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- //
- // MonitorUI.cs
- //
- // Author:
- // Di MERCURIO Sébastien <dimercur@insa-toulouse.fr>
- //
- // Copyright (c) 2018 INSA - DGEI
- //
- // This program is free software: you can redistribute it and/or modify
- // it under the terms of the GNU General Public License as published by
- // the Free Software Foundation, either version 3 of the License, or
- // (at your option) any later version.
- //
- // This program is distributed in the hope that it will be useful,
- // but WITHOUT ANY WARRANTY; without even the implied warranty of
- // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- // GNU General Public License for more details.
- //
- // You should have received a copy of the GNU General Public License
- // along with this program. If not, see <http://www.gnu.org/licenses/>.
-
- // 15/01/2019 dimercur
- // Demande #41: Modifier les messages envoyés par les flèches de direction
-
- // 15/10/2019 dimercur
- // Demande #43: Migrer le code lié à la gestion des images dans sa propre classe widget
-
- // 11/04/2019 dimercur
- // Suppression du timer battery
- // suppression de la case à cocher getbattery
- // Prise en charge des messages ANSWER_TIMEOUT et ANSWER_COM_ERROR dans OnCommandReceivedEvent
-
- using System;
- using Gtk;
- using Gdk;
- using Cairo;
-
- using monitor;
- using System.Timers;
-
- /// <summary>
- /// Main part of the program, behavior of main window
- /// </summary>
- public partial class MainWindow : Gtk.Window
- {
- /// <summary>
- /// Destijl command manager reference
- /// </summary>
- private DestijlCommandManager cmdManager;
-
- /// <summary>
- /// Position used for displaying position
- /// </summary>
- private DestijlCommandManager.Position position=new DestijlCommandManager.Position();
-
- /// <summary>
- /// List of availble state for the application
- /// </summary>
- enum SystemState
- {
- NotConnected,
- ServerConnected,
- RobotConnected
- };
-
- /// <summary>
- /// The state of the system. Can take a value from SystemState
- /// </summary>
- private SystemState systemState = SystemState.NotConnected;
-
- /// <summary>
- /// Object used for displaying image on a valid DrawingArea widget
- /// </summary>
- private ImageWidget imageWidget;
-
- /// <summary>
- /// Counter for image reception and detecting bad picture ratio
- /// </summary>
- private int imageReceivedCounter = 0;
- private int badImageReceivedCounter = 0;
-
- /// <summary>
- /// Initializes a new instance of the <see cref="MainWindow"/> class.
- /// </summary>
- public MainWindow() : base(Gtk.WindowType.Toplevel)
- {
- Build();
-
- cmdManager = new DestijlCommandManager(OnCommandReceivedEvent);
-
- // Init of image widget
- imageWidget = new ImageWidget(drawingAreaCamera);
-
- // Customize controls
- AdjustControls();
- }
-
- /// <summary>
- /// Make some adjustement to controls, like disabling some controls
- /// </summary>
- public void AdjustControls()
- {
- // Change state of system, and grey every controls not needed
- ChangeState(SystemState.NotConnected);
-
- // Load "no picture" image from disque
- imageWidget.ShowImage("monitor.ressources.missing_picture.png");
-
- // setup server controls
- entryServerName.Text = Client.defaultIP;
- entryServerPort.Text = Client.defaultPort.ToString();
- entryTimeout.Text = "1000";
- }
-
- /// <summary>
- /// Method used to change controls visibility (greyed or not) depending on current state
- /// </summary>
- /// <param name="newState">New state</param>
- private void ChangeState(SystemState newState)
