459 lines
16 KiB
C#
459 lines
16 KiB
C#
using System;
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using Gtk;
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using Gdk;
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using monitor;
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public partial class MainWindow : Gtk.Window
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{
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private DestijlCommandManager cmdManager;
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private Pixbuf drawingareaCameraPixbuf;
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enum SystemState
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{
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NotConnected,
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ServerConnected,
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RobotConnected
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};
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private SystemState systemState = SystemState.NotConnected;
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private System.Timers.Timer batteryTimer;
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public MainWindow() : base(Gtk.WindowType.Toplevel)
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{
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Build();
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cmdManager = new DestijlCommandManager(OnCommandReceivedEvent);
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batteryTimer = new System.Timers.Timer(10000.0);
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batteryTimer.Elapsed += OnBatteryTimerElapsed;
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AdjustControls();
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}
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public void AdjustControls()
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{
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ChangeState(SystemState.NotConnected);
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drawingareaCameraPixbuf = new Pixbuf((string)null);
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drawingareaCameraPixbuf = Pixbuf.LoadFromResource("monitor.ressources.missing_picture.png");
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entryServerName.Text = Client.defaultIP;
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entryServerPort.Text = Client.defaultPort.ToString();
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entryTimeout.Text = "10000";
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}
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private void ChangeState(SystemState newState)
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{
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switch (newState)
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{
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case SystemState.NotConnected:
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labelRobot.Sensitive = false;
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gtkAlignmentRobot.Sensitive = false;
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labelRobotControl.Sensitive = false;
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gtkAlignmentRobotControl.Sensitive = false;
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boxCamera.Sensitive = false;
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buttonServerConnection.Label = "Connect";
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buttonRobotActivation.Label = "Activate";
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labelBatteryLevel.Text = "Unknown";
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checkButtonCameraOn.Active = false;
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checkButtonRobotPosition.Active = false;
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if (cmdManager != null) cmdManager.Close();
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batteryTimer.Stop();
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break;
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case SystemState.ServerConnected:
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buttonServerConnection.Label = "Disconnect";
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buttonRobotActivation.Label = "Activate";
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labelBatteryLevel.Text = "Unknown";
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labelRobot.Sensitive = true;
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gtkAlignmentRobot.Sensitive = true;
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boxCamera.Sensitive = true;
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labelRobotControl.Sensitive = false;
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gtkAlignmentRobotControl.Sensitive = false;
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batteryTimer.Stop();
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break;
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case SystemState.RobotConnected:
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buttonRobotActivation.Label = "Reset";
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labelRobotControl.Sensitive = true;
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gtkAlignmentRobotControl.Sensitive = true;
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batteryTimer.Start();
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break;
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default:
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labelRobot.Sensitive = false;
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gtkAlignmentRobot.Sensitive = false;
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labelRobotControl.Sensitive = false;
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gtkAlignmentRobotControl.Sensitive = false;
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boxCamera.Sensitive = false;
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buttonServerConnection.Label = "Connect";
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buttonRobotActivation.Label = "Activate";
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labelBatteryLevel.Text = "Unknown";
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checkButtonCameraOn.Active = false;
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checkButtonRobotPosition.Active = false;
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systemState = SystemState.NotConnected;
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return;
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}
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systemState = newState;
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}
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private void MessagePopup(MessageType type, ButtonsType buttons, string title, string message)
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{
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MessageDialog md = new MessageDialog(this, DialogFlags.DestroyWithParent, type, buttons, message)
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{
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Title = title
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};
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md.Run();
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md.Destroy();
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}
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protected void OnDeleteEvent(object sender, DeleteEventArgs a)
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{
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Console.WriteLine("Bye bye");
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if (cmdManager != null) cmdManager.Close();
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Application.Quit();
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a.RetVal = true;
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}
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public void OnCommandReceivedEvent(string header, string data, byte[] buffer)
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{
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if (header != null) Console.WriteLine("Received header (" + header.Length + "): " + header);
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if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data);
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if (header.ToUpper() == DestijlCommandList.HeaderStmBat)
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{
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switch (data[0])
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{
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case '2':
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labelBatteryLevel.Text = "High";
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break;
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case '1':
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labelBatteryLevel.Text = "Low";
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break;
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case '0':
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labelBatteryLevel.Text = "Empty";
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break;
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default:
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labelBatteryLevel.Text = "Invalid value";
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break;
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}
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}
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else if (header.ToUpper() == DestijlCommandList.HeaderStmImage)
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{
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Console.WriteLine("Image received");
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byte[] image = new byte[buffer.Length-4];
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System.Buffer.BlockCopy(buffer, 4, image, 0, image.Length);
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drawingareaCameraPixbuf = new Pixbuf(image.Length, image, true);
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}
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}
