suppression du moniteur C# et ajout d'un moniteur python/qt

software/monitor/monitor-python-qt/.gitignore

@@ -0,0 +1,2 @@
+__pycache__/
+

software/monitor/monitor-python-qt/globvar.py

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+# -*- coding: utf-8 -*-
+
+class GlobVar:
+    port = 5544              # default server port
+    timeout=1.0              # default waiting time for an answer. May be increased for debugging purpose
+    address = "localhost"    # default server address. Use this with 'nc -l <port>' for testing on your machine
+    getBatteryLevelPeriod=2  # periodic delay for requesting battery level. If value is 0 or below, not battery check is done
+
+    # do not modify value below this line
+    
+    connectedToPi = False
+    connectedToDumber = False
+    dumberStarted = False
+    
+    batteryLevel = -1
+    currentMovement="STOP"
+    
+    last_answer = -1
+    
+    #message = []
+    
+    exceptionmsg= ""

software/monitor/monitor-python-qt/log_dialog.py

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+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'ui/log_dialog.ui'
+#
+# Created by: PyQt5 UI code generator 5.14.1
+#
+# WARNING! All changes made in this file will be lost!
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+
+
+class Ui_Dialog(object):
+    def setupUi(self, Dialog):
+        Dialog.setObjectName("Dialog")
+        Dialog.resize(510, 336)
+        self.verticalLayout = QtWidgets.QVBoxLayout(Dialog)
+        self.verticalLayout.setObjectName("verticalLayout")
+        self.plainTextEdit = QtWidgets.QPlainTextEdit(Dialog)
+        self.plainTextEdit.setReadOnly(True)
+        self.plainTextEdit.setPlainText("")
+        self.plainTextEdit.setObjectName("plainTextEdit")
+        self.verticalLayout.addWidget(self.plainTextEdit)
+        self.horizontalLayout = QtWidgets.QHBoxLayout()
+        self.horizontalLayout.setObjectName("horizontalLayout")
+        spacerItem = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
+        self.horizontalLayout.addItem(spacerItem)
+        self.pushButton_clearLog = QtWidgets.QPushButton(Dialog)
+        self.pushButton_clearLog.setObjectName("pushButton_clearLog")
+        self.horizontalLayout.addWidget(self.pushButton_clearLog)
+        self.pushButton_closeLog = QtWidgets.QPushButton(Dialog)
+        self.pushButton_closeLog.setObjectName("pushButton_closeLog")
+        self.horizontalLayout.addWidget(self.pushButton_closeLog)
+        self.verticalLayout.addLayout(self.horizontalLayout)
+
+        self.retranslateUi(Dialog)
+        QtCore.QMetaObject.connectSlotsByName(Dialog)
+
+    def retranslateUi(self, Dialog):
+        _translate = QtCore.QCoreApplication.translate
+        Dialog.setWindowTitle(_translate("Dialog", "Messages Log"))
+        self.pushButton_clearLog.setText(_translate("Dialog", "Clear log"))
+        self.pushButton_closeLog.setText(_translate("Dialog", "Close"))

software/monitor/monitor-python-qt/main_window.py

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+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'ui/main_window.ui'
+#
+# Created by: PyQt5 UI code generator 5.14.1
+#
+# WARNING! All changes made in this file will be lost!
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+
+
+class Ui_MainWindow(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(928, 629)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.centralwidget)
+        self.horizontalLayout_6.setObjectName("horizontalLayout_6")
+        self.verticalLayout_4 = QtWidgets.QVBoxLayout()
+        self.verticalLayout_4.setObjectName("verticalLayout_4")
+        self.checkBox_enableCamera = QtWidgets.QCheckBox(self.centralwidget)
+        self.checkBox_enableCamera.setObjectName("checkBox_enableCamera")
+        self.verticalLayout_4.addWidget(self.checkBox_enableCamera)
+        self.graphicsView_Image = QtWidgets.QGraphicsView(self.centralwidget)
+        self.graphicsView_Image.setObjectName("graphicsView_Image")
+        self.verticalLayout_4.addWidget(self.graphicsView_Image)
+        self.pushButton_confirmArena = QtWidgets.QPushButton(self.centralwidget)
+        self.pushButton_confirmArena.setObjectName("pushButton_confirmArena")
+        self.verticalLayout_4.addWidget(self.pushButton_confirmArena)
+        self.horizontalLayout_3 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_3.setObjectName("horizontalLayout_3")
+        self.checkBox_enableFPS = QtWidgets.QCheckBox(self.centralwidget)
+        self.checkBox_enableFPS.setObjectName("checkBox_enableFPS")
+        self.horizontalLayout_3.addWidget(self.checkBox_enableFPS)
+        self.checkBox_enablePosition = QtWidgets.QCheckBox(self.centralwidget)
+        self.checkBox_enablePosition.setObjectName("checkBox_enablePosition")
+        self.horizontalLayout_3.addWidget(self.checkBox_enablePosition)
+        self.verticalLayout_4.addLayout(self.horizontalLayout_3)
+        self.horizontalLayout_6.addLayout(self.verticalLayout_4)
+        self.verticalLayout_6 = QtWidgets.QVBoxLayout()
+        self.verticalLayout_6.setObjectName("verticalLayout_6")
+        self.groupBox_connection = QtWidgets.QGroupBox(self.centralwidget)
+        self.groupBox_connection.setAlignment(QtCore.Qt.AlignCenter)
+        self.groupBox_connection.setFlat(False)
+        self.groupBox_connection.setCheckable(False)
+        self.groupBox_connection.setObjectName("groupBox_connection")
+        self.verticalLayout = QtWidgets.QVBoxLayout(self.groupBox_connection)
+        self.verticalLayout.setObjectName("verticalLayout")
+        self.horizontalLayout = QtWidgets.QHBoxLayout()
+        self.horizontalLayout.setObjectName("horizontalLayout")
+        self.label = QtWidgets.QLabel(self.groupBox_connection)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Preferred)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.label.sizePolicy().hasHeightForWidth())
+        self.label.setSizePolicy(sizePolicy)
+        self.label.setObjectName("label")
+        self.horizontalLayout.addWidget(self.label)
+        self.lineEdit_address = QtWidgets.QLineEdit(self.groupBox_connection)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Maximum, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.lineEdit_address.sizePolicy().hasHeightForWidth())
+        self.lineEdit_address.setSizePolicy(sizePolicy)
+        self.lineEdit_address.setMaximumSize(QtCore.QSize(300, 16777215))
+        self.lineEdit_address.setObjectName("lineEdit_address")
+        self.horizontalLayout.addWidget(self.lineEdit_address)
+        self.verticalLayout.addLayout(self.horizontalLayout)
+        self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_2.setObjectName("horizontalLayout_2")
+        self.label_2 = QtWidgets.QLabel(self.groupBox_connection)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Preferred)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.label_2.sizePolicy().hasHeightForWidth())
+        self.label_2.setSizePolicy(sizePolicy)
+        self.label_2.setObjectName("label_2")
+        self.horizontalLayout_2.addWidget(self.label_2)
+        self.lineEdit_port = QtWidgets.QLineEdit(self.groupBox_connection)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Maximum, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.lineEdit_port.sizePolicy().hasHeightForWidth())
+        self.lineEdit_port.setSizePolicy(sizePolicy)
+        self.lineEdit_port.setMaximumSize(QtCore.QSize(300, 16777215))
+        self.lineEdit_port.setObjectName("lineEdit_port")
+        self.horizontalLayout_2.addWidget(self.lineEdit_port)
+        self.verticalLayout.addLayout(self.horizontalLayout_2)
+        self.horizontalLayout_4 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_4.setObjectName("horizontalLayout_4")
+        self.label_3 = QtWidgets.QLabel(self.groupBox_connection)
+        self.label_3.setObjectName("label_3")
+        self.horizontalLayout_4.addWidget(self.label_3)
+        self.label_connectionStatus = QtWidgets.QLabel(self.groupBox_connection)
+        self.label_connectionStatus.setObjectName("label_connectionStatus")
+        self.horizontalLayout_4.addWidget(self.label_connectionStatus)
+        self.verticalLayout.addLayout(self.horizontalLayout_4)
+        self.line = QtWidgets.QFrame(self.groupBox_connection)
+        self.line.setFrameShape(QtWidgets.QFrame.HLine)
+        self.line.setFrameShadow(QtWidgets.QFrame.Sunken)
+        self.line.setObjectName("line")
+        self.verticalLayout.addWidget(self.line)
+        self.verticalLayout_6.addWidget(self.groupBox_connection)
+        self.groupBox_activation = QtWidgets.QGroupBox(self.centralwidget)
+        self.groupBox_activation.setAlignment(QtCore.Qt.AlignCenter)
+        self.groupBox_activation.setObjectName("groupBox_activation")
+        self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.groupBox_activation)
+        self.verticalLayout_2.setObjectName("verticalLayout_2")
+        self.checkBox_watchdog = QtWidgets.QCheckBox(self.groupBox_activation)
+        self.checkBox_watchdog.setObjectName("checkBox_watchdog")
+        self.verticalLayout_2.addWidget(self.checkBox_watchdog)
+        self.pushButton_start = QtWidgets.QPushButton(self.groupBox_activation)
+        self.pushButton_start.setObjectName("pushButton_start")
+        self.verticalLayout_2.addWidget(self.pushButton_start)
+        self.line_2 = QtWidgets.QFrame(self.groupBox_activation)
+        self.line_2.setFrameShape(QtWidgets.QFrame.HLine)
+        self.line_2.setFrameShadow(QtWidgets.QFrame.Sunken)
+        self.line_2.setObjectName("line_2")
+        self.verticalLayout_2.addWidget(self.line_2)
+        self.verticalLayout_6.addWidget(self.groupBox_activation)
+        self.groupBox_mouvments = QtWidgets.QGroupBox(self.centralwidget)
+        self.groupBox_mouvments.setAlignment(QtCore.Qt.AlignCenter)
+        self.groupBox_mouvments.setObjectName("groupBox_mouvments")
+        self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.groupBox_mouvments)
+        self.verticalLayout_3.setObjectName("verticalLayout_3")
+        self.gridLayout = QtWidgets.QGridLayout()
+        self.gridLayout.setObjectName("gridLayout")
+        self.pushButton_up = QtWidgets.QPushButton(self.groupBox_mouvments)
+        self.pushButton_up.setObjectName("pushButton_up")
+        self.gridLayout.addWidget(self.pushButton_up, 0, 1, 1, 1)
+        self.pushButton_left = QtWidgets.QPushButton(self.groupBox_mouvments)
+        self.pushButton_left.setObjectName("pushButton_left")
+        self.gridLayout.addWidget(self.pushButton_left, 1, 0, 1, 1)
+        self.pushButton_stop = QtWidgets.QPushButton(self.groupBox_mouvments)
+        self.pushButton_stop.setObjectName("pushButton_stop")
+        self.gridLayout.addWidget(self.pushButton_stop, 1, 1, 1, 1)
+        self.pushButton_right = QtWidgets.QPushButton(self.groupBox_mouvments)
+        self.pushButton_right.setObjectName("pushButton_right")
+        self.gridLayout.addWidget(self.pushButton_right, 1, 2, 1, 1)
+        self.pushButton_down = QtWidgets.QPushButton(self.groupBox_mouvments)
+        self.pushButton_down.setObjectName("pushButton_down")
+        self.gridLayout.addWidget(self.pushButton_down, 2, 1, 1, 1)
+        self.verticalLayout_3.addLayout(self.gridLayout)
+        self.line_3 = QtWidgets.QFrame(self.groupBox_mouvments)
+        self.line_3.setFrameShape(QtWidgets.QFrame.HLine)
+        self.line_3.setFrameShadow(QtWidgets.QFrame.Sunken)
+        self.line_3.setObjectName("line_3")
+        self.verticalLayout_3.addWidget(self.line_3)
+        self.verticalLayout_6.addWidget(self.groupBox_mouvments)
+        self.groupBox_AnswerandBattery = QtWidgets.QGroupBox(self.centralwidget)
+        self.groupBox_AnswerandBattery.setObjectName("groupBox_AnswerandBattery")
+        self.verticalLayout_5 = QtWidgets.QVBoxLayout(self.groupBox_AnswerandBattery)
+        self.verticalLayout_5.setObjectName("verticalLayout_5")
+        self.checkBox_getBattery = QtWidgets.QCheckBox(self.groupBox_AnswerandBattery)
+        self.checkBox_getBattery.setObjectName("checkBox_getBattery")
+        self.verticalLayout_5.addWidget(self.checkBox_getBattery)
+        self.horizontalLayout_5 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_5.setObjectName("horizontalLayout_5")
+        self.label_4 = QtWidgets.QLabel(self.groupBox_AnswerandBattery)
+        self.label_4.setObjectName("label_4")
+        self.horizontalLayout_5.addWidget(self.label_4)
+        self.label_lastAnswer = QtWidgets.QLabel(self.groupBox_AnswerandBattery)
+        self.label_lastAnswer.setObjectName("label_lastAnswer")
+        self.horizontalLayout_5.addWidget(self.label_lastAnswer)
+        self.verticalLayout_5.addLayout(self.horizontalLayout_5)
+        self.verticalLayout_6.addWidget(self.groupBox_AnswerandBattery)
+        spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
+        self.verticalLayout_6.addItem(spacerItem)
+        self.horizontalLayout_6.addLayout(self.verticalLayout_6)
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QtWidgets.QMenuBar(MainWindow)
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 928, 22))
+        self.menubar.setObjectName("menubar")
+        self.menu_Quitter = QtWidgets.QMenu(self.menubar)
+        self.menu_Quitter.setObjectName("menu_Quitter")
+        MainWindow.setMenuBar(self.menubar)
+        self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        self.statusbar.setObjectName("statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+        self.action_Quitter = QtWidgets.QAction(MainWindow)
+        self.action_Quitter.setObjectName("action_Quitter")
+        self.action_OpenMessageLog = QtWidgets.QAction(MainWindow)
+        self.action_OpenMessageLog.setObjectName("action_OpenMessageLog")
+        self.menu_Quitter.addAction(self.action_OpenMessageLog)
+        self.menu_Quitter.addSeparator()
+        self.menu_Quitter.addAction(self.action_Quitter)
+        self.menubar.addAction(self.menu_Quitter.menuAction())
+
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "Robot Monitor"))
+        self.checkBox_enableCamera.setText(_translate("MainWindow", "Enable Ca&mera"))
+        self.pushButton_confirmArena.setText(_translate("MainWindow", "Co&nfirme arena border..."))
+        self.checkBox_enableFPS.setText(_translate("MainWindow", "Enable &FPS"))
+        self.checkBox_enablePosition.setText(_translate("MainWindow", "Enable Pos&ition"))
+        self.groupBox_connection.setTitle(_translate("MainWindow", "Connection"))
+        self.label.setText(_translate("MainWindow", "Address:"))
+        self.label_2.setText(_translate("MainWindow", "Port:"))
+        self.label_3.setText(_translate("MainWindow", "Status:"))
+        self.label_connectionStatus.setText(_translate("MainWindow", "Not connected"))
+        self.groupBox_activation.setTitle(_translate("MainWindow", "Robot Activation"))
+        self.checkBox_watchdog.setText(_translate("MainWindow", "Start with &watchdog"))
+        self.pushButton_start.setText(_translate("MainWindow", "Start r&obot"))
+        self.groupBox_mouvments.setTitle(_translate("MainWindow", "Mouvments"))
+        self.pushButton_up.setText(_translate("MainWindow", "&Up"))
+        self.pushButton_left.setText(_translate("MainWindow", "&Left"))
+        self.pushButton_stop.setText(_translate("MainWindow", "&Stop"))
+        self.pushButton_right.setText(_translate("MainWindow", "&Right"))
+        self.pushButton_down.setText(_translate("MainWindow", "&Down"))
+        self.groupBox_AnswerandBattery.setTitle(_translate("MainWindow", "Others"))
+        self.checkBox_getBattery.setText(_translate("MainWindow", "Get &Battery"))
+        self.label_4.setText(_translate("MainWindow", "Last answer:"))
+        self.label_lastAnswer.setText(_translate("MainWindow", "None"))
+        self.menu_Quitter.setTitle(_translate("MainWindow", "M&enu"))
+        self.action_Quitter.setText(_translate("MainWindow", "&Quitter"))
+        self.action_OpenMessageLog.setText(_translate("MainWindow", "O&pen message log..."))

software/monitor/monitor-python-qt/monitor-python.py

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+#!/usr/bin/env python3
+
+from email.message import Message
+import os
+
+import time
+import sys
+
+from PyQt5 import (QtCore, QtWidgets)
+
+from main_window import Ui_MainWindow
+from log_dialog import Ui_Dialog
+from network import *
+from globvar import GlobVar
+
+class Window(QtWidgets.QMainWindow, Ui_MainWindow):
+    _msg_dialog= None
+    _batteryTimer=None
+    
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.setupUi(self)
+        
+        self.DisableUIWidgets("Network")
+        
+        self.lineEdit_address.setText(GlobVar.address)
+        self.lineEdit_port.setText(str(GlobVar.port))
+        
+        self._msg_dialog=QtWidgets.QDialog()
+        self._msg_dialog.ui= Ui_Dialog()
+        self._msg_dialog.ui.setupUi(self._msg_dialog)
+        
+        self.networkThread = Network()
+        
+        self.connectSignalSlots()
+        
+        # Start network thread and wait for event indicating monitor is connected to a target
+        self.networkThread.start()
+        
+        # Create battery timer
+        self._batteryTimer = QtCore.QTimer()
+        self._batteryTimer.timeout.connect(self.OnBatteryTimeout)
+        
+    def connectSignalSlots(self):
+        # Buttons
+        self.pushButton_start.pressed.connect(self.OnButtonPress_Start)
+        self.pushButton_confirmArena.pressed.connect(self.OnButtonPress_ConfirmArena)
+        self.pushButton_up.pressed.connect(self.OnButtonPress_Up)
+        self.pushButton_down.pressed.connect(self.OnButtonPress_Down)
+        self.pushButton_stop.pressed.connect(self.OnButtonPress_Stop)
+        self.pushButton_left.pressed.connect(self.OnButtonPress_Left)
+        self.pushButton_right.pressed.connect(self.OnButtonPress_Right)
+        
+        # Checkbox
+        self.checkBox_enableCamera.stateChanged.connect(self.OnCheckBoxChanged_EnableCamera)
+        self.checkBox_enableFPS.stateChanged.connect(self.OnCheckBoxChanged_EnableFPS)
+        self.checkBox_enablePosition.stateChanged.connect(self.OnCheckBoxChanged_EnablePosition)
+        self.checkBox_getBattery.stateChanged.connect(self.OnCheckBoxChanged_GetBattery)
+        
+        # LineEdit
+        self.lineEdit_address.textChanged.connect(self.OnLineEditChange_Address)
+        self.lineEdit_port.textChanged.connect(self.OnLineEditChange_Port)
+        
+        # Menu
+        self.action_OpenMessageLog.triggered.connect(self.OnMenu_OpenMessageLog)
+        self.action_Quitter.triggered.connect(self.OnMenu_Quitter)
+        
+        # Message Dialog
+        self._msg_dialog.ui.pushButton_clearLog.pressed.connect(self.OnButtonPress_ClearLog)
+        self._msg_dialog.ui.pushButton_closeLog.pressed.connect(self.OnButtonPress_CloseLog)
+        
+        # Network signals
+        self.networkThread.receptionEvent.connect(self.OnReceptionEvent)
+        self.networkThread.connectionEvent.connect(self.OnConnectionEvent)
+        self.networkThread.logEvent.connect(self.OnLogEvent)
+        self.networkThread.answerEvent.connect(self.OnAnswerEvent)
+    
+    def EnableUIWidgets(self, area):
+        if area == "Network":
+            self.groupBox_activation.setDisabled(False)
+            self.graphicsView_Image.setDisabled(False)
+            self.pushButton_confirmArena.setDisabled(False)
+            self.checkBox_enableCamera.setDisabled(False)
+            self.checkBox_enableFPS.setDisabled(False)
+            self.checkBox_enablePosition.setDisabled(False)
+        else:
+            self.groupBox_mouvments.setDisabled(False)
+            self.groupBox_AnswerandBattery.setDisabled(False)  
+                      
+    def DisableUIWidgets(self, area):
+        if area == "Network":
+            self.groupBox_activation.setDisabled(True)
+            self.graphicsView_Image.setDisabled(True)
+            self.pushButton_confirmArena.setDisabled(True)
+            self.checkBox_enableCamera.setDisabled(True)
+            self.checkBox_enableFPS.setDisabled(True)
+            self.checkBox_enablePosition.setDisabled(True)
+            self.groupBox_AnswerandBattery.setDisabled(True)
+            self.groupBox_mouvments.setDisabled(True)
+        else:
+            self.groupBox_mouvments.setDisabled(True)
+            self.groupBox_AnswerandBattery.setDisabled(True)
+            
+    @QtCore.pyqtSlot(str)  
+    def OnLineEditChange_Address(self, text):
+        if self.networkThread.checkAddressIsValid(text):
+            GlobVar.address = text
+        
+    @QtCore.pyqtSlot(str)  
+    def OnLineEditChange_Port(self, text):
+        GlobVar.port = int(text)
+    
+    @QtCore.pyqtSlot() 
+    def OnButtonPress_Start (self):
+        if self.pushButton_start.text() == "Start r&obot":
+            if self.networkThread.robotOpenCom() == NetworkAnswers.ACK:
+                # com opened successfully, start robot
+                if self.checkBox_watchdog.isChecked():
+                    # start with watchdog
+                    if self.networkThread.robotStartWithWatchdog() == NetworkAnswers.ACK:
+                        self.pushButton_start.setText("Reset r&obot")
+                        self.EnableUIWidgets("Robot")
+                else:
+                     # start without watchdog
+                    if self.networkThread.robotStartWithoutWatchdog() == NetworkAnswers.ACK:
+                        self.pushButton_start.setText("Reset r&obot")
+                        self.EnableUIWidgets("Robot")
+        else:
+            if self.networkThread.robotCloseCom() != NetworkAnswers.ACK:
+                msg= QtWidgets.QMessageBox
+                msg.warning(self,'Invalid answer', 'Server answer was not acknowledged. Maybe robot is still running', msg.Ok)
+            
+            self.pushButton_start.setText("Start r&obot")
+            self.DisableUIWidgets("Robot")
+            
+    @QtCore.pyqtSlot() 
+    def OnButtonPress_ConfirmArena(self):
+        msg= QtWidgets.QMessageBox
+        ret = msg.question(self, '', 'Arena boundaries are correctly detected ?',msg.Yes| msg.No)
+        
+        if ret == msg.Yes:
+            print ("Answer is YES")
+        else:
+            print ("Answer is NO")
+        
+    @QtCore.pyqtSlot() 
+    def OnButtonPress_Up(self):
+        self.networkThread.robotGoForward()
+      
+    @QtCore.pyqtSlot()   
+    def OnButtonPress_Down(self):
+        self.networkThread.robotGoBackward()
+    
+    @QtCore.pyqtSlot() 
+    def OnButtonPress_Stop(self):
+        self.networkThread.robotStop()
+     
+    @QtCore.pyqtSlot() 
+    def OnButtonPress_Left(self):
+        self.networkThread.robotGoLeft()
+     
+    @QtCore.pyqtSlot() 
+    def OnButtonPress_Right(self):
+        self.networkThread.robotGoRight()
+      
+    @QtCore.pyqtSlot(int)  
+    def OnCheckBoxChanged_EnableCamera(self, state):
+        msg= QtWidgets.QMessageBox
+        msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok)
+        self.checkBox_enableCamera.setChecked(False)
+        
+    @QtCore.pyqtSlot(int) 
+    def OnCheckBoxChanged_EnableFPS(self, state):
+        msg= QtWidgets.QMessageBox
+        msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok)
+        self.checkBox_enableFPS.setChecked(False)
+        
+    @QtCore.pyqtSlot(int) 
+    def OnCheckBoxChanged_EnablePosition(self, state):
+        msg= QtWidgets.QMessageBox
+        msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok)
+        self.checkBox_enablePosition.setChecked(False)
+        
+    @QtCore.pyqtSlot(int) 
+    def OnCheckBoxChanged_GetBattery(self, state):
+        if state !=0:
+            self._batteryTimer.start(5000)
+        else:
+            self._batteryTimer.stop()
+        
+    @QtCore.pyqtSlot() 
+    def OnMenu_OpenMessageLog(self):
+        self._msg_dialog.show()
+       
+    @QtCore.pyqtSlot()  
+    def OnMenu_Quitter(self):
+        self._msg_dialog.hide()
+        self.close()
+          
+    def closeEvent(self, event):
+        self._msg_dialog.hide()
+        event.accept()
+          
+    @QtCore.pyqtSlot() 
+    def OnButtonPress_ClearLog(self):
+        plainTextEdit=self._msg_dialog.ui.plainTextEdit
+        plainTextEdit.document().clear()
+        
+    @QtCore.pyqtSlot() 
+    def OnButtonPress_CloseLog(self):
+        self._msg_dialog.hide()
+        
+    # Callback used to decode non answer message from server (mainly battery level and log message)
+    @QtCore.pyqtSlot(str) 
+    def OnReceptionEvent(self, s) -> None:   
+        if Network.ROBOT_BATTERY_LEVEL in s:
+            str_split = s.split(':')
+        
+            try:
+                batteryLevel = int(str_split[1])
+            except:
+                batteryLevel = -1
+    
+            if  batteryLevel == 0:
+                self.checkBox_getBattery.setText ("Get battery (0 = empty)")
+            elif batteryLevel == 1:
+                self.checkBox_getBattery.setText ("Get battery (1 = low)")
+            elif batteryLevel == 2:
+                self.checkBox_getBattery.setText ("Get battery (2 = full)")
+            else:
+                self.checkBox_getBattery.setText ("Get battery (invalid value)")
+
+    # Callback for battery timeout
+    @QtCore.pyqtSlot() 
+    def OnBatteryTimeout(self) -> None:
+        # Send a request for battery level. Answer will be done in OnReceptionEvent callback
+        self.networkThread.robotGetBattery()
+    
+    # Callback for connection/deconnection event from network manager
+    @QtCore.pyqtSlot(int) 
+    def OnConnectionEvent(self, event) -> None:       
+        if event == NetworkEvents.EVENT_CONNECTED:
+            GlobVar.connectedToPi = True
+            print ("Connected to server")
+            
+            self.label_connectionStatus.setText("Connected")
+            self.EnableUIWidgets("Network")
+        elif event == NetworkEvents.EVENT_CONNECTION_LOST:
+            GlobVar.connectedToPi = False
+            print ("Disconnected from server")
+            
+            self.label_connectionStatus.setText("Not connected")
+            self.pushButton_start.setText("Start r&obot")
+            self.DisableUIWidgets("Network")
+            
+    # Callback for answer event from network manager
+    @QtCore.pyqtSlot(int) 
+    def OnAnswerEvent(self, ans) -> None:
+        if ans == NetworkAnswers.ACK:
+            self.label_lastAnswer.setText("Acknowledged (AACK)")
+        elif ans == NetworkAnswers.NACK:
+            self.label_lastAnswer.setText("Not acknowledged (ANAK)")
+        elif ans == NetworkAnswers.COM_ERROR:
+            self.label_lastAnswer.setText("Command error (ACER)")
+        elif ans == NetworkAnswers.TIMEOUT_ERROR:
+            self.label_lastAnswer.setText("Timeout - no answer")
+        elif ans == NetworkAnswers.CMD_REJECTED:
+            self.label_lastAnswer.setText("Command rejected (ACRJ)")
+        else:
+            self.label_lastAnswer.setText("Unknown answer")
+    
+    # Callback for log event from network manager
+    @QtCore.pyqtSlot(str) 
+    def OnLogEvent(self, txt) -> None:
+        self._msg_dialog.ui.plainTextEdit.textCursor().insertText(txt)
+    
+try: 
+    if len(sys.argv)>=2:
+        GlobVar.address = sys.argv[1]
+    else:
+        print ("No target address specified: using localhost:5544")
+        print ("Usage: monitor-python.py address [port]")
+        
+        #exit (-1) # Comment this line for connecting to localhost
+        
+    if len(sys.argv)>=3:
+        GlobVar.port = int(sys.argv[2])
+        
+    app = QtWidgets.QApplication(sys.argv)
+    window = Window()
+    window.show()
+    app.exec_()
+    
+except KeyboardInterrupt: # exception when pressing CTRL-C
+    print ("Bye bye")
+

software/monitor/monitor-python-qt/network.py

@@ -0,0 +1,340 @@
+# -*- coding: utf-8 -*-
+
+import socket
+import time
+import sys
+
+from PyQt5 import QtCore
+from globvar import GlobVar
+
+import ipaddress
+import threading
+
+# Network event from socket. 
+# Event are 'Connected to server' or 'disconnected from server'
+class NetworkEvents():
+    EVENT_CONNECTED=1
+    EVENT_CONNECTION_LOST=0
+    UNKNOWN_EVENT=-1
+
+class NetworkAnswers():
+     # Decoded answers
+    ACK = 1 
+    NACK =2
+    COM_ERROR =3
+    TIMEOUT_ERROR=4
+    CMD_REJECTED=5
+    UNKNOWN=-1
+    
+# Network managment class
+# Contain a thread for conenction to server and data reception
+# Contains functions for sending message to server
+# Contains functions for answer decoding
+class Network(QtCore.QThread):
+    i=0
+    reconnectionDelay =0
+    waitForAnswer=False
+    receivedAnswer = ""
+    receiveFlag = None
+    
+    receptionEvent = QtCore.pyqtSignal(str)
+    connectionEvent= QtCore.pyqtSignal(int)
+    answerEvent= QtCore.pyqtSignal(int)
+    logEvent = QtCore.pyqtSignal(str)
+    
+    # List of possible answers from server
+    ANSWER_ACK = "AACK"
+    ANSWER_NACK = "ANAK"
+    ANSWER_COM_ERROR = "ACER"
+    ANSWER_TIMEOUT = "ATIM"
+    ANSWER_CMD_REJECTED = "ACRJ"
+    
+    # List of possible messages from server
+    MESSAGE = "MSSG"
+    ROBOT_BATTERY_LEVEL = "RBLV"
+    ROBOT_CURRENT_STATE = "RCST"
+    
+    # List of accepted command by server
+    CAMERA_OPEN = "COPN"
+    CAMERA_CLOSE = "CCLS"
+    CAMERA_IMAGE = "CIMG"
+    CAMERA_ARENA_ASK = "CASA"
+    CAMERA_ARENA_INFIRM = "CAIN"
+    CAMERA_ARENA_CONFIRM = "CACO"
+    CAMERA_POSITION_COMPUTE = "CPCO"
+    CAMERA_POSITION_STOP = "CPST"
+    CAMERA_POSITION = "CPOS"
+    ROBOT_COM_OPEN = "ROPN"
+    ROBOT_COM_CLOSE = "RCLS"
+    ROBOT_PING = "RPIN"
+    ROBOT_RESET = "RRST"
+    ROBOT_START_WITHOUT_WD = "RSOW"
+    ROBOT_START_WITH_WD = "RSWW"
+    ROBOT_RELOAD_WD = "RLDW"
+    ROBOT_MOVE = "RMOV"
+    ROBOT_TURN = "RTRN"
+    ROBOT_GO_FORWARD = "RGFW"
+    ROBOT_GO_BACKWARD = "RGBW"
+    ROBOT_GO_LEFT = "RGLF"
+    ROBOT_GO_RIGHT = "RGRI"
+    ROBOT_STOP = "RSTP"
+    ROBOT_POWEROFF = "RPOF"
+    ROBOT_GET_BATTERY = "RGBT"
+    ROBOT_GET_STATE = "RGST"
+
+    SEPARATOR_CHAR = ':'
+   
+    def __init__(self):
+        super(Network, self).__init__()
+        self.i =0
+        self.receiveFlag = threading.Event()
+        
+    def run(self):
+        print ("Network thread started" )
+        self.i =0
+        
+        while True:
+            self.i = self.i+1
+                       
+            try:
+                self.__connect()
+                            
+                self.connectionEvent.emit(NetworkEvents.EVENT_CONNECTED)
+                self.__read()
+                
+            except (RuntimeError, TimeoutError, socket.gaierror, ConnectionResetError, ConnectionRefusedError) as e:
+                print ("exception in network thread: " + str(e))
+                if e.__class__ == RuntimeError or \
+                   e.__class__== ConnectionResetError or \
+                   e.__class__ == ConnectionRefusedError:
+                    self.connectionEvent.emit(NetworkEvents.EVENT_CONNECTION_LOST)
+                
+            except Exception as e:
+                print ("unknown exception in network thread: " + str(e))
+                       
+            time.sleep(2.0)
+    
+    # Private method for connecting to server     
+    def __connect(self) -> None:
+        #self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+        try:
+            self.sock.connect((GlobVar.address, GlobVar.port))
+        except ConnectionRefusedError: 
+            raise RuntimeError("Unable to connect to " + GlobVar.address + ":" + str(GlobVar.port))
+    
+        # In UDP, no way to know if server is running (connect is always successfull). 
+        # So, send a single line feed to ping the server
+        self.sock.send(str.encode("\n"))
+        self.waitForAnswer=False    
+        
+    # Private method for receiving data from server. 
+    # Data received are sent to callback __receiveHandler for decoding
+    def __read(self) -> None:
+        chunks = []
+        bytes_recd = 0
+        last_char=0
+        
+        while True:
+            while last_char != 0x0A:
+                chunk = self.sock.recv(2048)
+                #print ("Chunk =" + str(chunk))
+                
+                if chunk == b'':
+                    raise RuntimeError("Connection lost with " + GlobVar.address + ":" + str(GlobVar.port))
+                chunks.append(chunk)
+                bytes_recd = bytes_recd + len(chunk)
+                last_char=chunk[-1]
+            
+            self.__receiveHandler(b''.join(chunks).decode("utf-8"))
+            chunks = []
+            bytes_recd =0
+            last_char=0
+    
+    # private callback for reception and decoding of data. 
+    # If no answer is wait, send data to caller callback
+    def __receiveHandler(self, data: str) -> None:
+        # traitement a faire lors de la reception de donnée
+        self.logEvent.emit("< " + data)
+        
+        if self.waitForAnswer:
+            self.receivedAnswer = data
+            self.waitForAnswer=False
+            self.receiveFlag.set()
+        else:
+            # si pas de donnée prevue en reception, alors envoie au callback
+            self.receptionEvent.emit(data)
+    
+    def checkAddressIsValid(self, address: str) -> bool:
+        try:
+            if address == "localhost":
+                return True
+            
+            ip=ipaddress.ip_address(address)
+            return True
+        
+        except ValueError as e:
+            return False
+     
+    # Private method for sending raw data to server
+    def __write(self, msg: str) -> None:
+        totalsent = 0
+        if msg[-1] != '\n':
+            msg = msg + '\n'
+            
+        MSGLEN = len(msg)
+        msgbytes = bytes(msg,'UTF-8')
+        
+        self.logEvent.emit ("> " + msg)
+        
+        while totalsent < MSGLEN:
+            sent = self.sock.send(msgbytes[totalsent:])
+            if sent == 0:
+                GlobVar.connectedToPi=False
+                raise RuntimeError("Unable to send data to " + GlobVar.address + ":" + str(GlobVar.port))
+            totalsent = totalsent + sent
+            
+    # Private method for sending command to server
+    def __sendCommand(self,cmd, waitans: bool) -> str:
+        if waitans == True:
+            self.waitForAnswer = True
+        else:
+            self.waitForAnswer = False
+            
+        self.__write(cmd)
+        
+        if waitans:
+            ans = self.ANSWER_TIMEOUT
+            try:
+                self.receiveFlag.wait(timeout=GlobVar.timeout) # Max waiting time = GlobVar.timeout
+                
+                if self.receiveFlag.is_set():
+                    ans=self.receivedAnswer
+                    self.receivedAnswer=""
+                else:
+                    ans=self.ANSWER_TIMEOUT
+                       
+                self.receiveFlag.clear()
+            except TimeoutError:
+                ans=self.ANSWER_TIMEOUT
+            except Exception as e:
+                GlobVar.exceptionmsg = str(e)
+                
+            self.waitForAnswer=False
+            return ans
+        else:
+            return self.ANSWER_ACK
+               
+    # Private method for decoding answer from server     
+    def __decodeAnswer(self, ans: str) -> int:
+        if self.ANSWER_ACK in ans:
+            return NetworkAnswers.ACK
+        elif self.ANSWER_NACK in ans:
+            return NetworkAnswers.NACK
+        elif self.ANSWER_COM_ERROR in ans:
+            return NetworkAnswers.COM_ERROR
+        elif self.ANSWER_TIMEOUT in ans:
+            return NetworkAnswers.TIMEOUT_ERROR
+        elif self.ANSWER_CMD_REJECTED in ans:
+            return NetworkAnswers.CMD_REJECTED
+        else:
+            return NetworkAnswers.UNKNOWN
+    
+    # Send OpenCom command to server
+    def robotOpenCom(self) -> int:
+        ans = self.__sendCommand(self.ROBOT_COM_OPEN, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send CloseCom command to server
+    def robotCloseCom(self) -> int:
+        ans = self.__sendCommand(self.ROBOT_COM_CLOSE, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send StartWithWatchdog command to server
+    def robotStartWithWatchdog(self) -> int:
+        ans = self.__sendCommand(self.ROBOT_START_WITH_WD, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send StartWithoutWatchdog command to server
+    def robotStartWithoutWatchdog(self) -> int:
+        ans = self.__sendCommand(self.ROBOT_START_WITHOUT_WD, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send Reset command to server
+    def robotReset(self) -> int:
+        ans = self.__sendCommand(self.ROBOT_RESET, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send Stop command to server
+    def robotStop(self) -> int:
+        ans = self.__sendCommand(self.ROBOT_STOP, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send GoLeft command to server
+    def robotGoLeft(self) -> int:
+        ans = self.__sendCommand(self.ROBOT_GO_LEFT, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send GoRight command to server
+    def robotGoRight(self) -> int:
+        ans = self.__sendCommand(self.ROBOT_GO_RIGHT, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send GoForward command to server
+    def robotGoForward(self) -> int:
+        ans = self.__sendCommand(self.ROBOT_GO_FORWARD, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send GoBackward command to server
+    def robotGoBackward(self) -> int:
+        ans = self.__sendCommand(self.ROBOT_GO_BACKWARD, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send GetBattery command to server
+    def robotGetBattery(self) -> None:
+        ans = self.__sendCommand(self.ROBOT_GET_BATTERY,False)
+        
+# Function for decoding battery level
+def batterylevelToStr(batlvl: int) -> str:
+    switcher = {
+        2: "Full",
+        1: "Mid",
+        0: "Empty",
+    }
+    
+    return switcher.get(batlvl, "Unknown")
+
+# Function for display human readable answer
+def answertoStr(ans: int) -> str:
+    switcher = {
+        Network.ACK: "Acknowledged",
+        Network.NACK: "Not acknowledged",
+        Network.TIMEOUT_ERROR: "No answer (timeout)",
+        Network.CMD_REJECTED: "Command rejected",
+        Network.COM_ERROR: "Communication error (invalid command)"
+    }
+    
+    return switcher.get(ans, "Unknown answer")
+
+

software/monitor/monitor-python-qt/ui/log_dialog.ui

@@ -0,0 +1,62 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Dialog</class>
+ <widget class="QDialog" name="Dialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>510</width>
+    <height>336</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Messages Log</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QPlainTextEdit" name="plainTextEdit">
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
+     <property name="plainText">
+      <string notr="true"/>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="pushButton_clearLog">
+       <property name="text">
+        <string>Clear log</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="pushButton_closeLog">
+       <property name="text">
+        <string>Close</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

software/monitor/monitor-python-qt/ui/main_window.ui

@@ -0,0 +1,343 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>928</width>
+    <height>629</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Robot Monitor</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <layout class="QHBoxLayout" name="horizontalLayout_6">
+    <item>
+     <layout class="QVBoxLayout" name="verticalLayout_4">
+      <item>
+       <widget class="QCheckBox" name="checkBox_enableCamera">
+        <property name="text">
+         <string>Enable Ca&amp;mera</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QGraphicsView" name="graphicsView_Image"/>
+      </item>
+      <item>
+       <widget class="QPushButton" name="pushButton_confirmArena">
+        <property name="text">
+         <string>Co&amp;nfirme arena border...</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_3">
+        <item>
+         <widget class="QCheckBox" name="checkBox_enableFPS">
+          <property name="text">
+           <string>Enable &amp;FPS</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QCheckBox" name="checkBox_enablePosition">
+          <property name="text">
+           <string>Enable Pos&amp;ition</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <layout class="QVBoxLayout" name="verticalLayout_6">
+      <item>
+       <widget class="QGroupBox" name="groupBox_connection">
+        <property name="title">
+         <string>Connection</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+        <property name="flat">
+         <bool>false</bool>
+        </property>
+        <property name="checkable">
+         <bool>false</bool>
+        </property>
+        <layout class="QVBoxLayout" name="verticalLayout">
+         <item>
+          <layout class="QHBoxLayout" name="horizontalLayout">
+           <item>
+            <widget class="QLabel" name="label">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>Address:</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLineEdit" name="lineEdit_address">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>300</width>
+               <height>16777215</height>
+              </size>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <layout class="QHBoxLayout" name="horizontalLayout_2">
+           <item>
+            <widget class="QLabel" name="label_2">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>Port:</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLineEdit" name="lineEdit_port">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>300</width>
+               <height>16777215</height>
+              </size>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <layout class="QHBoxLayout" name="horizontalLayout_4">
+           <item>
+            <widget class="QLabel" name="label_3">
+             <property name="text">
+              <string>Status:</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_connectionStatus">
+             <property name="text">
+              <string>Not connected</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <widget class="Line" name="line">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
+      <item>
+       <widget class="QGroupBox" name="groupBox_activation">
+        <property name="title">
+         <string>Robot Activation</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+        <layout class="QVBoxLayout" name="verticalLayout_2">
+         <item>
+          <widget class="QCheckBox" name="checkBox_watchdog">
+           <property name="text">
+            <string>Start with &amp;watchdog</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="pushButton_start">
+           <property name="text">
+            <string>Start r&amp;obot</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="Line" name="line_2">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
+      <item>
+       <widget class="QGroupBox" name="groupBox_mouvments">
+        <property name="title">
+         <string>Mouvments</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+        <layout class="QVBoxLayout" name="verticalLayout_3">
+         <item>
+          <layout class="QGridLayout" name="gridLayout">
+           <item row="0" column="1">
+            <widget class="QPushButton" name="pushButton_up">
+             <property name="text">
+              <string>&amp;Up</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="0">
+            <widget class="QPushButton" name="pushButton_left">
+             <property name="text">
+              <string>&amp;Left</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="1">
+            <widget class="QPushButton" name="pushButton_stop">
+             <property name="text">
+              <string>&amp;Stop</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="2">
+            <widget class="QPushButton" name="pushButton_right">
+             <property name="text">
+              <string>&amp;Right</string>
+             </property>
+            </widget>
+           </item>
+           <item row="2" column="1">
+            <widget class="QPushButton" name="pushButton_down">
+             <property name="text">
+              <string>&amp;Down</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <widget class="Line" name="line_3">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
+      <item>
+       <widget class="QGroupBox" name="groupBox_AnswerandBattery">
+        <property name="title">
+         <string>Others</string>
+        </property>
+        <layout class="QVBoxLayout" name="verticalLayout_5">
+         <item>
+          <widget class="QCheckBox" name="checkBox_getBattery">
+           <property name="text">
+            <string>Get &amp;Battery</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <layout class="QHBoxLayout" name="horizontalLayout_5">
+           <item>
+            <widget class="QLabel" name="label_4">
+             <property name="text">
+              <string>Last answer:</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_lastAnswer">
+             <property name="text">
+              <string>None</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+        </layout>
+       </widget>
+      </item>
+      <item>
+       <spacer name="verticalSpacer">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>20</width>
+          <height>40</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+     </layout>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>928</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <widget class="QMenu" name="menu_Quitter">
+    <property name="title">
+     <string>M&amp;enu</string>
+    </property>
+    <addaction name="action_OpenMessageLog"/>
+    <addaction name="separator"/>
+    <addaction name="action_Quitter"/>
+   </widget>
+   <addaction name="menu_Quitter"/>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+  <action name="action_Quitter">
+   <property name="text">
+    <string>&amp;Quitter</string>
+   </property>
+  </action>
+  <action name="action_OpenMessageLog">
+   <property name="text">
+    <string>O&amp;pen message log...</string>
+   </property>
+  </action>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

software/monitor/monitor/.gitignore

@@ -1,40 +0,0 @@
-# Autosave files
-*~
-
-# build
-[Oo]bj/
-[Bb]in/
-packages/
-TestResults/
-
-# globs
-Makefile.in
-*.DS_Store
-*.sln.cache
-*.suo
-*.cache
-*.pidb
-*.userprefs
-*.usertasks
-config.log
-config.make
-config.status
-aclocal.m4
-install-sh
-autom4te.cache/
-*.user
-*.tar.gz
-tarballs/
-test-results/
-Thumbs.db
-
-# Mac bundle stuff
-*.dmg
-*.app
-
-# resharper
-*_Resharper.*
-*.Resharper
-
-# dotCover
-*.dotCover

software/monitor/monitor/Client.cs

@@ -1,272 +0,0 @@
-//
-//  Client.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/>.
-
-using System;
-using System.Net.Sockets;
-using System.Text;
-
-using System.Threading;
-
-namespace monitor
-{
-    /// <summary>
-    /// Static class for TCP client
-    /// </summary>
-    public static class Client
-    {
-        /// <summary>
-        /// Default server name
-        /// </summary>
-        public const string defaultIP = "10.105.1.13";
-
-        /// <summary>
-        /// Default server port number
-        /// </summary>
-        public const int defaultPort = 5544;
-
-        /// <summary>
-        /// Tcp client object
-        /// </summary>
-        private static TcpClient client = null;
-
-        /// <summary>
-        /// Stream object used for communication
-        /// </summary>
-        private static NetworkStream stream = null;
-
-        /// <summary>
-        /// Size of internal buffer used when reading data from server
-        /// </summary>
-        private const int BufferMaxSize = 8*1024;
-
-        /// <summary>
-        /// Internal buffer used when reading data from server
-        /// </summary>
-        private static byte[] buffer = new byte[BufferMaxSize];
-
-        /// <summary>
-        /// String containing received message from tcp server
-        /// </summary>
-        private static StringBuilder message = new StringBuilder();
-
-        /// <summary>
-        /// Callback to send received message to upper level
-        /// </summary>
-        public delegate void ReadEvent(string msg);
-        public static ReadEvent readEvent = null;
-
-        /// <summary>
-        /// Open connection to server "host", on default port number.
-        /// </summary>
-        /// <returns>true if connection succeded, false otherwise</returns>
-        /// <param name="host">Hostname to connect to</param>
-        public static bool Open(string host)
-        {
-            return Client.Open(host, defaultPort);
-        }
-
-        /// <summary>
-        /// Open connection to server "host", with port number "port"
-        /// </summary>
-        /// <returns>true if connection succeded, false otherwise</returns>
-        /// <param name="host">Hostname to connect to</param>
-        /// <param name="port">Port number for connection</param>
-        public static bool Open(string host, int port)
-        {
-            bool status = true;
-
-            try
-            {
-                client = new TcpClient(host, port);
-
-                stream = client.GetStream();
-
-                // Start reading tcp stream and call "ReadCallback" method when newLength data
-                // will be received
-                // initially, "newLength" is equal to 1, so first call to ReadCallback
-                // will be done after reception of 1 byte.
-
-                // received data are stored in buffer
-                // Next reading will be done in ReadCallback method
-                stream.BeginRead(buffer, 0, 1, new AsyncCallback(ReadCallback), message);
-            }
-            catch (ArgumentNullException e)
-            {
-                Console.WriteLine("ArgumentNullException: " + e);
-                status = false;
-            }
-            catch (SocketException e)
-            {
-                Console.WriteLine("SocketException: " + e.ToString());
-                status = false;
-            }
-            catch (Exception e)
-            {
-                Console.WriteLine("Unknown Exception: " + e.ToString());
-                status = false;
-            }
-
-            return status;
-        }
-
-        /// <summary>
-        /// Close connection to server
-        /// </summary>
-        public static void Close()
-        {
-            if (stream != null) stream.Close();
-            if (client != null) client.Close();
-        }
-
-        /// <summary>
-        /// Callback call by stream.BeginRead after reception of newLength data
-        /// </summary>
-        /// <param name="ar">Not sure of what is it, but needed for terminate reading</param>
-        private static void ReadCallback(IAsyncResult ar)
-        {
-            int newLength = 1;
-            int index = -1;
-
-            if (client.Connected)
-            {
-                int bytesRead;
-
-                try
-                {
-                    // Terminate read operation, and get number of byte stored in buffer
-                    bytesRead = stream.EndRead(ar);
-                }
-                catch (ObjectDisposedException e)
-                {
-                    Console.WriteLine("Connection to server dropped: " + e.ToString());
-                    return;
-                }
-                catch (System.IO.IOException e)
-                {
-                    Console.WriteLine("Connection to server dropped: " + e.ToString());
-                    return;
-                }
-
-                newLength = 1;
-                index = -1;
-
-                // if number of byte read is not 0, concatenate string and buffer
-                if (bytesRead > 0)
-                {
-                    //Console.WriteLine("Receive " + bytesRead + " data");
-
-                    // Append new data to current string (expecting data are ascii)
-                    message.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead));
-                    index = SearchCarriageReturn(buffer, bytesRead);
-                }
-
-                // if it remains received data, prepare for a new reading (get another buffer to append to current one)
-                if (index == -1)
-                {
-                    if (client.Available > 0)
-                    {
-                        newLength = client.Available;
-                        if (newLength > BufferMaxSize) newLength = BufferMaxSize;
-                        else newLength = client.Available;
-                    }
-                }
-                else
-                {
-                    string s = message.ToString();
-
-                    // no more data to read, buffer and string can be send to upper level
-                    readEvent?.Invoke(s);
-
-                    message.Clear();
-
-                    if (index != bytesRead - 1)
-                    {
-                        byte[] trailing=new byte[BufferMaxSize];
-
-                        Array.Copy(buffer, index + 1, trailing, 0, bytesRead - index - 1);
-                        message.Append(Encoding.ASCII.GetString(trailing, 0, bytesRead - index - 1));
-                    }
-                }
-
-                // Prepare for reading new data
-                if (newLength> BufferMaxSize) newLength = BufferMaxSize;
-                if (newLength <= 0) newLength = 1;
-
-                try
-                {
-                    stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message);
-                }
-                catch (ObjectDisposedException e)
-                {
-                    Console.WriteLine("Connection to server dropped: " + e.ToString());
-                    return;
-                }
-                catch (System.IO.IOException e)
-                {
-                    Console.WriteLine("Connection to server dropped: " + e.ToString());
-                    return;
-                }
-            }
-        }
-
-        /// <summary>
-        /// Searchs the carriage return.
-        /// </summary>
-        /// <returns>Index of carriage return, if present, -1 otherwise.</returns>
-        /// <param name="buf">Buffer of byte</param>
-        /// <param name="length">Length of buffer</param>
-        private static int SearchCarriageReturn(byte[] buf, int length)
-        {
-            int index = -1;
-            int i = 0;
-
-            for (i = 0; i < length; i++)
-            {
-                if (buf[i] == (byte)'\n') break;
-            }
-
-            if (i!= length) index = i;
-            return index;
-        }
-
-        /// <summary>
-        /// Write a string to server
-        /// </summary>
-        /// <returns>Nothing</returns>
-        /// <param name="mes">Message to send to server</param>
-        public static void Write(string mes)
-        {
-            if (client.Connected)
-            {
-                byte[] writeBuffer = Encoding.UTF8.GetBytes(mes);
-
-                try
-                {
-                    stream.Write(writeBuffer, 0, mes.Length);
-                }
-                catch (System.IO.IOException) {
-                    Console.WriteLine("Server closed");
-                    client.Close();
-                }
-            }
-        }
-    }
-}

software/monitor/monitor/CommandManager.cs

@@ -1,214 +0,0 @@
-//
-//  CommandManager.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/>.
-
-using System.Threading;
-
-namespace monitor
-{
-    /// <summary>
-    /// Command Manager. Use for timeout managment during reception of data
-    /// Used as intermediate layer between TCP client class (Client) and application level
-    /// managment of command and answers
-    /// </summary>
-    public class CommandManager
-    {
-        /// <summary>
-        /// Callback for sending received data to upper level
-        /// </summary>
-        public delegate void CommandReceivedEvent(string msg);
-        public CommandReceivedEvent commandReceivedEvent = null;
-
-        /// <summary>
-        /// Timer for managing timeout
-        /// </summary>
-        private System.Timers.Timer waitTimer = new System.Timers.Timer();
-        private ManualResetEvent waitEvent = new ManualResetEvent(false);
-
-        /// <summary>
-        /// Flag to tell rogram to wait for an acknowledge from server
-        /// </summary>
-        private bool waitForAcknowledge = false;
-
-        /// <summary>
-        /// received message
-        /// </summary>
-        private string messageReceived = null;
-
-        /// <summary>
-        /// flag indicating command manager is currently busy waiting an acknowledge
-        /// </summary>
-        private bool isBusy = false;
-
-        /// <summary>
-        /// Available status when sending command
-        /// </summary>
-        public enum CommandManagerStatus
-        {
-            AnswerReceived,
-            Timeout,
-            Busy
-        };
-
-        /// <summary>
-        /// Initializes a new instance of the <see cref="T:monitor.CommandManager"/> class.
-        /// </summary>
-        /// <param name="callback">Callback used when new message are received</param>
-        public CommandManager(CommandReceivedEvent callback)
-        {
-            Client.readEvent += this.OnMessageReception;
-
-            this.commandReceivedEvent += callback;
-            waitTimer.Elapsed += OnMessageTimeout;
-        }
-
-        /// <summary>
-        /// Releases unmanaged resources and performs other cleanup operations before the
-        /// <see cref="T:monitor.CommandManager"/> is reclaimed by garbage collection.
-        /// </summary>
-        ~CommandManager()
-        {
-            Client.Close();
-        }
-
-        /// <summary>
-        /// Open the specified hostname server, using default port number.
-        /// </summary>
-        /// <returns>true if connection succeded, false otherwise</returns>
-        /// <param name="hostname">Hostname to connect to</param>
-        public bool Open(string hostname)
-        {
-            return this.Open(hostname, Client.defaultPort);
-        }
-
-        /// <summary>
-        /// Open connection to server "host", with port number "port"
-        /// </summary>
-        /// <returns>true if connection succeded, false otherwise</returns>
-        /// <param name="hostname">Hostname to connect to</param>
-        /// <param name="port">Port number for connection</param>
-        public bool Open(string hostname, int port)
-        {
-            return Client.Open(hostname, port);
-        }
-
-        /// <summary>
-        /// Close connection to server
-        /// </summary>
-        public void Close()
-        {
-            Client.Close();
-        }
-
-        /// <summary>
-        /// Callback called by Client class after reception of new message
-        /// </summary>
-        /// <param name="message">Message received from server</param>
-        /// <param name="buffer">Raw buffer reived from server</param>
-        private void OnMessageReception(string message)
-        {
-            waitTimer.Stop(); // Stop timeout stopwatch
-
-            this.messageReceived = message;
-            isBusy = false;
-
-            // if SendCommand wait for an acknowledge, release semaphore waitEvent
-            // so that SendCommand will be able to read received answer
-            // Received answer will not be sent to upper level
-            if (waitForAcknowledge)
-            {
-                waitForAcknowledge = false;
-                waitEvent.Set(); // Envoi de l'evenement
-            }
-            else
-                // if sendCommand doesn't wait for an acknowledge, message received
-                // is for upper level, so call callback
-            {
-                
-                waitForAcknowledge = false;
-
-                this.commandReceivedEvent?.Invoke(message);
-            }
-        }
-
-        /// <summary>
-        /// Callback called by stopwatch on timeout
-        /// </summary>
-        /// <param name="sender">Sender object</param>
-        /// <param name="e">Information on elapsed condition</param>
-        private void OnMessageTimeout(object sender, System.Timers.ElapsedEventArgs e)
-        {
-            messageReceived = null;
-            // set buffer and message as null to indicate that no message was received
-            // and call to OnMessagereception is due to timeout
-            OnMessageReception(messageReceived);
-        }
-
-        /// <summary>
-        /// Sends a command to TCP server
-        /// </summary>
-        /// <returns>status that is part of CommandManagerStatus enumerate</returns>
-        /// <param name="cmd">Command message to send to server</param>
-        /// <param name="answer">Answer from server, in case of acknowledge</param>
-        /// <param name="timeout">Timeout (ms) waiting an acknowledge, 0 if no acknowledge needed</param>
-        public CommandManagerStatus SendCommand(string cmd, out string answer, double timeout)
-        {
-            CommandManagerStatus status = CommandManagerStatus.AnswerReceived;
-            answer = null;
-
-
-            if (isBusy) status = CommandManagerStatus.Busy;
-            else
-            {
-                isBusy = true;
-
-                // Send command to server
-                Client.Write(cmd);
-
-                if (timeout > 0) // Command request an acknowledge
-                {
-                    
-                    waitForAcknowledge = true;  // Flag used in OnMessageReception callback to avoid
-                                                // sending acknowledge message to upper level
-                    waitTimer.Interval = timeout;
-                    waitTimer.Start();          // Start timeout timer
-
-                    waitEvent.WaitOne();        // Stop current thread, waiting for waitEvent semaphore 
-                                                // produced in OnMessageReception when either a message is received
-                                                // or a timeout occur
-
-                    waitEvent.Reset();          // reset semaphore for next message
-
-                    if (this.messageReceived == null) // timeout: server connection error
-                    {
-                        status = CommandManagerStatus.Timeout;
-                    }
-                }
-                else isBusy = false;
-
-                // return received answer, null in case of timeout
-                answer = this.messageReceived;
-                this.messageReceived = null;
-            }
-
-            return status;
-        }
-    }
-}

software/monitor/monitor/DestijlCommandManager.cs

@@ -1,700 +0,0 @@
-//
-//  DestijlCommandManager.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
-
-using System;
-using System.Globalization;
-
-namespace monitor
-{
-    /// <summary>
-    /// Commands and options parameters used in Destijl project when communicating with server
-    /// </summary>
-    public static class DestijlCommandList
-    {
-        public const string ANSWER_ACK = "AACK";
-        public const string ANSWER_NACK = "ANAK";
-        public const string ANSWER_COM_ERROR = "ACER";
-        public const string ANSWER_TIMEOUT = "ATIM";
-        public const string ANSWER_CMD_REJECTED = "ACRJ";
-        public const string MESSAGE = "MSSG";
-        public const string CAMERA_OPEN = "COPN";
-        public const string CAMERA_CLOSE = "CCLS";
-        public const string CAMERA_IMAGE = "CIMG";
-        public const string CAMERA_ARENA_ASK = "CASA";
-        public const string CAMERA_ARENA_INFIRM = "CAIN";
-        public const string CAMERA_ARENA_CONFIRM = "CACO";
-        public const string CAMERA_POSITION_COMPUTE = "CPCO";
-        public const string CAMERA_POSITION_STOP = "CPST";
-        public const string CAMERA_POSITION = "CPOS";
-        public const string ROBOT_COM_OPEN = "ROPN";
-        public const string ROBOT_COM_CLOSE = "RCLS";
-        public const string ROBOT_PING = "RPIN";
-        public const string ROBOT_RESET = "RRST";
-        public const string ROBOT_START_WITHOUT_WD = "RSOW";
-        public const string ROBOT_START_WITH_WD = "RSWW";
-        public const string ROBOT_RELOAD_WD = "RLDW";
-        public const string ROBOT_MOVE = "RMOV";
-        public const string ROBOT_TURN = "RTRN";
-        public const string ROBOT_GO_FORWARD = "RGFW";
-        public const string ROBOT_GO_BACKWARD = "RGBW";
-        public const string ROBOT_GO_LEFT = "RGLF";
-        public const string ROBOT_GO_RIGHT = "RGRI";
-        public const string ROBOT_STOP = "RSTP";
-        public const string ROBOT_POWEROFF = "RPOF";
-        public const string ROBOT_BATTERY_LEVEL = "RBLV";
-        public const string ROBOT_GET_BATTERY = "RGBT";
-        public const string ROBOT_GET_STATE = "RGST";
-        public const string ROBOT_CURRENT_STATE = "RCST";
-
-        public const char SEPARATOR_CHAR = ':';
-    }
-
-    /// <summary>
-    /// Specialization class for command manager, which implemnent destijl protocol between monitor and server
-    /// </summary>
-    public class DestijlCommandManager
-    {
-        /// <summary>
-        /// Command Manager object
-        /// </summary>
-        private CommandManager commandManager = null;
-
-        /// <summary>
-        /// Part of received message corresponding to command header
-        /// </summary>
-        private string receivedHeader = null;
-
-        /// <summary>
-        /// Part of received message corresponding to command data
-        /// </summary>
-        private string receivedData = null;
-
-        /// <summary>
-        /// Callback for sending received data to application level
-        /// </summary>
-        public delegate void CommandReceivedEvent(string header, string data);
-        public CommandReceivedEvent commandReceivedEvent = null;
-
-        /// <summary>
-        /// Timeout used for command with acknowledge
-        /// </summary>
-        public double timeout = 100; 
-
-        /// <summary>
-        /// List of available return status
-        /// </summary>
-        public enum CommandStatus
-        {
-            Success,
-            Rejected,
-            InvalidAnswer,
-            Busy,
-            CommunicationLostWithRobot,
-            CommunicationLostWithServer
-        }
-
-        public struct Point {
-            public double x;
-            public double y;
-        } 
-
-        public class Position {
-            public int robotID;
-            public double angle;
-            public Point centre;
-            public Point direction;
-
-            public Position() {
-                robotID = 0;
-                angle = 0.0;
-                centre.x = 0.0;
-                centre.y = 0.0;
-                direction.x = 0.0;
-                direction.y = 0.0;
-            }
-
-            public override string ToString() {
-                string s = "ID: " + robotID + ", Angle: " + angle +
-                    ", Centre (x: " + centre.x + ", y: " + centre.y +
-                                          "), Direction (x: " + direction.x + ", y: " + direction.y + ")";
-                return s;
-            }
-        }
-
-        /// <summary>
-        /// Initializes a new instance of the <see cref="monitor.DestijlCommandManager"/> class.
-        /// </summary>
-        /// <param name="callback">Callback reference for reception of data</param>
-        public DestijlCommandManager(CommandReceivedEvent callback)
-        {
-            commandManager = new CommandManager(OnCommandReceived);
-            this.commandReceivedEvent += callback;
-        }
-
-        /// <summary>
-        /// Releases unmanaged resources and performs other cleanup operations before the
-        /// <see cref="monitor.DestijlCommandManager"/> is reclaimed by garbage collection.
-        /// </summary>
-        ~DestijlCommandManager()
-        {
-            if (commandManager != null) commandManager.Close();
-        }
-
-        /// <summary>
-        /// Callback used for receiving data from lower layer (CommandManager class)
-        /// </summary>
-        /// <param name="msg">String containing received message</param>
-        /// <param name="buffer">Raw buffer to be used when data are not in ascii format (image for example)</param>
-        private void OnCommandReceived(string msg)
-        {
-            // Firstly, remove ending \n and everything after
-            string[] msgsCarriageReturn = msg.Split('\n');
-
-            // Second, split message in (at least) two part : header, and data
-            string[] msgs = msgsCarriageReturn[0].Split(DestijlCommandList.SEPARATOR_CHAR);
-
-            // If it exist at least on element in string array, it should be command header
-            if (msgs.Length >= 1) receivedHeader = msgs[0];
-            else receivedHeader = null;
-
-            // if msgs array contains at least two elements, second element is normally data
-            if (msgs.Length >= 2) receivedData = msgs[1];
-            else receivedData = null;
-
-            // when split is done, provide data to application
-            this.commandReceivedEvent?.Invoke(receivedHeader, receivedData);
-        }
-
-        /// <summary>
-        /// Open the specified hostname server, using default port number.
-        /// </summary>
-        /// <returns>true if connection succeded, false otherwise</returns>
-        /// <param name="hostname">Hostname to connect to</param>
-        public bool Open(string hostname)
-        {
-            return this.Open(hostname, Client.defaultPort);
-        }
-
-        /// <summary>
-        /// Open connection to server "host", with port number "port"
-        /// </summary>
-        /// <returns>true if connection succeded, false otherwise</returns>
-        /// <param name="hostname">Hostname to connect to</param>
-        /// <param name="port">Port number for connection</param>
-        public bool Open(string hostname, int port)
-        {
-            if (commandManager != null) return commandManager.Open(hostname, port);
-            else return false;
-        }
-
-        /// <summary>
-        /// Close connection to server
-        /// </summary>
-        public void Close()
-        {
-            if (commandManager != null) commandManager.Close();
-        }
-
-        /// <summary>
-        /// Creates the command to send to server, based on header and data provided
-        /// </summary>
-        /// <returns>The command string</returns>
-        /// <param name="header">Header part of the command</param>
-        /// <param name="data">Data part of the command</param>
-        private string CreateCommand(string header, string data)
-        {
-            return header + DestijlCommandList.SEPARATOR_CHAR + data+"\n";
-        }
-
-        /// <summary>
-        /// Creates the command to send to server, based on header
-        /// </summary>
-        /// <returns>The command string</returns>
-        /// <param name="header">Header part of the command</param>
-        private string CreateCommand(string header)
-        {
-            return header + DestijlCommandList.SEPARATOR_CHAR+"\n";
-        }
-
-        /// <summary>
-        /// Provide DestijlCommandManager.CommandStatus based on status received by CommandManager.SendCommand and answer string 
-        /// </summary>
-        /// <returns>Status compatible with DestijlCommandManager.CommandStatus type</returns>
-        /// <param name="localStatus">Status provided by CommandManager.SendCommand</param>
-        /// <param name="answer">Answer provided by CommandManager.SendCommand</param>
-        private CommandStatus DecodeStatus(CommandManager.CommandManagerStatus localStatus, string answer)
-        {
-            CommandStatus status = CommandStatus.Success;
-
-            // if timeout occures, return CommandStatus.CommunicationLostWithServer
-            if (localStatus == CommandManager.CommandManagerStatus.Timeout) status = CommandStatus.CommunicationLostWithServer;
-            // if a command is currently processed, return Busy
-            else if (localStatus == CommandManager.CommandManagerStatus.Busy) status = CommandStatus.Busy;
-            else
-            {
-                if (answer != null)
-                {
-                    // if command is not acknowledged, return Rejected
-                    if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_NACK)) status = CommandStatus.Rejected;
-                    // if communication is lost with robot, return CommunicationLostWithRobot
-                    else if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_TIMEOUT)) status = CommandStatus.CommunicationLostWithRobot;
-                    // if answer is empty, communication with robot is lost
-                    else if (answer.Length == 0) status = CommandStatus.CommunicationLostWithServer;
-                    //else status = CommandStatus.InvalidAnswer;
-                }
-            }
-
-            return status;
-        }
-
-        /// <summary>
-        /// Open communication with robot and wait acknowledge
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus RobotOpenCom()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_COM_OPEN),
-                out answer,
-                this.timeout);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Close communication with robot and wait acknowledge
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus RobotCloseCom()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_COM_CLOSE),
-                out answer,
-                this.timeout);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Ping the robot.
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus RobotPing()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_PING),
-                out answer,
-                this.timeout);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Reset robot and let it in idle mode
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus RobotReset()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_RESET),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Start robot, enabling watchdog
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus RobotStartWithWatchdog()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_START_WITH_WD),
-                out answer,
-                this.timeout);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Start robot, without enabling watchdog 
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus RobotStartWithoutWatchdog()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_START_WITHOUT_WD),
-                out answer,
-                this.timeout);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Move robot forward for an unlimited distance
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus RobotGoForward()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_GO_FORWARD),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Move robot backward for an unlimited distance
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus RobotGoBackward()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_GO_BACKWARD),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Turn robot to the left for an unlimited number of turn
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus RobotGoLeft()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_GO_LEFT),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Turn robot to the right for an unlimited number of turn
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus RobotGoRight()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_GO_RIGHT),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Stop robot mouvement
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus RobotStop()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_STOP),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Make robot turn left or right, for a given angle
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        /// <param name="angle">Angle of turn, in degree (negative for left, positive for right)</param>
-        public CommandStatus RobotTurn(int angle)
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_TURN, Convert.ToString(angle)),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Request robot battery level
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus RobotGetBattery()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_GET_BATTERY),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Power off robot
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus RobotPowerOff()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_POWEROFF),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Open camera on remote device
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus CameraOpen()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.CAMERA_OPEN),
-                out answer,
-                this.timeout);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Close camera on remote device
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus CameraClose()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.CAMERA_CLOSE),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Request still image of detected arena
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus CameraAskArena()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.CAMERA_ARENA_ASK),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Confirm arena detection (after requesting image of detected arena, using CameraAskArena
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus CameraArenaConfirm()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.CAMERA_ARENA_CONFIRM),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Reject arena detected (after requesting image of detected arena, using CameraAskArena
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus CameraArenaInfirm()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.CAMERA_ARENA_INFIRM),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Request robot position computing
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus CameraComputePosition()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.CAMERA_POSITION_COMPUTE),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        /// <summary>
-        /// Stop robot position computing
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        public CommandStatus CameraStopComputePosition()
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.CAMERA_POSITION_STOP),
-                out answer,
-                0);
-
-            return DecodeStatus(localStatus, answer);
-        }
-
-        public static Position DecodePosition(string data) {
-            Position pos = new Position();
-
-            pos.robotID = 0;
-            pos.angle = 0.0;
-            pos.centre.x = 0.0; 
-            pos.centre.y=0.0;
-            pos.direction.x = 0.0;
-            pos.direction.y = 0.0;
-
-            string[] parts = data.Split(';');
-
-            NumberFormatInfo provider = new NumberFormatInfo();
-            provider.NumberDecimalSeparator = ".";
-            provider.NumberGroupSeparator = ",";
-            provider.NumberGroupSizes = new int[] { 3 };
-
-            if (parts.Length == 6) {
-                pos.robotID = Convert.ToInt32(parts[0]);
-
-                try
-                {
-                    pos.angle = Convert.ToDouble(parts[1]);
-                } catch (FormatException)
-                {
-                    pos.angle = Convert.ToDouble(parts[1],provider);
-                }
-
-                try
-                {
-                    pos.centre.x = Convert.ToDouble(parts[2]);
-                } catch (FormatException)
-                {
-                    pos.centre.x = Convert.ToDouble(parts[2], provider);
-                }
-
-                try
-                {
-                    pos.centre.y = Convert.ToDouble(parts[3]);
-                }
-                catch (FormatException)
-                {
-                    pos.centre.y = Convert.ToDouble(parts[3], provider);
-                }
-
-                try
-                {
-                    pos.direction.x = Convert.ToDouble(parts[4]);
-                }
-                catch (FormatException)
-                {
-                    pos.direction.x = Convert.ToDouble(parts[4], provider);
-                }
-
-                try
-                {
-                    pos.direction.y = Convert.ToDouble(parts[5]);
-                }
-                catch (FormatException)
-                {
-                    pos.direction.y = Convert.ToDouble(parts[5], provider);
-                }
-
-            } else {
-                // misformatted data, return 0 filled position
-                Console.WriteLine("Misformated position");
-            }
-
-            return pos;
-        }
-    }
-}

software/monitor/monitor/ImageWidget.cs

@@ -1,304 +0,0 @@
-//
-//  ImageWidget.cs
-//
-//  Author:
-//       Di MERCURIO Sébastien <dimercur@insa-toulouse.fr>
-//
-//  Copyright (c) 2019 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/>.
-
-// 15/10/2019 dimercur
-// Demande #43: Migrer le code lié à la gestion des images dans sa propre classe widget
-
-using System;
-using Gtk;
-using Cairo;
-using Gdk;
-
-using System.Timers;
-
-namespace monitor
-{
-    /// <summary>
-    /// Class used for video display
-    /// </summary>
-    public class ImageWidget
-    {
-        /// <summary>
-        /// Reference to GTK base widget
-        /// </summary>
-        private DrawingArea drawingArea;
-
-        /// <summary>
-        /// Pixbuffer used for displaying image
-        /// </summary>
-        private Pixbuf drawingareaCameraPixbuf;
-
-        /// <summary>
-        /// Indicate if position must be displayed or not
-        /// </summary>
-        public bool showPosition;
-
-        /// <summary>
-        /// Indicate if FPS must be displayed or not
-        /// </summary>
-        private bool showFPS;
-        public bool ShowFPS
-        {
-            get
-            {
-                return showFPS;
-            }
-
-            set
-            {
-                showFPS = value;
-
-                if (value == true)
-                {
-                    imageFPS = 0;
-                    imageFPScounter = 0;
-
-                    fpsTimer.Start();
-                }
-                else
-                {
-                    fpsTimer.Stop();
-
-                    Refresh();
-                }
-            }
-        }
-
-        /// <summary>
-        /// Counter used for FPS computation
-        /// </summary>
-        private int imageFPS = 0;
-        private int imageFPScounter = 0;
-
-        /// <summary>
-        /// Timer for FPS request
-        /// </summary>
-        private System.Timers.Timer fpsTimer;
-
-        /// <summary>
-        /// Hold position to be displayed
-        /// </summary>
-        private DestijlCommandManager.Position position;
-        public DestijlCommandManager.Position Position
-        {
-            get
-            {
-                return position;
-            }
-
-            set 
-            {
-                position = value; 
-                Refresh();
-            }
-        }
-
-        /// <summary>
-        /// Request a refresh of drawing area
-        /// </summary>
-        private void Refresh() 
-        {
-            Gtk.Application.Invoke(delegate
-            {
-                drawingArea.QueueDraw();
-            });
-        }
-
-        /// <summary>
-        /// Initializes a new instance of ImageWidget class.
-        /// </summary>
-        /// <param name="area">Reference to GTK drawing area widget</param>
-        public ImageWidget(DrawingArea area)
-        {
-            this.drawingArea = area;
-            // create new timer for FPS , every 1s
-            fpsTimer = new System.Timers.Timer(1000.0);
-            fpsTimer.Elapsed += OnFpsTimerElapsed;
-
-            showPosition = false;
-            showFPS = false;
-
-            drawingArea.ExposeEvent += OnDrawingAreaCameraExposeEvent;
-        }
-
-        /// <summary>
-        /// Show an image from a ressource
-        /// </summary>
-        /// <param name="ressource">Ressource path</param>
-        public void ShowImage(string ressource) 
-        {
-            drawingareaCameraPixbuf = Pixbuf.LoadFromResource("monitor.ressources.missing_picture.png");
-            imageFPScounter++;
-
-            Refresh();
-        }
-
-        /// <summary>
-        /// Show an image from a byte array
-        /// </summary>
-        /// <param name="image">Byte array containing a valid image</param>
-        public void ShowImage(byte[] image)
-        {
-            drawingareaCameraPixbuf = new Pixbuf(image);
-            imageFPScounter++;
-
-            Refresh();
-        }
-
-        /// <summary>
-        /// Callback called when drawingarea need refresh
-        /// </summary>
-        /// <param name="o">Sender object</param>
-        /// <param name="args">Expose arguments</param>
-        protected void OnDrawingAreaCameraExposeEvent(object o, ExposeEventArgs args)
-        {
-            //Console.WriteLine("Event expose. Args = " + args.ToString());
-
-            DrawingArea area = (DrawingArea)o;
-            Gdk.Pixbuf displayPixbuf;
-            int areaWidth, areaHeight;
-
-            // Get graphic context for background
-            Gdk.GC gc = area.Style.BackgroundGC(Gtk.StateType.Normal);
-
-            // get size of drawingarea widget
-            area.GdkWindow.GetSize(out areaWidth, out areaHeight);
-            int width = drawingareaCameraPixbuf.Width;
-            int height = drawingareaCameraPixbuf.Height;
-            float ratio = (float)width / (float)height;
-
-            // if widget is smaller than image, reduce it
-            if (areaWidth <= width)
-            {
-                width = areaWidth;
-                height = (int)(width / ratio);
-            }
-
-            // if image is smaller than widget, enlarge it
-            if (width > areaWidth)
-            {
-                width = areaWidth;
-            }
-
-            if (height > areaHeight)
-            {
-                height = areaHeight;
-            }
-
-            //scale original picture and copy result in local pixbuf
-            displayPixbuf = drawingareaCameraPixbuf.ScaleSimple(width, height, InterpType.Bilinear);
-
-            // draw local pixbuff centered on drawingarea
-            area.GdkWindow.DrawPixbuf(gc, displayPixbuf,
-                                      0, 0,
-                                      (areaWidth - displayPixbuf.Width) / 2,
-                                      (areaHeight - displayPixbuf.Height) / 2,
-                                      displayPixbuf.Width, displayPixbuf.Height,
-                                      RgbDither.Normal, 0, 0);
-
-            if (showPosition)
-            {
-                Cairo.Context cr = Gdk.CairoHelper.Create(area.GdkWindow);
-                Cairo.Color textFontColor = new Cairo.Color(0.8, 0, 0);
-
-                cr.SelectFontFace("Cantarell", FontSlant.Normal, FontWeight.Bold);
-                cr.SetSourceColor(textFontColor);
-                cr.SetFontSize(16);
-
-                if (position != null)
-                {
-                    double space = 0.0;
-
-                    string text = "Direction (" + position.direction.x.ToString("0.##") + " ; " + position.direction.y.ToString("0.##") + ")";
-                    TextExtents te = cr.TextExtents(text);
-                    cr.MoveTo(areaWidth - te.Width - 5,
-                              areaHeight - te.Height - 5);
-                    space = te.Height;
-                    cr.ShowText(text);
-
-                    text = "Centre (" + position.centre.x.ToString("0.##") + " ; " + position.centre.y.ToString("0.##") + ")";
-                    te = cr.TextExtents(text);
-                    cr.MoveTo(areaWidth - te.Width - 5,
-                              areaHeight - te.Height - 5 - space - 5);
-                    space = space + te.Height + 5;
-                    cr.ShowText(text);
-
-                    text = "Angle: " + position.angle.ToString("0.##");
-                    te = cr.TextExtents(text);
-                    cr.MoveTo(areaWidth - te.Width - 5,
-                              areaHeight - te.Height - 5 - space - 5);
-                    space = space + te.Height + 5;
-                    cr.ShowText(text);
-
-                    text = "ID: " + position.robotID;
-                    te = cr.TextExtents(text);
-                    cr.MoveTo(areaWidth - te.Width - 5,
-                              areaHeight - te.Height - 5 - space - 5);
-
-                    cr.ShowText(text);
-                }
-                else
-                {
-                    string text = "Position (NULL)";
-                    TextExtents te = cr.TextExtents(text);
-                    cr.MoveTo(areaWidth - te.Width - 5,
-                              areaHeight - te.Height - 5);
-                    
-                    cr.ShowText(text);
-                }
-
-                ((IDisposable)cr.GetTarget()).Dispose();
-                ((IDisposable)cr).Dispose();
-            }
-
-            if (showFPS)
-            {
-                Cairo.Context cr = Gdk.CairoHelper.Create(area.GdkWindow);
-                Cairo.Color textFontColor = new Cairo.Color(0.8, 0, 0);
-
-                cr.SelectFontFace("Cantarell", FontSlant.Normal, FontWeight.Bold);
-                cr.SetSourceColor(textFontColor);
-                cr.SetFontSize(16);
-
-                string text = "FPS= " + imageFPS.ToString();
-                TextExtents te = cr.TextExtents(text);
-                cr.MoveTo(10, 10 + te.Height);
-                cr.ShowText(text);
-
-                ((IDisposable)cr.GetTarget()).Dispose();
-                ((IDisposable)cr).Dispose();
-            }
-        }
-    
-        /// <summary>
-        /// Timer used for FPS computation
-        /// </summary>
-        /// <param name="sender">Sender object</param>
-        /// <param name="e">unused parameter</param>
-        private void OnFpsTimerElapsed(object sender, ElapsedEventArgs e)
-        {
-            imageFPS = imageFPScounter;
-            imageFPScounter = 0;
-
-            Refresh();
-        }
-    }
-}

software/monitor/monitor/MonitorUI.cs

@@ -1,655 +0,0 @@
-//
-//  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;
-    }
-}

software/monitor/monitor/Program.cs

@@ -1,37 +0,0 @@
-//
-//  Program.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/>.
-
-using System;
-using Gtk;
-
-namespace monitor
-{
-    class MainClass
-    {
-        public static void Main(string[] args)
-        {
-            Application.Init();
-            MainWindow win = new MainWindow();
-            win.Show();
-            Application.Run();
-        }
-    }
-}

software/monitor/monitor/Properties/AssemblyInfo.cs

@@ -1,26 +0,0 @@
-using System.Reflection;
-using System.Runtime.CompilerServices;
-
-// Information about this assembly is defined by the following attributes. 
-// Change them to the values specific to your project.
-
-[assembly: AssemblyTitle("monitor")]
-[assembly: AssemblyDescription("")]
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software/monitor/monitor/afterBuild.sh

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software/monitor/monitor/docs/html/_client_8cs.html

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software/monitor/monitor/docs/html/_command_manager_8cs.html

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software/monitor/monitor/docs/html/_destijl_command_manager_8cs.html

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software/monitor/monitor/docs/html/_monitor_u_i_8cs.html

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-<a href="#pub-methods">Public Member Functions</a> &#124;
-<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
-<a href="#pub-attribs">Public Attributes</a> &#124;
-<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
-<a href="#pri-static-methods">Static Private Member Functions</a> &#124;
-<a href="#pri-attribs">Private Attributes</a> &#124;
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-<a href="classmonitor_1_1_client-members.html">List of all members</a>  </div>
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-<p>Static class for TCP client  
- <a href="classmonitor_1_1_client.html#details">More...</a></p>
-<table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
-Public Member Functions</h2></td></tr>
-<tr class="memitem:ae85f4aa567a41488d5c65e470ae15378"><td class="memItemLeft" align="right" valign="top">delegate void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#ae85f4aa567a41488d5c65e470ae15378">ReadEvent</a> (string msg, byte[] <a class="el" href="classmonitor_1_1_client.html#abd5c33a23e0fab7b369b59ac296c7762">buffer</a>)</td></tr>
-<tr class="memdesc:ae85f4aa567a41488d5c65e470ae15378"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback to send received message to upper level  <a href="#ae85f4aa567a41488d5c65e470ae15378">More...</a><br /></td></tr>
-<tr class="separator:ae85f4aa567a41488d5c65e470ae15378"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table><table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
-Static Public Member Functions</h2></td></tr>
-<tr class="memitem:af802cd428aa08b9604e2246f11e1fe61"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#af802cd428aa08b9604e2246f11e1fe61">Open</a> (string host)</td></tr>
-<tr class="memdesc:af802cd428aa08b9604e2246f11e1fe61"><td class="mdescLeft">&#160;</td><td class="mdescRight">Open connection to server "host", on default port number.  <a href="#af802cd428aa08b9604e2246f11e1fe61">More...</a><br /></td></tr>
-<tr class="separator:af802cd428aa08b9604e2246f11e1fe61"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:aee6f8f594a9496600b78c37d6da457d4"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#aee6f8f594a9496600b78c37d6da457d4">Open</a> (string host, int port)</td></tr>
-<tr class="memdesc:aee6f8f594a9496600b78c37d6da457d4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Open connection to server "host", with port number "port"  <a href="#aee6f8f594a9496600b78c37d6da457d4">More...</a><br /></td></tr>
-<tr class="separator:aee6f8f594a9496600b78c37d6da457d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:ae6c0cbe19d622b008fd1f6d01d9cb315"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#ae6c0cbe19d622b008fd1f6d01d9cb315">Close</a> ()</td></tr>
-<tr class="memdesc:ae6c0cbe19d622b008fd1f6d01d9cb315"><td class="mdescLeft">&#160;</td><td class="mdescRight">Close connection to server  <a href="#ae6c0cbe19d622b008fd1f6d01d9cb315">More...</a><br /></td></tr>
-<tr class="separator:ae6c0cbe19d622b008fd1f6d01d9cb315"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a081413295e7a96662b39b2ddec854b02"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#a081413295e7a96662b39b2ddec854b02">Write</a> (string mes)</td></tr>
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-<tr class="separator:a081413295e7a96662b39b2ddec854b02"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table><table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
-Public Attributes</h2></td></tr>
-<tr class="memitem:a326a20fe68a86757e16a6e45b8012640"><td class="memItemLeft" align="right" valign="top">const string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#a326a20fe68a86757e16a6e45b8012640">defaultIP</a> = &quot;localhost&quot;</td></tr>
-<tr class="memdesc:a326a20fe68a86757e16a6e45b8012640"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default server name  <a href="#a326a20fe68a86757e16a6e45b8012640">More...</a><br /></td></tr>
-<tr class="separator:a326a20fe68a86757e16a6e45b8012640"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:ad0a9bfc361ccef7443625f399e67f84a"><td class="memItemLeft" align="right" valign="top">const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#ad0a9bfc361ccef7443625f399e67f84a">defaultPort</a> = 4500</td></tr>
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-<tr class="separator:ad0a9bfc361ccef7443625f399e67f84a"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table><table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
-Static Public Attributes</h2></td></tr>
-<tr class="memitem:a01cb2a551d81fd82d2f7015e177f0f18"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmonitor_1_1_client.html#ae85f4aa567a41488d5c65e470ae15378">ReadEvent</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#a01cb2a551d81fd82d2f7015e177f0f18">readEvent</a> = null</td></tr>
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-</table><table class="memberdecls">
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-Static Private Member Functions</h2></td></tr>
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-<tr class="separator:a8dd2eb26c164d0f566dd6c679ba340e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table><table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
-Private Attributes</h2></td></tr>
-<tr class="memitem:acbc4cae14536eccb5297aacdadb84f29"><td class="memItemLeft" align="right" valign="top">const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#acbc4cae14536eccb5297aacdadb84f29">BufferMaxSize</a> = 512</td></tr>
-<tr class="memdesc:acbc4cae14536eccb5297aacdadb84f29"><td class="mdescLeft">&#160;</td><td class="mdescRight">Size of internal buffer used when reading data from server  <a href="#acbc4cae14536eccb5297aacdadb84f29">More...</a><br /></td></tr>
-<tr class="separator:acbc4cae14536eccb5297aacdadb84f29"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table><table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-static-attribs"></a>
-Static Private Attributes</h2></td></tr>
-<tr class="memitem:a4867b48ebfa930a80662c552f2911430"><td class="memItemLeft" align="right" valign="top">static TcpClient&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#a4867b48ebfa930a80662c552f2911430">client</a> = null</td></tr>
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-<tr class="separator:a4867b48ebfa930a80662c552f2911430"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a8de2a9e4fe2c2e896849ddd33d80d759"><td class="memItemLeft" align="right" valign="top">static NetworkStream&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#a8de2a9e4fe2c2e896849ddd33d80d759">stream</a> = null</td></tr>
-<tr class="memdesc:a8de2a9e4fe2c2e896849ddd33d80d759"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stream object used for communication  <a href="#a8de2a9e4fe2c2e896849ddd33d80d759">More...</a><br /></td></tr>
-<tr class="separator:a8de2a9e4fe2c2e896849ddd33d80d759"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:abd5c33a23e0fab7b369b59ac296c7762"><td class="memItemLeft" align="right" valign="top">static byte []&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#abd5c33a23e0fab7b369b59ac296c7762">buffer</a> = new byte[<a class="el" href="classmonitor_1_1_client.html#acbc4cae14536eccb5297aacdadb84f29">BufferMaxSize</a>]</td></tr>
-<tr class="memdesc:abd5c33a23e0fab7b369b59ac296c7762"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal buffer used when reading data from server  <a href="#abd5c33a23e0fab7b369b59ac296c7762">More...</a><br /></td></tr>
-<tr class="separator:abd5c33a23e0fab7b369b59ac296c7762"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:aade32a6043e0dc629509f0e1c0112a24"><td class="memItemLeft" align="right" valign="top">static byte []&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#aade32a6043e0dc629509f0e1c0112a24">receiveBuffer</a></td></tr>
-<tr class="memdesc:aade32a6043e0dc629509f0e1c0112a24"><td class="mdescLeft">&#160;</td><td class="mdescRight">buffer containing received message from TCP server Used to concatenate internal buffers into one  <a href="#aade32a6043e0dc629509f0e1c0112a24">More...</a><br /></td></tr>
-<tr class="separator:aade32a6043e0dc629509f0e1c0112a24"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:afbbf4cf14d1a11747f6103e726dee77e"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#afbbf4cf14d1a11747f6103e726dee77e">initialReceiveBufferIndex</a> = 0</td></tr>
-<tr class="separator:afbbf4cf14d1a11747f6103e726dee77e"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a2ddb7073c4bf8a42c231939d5c21d68e"><td class="memItemLeft" align="right" valign="top">static StringBuilder&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#a2ddb7073c4bf8a42c231939d5c21d68e">message</a> = new StringBuilder()</td></tr>
-<tr class="memdesc:a2ddb7073c4bf8a42c231939d5c21d68e"><td class="mdescLeft">&#160;</td><td class="mdescRight">String containing received message from tcp server  <a href="#a2ddb7073c4bf8a42c231939d5c21d68e">More...</a><br /></td></tr>
-<tr class="separator:a2ddb7073c4bf8a42c231939d5c21d68e"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a7083940b8fea9df2b080e3844549e805"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#a7083940b8fea9df2b080e3844549e805">newLength</a> = 1</td></tr>
-<tr class="separator:a7083940b8fea9df2b080e3844549e805"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a7eb13840c83beb2ab191cae3ba3210c9"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_client.html#a7eb13840c83beb2ab191cae3ba3210c9">packetCounter</a> = 0</td></tr>
-<tr class="separator:a7eb13840c83beb2ab191cae3ba3210c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>Static class for TCP client </p>
-
-<p class="definition">Definition at line <a class="el" href="_client_8cs_source.html#l00031">31</a> of file <a class="el" href="_client_8cs_source.html">Client.cs</a>.</p>
-</div><h2 class="groupheader">Member Function Documentation</h2>
-<a id="ae6c0cbe19d622b008fd1f6d01d9cb315"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ae6c0cbe19d622b008fd1f6d01d9cb315">&#9670;&nbsp;</a></span>Close()</h2>
-
-<div class="memitem">
-<div class="memproto">
-<table class="mlabels">
-  <tr>
-  <td class="mlabels-left">
-      <table class="memname">
-        <tr>
-          <td class="memname">static void monitor.Client.Close </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">static</span></span>  </td>
-  </tr>
-</table>
-</div><div class="memdoc">
-
-<p>Close connection to server </p>
-
-<p class="definition">Definition at line <a class="el" href="_client_8cs_source.html#l00141">141</a> of file <a class="el" href="_client_8cs_source.html">Client.cs</a>.</p>
-
-</div>
-</div>
-<a id="af802cd428aa08b9604e2246f11e1fe61"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#af802cd428aa08b9604e2246f11e1fe61">&#9670;&nbsp;</a></span>Open() <span class="overload">[1/2]</span></h2>
-
-<div class="memitem">
-<div class="memproto">
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-      <table class="memname">
-        <tr>
-          <td class="memname">static bool monitor.Client.Open </td>
-          <td>(</td>
-          <td class="paramtype">string&#160;</td>
-          <td class="paramname"><em>host</em></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">static</span></span>  </td>
-  </tr>
-</table>
-</div><div class="memdoc">
-
-<p>Open connection to server "host", on default port number. </p>
-<dl class="section return"><dt>Returns</dt><dd>true if connection succeded, false otherwise</dd></dl>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">host</td><td>Hostname to connect to</td></tr>
-  </table>
-  </dd>
-</dl>
-
-<p class="definition">Definition at line <a class="el" href="_client_8cs_source.html#l00089">89</a> of file <a class="el" href="_client_8cs_source.html">Client.cs</a>.</p>
-
-</div>
-</div>
-<a id="aee6f8f594a9496600b78c37d6da457d4"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aee6f8f594a9496600b78c37d6da457d4">&#9670;&nbsp;</a></span>Open() <span class="overload">[2/2]</span></h2>
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-<div class="memproto">
-<table class="mlabels">
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-          <td class="memname">static bool monitor.Client.Open </td>
-          <td>(</td>
-          <td class="paramtype">string&#160;</td>
-          <td class="paramname"><em>host</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>port</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">static</span></span>  </td>
-  </tr>
-</table>
-</div><div class="memdoc">
-
-<p>Open connection to server "host", with port number "port" </p>
-<dl class="section return"><dt>Returns</dt><dd>true if connection succeded, false otherwise</dd></dl>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">host</td><td>Hostname to connect to</td></tr>
-    <tr><td class="paramname">port</td><td>Port number for connection</td></tr>
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-  </dd>
-</dl>
-
-<p class="definition">Definition at line <a class="el" href="_client_8cs_source.html#l00100">100</a> of file <a class="el" href="_client_8cs_source.html">Client.cs</a>.</p>
-
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-<h2 class="memtitle"><span class="permalink"><a href="#a8dd2eb26c164d0f566dd6c679ba340e0">&#9670;&nbsp;</a></span>ReadCallback()</h2>
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-  <tr>
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-          <td class="memname">static void monitor.Client.ReadCallback </td>
-          <td>(</td>
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-          <td class="paramname"><em>ar</em></td><td>)</td>
-          <td></td>
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-<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">private</span></span>  </td>
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-<p>Callback call by stream.BeginRead after reception of newLength data </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">ar</td><td>Not sure of what is it, but needed for terminate reading</td></tr>
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-  </dd>
-</dl>
-
-<p class="definition">Definition at line <a class="el" href="_client_8cs_source.html#l00151">151</a> of file <a class="el" href="_client_8cs_source.html">Client.cs</a>.</p>
-
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-          <td class="memname">delegate void monitor.Client.ReadEvent </td>
-          <td>(</td>
-          <td class="paramtype">string&#160;</td>
-          <td class="paramname"><em>msg</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
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-  <tr><td class="entry"><a class="el" href="classmonitor_1_1_command_manager.html#a92e5d42afb61f29d9a4746b4446c2a65">OnMessageReception</a>(string message, byte[] buffer)</td><td class="entry"><a class="el" href="classmonitor_1_1_command_manager.html">monitor.CommandManager</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
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-  <tr><td class="entry"><a class="el" href="classmonitor_1_1_command_manager.html#a7329cbf8008bcb8a0280aa7ffa6aa43c">Open</a>(string hostname)</td><td class="entry"><a class="el" href="classmonitor_1_1_command_manager.html">monitor.CommandManager</a></td><td class="entry"></td></tr>
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-  <tr><td class="entry"><a class="el" href="classmonitor_1_1_command_manager.html#a3cd1f2303e47e5148fd3e927a7957363">SendCommand</a>(string cmd, out string answer, double timeout)</td><td class="entry"><a class="el" href="classmonitor_1_1_command_manager.html">monitor.CommandManager</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classmonitor_1_1_command_manager.html#a0d27eb1a38efb01559f14a707ff86447">waitEvent</a></td><td class="entry"><a class="el" href="classmonitor_1_1_command_manager.html">monitor.CommandManager</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
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-  <tr><td class="entry"><a class="el" href="classmonitor_1_1_command_manager.html#ad2a8eb1139a5a25a6993887c55b3da4e">~CommandManager</a>()</td><td class="entry"><a class="el" href="classmonitor_1_1_command_manager.html">monitor.CommandManager</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
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software/monitor/monitor/docs/html/classmonitor_1_1_command_manager.html

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-<p>Command Manager. Use for timeout managment during reception of data Used as intermediate layer between TCP client class (<a class="el" href="classmonitor_1_1_client.html" title="Static class for TCP client ">Client</a>) and application level managment of command and answers  
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-<tr class="memdesc:a3cd1f2303e47e5148fd3e927a7957363"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends a command to TCP server  <a href="#a3cd1f2303e47e5148fd3e927a7957363">More...</a><br /></td></tr>
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-<tr class="separator:a07639cd39445a379667a2450e78001b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:a39c2c03f93b309e65a45ac91c6eb39bd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flag to tell rogram to wait for an acknowledge from server  <a href="#a39c2c03f93b309e65a45ac91c6eb39bd">More...</a><br /></td></tr>
-<tr class="separator:a39c2c03f93b309e65a45ac91c6eb39bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:aa610e72e8f23f0d26388f204c848ed57"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_command_manager.html#aa610e72e8f23f0d26388f204c848ed57">messageReceived</a> = null</td></tr>
-<tr class="memdesc:aa610e72e8f23f0d26388f204c848ed57"><td class="mdescLeft">&#160;</td><td class="mdescRight">received message  <a href="#aa610e72e8f23f0d26388f204c848ed57">More...</a><br /></td></tr>
-<tr class="separator:aa610e72e8f23f0d26388f204c848ed57"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:aea039cd0f99f5193c307b805077669db"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmonitor_1_1_command_manager.html#aea039cd0f99f5193c307b805077669db">isBusy</a> = false</td></tr>
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-<tr class="separator:aea039cd0f99f5193c307b805077669db"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>Command Manager. Use for timeout managment during reception of data Used as intermediate layer between TCP client class (<a class="el" href="classmonitor_1_1_client.html" title="Static class for TCP client ">Client</a>) and application level managment of command and answers </p>
-
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-</div><h2 class="groupheader">Member Enumeration Documentation</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#ac8ca53031468acc8be05c37586671a9b">&#9670;&nbsp;</a></span>CommandManagerStatus</h2>
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-<p class="definition">Definition at line <a class="el" href="_destijl_command_manager_8cs_source.html#l00029">29</a> of file <a class="el" href="_destijl_command_manager_8cs_source.html">DestijlCommandManager.cs</a>.</p>
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-          <td class="memname">const string monitor.DestijlCommandList.DataCamAskArena = &quot;y&quot;</td>
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-          <td class="memname">const string monitor.DestijlCommandList.DataCamClose = &quot;I&quot;</td>
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-          <td class="memname">const string monitor.DestijlCommandList.DataCamComputePosition = &quot;p&quot;</td>
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-          <td class="memname">const string monitor.DestijlCommandList.DataCamInfirm = &quot;z&quot;</td>
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-   <div id="projectname">Monitor
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software/monitor/monitor/docs/html/files.js

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software/monitor/monitor/docs/html/functions.html

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-<title>Monitor: Class Members</title>
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-<script type="text/javascript" src="dynsections.js"></script>
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-<table cellspacing="0" cellpadding="0">
- <tbody>
- <tr style="height: 56px;">
-  <td id="projectlogo"><img alt="Logo" src="robot-icon.resized.png"/></td>
-  <td id="projectalign" style="padding-left: 0.5em;">
-   <div id="projectname">Monitor
-   </div>
-  </td>
- </tr>
- </tbody>
-</table>
-</div>
-<!-- end header part -->
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-<div class="contents">
-<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
-
-<h3><a id="index_a"></a>- a -</h3><ul>
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-
-<h3><a id="index_c"></a>- c -</h3><ul>
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-</li>
-<li>CameraArenaInfirm()
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-</li>
-<li>CameraAskArena()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a8d178480fc09d474760eae995c9aa096">monitor.DestijlCommandManager</a>
-</li>
-<li>CameraClose()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a94b085d9de512cd7e80bcefd516d460c">monitor.DestijlCommandManager</a>
-</li>
-<li>CameraComputePosition()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#ad04df7759d2698334a410fe32b78e21e">monitor.DestijlCommandManager</a>
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-<li>CameraOpen()
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-<li>CameraStopComputePosition()
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-</li>
-<li>client
-: <a class="el" href="classmonitor_1_1_client.html#a4867b48ebfa930a80662c552f2911430">monitor.Client</a>
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-<li>Close()
-: <a class="el" href="classmonitor_1_1_client.html#ae6c0cbe19d622b008fd1f6d01d9cb315">monitor.Client</a>
-, <a class="el" href="classmonitor_1_1_command_manager.html#ab28b0e5a2641391e655aaaaa05a1fdf6">monitor.CommandManager</a>
-, <a class="el" href="classmonitor_1_1_destijl_command_manager.html#af1f57d8e3e980322e37da2cd3b61d1d7">monitor.DestijlCommandManager</a>
-</li>
-<li>cmdManager
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-</li>
-<li>CommandManager()
-: <a class="el" href="classmonitor_1_1_command_manager.html#ac2248c90d3a59bc2bf376cd876cece72">monitor.CommandManager</a>
-</li>
-<li>commandManager
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-</li>
-<li>CommandManagerStatus
-: <a class="el" href="classmonitor_1_1_command_manager.html#ac8ca53031468acc8be05c37586671a9b">monitor.CommandManager</a>
-</li>
-<li>CommandReceivedEvent()
-: <a class="el" href="classmonitor_1_1_command_manager.html#a5afd16036cc3d0e69554f69dacad0bcc">monitor.CommandManager</a>
-</li>
-<li>commandReceivedEvent
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-, <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a5c10e8aaae48b83be0267aefa23eb62d">monitor.DestijlCommandManager</a>
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-<li>CommandReceivedEvent()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#acc08ece6a89e842188364226299b3d43">monitor.DestijlCommandManager</a>
-</li>
-<li>CommandStatus
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-</li>
-<li>CreateCommand()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a47eb72ec1ae43505966bc5cf09c79e58">monitor.DestijlCommandManager</a>
-</li>
-</ul>
-
-
-<h3><a id="index_d"></a>- d -</h3><ul>
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-</li>
-<li>DataCamClose
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-</li>
-<li>DataCamComputePosition
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-<li>DataCamStopComputePosition
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-<li>DataComClose
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-<li>DataComOpen
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-</li>
-<li>DecodeStatus()
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-</li>
-<li>defaultIP
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-</li>
-<li>defaultPort
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-</li>
-<li>DestijlCommandManager()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a78bf0be922afbd9c5f8f4115fa83ad47">monitor.DestijlCommandManager</a>
-</li>
-<li>DetectArena()
-: <a class="el" href="class_main_window.html#a89c79ce9ca4114ca9c50f32dc080e9cd">MainWindow</a>
-</li>
-<li>drawingareaCameraPixbuf
-: <a class="el" href="class_main_window.html#a41581e449b18e87acbdff5baa12c2050">MainWindow</a>
-</li>
-</ul>
-
-
-<h3><a id="index_h"></a>- h -</h3><ul>
-<li>HeaderMtsCamera
-: <a class="el" href="classmonitor_1_1_destijl_command_list.html#af570b0e8d14920402ce979778225ed68">monitor.DestijlCommandList</a>
-</li>
-<li>HeaderMtsComDmb
-: <a class="el" href="classmonitor_1_1_destijl_command_list.html#aa9fe4e71b7faec183ab64f4cf6ecd395">monitor.DestijlCommandList</a>
-</li>
-<li>HeaderMtsDmbOrder
-: <a class="el" href="classmonitor_1_1_destijl_command_list.html#adbcf7adab9f5e8ead971affbbc64178b">monitor.DestijlCommandList</a>
-</li>
-<li>HeaderMtsMessage
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-</li>
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-</li>
-<li>HeaderStmBat
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-</li>
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-</li>
-<li>HeaderStmMes
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-</li>
-<li>HeaderStmNoAck
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-</li>
-<li>HeaderStmPos
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-</li>
-</ul>
-
-
-<h3><a id="index_i"></a>- i -</h3><ul>
-<li>initialReceiveBufferIndex
-: <a class="el" href="classmonitor_1_1_client.html#afbbf4cf14d1a11747f6103e726dee77e">monitor.Client</a>
-</li>
-<li>isBusy
-: <a class="el" href="classmonitor_1_1_command_manager.html#aea039cd0f99f5193c307b805077669db">monitor.CommandManager</a>
-</li>
-</ul>
-
-
-<h3><a id="index_m"></a>- m -</h3><ul>
-<li>Main()
-: <a class="el" href="classmonitor_1_1_main_class.html#a991579f985cc4071757b30a8b035e7c1">monitor.MainClass</a>
-</li>
-<li>MainWindow()
-: <a class="el" href="class_main_window.html#af607d50e4d1b04d3c494661489283f45">MainWindow</a>
-</li>
-<li>message
-: <a class="el" href="classmonitor_1_1_client.html#a2ddb7073c4bf8a42c231939d5c21d68e">monitor.Client</a>
-</li>
-<li>MessagePopup()
-: <a class="el" href="class_main_window.html#afc4f923aaa481a93dddaff6303efb9e0">MainWindow</a>
-</li>
-<li>messageReceived
-: <a class="el" href="classmonitor_1_1_command_manager.html#aa610e72e8f23f0d26388f204c848ed57">monitor.CommandManager</a>
-</li>
-</ul>
-
-
-<h3><a id="index_n"></a>- n -</h3><ul>
-<li>newLength
-: <a class="el" href="classmonitor_1_1_client.html#a7083940b8fea9df2b080e3844549e805">monitor.Client</a>
-</li>
-</ul>
-
-
-<h3><a id="index_o"></a>- o -</h3><ul>
-<li>OnBatteryTimerElapsed()
-: <a class="el" href="class_main_window.html#af303b70c08cda04a76f6418f727c4891">MainWindow</a>
-</li>
-<li>OnButtonAskArenaClicked()
-: <a class="el" href="class_main_window.html#a31e299085d6286d680bd488c73fdff82">MainWindow</a>
-</li>
-<li>OnButtonMouvClicked()
-: <a class="el" href="class_main_window.html#a7f8d06747f887216ab8c941ad10cb48b">MainWindow</a>
-</li>
-<li>OnButtonRobotActivationClicked()
-: <a class="el" href="class_main_window.html#a2b5e11a49a10b24c59bebb377cdfeae8">MainWindow</a>
-</li>
-<li>OnButtonServerConnectionClicked()
-: <a class="el" href="class_main_window.html#ac0acc6c3a63f405f14ec8e4d132a2661">MainWindow</a>
-</li>
-<li>OnCheckButtonCameraOnClicked()
-: <a class="el" href="class_main_window.html#af4b587cdd614d5bdb8d9158a1f59e4fa">MainWindow</a>
-</li>
-<li>OnCheckButtonRobotPositionClicked()
-: <a class="el" href="class_main_window.html#a20d07605619027d82a30552f294b128f">MainWindow</a>
-</li>
-<li>OnCommandReceived()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#ab83dbda4196240c242a5ac101901bb19">monitor.DestijlCommandManager</a>
-</li>
-<li>OnCommandReceivedEvent()
-: <a class="el" href="class_main_window.html#a4b651f10b9079c128b9e36d15ad10211">MainWindow</a>
-</li>
-<li>OnDeleteEvent()
-: <a class="el" href="class_main_window.html#a64bdcb29cebb58957790da1ee2733fe1">MainWindow</a>
-</li>
-<li>OnDrawingAreaCameraExposeEvent()
-: <a class="el" href="class_main_window.html#afe4b0001f191554aed5d9b65208a06f5">MainWindow</a>
-</li>
-<li>OnMessageReception()
-: <a class="el" href="classmonitor_1_1_command_manager.html#a92e5d42afb61f29d9a4746b4446c2a65">monitor.CommandManager</a>
-</li>
-<li>OnMessageTimeout()
-: <a class="el" href="classmonitor_1_1_command_manager.html#a2f91bb775ba25855be007886b994a5df">monitor.CommandManager</a>
-</li>
-<li>OnQuitActionActivated()
-: <a class="el" href="class_main_window.html#ab54b643c364b46a150f6f993267bb709">MainWindow</a>
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-<li>OnShowLogWindowActionActivated()
-: <a class="el" href="class_main_window.html#a87132738a6ca496303940d56e091bdc7">MainWindow</a>
-</li>
-<li>Open()
-: <a class="el" href="classmonitor_1_1_client.html#af802cd428aa08b9604e2246f11e1fe61">monitor.Client</a>
-, <a class="el" href="classmonitor_1_1_command_manager.html#a0a0054ee87d293577fa39af1fcd5ffee">monitor.CommandManager</a>
-, <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a5dd6b75386a554c2f026eee787477bb0">monitor.DestijlCommandManager</a>
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-</ul>
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-<li>packetCounter
-: <a class="el" href="classmonitor_1_1_client.html#a7eb13840c83beb2ab191cae3ba3210c9">monitor.Client</a>
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-<h3><a id="index_r"></a>- r -</h3><ul>
-<li>ReadCallback()
-: <a class="el" href="classmonitor_1_1_client.html#a8dd2eb26c164d0f566dd6c679ba340e0">monitor.Client</a>
-</li>
-<li>readEvent
-: <a class="el" href="classmonitor_1_1_client.html#a01cb2a551d81fd82d2f7015e177f0f18">monitor.Client</a>
-</li>
-<li>ReadEvent()
-: <a class="el" href="classmonitor_1_1_client.html#ae85f4aa567a41488d5c65e470ae15378">monitor.Client</a>
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-<li>receiveBuffer
-: <a class="el" href="classmonitor_1_1_client.html#aade32a6043e0dc629509f0e1c0112a24">monitor.Client</a>
-</li>
-<li>receivedData
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a88f907fc9c5fd8cd8d5976f45c323903">monitor.DestijlCommandManager</a>
-</li>
-<li>receivedHeader
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a1b99d771e7af8ffc8ced10d35e5e77ce">monitor.DestijlCommandManager</a>
-</li>
-<li>RobotCloseCom()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a0139bec493c965670226381f2ba63a23">monitor.DestijlCommandManager</a>
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-<li>RobotGetBattery()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a2ec8021340de939318ace65b8462b930">monitor.DestijlCommandManager</a>
-, <a class="el" href="classmonitor_1_1_robot_command_list.html#a374eb526d14b8499e47b065230afeed0">monitor.RobotCommandList</a>
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-<li>RobotGetBusyState
-: <a class="el" href="classmonitor_1_1_robot_command_list.html#a52a901f4e013dc33ff491c5fcda76860">monitor.RobotCommandList</a>
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-<li>RobotGetVersion()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a7ddd552ed82382a09b4af075c34fb989">monitor.DestijlCommandManager</a>
-, <a class="el" href="classmonitor_1_1_robot_command_list.html#a9a845beb5c040e4813f03cee7cd1cb71">monitor.RobotCommandList</a>
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-<li>RobotMove()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a5976fe792e270c63bd9f0f4c792df129">monitor.DestijlCommandManager</a>
-, <a class="el" href="classmonitor_1_1_robot_command_list.html#af7017bac04f1976fe1c37e8ec77bcbce">monitor.RobotCommandList</a>
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-<li>RobotOpenCom()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#aa1440a571e6aaf11203b4e4a4ed116d5">monitor.DestijlCommandManager</a>
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-<li>RobotPing()
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-</li>
-<li>RobotPowerOff()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#acb242a71fa40d4001dc1bc31d5bdc53f">monitor.DestijlCommandManager</a>
-, <a class="el" href="classmonitor_1_1_robot_command_list.html#a2e9616c1b75719c208902e595b79cc48">monitor.RobotCommandList</a>
-</li>
-<li>RobotReset()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#abe223aa12456e3f1c2519e9c379d891a">monitor.DestijlCommandManager</a>
-, <a class="el" href="classmonitor_1_1_robot_command_list.html#a9ef80510dfe9ca241af290b003766526">monitor.RobotCommandList</a>
-</li>
-<li>RobotStartWithoutWatchdog()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a0c964baa3ecd4ff9d19857061413938b">monitor.DestijlCommandManager</a>
-, <a class="el" href="classmonitor_1_1_robot_command_list.html#a92acfe998bb9d265dd1f34f68f718386">monitor.RobotCommandList</a>
-</li>
-<li>RobotStartWithWatchdog()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#ade46aceeb79556e31fe632e9602e1636">monitor.DestijlCommandManager</a>
-, <a class="el" href="classmonitor_1_1_robot_command_list.html#aafa5d0e5fec3afe6586cca8b88d45c85">monitor.RobotCommandList</a>
-</li>
-<li>RobotTurn()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a3f7ee6f1803cfb8b2eb4290f9e9acced">monitor.DestijlCommandManager</a>
-, <a class="el" href="classmonitor_1_1_robot_command_list.html#a2b88fc42fba8229f163e03e7252a77e6">monitor.RobotCommandList</a>
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-: <a class="el" href="classmonitor_1_1_command_manager.html#a3cd1f2303e47e5148fd3e927a7957363">monitor.CommandManager</a>
-</li>
-<li>stream
-: <a class="el" href="classmonitor_1_1_client.html#a8de2a9e4fe2c2e896849ddd33d80d759">monitor.Client</a>
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-<li>SystemState
-: <a class="el" href="class_main_window.html#a7b18ca1f8f71faf272c9856aaf7b8e3d">MainWindow</a>
-</li>
-<li>systemState
-: <a class="el" href="class_main_window.html#a105025ee1bdfac188f1ce640d593550d">MainWindow</a>
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-
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-<h3><a id="index_t"></a>- t -</h3><ul>
-<li>timeout
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a86a1fb03dc480dab8d6758aa0d675cd3">monitor.DestijlCommandManager</a>
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-</ul>
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-<h3><a id="index_w"></a>- w -</h3><ul>
-<li>waitEvent
-: <a class="el" href="classmonitor_1_1_command_manager.html#a0d27eb1a38efb01559f14a707ff86447">monitor.CommandManager</a>
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-<li>waitForAcknowledge
-: <a class="el" href="classmonitor_1_1_command_manager.html#a39c2c03f93b309e65a45ac91c6eb39bd">monitor.CommandManager</a>
-</li>
-<li>waitTimer
-: <a class="el" href="classmonitor_1_1_command_manager.html#a07639cd39445a379667a2450e78001b0">monitor.CommandManager</a>
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-<li>Write()
-: <a class="el" href="classmonitor_1_1_client.html#a081413295e7a96662b39b2ddec854b02">monitor.Client</a>
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-<li>~DestijlCommandManager()
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software/monitor/monitor/docs/html/functions_enum.html

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-: <a class="el" href="classmonitor_1_1_command_manager.html#ac8ca53031468acc8be05c37586671a9b">monitor.CommandManager</a>
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software/monitor/monitor/docs/html/functions_func.html

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-<title>Monitor: Class Members - Functions</title>
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-<li>AdjustControls()
-: <a class="el" href="class_main_window.html#a9a0f3d4cd871609f12d328af2f588664">MainWindow</a>
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-, <a class="el" href="classmonitor_1_1_destijl_command_manager.html#af1f57d8e3e980322e37da2cd3b61d1d7">monitor.DestijlCommandManager</a>
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-<li>CommandReceivedEvent()
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-, <a class="el" href="classmonitor_1_1_destijl_command_manager.html#acc08ece6a89e842188364226299b3d43">monitor.DestijlCommandManager</a>
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-
-
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-</li>
-<li>MainWindow()
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-</li>
-<li>MessagePopup()
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-
-
-<h3><a id="index_o"></a>- o -</h3><ul>
-<li>OnBatteryTimerElapsed()
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-</li>
-<li>OnButtonAskArenaClicked()
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-<li>OnButtonMouvClicked()
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-<li>OnButtonServerConnectionClicked()
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-<li>OnCheckButtonCameraOnClicked()
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-<li>OnCheckButtonRobotPositionClicked()
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-<li>OnCommandReceived()
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-<li>ReadEvent()
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-<li>RobotCloseCom()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a0139bec493c965670226381f2ba63a23">monitor.DestijlCommandManager</a>
-</li>
-<li>RobotGetBattery()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a2ec8021340de939318ace65b8462b930">monitor.DestijlCommandManager</a>
-</li>
-<li>RobotGetVersion()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a7ddd552ed82382a09b4af075c34fb989">monitor.DestijlCommandManager</a>
-</li>
-<li>RobotMove()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a5976fe792e270c63bd9f0f4c792df129">monitor.DestijlCommandManager</a>
-</li>
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-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#aa1440a571e6aaf11203b4e4a4ed116d5">monitor.DestijlCommandManager</a>
-</li>
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-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#ae1af16558213c3830ea3006e8e8c5e28">monitor.DestijlCommandManager</a>
-</li>
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-</li>
-<li>RobotReset()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#abe223aa12456e3f1c2519e9c379d891a">monitor.DestijlCommandManager</a>
-</li>
-<li>RobotStartWithoutWatchdog()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a0c964baa3ecd4ff9d19857061413938b">monitor.DestijlCommandManager</a>
-</li>
-<li>RobotStartWithWatchdog()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#ade46aceeb79556e31fe632e9602e1636">monitor.DestijlCommandManager</a>
-</li>
-<li>RobotTurn()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a3f7ee6f1803cfb8b2eb4290f9e9acced">monitor.DestijlCommandManager</a>
-</li>
-</ul>
-
-
-<h3><a id="index_s"></a>- s -</h3><ul>
-<li>SendCommand()
-: <a class="el" href="classmonitor_1_1_command_manager.html#a3cd1f2303e47e5148fd3e927a7957363">monitor.CommandManager</a>
-</li>
-</ul>
-
-
-<h3><a id="index_w"></a>- w -</h3><ul>
-<li>Write()
-: <a class="el" href="classmonitor_1_1_client.html#a081413295e7a96662b39b2ddec854b02">monitor.Client</a>
-</li>
-</ul>
-
-
-<h3><a id="index_0x7e"></a>- ~ -</h3><ul>
-<li>~CommandManager()
-: <a class="el" href="classmonitor_1_1_command_manager.html#ad2a8eb1139a5a25a6993887c55b3da4e">monitor.CommandManager</a>
-</li>
-<li>~DestijlCommandManager()
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#abc51dc980d7ba7e59a571e579cb626b9">monitor.DestijlCommandManager</a>
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software/monitor/monitor/docs/html/functions_vars.html

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-&#160;
-
-<h3><a id="index_b"></a>- b -</h3><ul>
-<li>batteryTimer
-: <a class="el" href="class_main_window.html#a57f0325d8b8a63be586001b9a469d9ae">MainWindow</a>
-</li>
-<li>buffer
-: <a class="el" href="classmonitor_1_1_client.html#abd5c33a23e0fab7b369b59ac296c7762">monitor.Client</a>
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-: <a class="el" href="classmonitor_1_1_client.html#acbc4cae14536eccb5297aacdadb84f29">monitor.Client</a>
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-<li>client
-: <a class="el" href="classmonitor_1_1_client.html#a4867b48ebfa930a80662c552f2911430">monitor.Client</a>
-</li>
-<li>cmdManager
-: <a class="el" href="class_main_window.html#a0b60450970b8a6fb6e016d5c0728e474">MainWindow</a>
-</li>
-<li>commandManager
-: <a class="el" href="classmonitor_1_1_destijl_command_manager.html#a9efdcd3d35f46329e7aa167ad60062a9">monitor.DestijlCommandManager</a>
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-<li>commandReceivedEvent
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-</li>
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