- {
- switch (newState)
- {
- case SystemState.NotConnected:
- labelRobot.Sensitive = false;
- gtkAlignmentRobot.Sensitive = false;
-
- labelRobotControl.Sensitive = false;
- gtkAlignmentRobotControl.Sensitive = false;
- boxCamera.Sensitive = false;
-
- buttonServerConnection.Label = "Connect";
- buttonRobotActivation.Label = "Activate";
- labelBatteryLevel.Text = "Unknown";
-
- checkButtonCameraOn.Active = false;
- checkButtonRobotPosition.Active = false;
- checkButtonFPS.Active = false;
-
- imageWidget.ShowFPS = false;
- imageWidget.showPosition = false;
-
- if (cmdManager != null) cmdManager.Close();
-
- break;
- case SystemState.ServerConnected:
- buttonServerConnection.Label = "Disconnect";
- buttonRobotActivation.Label = "Activate";
- labelBatteryLevel.Text = "Unknown";
-
- labelRobot.Sensitive = true;
- gtkAlignmentRobot.Sensitive = true;
- boxCamera.Sensitive = true;
-
- labelRobotControl.Sensitive = false;
- gtkAlignmentRobotControl.Sensitive = false;
-
- break;
- case SystemState.RobotConnected:
- buttonRobotActivation.Label = "Reset";
- labelRobotControl.Sensitive = true;
- gtkAlignmentRobotControl.Sensitive = true;
-
- break;
- default:
- labelRobot.Sensitive = false;
- gtkAlignmentRobot.Sensitive = false;
-
- labelRobotControl.Sensitive = false;
- gtkAlignmentRobotControl.Sensitive = false;
- boxCamera.Sensitive = false;
-
- buttonServerConnection.Label = "Connect";
- buttonRobotActivation.Label = "Activate";
- labelBatteryLevel.Text = "Unknown";
-
- checkButtonCameraOn.Active = false;
- checkButtonRobotPosition.Active = false;
- checkButtonFPS.Active = false;
-
- imageWidget.ShowFPS = false;
- imageWidget.showPosition = false;
-
- systemState = SystemState.NotConnected;
-
- return;
- }
-
- systemState = newState;
- }
-
- /// <summary>
- /// Display a popup message window
- /// </summary>
- /// <param name="type">Type of popup window (question, error, information,...)</param>
- /// <param name="buttons">Buttons available on popup window</param>
- /// <param name="title">Title of window</param>
- /// <param name="message">Message</param>
- private void MessagePopup(MessageType type, ButtonsType buttons, string title, string message)
- {
- MessageDialog md = new MessageDialog(this, DialogFlags.DestroyWithParent, type, buttons, message);
-
- md.Title = title;
- md.Run();
- md.Destroy();
- }
-
- /// <summary>
- /// Callback called when delete event is sent by window
- /// </summary>
- /// <param name="sender">Sender object</param>
- /// <param name="a">Not really sure of what it is...</param>
- protected void OnDeleteEvent(object sender, DeleteEventArgs a)
- {
- Console.WriteLine("Bye bye");
-
- if (cmdManager != null) cmdManager.Close();
- Application.Quit();
- a.RetVal = true;
- }
-
- /// <summary>
- /// Callback called when new message is received from server
- /// </summary>
- /// <param name="header">Header of message</param>
- /// <param name="data">Data of message</param>
- public void OnCommandReceivedEvent(string header, string data)
- {
- if (header == null)
- {
- // we have lost server
- ChangeState(SystemState.NotConnected);
-
- Gtk.Application.Invoke(delegate
- {
- MessagePopup(MessageType.Error,
- ButtonsType.Ok, "Server lost",
- "Server is down: disconnecting");
- cmdManager.Close();
- });
- }
-
- // if we have received a valid message
- if (header != null)
- {
- #if DEBUG
- // print message content
- if (header.Length > 4)
- {
- Console.WriteLine("Bad header(" + header.Length + ")");
- }
- #endif
