ephys-link 2.0.0b6__py3-none-any.whl → 2.0.0b10__py3-none-any.whl

ephys_link/bindings/{mpm_bindings.py → mpm_binding.py}

@@ -1,278 +1,315 @@
-"""Bindings for New Scale Pathfinder MPM HTTP server platform.
-
-MPM works slightly differently than the other platforms since it operates in stereotactic coordinates.
-This means exceptions need to be made for its API.
-
-Usage: Instantiate MPMBindings to interact with the New Scale Pathfinder MPM HTTP server platform.
-"""
-
-from asyncio import get_running_loop, sleep
-from json import dumps
-from typing import Any
-
-from requests import JSONDecodeError, get, put
-from vbl_aquarium.models.unity import Vector3, Vector4
-
-from ephys_link.util.base_bindings import BaseBindings
-from ephys_link.util.common import scalar_mm_to_um, vector4_to_array
-
-
-class MPMBinding(BaseBindings):
-    """Bindings for New Scale Pathfinder MPM HTTP server platform."""
-
-    # Valid New Scale manipulator IDs
-    VALID_MANIPULATOR_IDS = (
-        "A",
-        "B",
-        "C",
-        "D",
-        "E",
-        "F",
-        "G",
-        "H",
-        "I",
-        "J",
-        "K",
-        "L",
-        "M",
-        "N",
-        "O",
-        "P",
-        "Q",
-        "R",
-        "S",
-        "T",
-        "U",
-        "V",
-        "W",
-        "X",
-        "Y",
-        "Z",
-        "AA",
-        "AB",
-        "AC",
-        "AD",
-        "AE",
-        "AF",
-        "AG",
-        "AH",
-        "AI",
-        "AJ",
-        "AK",
-        "AL",
-        "AM",
-        "AN",
-    )
-
-    # Movement polling preferences.
-    UNCHANGED_COUNTER_LIMIT = 10
-    POLL_INTERVAL = 0.1
-
-    # Speed preferences (mm/s to use coarse mode).
-    COARSE_SPEED_THRESHOLD = 0.1
-    INSERTION_SPEED_LIMIT = 9_000
-
-    def __init__(self, port: int) -> None:
-        """Initialize connection to MPM HTTP server.
-
-        :param port: Port number for MPM HTTP server.
-        :type port: int
-        """
-        self._url = f"http://localhost:{port}"
-        self._movement_stopped = False
-
-    async def get_manipulators(self) -> list[str]:
-        return [manipulator["Id"] for manipulator in (await self._query_data())["ProbeArray"]]
-
-    async def get_axes_count(self) -> int:
-        return 3
-
-    def get_dimensions(self) -> Vector4:
-        return Vector4(x=15, y=15, z=15, w=15)
-
-    async def get_position(self, manipulator_id: str) -> Vector4:
-        manipulator_data = await self._manipulator_data(manipulator_id)
-        stage_z = manipulator_data["Stage_Z"]
-
-        await sleep(self.POLL_INTERVAL)  # Wait for the stage to stabilize.
-
-        return Vector4(
-            x=manipulator_data["Stage_X"],
-            y=manipulator_data["Stage_Y"],
-            z=stage_z,
-            w=stage_z,
-        )
-
-    async def get_angles(self, manipulator_id: str) -> Vector3:
-        manipulator_data = await self._manipulator_data(manipulator_id)
-
-        # Apply PosteriorAngle to Polar to get the correct angle.
-        adjusted_polar = manipulator_data["Polar"] - (await self._query_data())["PosteriorAngle"]
-
-        return Vector3(
-            x=adjusted_polar if adjusted_polar > 0 else 360 + adjusted_polar,
-            y=manipulator_data["Pitch"],
-            z=manipulator_data["ShankOrientation"],
-        )
-
-    async def get_shank_count(self, manipulator_id: str) -> int:
-        return int((await self._manipulator_data(manipulator_id))["ShankCount"])
-
-    def get_movement_tolerance(self) -> float:
-        return 0.01
-
-    async def set_position(self, manipulator_id: str, position: Vector4, speed: float) -> Vector4:
-        # Keep track of the previous position to check if the manipulator stopped advancing.
