feat: 466 disallow lateral movement when inside brain (#473)

* Prevent lateral manipulator movement when inside brain

* Disable lateral keyboard input

Author: kjy5

Assets/Scripts/TrajectoryPlanner/Probes/Controllers/CartesianProbeController.cs

@@ -46,10 +46,7 @@ public override Vector4 UnlockedDir {
     private Vector3 _unlockedRot;
     public override Vector3 UnlockedRot
     {
-        get
-        {
-            return _unlockedRot;
-        }
+        get => _unlockedRot;
         set
         {
             _unlockedRot = value;

Assets/Scripts/TrajectoryPlanner/Probes/ManipulatorBehaviorController.cs

@@ -110,6 +110,18 @@ private void Awake()
         {
             // Start off as disabled
             enabled = false;
+
+            // Update manipulator inside brain state
+            _probeController.MovedThisFrameEvent.AddListener(() =>
+            {
+                if (_isSetToInsideBrain != _probeManager.IsProbeInBrain())
+                    CommunicationManager.Instance.SetInsideBrain(ManipulatorID, _probeManager.IsProbeInBrain(),
+                        insideBrain =>
+                        {
+                            _isSetToInsideBrain = insideBrain;
+                            _probeController.UnlockedDir = insideBrain ? new Vector4(0, 0, 0, 1) : Vector4.one;
+                        });
+            });
         }
 
         private void OnDisable()
@@ -197,6 +209,7 @@ public bool IsRightHanded
         private bool _isSetToDropToSurfaceWithDepth = true;
         private bool _isRightHanded;
         private float _lastLoggedTime;
+        private bool _isSetToInsideBrain;
 
         #endregion
 
@@ -364,22 +377,13 @@ public void MoveByWorldSpaceDelta(Vector4 worldSpaceDelta, Action<bool> onSucces
                         {
                             // Process depth movement
                             var targetDepth = newPos.w + manipulatorSpaceDepth;
-                            CommunicationManager.Instance.SetInsideBrain(
-                                ManipulatorID, true, _ =>
+                            // Move the manipulator
+                            CommunicationManager.Instance.DriveToDepth(
+                                ManipulatorID, targetDepth, AUTOMATIC_MOVEMENT_SPEED,
+                                _ =>
                                 {
-                                    // Move the manipulator
-                                    CommunicationManager.Instance.DriveToDepth(
-                                        ManipulatorID, targetDepth, AUTOMATIC_MOVEMENT_SPEED,
-                                        _ =>
-                                        {
-                                            CommunicationManager.Instance.SetInsideBrain(
-                                                ManipulatorID, false,
-                                                _ =>
-                                                {
-                                                    CommunicationManager.Instance.SetCanWrite(ManipulatorID, false, 0,
-                                                        onSuccessCallback, onErrorCallback);
-                                                }, onErrorCallback);
-                                        }, onErrorCallback);
+                                    CommunicationManager.Instance.SetCanWrite(ManipulatorID, false, 0,
+                                        onSuccessCallback, onErrorCallback);
                                 }, onErrorCallback);
                         }, onErrorCallback);
                 }, onErrorCallback);