dumber/software/monitor/monitor/MonitorUI.cs
Sébastien DI MERCURIO a18aaca4d7 rajouts des commentaires (Demande #35)
Creation d'une classe imageWidget dans le moniteur (demande #43)
modifications du comportement des fleches dans le moniteur (demande #41)
Suppression de relicats anciens
2019-01-15 16:25:48 +01:00

689 lines
23 KiB
C#

//
// MonitorUI.cs
//
// Author:
// Di MERCURIO Sébastien <dimercur@insa-toulouse.fr>
//
// Copyright (c) 2018 INSA - DGEI
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
// 15/01/2019 dimercur
// Demande #41: Modifier les messages envoyés par les flèches de direction
// 15/10/2019 dimercur
// Demande #43: Migrer le code lié à la gestion des images dans sa propre classe widget
using System;
using Gtk;
using Gdk;
using Cairo;
using monitor;
using System.Timers;
/// <summary>
/// Main part of the program, behavior of main window
/// </summary>
public partial class MainWindow : Gtk.Window
{
/// <summary>
/// Destijl command manager reference
/// </summary>
private DestijlCommandManager cmdManager;
/// <summary>
/// Position used for displaying position
/// </summary>
private DestijlCommandManager.Position position=new DestijlCommandManager.Position();
/// <summary>
/// List of availble state for the application
/// </summary>
enum SystemState
{
NotConnected,
ServerConnected,
RobotConnected
};
/// <summary>
/// The state of the system. Can take a value from SystemState
/// </summary>
private SystemState systemState = SystemState.NotConnected;
/// <summary>
/// Object used for displaying image on a valid DrawingArea widget
/// </summary>
private ImageWidget imageWidget;
/// <summary>
/// Timer for battery request
/// </summary>
private System.Timers.Timer batteryTimer;
/// <summary>
/// Counter for image reception and detecting bad picture ratio
/// </summary>
private int imageReceivedCounter = 0;
private int badImageReceivedCounter = 0;
/// <summary>
/// Initializes a new instance of the <see cref="MainWindow"/> class.
/// </summary>
public MainWindow() : base(Gtk.WindowType.Toplevel)
{
Build();
cmdManager = new DestijlCommandManager(OnCommandReceivedEvent);
// Init of image widget
imageWidget = new ImageWidget(drawingAreaCamera);
// create new timer for battery request, every 10s
batteryTimer = new System.Timers.Timer(10000.0);
batteryTimer.Elapsed += OnBatteryTimerElapsed;
// Customize controls
AdjustControls();
}
/// <summary>
/// Make some adjustement to controls, like disabling some controls
/// </summary>
public void AdjustControls()
{
// Change state of system, and grey every controls not needed
ChangeState(SystemState.NotConnected);
// Load "no picture" image from disque
imageWidget.ShowImage("monitor.ressources.missing_picture.png");
// setup server controls
entryServerName.Text = Client.defaultIP;
entryServerPort.Text = Client.defaultPort.ToString();
entryTimeout.Text = "1000";
}
/// <summary>
/// Method used to change controls visibility (greyed or not) depending on current state
/// </summary>
/// <param name="newState">New state</param>
private void ChangeState(SystemState newState)
{
switch (newState)
{
case SystemState.NotConnected:
labelRobot.Sensitive = false;
gtkAlignmentRobot.Sensitive = false;
labelRobotControl.Sensitive = false;
gtkAlignmentRobotControl.Sensitive = false;
boxCamera.Sensitive = false;
buttonServerConnection.Label = "Connect";
buttonRobotActivation.Label = "Activate";
labelBatteryLevel.Text = "Unknown";
checkButtonCameraOn.Active = false;
checkButtonRobotPosition.Active = false;
checkButtonFPS.Active = false;
imageWidget.ShowFPS = false;
imageWidget.showPosition = false;
if (cmdManager != null) cmdManager.Close();
batteryTimer.Stop();
break;
case SystemState.ServerConnected:
buttonServerConnection.Label = "Disconnect";
buttonRobotActivation.Label = "Activate";
labelBatteryLevel.Text = "Unknown";
labelRobot.Sensitive = true;
gtkAlignmentRobot.Sensitive = true;
boxCamera.Sensitive = true;
labelRobotControl.Sensitive = false;
gtkAlignmentRobotControl.Sensitive = false;
batteryTimer.Stop();
break;
case SystemState.RobotConnected:
buttonRobotActivation.Label = "Reset";
labelRobotControl.Sensitive = true;
gtkAlignmentRobotControl.Sensitive = true;
batteryTimer.Start();
break;
default:
labelRobot.Sensitive = false;
gtkAlignmentRobot.Sensitive = false;
labelRobotControl.Sensitive = false;
gtkAlignmentRobotControl.Sensitive = false;
boxCamera.Sensitive = false;
buttonServerConnection.Label = "Connect";
buttonRobotActivation.Label = "Activate";
labelBatteryLevel.Text = "Unknown";
checkButtonCameraOn.Active = false;
checkButtonRobotPosition.Active = false;
checkButtonFPS.Active = false;