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protected void OnQuitActionActivated(object sender, EventArgs e)
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{
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Console.WriteLine("Bye bye 2");
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if (cmdManager != null) cmdManager.Close();
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this.Destroy();
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Application.Quit();
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}
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protected void OnShowLogWindowActionActivated(object sender, EventArgs e)
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{
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MessagePopup(MessageType.Info,
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ButtonsType.Ok, "Info",
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"Logger not yet implemented");
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}
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protected void OnButtonServerConnectionClicked(object sender, EventArgs e)
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{
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DestijlCommandManager.CommandStatus statusCmd;
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if (buttonServerConnection.Label == "Disconnect")
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{
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ChangeState(SystemState.NotConnected);
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}
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else
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{
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if ((entryServerName.Text == "") || (entryServerPort.Text == ""))
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{
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MessagePopup(MessageType.Error,
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ButtonsType.Ok, "Error",
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"Server name or port is invalid");
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}
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else
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{
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Console.WriteLine("Connecting to " + entryServerName.Text + ":" + entryServerPort.Text);
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bool status = false;
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try
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{
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cmdManager.timeout = Convert.ToDouble(entryTimeout.Text);
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}
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catch (Exception)
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{
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cmdManager.timeout = 100;
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entryTimeout.Text = cmdManager.timeout.ToString();
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}
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try
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{
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status = cmdManager.Open(entryServerName.Text, Convert.ToInt32(entryServerPort.Text));
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}
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catch (Exception)
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{
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Console.WriteLine("Something went wrong during connection");
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return;
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}
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if (status != true)
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{
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MessagePopup(MessageType.Error,
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ButtonsType.Ok, "Error",
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"Unable to connect to server " + entryServerName.Text + ":" + Convert.ToInt32(entryServerPort.Text));
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}
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else
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{
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Console.Write("Send command RobotOpenCom: ");
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statusCmd = cmdManager.RobotOpenCom();
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Console.WriteLine(statusCmd.ToString());
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if (statusCmd == DestijlCommandManager.CommandStatus.Success)
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{
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ChangeState(SystemState.ServerConnected);
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}
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else
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{
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MessagePopup(MessageType.Error,
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ButtonsType.Ok, "Error",
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"Unable to open communication with robot.\nCheck that supervisor is accepting OPEN_COM_DMB command");
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cmdManager.Close();
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}
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}
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}
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}
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}
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protected void OnButtonRobotActivationClicked(object sender, EventArgs e)
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{
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DestijlCommandManager.CommandStatus status;
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if (buttonRobotActivation.Label == "Activate") // activation du robot
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{
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if (radioButtonWithWatchdog.Active) // Demarrage avec watchdog
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{
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status = cmdManager.RobotStartWithWatchdog();
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}
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else // Demarrage sans watchdog
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{
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status = cmdManager.RobotStartWithoutWatchdog();
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}
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if (status == DestijlCommandManager.CommandStatus.Success)
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{
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ChangeState(SystemState.RobotConnected);
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}
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else
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{
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if (status == DestijlCommandManager.CommandStatus.CommunicationLostWithServer)
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{
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MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with server");
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ChangeState(SystemState.NotConnected);
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}
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else
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{
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MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Command rejected\nCheck that supervisor accept \nDMB_START_WITH_WD and/or DMB_START_WITHOUT_WD");
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}
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}
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}
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else // Reset du robot
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{
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status = cmdManager.RobotReset();
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if (status == DestijlCommandManager.CommandStatus.Success)
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{
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ChangeState(SystemState.ServerConnected);
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}
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else
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{
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if (status == DestijlCommandManager.CommandStatus.CommunicationLostWithServer)
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{
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MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with server");
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ChangeState(SystemState.NotConnected);
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}
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else
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{
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MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Unknown error");
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}
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}
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}
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}
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protected void OnButtonMouvClicked(object sender, EventArgs e)
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{
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if (sender == buttonRight)
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{
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cmdManager.RobotTurn(90);
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}
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else if (sender == buttonLeft)
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{
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cmdManager.RobotTurn(-90);
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}
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else if (sender == buttonForward)
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{
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cmdManager.RobotMove(100);
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}
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else if (sender == buttonDown)
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{
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cmdManager.RobotMove(-100);
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}
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else
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{
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MessagePopup(MessageType.Warning, ButtonsType.Ok, "Abnormal behavior", "Callback OnButtonMouvClicked called by unknown sender");
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}
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}
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void OnBatteryTimerElapsed(object sender, System.Timers.ElapsedEventArgs e)
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{
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DestijlCommandManager.CommandStatus status;
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//int batteryLevel;
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batteryTimer.Stop();
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if (checkButtonGetBattery.Active)
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{
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//status = cmdManager.RobotGetBattery(out batteryLevel);
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status = cmdManager.RobotGetBattery();
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switch (status)
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{
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case DestijlCommandManager.CommandStatus.Success:
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/*switch (batteryLevel)
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{
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case 2:
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labelBatteryLevel.Text = "High";
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break;
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case 1:
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labelBatteryLevel.Text = "Low";
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break;
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case 0:
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labelBatteryLevel.Text = "Empty";
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break;
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default:
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labelBatteryLevel.Text = "Unknown";
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break;
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}*/
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batteryTimer.Start();
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break;
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case DestijlCommandManager.CommandStatus.CommunicationLostWithServer:
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//MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with server");
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Console.WriteLine("Error: Connection lost with server");
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batteryTimer.Stop();
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labelBatteryLevel.Text = "Unknown";
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ChangeState(SystemState.NotConnected);
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break;
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case DestijlCommandManager.CommandStatus.CommunicationLostWithRobot:
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//MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with robot");
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Console.WriteLine("Error: Connection lost with robot");
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batteryTimer.Stop();
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labelBatteryLevel.Text = "Unknown";
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ChangeState(SystemState.ServerConnected);
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break;
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default:
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labelBatteryLevel.Text = "Unknown";
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batteryTimer.Start();
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break;
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}
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}
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else batteryTimer.Start();
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}
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protected void OnCheckButtonCameraOnClicked(object sender, EventArgs e)
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{
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if (!checkButtonCameraOn.Active)
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{
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if (cmdManager.CameraClose() != DestijlCommandManager.CommandStatus.Success)
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{
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//MessagePopup(MessageType.Error,
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// ButtonsType.Ok, "Error",
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// "Error when closing camera: bad answer for supervisor or timeout");
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}
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}
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else
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{
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if (cmdManager.CameraOpen() != DestijlCommandManager.CommandStatus.Success)
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{
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MessagePopup(MessageType.Error,
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ButtonsType.Ok, "Error",
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"Error when opening camera: bad answer for supervisor or timeout");
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checkButtonCameraOn.Active = false;
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}
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}
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}
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protected void OnCheckButtonRobotPositionClicked(object sender, EventArgs e)
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{
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if (!checkButtonRobotPosition.Active)
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{
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if (cmdManager.CameraStopComputePosition() != DestijlCommandManager.CommandStatus.Success)
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{
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MessagePopup(MessageType.Error,
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ButtonsType.Ok, "Error",
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"Error when stopping position reception: bad answer for supervisor or timeout");
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}
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}
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else
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{
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if (cmdManager.CameraComputePosition() != DestijlCommandManager.CommandStatus.Success)
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{
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MessagePopup(MessageType.Error,
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ButtonsType.Ok, "Error",
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"Error when starting getting robot position: bad answer for supervisor or timeout");
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checkButtonRobotPosition.Active = false;
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}
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}
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}
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protected void OnDrawingAreaCameraRealized(object sender, EventArgs e)
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{
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Console.WriteLine("Event realized. Args = " + e.ToString());
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}
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protected void OnDrawingAreaCameraExposeEvent(object o, ExposeEventArgs args)
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{
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//Console.WriteLine("Event expose. Args = " + args.ToString());
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DrawingArea area = (DrawingArea)o;
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Gdk.GC gc = area.Style.BackgroundGC(Gtk.StateType.Normal);
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area.GdkWindow.GetSize(out int areaWidth, out int areaHeight);
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area.GdkWindow.DrawPixbuf(gc, drawingareaCameraPixbuf,
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0, 0,
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(areaWidth - drawingareaCameraPixbuf.Width) / 2,
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(areaHeight - drawingareaCameraPixbuf.Height) / 2,
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drawingareaCameraPixbuf.Width, drawingareaCameraPixbuf.Height,
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RgbDither.Normal, 0, 0);
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}
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protected void OnDrawingAreaCameraConfigureEvent(object o, ConfigureEventArgs args)
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{
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//Console.WriteLine("Event configure. Args = " + args.ToString());
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}
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}
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