- // Depending on message received (based on header), launch correponding action
- header = header.ToUpper();
-
- switch (header)
- {
- case DestijlCommandList.ANSWER_TIMEOUT:
- case DestijlCommandList.ANSWER_COM_ERROR:
- Console.WriteLine("Communication lost with robot");
- Gtk.Application.Invoke(delegate
- {
- MessagePopup(MessageType.Error, ButtonsType.Ok, "Robot lost", "Communication with robot lost !");
- });
-
- ChangeState(SystemState.ServerConnected);
-
- break;
- case DestijlCommandList.ROBOT_BATTERY_LEVEL:
- string batLevel = "";
-
- switch (data[0])
- {
- case '2':
- batLevel = "High";
- break;
- case '1':
- batLevel = "Low";
- break;
- case '0':
- batLevel = "Empty";
- break;
- default:
- batLevel = "Invalid value";
- break;
- }
-
- Gtk.Application.Invoke(delegate
- {
- labelBatteryLevel.Text = batLevel;
- });
-
- break;
- case DestijlCommandList.CAMERA_IMAGE:
- imageReceivedCounter++;
-
- byte[] image = new byte[2];
- try
- {
- image = Convert.FromBase64String(data);
- }
- catch (FormatException)
- {
- badImageReceivedCounter++;
- Console.WriteLine("Unable to convert from base64 ");
- }
-
- try
- {
- imageWidget.ShowImage(image);
- }
- catch (GLib.GException)
- {
- badImageReceivedCounter++;
- #if DEBUG
- Console.WriteLine("Bad Image: " + badImageReceivedCounter +
- " / " + imageReceivedCounter +
- " (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)");
- #endif
- }
-
- break;
- case DestijlCommandList.CAMERA_POSITION:
- imageWidget.Position = DestijlCommandManager.DecodePosition(data);
-
- break;
- default:
- Console.WriteLine("Untreated message from supervisor: " + header + ": " + data);
-
- break;
- }
- }
- }
-
- /// <summary>
- /// Callback called by "quit" menu
- /// </summary>
- /// <param name="sender">Sender object</param>
- /// <param name="e">Event</param>
- protected void OnQuitActionActivated(object sender, EventArgs e)
- {
- Console.WriteLine("Bye bye 2");
- if (cmdManager != null) cmdManager.Close();
- this.Destroy();
-
- Application.Quit();
- }
-
- /// <summary>
- /// Callback called by "show log" menu
- /// </summary>
- /// <param name="sender">Sender object</param>
- /// <param name="e">Event</param>
- protected void OnShowLogWindowActionActivated(object sender, EventArgs e)
- {
- MessagePopup(MessageType.Info,
- ButtonsType.Ok, "Info",
- "Logger not yet implemented");
- }
-
- /// <summary>
- /// Callback called by "buttonServerConnection" button
- /// </summary>
- /// <param name="sender">Sender object</param>
- /// <param name="e">Event</param>
- protected void OnButtonServerConnectionClicked(object sender, EventArgs e)
- {
- DestijlCommandManager.CommandStatus statusCmd;
-
- // if we are currently connected
- if (buttonServerConnection.Label == "Disconnect")
- {
- // Change state to disconnect and close connection
- ChangeState(SystemState.NotConnected);
- }
- else // we are not currently connected to server
- {
- // if information about hostname or port are invalid, show a popup error
- if ((entryServerName.Text == "") || (entryServerPort.Text == ""))
- {
- MessagePopup(MessageType.Error,
- ButtonsType.Ok, "Error",
- "Server name or port is invalid");
- }
- else
- {
- Console.WriteLine("Connecting to " + entryServerName.Text + ":" + entryServerPort.Text);
- bool status = false;
-
- // try to convert timout string value to double. If that failed, default to 100 ms
- try
- {
- cmdManager.timeout = Convert.ToDouble(entryTimeout.Text);
- }
- catch (Exception)
- {
- cmdManager.timeout = 100;
- entryTimeout.Text = cmdManager.timeout.ToString();
- }
-
- // try to connect to givn server.