imageWidget.ShowFPS = false;
imageWidget.showPosition = false;
systemState = SystemState.NotConnected;
return;
}
systemState = newState;
}
/// <summary>
/// Display a popup message window
/// </summary>
/// <param name="type">Type of popup window (question, error, information,...)</param>
/// <param name="buttons">Buttons available on popup window</param>
/// <param name="title">Title of window</param>
/// <param name="message">Message</param>
private void MessagePopup(MessageType type, ButtonsType buttons, string title, string message)
{
MessageDialog md = new MessageDialog(this, DialogFlags.DestroyWithParent, type, buttons, message);
md.Title = title;
md.Run();
md.Destroy();
}
/// <summary>
/// Callback called when delete event is sent by window
/// </summary>
/// <param name="sender">Sender object</param>
/// <param name="a">Not really sure of what it is...</param>
protected void OnDeleteEvent(object sender, DeleteEventArgs a)
{
Console.WriteLine("Bye bye");
if (cmdManager != null) cmdManager.Close();
Application.Quit();
a.RetVal = true;
}
/// <summary>
/// Callback called when new message is received from server
/// </summary>
/// <param name="header">Header of message</param>
/// <param name="data">Data of message</param>
public void OnCommandReceivedEvent(string header, string data)
{
if (header == null)
{
// we have lost server
ChangeState(SystemState.NotConnected);
Gtk.Application.Invoke(delegate
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Server lost",
"Server is down: disconnecting");
cmdManager.Close();
});
}
// if we have received a valid message
if (header != null)
{
#if DEBUG
// print message content
if (header.Length > 4)
{
Console.WriteLine("Bad header(" + header.Length + ")");
}
#endif
// Depending on message received (based on header), launch correponding action
header = header.ToUpper();
if (header == DestijlCommandList.ROBOT_BATTERY_LEVEL)
{
string batLevel = "";
switch (data[0])
{
case '2':
batLevel = "High";
break;
case '1':
batLevel = "Low";
break;
case '0':
batLevel = "Empty";
break;
default:
batLevel = "Invalid value";
break;
}
Gtk.Application.Invoke(delegate
{
labelBatteryLevel.Text = batLevel;
});
}
else if (header == DestijlCommandList.CAMERA_IMAGE)
{
imageReceivedCounter++;
byte[] image = new byte[2];
try
{
image = Convert.FromBase64String(data);
}
catch (FormatException)
{
badImageReceivedCounter++;
Console.WriteLine("Unable to convert from base64 ");
}
try
{
imageWidget.ShowImage(image);
}
catch (GLib.GException)
{
badImageReceivedCounter++;
#if DEBUG
Console.WriteLine("Bad Image: " + badImageReceivedCounter +
" / " + imageReceivedCounter +
" (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)");
#endif
}
//}
}
else if (header == DestijlCommandList.CAMERA_POSITION)
{
imageWidget.Position = DestijlCommandManager.DecodePosition(data);
}
}
}
/// <summary>
/// Callback called by "quit" menu
/// </summary>
/// <param name="sender">Sender object</param>
/// <param name="e">Event</param>
protected void OnQuitActionActivated(object sender, EventArgs e)
{
Console.WriteLine("Bye bye 2");
if (cmdManager != null) cmdManager.Close();
this.Destroy();
Application.Quit();
}
/// <summary>
/// Callback called by "show log" menu
/// </summary>
/// <param name="sender">Sender object</param>
/// <param name="e">Event</param>
protected void OnShowLogWindowActionActivated(object sender, EventArgs e)
{
MessagePopup(MessageType.Info,
ButtonsType.Ok, "Info",
"Logger not yet implemented");
}
/// <summary>
/// Callback called by "buttonServerConnection" button
/// </summary>
/// <param name="sender">Sender object</param>
/// <param name="e">Event</param>
protected void OnButtonServerConnectionClicked(object sender, EventArgs e)
{
DestijlCommandManager.CommandStatus statusCmd;
// if we are currently connected
if (buttonServerConnection.Label == "Disconnect")
{
// Change state to disconnect and close connection
ChangeState(SystemState.NotConnected);
}
else // we are not currently connected to server
{
// if information about hostname or port are invalid, show a popup error
if ((entryServerName.Text == "") || (entryServerPort.Text == ""))
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Error",
"Server name or port is invalid");
}
else
{
Console.WriteLine("Connecting to " + entryServerName.Text + ":" + entryServerPort.Text);
bool status = false;
// try to convert timout string value to double. If that failed, default to 100 ms
try
{
cmdManager.timeout = Convert.ToDouble(entryTimeout.Text);
}
catch (Exception)
{
cmdManager.timeout = 100;
entryTimeout.Text = cmdManager.timeout.ToString();
}
// try to connect to givn server.
