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_RecordingRegionCenterPosition: {r: 328, g: 85.79999, b: 100.18744, a: 0} + - _RightDirection: {r: -0.00000023841858, g: 0, b: -1, a: 0} - _Scale: {r: 200, g: 200, b: 4.5, a: 0} - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1} - _TipPosition: {r: 0, g: 0, b: 0, a: 0} diff --git a/Assets/Scripts/Models/Scene/ManipulatorState.cs b/Assets/Scripts/Models/Scene/ManipulatorState.cs index 49aef4f1..f4a076e7 100644 --- a/Assets/Scripts/Models/Scene/ManipulatorState.cs +++ b/Assets/Scripts/Models/Scene/ManipulatorState.cs @@ -77,6 +77,11 @@ public record ManipulatorState public Vector4 DemoTargetCoordinate; + /// + /// Indicates if the demo mode is currently running. + /// + /// Not saved. Will always start as off. + [NonSerialized] public bool IsDemoRunning; #endregion diff --git a/Assets/Scripts/Pinpoint/Probes/Controllers/CartesianProbeController.cs b/Assets/Scripts/Pinpoint/Probes/Controllers/CartesianProbeController.cs index defdac97..dcd7e8dd 100644 --- a/Assets/Scripts/Pinpoint/Probes/Controllers/CartesianProbeController.cs +++ b/Assets/Scripts/Pinpoint/Probes/Controllers/CartesianProbeController.cs @@ -310,6 +310,9 @@ private void Start() private void Update() { + // Update visualization probe position if this is a visualization probe. + UpdateVisualizationProbePosition(); + // If the user is holding one or more click keys and we are past the hold delay, increment the position if (clickKeyHeld > 0 && (Time.realtimeSinceStartup - clickKeyPressTime) > keyHoldDelay) // Set speed to Tap instead of Hold for manipulator keyboard control @@ -351,8 +354,8 @@ private void OnDestroy() private void OnProbeStateChanged(ProbeState state) { - // Skip if no state. - if (state == null) + // Skip if is visualization probe (updates from local state) no state. + if (IsVisualizationProbe || state == null) { return; } @@ -918,6 +921,37 @@ public void DragMovementRelease() #region Set Probe pos/angles + /// + /// Apply visualization probe updates if available. + /// + private void UpdateVisualizationProbePosition() + { + if (!IsVisualizationProbe) + return; + + // Update position. + transform.position = + BrainAtlasManager.ActiveReferenceAtlas.Atlas2World( + BrainAtlasManager.ActiveAtlasTransform.T2U_Vector(VisualizationLocalAPMLDV) + ); + + + // Update orientation. + transform.rotation = _initialRotation; + transform.RotateAround(_probeTipT.position, transform.up, VisualizationLocalAngles.x); + transform.RotateAround(_probeTipT.position, transform.right, VisualizationLocalAngles.y); + transform.RotateAround(_probeTipT.position, transform.forward, -VisualizationLocalAngles.z); + + // Update tip coords. + SetTipWorldU(); + + // Update recording region info. + ProbeManager.ProbeMoved(); + + // Update surface coordinates. + ProbeManager.UpdateSurfacePosition(); + } + /// /// Set the probe position to the current apml/depth/angles values /// diff --git a/Assets/Scripts/Pinpoint/Probes/ProbeController.cs b/Assets/Scripts/Pinpoint/Probes/ProbeController.cs index 3c9c1689..bf6745dc 100644 --- a/Assets/Scripts/Pinpoint/Probes/ProbeController.cs +++ b/Assets/Scripts/Pinpoint/Probes/ProbeController.cs @@ -28,6 +28,37 @@ public void Register(ProbeManager probeManager) public bool ManipulatorManualControl; public bool ManipulatorKeyboardMoveInProgress; + #region Visualization Probe Local Position + + /// + /// Local field for visualization probe position updates from EphysLink. + /// Used to avoid excessive Redux state updates during rapid polling. + /// + public Vector3 VisualizationLocalAPMLDV { get; set; } + + /// + /// Local field for visualization probe depth. + /// + public float VisualizationLocalDepth { get; set; } + + /// + /// Local