diff --git a/ADIS_Csharp/RobotConsoleClient/Program.cs b/ADIS_Csharp/RobotConsoleClient/Program.cs index b47f7c6..a11f41e 100644 --- a/ADIS_Csharp/RobotConsoleClient/Program.cs +++ b/ADIS_Csharp/RobotConsoleClient/Program.cs @@ -1,4 +1,5 @@ using RobotLib; +using RobotLib.Communication; namespace RobotConsoleClient { @@ -6,15 +7,25 @@ namespace RobotConsoleClient { static void Main(string[] args) { - Robot.Instance.Connect("eee...", 1818); - Robot.Instance.Buzzer.Beep(300, 500); - Robot.Instance.Battery.BatteryChanged += Battery_BatteryChanged; - Console.ReadLine(); + var com = MqttPublisherSubscriber.Instance; + com.Connect("192.168.20.22", "ADIS", "TEST"); + var robotStationary = new Robot(com); + robotStationary.SplitFlap.SplitFlapDisplayChanged += SplitFlap_SplitFlapDisplayChanged; + //Console.ReadLine(); + Thread.Sleep(1000); + robotStationary.SplitFlap.ConfigureSplitflap(1, 21); + Thread.Sleep(1000); + robotStationary.SplitFlap.InitializeAllSplitflaps(); } - private static void Battery_BatteryChanged(object? sender, BatteryEventArgs e) + private static void SplitFlap_SplitFlapDisplayChanged(object? sender, RobotLib.SplitFlap.SplitFlapDisplayEventArgs e) { - Console.WriteLine($"Received Battery Changed event. New Battery voltage = {e.Voltage} V"); + Console.WriteLine($"SplitFlap changed Display to '{e.DisplayMessage}'"); } + + //private static void Battery_BatteryChanged(object? sender, BatteryEventArgs e) + //{ + // Console.WriteLine($"Received Battery Changed event. New Battery voltage = {e.Voltage} V"); + //} } } \ No newline at end of file diff --git a/ADIS_Csharp/RobotLib/Communication/MqttPublisherSubscriber.cs b/ADIS_Csharp/RobotLib/Communication/MqttPublisherSubscriber.cs index 07ba67b..9c66fde 100644 --- a/ADIS_Csharp/RobotLib/Communication/MqttPublisherSubscriber.cs +++ b/ADIS_Csharp/RobotLib/Communication/MqttPublisherSubscriber.cs @@ -5,7 +5,7 @@ using uPLibrary.Networking.M2Mqtt.Messages; namespace RobotLib.Communication { - internal class MqttPublisherSubscriber : IPublisherSubscriber + public class MqttPublisherSubscriber : IPublisherSubscriber { private MqttClient client; private static readonly NLog.Logger log = NLog.LogManager.GetCurrentClassLogger(); @@ -29,7 +29,24 @@ namespace RobotLib.Communication private MqttPublisherSubscriber() { } + /// + /// Connect anonymously to the broker. + /// + /// IP of the broker + /// success public bool Connect(string brokerIp) + { + return this.Connect(brokerIp, null, null); + } + + /// + /// Connect with username/password to the broker. + /// + /// IP of the broker + /// username + /// password + /// success + public bool Connect(string brokerIp, string username, string password) { bool success = false; lock (clientLock) @@ -46,8 +63,15 @@ namespace RobotLib.Communication client.ConnectionClosed += Client_ConnectionClosed; // generate a clientID and connect to Broker string clientId = Guid.NewGuid().ToString(); - var result = client.Connect(clientId); - success = result == 0 ? true : false; + if (String.IsNullOrEmpty(username) || String.IsNullOrEmpty(password)) + { + client.Connect(clientId); + } + else + { + client.Connect(clientId, username, password); + } + success = client.IsConnected; log.Info($"Connecting done. Success = {success}"); } return success; @@ -79,7 +103,7 @@ namespace RobotLib.Communication lock (clientLock) { SubscribedMsgArrivedEventArgs eventArgs = new(e.Topic, Encoding.UTF8.GetString(e.Message)); - log.Trace($"Message received on topic {eventArgs.Topic}: {eventArgs.Message}"); + log.Trace($"Message received on topic {eventArgs.Topic}: \n{eventArgs.Message}"); NewMessageArrived?.Invoke(this, eventArgs); } } @@ -88,8 +112,8 @@ namespace RobotLib.Communication { lock (clientLock) { - var result = client.Publish(topic, Encoding.ASCII.GetBytes(message)); - log.Trace($"Published to topic '{topic}'. Message = {message}", result == 0 ? true : false); + var msgId = client.Publish(topic, Encoding.ASCII.GetBytes(message)); + log.Trace($"Published to topic '{topic}'. MessageId = {msgId}"); } } @@ -97,8 +121,8 @@ namespace RobotLib.Communication { lock (clientLock) { - var result = client.Subscribe(new string[] { topic }, new byte[] { MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE }); - log.Info($"Subscribed to topic '{topic}'. Success = %s", result == 0 ? true : false); + var msgId = client.Subscribe(new string[] { topic }, new byte[] { MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE }); + log.Info($"Subscribed to topic '{topic}'. MessageId = {msgId}"); } } } diff --git a/ADIS_Csharp/RobotLib/DevBase.cs b/ADIS_Csharp/RobotLib/DevBase.cs index 3ef7fc9..14bb765 100644 --- a/ADIS_Csharp/RobotLib/DevBase.cs +++ b/ADIS_Csharp/RobotLib/DevBase.cs @@ -1,5 +1,6 @@ using RobotLib.Communication; using System.Collections.Generic; +using System.Diagnostics; namespace RobotLib { @@ -7,13 +8,27 @@ namespace RobotLib { protected NLog.Logger log { get; private set; } + /// + /// Creates a base class. + /// + /// communication instance public DevBase(IPublisherSubscriber com) : this(com, new List()) { } + + /// + /// Creates a base class and initializes interested Topics. + /// + /// connunication instance + /// topics that shall be subscribed to public DevBase(IPublisherSubscriber com, List interestedTopics) { log = NLog.LogManager.GetLogger(GetType().ToString()); Com = com; InterestedTopics = interestedTopics; + foreach (var topic in InterestedTopics) + { + this.Com.Subscribe(topic); + } com.NewMessageArrived += Com_NewMessageArrived; } diff --git a/ADIS_Csharp/RobotLib/DevBattery.cs b/ADIS_Csharp/RobotLib/DevBattery.cs index d1a7d0b..b141661 100644 --- a/ADIS_Csharp/RobotLib/DevBattery.cs +++ b/ADIS_Csharp/RobotLib/DevBattery.cs @@ -6,54 +6,54 @@ using System.Threading.Tasks; namespace RobotLib { - public class DevBattery : DevBase - { - private float voltage; - - public event EventHandler BatteryChanged; - - public float Voltage - { - get { return voltage; } - private set - { - // value changed? - if(voltage != value) - { - // set new voltage and raise event - voltage = value; - BatteryChanged?.Invoke(this, new BatteryEventArgs(voltage)); - } - } - } - - public DevBattery(Com com) : base(com, "battery") { } - - public override void Refresh() - { - SendMessage("get battery status!"); - } - - protected override void ParseMessage(string message) - { - // example message = "Battery: 1.25 V" - var keyValue = message.Trim().Split(':'); - string key = keyValue[0].Trim(); - string value = keyValue[1].Trim(); - - switch (key) - { - case "battery": - value = value.Trim(' ', 'V'); - this.Voltage = float.Parse(value); - break; - - default: - log.Warn($"Unkown element {key}: {value} in message {message}"); - break; - } + //public class DevBattery : DevBase + //{ + // private float voltage; + + // public event EventHandler BatteryChanged; + + // public float Voltage + // { + // get { return voltage; } + // private set + // { + // // value changed? + // if(voltage != value) + // { + // // set new voltage and raise event + // voltage = value; + // BatteryChanged?.Invoke(this, new BatteryEventArgs(voltage)); + // } + // } + // } + + // public DevBattery(Com com) : base(com, "battery") { } + + // public override void Refresh() + // { + // SendMessage("get battery status!"); + // } + + // protected override void ParseMessage(string message) + // { + // // example message = "Battery: 1.25 V" + // var keyValue = message.Trim().Split(':'); + // string key = keyValue[0].Trim(); + // string value = keyValue[1].Trim(); + + // switch (key) + // { + // case "battery": + // value = value.Trim(' ', 'V'); + // this.Voltage = float.Parse(value); + // break; + + // default: + // log.Warn($"Unkown element {key}: {value} in message {message}"); + // break; + // } - } - } + // } + //} } diff --git a/ADIS_Csharp/RobotLib/DevBuzzer.cs b/ADIS_Csharp/RobotLib/DevBuzzer.cs index dbdb94a..e071571 100644 --- a/ADIS_Csharp/RobotLib/DevBuzzer.cs +++ b/ADIS_Csharp/RobotLib/DevBuzzer.cs @@ -6,13 +6,13 @@ using System.Threading.Tasks; namespace RobotLib { - public class DevBuzzer : DevBase - { - public DevBuzzer(Com com) : base(com) { } + //public class DevBuzzer : DevBase + //{ + // public DevBuzzer(Com com) : base(com) { } - public void Beep(int freq, int timeMs) - { - SendMessage($"robo