365 stop individual manipulators (#366)

* Add stop and stop all commands

* Define server event

src/ephys_link/back_end/platform_handler.py

@@ -266,14 +266,31 @@ async def set_inside_brain(self, request: SetInsideBrainRequest) -> BooleanState
         else:
             return BooleanStateResponse(state=request.inside)
 
-    async def stop(self) -> str:
+    async def stop(self, manipulator_id: str) -> str:
+        """Stop a manipulator.
+
+        :param manipulator_id: Manipulator ID.
+        :type manipulator_id: str
+        :returns: Error message if any.
+        :rtype: str
+        """
+        try:
+            await self._bindings.stop(manipulator_id)
+        except Exception as e:
+            self._console.exception_error_print("Stop", e)
+            return self._console.pretty_exception(e)
+        else:
+            return ""
+
+    async def stop_all(self) -> str:
         """Stop all manipulators.
 
         :returns: Error message if any.
         :rtype: str
         """
         try:
-            await self._bindings.stop()
+            for manipulator_id in await self._bindings.get_manipulators():
+                await self._bindings.stop(manipulator_id)
         except Exception as e:
             self._console.exception_error_print("Stop", e)
             return self._console.pretty_exception(e)

src/ephys_link/back_end/server.py

@@ -189,7 +189,12 @@ async def platform_event_handler(self, event: str, *args: tuple[Any]) -> str:
                     self._platform_handler.set_inside_brain, SetInsideBrainRequest, event, args
                 )
             case "stop":
-                return await self._platform_handler.stop()
+                request_data = args[1]
+                if request_data:
+                    return await self._platform_handler.stop(str(request_data))
+                return self._malformed_request_response(event, request_data)
+            case "stop_all":
+                return await self._platform_handler.stop_all()
             case _:
                 self._console.error_print(f"Unknown event: {event}.")
                 return dumps({"error": "Unknown event."})

src/ephys_link/bindings/fake_bindings.py

@@ -44,7 +44,7 @@ async def set_position(self, manipulator_id: str, position: Vector4, _: float) -
         self._positions[int(manipulator_id)] = position
         return position
 
-    async def stop(self) -> None:
+    async def stop(self, _: str) -> None:
         pass
 
     def platform_space_to_unified_space(self, platform_space: Vector4) -> Vector4:

src/ephys_link/bindings/ump_4_bindings.py

@@ -91,9 +91,8 @@ async def set_position(self, manipulator_id: str, position: Vector4, speed: floa
 
         return um_to_mm(array_to_vector4(movement.last_pos))
 
-    async def stop(self) -> None:
-        for device_ids in await self.get_manipulators():
-            self._get_device(device_ids).stop()
+    async def stop(self, manipulator_id: str) -> None:
+        self._get_device(manipulator_id).stop()
 
     def platform_space_to_unified_space(self, platform_space: Vector4) -> Vector4:
         # unified   <-  platform

src/ephys_link/util/base_bindings.py

@@ -102,8 +102,8 @@ async def set_position(self, manipulator_id: str, position: Vector4, speed: floa
         """
 
     @abstractmethod
-    async def stop(self) -> None:
-        """Stop all manipulators."""
+    async def stop(self, manipulator_id: str) -> None:
+        """Stop a manipulator."""
 
     @abstractmethod
     def platform_space_to_unified_space(self, platform_space: Vector4) -> Vector4: