chore: update csharpier version and convert automation to um (#771)

kjy5 · web-flow · commit af816b2e301e · 2025-04-09T17:19:58.000-07:00
diff --git 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
     }
   }
 }
diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController/ManipulatorBehaviorController.cs b/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;
 
diff --git 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<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),
                 }
             );
 
diff --git 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
@@ -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
@@ -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,
                 }
             );
         }
diff --git 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<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",
                 }
             );
         }

Original file line number	Diff line number	Diff line change
`@@ -3,10 +3,11 @@`
`3`	`3`	`"isRoot": true,`
`4`	`4`	`"tools": {`
`5`	`5`	`"csharpier": {`
`6`		`- "version": "0.28.1",`
	`6`	`+ "version": "0.30.6",`
`7`	`7`	`"commands": [`
`8`	`8`	`"dotnet-csharpier"`
`9`		`- ]`
	`9`	`+ ],`
	`10`	`+ "rollForward": false`
`10`	`11`	`}`
`11`	`12`	`}`
`12`	`13`	`}`
Original file line number	Diff line number	Diff line change
`@@ -81,7 +81,7 @@ when Mathf.Abs(Dimensions.z / 2f - positionalResponse.Position.w)`
`81`	`81`	`DateTime.Now.ToString(CultureInfo.InvariantCulture),`
`82`	`82`	`"ResetReferenceCoordinate",`
`83`	`83`	`ManipulatorID,`
`84`		`- ReferenceCoordinateOffset.ToString()`
	`84`	`+ (ReferenceCoordinateOffset * 1000).ToString(),`
`85`	`85`	`}`
`86`	`86`	`);`
`87`	`87`	`return true;`
Original file line number	Diff line number	Diff line change
`@@ -124,7 +124,7 @@ public async Awaitable<bool> DriveToTargetEntryCoordinate()`
`124`	`124`	`DateTime.Now.ToString(CultureInfo.InvariantCulture),`
`125`	`125`	`"DriveToTargetEntryCoordinate",`
`126`	`126`	`ManipulatorID,`
`127`		`- "Start"`
	`127`	`+ "Start",`
`128`	`128`	`}`
`129`	`129`	`);`
`130`	`130`
`@@ -283,15 +283,15 @@ private void CreateTrajectoryLines()`
`283`	`283`	`var defaultSpriteShader = Shader.Find("Sprites/Default");`
`284`	`284`	`_trajectoryLineLineRenderers.ap.material = new Material(defaultSpriteShader)`
`285`	`285`	`{`
`286`		`- color = AP_COLOR`
	`286`	`+ color = AP_COLOR,`
`287`	`287`	`};`
`288`	`288`	`_trajectoryLineLineRenderers.ml.material = new Material(defaultSpriteShader)`
`289`	`289`	`{`
`290`		`- color = ML_COLOR`
	`290`	`+ color = ML_COLOR,`
`291`	`291`	`};`
`292`	`292`	`_trajectoryLineLineRenderers.dv.material = new Material(defaultSpriteShader)`
`293`	`293`	`{`
`294`		`- color = DV_COLOR`
	`294`	`+ color = DV_COLOR,`
`295`	`295`	`};`
`296`	`296`
`297`	`297`	`// Set line widths.`
`@@ -376,7 +376,7 @@ private void LogDriveToTargetEntryCoordinateProgress(string progressMessage)`
`376`	`376`	`DateTime.Now.ToString(CultureInfo.InvariantCulture),`
`377`	`377`	`"DriveToTargetEntryCoordinate",`
`378`	`378`	`ManipulatorID,`
`379`		`- progressMessage`
	`379`	`+ progressMessage,`
`380`	`380`	`}`
`381`	`381`	`);`
`382`	`382`	`}`
Original file line number	Diff line number	Diff line change
`@@ -27,7 +27,7 @@ public async Awaitable<bool> MoveBackToReferenceCoordinate()`
`27`	`27`	`DateTime.Now.ToString(CultureInfo.InvariantCulture),`
`28`	`28`	`"MoveBackToReferenceCoordinate",`
`29`	`29`	`ManipulatorID,`
`30`		`- "Start"`
	`30`	`+ "Start",`
`31`	`31`	`}`
`32`	`32`	`);`
`33`	`33`
`@@ -51,7 +51,7 @@ public async Awaitable<bool> MoveBackToReferenceCoordinate()`
`51`	`51`	`DateTime.Now.ToString(CultureInfo.InvariantCulture),`
`52`	`52`	`"MoveBackToReferenceCoordinate",`
`53`	`53`	`ManipulatorID,`
`54`		`- "End"`
	`54`	`+ "End",`
`55`	`55`	`}`
`56`	`56`	`);`
`57`	`57`
`@@ -83,7 +83,7 @@ public async void StopReturnToReferenceCoordinate()`
`83`	`83`	`DateTime.Now.ToString(CultureInfo.InvariantCulture),`
`84`	`84`	`"MoveBackToReferenceCoordinate",`
`85`	`85`	`ManipulatorID,`
`86`		`- "Stop"`
	`86`	`+ "Stop",`
`87`	`87`	`}`
`88`	`88`	`);`
`89`	`89`	`}`