From 831e83e5890a1fab508e2d2eb0c885c9aa5361c3 Mon Sep 17 00:00:00 2001
From: Kenneth Yang <kjy5@uw.edu>
Date: Sun, 22 Sep 2024 15:49:49 -0700
Subject: [PATCH] Prevent changing insertion while driving

---
 .../Scripts/UI/States/AutomationStackState.cs | 25 ++++++++++++++-----
 Assets/UI/Components/AutomationStack.uxml     |  9 ++++---
 2 files changed, 24 insertions(+), 10 deletions(-)

diff --git a/Assets/Scripts/UI/States/AutomationStackState.cs b/Assets/Scripts/UI/States/AutomationStackState.cs
index fba25dd2..040fa325 100644
--- a/Assets/Scripts/UI/States/AutomationStackState.cs
+++ b/Assets/Scripts/UI/States/AutomationStackState.cs
@@ -39,12 +39,12 @@ public class AutomationStackState : ResettingScriptableObject
         private static bool IsPitchValid =>
             ProbeManager.ActiveProbeManager
             && ProbeManager.ActiveProbeManager.ProbeController.Insertion.Pitch > 30;
-        
+
         /// <summary>
         ///     Visibility of the pitch warning.
         /// </summary>
         /// <returns>Flex when the pitch is invalid, none otherwise.</returns>
-        /// <see cref="IsPitchValid"/>
+        /// <see cref="IsPitchValid" />
         [CreateProperty]
         public DisplayStyle PitchWarningDisplayStyle =>
             !IsPitchValid ? DisplayStyle.Flex : DisplayStyle.None;
@@ -93,7 +93,7 @@ public float ReferenceCoordinateCalibrationX
         /// </summary>
         /// <exception cref="InvalidOperationException">Automation is not enabled for the active probe manager.</exception>
         [CreateProperty]
-        public float BregmaCalibrationY
+        public float ReferenceCoordinateCalibrationY
         {
             get => IsEnabled ? ActiveManipulatorBehaviorController.ReferenceCoordinateOffset.y : 0;
             set
@@ -117,7 +117,7 @@ public float BregmaCalibrationY
         /// </summary>
         /// <exception cref="InvalidOperationException">Automation is not enabled for the active probe manager.</exception>
         [CreateProperty]
-        public float BregmaCalibrationZ
+        public float ReferenceCoordinateCalibrationZ
         {
             get => IsEnabled ? ActiveManipulatorBehaviorController.ReferenceCoordinateOffset.z : 0;
             set
@@ -141,7 +141,7 @@ public float BregmaCalibrationZ
         /// </summary>
         /// <exception cref="InvalidOperationException">Automation is not enabled for the active probe manager.</exception>
         [CreateProperty]
-        public float BregmaCalibrationDepth
+        public float ReferenceCoordinateCalibrationDepth
         {
             get => IsEnabled ? ActiveManipulatorBehaviorController.ReferenceCoordinateOffset.w : 0;
             set
@@ -173,6 +173,18 @@ private readonly Dictionary<
             ProbeManager
         > _manipulatorProbeManagerToSelectedTargetInsertionProbeManager = new();
 
+        /// <summary>
+        ///     Is the target insertion radio button group enabled.
+        /// </summary>
+        /// <returns>
+        ///     True if the probe is enabled and has not started driving into the brain yet, false otherwise.
+        /// </returns>
+        [CreateProperty]
+        public bool IsTargetInsertionRadioButtonGroupEnabled =>
+            IsEnabled
+            && ActiveProbeAutomationStateManager.ProbeAutomationState
+                < ProbeAutomationState.DrivingToNearTarget;
+
         /// <summary>
         ///     Selected target insertion option index.
         ///     Property accessor for the selected target insertion index.
@@ -378,7 +390,8 @@ private static string SurfaceCoordinateToString(
         ///     Is the drive to selected target entry coordinate button enabled.<br />
         /// </summary>
         /// <returns>
-        ///     Returns true if the active probe manager is Ephys Link controlled, calibrated to reference coordinate, and has a selected target.
+        ///     Returns true if the active probe manager is Ephys Link controlled, calibrated to reference coordinate, and has a
+        ///     selected target.
         /// </returns>
         [CreateProperty]
         public bool IsDriveToTargetEntryCoordinateButtonEnabled =>
diff --git a/Assets/UI/Components/AutomationStack.uxml b/Assets/UI/Components/AutomationStack.uxml
index 57692a59..3e41b0ab 100644
--- a/Assets/UI/Components/AutomationStack.uxml
+++ b/Assets/UI/Components/AutomationStack.uxml
@@ -13,7 +13,7 @@
                     <engine:Label text="X" style="-unity-text-align: upper-center;" />
                     <engine:FloatField>
                         <Bindings>
-                            <engine:DataBinding property="value" data-source-path="BregmaCalibrationX" binding-mode="ToTarget" />
+                            <engine:DataBinding property="value" data-source-path="ReferenceCoordinateCalibrationX" binding-mode="ToTarget" />
                         </Bindings>
                     </engine:FloatField>
                 </engine:VisualElement>
@@ -21,7 +21,7 @@
                     <engine:Label text="Y" style="-unity-text-align: upper-center;" />
                     <engine:FloatField>
                         <Bindings>
-                            <engine:DataBinding property="value" data-source-path="BregmaCalibrationY" binding-mode="TwoWay" />
+                            <engine:DataBinding property="value" data-source-path="ReferenceCoordinateCalibrationY" binding-mode="TwoWay" />
                         </Bindings>
                     </engine:FloatField>
                 </engine:VisualElement>
@@ -29,7 +29,7 @@
                     <engine:Label text="Z" style="-unity-text-align: upper-center;" />
                     <engine:FloatField>
                         <Bindings>
-                            <engine:DataBinding property="value" data-source-path="BregmaCalibrationZ" binding-mode="TwoWay" />
+                            <engine:DataBinding property="value" data-source-path="ReferenceCoordinateCalibrationZ" binding-mode="TwoWay" />
                         </Bindings>
                     </engine:FloatField>
                 </engine:VisualElement>
@@ -37,7 +37,7 @@
                     <engine:Label text="Depth" style="-unity-text-align: upper-center;" />
                     <engine:FloatField>
                         <Bindings>
-                            <engine:DataBinding property="value" data-source-path="BregmaCalibrationDepth" binding-mode="TwoWay" />
+                            <engine:DataBinding property="value" data-source-path="ReferenceCoordinateCalibrationDepth" binding-mode="TwoWay" />
                         </Bindings>
                     </engine:FloatField>
                 </engine:VisualElement>
@@ -50,6 +50,7 @@
                 <Bindings>
                     <engine:DataBinding property="choices" data-source-path="TargetInsertionOptions" binding-mode="ToTarget" />
                     <engine:DataBinding property="value" data-source-path="SelectedTargetInsertionIndex" binding-mode="TwoWay" />
+                    <engine:DataBinding property="enabledSelf" data-source-path="IsTargetInsertionRadioButtonGroupEnabled" binding-mode="ToTarget" />
                 </Bindings>
             </engine:RadioButtonGroup>
             <engine:Button text="Drive to Target Entry Coordinate" parse-escape-sequences="true" display-tooltip-when-elided="true" name="drive-to-target-entry-coordinate-button">