ephys-link 2.2.1__py3-none-any.whl → 2.3.3__py3-none-any.whl

ephys_link/__about__.py

@@ -1 +1 @@
-__version__ = "2.2.1"
+__version__ = "2.3.3"

ephys_link/back_end/platform_handler.py

@@ -6,7 +6,7 @@ Instantiates the appropriate bindings based on the platform type and uses them t
 Usage:
     Instantiate PlatformHandler with the platform type and call the desired command.
 """
-
+import asyncio
 from typing import final
 
 from vbl_aquarium.models.ephys_link import (
@@ -229,6 +229,44 @@ class PlatformHandler:
         else:
             self._inside_brain.discard(request.manipulator_id)
         return BooleanStateResponse(state=request.inside)
+    
+    async def jackhammer(
+        self,
+        manipulator_id: str,
+        axis: int,
+        iterations: int,
+        phase1_steps: int,
+        phase1_pulses: int,
+        phase2_steps: int,
+        phase2_pulses: int,
+    ) -> PositionalResponse:
+        """Perform jackhammer motion to break through dura.
+
+        Args:
+            manipulator_id: Manipulator ID.
+            axis: Axis to move (0=X, 1=Y, 2=Z, 3=W/Depth).
+            iterations: Number of jackhammer cycles.
+            phase1_steps: Number of steps in phase 1.
+            phase1_pulses: Pulse count for phase 1.
+            phase2_steps: Number of steps in phase 2.
+            phase2_pulses: Pulse count for phase 2.
+
+        Returns:
+            Final position of the manipulator after jackhammer and an error message if any.
+        """
+        try:
+            await self._bindings.jackhammer(
+                manipulator_id, axis, iterations, phase1_steps, phase1_pulses, phase2_steps, phase2_pulses
+            )
+            await asyncio.sleep(2)  # wait for movement to settle
+            final_position = self._bindings.platform_space_to_unified_space(
+                await self._bindings.get_position(manipulator_id)
+            )
+        except Exception as e:  # noqa: BLE001
+            self._console.exception_error_print("Jackhammer", e)
+            return PositionalResponse(error=self._console.pretty_exception(e))
+        else:
+            return PositionalResponse(position=final_position)
 
     async def stop(self, manipulator_id: str) -> str:
         """Stop a manipulator.

ephys_link/back_end/server.py

@@ -242,6 +242,24 @@ class Server:
                 return await self._run_if_data_parses(
                     self._platform_handler.set_inside_brain, SetInsideBrainRequest, event, data
                 )
+            case "jackhammer":
+                if data:
+                    try:
+                        parsed = loads(str(data))
+                        return (
+                            await self._platform_handler.jackhammer(
+                                manipulator_id=parsed.get("manipulator_id", parsed.get("ManipulatorId", "")),
+                                axis=parsed.get("axis", parsed.get("Axis", 3)),
+                                iterations=parsed.get("iterations", parsed.get("Iterations", 10)),
+                                phase1_steps=parsed.get("phase1_steps", parsed.get("Phase1Steps", 10)),
+                                phase1_pulses=parsed.get("phase1_pulses", parsed.get("Phase1Pulses", 15)),
+                                phase2_steps=parsed.get("phase2_steps", parsed.get("Phase2Steps", 5)),
+                                phase2_pulses=parsed.get("phase2_pulses", parsed.get("Phase2Pulses", -15)),
+                            )
+                        ).to_json_string()
+                    except JSONDecodeError:
+                        return self._malformed_request_response(event, data)
+                return self._malformed_request_response(event, data)
             case "stop":
                 if data:
                     return await self._platform_handler.stop(str(data))  # pyright: ignore[reportAny]

ephys_link/bindings/mpm_binding.py

@@ -206,6 +206,7 @@ class MPMBinding(BaseBinding):
         # 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
+        depth = self.get_dimensions().w - depth
         unchanged_counter = 0
 
         # Send move request.
@@ -244,7 +245,7 @@ class MPMBinding(BaseBinding):
         self._movement_stopped = False
 
         # Return the final depth.
-        return float((await self.get_position(manipulator_id)).w)
+        return float(self.get_dimensions().w - (await self.get_position(manipulator_id)).w)
 
     @override
     async def stop(self, manipulator_id: str) -> None:

ephys_link/bindings/ump_binding.py

@@ -10,6 +10,7 @@ from sensapex import UMP, SensapexDevice  # pyright: ignore [reportMissingTypeSt
 from vbl_aquarium.models.unity import Vector4
 
 from ephys_link.utils.base_binding import BaseBinding
+from ctypes import c_char, c_int
 from ephys_link.utils.converters import (
     list_to_vector4,
     scalar_mm_to_um,
@@ -144,6 +145,28 @@ class UmpBinding(BaseBinding):
     async def stop(self, manipulator_id: str) -> None:
         self._get_device(manipulator_id).stop()  # pyright: ignore [reportUnknownMemberType]
 
+    @override
+    async def jackhammer(
+        self,
+        manipulator_id: str,
+        axis: int,
+        iterations: int,
+        phase1_steps: int,
+        phase1_pulses: int,
+        phase2_steps: int,
+        phase2_pulses: int,
+    ) -> None:
+        self._ump.call(
+            "um_take_jackhammer_step",
+            c_int(int(manipulator_id)),
+            c_char(axis),
+            c_int(iterations),
+            c_int(phase1_steps),
+            c_int(phase1_pulses),
+            c_int(phase2_steps),
+            c_int(phase2_pulses),
+        )
+
     @override
     def platform_space_to_unified_space(self, platform_space: Vector4) -> Vector4:
         """

ephys_link/utils/base_binding.py

@@ -147,6 +147,31 @@ class BaseBinding(ABC):
             manipulator_id: Manipulator ID.
         """
 
