fix: 432 null pointer when removing probes (#433)

* Fixes native collection error

* Made the error a warning and then deleted the warning

Author: kjy5

Assets/Scripts/EphysLink/CommunicationManager.cs

@@ -245,8 +245,15 @@ public void GetPos(string manipulatorId, Action<Vector4> onSuccessCallback,
             {
                 if (data.error == "")
                 {
-                    onSuccessCallback(new Vector4(data.position[0], data.position[1], data.position[2],
-                        data.position[3]));
+                    try
+                    {
+                        onSuccessCallback?.Invoke(new Vector4(data.position[0], data.position[1], data.position[2],
+                            data.position[3]));
+                    }
+                    catch (Exception e)
+                    {
+                        onErrorCallback?.Invoke(e.ToString());
+                    }
                 }
                 else
                 {

Assets/Scripts/TrajectoryPlanner/Probes/ManipulatorBehaviorController.cs

@@ -21,7 +21,7 @@ public class ManipulatorBehaviorController : MonoBehaviour
 
         private void EchoPosition(Vector4 pos)
         {
-            if (_probeController == null && !enabled) return;
+            if (!enabled && _probeController == null) return;
             // Calculate last used direction for dropping to brain surface (between depth and DV)
             var dvDelta = Math.Abs(pos.z - _lastManipulatorPosition.z);
             var depthDelta = Math.Abs(pos.w - _lastManipulatorPosition.w);

Assets/Scripts/TrajectoryPlanner/Probes/ProbeManager.cs

@@ -112,6 +112,7 @@ public bool IsEphysLinkControlled
         private set
         {
             ManipulatorBehaviorController.enabled = value;
+            print("MBC enabled: "+ManipulatorBehaviorController.enabled);
             EphysLinkControlChangeEvent.Invoke();
             EphysLinkControlledProbesChangedEvent.Invoke(Instances.Where(manager => manager.IsEphysLinkControlled).ToHashSet());
         }
@@ -209,16 +210,15 @@ private void Start()
     /// </summary>
     public void Destroy()
     {
-
         ProbeProperties.ReturnColor(Color);
 
         ColliderManager.RemoveProbeColliderInstances(_probeColliders);
 
         // Force disable Ephys Link
         if (IsEphysLinkControlled)
         {
-            CommunicationManager.Instance.UnregisterManipulator(ManipulatorBehaviorController.ManipulatorID);
             IsEphysLinkControlled = false;
+            CommunicationManager.Instance.UnregisterManipulator(ManipulatorBehaviorController.ManipulatorID);
         }
 
         // Delete this gameObject
@@ -228,10 +228,18 @@ public void Destroy()
 
     private void OnDestroy()
     {
+        // Destroy instance
         Debug.Log($"Destroying probe: {name}");
 
-        Instances.Remove(this);
-        ProbeInsertion.Instances.Remove(ProbeController.Insertion);
+        if (ProbeInsertion.Instances.Count == 1)
+            ProbeInsertion.Instances.Clear();
+        else
+            ProbeInsertion.Instances.Remove(ProbeController.Insertion);
+
+        if (Instances.Count == 1)
+            Instances.Clear();
+        else
+            Instances.Remove(this);
     }
 
     private void OnEnable() => Instances.Add(this);