-        current_position = await self.get_position(manipulator_id)
-        previous_position = current_position
-        unchanged_counter = 0
-
-        # Set step mode based on speed.
-        await self._put_request(
-            {
-                "PutId": "ProbeStepMode",
-                "Probe": self.VALID_MANIPULATOR_IDS.index(manipulator_id),
-                "StepMode": 0 if speed > self.COARSE_SPEED_THRESHOLD else 1,
-            }
-        )
-
-        # Send move request.
-        await self._put_request(
-            {
-                "PutId": "ProbeMotion",
-                "Probe": self.VALID_MANIPULATOR_IDS.index(manipulator_id),
-                "Absolute": 1,
-                "Stereotactic": 0,
-                "AxisMask": 7,
-                "X": position.x,
-                "Y": position.y,
-                "Z": position.z,
-            }
-        )
-
-        # Wait for the manipulator to reach the target position or be stopped or stuck.
-        while (
-            not self._movement_stopped
-            and not self._is_vector_close(current_position, position)
-            and unchanged_counter < self.UNCHANGED_COUNTER_LIMIT
-        ):
-            # Wait for a short time before checking again.
-            await sleep(self.POLL_INTERVAL)
-
-            # Update current position.
-            current_position = await self.get_position(manipulator_id)
-
-            # Check if manipulator is not moving.
-            if self._is_vector_close(previous_position, current_position):
-                # Position did not change.
-                unchanged_counter += 1
-            else:
-                # Position changed.
-                unchanged_counter = 0
-                previous_position = current_position
-
-        # Reset movement stopped flag.
-        self._movement_stopped = False
-
-        # Return the final position.
-        return await self.get_position(manipulator_id)
-
-    async def set_depth(self, manipulator_id: str, depth: float, speed: float) -> float:
-        # Keep track of the previous depth to check if the manipulator stopped advancing unexpectedly.
-        current_depth = (await self.get_position(manipulator_id)).w
-        previous_depth = current_depth
-        unchanged_counter = 0
-
-        # Send move request.
-        # Convert mm/s to um/min and cap speed at the limit.
-        await self._put_request(
-            {
-                "PutId": "ProbeInsertion",
-                "Probe": self.VALID_MANIPULATOR_IDS.index(manipulator_id),
-                "Distance": scalar_mm_to_um(current_depth - depth),
-                "Rate": min(scalar_mm_to_um(speed) * 60, self.INSERTION_SPEED_LIMIT),
-            }
-        )
-
-        # Wait for the manipulator to reach the target depth or be stopped or get stuck.
-        while not self._movement_stopped and not abs(current_depth - depth) <= self.get_movement_tolerance():
-            # Wait for a short time before checking again.
-            await sleep(self.POLL_INTERVAL)
-
-            # Get the current depth.
-            current_depth = (await self.get_position(manipulator_id)).w
-
-            # Check if manipulator is not moving.
-            if abs(previous_depth - current_depth) <= self.get_movement_tolerance():
-                # Depth did not change.
-                unchanged_counter += 1
-            else:
-                # Depth changed.
-                unchanged_counter = 0
-                previous_depth = current_depth
-
-        # Reset movement stopped flag.
-        self._movement_stopped = False
-
-        # Return the final depth.
-        return float((await self.get_position(manipulator_id)).w)
-
-    async def stop(self, manipulator_id: str) -> None:
-        request = {"PutId": "ProbeStop", "Probe": self.VALID_MANIPULATOR_IDS.index(manipulator_id)}
-        await self._put_request(request)
-        self._movement_stopped = True
-
-    def platform_space_to_unified_space(self, platform_space: Vector4) -> Vector4:
-        # unified   <-  platform
-        # +x        <-  -x
-        # +y        <-  +z
-        # +z        <-  +y
-        # +w        <-  -w
-
-        return Vector4(
-            x=self.get_dimensions().x - platform_space.x,
-            y=platform_space.z,
-            z=platform_space.y,
-            w=self.get_dimensions().w - platform_space.w,
-        )
-
-    def unified_space_to_platform_space(self, unified_space: Vector4) -> Vector4:
-        # platform  <-  unified
-        # +x        <-  -x
-        # +y        <-  +z
-        # +z        <-  +y
-        # +w        <-  -w
-
-        return Vector4(
-            x=self.get_dimensions().x - unified_space.x,
-            y=unified_space.z,
-            z=unified_space.y,
-            w=self.get_dimensions().w - unified_space.w,
-        )
-
-    # Helper functions.