sendcmd buzzer buzz {freq} {timeMs}!"); - } - } + // public void Beep(int freq, int timeMs) + // { + // SendMessage($"robo sendcmd buzzer buzz {freq} {timeMs}!"); + // } + //} } diff --git a/ADIS_Csharp/RobotLib/Robot.cs b/ADIS_Csharp/RobotLib/Robot.cs index de6e71f..84c106a 100644 --- a/ADIS_Csharp/RobotLib/Robot.cs +++ b/ADIS_Csharp/RobotLib/Robot.cs @@ -1,44 +1,43 @@ -using System.Threading; +using RobotLib.Communication; +using RobotLib.SplitFlap; +using System.Threading; namespace RobotLib { public class Robot { - - public static Robot Instance { get; } = new Robot(); - - - private Robot() + public Robot(IPublisherSubscriber com) { - Com = new Com(); - Buzzer = new DevBuzzer(Com); - Battery = new DevBattery(Com); + Com = com; + //Buzzer = new DevBuzzer(Com); + //Battery = new DevBattery(Com); + SplitFlap = new DevSplitFlap(com); Timer timer = new Timer(TimerCallback); timer.Change(2000, 10000); } - public Com Com { get; } - - public DevBuzzer Buzzer { get; } - public DevBattery Battery { get; } + public IPublisherSubscriber Com { get; } + //public DevBuzzer Buzzer { get; } + //public DevBattery Battery { get; } + public DevSplitFlap SplitFlap { get; } public void Connect(string host, int port) { - Com.Connect(host, port); + //Com.Connect(host, port); } public void Disconnect() { - Com.Disconnect(); + //Com.Disconnect(); } private void TimerCallback(object state) { if (Com.IsConnected) { - Battery.Refresh(); + //Battery.Refresh(); } } diff --git a/ADIS_Csharp/RobotLib/DevSplitFlap/DevSplitFlap.cs b/ADIS_Csharp/RobotLib/SplitFlap/DevSplitFlap.cs similarity index 74% rename from ADIS_Csharp/RobotLib/DevSplitFlap/DevSplitFlap.cs rename to ADIS_Csharp/RobotLib/SplitFlap/DevSplitFlap.cs index 8ba2e59..a755117 100644 --- a/ADIS_Csharp/RobotLib/DevSplitFlap/DevSplitFlap.cs +++ b/ADIS_Csharp/RobotLib/SplitFlap/DevSplitFlap.cs @@ -1,15 +1,11 @@ using RobotLib.Communication; using System; using System.Collections.Generic; -using System.Linq; -using System.Runtime.CompilerServices; -using System.Text; using System.Text.Json; -using System.Threading.Tasks; -namespace RobotLib.DevSplitFlap +namespace RobotLib.SplitFlap { - internal class DevSplitFlap : DevBase + public class DevSplitFlap : DevBase { private const string TOPIC_INITALL = "/splitFlap/cmd/init/"; private const string TOPIC_CONFIGURE_SF = "/splitFlap/config/setup/"; @@ -26,7 +22,7 @@ namespace RobotLib.DevSplitFlap public void ConfigureSplitflap(int setupId, int hardwareId) { - string payload = JsonSerializer.Serialize(new Dictionary() { { "setupId", setupId.ToString() }, { "hardwareId", hardwareId.ToString() } }); + string payload = JsonSerializer.Serialize(new Dictionary() { { "setupId", setupId }, { "hardwareId", hardwareId } }); base.SendMessage(TOPIC_CONFIGURE_SF, payload); } @@ -40,18 +36,17 @@ namespace RobotLib.DevSplitFlap { if(fromTopic == TOPIC_DISPLAY) { - string parsedMessage = (string)GetValueFromMesage("message", message); + var parsedMessage = GetValueFromMesage("message", message); if (parsedMessage == null) parsedMessage = "?"; SplitFlapDisplayEventArgs eventArgs = new(parsedMessage); SplitFlapDisplayChanged?.Invoke(this, eventArgs); } } - private object GetValueFromMesage(string parameter,string message) + private T GetValueFromMesage(string parameter,string message) { - var data = JsonSerializer.Deserialize>(message); - object value = null; - data.TryGetValue(parameter, out value); + var data = JsonSerializer.Deserialize>(message); + data.TryGetValue(parameter, out T value); return value; } } diff --git a/ADIS_Csharp/RobotLib/DevSplitFlap/SplitFlapDisplayEventArgs.cs b/ADIS_Csharp/RobotLib/SplitFlap/SplitFlapDisplayEventArgs.cs similarity index 86% rename from ADIS_Csharp/RobotLib/DevSplitFlap/SplitFlapDisplayEventArgs.cs rename to ADIS_Csharp/RobotLib/SplitFlap/SplitFlapDisplayEventArgs.cs index fc9e242..b437a1a 100644 --- a/ADIS_Csharp/RobotLib/DevSplitFlap/SplitFlapDisplayEventArgs.cs +++ b/ADIS_Csharp/RobotLib/SplitFlap/SplitFlapDisplayEventArgs.cs @@ -1,4 +1,4 @@ -namespace RobotLib.DevSplitFlap +namespace RobotLib.SplitFlap { public class SplitFlapDisplayEventArgs {