add raspicontrol (c#)

ADIS_Csharp/ADIS_Csharp.sln

@@ -19,9 +19,11 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "MqttTest", "MqttTest\MqttTe
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "RobotLib", "RobotLib\RobotLib.csproj", "{915E2889-F10D-4D02-8313-308F642EC64F}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotConsoleClient", "RobotConsoleClient\RobotConsoleClient.csproj", "{7FFC4B71-FFC2-45A1-941D-4B0A78C20B89}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "RobotConsoleClient", "RobotConsoleClient\RobotConsoleClient.csproj", "{7FFC4B71-FFC2-45A1-941D-4B0A78C20B89}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotClientWpf", "RobotClientWpf\RobotClientWpf.csproj", "{1D715C65-A8D8-45D3-AE63-D88C60337505}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "RobotClientWpf", "RobotClientWpf\RobotClientWpf.csproj", "{1D715C65-A8D8-45D3-AE63-D88C60337505}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RaspiControl", "RaspiControl\RaspiControl.csproj", "{CE8FA2F2-2DE4-40B6-A933-988E135C5039}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -69,6 +71,10 @@ Global
 		{1D715C65-A8D8-45D3-AE63-D88C60337505}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{1D715C65-A8D8-45D3-AE63-D88C60337505}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{1D715C65-A8D8-45D3-AE63-D88C60337505}.Release|Any CPU.Build.0 = Release|Any CPU
+		{CE8FA2F2-2DE4-40B6-A933-988E135C5039}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{CE8FA2F2-2DE4-40B6-A933-988E135C5039}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{CE8FA2F2-2DE4-40B6-A933-988E135C5039}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{CE8FA2F2-2DE4-40B6-A933-988E135C5039}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

ADIS_Csharp/RaspiControl/Joystick.cs

@@ -0,0 +1,66 @@
+using System;
+using System.Collections.Generic;
+using System.Threading;
+using Unosquare.RaspberryIO;
+using Unosquare.RaspberryIO.Abstractions;
+using Unosquare.WiringPi;
+
+namespace RaspiControl {
+    public class Joystick {
+
+        private static readonly IGpioPin joystickUpPin = Pi.Gpio[BcmPin.Gpio19];
+        private static readonly IGpioPin joysticDownPin = Pi.Gpio[BcmPin.Gpio13];
+        private static readonly IGpioPin joystickLeftPin = Pi.Gpio[BcmPin.Gpio06];
+        private static readonly IGpioPin joystickRightPin = Pi.Gpio[BcmPin.Gpio05];
+        private static readonly IGpioPin joystickPushPin = Pi.Gpio[BcmPin.Gpio26];
+
+        private static readonly List<IGpioPin> inputPins = new List<IGpioPin> { joystickUpPin, joysticDownPin,
+            joystickLeftPin, joystickRightPin, joystickPushPin };
+
+        #region Properties
+        public JoystickButton State {
+            get {
+                JoystickButton state = JoystickButton.None;
+                if (!joystickLeftPin.Read()) state |= JoystickButton.Left;
+                if (!joystickRightPin.Read()) state |= JoystickButton.Right;
+                if (!joystickUpPin.Read()) state |= JoystickButton.Up;
+                if (!joysticDownPin.Read()) state |= JoystickButton.Down;
+                if (!joystickPushPin.Read()) state |= JoystickButton.Center;
+                return state;
+            }
+        }
+        #endregion
+
+        #region Events
+        public event EventHandler<JoystickEventArgs>? JoystickChanged;
+
+        private void OnJoystickChanged(JoystickButton state) {
+            Console.WriteLine($"Joystick was pushed: {state}");
+            this.JoystickChanged?.Invoke(this, new JoystickEventArgs(state));
+        }
+        #endregion
+
+        public Joystick() {
+            Pi.Init<BootstrapWiringPi>();
+            foreach (var pin in inputPins) {
+                pin.PinMode = GpioPinDriveMode.Input;
+            }
+
+            Thread thread = new Thread(Run);
+            thread.IsBackground = true;
+            thread.Start();
+        }
+
+        private void Run() {
+            JoystickButton oldState = State;
+            while (true) {
+                JoystickButton newState = State;
+                if (oldState != newState) {
+                    oldState = newState;
+                    OnJoystickChanged(newState);
+                }
+                Thread.Sleep(50);
+            }
+        }
+    }
+}

ADIS_Csharp/RaspiControl/JoystickButton.cs

@@ -0,0 +1,18 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace RaspiControl {
+
+    public enum JoystickButton {
+        None = 0,
+        Left = 1,
+        Right = 2,
+        Up = 4,
+        Down = 8,
+        Center = 16
+    }
+
+}

ADIS_Csharp/RaspiControl/JoystickEventArgs.cs

@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace RaspiControl {
+    public class JoystickEventArgs : EventArgs {
+
+        public JoystickButton Button { get; }
+        public JoystickEventArgs(JoystickButton button) {
+            Button = button;
+        }
+    }
+}

ADIS_Csharp/RaspiControl/Navigation.cs

@@ -0,0 +1,53 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace RaspiControl {
+    internal class Navigation {
+        private int angleRight;
+        private int angleLeft;
+        public Navigation() {
+            this.angleRight = 0;
+            this.angleLeft = 0;
+        }
+
+        public void ResetAngle() { 
+            this.angleRight = 0;
+            this.angleRight= 0;
+        }
+
+        public int GetAngleLeftStep() {
+            this.angleLeft -= 10;
+            if (this.angleLeft < -180) {
+                this.angleLeft = -180;
+            }
+            return -10;
+        }
+
+        public int GetAngleRightStep() {
+            this.angleRight += 10;
+            if (this.angleRight > 180) {
+                this.angleRight = 180;
+            }
+            return 10;
+        }
+
+        public int IncreaseAngleLeft() {
+            this.angleLeft -= 10;
+            if(this.angleLeft < -180) {
+                this.angleLeft = -180;
+            }
+            return this.angleLeft; 
+        }
+
+        public int IncreaseAngleRight() {
+            this.angleRight += 10;
+            if (this.angleRight > 180) {
+                this.angleRight = 180;
+            }
+            return this.angleRight;
+        }
+    }
+}

ADIS_Csharp/RaspiControl/Program.cs

@@ -0,0 +1,54 @@
+using System;
+using System.Text;
+using M2Mqtt;
+using M2Mqtt.Messages;
+using Swan.Formatters;
+
+namespace RaspiControl {
+    class Programm {
+        private static MqttClient client;
+        private static Navigation navigation;
+        private static Joystick joystick;
+        static void Main(string[] args) {
+            try {
+                client = new MqttClient("localhost");
+                client.MqttMsgPublishReceived += Client_MqttMsgPublishReceived;
+                string clientId = Guid.NewGuid().ToString();
+                client.Connect(clientId);
+                client.Subscribe(new string[] { "APROG/REQUEST" }, new byte[] { MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE });
+                navigation= new Navigation();
+                joystick= new Joystick();
+                joystick.JoystickChanged += Joystick_JoystickChanged;
+
+            } catch (Exception ex) {
+                Console.WriteLine(ex.Message);
+            }
+        }
+
+        private static void Joystick_JoystickChanged(object sender, JoystickEventArgs e) {
+            switch (e.Button) {
+                case JoystickButton.None:
+                    break;
+                case JoystickButton.Left:
+                    client.Publish("mobile/cmd/nav/left", Encoding.UTF8.GetBytes($"{navigation.GetAngleLeftStep()}"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
+                    break;
+                case JoystickButton.Right:
+                    client.Publish("mobile/cmd/nav/right", Encoding.UTF8.GetBytes($"{navigation.GetAngleRightStep()}"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
+                    break;
+                case JoystickButton.Up:
+                    break;
+                case JoystickButton.Down:
+                    break;
+                case JoystickButton.Center:
+                    navigation.ResetAngle();
+                    client.Publish("mobile/cmd/nav/drive", Encoding.UTF8.GetBytes("true"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
+                    break;
+            }
+        }
+
+        private static void Client_MqttMsgPublishReceived(object sender, MqttMsgPublishEventArgs e) {
+            Console.Write(e.Topic + "\n");
+            Console.Write(Encoding.UTF8.GetString(e.Message) + "\n");
+        }
+    }
+}

ADIS_Csharp/RaspiControl/RaspiControl.csproj

@@ -0,0 +1,20 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>Exe</OutputType>
+    <TargetFramework>net6.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <Target Name="PostBuild" AfterTargets="PostBuildEvent">
+    <Exec Command="cd &quot;$(TargetDir)&quot;&#xD;&#xA;&quot;$(SolutionDir)\SecureUpload.exe&quot; . pi-home:ADIS/$(ProjectName)" />
+  </Target>
+
+  <ItemGroup>
+    <PackageReference Include="M2MqttClientDotnetCore" Version="1.0.1" />
+    <PackageReference Include="Unosquare.Raspberry.IO" Version="0.27.1" />
+    <PackageReference Include="Unosquare.WiringPi" Version="0.5.1" />
+  </ItemGroup>
+
+</Project>