+
+    async def jackhammer(
+        self,
+        manipulator_id: str,
+        axis: int,
+        iterations: int,
+        phase1_steps: int,
+        phase1_pulses: int,
+        phase2_steps: int,
+        phase2_pulses: int,
+    ) -> None:
+        """Perform jackhammer motion to break through dura.
+
+        Args:
+            manipulator_id: Manipulator ID.
+            axis: Axis to move (0=X, 1=Y, 2=Z, 3=W/Depth).
+            iterations: Number of jackhammer cycles.
+            phase1_steps: Number of steps in phase 1.
+            phase1_pulses: Pulse count for phase 1 (positive=forward).
+            phase2_steps: Number of steps in phase 2.
+            phase2_pulses: Pulse count for phase 2 (negative=backward).
+        """
+        error_message = f"{self.get_display_name()} does not support jackhammer mode"
+        raise NotImplementedError(error_message)
+
     @abstractmethod
     def platform_space_to_unified_space(self, platform_space: Vector4) -> Vector4:
         """Convert platform space coordinates to unified space coordinates.

{ephys_link-2.2.1.dist-info → ephys_link-2.3.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: ephys-link
-Version: 2.2.1
+Version: 2.3.3
 Summary: A Python Socket.IO server that allows any Socket.IO-compliant application to communicate with manipulators used in electrophysiology experiments.
 Project-URL: Documentation, https://virtualbrainlab.org/ephys_link/installation_and_use.html
 Project-URL: Issues, https://github.com/VirtualBrainLab/ephys-link/issues
@@ -27,7 +27,7 @@ Requires-Dist: keyboard==0.13.5
 Requires-Dist: packaging==25.0
 Requires-Dist: platformdirs==4.5.1
 Requires-Dist: pyserial==3.5
-Requires-Dist: python-socketio==5.15.1
+Requires-Dist: python-socketio==5.16.0
 Requires-Dist: requests==2.32.5
 Requires-Dist: rich==14.2.0
 Requires-Dist: sensapex==1.504.1

{ephys_link-2.2.1.dist-info → ephys_link-2.3.3.dist-info}/RECORD

@@ -1,25 +1,25 @@
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+ephys_link/__about__.py,sha256=s0EEVOzZFl_WT6PzFxk9cgtfsNGRuqeXrX3fgGq9Ogs,22
 ephys_link/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 ephys_link/__main__.py,sha256=54zxQ-fyxC2-LGsTUdtlvib36ZZQwNyOa6IuffYLhhs,1582
 ephys_link/back_end/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-ephys_link/back_end/platform_handler.py,sha256=6Lt_jaIcO9jTmWYOoWYkuhwSlCTT1Qfd53ru31X0fmc,10130
-ephys_link/back_end/server.py,sha256=ILrYbd4r_4GiRmdUEmGcbT1AEIo_TF3i-BZpdhYm8g8,9296
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+ephys_link/back_end/server.py,sha256=PNGcYng5B4KaKF3PtThugE1zSXTWd9PTWeZQvg34eAY,10503
 ephys_link/bindings/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 ephys_link/bindings/fake_binding.py,sha256=PI7zYv-SjWsGFEs_FVu5Z5l9gykIqG3C7pQISdbwdoY,2357
-ephys_link/bindings/mpm_binding.py,sha256=vn7IKqdiZ6_MX91zomqDXX08ONHwVVgWncRuJTxJpOM,10872
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 ephys_link/bindings/parallax_binding.py,sha256=QzZ4MVUc4YGlIxr9__j8I3t3MyGuoQdsZWgHaSedZ3A,10129
-ephys_link/bindings/ump_binding.py,sha256=X71n5P3IPlWmQ2BaHUI-UHu-RP__ZOgA3w32iT3169U,7910
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 ephys_link/front_end/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 ephys_link/front_end/cli.py,sha256=vbJYFoaOwPwQq3ShR60HgPQnE-hK6kp1_9FEFkyZ6AU,2899
 ephys_link/front_end/console.py,sha256=zq67dn7T4xKMg3jjbNra_1s0N9ItvsTRXVIhClWbjP8,3912
 ephys_link/front_end/gui.py,sha256=MagojumetQGp7e8sK53cI_TgcqKSx54jLNeZagBjNJY,6383
 ephys_link/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-ephys_link/utils/base_binding.py,sha256=rq0FtvkjAN287nX8rZwR-j6YPzV3Pkp8PqJfZlhIzqo,5413
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 ephys_link/utils/constants.py,sha256=l1-KmGFzAgaBzEIgtmFLfpijum75_1JMdSq5GyR3TJk,3756
 ephys_link/utils/converters.py,sha256=ZdVmIX-LHCwM__F0SpjN_mfNGGetr1U97xvHd0hf8T0,2038
 ephys_link/utils/startup.py,sha256=lK04UffvdcASpmp8Arecfmm1dDhzZnZy2rgzQ8sqWag,3971
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-ephys_link-2.2.1.dist-info/licenses/LICENSE,sha256=OXLcl0T2SZ8Pmy2_dmlvKuetivmyPd5m1q-Gyd-zaYY,35149
-ephys_link-2.2.1.dist-info/RECORD,,
+ephys_link-2.3.3.dist-info/METADATA,sha256=ZXg-ues2Tfzy4YUMV25sx__NptdpyCQI1oHESYizTxw,4707
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