARGET_SPEED_MULTIPLIER), // To past target and back to target. + ProbeAutomationState.DrivingToPastTarget + => (distanceToTarget + 2 * drivePastDistance) + / (baseSpeed * NEAR_TARGET_SPEED_MULTIPLIER), // To past target and back to target. + ProbeAutomationState.ReturningToTarget + => distanceToTarget / (baseSpeed * NEAR_TARGET_SPEED_MULTIPLIER), // Back to target. + ProbeAutomationState.ExitingToDura + => (GetTargetDistanceToDura(targetInsertionProbeManager) - distanceToTarget) + / (baseSpeed * EXIT_DRIVE_SPEED_MULTIPLIER) // To Dura. + + DURA_MARGIN_DISTANCE / (baseSpeed * EXIT_DRIVE_SPEED_MULTIPLIER) // To exit margin. + + _actualExitMarginToDuraDistance / AUTOMATIC_MOVEMENT_SPEED, // To entry coordinate. + ProbeAutomationState.ExitingToMargin + => ( + DURA_MARGIN_DISTANCE + - (distanceToTarget - GetTargetDistanceToDura(targetInsertionProbeManager)) + ) / (baseSpeed * EXIT_DRIVE_SPEED_MULTIPLIER) // To exit margin. + + _actualExitMarginToDuraDistance / AUTOMATIC_MOVEMENT_SPEED, // To entry coordinate. + ProbeAutomationState.ExitingToTargetEntryCoordinate + => ( + IDEAL_ENTRY_COORDINATE_TO_DURA_DISTANCE + - (distanceToTarget - GetTargetDistanceToDura(targetInsertionProbeManager)) + ) / AUTOMATIC_MOVEMENT_SPEED, + _ => 0 + }; + + // Return formatted time if above 1 minute. + return secondsToDestination < 60 + ? secondsToDestination.ToString("F1") + : TimeSpan.FromSeconds(secondsToDestination).ToString(@"mm\:ss"); + } + + #endregion + } +} diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_Insertion.cs.meta b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_Insertion.cs.meta new file mode 100644 index 00000000..3bf4072a --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_Insertion.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: bbc85cfb8bef2b54a8d4643231d64cf7 diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_ReferenceCoordinate.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_ReferenceCoordinate.cs new file mode 100644 index 00000000..dd41123d --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_ReferenceCoordinate.cs @@ -0,0 +1,90 @@ +using System; +using System.Globalization; +using EphysLink; +using UnityEngine; + +namespace Pinpoint.Probes.ManipulatorBehaviorController +{ + public partial class ManipulatorBehaviorController + { + #region Constants + + /// + /// How far the depth axis can be off center of its range before the user is warned. + /// + /// Applies to 3-axis manipulators when calibrating. + private const float CENTER_DEVIATION_FACTOR = 0.125f; + + #endregion + + /// + /// Reset reference coordinate of the manipulator + /// + /// + /// Alerts user of 4-axis manipulators if depth axis is not at 0 and 3-axis manipulators if depth is too far from + /// center. + /// + public async Awaitable ResetReferenceCoordinate() + { + // Query current position. + var positionalResponse = await CommunicationManager.Instance.GetPosition(ManipulatorID); + + // Shortcut exit if error. + if (CommunicationManager.HasError(positionalResponse.Error)) + return false; + + // Setup callback completion source. + var canDoResetCompletionSource = new AwaitableCompletionSource(); + + // Setup alert callbacks (continue with reset). + QuestionDialogue.Instance.YesCallback = () => + canDoResetCompletionSource.SetResult(true); + QuestionDialogue.Instance.NoCallback = () => + canDoResetCompletionSource.SetResult(false); + + // Check depth position and alert. + switch (NumAxes) + { + case 3 + when Mathf.Abs(Dimensions.z / 2f - positionalResponse.Position.w) + > CENTER_DEVIATION_FACTOR * Dimensions.z: + QuestionDialogue.Instance.NewQuestion( + "The depth axis is too far from the center of its range and may not have enough space to reach the target. Are you sure you want to continue?" + ); + break; + case 4 when positionalResponse.Position.w > Dimensions.z * 0.05f: + QuestionDialogue.Instance.NewQuestion( + "The depth axis is not retracted and may not have enough space to reach the target. Are you sure you want to continue?" + ); + break; + default: + canDoResetCompletionSource.SetResult(true); + break; + } + + // Wait for verification to continue. + var canDoReset = await canDoResetCompletionSource.Awaitable; + + // Shortcut exit if reset is canceled. + if (!canDoReset) + return false; + + // Complete reset. + ReferenceCoordinateOffset = positionalResponse.Position; + BrainSurfaceOffset = 0; + + // Log event. + OutputLog.Log( + new[] + { + "Automation", + DateTime.Now.ToString(CultureInfo.InvariantCulture), + "ResetReferenceCoordinate", + ManipulatorID, + ReferenceCoordinateOffset.ToString() + } + ); + return true; + } + } +} diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_ReferenceCoordinate.cs.meta b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_ReferenceCoordinate.cs.meta new file mode 100644 index 00000000..a0c24d89 --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_ReferenceCoordinate.