-    async def _query_data(self) -> Any:
-        try:
-            return (await get_running_loop().run_in_executor(None, get, self._url)).json()
-        except ConnectionError as connectionError:
-            error_message = f"Unable to connect to MPM HTTP server: {connectionError}"
-            raise RuntimeError(error_message) from connectionError
-        except JSONDecodeError as jsonDecodeError:
-            error_message = f"Unable to decode JSON response from MPM HTTP server: {jsonDecodeError}"
-            raise ValueError(error_message) from jsonDecodeError
-
-    async def _manipulator_data(self, manipulator_id: str) -> Any:
-        probe_data = (await self._query_data())["ProbeArray"]
-        for probe in probe_data:
-            if probe["Id"] == manipulator_id:
-                return probe
-
-        # If we get here, that means the manipulator doesn't exist.
-        error_message = f"Manipulator {manipulator_id} not found."
-        raise ValueError(error_message)
-
-    async def _put_request(self, request: dict[str, Any]) -> None:
-        await get_running_loop().run_in_executor(None, put, self._url, dumps(request))
-
-    def _is_vector_close(self, target: Vector4, current: Vector4) -> bool:
-        return all(abs(axis) <= self.get_movement_tolerance() for axis in vector4_to_array(target - current)[:3])
+"""Bindings for New Scale Pathfinder MPM HTTP server platform.
+
+Usage: Instantiate MPMBindings to interact with the New Scale Pathfinder MPM HTTP server platform.
+"""
+
+from asyncio import get_running_loop, sleep
+from json import dumps
+from typing import Any, final, override
+
+from requests import JSONDecodeError, get, put
+from vbl_aquarium.models.unity import Vector3, Vector4
+
+from ephys_link.utils.base_binding import BaseBinding
+from ephys_link.utils.converters import scalar_mm_to_um, vector4_to_array
+
+
+@final
+class MPMBinding(BaseBinding):
+    """Bindings for New Scale Pathfinder MPM HTTP server platform."""
+
+    # Valid New Scale manipulator IDs
+    VALID_MANIPULATOR_IDS = (
+        "A",
+        "B",
+        "C",
+        "D",
+        "E",
+        "F",
+        "G",
+        "H",
+        "I",
+        "J",
+        "K",
+        "L",
+        "M",
+        "N",
+        "O",
+        "P",
+        "Q",
+        "R",
+        "S",
+        "T",
+        "U",
+        "V",
+        "W",
+        "X",
+        "Y",
+        "Z",
+        "AA",
+        "AB",
+        "AC",
+        "AD",
+        "AE",
+        "AF",
+        "AG",
+        "AH",
+        "AI",
+        "AJ",
+        "AK",
+        "AL",
+        "AM",
+        "AN",
+    )
+
+    # Server cache lifetime (60 FPS).
+    CACHE_LIFETIME = 1 / 60
+
+    # Movement polling preferences.
+    UNCHANGED_COUNTER_LIMIT = 10
+    POLL_INTERVAL = 0.1
+
+    # Speed preferences (mm/s to use coarse mode).
+    COARSE_SPEED_THRESHOLD = 0.1
+    INSERTION_SPEED_LIMIT = 9_000
+
+    def __init__(self, port: int = 8080) -> None:
+        """Initialize connection to MPM HTTP server.
+
+        Args:
+            port: Port number for MPM HTTP server.
+        """
+        self._url = f"http://localhost:{port}"
+        self._movement_stopped = False
+
+        # Data cache.
