From 630f504785276ff4bf9a1f759656e04b03a186ae Mon Sep 17 00:00:00 2001
From: Jonas Arnold <jonas.arnold@live.de>
Date: Thu, 22 Dec 2022 18:31:21 +0100
Subject: [PATCH] added status of mobile robot in UI implemented battery state
 for both robots in RobotLib

---
 .../Utilities/UIAccessHelpers.cs              | 16 ++++++++
 .../RobotClientWpf/Views/ConfigView.xaml      |  2 +-
 .../RobotClientWpf/Views/ConfigView.xaml.cs   |  8 ++--
 .../RobotClientWpf/Views/MainView.xaml        | 19 ++++++---
 .../RobotClientWpf/Views/MainView.xaml.cs     | 17 +++++++-
 ADIS_Csharp/RobotLib/Battery/DevBattery.cs    | 40 +++++++++++++++++--
 .../Communication/MqttPublisherSubscriber.cs  |  2 +-
 ADIS_Csharp/RobotLib/Robot.cs                 | 20 +++++-----
 8 files changed, 100 insertions(+), 24 deletions(-)

diff --git a/ADIS_Csharp/RobotClientWpf/Utilities/UIAccessHelpers.cs b/ADIS_Csharp/RobotClientWpf/Utilities/UIAccessHelpers.cs
index b43aa37..3ab21d9 100644
--- a/ADIS_Csharp/RobotClientWpf/Utilities/UIAccessHelpers.cs
+++ b/ADIS_Csharp/RobotClientWpf/Utilities/UIAccessHelpers.cs
@@ -3,6 +3,7 @@ using System.Windows;
 using System.Windows.Controls;
 using System.Windows.Controls.Primitives;
 using System.Windows.Media;
+using System.Windows.Shapes;
 
 namespace RobotClientWpf.Utilities
 {
@@ -99,5 +100,20 @@ namespace RobotClientWpf.Utilities
                 textBlock.Foreground = foregroundColor;
             }
         }
+
+        public static void SetShapeVisibility(Shape shape, bool visible)
+        {
+            if (!Application.Current.Dispatcher.CheckAccess())
+            {
+                Application.Current.Dispatcher.BeginInvoke(new Action(() =>
+                {
+                    SetShapeVisibility(shape, visible);
+                }));
+            }
+            else
+            {
+                shape.Opacity = visible?100:0;
+            }
+        }
     }
 }
diff --git a/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml b/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml
index fc988b3..f5c20be 100644
--- a/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml
+++ b/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml
@@ -76,7 +76,7 @@
                 <StackPanel Orientation="Vertical">
                     <StackPanel DockPanel.Dock="Left" Orientation="Horizontal" VerticalAlignment="Top">
                         <Label DockPanel.Dock="Left" Content="Hostname:" Margin="5 0" Height="30" Width="100"/>
-                        <TextBox DockPanel.Dock="Left" x:Name="tbRobotConfiguratorHostname" Width="200" Height="30" Margin="5" TextChanged="tbRobotConfiguratorHostname_TextChanged"/>
+                        <TextBox DockPanel.Dock="Left" x:Name="tbRobotConfiguratorHostname" Width="300" Height="30" Margin="5" Text="ADISRobotExx.simple.eee.intern" TextChanged="tbRobotConfiguratorHostname_TextChanged"/>
                         <Button DockPanel.Dock="Left" x:Name="btnClearRobotConfHostname" Content="Clear" Margin="5" Width="50" Height="30" Click="btnClearRobotConfHostname_Click" />
                     </StackPanel>
                     <StackPanel Orientation="Horizontal">
diff --git a/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml.cs b/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml.cs
index e6aa18e..d54618d 100644
--- a/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml.cs
+++ b/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml.cs
@@ -101,10 +101,10 @@ namespace RobotClientWpf.Views
 
         private void EnableRobotConfigurationOptions(bool enabled)
         {
-            UIAccessHelpers.SetButtonState(btnSetBrokerIp, enabled);
-            UIAccessHelpers.SetButtonState(btnReboot, enabled);
-            UIAccessHelpers.SetButtonState(btnSetModeStationary, enabled);
-            UIAccessHelpers.SetButtonState(btnSetModeMobile, enabled);
+            if (btnSetBrokerIp != null)         UIAccessHelpers.SetButtonState(btnSetBrokerIp, enabled);
+            if (btnReboot != null)              UIAccessHelpers.SetButtonState(btnReboot, enabled);
+            if (btnSetModeStationary != null)   UIAccessHelpers.SetButtonState(btnSetModeStationary, enabled);
+            if (btnSetModeMobile != null)       UIAccessHelpers.SetButtonState(btnSetModeMobile, enabled);
         }
 