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 2f99a30517f49f04fa41d8524a7c4357 \ No newline at end of file diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_TargetInsertion.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_TargetInsertion.cs new file mode 100644 index 00000000..0279209d --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_TargetInsertion.cs @@ -0,0 +1,386 @@ +using System; +using System.Globalization; +using BrainAtlas; +using EphysLink; +using UnityEngine; + +namespace Pinpoint.Probes.ManipulatorBehaviorController +{ + public partial class ManipulatorBehaviorController + { + #region Constants + + // Axes colors. + private static readonly Color AP_COLOR = new(1, 0.3215686f, 0.3215686f); + private static readonly Color ML_COLOR = new(0.2039216f, 0.6745098f, 0.8784314f); + private static readonly Color DV_COLOR = new(1, 0.854902f, 0.4745098f); + + // Trajectory line properties. + private const float LINE_WIDTH = 0.1f; + private const int NUM_SEGMENTS = 2; + + // Trajectory values. + public static readonly Vector3 PRE_DEPTH_DRIVE_DV_OFFSET = new(0, 3.5f, 0); + + /// + /// Distance from the entry coordinate to the Dura. This is considered a safe distance to put the probe. + /// + private const float IDEAL_ENTRY_COORDINATE_TO_DURA_DISTANCE = 3.5f; + + #endregion + + #region Components + + private (GameObject ap, GameObject ml, GameObject dv) _trajectoryLineGameObjects; + private (LineRenderer ap, LineRenderer ml, LineRenderer dv) _trajectoryLineLineRenderers; + + #endregion + + #region Properties + + /// + /// Trajectory broken into 3 stages (for 3 axes of movement). + /// + /// Execution order: DV, AP, ML. Defaults to negative infinity when there is no trajectory. + private (Vector3 first, Vector3 second, Vector3 third) _trajectoryCoordinates = ( + Vector3.negativeInfinity, + Vector3.negativeInfinity, + Vector3.negativeInfinity + ); + + /// + /// Record the depth at the entry coordinate. + /// + /// Used during insertion to calculate the actual distance needed to retract back to the entry coordinate. + private float _entryCoordinateDepth; + + #endregion + + #region Public Functions + + /// + /// Compute the entry coordinate and trajectory for the target insertion. Also, draw the trajectory lines. + /// + /// Probe manager of the target insertion + /// + /// The computed entry coordinate in AP, ML, DV coordinates. Negative infinity if target is unset or already + /// there. + /// + public Vector3 ComputeEntryCoordinateTrajectory(ProbeManager targetInsertionProbeManager) + { + // If set to null or already past the entry coordinate, cleanup and remove insertion trajectory. + if ( + targetInsertionProbeManager == null + || ProbeAutomationStateManager.HasReachedTargetEntryCoordinate() + ) + { + RemoveTrajectoryLines(); + return Vector3.negativeInfinity; + } + + // Compute the trajectory. + ComputeTargetEntryCoordinateTrajectory(targetInsertionProbeManager); + + // Create trajectory lines. + CreateTrajectoryLines(); + + // Set trajectory lines. + UpdateTrajectoryLines(); + + // Return final entry coordinate (coordinate of the ML movement, the last in the trajectory). + return _trajectoryCoordinates.third; + } + + /// + /// Move the probe along the planned trajectory to the target entry coordinate.
+ /// + /// No trajectory planned for probe + /// Will log that movement has started and completed. + /// True if movement was successful, false otherwise. + public async Awaitable DriveToTargetEntryCoordinate() + { + // Throw exception if invariant is violated. + if (float.IsNegativeInfinity(_trajectoryCoordinates.first.x)) + throw new InvalidOperationException( + "No trajectory planned for probe " + _probeManager.name + ); + + // Convert insertions to manipulator positions. + var dvPosition = ConvertInsertionAPMLDVToManipulatorPosition( + _trajectoryCoordinates.first + ); + var apPosition = ConvertInsertionAPMLDVToManipulatorPosition( + _trajectoryCoordinates.second + ); + var mlPosition = ConvertInsertionAPMLDVToManipulatorPosition( + _trajectoryCoordinates.third + ); + + // Log that movement is starting. + OutputLog.Log( + new[] + { + "Automation", + DateTime.Now.ToString(CultureInfo.InvariantCulture), + "DriveToTargetEntryCoordinate", + ManipulatorID, + "Start" + } + ); + + // First move. + var firstMoveResponse = await CommunicationManager.Instance.SetPosition( + new SetPositionRequest(ManipulatorID, dvPosition, AUTOMATIC_MOVEMENT_SPEED) + ); + + // Shortcut exit if error. + if (CommunicationManager.HasError(firstMoveResponse.Error)) + { + LogDriveToTargetEntryCoordinateProgress("Failed