chore: update csharpier version and convert automation to um

.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
     }
   }
 }

Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController.cs

@@ -295,11 +295,12 @@ public async Awaitable<bool> 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;
 

Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_DuraCalibration.cs

@@ -39,7 +39,7 @@ public async Awaitable<bool> 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<bool> 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<bool> ResetDuraOffset()
                     DateTime.Now.ToString(CultureInfo.InvariantCulture),
                     "ResetDuraOffset",
                     ManipulatorID,
-                    BrainSurfaceOffset.ToString(CultureInfo.InvariantCulture)
+                    (BrainSurfaceOffset * 1000).ToString(CultureInfo.InvariantCulture),
                 }
             );
 

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.

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;

Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_Automation_TargetInsertion.cs

@@ -124,7 +124,7 @@ public async Awaitable<bool> 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,
                 }
             );
         }

Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController_ManualControlPanelHandler.cs

@@ -27,7 +27,7 @@ public async Awaitable<bool> MoveBackToReferenceCoordinate()
                     DateTime.Now.ToString(CultureInfo.InvariantCulture),
                     "MoveBackToReferenceCoordinate",
                     ManipulatorID,
-                    "Start"
+                    "Start",
                 }
             );
 
@@ -51,7 +51,7 @@ public async Awaitable<bool> 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",
                 }
             );
         }