- try
- {
- status = cmdManager.Open(entryServerName.Text, Convert.ToInt32(entryServerPort.Text));
- }
- catch (Exception)
- {
- Console.WriteLine("Something went wrong during connection");
- return;
- }
-
- //if connection status is not ok, show an error popup
- if (status != true)
- {
- MessagePopup(MessageType.Error,
- ButtonsType.Ok, "Error",
- "Unable to connect to server " + entryServerName.Text + ":" + Convert.ToInt32(entryServerPort.Text));
- }
- else // if we succed in connecting, open communication with robot
- {
- Console.Write("Send command RobotOpenCom: ");
- statusCmd = cmdManager.RobotOpenCom();
- Console.WriteLine(statusCmd.ToString());
-
- if (statusCmd == DestijlCommandManager.CommandStatus.Success)
- {
- ChangeState(SystemState.ServerConnected);
- }
- else // if communication with robot is not possible, show error
- {
- MessagePopup(MessageType.Error,
- ButtonsType.Ok, "Error",
- "Unable to open communication with robot.\nCheck that supervisor is accepting OPEN_COM_DMB command");
-
- cmdManager.Close();
- }
- }
- }
- }
- }
-
- /// <summary>
- /// Callback called when "buttonRobotactivation" is clicked
- /// </summary>
- /// <param name="sender">Sender object</param>
- /// <param name="e">Event</param>
- protected void OnButtonRobotActivationClicked(object sender, EventArgs e)
- {
- DestijlCommandManager.CommandStatus status;
-
- //if robot is not activated
- if (buttonRobotActivation.Label == "Activate")
- {
- // if a startup with watchdog is requested
- if (radioButtonWithWatchdog.Active)
- {
- status = cmdManager.RobotStartWithWatchdog();
- }
- else // startup without watchdog
- {
- status = cmdManager.RobotStartWithoutWatchdog();
- }
-
- // if status of command is ok, change state of system, enabling robot control
- if (status == DestijlCommandManager.CommandStatus.Success)
- {
- ChangeState(SystemState.RobotConnected);
- }
- else // if status is not ok, depending of error, show appropriate error
- {
- if (status == DestijlCommandManager.CommandStatus.CommunicationLostWithServer)
- {
- MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with server");
- ChangeState(SystemState.NotConnected);
- }
- else
- {
- MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Command rejected\nCheck that supervisor accept \nDMB_START_WITH_WD and/or DMB_START_WITHOUT_WD");
- }
- }
- }
- else // If robot is already activated, request reset of robot
- {
- status = cmdManager.RobotReset();
-
- // if status of command is ok, change state of system, disabling robot control
- if (status == DestijlCommandManager.CommandStatus.Success)
- {
- ChangeState(SystemState.ServerConnected);
- }
- else // if status is not ok, depending of error, show appropriate error
- {
- if (status == DestijlCommandManager.CommandStatus.CommunicationLostWithServer)
- {
- MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with server");
- ChangeState(SystemState.NotConnected);
- }
- else
- {
- MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Unknown error");
- }
- }
- }
- }
-
- /// <summary>
- /// Callback called when user click on direction button
- /// </summary>
- /// <param name="sender">Sender button</param>
- /// <param name="e">Event</param>
- protected void OnButtonMouvClicked(object sender, EventArgs e)
- {
- // depending on button clicked, launch appropriate action
- if (sender == buttonRight)
- {
- cmdManager.RobotGoRight();
- }
- else if (sender == buttonLeft)
- {
- cmdManager.RobotGoLeft();
- }
- else if (sender == buttonForward)
- {
- cmdManager.RobotGoForward();
- }
- else if (sender == buttonDown)
- {
- cmdManager.RobotGoBackward();
- }
- else if (sender == buttonStop)
- {
- cmdManager.RobotStop();