to move to DV position."); + return false; + } + + // Second move. + var secondMoveResponse = await CommunicationManager.Instance.SetPosition( + new SetPositionRequest(ManipulatorID, apPosition, AUTOMATIC_MOVEMENT_SPEED) + ); + + // Shortcut exit if error. + if (CommunicationManager.HasError(secondMoveResponse.Error)) + { + LogDriveToTargetEntryCoordinateProgress("Failed to move to AP position."); + return false; + } + + // Third move. + var thirdMoveResponse = await CommunicationManager.Instance.SetPosition( + new SetPositionRequest(ManipulatorID, mlPosition, AUTOMATIC_MOVEMENT_SPEED) + ); + + // Shortcut exit if error. + if (CommunicationManager.HasError(thirdMoveResponse.Error)) + { + LogDriveToTargetEntryCoordinateProgress("Failed to move to ML position."); + return false; + } + + // Complete drive. + + // Record depth at entry coordinate. + var entryCoordinatePositionResponse = await CommunicationManager.Instance.GetPosition( + ManipulatorID + ); + if (CommunicationManager.HasError(entryCoordinatePositionResponse.Error)) + { + LogDriveToTargetEntryCoordinateProgress( + "Failed to get final position at entry coordinate." + ); + return false; + } + + _entryCoordinateDepth = entryCoordinatePositionResponse.Position.w; + + // Remove trajectory lines. + RemoveTrajectoryLines(); + + // Log drive finished. + LogDriveToTargetEntryCoordinateProgress("Finish"); + + // Return success. + return true; + } + + /// + /// Stop the probe from moving to the target entry coordinate. + /// + /// Will log that movement has stopped. + /// True if movement was stopped successfully, false otherwise. + public async Awaitable StopDriveToTargetEntryCoordinate() + { + // Log that movement is stopping. + LogDriveToTargetEntryCoordinateProgress("Stopped"); + + // Stop movement. + var stopResponse = await CommunicationManager.Instance.Stop(ManipulatorID); + + // Shortcut exit if no errors. + if (string.IsNullOrEmpty(stopResponse)) + return true; + + // Log errors. + Debug.LogError(stopResponse); + return false; + } + + #endregion + + #region Internal Functions + + /// + /// Compute the trajectory to the target insertion entry coordinate. + /// + /// Probe manager of the target insertion to compute the entry coordinate for. + private void ComputeTargetEntryCoordinateTrajectory( + ProbeManager targetInsertionProbeManager + ) + { + // Compute entry coordinate in world space. + var entryCoordinateWorld = + targetInsertionProbeManager.GetSurfaceCoordinateWorldT() + - targetInsertionProbeManager.ProbeController.GetTipWorldU().tipForwardWorldU + * IDEAL_ENTRY_COORDINATE_TO_DURA_DISTANCE; + + // Convert world space to transformed space. + var entryCoordinateAPMLDV = BrainAtlasManager.ActiveAtlasTransform.U2T( + BrainAtlasManager.ActiveReferenceAtlas.World2Atlas(entryCoordinateWorld) + ); + + // Get current probe coordinate. + var currentCoordinate = _probeManager.ProbeController.Insertion.APMLDV; + + // Set first movement (DV). + _trajectoryCoordinates.first = new Vector3( + currentCoordinate.x, + currentCoordinate.y, + entryCoordinateAPMLDV.z + ); + + // Set second movement (AP). + _trajectoryCoordinates.second = new Vector3( + entryCoordinateAPMLDV.x, + currentCoordinate.y, + entryCoordinateAPMLDV.z + ); + + // Set third movement (ML). + _trajectoryCoordinates.third = entryCoordinateAPMLDV; + } + + /// + /// Create the trajectory line game objects and line renderers (if needed). + /// + private void CreateTrajectoryLines() + { + // Shortcut exit if they already exist. + if (_trajectoryLineGameObjects.ap != null) + return; + + // Create the trajectory line game objects. + _trajectoryLineGameObjects = ( + new GameObject("APTrajectoryLine") { layer = 5 }, + new GameObject("MLTrajectoryLine") { layer = 5 }, + new GameObject("DVTrajectoryLine") { layer = 5 } + ); + + // Create the line renderers. + _trajectoryLineLineRenderers = ( + _trajectoryLineGameObjects.ap.AddComponent(), + _trajectoryLineGameObjects.ml.AddComponent(), + _trajectoryLineGameObjects.dv.AddComponent() + ); + + // Apply materials. + var defaultSpriteShader = Shader.Find("Sprites/Default"); + _trajectoryLineLineRenderers.ap.material = new Material(defaultSpriteShader) + { + color = AP_COLOR + }; + _trajectoryLineLineRenderers.ml.material = new Material(defaultSpriteShader) + { + color = ML_COLOR + }; + _trajectoryLineLineRenderers.dv.material = new Material(defaultSpriteShader) + { + color = DV_COLOR + }; + + // Set line widths. + _trajectoryLineLineRenderers.ap.startWidth = _trajectoryLineLineRenderers.ap.endWidth = + LINE_WIDTH; + _trajectoryLineLineRenderers.ml.startWidth = _trajectoryLineLineRenderers.ml.endWidth = + LINE_WIDTH; + _trajectoryLineLineRenderers.dv.startWidth = _trajectoryLineLineRenderers.dv.endWidth = + LINE_WIDTH; + + // Set segment counts. + _trajectoryLineLineRenderers.ap.positionCount = NUM_SEGMENTS; + _trajectoryLineLineRenderers.ml.positionCount = NUM_SEGMENTS; + _trajectoryLineLineRenderers.dv.positionCount = NUM_SEGMENTS; + } + + /// + /// Update the trajectory line positions. + /// + private void UpdateTrajectoryLines() + { + _trajectoryLineLineRenderers.dv.SetPosition(0, _probeController.ProbeTipT.position); + _trajectoryLineLineRenderers.dv.SetPosition( + 1, + BrainAtlasManager.ActiveReferenceAtlas.Atlas2World( + BrainAtlasManager.ActiveAtlasTransform.T2U_Vector(_trajectoryCoordinates.first) + ) + ); + + _trajectoryLineLineRenderers.ap.SetPosition( + 0, + BrainAtlasManager.ActiveReferenceAtlas.Atlas2World( + BrainAtlasManager.ActiveAtlasTransform.T2U_Vector(_trajectoryCoordinates.first) + ) + ); + _trajectoryLineLineRenderers.ap.SetPosition( + 1, + BrainAtlasManager.ActiveReferenceAtlas.Atlas2World( + BrainAtlasManager.ActiveAtlasTransform.T2U_Vector(_trajectoryCoordinates.second) + ) + ); + + _trajectoryLineLineRenderers.ml.SetPosition( + 0, + BrainAtlasManager.ActiveReferenceAtlas.Atlas2World( + BrainAtlasManager.ActiveAtlasTransform.T2U_Vector(_trajectoryCoordinates.second) + ) + ); + _trajectoryLineLineRenderers.ml.SetPosition( + 1, + BrainAtlasManager.ActiveReferenceAtlas.Atlas2World( + BrainAtlasManager.ActiveAtlasTransform.T2U_Vector(_trajectoryCoordinates.third) + ) + ); + } + + /// + /// Destroy the trajectory line game objects and line renderers. Also reset the references. + /// + private void RemoveTrajectoryLines() + { + // Destroy the objects. + Destroy(_trajectoryLineGameObjects.ap); + Destroy(_trajectoryLineGameObjects.ml); + Destroy(_trajectoryLineGameObjects.dv); + + // Reset the references. + _trajectoryLineGameObjects = (null, null, null); + _trajectoryLineLineRenderers = (null, null, null); + } + + /// + /// Log the progress of the drive to the target entry coordinate. + /// + /// Message to log + private void LogDriveToTargetEntryCoordinateProgress(string progressMessage) + { + OutputLog.Log( + new[] + { + "Automation", + DateTime.Now.ToString(CultureInfo.InvariantCulture), + "DriveToTargetEntryCoordinate", + ManipulatorID, + progressMessage + } + ); + } + + #endregion + } +} diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_TargetInsertion.cs.meta b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_TargetInsertion.cs.meta new file mode 100644 index 00000000..afcacff3 --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_TargetInsertion.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 7ddaf4479f8b1b3479deb22865f7a5da diff --git a/Assets/Scripts/Pinpoint/Probes/ProbeAutomationState.cs b/Assets/Scripts/Pinpoint/Probes/ProbeAutomationState.cs new file mode 100644 index 00000000..a26df5d9 --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ProbeAutomationState.cs @@ -0,0 +1,88 @@ +namespace Pinpoint.Probes +{ + /// + /// Drive state in the automation cycle. + /// + public enum ProbeAutomationState + { + /// + /// Initial, uncalibrated state. + /// + IsUncalibrated, + + /// + /// Is calibrated to the reference coordinate. Could be positioned anywhere. + /// + IsCalibrated, + + /// + /// Moving to the target entry coordinate. + /// + DrivingToTargetEntryCoordinate, + + /// + /// At the target entry coordinate. + /// + AtEntryCoordinate, + + /// + /// Calibrated to the Dura; ready for insertion drive. + /// + AtDuraInsert, + + /// + /// Driving to near target depth (insertion drive). + /// + DrivingToNearTarget, + + /// + /// At near target depth (insertion drive). Need to switch to 2/3 speed. + /// + AtNearTargetInsert, + + /// + /// Driving to past target depth (insertion drive). + /// + DrivingToPastTarget, + + /// + /// At past target depth (insertion drive). + /// + AtPastTarget, + + /// + /// Driving back up to target depth (insertion drive). + /// + ReturningToTarget, + + /// + /// At target depth (insertion drive). + /// + AtTarget, + + /// + /// Driving back up to the Dura (exit drive). + /// + ExitingToDura, + + /// + /// At the Dura (exit drive). Should not re-insert. + /// + AtDuraExit, + + /// + /// Driving above the Dura by a safe margin (exit drive). + /// + ExitingToMargin, + + /// + /// At the safe margin above the Dura (exit drive). + /// + AtExitMargin, + + /// + /// Driving back up to the target entry coordinate (exit drive). + /// + ExitingToTargetEntryCoordinate, + } +} diff --git a/Assets/Scripts/Pinpoint/Probes/ProbeAutomationState.cs.meta b/Assets/Scripts/Pinpoint/Probes/ProbeAutomationState.cs.meta new file mode 100644 index 00000000..4e2f2421 --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ProbeAutomationState.