From ad76d09438f33e96ff2c96d307514eb0e4c70fea Mon Sep 17 00:00:00 2001
From: Jonas Arnold <jonas.arnold@live.de>
Date: Sun, 18 Dec 2022 15:34:37 +0100
Subject: [PATCH] implemented IndependentRobotConfigurator  to adopt robots via
 UDP, updated UI to support IndependentRobotConfigurator commands

---
 ADIS_Csharp/RobotClientWpf/MainWindow.xaml    |  2 +-
 ADIS_Csharp/RobotClientWpf/MainWindow.xaml.cs | 13 +++-
 .../RobotClientWpf/Views/ConfigView.xaml      | 28 ++++++-
 .../RobotClientWpf/Views/ConfigView.xaml.cs   | 58 ++++++++++++++-
 .../RobotClientWpf/Views/MainView.xaml        |  2 +-
 .../RobotClientWpf/Views/MainView.xaml.cs     | 16 ++--
 .../RobotLib/IndependentRobotConfigurator.cs  | 73 +++++++++++++++++++
 7 files changed, 176 insertions(+), 16 deletions(-)
 create mode 100644 ADIS_Csharp/RobotLib/IndependentRobotConfigurator.cs

diff --git a/ADIS_Csharp/RobotClientWpf/MainWindow.xaml b/ADIS_Csharp/RobotClientWpf/MainWindow.xaml
index 3ba0a62..8070122 100644
--- a/ADIS_Csharp/RobotClientWpf/MainWindow.xaml
+++ b/ADIS_Csharp/RobotClientWpf/MainWindow.xaml
@@ -7,7 +7,7 @@
         xmlns:views="clr-namespace:RobotClientWpf.Views"
         xmlns:dj="clr-namespace:DJ;assembly=NLogViewer"
         mc:Ignorable="d" FontSize="15"
-        Title="Challenge UI" Height="700" Width="1200" WindowStartupLocation="CenterScreen" ResizeMode="NoResize" Closing="Window_Closing" Loaded="Window_Loaded">
+        Title="Challenge UI" Height="700" Width="1200" WindowStartupLocation="CenterScreen" ResizeMode="NoResize" Closing="Window_Closing" Loaded="Window_Loaded" KeyDown="Window_KeyDown">
     <Grid>
         <Grid.RowDefinitions>
             <RowDefinition Height="40"/>
diff --git a/ADIS_Csharp/RobotClientWpf/MainWindow.xaml.cs b/ADIS_Csharp/RobotClientWpf/MainWindow.xaml.cs
index 340fa81..8645934 100644
--- a/ADIS_Csharp/RobotClientWpf/MainWindow.xaml.cs
+++ b/ADIS_Csharp/RobotClientWpf/MainWindow.xaml.cs
@@ -20,7 +20,7 @@ namespace RobotClientWpf
         private static readonly string mutexName = "00489402-435c-426e-9d11-9a2b839b39b6";  // random guid
 
         private static readonly NLog.Logger log = NLog.LogManager.GetCurrentClassLogger();
-        private ChallengeFactory? challenge;
+        private ChallengeFactory challenge;
         private bool manualDisconnect;
 
         public MainWindow()
@@ -43,9 +43,9 @@ namespace RobotClientWpf
             // start window
             InitializeComponent();
             this.challenge = new ChallengeFactory();
-            // inform other views about challenge factory
-            this.mainView.SetChallengeFactory(this.challenge);
-            this.configView.SetChallengeFactory(this.challenge);
+            // inform other views about challenge factory and this view
+            this.mainView.InitializeChildView(this.challenge, this);
+            this.configView.InitializeChildView(this.challenge, this);
             // subscribe to events
             this.challenge.PublisherSubscriber.ConnectionStateChanged += PublisherSubscriber_ConnectionStateChanged;
         }
@@ -173,5 +173,10 @@ namespace RobotClientWpf
         {
             this.tbIp.Text = Settings.Default.MqttBrokerIp;
         }
+
+        private void Window_KeyDown(object sender, System.Windows.Input.KeyEventArgs e)
+        {
+            this.mainView.HandleKeyDownEvent(sender, e);
+        }
     }
 }
diff --git a/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml b/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml
index 6261948..fc988b3 100644
--- a/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml
+++ b/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml
@@ -5,12 +5,13 @@
              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="430" d:DesignWidth="1200" FontSize="15">
     <Grid>
         <Grid.ColumnDefinitions>
             <ColumnDefinition Width="*"/>
         </Grid.ColumnDefinitions>
         <Grid.RowDefinitions>
+            <RowDefinition Height="120"/>
             <RowDefinition Height="120"/>
             <RowDefinition Height="150"/>
             <RowDefinition Height="*"/>
@@ -50,13 +51,12 @@
 