field for visualization probe angles. + /// + public Vector3 VisualizationLocalAngles { get; set; } + + /// + /// Local field for visualization probe forward vector. + /// + public Vector3 VisualizationLocalForwardT { get; set; } + + /// + /// Indicates whether this probe is configured as a visualization probe + /// that receives live position/angle updates from EphysLink. + /// + public bool IsVisualizationProbe { get; set; } + + #endregion + public abstract Transform ProbeTipT { get; } public abstract (Vector3 tipCoordWorldU, Vector3 tipRightWorldU, Vector3 tipUpWorldU, Vector3 tipForwardWorldU) GetTipWorldU(); @@ -69,4 +100,5 @@ public void SetSpaceTransform(CoordinateSpace atlas, CoordinateTransform transfo } + } diff --git a/Assets/Scripts/Pinpoint/Probes/ProbeManager.cs b/Assets/Scripts/Pinpoint/Probes/ProbeManager.cs index 6260dfaf..61888ab8 100644 --- a/Assets/Scripts/Pinpoint/Probes/ProbeManager.cs +++ b/Assets/Scripts/Pinpoint/Probes/ProbeManager.cs @@ -401,7 +401,11 @@ public void SetActive(bool active) #endif ColliderManager.AddProbeColliderInstances(_probeColliders, active); - GetComponent().enabled = active; + + // Keep controller enabled for visualization probes even when inactive + // so they can continue receiving position updates from EphysLink + bool isVisualizationProbe = _probeController.IsVisualizationProbe; + GetComponent().enabled = active || isVisualizationProbe; UIUpdateEvent.Invoke(); _probeController.MovedThisFrameEvent.Invoke(); diff --git a/Assets/Scripts/Services/EphysLinkService.cs b/Assets/Scripts/Services/EphysLinkService.cs index 8582caa6..9967080d 100644 --- a/Assets/Scripts/Services/EphysLinkService.cs +++ b/Assets/Scripts/Services/EphysLinkService.cs @@ -3,6 +3,7 @@ using System.Globalization; using System.IO; using System.Linq; +using System.Threading; using System.Threading.Tasks; using BestHTTP.SocketIO3; using BrainAtlas; @@ -19,7 +20,6 @@ using Utils; using Utils.Types; using Action = System.Action; -using System.Threading; namespace Services { @@ -33,8 +33,7 @@ public class EphysLinkService private readonly Vector2 _pitchRange = new(0, 90); // Visualization loop interval (ms) - private const int VISUALIZATION_UPDATE_INTERVAL_MS = 10; // about 60 Hz - + private const int VISUALIZATION_UPDATE_INTERVAL_MS = 16; // about 60 Hz #endregion #region Services @@ -52,15 +51,16 @@ public class EphysLinkService public string SocketId => _socket.Id; - // Cancellation for the visualization update loop - private CancellationTokenSource _visualizationLoopCts; - #endregion #region Demo Loop private readonly HashSet _runningDemoLoops = new(); private const float DEMO_SPEED = 0.5f; // mm/s + + // Cancellation for the visualization update loop + private CancellationTokenSource _visualizationLoopCts; + #endregion public EphysLinkService(StoreService storeService) @@ -169,7 +169,9 @@ async Task OnConnectedAsync() } catch (Exception ex) { - HandleError($"{GetErrorConnectingToServerMessage()} Caused exception: {ex.Message}"); + HandleError( + $"{GetErrorConnectingToServerMessage()} Caused exception: {ex.Message}" + ); } } @@ -189,7 +191,10 @@ async Task OnConnectedAsync() // On successful connection, delegate to async task handler. _socket.Once( "connect", - () => { _ = OnConnectedAsync(); } + () => + { + _ = OnConnectedAsync(); + } ); // On error. @@ -561,6 +566,10 @@ private static string ToJson(T data) return JsonUtility.ToJson(data); } + #endregion + + #region Visualization control + // Starts the continuous visualization update loop until the socket disconnects or service disconnects. private void StartVisualizationLoop() { @@ -573,9 +582,15 @@ private void StartVisualizationLoop() // Cancels and disposes the visualization update loop. private void StopVisualizationLoop() { - if (_visualizationLoopCts == null) return; - try { _visualizationLoopCts.Cancel(); } - catch (ObjectDisposedException) { /* ignore disposed */ } + if (_visualizationLoopCts == null) + return; + try + { + _visualizationLoopCts.Cancel(); + } + catch (ObjectDisposedException) + { /* ignore disposed */ + } catch (Exception ex) { Debug.Log($"Ignored exception during visualization loop cancellation: {ex}"); @@ -591,7 +606,9 @@ private async Task VisualizationUpdateLoop(CancellationToken token) { try { - var sceneState = _storeService.Store.GetState(SliceNames.SCENE_SLICE); + var sceneState = _storeService.Store.GetState( + SliceNames.SCENE_SLICE + ); await UpdateVisualizationProbePosition(sceneState); } catch (OperationCanceledException) @@ -615,21 +632,8 @@ private async Task VisualizationUpdateLoop(CancellationToken token) } } - #endregion - - #region Visualization control - private async Task UpdateVisualizationProbePosition(SceneState sceneState) { - List<( - string Name, - Vector3 SurfaceAPMLDV, - float Depth, - Vector3 ForwardT, - Vector3 Angles, - Vector2 PitchRange - )> requests = new(); - foreach ( var manipulatorState in sceneState.Manipulators.Where(state => !string.IsNullOrEmpty(state.VisualizationProbeName) @@ -646,12 +650,12 @@ var manipulatorState in sceneState.Manipulators.Where(state => ) == null || visualizationProbeManager == null ) - return; + continue; // Get the current position of the manipulator. var positionResponse = await GetPosition(manipulatorState.Id); if (HasError(positionResponse.Error)) - return; + continue; // Apply reference coordinate offset. var referenceCoordinateAdjustedManipulatorPosition = @@ -699,13 +703,16 @@ var manipulatorState in sceneState.Manipulators.Where(state => var transformedAPMLDV = BrainAtlasManager.World2T_Vector( referenceCoordinateAdjustedWorldPosition ); - + // Cancel update if the manipulator's position did not change by a lot. - var probeState = sceneState.Probes.FirstOrDefault(state => state.Name == manipulatorState.VisualizationProbeName); - if (probeState == null || Vector3.SqrMagnitude(transformedAPMLDV - probeState.APMLDV) < 0.0001f) - { + var probeState = sceneState.Probes.FirstOrDefault(state => + state.Name == manipulatorState.VisualizationProbeName + ); + if ( + probeState == null + || Vector3.SqrMagnitude(transformedAPMLDV - probeState.APMLDV) < 0.0001f + ) continue; - } // Get the current forward vector of the probe. var forwardT = BrainAtlasManager.ActiveAtlasTransform.U2T_Vector( @@ -714,46 +721,29 @@ var manipulatorState in sceneState.Manipulators.Where(state => ) ); - switch (sceneState.NumberOfAxesOnManipulator) + // Get the ProbeController for this visualization probe + var probeController = visualizationProbeManager.ProbeController; + if (probeController == null) + continue; + + var depth = sceneState.NumberOfAxesOnManipulator switch { - // Set the probe position in the store. - case 3: - requests.Add( - ( - manipulatorState.VisualizationProbeName, - transformedAPMLDV, - duraOffsetAdjustment, - forwardT, - manipulatorState.Angles, - _pitchRange - ) - ); - break; - case 4: - requests.Add( - ( - manipulatorState.VisualizationProbeName, - transformedAPMLDV, - referenceCoordinateAdjustedManipulatorPosition.w, - forwardT, - manipulatorState.Angles, - _pitchRange - ) - ); - break; - default: - throw new ValueOutOfRangeException( - "Number of axes on manipulator is invalid." - ); - } - } + 3 => duraOffsetAdjustment, + 4 => referenceCoordinateAdjustedManipulatorPosition.w, + _ => throw new ValueOutOfRangeException( + "Number of axes on manipulator is invalid." + ), + }; - // Dispatch all position updates in one go (if any). - if (requests.Any()) - _storeService.Store.Dispatch( - SceneActions.BULK_SET_PROBE_POSITION_AND_ANGLES_BY, - requests - ); + // Write position data directly to ProbeController's local fields + probeController.VisualizationLocalAPMLDV = transformedAPMLDV; + probeController.VisualizationLocalDepth = depth; + probeController.VisualizationLocalAngles = manipulatorState.Angles; + probeController.VisualizationLocalForwardT = forwardT; + + // Mark probe as visualization probe to apply new data in Update(). + probeController.IsVisualizationProbe = true; + } } public async Task SetManipulatorReferenceCoordinateToCurrentPosition(string manipulatorId) diff --git a/Assets/Scripts/UI/ViewModels/ProbeInspectorViewModel.cs b/Assets/Scripts/UI/ViewModels/ProbeInspectorViewModel.cs index 10c478be..1532b48f 100644 --- a/Assets/Scripts/UI/ViewModels/ProbeInspectorViewModel.cs +++ b/Assets/Scripts/UI/ViewModels/ProbeInspectorViewModel.cs @@ -1,7 +1,11 @@ +using System; using System.Linq; +using System.Threading; +using System.Threading.Tasks; using Models; using Models.Scene; using Models.Settings; +using Pinpoint.Probes; using Services; using Unity.AppUI.MVVM; using Unity.AppUI.Redux; @@ -26,7 +30,16 @@ public partial class ProbeInspectorViewModel private readonly IDisposableSubscription _settingsStateSubscription; private string ActiveProbeName => - _storeService.Store.GetState(SliceNames.SCENE_SLICE).ActiveProbeName; + _storeService.Store.GetState(SliceNames.SCENE_SLICE).ActiveProbeName; + + #endregion + + #region Visualization Polling + + private CancellationTokenSource _visualizationPollingCts; + private const int VISUALIZATION_POLLING_INTERVAL_MS = 16; // ~60 Hz + private bool _isCurrentProbeVisualization; + private ProbeController _currentProbeController; #endregion @@ -48,6 +61,7 @@ public partial class ProbeInspectorViewModel private string _visualizingManipulatorId; [ObservableProperty] + // ReSharper disable once InconsistentNaming private bool _convertAPML2Probe; #endregion @@ -57,50 +71,82 @@ public ProbeInspectorViewModel(StoreService storeService) _storeService = storeService; _sceneStateSubscription = _storeService.Store.Subscribe( - state => state.Get(SliceNames.SCENE_SLICE), - OnSceneStateChanged, - new SubscribeOptions { fireImmediately = true } - ); + state => state.Get(SliceNames.SCENE_SLICE), + OnSceneStateChanged, + new SubscribeOptions { fireImmediately = true } + ); _settingsStateSubscription = _storeService.Store.Subscribe( - state => state.Get(SliceNames.SETTINGS_SLICE), - OnSettingsStateChanged, - new SubscribeOptions { fireImmediately = true } - ); + state => state.Get(SliceNames.SETTINGS_SLICE), + OnSettingsStateChanged, + new SubscribeOptions { fireImmediately = true } + ); App.shuttingDown += OnShuttingDown; } private void OnSceneStateChanged(SceneState sceneState) { if (string.IsNullOrEmpty(sceneState.ActiveProbeName)) + { + StopVisualizationPolling(); return; + } - Vector3 apmldv = sceneState.ActiveProbeState.APMLDV; - Vector3 angles = sceneState.ActiveProbeState.Angles; + // Check if this probe is a visualization probe + var isVisualizationProbe = sceneState.Manipulators.Exists(manipulator => + manipulator.VisualizationProbeName == sceneState.ActiveProbeName + ); - if (_convertAPML2Probe) + // Get ProbeController reference + ProbeController probeController = null; + if (isVisualizationProbe) { - float cos = Mathf.Cos(-angles.x * Mathf.Deg2Rad); - float sin = Mathf.Sin(-angles.x * Mathf.Deg2Rad); + var probeManager = ProbeManager.Instances.FirstOrDefault(m => + m.name == sceneState.ActiveProbeName + ); + probeController = probeManager?.ProbeController; + + // If we can't find the controller, fall back to state-based updates + if (probeController == null) + { + isVisualizationProbe = false; + } + } - float xRot = apmldv.x * cos - apmldv.y * sin; - float yRot = apmldv.x * sin + apmldv.y * cos; + // Handle state transitions + _isCurrentProbeVisualization = isVisualizationProbe; + _currentProbeController = probeController; - Position = new Vector3(xRot, yRot, apmldv.z); + if (isVisualizationProbe && probeController != null) + { + // Start polling if not already running + if (_visualizationPollingCts == null) + { + StartVisualizationPolling(); + } + // Initial update from local fields + UpdateFromProbeControllerFields(probeController); } else { - Position = apmldv; + // Stop polling if currently running + if (_visualizationPollingCts != null) + { + StopVisualizationPolling(); + } + // Update from state (normal behavior) + UpdateFromSceneState(sceneState); } - Angles = angles; + // Update properties that don't change based on source Locked = sceneState.ActiveProbeState.Locked; ProbeColor = sceneState.ActiveProbeState.Color; VisualizingManipulatorId = - sceneState - .Manipulators.FirstOrDefault(state => - state.VisualizationProbeName == sceneState.ActiveProbeName - ) - ?.Id ?? string.Empty; + sceneState + .Manipulators.FirstOrDefault(state => + state.VisualizationProbeName == sceneState.ActiveProbeName + ) + ?.Id + ?? string.Empty; } private void OnSettingsStateChanged(SettingsState settingsState) @@ -108,8 +154,116 @@ private void OnSettingsStateChanged(SettingsState settingsState) ConvertAPML2Probe = settingsState.ConvertAPML2Probe; } + private void UpdateFromProbeControllerFields(ProbeController controller) + { + var apmldv = controller.VisualizationLocalAPMLDV; + var angles = controller.VisualizationLocalAngles; + + if (_convertAPML2Probe) + { + var cos = Mathf.Cos(-angles.x * Mathf.Deg2Rad); + var sin = Mathf.Sin(-angles.x * Mathf.Deg2Rad); + + var xRot = apmldv.x * cos - apmldv.y * sin; + var yRot = apmldv.x * sin + apmldv.y * cos; + + Position = new Vector3(xRot, yRot, apmldv.z); + } + else + { + Position = apmldv; + } + + Angles = angles; + } + + private void UpdateFromSceneState(SceneState sceneState) + { + var apmldv = sceneState.ActiveProbeState.APMLDV; + var angles = sceneState.ActiveProbeState.Angles; + + if (_convertAPML2Probe) + { + var cos = Mathf.Cos(-angles.x * Mathf.Deg2Rad); + var sin = Mathf.Sin(-angles.x * Mathf.Deg2Rad); + + var xRot = apmldv.x * cos - apmldv.y * sin; + var yRot = apmldv.x * sin + apmldv.y * cos; + + Position = new Vector3(xRot, yRot, apmldv.z); + } + else + { + Position = apmldv; + } + + Angles = angles; + } + + private void StartVisualizationPolling() + { + StopVisualizationPolling(); // Ensure only one loop runs + _visualizationPollingCts = new CancellationTokenSource(); + var token = _visualizationPollingCts.Token; + _ = VisualizationPollingLoop(token); + } + + private void StopVisualizationPolling() + { + if (_visualizationPollingCts == null) + return; + + try + { + _visualizationPollingCts.Cancel(); + } + catch (ObjectDisposedException) + { + // Ignore - already disposed + } + catch (System.Exception ex) + { + Debug.LogWarning($"Exception during visualization polling cancellation: {ex}"); + } + + _visualizationPollingCts?.Dispose(); + _visualizationPollingCts = null; + } + + private async Task VisualizationPollingLoop(CancellationToken token) + { + while (!token.IsCancellationRequested) + { + try + { + if (_currentProbeController != null && _isCurrentProbeVisualization) + { + UpdateFromProbeControllerFields(_currentProbeController); + } + } + catch (OperationCanceledException) + { + break; + } + catch (Exception ex) + { + Debug.LogWarning($"Visualization polling error: {ex.Message}"); + } + + try + { + await Task.Delay(VISUALIZATION_POLLING_INTERVAL_MS, token); + } + catch (OperationCanceledException) + { + break; + } + } + } + private