add publish for joystick events

ADIS_Csharp/RaspiControl/MqttConstants.cs

@@ -0,0 +1,13 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace RaspiControl {
+    internal static class MqttConstants {
+        public static string MOBILE_NAV_TURN_TOPIC = "mobile/cmd/nav/turn";
+        public static string MOBILE_NAV_MOVE_TOPIC = "mobile/cmd/nav/move";
+        public static string MOBILE_NAV_STOP_TOPIC = "mobile/cmd/nav/stop";
+    }
+}

ADIS_Csharp/RaspiControl/Navigation.cs

@@ -1,53 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace RaspiControl {
-    internal class Navigation {
-        private int angleRight;
-        private int angleLeft;
-        public Navigation() {
-            this.angleRight = 0;
-            this.angleLeft = 0;
-        }
-
-        public void ResetAngle() { 
-            this.angleRight = 0;
-            this.angleRight= 0;
-        }
-
-        public int GetAngleLeftStep() {
-            this.angleLeft -= 10;
-            if (this.angleLeft < -180) {
-                this.angleLeft = -180;
-            }
-            return -10;
-        }
-
-        public int GetAngleRightStep() {
-            this.angleRight += 10;
-            if (this.angleRight > 180) {
-                this.angleRight = 180;
-            }
-            return 10;
-        }
-
-        public int IncreaseAngleLeft() {
-            this.angleLeft -= 10;
-            if(this.angleLeft < -180) {
-                this.angleLeft = -180;
-            }
-            return this.angleLeft; 
-        }
-
-        public int IncreaseAngleRight() {
-            this.angleRight += 10;
-            if (this.angleRight > 180) {
-                this.angleRight = 180;
-            }
-            return this.angleRight;
-        }
-    }
-}

ADIS_Csharp/RaspiControl/NavigationConstants.cs

@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace RaspiControl {
+    internal static class NavigationConstants {
+        public static int TURN_ANGLE_LEFT = -10;
+        public static int TURN_ANGLE_RIGHT = 10;
+        public static int SPEED_FORWARD = 100;
+        public static int SPEED_BACKWARD = -100;
+        public static bool STOP = true;
+    }
+}

ADIS_Csharp/RaspiControl/Program.cs

@@ -2,13 +2,12 @@
 using System.Text;
 using M2Mqtt;
 using M2Mqtt.Messages;
-using Swan.Formatters;
+using System.Text.Json;
 
 namespace RaspiControl {
     class Programm {
         private static MqttClient client;
-        private static Navigation navigation;
-        private static Joystick joystick;
+
         static void Main(string[] args) {
             try {
                 client = new MqttClient("localhost");
@@ -16,8 +15,7 @@ namespace RaspiControl {
                 string clientId = Guid.NewGuid().ToString();
                 client.Connect(clientId);
                 client.Subscribe(new string[] { "APROG/REQUEST" }, new byte[] { MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE });
-                navigation= new Navigation();
-                joystick= new Joystick();
+                Joystick joystick = new Joystick();
                 joystick.JoystickChanged += Joystick_JoystickChanged;
 
             } catch (Exception ex) {
@@ -30,18 +28,19 @@ namespace RaspiControl {
                 case JoystickButton.None:
                     break;
                 case JoystickButton.Left:
-                    client.Publish("mobile/cmd/nav/left", Encoding.UTF8.GetBytes($"{navigation.GetAngleLeftStep()}"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
+                    client.Publish(MqttConstants.MOBILE_NAV_TURN_TOPIC, Encoding.UTF8.GetBytes($"{NavigationConstants.TURN_ANGLE_LEFT}"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
                     break;
                 case JoystickButton.Right:
-                    client.Publish("mobile/cmd/nav/right", Encoding.UTF8.GetBytes($"{navigation.GetAngleRightStep()}"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
+                    client.Publish(MqttConstants.MOBILE_NAV_TURN_TOPIC, Encoding.UTF8.GetBytes($"{NavigationConstants.TURN_ANGLE_RIGHT}"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
                     break;
                 case JoystickButton.Up:
+                    client.Publish(MqttConstants.MOBILE_NAV_MOVE_TOPIC, Encoding.UTF8.GetBytes($"{NavigationConstants.SPEED_FORWARD}"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
                     break;
                 case JoystickButton.Down:
+                    client.Publish(MqttConstants.MOBILE_NAV_MOVE_TOPIC, Encoding.UTF8.GetBytes($"{NavigationConstants.SPEED_BACKWARD}"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
                     break;
                 case JoystickButton.Center:
-                    navigation.ResetAngle();
-                    client.Publish("mobile/cmd/nav/drive", Encoding.UTF8.GetBytes("true"), MqttMsgBase.QOS_LEVEL_AT_MOST_ONCE, false);
+                    client.Publish(MqttConstants.MOBILE_NAV_STOP_TOPIC, Encoding.UTF8.GetBytes($"{NavigationConstants.STOP}"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
                     break;
             }
         }
@@ -49,6 +48,10 @@ namespace RaspiControl {
         private static void Client_MqttMsgPublishReceived(object sender, MqttMsgPublishEventArgs e) {
             Console.Write(e.Topic + "\n");
             Console.Write(Encoding.UTF8.GetString(e.Message) + "\n");
+            Dictionary<string,object> data = JsonSerializer.Deserialize<Dictionary<string, object>>(e.Message);
+            foreach(KeyValuePair<string,object> entry in data) {
+                Console.WriteLine(entry.Key+ ": " + entry.Value);
+            }
         }
     }
 }

ADIS_Csharp/RaspiControl/RaspiControl.csproj

@@ -1,4 +1,4 @@
-<Project Sdk="Microsoft.NET.Sdk">
+<Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
     <OutputType>Exe</OutputType>
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <Target Name="PostBuild" AfterTargets="PostBuildEvent">
-    <Exec Command="cd &quot;$(TargetDir)&quot;&#xD;&#xA;&quot;$(SolutionDir)\SecureUpload.exe&quot; . pi-home:ADIS/$(ProjectName)" />
+    <Exec Command="cd &quot;$(TargetDir)&quot;&#xD;&#xA;&quot;$(SolutionDir)\SecureUpload.exe&quot; . pi-hslu:ADIS/$(ProjectName)" />
   </Target>
 
   <ItemGroup>