         private void btnClearRobotConfHostname_Click(object sender, RoutedEventArgs e)
diff --git a/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml b/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml
index 6dd62bd..76fa90b 100644
--- a/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml
+++ b/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml
@@ -9,7 +9,7 @@
     <Grid>
         <Grid.ColumnDefinitions>
             <ColumnDefinition Width="*"/>
-            <ColumnDefinition Width="200"/>
+            <ColumnDefinition Width="400"/>
         </Grid.ColumnDefinitions>
         <Grid.RowDefinitions>
             <RowDefinition Height="200"/>
@@ -21,10 +21,19 @@
             <GroupBox Header="Splitflap Display" Margin="10" HorizontalAlignment="Right" Width="180">
                 <TextBox x:Name="tbSplitflapText" Height="70" Width="150" FontSize="30" IsReadOnly="True" TextWrapping="NoWrap" HorizontalAlignment="Left"/>
             </GroupBox>
-            <GroupBox Header="Robot battery" Margin="10" HorizontalAlignment="Right" Width="180">
-                <StackPanel Orientation="Horizontal">
-                    <TextBox x:Name="tbRoboVoltage" Height="25" Width="100" FontSize="15" IsReadOnly="True" TextWrapping="NoWrap" HorizontalAlignment="Left">NaN</TextBox>
-                    <Label Content="V" Margin="10 0"/>
+            <GroupBox Header="Robot" Margin="10" HorizontalAlignment="Right" Width="350">
+                <StackPanel Orientation="Vertical">
+                    <StackPanel Orientation="Horizontal">
+                        <Label Content="Battery" Margin="10 0"/>
+                        <TextBox x:Name="tbRoboVoltage" Height="25" Width="100" FontSize="15" IsReadOnly="True" TextWrapping="NoWrap" HorizontalAlignment="Left">NaN</TextBox>
+                        <Label Content="V" Margin="10 0"/>
+                    </StackPanel>
+                    <StackPanel Orientation="Horizontal">
+                        <Label Content="State" Margin="10 0"/>
+                        <Ellipse Fill="Red" x:Name="ellipseRed" Width="20" Height="20" Margin="15 0" Opacity="0"/>
+                        <Ellipse Fill="Green" x:Name="ellipseGreen" Width="20" Height="20" Margin="0 0" Opacity="0"/>
+                    </StackPanel>
+
                 </StackPanel>
             </GroupBox>
         </StackPanel>
diff --git a/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs b/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs
index 1a50ba0..7342bfd 100644
--- a/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs
+++ b/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs
@@ -12,7 +12,7 @@ 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 = 500;
+        private const int AMOUNT_SPEED_ADDED_PER_CLICK = 200;
         private const int TURN_ANGLE_PER_CLICK = 30;
 
         public MainView()
@@ -27,6 +27,21 @@ namespace RobotClientWpf.Views
             // subscribe to events
             this.challenge.RobotStationary.SplitFlap.SplitFlapDisplayChanged += this.SplitFlap_SplitFlapDisplayChanged;
             this.challenge.RobotMobile.Battery.BatteryChanged += Battery_BatteryChanged;
+            this.challenge.RobotMobile.Battery.SecondsSinceLastResponseUpdate += Battery_SecondsSinceLastResponseUpdate;
+        }
+
+        private void Battery_SecondsSinceLastResponseUpdate(object? sender, int e)
+        {
+            if(e > 15)
+            {
+                UIAccessHelpers.SetShapeVisibility(ellipseRed, true);
+                UIAccessHelpers.SetShapeVisibility(ellipseGreen, false);
+            }
+            else
+            {
+                UIAccessHelpers.SetShapeVisibility(ellipseRed, false);
+                UIAccessHelpers.SetShapeVisibility(ellipseGreen, true);
+            }
         }
 
         private void Battery_BatteryChanged(object? sender, RobotLib.Battery.BatteryEventArgs e)
diff --git a/ADIS_Csharp/RobotLib/Battery/DevBattery.cs b/ADIS_Csharp/RobotLib/Battery/DevBattery.cs
index cceecdf..171c768 100644
--- a/ADIS_Csharp/RobotLib/Battery/DevBattery.cs
+++ b/ADIS_Csharp/RobotLib/Battery/DevBattery.cs
@@ -1,6 +1,7 @@
 using RobotLib.Communication;
 using System;
 using System.Collections.Generic;
+using System.Diagnostics;
 using System.Text.Json;
 
 namespace RobotLib.Battery
@@ -8,11 +9,15 @@ namespace RobotLib.Battery
     public class DevBattery : DevBase
     {
         private float voltage;
+        private int secondsSinceLastResponse = 0;
+        private Stopwatch stopwatchLastResponse = new();
 
-        private const string TOPIC_ROBO_REQ_BATTERY = "/mobile/cmd/battery/get_volt";
+        private const string TOPIC_ROBO_REQ_BATTERY = "/both/cmd/battery/get_volt";
         private const string TOPIC_ROBO_RESP_BATTERY = "/mobile/state/battery/voltage";
+        private const string TOPIC_STAT_RESP_BATTERY = "/stationary/state/battery/voltage";
 
         public event EventHandler<BatteryEventArgs> BatteryChanged;
+        public event EventHandler<int> SecondsSinceLastResponseUpdate;
 
         public float Voltage
         {
@@ -29,17 +34,46 @@ namespace RobotLib.Battery
             }
         }
 