- }
- else
- {
- MessagePopup(MessageType.Warning, ButtonsType.Ok, "Abnormal behavior", "Callback OnButtonMouvClicked called by unknown sender");
- }
- }
-
- /// <summary>
- /// Callback called when checkbutton for camera is clicked
- /// </summary>
- /// <param name="sender">Sender object</param>
- /// <param name="e">Event</param>
- protected void OnCheckButtonCameraOnClicked(object sender, EventArgs e)
- {
- // if camera is already active, switch it off
- if (!checkButtonCameraOn.Active)
- {
- if (cmdManager.CameraClose() != DestijlCommandManager.CommandStatus.Success)
- {
- Console.WriteLine("Error when closing camera: bad answer for supervisor or timeout");
- }
- }
- else // camera is not active, switch it on
- {
- badImageReceivedCounter = 0;
- imageReceivedCounter = 0;
-
- if (cmdManager.CameraOpen() != DestijlCommandManager.CommandStatus.Success)
- {
- Console.WriteLine("Error when opening camera: bad answer for supervisor or timeout");
- //checkButtonCameraOn.Active = false;
- }
- }
- }
-
- /// <summary>
- /// Callback called when checkbutton robot position is clicked
- /// </summary>
- /// <param name="sender">Sender object</param>
- /// <param name="e">Event</param>
- protected void OnCheckButtonRobotPositionClicked(object sender, EventArgs e)
- {
- // if server already send robot position, stop it
- if (!checkButtonRobotPosition.Active)
- {
- if (cmdManager.CameraStopComputePosition() != DestijlCommandManager.CommandStatus.Success)
- {
- Console.WriteLine("Error when stopping position reception: bad answer for supervisor or timeout");
- }
- }
- else // start reception of robot position
- {
- if (cmdManager.CameraComputePosition() != DestijlCommandManager.CommandStatus.Success)
- {
- Console.WriteLine("Error when starting getting robot position: bad answer for supervisor or timeout");
-
- //checkButtonRobotPosition.Active = false;
- }
- }
-
- imageWidget.showPosition = checkButtonRobotPosition.Active;
- }
-
- /// <summary>
- /// Show a popup asking user to tell if arena is correct or not
- /// </summary>
- protected void DetectArena()
- {
- DestijlCommandManager.CommandStatus status;
- MessageDialog md = new MessageDialog(this, DialogFlags.DestroyWithParent,
- MessageType.Question, ButtonsType.YesNo, "Arena is correct ?");
-
- md.Title = "Check arena";
-
- ResponseType result = (ResponseType)md.Run();
- md.Destroy();
-
- if (result == ResponseType.Yes)
- {
- status = cmdManager.CameraArenaConfirm();
- }
- else
- {
- status = cmdManager.CameraArenaInfirm();
- }
-
- if (status != DestijlCommandManager.CommandStatus.Success)
- {
- MessagePopup(MessageType.Error,
- ButtonsType.Ok, "Error",
- "Unable to send Confirm or Infirm arena command to supervisor");
- }
- }
-
- /// <summary>
- /// Callback called when "Detect Arena" button is clicked
- /// </summary>
- /// <param name="sender">Sender object</param>
- /// <param name="e">Event</param>
- protected void OnButtonAskArenaClicked(object sender, EventArgs e)
- {
- // Send command to server for arean rendering
- if (cmdManager.CameraAskArena() != DestijlCommandManager.CommandStatus.Success)
- {
- MessagePopup(MessageType.Error,
- ButtonsType.Ok, "Error",
- "Error when asking for arena rendering");
- return;
- }
-
- // show popup and wait for user to say if arena is ok or not
- DetectArena();
- }
-
- /// <summary>
- /// Callback function for FPS checkbutton
- /// </summary>
- /// <param name="sender">Sender object</param>
- /// <param name="e">unused paramter</param>
- protected void OnCheckButtonFPSToggled(object sender, EventArgs e)
- {
- imageWidget.ShowFPS = checkButtonFPS.Active;
- }
- }
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