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

ADIS_Csharp/RobotClientWpf/ChallengeFactory.cs

@@ -12,8 +12,8 @@ namespace RobotClientWpf
         public ChallengeFactory()
         {
             this.PublisherSubscriber = MqttPublisherSubscriber.Instance;
-            this.RobotStationary = new Robot(this.PublisherSubscriber);
+            this.RobotStationary = new Robot(this.PublisherSubscriber, RobotTypes.Stationary);
-            this.RobotMobile = new Robot(this.PublisherSubscriber);
+            this.RobotMobile = new Robot(this.PublisherSubscriber, RobotTypes.Mobile);
         }
     }
 }

ADIS_Csharp/RobotClientWpf/NLog.config

@@ -10,9 +10,15 @@
 		<target
 		  xsi:type="CacheTarget"
 		  name="cache"/>
+		<target name="file" xsi:type="File"
+		   layout="${longdate} ${logger} ${message}${exception:format=ToString}"
+		   fileName="${basedir}/logs/logfile.txt"
+		   keepFileOpen="true"
+		   encoding="utf-8" />
 	</targets>
 
 	<rules>
 		<logger name="*" writeTo="cache" minlevel="Debug"/>
+		<logger name="*" minlevel="Trace" writeTo="file" />
 	</rules>
 </nlog>

ADIS_Csharp/RobotClientWpf/Views/MainView.xaml

@@ -23,7 +23,7 @@
             </GroupBox>
             <GroupBox Header="Robot battery" Margin="10" HorizontalAlignment="Right" Width="180">
                 <StackPanel Orientation="Horizontal">
-                    <TextBox x:Name="tbRoboVoltage" Height="25" Width="150" FontSize="30" IsReadOnly="True" TextWrapping="NoWrap" HorizontalAlignment="Left"/>
+                    <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>
             </GroupBox>

ADIS_Csharp/RobotLib/Battery/DevBattery.cs

@@ -31,11 +31,6 @@ namespace RobotLib.Battery
 
         public DevBattery(IPublisherSubscriber com) : base(com, new List<string>() { TOPIC_ROBO_RESP_BATTERY }) { }
 
-        public override void Refresh()
-        {
-            this.RequestBatteryVoltage();
-        }
-
         public void RequestBatteryVoltage()
         {
             base.SendMessage(TOPIC_ROBO_REQ_BATTERY, true.ToString());
@@ -45,14 +40,18 @@ namespace RobotLib.Battery
         {
             if (fromTopic == TOPIC_ROBO_RESP_BATTERY)
             {
-                var parsedVoltageString = GetValueFromMesage<string>("voltage", message);
+                var parsedString = GetValueFromMesage<string>("voltage", message);
-                if (parsedVoltageString == null) parsedVoltageString = "?";
+                if (parsedString == null) parsedString = "?";
 
                 // example message = "Battery: 1.25 V"
-                var valueUnit = message.Trim().Split(' ');
+                var valueUnit = parsedString.Trim().Split(' ');
                 string voltage = valueUnit[0].Trim();
+                float fVoltage = float.NaN;
 
-                this.Voltage = float.Parse(voltage);
+                if(float.TryParse(voltage, out fVoltage))
+                {
+                    this.Voltage = fVoltage;
+                }
             }
         }
 

ADIS_Csharp/RobotLib/Communication/MqttPublisherSubscriber.cs

@@ -159,7 +159,7 @@ namespace RobotLib.Communication
             }
             lock (clientLock)
             {
-                var msgId = client.Publish(topic, Encoding.ASCII.GetBytes(message));
+                var msgId = client.Publish(topic, Encoding.ASCII.GetBytes(message), 0, false);
                 log.Trace($"Published to topic '{topic}'. MessageId = {msgId}");
             }
         }

ADIS_Csharp/RobotLib/Robot.cs

@@ -2,26 +2,43 @@
 using RobotLib.SplitFlap;
 using RobotLib.Movement;
 using RobotLib.Battery;
-using System.Threading;
+using System.Timers;
 
 namespace RobotLib
 {
     public class Robot
     {
-        public Robot(IPublisherSubscriber com)
+        public Robot(IPublisherSubscriber com, RobotTypes type)
         {
             Com = com;
+            Type = type;
+            if(type == RobotTypes.Undefined)
+            {
+                throw new System.ArgumentException("Undefined robot type, must define type!");
+            }
+
+            if(type == RobotTypes.Mobile)
+            {
                 //Buzzer = new DevBuzzer(Com);
                 Battery = new DevBattery(Com);
-            SplitFlap = new DevSplitFlap(com);
                 LineSensor = new DevLineSensor(com);
                 Movement = new DevMovement(com);
+            }
+            else if(type == RobotTypes.Stationary)
+            {
+                SplitFlap = new DevSplitFlap(com);
+            }
 
-            Timer timer = new Timer(TimerCallback);
+            Timer timer = new Timer
-            timer.Change(2000, 10000);
+            {
+                Interval = 10000
+            };
+            timer.Enabled= true;
+            timer.Elapsed += Timer_Elapsed;
         }
 
         public IPublisherSubscriber Com { get; }
+        public RobotTypes Type { get; }
 
         //public DevBuzzer Buzzer { get; }
         public DevBattery Battery { get; }
@@ -39,13 +56,12 @@ namespace RobotLib
             //Com.Disconnect();
         }
 
-        private void TimerCallback(object state)
+        private void Timer_Elapsed(object sender, ElapsedEventArgs e)
         {
             if (Com.IsConnected)
             {
-                Battery.Refresh();
+                Battery?.RequestBatteryVoltage();
             }
         }
-
     }
 }

ADIS_Csharp/RobotLib/RobotTypes.cs

@@ -0,0 +1,9 @@
+namespace RobotLib
+{
+    public enum RobotTypes
+    {
+        Undefined = 0,
+        Mobile = 1,
+        Stationary
+    }
+}

ADIS_ESP32_Eclipse/main/robo_wrapper.c

@@ -114,16 +114,8 @@ bool Robo_Wrapper_GetBatteryVoltage(unsigned char *voltage){
 }
 
 static bool getValueOfStatusResponse(unsigned char* response, const unsigned char* key, unsigned char* value, size_t valueStringLen){
-	int16_t pos = McuUtility_strFind(response, (unsigned char*)key);
-	unsigned char extractedString[50] = "";
-
-	if(pos == -1){   // error string not found = -1
-		ESP_LOGE(TAG, "Could not find key %s in response.", key);
-		return false;
-	}
-
 	unsigned char *p;
-	p = (unsigned char*)response + pos;
+	p = (unsigned char*)response;
 
 	// skip first line (if the keyword would also appear in the headline, this is an issue)
 	while(*p!='\n'){
@@ -131,6 +123,14 @@ static bool getValueOfStatusResponse(unsigned char* response, const unsigned cha
 	}
 	p+=1; // skip newline
 
+	// find key
+	int16_t pos = McuUtility_strFind(p, (unsigned char*)key);
+	if(pos == -1){   // error string not found = -1
+		ESP_LOGE(TAG, "Could not find key %s in response.", key);
+		return false;
+	}
+	p+=pos;  // move pointer to found key
+
 	// skip until colon
 	while(true){
 		if(*p==':'){
@@ -147,6 +147,7 @@ static bool getValueOfStatusResponse(unsigned char* response, const unsigned cha
 	}
 
 	// extract value
+	unsigned char extractedString[50] = "";
 	uint8_t i = 0;
 	while(true){
 		if(*p == '\n'){