                 <Grid Margin="5">
                     <Grid.ColumnDefinitions>
-                        <ColumnDefinition Width="100"/>
+                        <ColumnDefinition Width="150"/>
                         <ColumnDefinition Width="*"/>
                     </Grid.ColumnDefinitions>
                     <Grid.RowDefinitions>
                         <RowDefinition Height="*" />
                         <RowDefinition Height="*" />
-                        <RowDefinition Height="*" />
                     </Grid.RowDefinitions>
 
                 
@@ -65,9 +65,29 @@
                     <Label Grid.Row="1" Grid.Column="0" Content="Calibration data:" />
                     <TextBox Grid.Row="1" Grid.Column="1" HorizontalAlignment="Left" x:Name="tbCalibrationData" IsReadOnly="True" Width="500" Height="30" />
 
-                    <Button Grid.Row="2" Grid.Column="0" Grid.ColumnSpan="2" x:Name="btnGetCalibrationData" DockPanel.Dock="Right" Content="Refresh" Margin="10 0" Width="100" Height="30" Click="btnGetCalibrationData_Click"/>
+                    <Button Grid.Row="0" Grid.Column="1" Grid.ColumnSpan="2" HorizontalAlignment="Right" x:Name="btnGetCalibrationData" Content="Refresh" Width="100" Height="30" Click="btnGetCalibrationData_Click"/>
                 </Grid>
             </DockPanel>
         </GroupBox>
+
+        <!-- ROBOT CONFIGURATOR -->
+        <GroupBox Grid.Row="2" Grid.Column="0" Header="Robot configurator">
+            <DockPanel Margin="5">
+                <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"/>
+                        <Button DockPanel.Dock="Left" x:Name="btnClearRobotConfHostname" Content="Clear" Margin="5" Width="50" Height="30" Click="btnClearRobotConfHostname_Click" />
+                    </StackPanel>
+                    <StackPanel Orientation="Horizontal">
+                        <Label DockPanel.Dock="Left" Content="Options:" Margin="5 0" Height="30" Width="100"/>
+                        <Button x:Name="btnSetBrokerIp" Content="Update Broker IP" Margin="5" Width="120" Height="30"  HorizontalAlignment="Left" Click="btnSetBrokerIp_Click"/>
+                        <Button x:Name="btnReboot" Content="Reboot ESP32" Margin="5" Width="120" Height="30" HorizontalAlignment="Left" Click="btnReboot_Click" />
+                        <Button x:Name="btnSetModeStationary" Content="Set Mode Stationary" Margin="5" Width="150" Height="30" HorizontalAlignment="Left" Click="btnSetModeStationary_Click" />
+                        <Button x:Name="btnSetModeMobile" Content="Set Mode Mobile" Margin="5" Width="120" Height="30" HorizontalAlignment="Left" Click="btnSetModeMobile_Click" />
+                    </StackPanel>
+                </StackPanel>
+            </DockPanel>
+        </GroupBox>
     </Grid>
 </UserControl>
diff --git a/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml.cs b/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml.cs
index 941dba9..e6aa18e 100644
--- a/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml.cs
+++ b/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml.cs
@@ -1,6 +1,7 @@
 using RobotClientWpf.Utilities;
 using System;
 using System.Collections.Generic;
+using System.Threading.Tasks;
 using System.Windows;
 using System.Windows.Controls;
 
@@ -13,15 +14,18 @@ namespace RobotClientWpf.Views
     {
         private static readonly NLog.Logger log = NLog.LogManager.GetCurrentClassLogger();
         private ChallengeFactory? challenge;
+        private MainWindow? mainWindow;
 
         public ConfigView()
         {
             InitializeComponent();
+            this.EnableRobotConfigurationOptions(false);
         }
 
-        public void SetChallengeFactory(ChallengeFactory challenge)
+        public void InitializeChildView(ChallengeFactory challenge, MainWindow parent)
         {
             this.challenge = challenge;
+            this.mainWindow = parent;
             this.challenge.RobotMobile.LineSensor.NewCalibrationDataArrived += LineSensor_NewCalibrationDataArrived;
         }
 
@@ -89,5 +93,57 @@ namespace RobotClientWpf.Views
         {
             this.challenge?.RobotStationary.SplitFlap.InitializeAllSplitflaps();
         }
+
+        private void tbRobotConfiguratorHostname_TextChanged(object sender, TextChangedEventArgs e)
+        {
+            this.EnableRobotConfigurationOptions(String.IsNullOrEmpty(UIAccessHelpers.GetTextboxText(this.tbRobotConfiguratorHostname)) == false);
+        }
+
+        private void EnableRobotConfigurationOptions(bool enabled)
+        {
+            UIAccessHelpers.SetButtonState(btnSetBrokerIp, enabled);
+            UIAccessHelpers.SetButtonState(btnReboot, enabled);
+            UIAccessHelpers.SetButtonState(btnSetModeStationary, enabled);
+            UIAccessHelpers.SetButtonState(btnSetModeMobile, enabled);
+        }
+
+        private void btnClearRobotConfHostname_Click(object sender, RoutedEventArgs e)
+        {
+            UIAccessHelpers.SetTextboxText(tbRobotConfiguratorHostname, "");
+        }
+
+        private async void btnSetBrokerIp_Click(object sender, RoutedEventArgs e)
+        {
+            if (this.mainWindow == null) return;
+            UIAccessHelpers.SetButtonState(btnSetBrokerIp, false);
+            var brokerIp = UIAccessHelpers.GetTextboxText(this.mainWindow.tbIp);
+            var robotHostname = UIAccessHelpers.GetTextboxText(this.tbRobotConfiguratorHostname);
+            await Task.Run(() => RobotLib.IndependentRobotConfigurator.Adopt(robotHostname, brokerIp));
+            UIAccessHelpers.SetButtonState(btnSetBrokerIp, true);
+        }
+
+        private async void btnReboot_Click(object sender, RoutedEventArgs e)
+        {
+            UIAccessHelpers.SetButtonState(btnReboot, false);
+            var robotHostname = UIAccessHelpers.GetTextboxText(this.tbRobotConfiguratorHostname);
+            await Task.Run(() => RobotLib.IndependentRobotConfigurator.RebootEsp32(robotHostname));
+            UIAccessHelpers.SetButtonState(btnReboot, true);
+        }
+
+        private async void btnSetModeStationary_Click(object sender, RoutedEventArgs e)
+        {
+            UIAccessHelpers.SetButtonState(btnSetModeStationary, false);
+            var robotHostname = UIAccessHelpers.GetTextboxText(this.tbRobotConfiguratorHostname);
+            await Task.Run(() => RobotLib.IndependentRobotConfigurator.SetRobotMode(robotHostname, "s"));
+            UIAccessHelpers.SetButtonState(btnSetModeStationary, true);
+        }
+
+        private async void btnSetModeMobile_Click(object sender, RoutedEventArgs e)
+        {
+            UIAccessHelpers.SetButtonState(btnSetModeMobile, false);
+            var robotHostname = UIAccessHelpers.GetTextboxText(this.tbRobotConfiguratorHostname);
+            await Task.Run(() => RobotLib.IndependentRobotConfigurator.SetRobotMode(robotHostname, "m"));
+            UIAccessHelpers.SetButtonState(btnSetModeMobile, true);
+        }
     }
 }
diff --git a/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml b/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml
index 405d037..5b6ceba 100644
--- a/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml
+++ b/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="450" d:DesignWidth="800" KeyDown="UserControl_KeyDown">
+             d:DesignHeight="430" d:DesignWidth="1200" FontSize="15" KeyDown="UserControl_KeyDown">
     <Grid>
         <Grid.ColumnDefinitions>
             <ColumnDefinition Width="*"/>
diff --git a/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs b/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs
index 2363df0..bb6af68 100644
--- a/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs
+++ b/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs
@@ -1,5 +1,4 @@
 using RobotClientWpf.Utilities;
-using System.DirectoryServices.ActiveDirectory;
 using System.Windows.Controls;
 using System.Windows.Input;
 
@@ -12,6 +11,7 @@ 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 TURN_ANGLE_PER_CLICK = 30;
 
@@ -20,9 +20,10 @@ namespace RobotClientWpf.Views
             InitializeComponent();
         }
 
-        public void SetChallengeFactory(ChallengeFactory challenge)
+        public void InitializeChildView(ChallengeFactory challenge, MainWindow parent)
         {
             this.challenge = challenge;
+            this.mainWindow = parent;
             // subscribe to events
             this.challenge.RobotStationary.SplitFlap.SplitFlapDisplayChanged += this.SplitFlap_SplitFlapDisplayChanged;
             this.challenge.RobotMobile.Battery.BatteryChanged += Battery_BatteryChanged;
@@ -67,11 +68,11 @@ namespace RobotClientWpf.Views
             this.challenge?.RobotMobile.Movement.Turn(-TURN_ANGLE_PER_CLICK);
         }
 
