implemented steering and added robot control to UI

ADIS_Csharp/RobotClientWpf/MainWindow.xaml

@@ -72,7 +72,7 @@
             
         </RichTextBox>-->
 
-        <StackPanel Grid.Row="3" Orientation="Horizontal" Grid.ColumnSpan="2" Margin="0,150,0,0" Grid.RowSpan="2">
+        <StackPanel Grid.Row="3" Orientation="Horizontal" Margin="0,150,0,0">
             <TextBlock x:Name="tbBottomMessage" FontSize="15" Margin="10 5"/>
         </StackPanel>
     </Grid>

ADIS_Csharp/RobotClientWpf/RobotClientWpf.csproj

@@ -8,6 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
+    <None Remove="Assets\arrow-down-bold.png" />
     <None Remove="Assets\cog.png" />
     <None Remove="Assets\robot-industrial.png" />
   </ItemGroup>
@@ -21,6 +22,9 @@
   </ItemGroup>
 
   <ItemGroup>
+    <Resource Include="Assets\arrow-down-bold.png">
+      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+    </Resource>
     <Resource Include="Assets\cog.png">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </Resource>

ADIS_Csharp/RobotClientWpf/Views/MainView.xaml

@@ -5,20 +5,72 @@
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
              xmlns:local="clr-namespace:RobotClientWpf.Views"
              mc:Ignorable="d" 
-             d:DesignHeight="450" d:DesignWidth="800">
+             d:DesignHeight="450" d:DesignWidth="800" KeyDown="UserControl_KeyDown">
     <Grid>
         <Grid.ColumnDefinitions>
             <ColumnDefinition Width="*"/>
             <ColumnDefinition Width="200"/>
         </Grid.ColumnDefinitions>
         <Grid.RowDefinitions>
-            <RowDefinition Height="120"/>
+            <RowDefinition Height="150"/>
             <RowDefinition Height="*"/>
         </Grid.RowDefinitions>
         <GroupBox Grid.Row="0" Grid.Column="1" Header="Splitflap Display" Margin="10" HorizontalAlignment="Right">
             <TextBox x:Name="tbSplitflapText" Height="70" Width="150" FontSize="30" IsReadOnly="True" TextWrapping="NoWrap"/>
-
         </GroupBox>
+        <DockPanel>
+            <GroupBox DockPanel.Dock="Left" Grid.Column="0" Header="Robot Control" Width="200">
+                <StackPanel Orientation="Vertical" Margin="5">
+                    <Button x:Name="btnModeAuto" Height="25" Margin="0 5" Click="btnModeAuto_Click">Set Automatic Mode</Button>
+                    <Button x:Name="btnModeManual" Height="25" Margin="0 5" Click="btnModeManual_Click">Set Manual Mode</Button>
+                </StackPanel>
+            </GroupBox>
+            <GroupBox DockPanel.Dock="Left" Grid.Column="0" Header="Robot Steering" Width="200">
+                <Grid>
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition Width="*"/>
+                        <ColumnDefinition Width="*"/>
+                        <ColumnDefinition Width="*"/>
+                    </Grid.ColumnDefinitions>
+                    <Grid.RowDefinitions>
+                        <RowDefinition Height="*"/>
+                        <RowDefinition Height="*"/>
+                        <RowDefinition Height="25"/>
+                        <RowDefinition Height="25"/>
+                    </Grid.RowDefinitions>
 
+                    <Button Grid.Column="1" Grid.Row="0" Height="30" Width="30" x:Name="btnRoboFwd" Click="btnRoboFwd_Click">
+                        <Image>
+                            <Image.Source>
+                                <BitmapImage UriSource="/Assets/arrow-down-bold.png" Rotation="Rotate180"/>
+                            </Image.Source>
+                        </Image> 
+                    </Button>
+                    <Button Grid.Column="1" Grid.Row="1" Height="30" Width="30" x:Name="btnRoboBwd" Click="btnRoboBwd_Click">
+                        <Image>
+                            <Image.Source>
+                                <BitmapImage UriSource="/Assets/arrow-down-bold.png"/>
+                            </Image.Source>
+                        </Image>
+                    </Button>
+                    <Button Grid.Column="0" Grid.Row="1"  Height="30" Width="30" x:Name="btnRoboLeft" Click="btnRoboLeft_Click">
+                        <Image>
+                            <Image.Source>
+                                <BitmapImage UriSource="/Assets/arrow-down-bold.png" Rotation="Rotate90"/>
+                            </Image.Source>
+                        </Image>
+                    </Button>
+                    <Button Grid.Column="2" Grid.Row="1" Height="30" Width="30" x:Name="btnRoboRight" Click="btnRoboRight_Click">
+                        <Image>
+                            <Image.Source>
+                                <BitmapImage UriSource="/Assets/arrow-down-bold.png" Rotation="Rotate270"/>
+                            </Image.Source>
+                        </Image>
+                    </Button>
+                    <Label Grid.Row="2" Grid.ColumnSpan="3" FontWeight="Bold" FontSize="12" Margin="5 0">Control with Arrow keys</Label>
+                    <Label Grid.Row="3" Grid.ColumnSpan="3" FontWeight="Bold" FontSize="12" Margin="5 0">Stop with End key</Label>
+                </Grid>
+            </GroupBox>
+        </DockPanel>
     </Grid>
 </UserControl>

ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs

@@ -1,5 +1,7 @@
 using RobotClientWpf.Utilities;
+using System.DirectoryServices.ActiveDirectory;
 using System.Windows.Controls;
+using System.Windows.Input;
 
 namespace RobotClientWpf.Views
 {
@@ -10,6 +12,8 @@ namespace RobotClientWpf.Views
     {
         private static readonly NLog.Logger log = NLog.LogManager.GetCurrentClassLogger();
         private ChallengeFactory? challenge;
+        private const int AMOUNT_SPEED_ADDED_PER_CLICK = 10;
+        private const int TURN_ANGLE_PER_CLICK = 25;
 
         public MainView()
         {
@@ -27,5 +31,63 @@ namespace RobotClientWpf.Views
         {
             UIAccessHelpers.SetTextboxText(this.tbSplitflapText, e.DisplayMessage);
         }
+
+        private void btnModeAuto_Click(object sender, System.Windows.RoutedEventArgs e)
+        {
+            this.challenge?.RobotMobile.Movement.SetMobilityMode(true);
+        }
+
+        private void btnModeManual_Click(object sender, System.Windows.RoutedEventArgs e)
+        {
+            this.challenge?.RobotMobile.Movement.SetMobilityMode(false);
+        }
+
+        private void btnRoboFwd_Click(object sender, System.Windows.RoutedEventArgs e)
+        {
+            this.challenge?.RobotMobile.Movement.AddSpeed(AMOUNT_SPEED_ADDED_PER_CLICK);
+        }
+        private void btnRoboBwd_Click(object sender, System.Windows.RoutedEventArgs e)
+        {
+            this.challenge?.RobotMobile.Movement.AddSpeed(-AMOUNT_SPEED_ADDED_PER_CLICK);
+        }
+
+        private void btnRoboRight_Click(object sender, System.Windows.RoutedEventArgs e)
+        {
+            this.challenge?.RobotMobile.Movement.Turn(TURN_ANGLE_PER_CLICK);
+        }
+
+        private void btnRoboLeft_Click(object sender, System.Windows.RoutedEventArgs e)
+        {
+            this.challenge?.RobotMobile.Movement.Turn(-TURN_ANGLE_PER_CLICK);
+        }
+
+        private void UserControl_KeyDown(object sender, System.Windows.Input.KeyEventArgs e)
+        {
+            if (e.Key == Key.Up)
+            {
+                this.challenge?.RobotMobile.Movement.AddSpeed(AMOUNT_SPEED_ADDED_PER_CLICK); 
+                e.Handled = true;
+            }
+            else if (e.Key == Key.Down)
+            {
+                this.challenge?.RobotMobile.Movement.AddSpeed(-AMOUNT_SPEED_ADDED_PER_CLICK);
+                e.Handled = true;
+            }
+            else if (e.Key == Key.Left)
+            {
+                this.challenge?.RobotMobile.Movement.Turn(-TURN_ANGLE_PER_CLICK);
+                e.Handled = true;
+            }
+            else if (e.Key == Key.Right)
+            {
+                this.challenge?.RobotMobile.Movement.Turn(TURN_ANGLE_PER_CLICK);
+                e.Handled = true;
+            }
+            else if(e.Key == Key.End)
+            {
+                this.challenge?.RobotMobile.Movement.Stop();
+                e.Handled = true;
+            }
+        }
     }
 }

ADIS_Csharp/RobotConsoleClient/Program.cs

@@ -19,9 +19,9 @@ namespace RobotConsoleClient
             robotStationary.SplitFlap.InitializeAllSplitflaps();
 
             Thread.Sleep(1000);
-            robotMobile.Movement.SetSpeed(1000);
+            robotMobile.Movement.AddSpeed(1000);
             robotMobile.Movement.Turn(-10);
-            robotMobile.Movement.SetSpeed(-500);
+            robotMobile.Movement.AddSpeed(-500);
             robotMobile.Movement.Stop();
             robotMobile.Movement.SetMobilityMode(automatic: true);
 

ADIS_Csharp/RobotLib/Movement/DevMovement.cs

@@ -24,7 +24,7 @@ namespace RobotLib.Movement
             base.SendMessage(TOPIC_MOBILE_NAV_TURN, angle.ToString());
         }
 
-        public void SetSpeed(int speed)
+        public void AddSpeed(int speed)
         {
             base.SendMessage(TOPIC_MOBILE_NAV_MOVE, speed.ToString());
         }