+        self.cache: dict[str, Any] = {}  # pyright: ignore [reportExplicitAny]
+        self.cache_time = 0
+
+    @staticmethod
+    @override
+    def get_display_name() -> str:
+        return "Pathfinder MPM Control v2.8.8+"
+
+    @staticmethod
+    @override
+    def get_cli_name() -> str:
+        return "pathfinder-mpm"
+
+    @override
+    async def get_manipulators(self) -> list[str]:
+        return [manipulator["Id"] for manipulator in (await self._query_data())["ProbeArray"]]  # pyright: ignore [reportAny]
+
+    @override
+    async def get_axes_count(self) -> int:
+        return 3
+
+    @override
+    def get_dimensions(self) -> Vector4:
+        return Vector4(x=15, y=15, z=15, w=15)
+
+    @override
+    async def get_position(self, manipulator_id: str) -> Vector4:
+        manipulator_data: dict[str, float] = await self._manipulator_data(manipulator_id)
+        stage_z: float = manipulator_data["Stage_Z"]
+
+        await sleep(self.POLL_INTERVAL)  # Wait for the stage to stabilize.
+
+        return Vector4(
+            x=manipulator_data["Stage_X"],
+            y=manipulator_data["Stage_Y"],
+            z=stage_z,
+            w=stage_z,
+        )
+
+    @override
+    async def get_angles(self, manipulator_id: str) -> Vector3:
+        manipulator_data: dict[str, float] = await self._manipulator_data(manipulator_id)
+
+        # Apply PosteriorAngle to Polar to get the correct angle.
+        adjusted_polar: int = manipulator_data["Polar"] - (await self._query_data())["PosteriorAngle"]
+
+        return Vector3(
+            x=adjusted_polar if adjusted_polar > 0 else 360 + adjusted_polar,
+            y=manipulator_data["Pitch"],
+            z=manipulator_data["ShankOrientation"],
+        )
+
+    @override
+    async def get_shank_count(self, manipulator_id: str) -> int:
+        return int((await self._manipulator_data(manipulator_id))["ShankCount"])  # pyright: ignore [reportAny]
+
+    @override
+    def get_movement_tolerance(self) -> float:
+        return 0.01
+
+    @override
+    async def set_position(self, manipulator_id: str, position: Vector4, speed: float) -> Vector4:
+        # Keep track of the previous position to check if the manipulator stopped advancing.
+        current_position = await self.get_position(manipulator_id)
+        previous_position = current_position
+        unchanged_counter = 0
+
+        # Set step mode based on speed.
+        await self._put_request(
+            {
+                "PutId": "ProbeStepMode",
+                "Probe": self.VALID_MANIPULATOR_IDS.index(manipulator_id),
+                "StepMode": 0 if speed > self.COARSE_SPEED_THRESHOLD else 1,
+            }
+        )
+
+        # Send move request.
+        await self._put_request(
+            {
+                "PutId": "ProbeMotion",
+                "Probe": self.VALID_MANIPULATOR_IDS.index(manipulator_id),
+                "Absolute": 1,
+                "Stereotactic": 0,
+                "AxisMask": 7,
+                "X": position.x,
+                "Y": position.y,
+                "Z": position.z,
+            }
+        )
+
+        # Wait for the manipulator to reach the target position or be stopped or stuck.
+        while (
+            not self._movement_stopped
+            and not self._is_vector_close(current_position, position)
+            and unchanged_counter < self.UNCHANGED_COUNTER_LIMIT
+        ):
+            # Wait for a short time before checking again.
+            await sleep(self.POLL_INTERVAL)
+
+            # Update current position.
+            current_position = await self.get_position(manipulator_id)
+
+            # Check if manipulator is not moving.
+            if self._is_vector_close(previous_position, current_position):
+                # Position did not change.
+                unchanged_counter += 1
+            else:
+                # Position changed.
+                unchanged_counter = 0
+                previous_position = current_position
+
+        # Reset movement stopped flag.
+        self._movement_stopped = False
+
+        # Return the final position.
+        return await self.get_position(manipulator_id)
+
+    @override
+    async def set_depth(self, manipulator_id: str, depth: float, speed: float) -> float:
+        # Keep track of the previous depth to check if the manipulator stopped advancing unexpectedly.
+        current_depth = (await self.get_position(manipulator_id)).w
+        previous_depth = current_depth
+        unchanged_counter = 0
+
+        # Send move request.
+        # Convert mm/s to um/min and cap speed at the limit.
