From e0fe4247744b845779df2b7e4ab0d6052cd36fbb Mon Sep 17 00:00:00 2001 From: Kenneth Yang Date: Wed, 9 Apr 2025 17:18:45 -0700 Subject: [PATCH] chore: update csharpier version and convert automation to um --- .config/dotnet-tools.json | 5 +- .../ManipulatorBehaviorController.cs | 7 ++- ...orController_Automation_DuraCalibration.cs | 6 +- ...BehaviorController_Automation_Insertion.cs | 58 +++++++++---------- ...ntroller_Automation_ReferenceCoordinate.cs | 2 +- ...orController_Automation_TargetInsertion.cs | 10 ++-- ...iorController_ManualControlPanelHandler.cs | 6 +- 7 files changed, 48 insertions(+), 46 deletions(-) diff --git a/.config/dotnet-tools.json b/.config/dotnet-tools.json index 00b1a064..393d1879 100644 --- a/.config/dotnet-tools.json +++ b/.config/dotnet-tools.json @@ -3,10 +3,11 @@ "isRoot": true, "tools": { "csharpier": { - "version": "0.28.1", + "version": "0.30.6", "commands": [ "dotnet-csharpier" - ] + ], + "rollForward": false } } } \ No newline at end of file diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController.cs index f21af998..c457e3a6 100644 --- a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController.cs +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController.cs @@ -295,11 +295,12 @@ public async Awaitable MoveByWorldSpaceDelta(Vector4 worldSpaceDelta) ); if (CommunicationManager.HasError(setPositionResponse.Error)) return false; - + // 3-axis manipulators need to set depth separately if requested. - if (NumAxes != 3) return true; - + if (NumAxes != 3) + return true; + // Process depth movement after regular movement. var targetDepth = setPositionResponse.Position.w + manipulatorSpaceDepthDelta; diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_DuraCalibration.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_DuraCalibration.cs index e59d481d..0a648ae9 100644 --- a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_DuraCalibration.cs +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_DuraCalibration.cs @@ -39,7 +39,7 @@ public async Awaitable ResetDuraOffset() var positionResponse = await CommunicationManager.Instance.GetPosition(ManipulatorID); if (CommunicationManager.HasError(positionResponse.Error)) return false; - + // Save the Dura's position. _duraDepth = positionResponse.Position.w; @@ -79,7 +79,7 @@ public async Awaitable ResetDuraOffset() // Save the probe's coordinates at the Dura. _duraCoordinate = _probeController.Insertion.APMLDV; - + // Log the event. OutputLog.Log( new[] @@ -88,7 +88,7 @@ public async Awaitable ResetDuraOffset() DateTime.Now.ToString(CultureInfo.InvariantCulture), "ResetDuraOffset", ManipulatorID, - BrainSurfaceOffset.ToString(CultureInfo.InvariantCulture) + (BrainSurfaceOffset * 1000).ToString(CultureInfo.InvariantCulture), } ); diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_Insertion.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_Insertion.cs index 09c896a8..2a258730 100644 --- a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_Insertion.cs +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_Insertion.cs @@ -202,7 +202,7 @@ public async void StopInsertion() DateTime.Now.ToString(CultureInfo.InvariantCulture), "Drive", ManipulatorID, - "Stop" + "Stop", } ); } @@ -358,9 +358,9 @@ private void LogDriveToTargetInsertion( "DriveToTargetInsertion", ManipulatorID, ProbeAutomationStateManager.ProbeAutomationState.ToString(), - targetDepth.ToString(CultureInfo.InvariantCulture), - baseSpeed.ToString(CultureInfo.InvariantCulture), - drivePastDistance.ToString(CultureInfo.InvariantCulture) + (targetDepth * 1000).ToString(CultureInfo.InvariantCulture), + (baseSpeed * 1000).ToString(CultureInfo.InvariantCulture), + (drivePastDistance * 1000).ToString(CultureInfo.InvariantCulture), } ); } @@ -453,32 +453,32 @@ float drivePastDistance // 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) + 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.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 + 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. diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_ReferenceCoordinate.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_ReferenceCoordinate.cs index dd41123d..898ae18e 100644 --- a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_ReferenceCoordinate.cs +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_ReferenceCoordinate.cs @@ -81,7 +81,7 @@ when Mathf.Abs(Dimensions.z / 2f - positionalResponse.Position.w) DateTime.Now.ToString(CultureInfo.InvariantCulture), "ResetReferenceCoordinate", ManipulatorID, - ReferenceCoordinateOffset.ToString() + (ReferenceCoordinateOffset * 1000).ToString(), } ); return true; diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_TargetInsertion.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_TargetInsertion.cs index 0279209d..96ebf9c1 100644 --- a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_TargetInsertion.cs +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_TargetInsertion.cs @@ -124,7 +124,7 @@ public async Awaitable DriveToTargetEntryCoordinate() DateTime.Now.ToString(CultureInfo.InvariantCulture), "DriveToTargetEntryCoordinate", ManipulatorID, - "Start" + "Start", } ); @@ -283,15 +283,15 @@ private void CreateTrajectoryLines() var defaultSpriteShader = Shader.Find("Sprites/Default"); _trajectoryLineLineRenderers.ap.material = new Material(defaultSpriteShader) { - color = AP_COLOR + color = AP_COLOR, }; _trajectoryLineLineRenderers.ml.material = new Material(defaultSpriteShader) { - color = ML_COLOR + color = ML_COLOR, }; _trajectoryLineLineRenderers.dv.material = new Material(defaultSpriteShader) { - color = DV_COLOR + color = DV_COLOR, }; // Set line widths. @@ -376,7 +376,7 @@ private void LogDriveToTargetEntryCoordinateProgress(string progressMessage) DateTime.Now.ToString(CultureInfo.InvariantCulture), "DriveToTargetEntryCoordinate", ManipulatorID, - progressMessage + progressMessage, } ); } diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_ManualControlPanelHandler.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_ManualControlPanelHandler.cs index 8b10c2b8..a5bc9e4c 100644 --- a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_ManualControlPanelHandler.cs +++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_ManualControlPanelHandler.cs @@ -27,7 +27,7 @@ public async Awaitable MoveBackToReferenceCoordinate() DateTime.Now.ToString(CultureInfo.InvariantCulture), "MoveBackToReferenceCoordinate", ManipulatorID, - "Start" + "Start", } ); @@ -51,7 +51,7 @@ public async Awaitable MoveBackToReferenceCoordinate() DateTime.Now.ToString(CultureInfo.InvariantCulture), "MoveBackToReferenceCoordinate", ManipulatorID, - "End" + "End", } ); @@ -83,7 +83,7 @@ public async void StopReturnToReferenceCoordinate() DateTime.Now.ToString(CultureInfo.InvariantCulture), "MoveBackToReferenceCoordinate", ManipulatorID, - "Stop" + "Stop", } ); }