try
{
status = cmdManager.Open(entryServerName.Text, Convert.ToInt32(entryServerPort.Text));
}
catch (Exception)
{
Console.WriteLine("Something went wrong during connection");
return;
}
//if connection status is not ok, show an error popup
if (status != true)
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Error",
"Unable to connect to server " + entryServerName.Text + ":" + Convert.ToInt32(entryServerPort.Text));
}
else // if we succed in connecting, open communication with robot
{
Console.Write("Send command RobotOpenCom: ");
statusCmd = cmdManager.RobotOpenCom();
Console.WriteLine(statusCmd.ToString());
if (statusCmd == DestijlCommandManager.CommandStatus.Success)
{
ChangeState(SystemState.ServerConnected);
}
else // if communication with robot is not possible, show error
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Error",
"Unable to open communication with robot.\nCheck that supervisor is accepting OPEN_COM_DMB command");
cmdManager.Close();
}
}
}
}
}
/// <summary>
/// Callback called when "buttonRobotactivation" is clicked
/// </summary>
/// <param name="sender">Sender object</param>
/// <param name="e">Event</param>
protected void OnButtonRobotActivationClicked(object sender, EventArgs e)
{
DestijlCommandManager.CommandStatus status;
//if robot is not activated
if (buttonRobotActivation.Label == "Activate")
{
// if a startup with watchdog is requested
if (radioButtonWithWatchdog.Active)
{
status = cmdManager.RobotStartWithWatchdog();
}
else // startup without watchdog
{
status = cmdManager.RobotStartWithoutWatchdog();
}
// if status of command is ok, change state of system, enabling robot control
if (status == DestijlCommandManager.CommandStatus.Success)
{
ChangeState(SystemState.RobotConnected);
}
else // if status is not ok, depending of error, show appropriate error
{
if (status == DestijlCommandManager.CommandStatus.CommunicationLostWithServer)
{
MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with server");
ChangeState(SystemState.NotConnected);
}
else
{
MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Command rejected\nCheck that supervisor accept \nDMB_START_WITH_WD and/or DMB_START_WITHOUT_WD");
}
}
}
else // If robot is already activated, request reset of robot
{
status = cmdManager.RobotReset();
// if status of command is ok, change state of system, disabling robot control
if (status == DestijlCommandManager.CommandStatus.Success)
{
ChangeState(SystemState.ServerConnected);
}
else // if status is not ok, depending of error, show appropriate error
{
if (status == DestijlCommandManager.CommandStatus.CommunicationLostWithServer)
{
MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with server");
ChangeState(SystemState.NotConnected);
}
else
{
MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Unknown error");
}
}
}
}
/// <summary>
/// Callback called when user click on direction button
/// </summary>
/// <param name="sender">Sender button</param>
/// <param name="e">Event</param>
protected void OnButtonMouvClicked(object sender, EventArgs e)
{
// depending on button clicked, launch appropriate action
if (sender == buttonRight)
{
cmdManager.RobotGoRight();
}
else if (sender == buttonLeft)
{
cmdManager.RobotGoLeft();
}
else if (sender == buttonForward)
{
cmdManager.RobotGoForward();
}
else if (sender == buttonDown)
{
cmdManager.RobotGoBackward();
}
else if (sender == buttonStop)
{
cmdManager.RobotStop();
}
else
{
MessagePopup(MessageType.Warning, ButtonsType.Ok, "Abnormal behavior", "Callback OnButtonMouvClicked called by unknown sender");
}
}
/// <summary>