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: a883806dd4f7fd74d803c2bab7381b31 \ No newline at end of file diff --git a/Assets/Scripts/Pinpoint/Probes/ProbeAutomationStateManager.cs b/Assets/Scripts/Pinpoint/Probes/ProbeAutomationStateManager.cs new file mode 100644 index 00000000..acefc1ee --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ProbeAutomationStateManager.cs @@ -0,0 +1,219 @@ +using System; + +namespace Pinpoint.Probes +{ + /// + /// Define and manage the automation state of a probe. + /// + public class ProbeAutomationStateManager + { + #region Properties + + /// + /// The state of the probe. + /// + public ProbeAutomationState ProbeAutomationState { get; private set; } = + ProbeAutomationState.IsUncalibrated; + + #endregion + + #region Actions + + /// + /// Set the probe's state to be calibrated. + /// + /// This can be set from any state. This is the reset point. + public void SetCalibrated() + { + ProbeAutomationState = ProbeAutomationState.IsCalibrated; + } + + /// + /// Set the probe's state to be driving to the target entry coordinate. + /// + /// Probe is not calibrated or at entry coordinate. + public void SetDrivingToTargetEntryCoordinate() + { + if (!IsCalibrated() && ProbeAutomationState != ProbeAutomationState.AtEntryCoordinate) + throw new InvalidOperationException( + "Cannot set probe to driving to target entry coordinate if it is not calibrated." + ); + + ProbeAutomationState = ProbeAutomationState.DrivingToTargetEntryCoordinate; + } + + /// + /// Set the probe's state to be at the target entry coordinate. + /// + /// Probe is not driving there or exiting to there. + public void SetAtEntryCoordinate() + { + if ( + ProbeAutomationState != ProbeAutomationState.DrivingToTargetEntryCoordinate + && ProbeAutomationState != ProbeAutomationState.ExitingToTargetEntryCoordinate + ) + throw new InvalidOperationException( + "Cannot set probe to entry coordinate if it was not driving there or exiting to there." + ); + + ProbeAutomationState = ProbeAutomationState.AtEntryCoordinate; + } + + /// + /// Set the probe's state to be at the Dura for insertion. + /// + /// Probe is not at the entry coordinate or exiting to Dura. + public void SetAtDuraInsert() + { + if ( + ProbeAutomationState != ProbeAutomationState.AtEntryCoordinate + && ProbeAutomationState != ProbeAutomationState.ExitingToDura + ) + throw new InvalidOperationException( + "Cannot set probe to dura if it was not at the entry coordinate or exiting to Dura." + ); + ProbeAutomationState = ProbeAutomationState.AtDuraInsert; + } + + /// + /// Increment the state according to the normal loop for the insertion cycle. + /// + /// Probe is not in the insertion cycle. + public void IncrementInsertionCycleState() + { + switch (ProbeAutomationState) + { + // Throw exception if required state is not met. + case < ProbeAutomationState.AtDuraInsert + or > ProbeAutomationState.ExitingToTargetEntryCoordinate: + throw new InvalidOperationException( + "Cannot increment the insertion cycle state if the probe is not in the insertion cycle." + ); + + // If exiting to the target entry coordinate, set to the target entry coordinate (end of cycle). + case ProbeAutomationState.ExitingToTargetEntryCoordinate: + ProbeAutomationState = ProbeAutomationState.AtEntryCoordinate; + return; + + // Otherwise, increment state. + default: + ProbeAutomationState++; + break; + } + } + + /// + /// Set the probe's state to be in the next insertion driving state. + /// + /// Probe is not in a state that can go drive. + public void SetToInsertionDrivingState() + { + // Throw exception if required state is not met. + if (!IsInsertable()) + throw new InvalidOperationException( + "Cannot set probe to insertion driving state if it is not at the Dura or inside the brain." + ); + + // Set state. + ProbeAutomationState = ProbeAutomationState switch + { + // States for driving to near target depth. + ProbeAutomationState.AtDuraInsert + or ProbeAutomationState.ExitingToDura + => ProbeAutomationState.DrivingToNearTarget, + + // States for driving to past target. + ProbeAutomationState.AtNearTargetInsert + => ProbeAutomationState.DrivingToPastTarget, + + // States for returning to the target. + ProbeAutomationState.AtPastTarget + => ProbeAutomationState.ReturningToTarget, + + // Do nothing for driving states. + _ => ProbeAutomationState + }; + } + + /// + /// Set the probe's state to be in the next exit driving state. + /// + /// Probe is not in a state that can exit. + public void SetToExitingDrivingState() + { + // Throw exception if required state is not met. + if (!IsExitable()) + throw new InvalidOperationException( + "Cannot set probe to exit driving state if it is not past the Dura." + ); + + // Set state. + ProbeAutomationState = ProbeAutomationState switch + { + // States for Exiting to the Dura. + ProbeAutomationState.AtTarget + or ProbeAutomationState.ReturningToTarget + or ProbeAutomationState.DrivingToPastTarget + or ProbeAutomationState.AtNearTargetInsert + or ProbeAutomationState.DrivingToNearTarget + => ProbeAutomationState.ExitingToDura, + + // States for exiting to margin. + ProbeAutomationState.AtDuraExit + => ProbeAutomationState.ExitingToMargin, + + // States for exiting to target entry coordinate. + ProbeAutomationState.AtExitMargin + => ProbeAutomationState.ExitingToTargetEntryCoordinate, + + // Do nothing for driving states. + _ => ProbeAutomationState + }; + } + + #endregion + + #region Queries + + /// + /// Checks if the probe is past the calibration phase. + /// + /// True if the state is past the calibration phase, false otherwise. + public bool IsCalibrated() + { + return ProbeAutomationState >= ProbeAutomationState.IsCalibrated; + } + + /// + /// Checks if the probe has been to the target entry coordinate. + /// + /// True if the state is past reaching the target entry coordinate, false otherwise. + public bool HasReachedTargetEntryCoordinate() + { + return ProbeAutomationState >= ProbeAutomationState.AtEntryCoordinate; + } + + /// + /// Checks if the probe can be inserted (driven into the brain). + /// + /// Returns true if the probe is calibrated to the Dura and has not exited back out of the Dura. + public bool IsInsertable() + { + return ProbeAutomationState + is >= ProbeAutomationState.AtDuraInsert + and < ProbeAutomationState.AtDuraExit + && ProbeAutomationState != ProbeAutomationState.AtTarget; + } + + /// + /// Checks if the probe can be retracted (drive back out of the brain). + /// + /// Returns true if the probe has gone through/past the Dura. + public bool IsExitable() + { + return ProbeAutomationState > ProbeAutomationState.AtDuraInsert; + } + + #endregion + } +} diff --git a/Assets/Scripts/Pinpoint/Probes/ProbeAutomationStateManager.cs.meta b/Assets/Scripts/Pinpoint/Probes/ProbeAutomationStateManager.cs.meta new file mode 100644 index 00000000..d3d7177b --- /dev/null +++ b/Assets/Scripts/Pinpoint/Probes/ProbeAutomationStateManager.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 9146e7c3759810d4ead53231e19eb641 \ No newline at end of file diff --git a/Assets/Scripts/Pinpoint/Probes/ProbeManager.cs b/Assets/Scripts/Pinpoint/Probes/ProbeManager.cs index ea4cde71..a8a14106 100644 --- a/Assets/Scripts/Pinpoint/Probes/ProbeManager.cs +++ b/Assets/Scripts/Pinpoint/Probes/ProbeManager.cs @@ -6,6 +6,7 @@ using BrainAtlas; using EphysLink; using Pinpoint.Probes; +using Pinpoint.Probes.ManipulatorBehaviorController; using UnityEngine; using UnityEngine.Events; using UnityEngine.Serialization; @@ -229,7 +230,7 @@ public List GetProbeUIManagers() /// When true, this Probe will be saved and re-loaded in the scene the next time Pinpoint loads /// public bool Saved { get; set; } - + #endregion #region Unity @@ -906,10 +907,11 @@ public void UpdateSurfacePosition() } } + // TODO: Remove useDV and always use depth. /// /// Calculate the entry coordinate on the brain surface, returns coordIdx /// - /// + /// Whether the surface should be found along the DV axis or depth axis. /// (entryCoordAtlasIdx, probeInBrain) public (Vector3 entryCoordAtlasIdx, bool probeInBrain) CalculateEntryCoordinate( bool useDV = false @@ -1273,12 +1275,12 @@ public static ProbeManagerData ProbeManager2ProbeData(ProbeManager probeManager) data.NumAxes = probeManager.ManipulatorBehaviorController.NumAxes; data.ManipulatorID = probeManager.ManipulatorBehaviorController.ManipulatorID; - data.ZeroCoordOffset = probeManager.ManipulatorBehaviorController.ZeroCoordinateOffset; + data.ZeroCoordOffset = probeManager.ManipulatorBehaviorController.ReferenceCoordinateOffset; 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; diff --git a/Assets/Scripts/Pinpoint/TP_ProbeQuickSettings.cs b/Assets/Scripts/Pinpoint/TP_ProbeQuickSettings.cs index fa6f4ee9..e175bcf9 100644 --- a/Assets/Scripts/Pinpoint/TP_ProbeQuickSettings.cs +++ b/Assets/Scripts/Pinpoint/TP_ProbeQuickSettings.cs @@ -149,7 +149,7 @@ public void ResetZeroCoordinate() if (ProbeManager.ActiveProbeManager.IsEphysLinkControlled) { _communicationManager.GetPosition(ProbeManager.ActiveProbeManager.ManipulatorBehaviorController.ManipulatorID, - zeroCoordinate => ProbeManager.ActiveProbeManager.ManipulatorBehaviorController.ZeroCoordinateOffset = zeroCoordinate); + zeroCoordinate => ProbeManager.ActiveProbeManager.ManipulatorBehaviorController.ReferenceCoordinateOffset = zeroCoordinate); ProbeManager.ActiveProbeManager.ManipulatorBehaviorController.BrainSurfaceOffset = 0; } else diff --git a/Assets/Scripts/Pinpoint/TrajectoryPlannerManager.cs