From a30c4fa41746416e06ec1edbf7805a04ad21aa09 Mon Sep 17 00:00:00 2001
From: Kenneth Yang <82800265+kjy5@users.noreply.github.com>
Date: Tue, 9 Jul 2024 09:43:38 -0700
Subject: [PATCH] 365 stop individual manipulators (#366)

* Add stop and stop all commands

* Define server event
---
 src/ephys_link/back_end/platform_handler.py | 21 +++++++++++++++++++--
 src/ephys_link/back_end/server.py           |  7 ++++++-
 src/ephys_link/bindings/fake_bindings.py    |  2 +-
 src/ephys_link/bindings/ump_4_bindings.py   |  5 ++---
 src/ephys_link/util/base_bindings.py        |  4 ++--
 5 files changed, 30 insertions(+), 9 deletions(-)

diff --git a/src/ephys_link/back_end/platform_handler.py b/src/ephys_link/back_end/platform_handler.py
index a702d0f..52114a2 100644
--- a/src/ephys_link/back_end/platform_handler.py
+++ b/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)
diff --git a/src/ephys_link/back_end/server.py b/src/ephys_link/back_end/server.py
index 4698482..340ea41 100644
--- a/src/ephys_link/back_end/server.py
+++ b/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."})
diff --git a/src/ephys_link/bindings/fake_bindings.py b/src/ephys_link/bindings/fake_bindings.py
index 38f41fe..0187fd0 100644
--- a/src/ephys_link/bindings/fake_bindings.py
+++ b/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:
diff --git a/src/ephys_link/bindings/ump_4_bindings.py b/src/ephys_link/bindings/ump_4_bindings.py
index 5c537fd..8cbd800 100644
--- a/src/ephys_link/bindings/ump_4_bindings.py
+++ b/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
diff --git a/src/ephys_link/util/base_bindings.py b/src/ephys_link/util/base_bindings.py
index 1a95c0d..bfa3354 100644
--- a/src/ephys_link/util/base_bindings.py
+++ b/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: