Correction sur le moniteur pour prendre an charge les messages de timeout et d'erreur de communication + suppression du timer et bouton getbattery

software/monitor/monitor/MonitorUI.cs

@@ -25,6 +25,11 @@
 // 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;
@@ -69,11 +74,6 @@ public partial class MainWindow : Gtk.Window
     private ImageWidget imageWidget;
 
     /// <summary>
-    /// Timer for battery request
-    /// </summary>
-    private System.Timers.Timer batteryTimer;
-
-    /// <summary>
     /// Counter for image reception and detecting bad picture ratio
     /// </summary>
     private int imageReceivedCounter = 0;
@@ -91,10 +91,6 @@ public partial class MainWindow : Gtk.Window
         // Init of image widget
         imageWidget = new ImageWidget(drawingAreaCamera);
 
-        // create new timer for battery request, every 10s
-        batteryTimer = new System.Timers.Timer(10000.0);
-        batteryTimer.Elapsed += OnBatteryTimerElapsed;
-
         // Customize controls
         AdjustControls();
     }
@@ -145,7 +141,6 @@ public partial class MainWindow : Gtk.Window
 
                 if (cmdManager != null) cmdManager.Close();
 
-                batteryTimer.Stop();
                 break;
             case SystemState.ServerConnected:
                 buttonServerConnection.Label = "Disconnect";
@@ -159,14 +154,12 @@ public partial class MainWindow : Gtk.Window
                 labelRobotControl.Sensitive = false;
                 gtkAlignmentRobotControl.Sensitive = false;
 
-                batteryTimer.Stop();
                 break;
             case SystemState.RobotConnected:
                 buttonRobotActivation.Label = "Reset";
                 labelRobotControl.Sensitive = true;
                 gtkAlignmentRobotControl.Sensitive = true;
 
-                batteryTimer.Start();
                 break;
             default:
                 labelRobot.Sensitive = false;
@@ -259,64 +252,81 @@ public partial class MainWindow : Gtk.Window
             // Depending on message received (based on header), launch correponding action
             header = header.ToUpper();
 
-            if (header == DestijlCommandList.ROBOT_BATTERY_LEVEL)
+            switch (header)
             {
-                string batLevel = "";
+                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 !");
+                    });
 
-                switch (data[0])
-                {
-                    case '2':
-                        batLevel = "High";
-                        break;
-                    case '1':
-                        batLevel = "Low";
-                        break;
-                    case '0':
-                        batLevel = "Empty";
-                        break;
-                    default:
-                        batLevel = "Invalid value";
-                        break;
-                }
+                    ChangeState(SystemState.ServerConnected);
 
-                Gtk.Application.Invoke(delegate
-                {
-                    labelBatteryLevel.Text = batLevel;
-                });
-            }
-            else if (header == DestijlCommandList.CAMERA_IMAGE)
-            {
-                imageReceivedCounter++;
+                    break;
+                case DestijlCommandList.ROBOT_BATTERY_LEVEL:
+                    string batLevel = "";
 
-                byte[] image = new byte[2];
-                try
-                {
-                    image = Convert.FromBase64String(data);
-                }
-                catch (FormatException)
-                {
-                    badImageReceivedCounter++;
-                    Console.WriteLine("Unable to convert from base64 ");
-                }
+                    switch (data[0])
+                    {
+                        case '2':
+                            batLevel = "High";
+                            break;
+                        case '1':
+                            batLevel = "Low";
+                            break;
+                        case '0':
+                            batLevel = "Empty";
+                            break;
+                        default:
+                            batLevel = "Invalid value";
+                            break;
+                    }
 
-                try
-                {
-                    imageWidget.ShowImage(image);
-                }
-                catch (GLib.GException)
-                {
-                    badImageReceivedCounter++;
+                    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 + "%)");
+                        Console.WriteLine("Bad Image: " + badImageReceivedCounter +
+                                          " / " + imageReceivedCounter +
+                                          " (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)");
 #endif
-                }
-                //}
-            }
-            else if (header == DestijlCommandList.CAMERA_POSITION)
-            {
-                imageWidget.Position = DestijlCommandManager.DecodePosition(data);
+                    }
+
+                    break;
+                case DestijlCommandList.CAMERA_POSITION:
+                    imageWidget.Position = DestijlCommandManager.DecodePosition(data);
+
+                    break;
+                default:
+                    Console.WriteLine("Untreated message from supervisor: " + header + ": " + data);
+
+                    break;
             }
         }
     }
@@ -527,50 +537,6 @@ public partial class MainWindow : Gtk.Window
     }
 
     /// <summary>
-    /// Callback called when battery timer expired
-    /// </summary>
-    /// <param name="sender">Sender object</param>
-    /// <param name="e">Event</param>
-    void OnBatteryTimerElapsed(object sender, System.Timers.ElapsedEventArgs e)
-    {
-        DestijlCommandManager.CommandStatus status;
-        batteryTimer.Stop();
-
-        // if battery checkbox is checked, a request for battery level is done
-        if (checkButtonGetBattery.Active)
-        {
-            status = cmdManager.RobotGetBattery();
-
-            // if status is not ok, show appropriate message and print "Unknown" for battery level
-            switch (status)
-            {
-                case DestijlCommandManager.CommandStatus.Success:
-                    batteryTimer.Start();
-                    break;
-                case DestijlCommandManager.CommandStatus.CommunicationLostWithServer:
-                    Console.WriteLine("Error: Connection lost with server");
-                    batteryTimer.Stop();
-                    labelBatteryLevel.Text = "Unknown";
-
-                    ChangeState(SystemState.NotConnected);
-                    break;
-                case DestijlCommandManager.CommandStatus.CommunicationLostWithRobot:
-                    Console.WriteLine("Error: Connection lost with robot");
-                    batteryTimer.Stop();
-                    labelBatteryLevel.Text = "Unknown";
-
-                    ChangeState(SystemState.ServerConnected);
-                    break;
-                default:
-                    labelBatteryLevel.Text = "Unknown";
-                    batteryTimer.Start();
-                    break;
-            }
-        }
-        else batteryTimer.Start();
-    }
-
-    /// <summary>
     /// Callback called when checkbutton for camera is clicked
     /// </summary>
     /// <param name="sender">Sender object</param>

software/monitor/monitor/gtk-gui/MainWindow.cs

@@ -125,8 +125,6 @@ public partial class MainWindow
 
 	private global::Gtk.Label labelBatteryLevel;
 
-	private global::Gtk.CheckButton checkButtonGetBattery;
-
 	protected virtual void Build()
 	{
 		global::Stetic.Gui.Initialize(this);
@@ -530,92 +528,91 @@ public partial class MainWindow
 		this.table4.ColumnSpacing = ((uint)(6));
 		// Container child table4.Gtk.Table+TableChild
 		this.buttonDown = new global::Gtk.Button();
-		global::Gtk.Tooltips w40 = new Gtk.Tooltips();
-		w40.SetTip(this.buttonDown, "Move robot backward", "Move robot backward");
+		this.buttonDown.TooltipMarkup = "Move robot backward";
 		this.buttonDown.CanFocus = true;
 		this.buttonDown.Name = "buttonDown";
 		this.buttonDown.UseUnderline = true;
-		global::Gtk.Image w41 = new global::Gtk.Image();
-		w41.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-down-symbolic.symbolic.png");
-		this.buttonDown.Image = w41;
+		global::Gtk.Image w40 = new global::Gtk.Image();
+		w40.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-down-symbolic.symbolic.png");
+		this.buttonDown.Image = w40;
 		this.table4.Add(this.buttonDown);
-		global::Gtk.Table.TableChild w42 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonDown]));
-		w42.TopAttach = ((uint)(2));
-		w42.BottomAttach = ((uint)(3));
-		w42.LeftAttach = ((uint)(1));
-		w42.RightAttach = ((uint)(2));
-		w42.XOptions = ((global::Gtk.AttachOptions)(4));
-		w42.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w41 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonDown]));
+		w41.TopAttach = ((uint)(2));
+		w41.BottomAttach = ((uint)(3));
+		w41.LeftAttach = ((uint)(1));
+		w41.RightAttach = ((uint)(2));
+		w41.XOptions = ((global::Gtk.AttachOptions)(4));
+		w41.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table4.Gtk.Table+TableChild
 		this.buttonForward = new global::Gtk.Button();
-		w40.SetTip(this.buttonForward, "Move robot forward", "Move robot forward");
+		this.buttonForward.TooltipMarkup = "Move robot forward";
 		this.buttonForward.CanFocus = true;
 		this.buttonForward.Name = "buttonForward";
 		this.buttonForward.UseUnderline = true;
-		global::Gtk.Image w43 = new global::Gtk.Image();
-		w43.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-up-symbolic.symbolic.png");
-		this.buttonForward.Image = w43;
+		global::Gtk.Image w42 = new global::Gtk.Image();
+		w42.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-up-symbolic.symbolic.png");
+		this.buttonForward.Image = w42;
 		this.table4.Add(this.buttonForward);
-		global::Gtk.Table.TableChild w44 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonForward]));
-		w44.LeftAttach = ((uint)(1));
-		w44.RightAttach = ((uint)(2));
-		w44.XOptions = ((global::Gtk.AttachOptions)(4));
-		w44.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w43 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonForward]));
+		w43.LeftAttach = ((uint)(1));
+		w43.RightAttach = ((uint)(2));
+		w43.XOptions = ((global::Gtk.AttachOptions)(4));
+		w43.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table4.Gtk.Table+TableChild
 		this.buttonLeft = new global::Gtk.Button();
-		w40.SetTip(this.buttonLeft, "Turn robot to the left", "Turn robot to the left");
+		this.buttonLeft.TooltipMarkup = "Turn robot to the left";
 		this.buttonLeft.CanFocus = true;
 		this.buttonLeft.Name = "buttonLeft";
 		this.buttonLeft.UseUnderline = true;
-		global::Gtk.Image w45 = new global::Gtk.Image();
-		w45.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-start-symbolic.symbolic.png");
-		this.buttonLeft.Image = w45;
+		global::Gtk.Image w44 = new global::Gtk.Image();
+		w44.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-start-symbolic.symbolic.png");
+		this.buttonLeft.Image = w44;
 		this.table4.Add(this.buttonLeft);
-		global::Gtk.Table.TableChild w46 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonLeft]));
-		w46.TopAttach = ((uint)(1));
-		w46.BottomAttach = ((uint)(2));
-		w46.XOptions = ((global::Gtk.AttachOptions)(4));
-		w46.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w45 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonLeft]));
+		w45.TopAttach = ((uint)(1));
+		w45.BottomAttach = ((uint)(2));
+		w45.XOptions = ((global::Gtk.AttachOptions)(4));
+		w45.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table4.Gtk.Table+TableChild
 		this.buttonRight = new global::Gtk.Button();
-		w40.SetTip(this.buttonRight, "Turn robot to the right", "Turn robot to the right");
+		this.buttonRight.TooltipMarkup = "Turn robot to the right";
 		this.buttonRight.CanFocus = true;
 		this.buttonRight.Name = "buttonRight";
 		this.buttonRight.UseUnderline = true;
-		global::Gtk.Image w47 = new global::Gtk.Image();
-		w47.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-end-symbolic.symbolic.png");
-		this.buttonRight.Image = w47;
+		global::Gtk.Image w46 = new global::Gtk.Image();
+		w46.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-end-symbolic.symbolic.png");
+		this.buttonRight.Image = w46;
 		this.table4.Add(this.buttonRight);
-		global::Gtk.Table.TableChild w48 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonRight]));
-		w48.TopAttach = ((uint)(1));
-		w48.BottomAttach = ((uint)(2));
-		w48.LeftAttach = ((uint)(2));
-		w48.RightAttach = ((uint)(3));
-		w48.XOptions = ((global::Gtk.AttachOptions)(4));
-		w48.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w47 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonRight]));
+		w47.TopAttach = ((uint)(1));
+		w47.BottomAttach = ((uint)(2));
+		w47.LeftAttach = ((uint)(2));
+		w47.RightAttach = ((uint)(3));
+		w47.XOptions = ((global::Gtk.AttachOptions)(4));
+		w47.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table4.Gtk.Table+TableChild
 		this.buttonStop = new global::Gtk.Button();
-		w40.SetTip(this.buttonStop, "Stop robot movements", "Stop robot movements");
+		this.buttonStop.TooltipMarkup = "Stop robot movements";
 		this.buttonStop.CanFocus = true;
 		this.buttonStop.Name = "buttonStop";
 		this.buttonStop.UseUnderline = true;
-		global::Gtk.Image w49 = new global::Gtk.Image();
-		w49.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.hand-filled-32.png");
-		this.buttonStop.Image = w49;
+		global::Gtk.Image w48 = new global::Gtk.Image();
+		w48.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.hand-filled-32.png");
+		this.buttonStop.Image = w48;
 		this.table4.Add(this.buttonStop);
-		global::Gtk.Table.TableChild w50 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonStop]));
-		w50.TopAttach = ((uint)(1));
-		w50.BottomAttach = ((uint)(2));
-		w50.LeftAttach = ((uint)(1));
-		w50.RightAttach = ((uint)(2));
-		w50.XOptions = ((global::Gtk.AttachOptions)(4));
-		w50.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w49 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonStop]));
+		w49.TopAttach = ((uint)(1));
+		w49.BottomAttach = ((uint)(2));
+		w49.LeftAttach = ((uint)(1));
+		w49.RightAttach = ((uint)(2));
+		w49.XOptions = ((global::Gtk.AttachOptions)(4));
+		w49.YOptions = ((global::Gtk.AttachOptions)(4));
 		this.alignment8.Add(this.table4);
 		this.vbox9.Add(this.alignment8);
-		global::Gtk.Box.BoxChild w52 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.alignment8]));
-		w52.Position = 0;
-		w52.Expand = false;
-		w52.Fill = false;
+		global::Gtk.Box.BoxChild w51 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.alignment8]));
+		w51.Position = 0;
+		w51.Expand = false;
+		w51.Fill = false;
 		// Container child vbox9.Gtk.Box+BoxChild
 		this.table3 = new global::Gtk.Table(((uint)(1)), ((uint)(2)), false);
 		this.table3.Name = "table3";
@@ -628,10 +625,10 @@ public partial class MainWindow
 		this.label3.LabelProp = global::Mono.Unix.Catalog.GetString("Battery level:");
 		this.label3.Justify = ((global::Gtk.Justification)(1));
 		this.table3.Add(this.label3);
-		global::Gtk.Table.TableChild w53 = ((global::Gtk.Table.TableChild)(this.table3[this.label3]));
-		w53.YPadding = ((uint)(10));
-		w53.XOptions = ((global::Gtk.AttachOptions)(4));
-		w53.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w52 = ((global::Gtk.Table.TableChild)(this.table3[this.label3]));
+		w52.YPadding = ((uint)(10));
+		w52.XOptions = ((global::Gtk.AttachOptions)(4));
+		w52.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table3.Gtk.Table+TableChild
 		this.labelBatteryLevel = new global::Gtk.Label();
 		this.labelBatteryLevel.Name = "labelBatteryLevel";
@@ -639,49 +636,36 @@ public partial class MainWindow
 		this.labelBatteryLevel.Xalign = 0F;
 		this.labelBatteryLevel.LabelProp = global::Mono.Unix.Catalog.GetString("Unknown");
 		this.table3.Add(this.labelBatteryLevel);
-		global::Gtk.Table.TableChild w54 = ((global::Gtk.Table.TableChild)(this.table3[this.labelBatteryLevel]));
-		w54.LeftAttach = ((uint)(1));
-		w54.RightAttach = ((uint)(2));
-		w54.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w53 = ((global::Gtk.Table.TableChild)(this.table3[this.labelBatteryLevel]));
+		w53.LeftAttach = ((uint)(1));
+		w53.RightAttach = ((uint)(2));
+		w53.YOptions = ((global::Gtk.AttachOptions)(4));
 		this.vbox9.Add(this.table3);
-		global::Gtk.Box.BoxChild w55 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.table3]));
-		w55.Position = 2;
-		w55.Expand = false;
-		w55.Fill = false;
-		// Container child vbox9.Gtk.Box+BoxChild
-		this.checkButtonGetBattery = new global::Gtk.CheckButton();
-		this.checkButtonGetBattery.CanFocus = true;
-		this.checkButtonGetBattery.Name = "checkButtonGetBattery";
-		this.checkButtonGetBattery.Label = global::Mono.Unix.Catalog.GetString("Get battery level");
-		this.checkButtonGetBattery.Active = true;
-		this.checkButtonGetBattery.DrawIndicator = true;
-		this.checkButtonGetBattery.UseUnderline = true;
-		this.vbox9.Add(this.checkButtonGetBattery);
-		global::Gtk.Box.BoxChild w56 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.checkButtonGetBattery]));
-		w56.Position = 3;
-		w56.Expand = false;
-		w56.Fill = false;
+		global::Gtk.Box.BoxChild w54 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.table3]));
+		w54.Position = 2;
+		w54.Expand = false;
+		w54.Fill = false;
 		this.gtkAlignmentRobotControl.Add(this.vbox9);
 		this.vbox12.Add(this.gtkAlignmentRobotControl);
-		global::Gtk.Box.BoxChild w58 = ((global::Gtk.Box.BoxChild)(this.vbox12[this.gtkAlignmentRobotControl]));
-		w58.Position = 1;
+		global::Gtk.Box.BoxChild w56 = ((global::Gtk.Box.BoxChild)(this.vbox12[this.gtkAlignmentRobotControl]));
+		w56.Position = 1;
 		this.vbox5.Add(this.vbox12);
-		global::Gtk.Box.BoxChild w59 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox12]));
-		w59.Position = 4;
+		global::Gtk.Box.BoxChild w57 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox12]));
+		w57.Position = 4;
 		this.alignment3.Add(this.vbox5);
 		this.hbox3.Add(this.alignment3);
-		global::Gtk.Box.BoxChild w61 = ((global::Gtk.Box.BoxChild)(this.hbox3[this.alignment3]));
-		w61.Position = 1;
-		w61.Expand = false;
-		w61.Fill = false;
+		global::Gtk.Box.BoxChild w59 = ((global::Gtk.Box.BoxChild)(this.hbox3[this.alignment3]));
+		w59.Position = 1;
+		w59.Expand = false;
+		w59.Fill = false;
 		this.hbox1.Add(this.hbox3);
-		global::Gtk.Box.BoxChild w62 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.hbox3]));
-		w62.Position = 1;
-		w62.Expand = false;
-		w62.Fill = false;
+		global::Gtk.Box.BoxChild w60 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.hbox3]));
+		w60.Position = 1;
+		w60.Expand = false;
+		w60.Fill = false;
 		this.vbox1.Add(this.hbox1);
-		global::Gtk.Box.BoxChild w63 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.hbox1]));
-		w63.Position = 1;
+		global::Gtk.Box.BoxChild w61 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.hbox1]));
+		w61.Position = 1;
 		this.Add(this.vbox1);
 		if ((this.Child != null))
 		{

software/monitor/monitor/gtk-gui/gui.stetic

@@ -809,20 +809,7 @@
                                       </packing>
                                     </child>
                                     <child>
-                                      <widget class="Gtk.CheckButton" id="checkButtonGetBattery">
-                                        <property name="MemberName" />
-                                        <property name="CanFocus">True</property>
-                                        <property name="Label" translatable="yes">Get battery level</property>
-                                        <property name="DrawIndicator">True</property>
-                                        <property name="HasLabel">True</property>
-                                        <property name="UseUnderline">True</property>
-                                      </widget>
-                                      <packing>
-                                        <property name="Position">3</property>
-                                        <property name="AutoSize">True</property>
-                                        <property name="Expand">False</property>
-                                        <property name="Fill">False</property>
-                                      </packing>
+                                      <placeholder />
                                     </child>
                                   </widget>
                                 </child>