feat: Enable stopping individual manipulators

Author: kjy5

Assets/Scripts/EphysLink/CommunicationManager.cs

@@ -25,7 +25,7 @@ public class CommunicationManager : MonoBehaviour
         public static readonly string EPHYS_LINK_MIN_VERSION_STRING =
             $"≥ v{string.Join(".", EPHYS_LINK_MIN_VERSION)}";
 
-        private const string UNKOWN_EVENT = "UNKNOWN_EVENT";
+        private const string UNKOWN_EVENT = "{\"error\": \"Unknown event.\"}";
 
         /// <summary>
         ///     The current state of the connection to Ephys Link.
@@ -284,7 +284,7 @@ public void VerifyVersion(Action onSuccess, Action onFailure)
                         .TakeWhile(numbers => numbers.Length > 0)
                         .Select(nonEmpty => int.Parse(new string(nonEmpty)))
                         .ToArray();
-                    print(versionNumbers[0]+"."+versionNumbers[1]+"."+versionNumbers[2]);
+                    print(versionNumbers[0] + "." + versionNumbers[1] + "." + versionNumbers[2]);
 
                     // Fail if major version mismatch (breaking changes).
                     if (versionNumbers[0] != EPHYS_LINK_MIN_VERSION[0])
@@ -569,13 +569,57 @@ public void SetInsideBrain(
                 .Emit("set_inside_brain", ToJson(request));
         }
 
+        /// <summary>
+        /// Request a manipulator stops moving.
+        /// </summary>
+        /// <param name="manipulatorId"></param>
+        /// <param name="onSuccessCallback"></param>
+        /// <param name="onErrorCallback"></param>
+        public void Stop(
+            string manipulatorId,
+            Action onSuccessCallback,
+            Action<string> onErrorCallback
+        )
+        {
+            _connectionManager
+                .Socket.ExpectAcknowledgement<string>(data =>
+                {
+                    if (DataKnownAndNotEmpty(data))
+                    {
+                        // Non-empty response means error.
+                        onErrorCallback?.Invoke(data);
+                    }
+                    else
+                    {
+                        // Empty response means success.
+                        onSuccessCallback?.Invoke();
+                    }
+                })
+                .Emit("stop", manipulatorId);
+        }
+
         /// <summary>
         ///     Request all movement to stop.
         /// </summary>
-        /// <param name="callback">Callback function to handle stop result</param>
-        public void Stop(Action<string> callback)
+        /// <param name="onSuccessCallback">Handle successful stop.</param>
+        /// <param name="onErrorCallback">Handle failed stops.</param>
+        public void StopAll(Action onSuccessCallback, Action<string> onErrorCallback)
         {
-            _connectionManager.Socket.ExpectAcknowledgement(callback).Emit("stop");
+            _connectionManager
+                .Socket.ExpectAcknowledgement<string>(data =>
+                {
+                    if (DataKnownAndNotEmpty(data))
+                    {
+                        // Non-empty response means error.
+                        onErrorCallback?.Invoke(data);
+                    }
+                    else
+                    {
+                        // Empty response means success.
+                        onSuccessCallback?.Invoke();
+                    }
+                })
+                .Emit("stop_all");
         }
 
         #endregion
@@ -599,4 +643,4 @@ private static string ToJson<T>(T data)
 
         #endregion
     }
-}
+}

Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs

@@ -334,8 +334,10 @@ private Vector4 _outsidePosition
 
         // Drive Speeds
         private float _driveBaseSpeed = DEPTH_DRIVE_BASE_SPEED;
+
         private float _per1000Speed =>
             _driveBaseSpeed <= DEPTH_DRIVE_BASE_SPEED ? PER_1000_SPEED : PER_1000_SPEED_TEST;
+
         private float _targetDriveSpeed => _driveBaseSpeed + _targetDriveDistance * _per1000Speed;
         private float _nearTargetDriveSpeed => _driveBaseSpeed * NEAR_TARGET_SPEED_MULTIPLIER;
         private float _exitDriveBaseSpeed => _driveBaseSpeed * EXIT_DRIVE_SPEED_MULTIPLIER;
@@ -735,44 +737,48 @@ void CompleteOutside()
             }
         }
 
