Merge branch 'main' of gitlab.enterpriselab.ch:adis_team_gueti_roaster/adis_hs2022_team_4 into main

ADIS_Csharp/RobotClientWpf/MainWindow.xaml

@@ -12,7 +12,7 @@
         <Grid.RowDefinitions>
             <RowDefinition Height="40"/>
             <RowDefinition Height="*"/>
-            <RowDefinition Height="260"/>
+            <RowDefinition Height="220"/>
             <!-- <RowDefinition Height="30"/>  Bottom message (NOT USED) -->
         </Grid.RowDefinitions>
 

ADIS_Csharp/RobotClientWpf/MainWindow.xaml.cs

@@ -61,7 +61,7 @@ namespace RobotClientWpf
             // set color according to assessed state
             if(e.Online == false)
             {
-                log.Warn("Robot Stationary seems to be offline.");
+                log.Warn($"Robot Stationary seems to be offline. No response in {e.Seconds}s.");
             }
             else
             {
@@ -75,7 +75,7 @@ namespace RobotClientWpf
             // set color according to assessed state
             if (e.Online == false)
             {
-                log.Warn("Robot Mobile seems to be offline.");
+                log.Warn($"Robot Mobile seems to be offline. No response in {e.Seconds}s.");
             }
             else
             {

ADIS_Csharp/RobotClientWpf/Views/MainView.xaml

@@ -5,7 +5,7 @@
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
              xmlns:local="clr-namespace:RobotClientWpf.Views"
              mc:Ignorable="d" 
-             d:DesignHeight="430" d:DesignWidth="1200" FontSize="15" KeyDown="UserControl_KeyDown">
+             d:DesignHeight="430" d:DesignWidth="1200" FontSize="15">
     <Grid>
         <Grid.ColumnDefinitions>
             <ColumnDefinition Width="*"/>
@@ -19,7 +19,10 @@
         <!-- RIGHT SIDE -->
         <StackPanel Orientation="Vertical" Grid.Row="0" Grid.Column="1" Grid.RowSpan="2">
             <GroupBox Header="Splitflap Display" Margin="10" HorizontalAlignment="Right">
-                <TextBox x:Name="tbSplitflapText" Height="100" Width="300" FontSize="40" IsReadOnly="True" TextWrapping="NoWrap" HorizontalAlignment="Left"/>
+                <TextBox x:Name="tbSplitflapText" Height="100" Width="250" FontSize="70" IsReadOnly="True" TextWrapping="NoWrap" TextAlignment="Center"/>
+            </GroupBox>
+            <GroupBox Header="Presents Counted" Margin="10" HorizontalAlignment="Right">
+                <TextBox x:Name="tbPresentCount" Height="100" Width="250" FontSize="70" IsReadOnly="True" TextWrapping="NoWrap" TextAlignment="Center"/>
             </GroupBox>
         </StackPanel>
 

ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs

@@ -1,4 +1,5 @@
 using RobotClientWpf.Utilities;
+using RobotLib.Status;
 using System.Windows.Controls;
 using System.Windows.Input;
 
@@ -12,7 +13,7 @@ namespace RobotClientWpf.Views
         private static readonly NLog.Logger log = NLog.LogManager.GetCurrentClassLogger();
         private ChallengeFactory? challenge;
         private MainWindow? mainWindow;
-        private const int AMOUNT_SPEED_ADDED_PER_CLICK = 200;
+        private const int AMOUNT_SPEED_ADDED_PER_CLICK = 350;
         private const int TURN_ANGLE_PER_CLICK = 30;
 
         public MainView()
@@ -27,6 +28,22 @@ namespace RobotClientWpf.Views
             // subscribe to events
             this.challenge.RobotStationary.SplitFlap.SplitFlapDisplayChanged += this.SplitFlap_SplitFlapDisplayChanged;
             this.challenge.RobotMobile.Battery.BatteryChanged += Battery_BatteryChanged;
+            this.challenge.RobotMobile.Status.PresentChanged += Status_PresentChanged;
+            this.challenge.RobotMobile.Status.StatusChanged += Status_StatusChanged;
+        }
+
+        private void Status_StatusChanged(object? sender, RobotLib.Status.StatusEventArgs e)
+        {
+            // if status manual is set => reset present counter
+            if(e.Status == RoboStatus.Manual || e.Status == RoboStatus.Auto)
+            {
+                UIAccessHelpers.SetTextboxText(tbPresentCount, "");
+            }
+        }
+
+        private void Status_PresentChanged(object? sender, RobotLib.Status.PresentEventArgs e)
+        {
+            UIAccessHelpers.SetTextboxText(tbPresentCount, e.Present.ToString());
         }
 