void OnShuttingDown() { + StopVisualizationPolling(); _sceneStateSubscription.Dispose(); _settingsStateSubscription.Dispose(); App.shuttingDown -= OnShuttingDown; @@ -120,26 +274,26 @@ private void OnShuttingDown() [ICommand] private void SetPosition(Vector3 position) { - Vector3 apmldv = position; + var apmldv = position; if (_convertAPML2Probe) { var sceneState = _storeService.Store.GetState(SliceNames.SCENE_SLICE); - Vector3 angles = sceneState.ActiveProbeState.Angles; + var angles = sceneState.ActiveProbeState.Angles; - float cos = Mathf.Cos(-angles.x * Mathf.Deg2Rad); - float sin = Mathf.Sin(-angles.x * Mathf.Deg2Rad); + var cos = Mathf.Cos(-angles.x * Mathf.Deg2Rad); + var sin = Mathf.Sin(-angles.x * Mathf.Deg2Rad); - float xRot = position.x * cos + position.y * sin; - float yRot = -position.x * sin + position.y * cos; + var xRot = position.x * cos + position.y * sin; + var yRot = -position.x * sin + position.y * cos; apmldv = new Vector3(xRot, yRot, position.z); } _storeService.Store.Dispatch( - SceneActions.SET_PROBE_POSITION, - (ActiveProbeName, apmldv) - ); + SceneActions.SET_PROBE_POSITION, + (ActiveProbeName, apmldv) + ); } [ICommand] @@ -147,8 +301,8 @@ private void SetAngles(Vector3 angles) { _storeService.Store.Dispatch( SceneActions.SET_PROBE_ANGLES, - (ActiveProbeName, angles, _pitchRange) - ); + (ActiveProbeName, angles, _pitchRange) + ); } [ICommand] @@ -167,8 +321,8 @@ private void DuplicateProbe() private void MoveProbeToReferenceCoordinate() { _storeService.Store.Dispatch( - SceneActions.SET_PROBE_POSITION, - (ActiveProbeName, Vector3.zero) + SceneActions.SET_PROBE_POSITION, + (ActiveProbeName, Vector3.zero) ); } @@ -176,7 +330,7 @@ private void MoveProbeToReferenceCoordinate() private void MoveProbeToDura() { ProbeManager - .Instances.First(manager => manager.name == ActiveProbeName) + .Instances.First(manager => manager.name == ActiveProbeName) .DropProbeToBrainSurface(); } @@ -184,8 +338,8 @@ private void MoveProbeToDura() private void InspectVisualizingManipulator() { _storeService.Store.Dispatch( - SceneActions.SET_ACTIVE_MANIPULATOR, - VisualizingManipulatorId + SceneActions.SET_ACTIVE_MANIPULATOR, + VisualizingManipulatorId ); } diff --git a/Assets/UniversalRenderPipelineGlobalSettings.asset b/Assets/UniversalRenderPipelineGlobalSettings.asset index f444a423..b78e4a71 100644 --- a/Assets/UniversalRenderPipelineGlobalSettings.asset +++ b/Assets/UniversalRenderPipelineGlobalSettings.asset @@ -11,7 +11,7 @@ MonoBehaviour: m_EditorHideFlags: 0 m_Script: {fileID: 11500000, guid: 2ec995e51a6e251468d2a3fd8a686257, type: 3} m_Name: UniversalRenderPipelineGlobalSettings - m_EditorClassIdentifier: + m_EditorClassIdentifier: Unity.RenderPipelines.Universal.Runtime::UnityEngine.Rendering.Universal.UniversalRenderPipelineGlobalSettings m_ShaderStrippingSetting: m_Version: 0 m_ExportShaderVariants: 1 @@ -33,60 +33,53 @@ MonoBehaviour: m_Settings: m_SettingsList: m_List: - - rid: 7373348239683354624 - - rid: 7373348286482612491 - - rid: 7373348286482612492 - - rid: 7373348239683354627 - - rid: 7373348286482612493 - - rid: 7373348239683354629 - - rid: 7373348239683354630 - - rid: 7373348239683354631 - - rid: 7373348239683354632 - - rid: 7373348286482612494 - - rid: 7373348239683354634 - - rid: 7373348286482612495 - - rid: 7373348239683354636 - - rid: 7373348286482612496 - - rid: 7373348286482612497 - - rid: 7373348286482612498 - - rid: 7373348286482612499 - - rid: 7373348239683354641 - - rid: 7373348286482612500 - - rid: 7373348239683354643 - - rid: 7373348239683354644 - - rid: 252785868016451865 - - rid: 252785868016451866 - - rid: 252785868016451867 - - rid: 252785868016451868 - 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