-        private void UserControl_KeyDown(object sender, System.Windows.Input.KeyEventArgs e)
+        public void HandleKeyDownEvent(object sender, KeyEventArgs e)
         {
             if (e.Key == Key.Up)
             {
-                this.challenge?.RobotMobile.Movement.AddSpeed(AMOUNT_SPEED_ADDED_PER_CLICK); 
+                this.challenge?.RobotMobile.Movement.AddSpeed(AMOUNT_SPEED_ADDED_PER_CLICK);
                 e.Handled = true;
             }
             else if (e.Key == Key.Down)
@@ -89,11 +90,16 @@ namespace RobotClientWpf.Views
                 this.challenge?.RobotMobile.Movement.Turn(TURN_ANGLE_PER_CLICK);
                 e.Handled = true;
             }
-            else if(e.Key == Key.End)
+            else if (e.Key == Key.End)
             {
                 this.challenge?.RobotMobile.Movement.Stop();
                 e.Handled = true;
             }
         }
+
+        private void UserControl_KeyDown(object sender, KeyEventArgs e)
+        {
+            this.HandleKeyDownEvent(sender, e);
+        }
     }
 }
diff --git a/ADIS_Csharp/RobotLib/IndependentRobotConfigurator.cs b/ADIS_Csharp/RobotLib/IndependentRobotConfigurator.cs
new file mode 100644
index 0000000..e791c88
--- /dev/null
+++ b/ADIS_Csharp/RobotLib/IndependentRobotConfigurator.cs
@@ -0,0 +1,73 @@
+using System.Net;
+using System.Net.Sockets;
+using System.Text;
+
+namespace RobotLib
+{
+    public static class IndependentRobotConfigurator
+    {
+        private static readonly NLog.Logger log = NLog.LogManager.GetCurrentClassLogger();
+        private const int udpPortRobot = 1818;
+
+        /// <summary>
+        /// Sends a command via UDP to set the MQTT broker IP on a robot.
+        /// This serves to adopt a robot (get it to communicate via MQTT).
+        /// Consider rebooting ESP32 with <see cref="RebootEsp32(string)"/> to apply the newly set IP.
+        /// </summary>
+        /// <param name="hostnameRobot">hostname or IP address of the robot</param>
+        /// <param name="brokerIp">ip address of the MQTT broker</param>
+        public static void Adopt(string hostnameRobot, string brokerIp)
+        {
+           // test if IP valid
+            if (IPAddress.TryParse(brokerIp, out _))
+            {
+                SendMessageUdp(hostnameRobot, udpPortRobot, $"mqtt setIp {brokerIp}");
+            }
+            else
+            {
+                log.Error($"Invalid broker IP address: {brokerIp}");
+            }
+        }
+
+        /// <summary>
+        /// Sends a command via UDP to set the challenge mode of a robot.
+        /// </summary>
+        /// <param name="hostnameRobot">hostname or IP address of the robot</param>
+        /// <param name="brokerIp">ip address of the MQTT broker</param>
+        public static void SetRobotMode(string hostnameRobot, string mode)
+        {
+            // test if mode is valid
+            if (mode == "stationary" || mode == "s" || mode == "mobile" || mode == "m")
+            {
+                SendMessageUdp(hostnameRobot, udpPortRobot, $"challenge setMode {mode}");
+            }
+            else
+            {
+                log.Error($"Invalid robot mode: {mode}");
+            }
+        }
+
+        /// <summary>
+        /// Sends a command via UDP to reboot the ESP32 of a robot.
+        /// For example when a new mqtt broker IP was set, the robot needs to reboot in order to apply the IP and reconnect to a new broker.
+        /// </summary>
+        /// <param name="hostnameRobot">hostname or IP address of the robot</param>
+        public static void RebootEsp32(string hostnameRobot)
+        {
+            SendMessageUdp(hostnameRobot, udpPortRobot, $"challenge reboot");
+        }
+
+
+        private static void SendMessageUdp(string hostname, int port, string message)
+        {
+            var udpClient = new UdpClient();
+            udpClient.Connect(hostname, port);
+
+            byte[] data = Encoding.ASCII.GetBytes(message);
+            udpClient.Send(data, data.Length);
+            log.Trace($"Msg sent to {udpClient.Client.RemoteEndPoint}: {message}");
+
+            udpClient.Close();
+        }
+    }
+}