+        /// <summary>
+        ///     Stop this drive.
+        /// </summary>
         public void Stop()
         {
-            CommunicationManager.Instance.Stop(stopError =>
-            {
-                if (!string.IsNullOrEmpty(stopError))
-                    return;
-
-                // Show drive group and hide stop button.
-                _statusText.text = "Stopped";
-                _driveGroup.SetActive(true);
-                _exitButton.SetActive(true);
-                _stopButton.SetActive(false);
-
-                // Disable drive button if at Dura and above, otherwise enable.
-                switch (_driveStateManager.State)
+            CommunicationManager.Instance.Stop(
+                _manipulatorId,
+                () =>
                 {
-                    case DriveState.AtDura:
-                    case DriveState.ExitingToMargin:
-                    case DriveState.AtExitMargin:
-                    case DriveState.ExitingToOutside:
-                    case DriveState.Outside:
-                        _driveButton.interactable = false;
-                        break;
-                    case DriveState.DrivingToNearTarget:
-                    case DriveState.AtNearTarget:
-                    case DriveState.DrivingToPastTarget:
-                    case DriveState.AtPastTarget:
-                    case DriveState.ReturningToTarget:
-                    case DriveState.ExitingToDura:
-                    case DriveState.ExitingToNearTarget:
-                    case DriveState.AtTarget:
-                        _driveButton.interactable = true;
-                        break;
-                    default:
-                        Debug.LogError("Unexpected stop state: " + _driveStateManager.State);
-                        break;
-                }
-            });
+                    // Show drive group and hide stop button.
+                    _statusText.text = "Stopped";
+                    _driveGroup.SetActive(true);
+                    _exitButton.SetActive(true);
+                    _stopButton.SetActive(false);
+
+                    // Disable drive button if at Dura and above, otherwise enable.
+                    switch (_driveStateManager.State)
+                    {
+                        case DriveState.AtDura:
+                        case DriveState.ExitingToMargin:
+                        case DriveState.AtExitMargin:
+                        case DriveState.ExitingToOutside:
+                        case DriveState.Outside:
+                            _driveButton.interactable = false;
+                            break;
+                        case DriveState.DrivingToNearTarget:
+                        case DriveState.AtNearTarget:
+                        case DriveState.DrivingToPastTarget:
+                        case DriveState.AtPastTarget:
+                        case DriveState.ReturningToTarget:
+                        case DriveState.ExitingToDura:
+                        case DriveState.ExitingToNearTarget:
+                        case DriveState.AtTarget:
+                            _driveButton.interactable = true;
+                            break;
+                        default:
+                            Debug.LogError("Unexpected stop state: " + _driveStateManager.State);
+                            break;
+                    }
+                },
+                Debug.LogError
+            );
         }
 
         #endregion

Assets/Scripts/Pinpoint/UI/EphysCopilot/InsertionSelectionPanelHandler.cs

@@ -109,6 +109,7 @@ public static readonly Dictionary<
             string,
             ProbeManager
         > ManipulatorIDToSelectedTargetProbeManager = new();
+
         private static readonly UnityEvent _shouldUpdateTargetInsertionOptionsEvent = new();
 
         #endregion
@@ -215,14 +216,15 @@ public void MoveOrStopProbeToInsertionTarget()
             if (_isMoving)
             // Movement in progress -> should stop movement
             {
-                CommunicationManager.Instance.Stop(stopError =>
-                {
-                    if (!string.IsNullOrEmpty(stopError))
-                        return;
-
-                    _isMoving = false;
-                    _moveButtonText.text = MOVE_TO_TARGET_INSERTION_STR;
-                });
+                CommunicationManager.Instance.Stop(
+                    ProbeManager.ManipulatorBehaviorController.ManipulatorID,
+                    () =>
+                    {
+                        _isMoving = false;
+                        _moveButtonText.text = MOVE_TO_TARGET_INSERTION_STR;
+                    },
+                    Debug.LogError
+                );
             }
             else
             {