b/Assets/Scripts/Pinpoint/TrajectoryPlannerManager.cs index 6bd7e063..5e3a8502 100644 --- a/Assets/Scripts/Pinpoint/TrajectoryPlannerManager.cs +++ b/Assets/Scripts/Pinpoint/TrajectoryPlannerManager.cs @@ -485,10 +485,10 @@ public ProbeManager AddNewProbe(ProbeProperties.ProbeType probeType, ProbeInsert // Repopulate Ephys Link information probeManager.ManipulatorBehaviorController.NumAxes = numAxes; - probeManager.ManipulatorBehaviorController.ZeroCoordinateOffset = zeroCoordinateOffset; + probeManager.ManipulatorBehaviorController.ReferenceCoordinateOffset = zeroCoordinateOffset; probeManager.ManipulatorBehaviorController.BrainSurfaceOffset = brainSurfaceOffset; - probeManager.ManipulatorBehaviorController.IsSetToDropToSurfaceWithDepth = dropToSurfaceWithDepth; - probeManager.ManipulatorBehaviorController.IsSetToDropToSurfaceWithDepth = dropToSurfaceWithDepth; + // probeManager.ManipulatorBehaviorController.IsSetToDropToSurfaceWithDepth = dropToSurfaceWithDepth; + // probeManager.ManipulatorBehaviorController.IsSetToDropToSurfaceWithDepth = dropToSurfaceWithDepth; probeManager.ManipulatorBehaviorController.IsRightHanded = isRightHanded; var communicationManager = GameObject.Find("EphysLink").GetComponent(); diff --git a/Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs b/Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs index 392c1e26..0dcb48a5 100644 --- a/Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs +++ b/Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs @@ -5,6 +5,7 @@ using BrainAtlas; using EphysLink; using Pinpoint.Probes; +using Pinpoint.Probes.ManipulatorBehaviorController; using TMPro; using UnityEngine; using UnityEngine.Events; diff --git a/Assets/Scripts/Pinpoint/UI/EphysCopilot/ResetZeroCoordinatePanelHandler.cs b/Assets/Scripts/Pinpoint/UI/EphysCopilot/ResetZeroCoordinatePanelHandler.cs index 77ac413e..ec6b1ac7 100644 --- a/Assets/Scripts/Pinpoint/UI/EphysCopilot/ResetZeroCoordinatePanelHandler.cs +++ b/Assets/Scripts/Pinpoint/UI/EphysCopilot/ResetZeroCoordinatePanelHandler.cs @@ -30,7 +30,7 @@ public void ResetZeroCoordinate() ProbeManager.ManipulatorBehaviorController.ManipulatorID, zeroCoordinate => { - ProbeManager.ManipulatorBehaviorController.ZeroCoordinateOffset = + ProbeManager.ManipulatorBehaviorController.ReferenceCoordinateOffset = zeroCoordinate; ProbeManager.ManipulatorBehaviorController.BrainSurfaceOffset = 0; } @@ -44,7 +44,7 @@ public void ResetZeroCoordinate() DateTime.Now.ToString(CultureInfo.InvariantCulture), "ResetZeroCoordinate", ProbeManager.ManipulatorBehaviorController.ManipulatorID, - ProbeManager.ManipulatorBehaviorController.ZeroCoordinateOffset.ToString() + ProbeManager.ManipulatorBehaviorController.ReferenceCoordinateOffset.ToString() } ); } diff --git a/Assets/Scripts/Pinpoint/UI/EphysLinkSettings/ManipulatorConnectionPanel.cs b/Assets/Scripts/Pinpoint/UI/EphysLinkSettings/ManipulatorConnectionPanel.cs index a88b5310..a2e3f69a 100644 --- a/Assets/Scripts/Pinpoint/UI/EphysLinkSettings/ManipulatorConnectionPanel.cs +++ b/Assets/Scripts/Pinpoint/UI/EphysLinkSettings/ManipulatorConnectionPanel.cs @@ -250,7 +250,7 @@ public void OnLinkedProbeSelectionChanged(int value) /// New offset X-axis value public void UpdateZeroCoordinateOffsetX(string newValue) { - _attachedProbe.ManipulatorBehaviorController.ZeroCoordinateOffset = new Vector4( + _attachedProbe.ManipulatorBehaviorController.ReferenceCoordinateOffset = new Vector4( float.Parse(newValue), float.NaN, float.NaN, @@ -264,7 +264,7 @@ public void UpdateZeroCoordinateOffsetX(string newValue) /// New offset Y-axis value public void UpdateZeroCoordinateOffsetY(string newValue) { - _attachedProbe.ManipulatorBehaviorController.ZeroCoordinateOffset = new Vector4( + _attachedProbe.ManipulatorBehaviorController.ReferenceCoordinateOffset = new Vector4( float.NaN, float.Parse(newValue), float.NaN, @@ -278,7 +278,7 @@ public void UpdateZeroCoordinateOffsetY(string newValue) /// New offset Z-axis value public void UpdateZeroCoordinateOffsetZ(string newValue) { - _attachedProbe.ManipulatorBehaviorController.ZeroCoordinateOffset = new Vector4( + _attachedProbe.ManipulatorBehaviorController.ReferenceCoordinateOffset = new Vector4( float.NaN, float.NaN, float.Parse(newValue), @@ -292,7 +292,7 @@ public void UpdateZeroCoordinateOffsetZ(string newValue) /// New offset D-axis value public void UpdateZeroCoordinateOffsetD(string newValue) { - _attachedProbe.ManipulatorBehaviorController.ZeroCoordinateOffset = new Vector4( + _attachedProbe.ManipulatorBehaviorController.ReferenceCoordinateOffset = new Vector4( float.NaN, float.NaN, float.NaN, @@ -303,9 +303,9 @@ public void UpdateZeroCoordinateOffsetD(string newValue) public void UpdateDuraDropDirection(int