-        public DevBattery(IPublisherSubscriber com) : base(com, new List<string>() { TOPIC_ROBO_RESP_BATTERY }) { }
+        public int SecondsSinceLastResponse
+        {
+            get { return secondsSinceLastResponse; }
+            private set
+            {
+                secondsSinceLastResponse = value;
+                SecondsSinceLastResponseUpdate?.Invoke(this, secondsSinceLastResponse);
+            }
+        }
+
+        public DevBattery(IPublisherSubscriber com, RobotMode mode) : base(com, GenerateListOfRelevantTopics(mode)) { }
 
+        private static List<string> GenerateListOfRelevantTopics(RobotMode mode)
+        {
+            if (mode == RobotMode.Stationary)
+            {
+                return new List<string>() { TOPIC_STAT_RESP_BATTERY };
+            }
+            else
+            {
+                return new List<string>() { TOPIC_ROBO_RESP_BATTERY };
+            }
+        }
         public void RequestBatteryVoltage()
         {
             base.SendMessage(TOPIC_ROBO_REQ_BATTERY, true.ToString());
+            if (this.stopwatchLastResponse.IsRunning)
+            {
+                SecondsSinceLastResponse = this.stopwatchLastResponse.Elapsed.Seconds;
+            }
         }
 
         protected override void ParseMessage(string fromTopic, string message)
         {
-            if (fromTopic == TOPIC_ROBO_RESP_BATTERY)
+            if (fromTopic == TOPIC_ROBO_RESP_BATTERY || fromTopic == TOPIC_STAT_RESP_BATTERY)
             {
+                this.stopwatchLastResponse.Stop();
+                this.stopwatchLastResponse.Start();
+                SecondsSinceLastResponse = 0;
+
                 var parsedString = GetValueFromMesage<string>("voltage", message);
                 if (parsedString == null) parsedString = "?";
 
diff --git a/ADIS_Csharp/RobotLib/Communication/MqttPublisherSubscriber.cs b/ADIS_Csharp/RobotLib/Communication/MqttPublisherSubscriber.cs
index 5e00ad8..2125dbb 100644
--- a/ADIS_Csharp/RobotLib/Communication/MqttPublisherSubscriber.cs
+++ b/ADIS_Csharp/RobotLib/Communication/MqttPublisherSubscriber.cs
@@ -136,7 +136,7 @@ namespace RobotLib.Communication
             lock (clientLock)
             {
                 IsConnected = false;
-                log.Info($"Connection was closed.");
+                log.Warn($"Connection was closed.");
             }
         }
 
diff --git a/ADIS_Csharp/RobotLib/Robot.cs b/ADIS_Csharp/RobotLib/Robot.cs
index 1f66061..68dfe07 100644
--- a/ADIS_Csharp/RobotLib/Robot.cs
+++ b/ADIS_Csharp/RobotLib/Robot.cs
@@ -9,38 +9,40 @@ namespace RobotLib
 {
     public class Robot
     {
-        public Robot(IPublisherSubscriber com, RobotMode type)
+        public Robot(IPublisherSubscriber com, RobotMode mode)
         {
             Com = com;
-            Type = type;
-            if(type == RobotMode.Undefined)
+            Mode = mode;
+            if(mode == RobotMode.Undefined)
             {
                 throw new System.ArgumentException("Undefined robot mode, must define mode!");
             }
 
-            if(type == RobotMode.Mobile)
+            // battery is applicable for both modes
+            Battery = new DevBattery(Com, mode);
+
+            if(mode == RobotMode.Mobile)
             {
                 //Buzzer = new DevBuzzer(Com);
-                Battery = new DevBattery(Com);
                 LineSensor = new DevLineSensor(com);
                 Movement = new DevMovement(com);
                 Status = new DevStatus(com);
             }
-            else if(type == RobotMode.Stationary)
+            else if(mode == RobotMode.Stationary)
             {
                 SplitFlap = new DevSplitFlap(com);
             }
 
             Timer timer = new Timer
             {
-                Interval = 10000
+                Interval = 15000
             };
             timer.Enabled= true;
             timer.Elapsed += Timer_Elapsed;
         }
 
         public IPublisherSubscriber Com { get; }
-        public RobotMode Type { get; }
+        public RobotMode Mode { get; }
 
         //public DevBuzzer Buzzer { get; }
         public DevBattery Battery { get; }
@@ -64,7 +66,7 @@ namespace RobotLib
         {
             if (Com.IsConnected)
             {
-                Battery?.RequestBatteryVoltage();
+                //Battery?.RequestBatteryVoltage();
             }
         }
     }