Add uMp-3 support for jackhammer with auto-detect depth axis

Author: nagibatorz

src/ephys_link/back_end/platform_handler.py

@@ -270,6 +270,23 @@ async def jackhammer(
         # Closed-loop constants
         MAX_BACKWARD_UM = 250.0
 
+          # Auto-detect axis if -1: uMp-4 uses W (axis 3), uMp-3 uses X (axis 0)
+        # Auto-detect depth axis if -1
+        if axis == -1:
+            axis = self._bindings.get_depth_axis()
+
+        # Helper to get depth based on manipulator type
+        def get_depth(pos) -> float:
+            """Get depth value based on axis (mm)."""
+            if axis == 3:
+                return pos.w
+            elif axis == 0:
+                return pos.x
+            elif axis == 1:
+                return pos.y
+            else:
+                return pos.z
+
         try:
             if closed_loop:
                 # Get starting position

src/ephys_link/back_end/server.py

@@ -248,7 +248,7 @@ async def platform_event_handler(self, event: str, _: str, data: Any) -> str:  #
                         parsed = loads(str(data))
                         result = await self._platform_handler.jackhammer(
                             manipulator_id=parsed.get("manipulator_id", parsed.get("ManipulatorId", "")),
-                            axis=parsed.get("axis", parsed.get("Axis", 3)),
+                            axis=parsed.get("axis", parsed.get("Axis", -1)),
                             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)),

src/ephys_link/bindings/ump_binding.py

@@ -98,6 +98,10 @@ async def get_shank_count(self, manipulator_id: str) -> NoReturn:
     @override
     def get_movement_tolerance() -> float:
         return 0.001
+    
+    def get_depth_axis(self) -> int:
+        """Get the depth axis index (0 for uMp-3, 3 for uMp-4)."""
+        return 0 if self._is_ump_3() else 3
 
     @override
     async def set_position(self, manipulator_id: str, position: Vector4, speed: float) -> Vector4:

src/ephys_link/utils/base_binding.py

@@ -147,6 +147,9 @@ async def stop(self, manipulator_id: str) -> None:
             manipulator_id: Manipulator ID.
         """
 
+    def get_depth_axis(self) -> int:
+        """Get the depth axis index for jackhammer."""
+        return 3  # Default to W axis
 
     async def jackhammer(
         self,