value) { // Set drop direction on attached probe if it exists - if (_attachedProbe) - _attachedProbe.ManipulatorBehaviorController.IsSetToDropToSurfaceWithDepth = - value == 1; + // if (_attachedProbe) + // _attachedProbe.ManipulatorBehaviorController.IsSetToDropToSurfaceWithDepth = + // value == 1; } private void SetDuraDropInteractable(bool interactable) @@ -349,7 +349,7 @@ public void UpdateManualControlState(bool state) /// /// Return manipulator back to zero coordinate /// - public void ReturnToZeroCoordinate() + public async void ReturnToZeroCoordinate() { // Disable keyboard control _attachedProbe.ProbeController.ManipulatorManualControl = false; @@ -359,27 +359,16 @@ public void ReturnToZeroCoordinate() _stopReturningToZeroCoordinateButtonGameObject.SetActive(true); // Move manipulator back to zero coordinate - _attachedProbe.ManipulatorBehaviorController.MoveBackToZeroCoordinate( - _ => - { - PostMoveAction(); - - // Reset dura drop direction on successful return - _attachedProbe.ManipulatorBehaviorController.BrainSurfaceOffset = 0; - }, - _ => PostMoveAction() - ); - return; - - void PostMoveAction() - { - // Show move button and hide stop button - _returnToZeroCoordinateButtonGameObject.SetActive(true); - _stopReturningToZeroCoordinateButtonGameObject.SetActive(false); - - // Re-enable keyboard control - _attachedProbe.ProbeController.ManipulatorManualControl = true; - } + if (await _attachedProbe.ManipulatorBehaviorController.MoveBackToZeroCoordinate()) + // Reset dura drop direction on successful return. + _attachedProbe.ManipulatorBehaviorController.BrainSurfaceOffset = 0; + + // Show move button and hide stop button + _returnToZeroCoordinateButtonGameObject.SetActive(true); + _stopReturningToZeroCoordinateButtonGameObject.SetActive(false); + + // Re-enable keyboard control + _attachedProbe.ProbeController.ManipulatorManualControl = true; } public void StopReturningToZeroCoordinate() @@ -413,7 +402,7 @@ private void UpdateProbePropertiesSectionState() { _probePropertiesSection.SetActive(true); UpdateZeroCoordinateOffsetInputFields( - _attachedProbe.ManipulatorBehaviorController.ZeroCoordinateOffset + _attachedProbe.ManipulatorBehaviorController.ReferenceCoordinateOffset ); UpdateBrainSurfaceOffsetInputField( _attachedProbe.ManipulatorBehaviorController.BrainSurfaceOffset diff --git a/Assets/Scripts/UI/AutomationStack.meta b/Assets/Scripts/UI/AutomationStack.meta new file mode 100644 index 00000000..246052d4 --- /dev/null +++ b/Assets/Scripts/UI/AutomationStack.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 4746c78f687d0a848a5c30aca67a9c44 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/UI/AutomationStack/AutomationStackHandler.cs b/Assets/Scripts/UI/AutomationStack/AutomationStackHandler.cs new file mode 100644 index 00000000..305ddf01 --- /dev/null +++ b/Assets/Scripts/UI/AutomationStack/AutomationStackHandler.cs @@ -0,0 +1,241 @@ +using System; +using Pinpoint.Probes; +using Pinpoint.Probes.ManipulatorBehaviorController; +using UI.States; +using UnityEngine; +using UnityEngine.UIElements; + +namespace UI.AutomationStack +{ + /// + /// Automation Stack UI origin class. + /// + /// + /// This script handles getting the components, running UI setup functions, and registering callbacks. + /// + public partial class AutomationStackHandler : MonoBehaviour + { + #region Components + + #region State + + [SerializeField] + private AutomationStackState _state; + + #endregion + + #region UI + + // Document. + [SerializeField] + private UIDocument _uiDocument; + private VisualElement _root => _uiDocument.rootVisualElement; + + // Panels. + private VisualElement _automationStackPanel; + + #region Reference Coordinate Calibration + + private Button _resetReferenceCoordinateButton; + + #endregion + + #region Target Insertion + + private RadioButtonGroup _targetInsertionRadioButtonGroup; + private Button _driveToTargetEntryCoordinateButton; + + #endregion + + #region Dura Calibration + + private Button _resetDuraCalibrationButton; + + #endregion + + #region Insertion + + private Button _driveToTargetInsertionButton; + private Button _stopButton; + private Button _exitButton; + + #endregion + + #endregion + + + #region Probes + + private static ManipulatorBehaviorController ActiveManipulatorBehaviorController => + ProbeManager.ActiveProbeManager.ManipulatorBehaviorController; + + private static ProbeAutomationStateManager ActiveProbeStateManager => + ActiveManipulatorBehaviorController.ProbeAutomationStateManager; + + #endregion + + #endregion + + + #region Unity + + private void OnEnable() + { + // Get components. + _automationStackPanel = _root.Q("automation-stack-panel"); + _resetReferenceCoordinateButton = _automationStackPanel.Q