Feat: Automation beta

Assets/Scripts/Models/Scene/ManipulatorState.cs

@@ -67,7 +67,7 @@ public record ManipulatorState
         /// <summary>
         /// Drive past target distance (µm).
         /// </summary>
-        public int DrivePastDistance;
+        public int DrivePastDistance = 50;
 
         #endregion
 

Assets/Scripts/Models/Scene/SceneReducers.cs

@@ -750,13 +750,16 @@ public static SceneState SetTargetInsertionProbeNameReducer(
 
             try
             {
-                // Verify selected target exists and is targetable.
+                // Verify selected target exists and is targetable:
+                // 1. Target name must not be empty
+                // 2. Target probe must exist in the probes list
+                // 3. Target probe must NOT be a visualization probe (those are manipulator-controlled)
                 if (
                     string.IsNullOrEmpty(action.payload.targetName)
                     || !state.Probes.Exists(probeState =>
                         probeState.Name == action.payload.targetName
                     )
-                    || !state.Manipulators.Exists(manipulatorState =>
+                    || state.Manipulators.Exists(manipulatorState =>
                         manipulatorState.VisualizationProbeName == action.payload.targetName
                     )
                 )

Assets/Scripts/Pinpoint/Probes/ProbeController.cs

@@ -36,11 +36,6 @@ public void Register(ProbeManager probeManager)
     /// </summary>
     public Vector3 VisualizationLocalAPMLDV { get; set; }
 
-    /// <summary>
-    /// Local field for visualization probe depth.
-    /// </summary>
-    public float VisualizationLocalDepth { get; set; }
-
     /// <summary>
     /// Local field for visualization probe angles.
     /// </summary>

Assets/Scripts/Services/EphysLinkService.cs

@@ -704,16 +704,6 @@ var manipulatorState in sceneState.Manipulators.Where(state =>
                     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
-                )
-                    continue;
-
                 // Get the current forward vector of the probe.
                 var forwardT = BrainAtlasManager.ActiveAtlasTransform.U2T_Vector(
                     BrainAtlasManager.ActiveReferenceAtlas.World2Atlas_Vector(
@@ -726,18 +716,20 @@ var manipulatorState in sceneState.Manipulators.Where(state =>
                 if (probeController == null)
                     continue;
 
-                var depth = sceneState.NumberOfAxesOnManipulator switch
+                var depthToApply = sceneState.NumberOfAxesOnManipulator switch
                 {
-                    3 => duraOffsetAdjustment,
+                    3 => duraOffsetAdjustment, // Positive moves probe forward/deeper into brain
                     4 => referenceCoordinateAdjustedManipulatorPosition.w,
                     _ => throw new ValueOutOfRangeException(
                         "Number of axes on manipulator is invalid."
                     ),
                 };
 
+                // Bake depth into APMLDV along forward vector
+                var finalAPMLDV = transformedAPMLDV + forwardT * depthToApply;
+
                 // Write position data directly to ProbeController's local fields
-                probeController.VisualizationLocalAPMLDV = transformedAPMLDV;
-                probeController.VisualizationLocalDepth = depth;
+                probeController.VisualizationLocalAPMLDV = finalAPMLDV;
                 probeController.VisualizationLocalAngles = manipulatorState.Angles;
                 probeController.VisualizationLocalForwardT = forwardT;