         private void Battery_BatteryChanged(object? sender, RobotLib.Battery.BatteryEventArgs e)
@@ -101,10 +118,5 @@ namespace RobotClientWpf.Views
                 e.Handled = true;
             }
         }
-
-        private void UserControl_KeyDown(object sender, KeyEventArgs e)
-        {
-            this.HandleKeyDownEvent(sender, e);
-        }
     }
 }

ADIS_Csharp/RobotLib/Battery/DevBattery.cs

@@ -11,7 +11,7 @@ namespace RobotLib.Battery
     {
         private float voltage;
         private int lastResponseS = 1000;  // seconds since last response
-        private const int offlineTresholdS = 11;   // treshold when to assess a robot as offline (no response for x sec)
+        private const int offlineTresholdS = 25;   // treshold when to assess a robot as offline (no response for x sec)
         private Stopwatch stopwatchLastResponse = new();
 
         private const string TOPIC_ROBO_REQ_BATTERY = "/both/cmd/battery/get_volt";

ADIS_ESP32_Eclipse/main/myMqtt.c

@@ -20,6 +20,7 @@ static const char *TAG = "MY_MQTT";
 
 // local cars
 char _brokerIp[] = "255.255.255.255";  // max length of ip
+SemaphoreHandle_t semaphoreMqtt = NULL;
 
 // declarations
 static void log_error_if_nonzero(const char *message, int error_code);
@@ -29,8 +30,16 @@ static void mqtt_event_handler(void *handler_args, esp_event_base_t base, int32_
 esp_mqtt_client_handle_t client;
 
 bool MyMqtt_Init(void){
+	// initialize semaphore
+	semaphoreMqtt = xSemaphoreCreateRecursiveMutex();
+	if(semaphoreMqtt == NULL){
+		ESP_LOGE(TAG, "Failed to initialize semaphore for MyMqtt!");
+	}else{
+		vQueueAddToRegistry(semaphoreMqtt, "mymqtt_semphr");
+	}
+
+	// get mqtt broker IP from NVS
 	char brokerUri[50];
-	// get from NVS
 	Challenge_Nvs_GetBrokerIpFromNVS(_brokerIp, sizeof(_brokerIp));
 	McuUtility_strcpy((unsigned char*)brokerUri, sizeof(brokerUri), (unsigned char*)"mqtt://");
 	McuUtility_strcat((unsigned char*)brokerUri, sizeof(brokerUri), (unsigned char*)_brokerIp);
@@ -54,14 +63,35 @@ void MyMqtt_Deinit(void){
 	esp_mqtt_client_destroy(client);
 }
 
+/* HELPERS FOR SEMAPHORE */
+static bool MyMqtt_AquireMutex(void){
+	if(xSemaphoreTakeRecursive(semaphoreMqtt, pdMS_TO_TICKS(1000)) != pdTRUE){
+		/* timeout */
+		ESP_LOGW(TAG, "Timemout while aquiring myMqtt semaphore.");
+		return false;
+	}
+	return true;
+}
+
+static void MyMqtt_ReleaseMutex(void){
+	xSemaphoreGive(semaphoreMqtt);
+}
+
+
 void MyMqtt_Publish(const char *topic, const char *data){
+	if(MyMqtt_AquireMutex()){
 		int msg_id = esp_mqtt_client_publish(client, topic, data, 0, 2, 0);
 		ESP_LOGI(TAG, "sent publish successful, msg_id=%d", msg_id);
+		MyMqtt_ReleaseMutex();
+	}
 }
 
 void MyMqtt_Subscribe(const char *topic){
+	if(MyMqtt_AquireMutex()){
 		int msg_id = esp_mqtt_client_subscribe(client, topic, 0);
 		ESP_LOGI(TAG, "sent subscribe successful, msg_id=%d, success=%s", msg_id, msg_id==-1 ? "false" : "true");
+		MyMqtt_ReleaseMutex();
+	}
 }
 
 char* MyMqtt_GetBrokerIP(void){