+        await self._put_request(
+            {
+                "PutId": "ProbeInsertion",
+                "Probe": self.VALID_MANIPULATOR_IDS.index(manipulator_id),
+                "Distance": scalar_mm_to_um(current_depth - depth),
+                "Rate": min(scalar_mm_to_um(speed) * 60, self.INSERTION_SPEED_LIMIT),
+            }
+        )
+
+        # Wait for the manipulator to reach the target depth or be stopped or get stuck.
+        while not self._movement_stopped and not abs(current_depth - depth) <= self.get_movement_tolerance():
+            # Wait for a short time before checking again.
+            await sleep(self.POLL_INTERVAL)
+
+            # Get the current depth.
+            current_depth = (await self.get_position(manipulator_id)).w
+
+            # Check if manipulator is not moving.
+            if abs(previous_depth - current_depth) <= self.get_movement_tolerance():
+                # Depth did not change.
+                unchanged_counter += 1
+            else:
+                # Depth changed.
+                unchanged_counter = 0
+                previous_depth = current_depth
+
+        # Reset movement stopped flag.
+        self._movement_stopped = False
+
+        # Return the final depth.
+        return float((await self.get_position(manipulator_id)).w)
+
+    @override
+    async def stop(self, manipulator_id: str) -> None:
+        request: dict[str, str | int | float] = {
+            "PutId": "ProbeStop",
+            "Probe": self.VALID_MANIPULATOR_IDS.index(manipulator_id),
+        }
+        await self._put_request(request)
+        self._movement_stopped = True
+
+    @override
+    def platform_space_to_unified_space(self, platform_space: Vector4) -> Vector4:
+        # unified   <-  platform
+        # +x        <-  -x
+        # +y        <-  +z
+        # +z        <-  +y
+        # +w        <-  -w
+
+        return Vector4(
+            x=self.get_dimensions().x - platform_space.x,
+            y=platform_space.z,
+            z=platform_space.y,
+            w=self.get_dimensions().w - platform_space.w,
+        )
+
+    @override
+    def unified_space_to_platform_space(self, unified_space: Vector4) -> Vector4:
+        # platform  <-  unified
+        # +x        <-  -x
+        # +y        <-  +z
+        # +z        <-  +y
+        # +w        <-  -w
+
+        return Vector4(
+            x=self.get_dimensions().x - unified_space.x,
+            y=unified_space.z,
+            z=unified_space.y,
+            w=self.get_dimensions().w - unified_space.w,
+        )
+
+    # Helper functions.
+    async def _query_data(self) -> dict[str, Any]:  # pyright: ignore [reportExplicitAny]
+        try:
+            # Update cache if it's expired.
+            if get_running_loop().time() - self.cache_time > self.CACHE_LIFETIME:
+                # noinspection PyTypeChecker
+                self.cache = (await get_running_loop().run_in_executor(None, get, self._url)).json()
+                self.cache_time = get_running_loop().time()
+        except ConnectionError as connectionError:
+            error_message = f"Unable to connect to MPM HTTP server: {connectionError}"
+            raise RuntimeError(error_message) from connectionError
+        except JSONDecodeError as jsonDecodeError:
+            error_message = f"Unable to decode JSON response from MPM HTTP server: {jsonDecodeError}"
+            raise ValueError(error_message) from jsonDecodeError
+        else:
+            # Return cached data.
+            return self.cache
+
+    async def _manipulator_data(self, manipulator_id: str) -> dict[str, Any]:  # pyright: ignore [reportExplicitAny]
+        probe_data: list[dict[str, Any]] = (await self._query_data())["ProbeArray"]  # pyright: ignore [reportExplicitAny]
+        for probe in probe_data:
+            if probe["Id"] == manipulator_id:
+                return probe
+
+        # If we get here, that means the manipulator doesn't exist.
+        error_message = f"Manipulator {manipulator_id} not found."
+        raise ValueError(error_message)
+
+    async def _put_request(self, request: dict[str, Any]) -> None:  # pyright: ignore [reportExplicitAny]
+        _ = await get_running_loop().run_in_executor(None, put, self._url, dumps(request))
+
+    def _is_vector_close(self, target: Vector4, current: Vector4) -> bool:
+        return all(abs(axis) <= self.get_movement_tolerance() for axis in vector4_to_array(target - current)[:3])