/// Callback called when battery timer expired
/// </summary>
/// <param name="sender">Sender object</param>
/// <param name="e">Event</param>
void OnBatteryTimerElapsed(object sender, System.Timers.ElapsedEventArgs e)
{
DestijlCommandManager.CommandStatus status;
batteryTimer.Stop();
// if battery checkbox is checked, a request for battery level is done
if (checkButtonGetBattery.Active)
{
status = cmdManager.RobotGetBattery();
// if status is not ok, show appropriate message and print "Unknown" for battery level
switch (status)
{
case DestijlCommandManager.CommandStatus.Success:
batteryTimer.Start();
break;
case DestijlCommandManager.CommandStatus.CommunicationLostWithServer:
Console.WriteLine("Error: Connection lost with server");
batteryTimer.Stop();
labelBatteryLevel.Text = "Unknown";
ChangeState(SystemState.NotConnected);
break;
case DestijlCommandManager.CommandStatus.CommunicationLostWithRobot:
Console.WriteLine("Error: Connection lost with robot");
batteryTimer.Stop();
labelBatteryLevel.Text = "Unknown";
ChangeState(SystemState.ServerConnected);
break;
default:
labelBatteryLevel.Text = "Unknown";
batteryTimer.Start();
break;
}
}
else batteryTimer.Start();
}
/// <summary>
/// Callback called when checkbutton for camera is clicked
/// </summary>
/// <param name="sender">Sender object</param>
/// <param name="e">Event</param>
protected void OnCheckButtonCameraOnClicked(object sender, EventArgs e)
{
// if camera is already active, switch it off
if (!checkButtonCameraOn.Active)
{
if (cmdManager.CameraClose() != DestijlCommandManager.CommandStatus.Success)
{
Console.WriteLine("Error when closing camera: bad answer for supervisor or timeout");
}
}
else // camera is not active, switch it on
{
badImageReceivedCounter = 0;
imageReceivedCounter = 0;
if (cmdManager.CameraOpen() != DestijlCommandManager.CommandStatus.Success)
{
Console.WriteLine("Error when opening camera: bad answer for supervisor or timeout");
//checkButtonCameraOn.Active = false;
}
}
}
/// <summary>
/// Callback called when checkbutton robot position is clicked
/// </summary>
/// <param name="sender">Sender object</param>
/// <param name="e">Event</param>
protected void OnCheckButtonRobotPositionClicked(object sender, EventArgs e)
{
// if server already send robot position, stop it
if (!checkButtonRobotPosition.Active)
{
if (cmdManager.CameraStopComputePosition() != DestijlCommandManager.CommandStatus.Success)
{
Console.WriteLine("Error when stopping position reception: bad answer for supervisor or timeout");
}
}
else // start reception of robot position
{
if (cmdManager.CameraComputePosition() != DestijlCommandManager.CommandStatus.Success)
{
Console.WriteLine("Error when starting getting robot position: bad answer for supervisor or timeout");
//checkButtonRobotPosition.Active = false;
}
}
imageWidget.showPosition = checkButtonRobotPosition.Active;
}
/// <summary>
/// Show a popup asking user to tell if arena is correct or not
/// </summary>
protected void DetectArena()
{
DestijlCommandManager.CommandStatus status;
MessageDialog md = new MessageDialog(this, DialogFlags.DestroyWithParent,
MessageType.Question, ButtonsType.YesNo, "Arena is correct ?");
md.Title = "Check arena";
ResponseType result = (ResponseType)md.Run();
md.Destroy();
if (result == ResponseType.Yes)
{
status = cmdManager.CameraArenaConfirm();
}
else
{
status = cmdManager.CameraArenaInfirm();
}
if (status != DestijlCommandManager.CommandStatus.Success)
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Error",
"Unable to send Confirm or Infirm arena command to supervisor");
}
}
/// <summary>
/// Callback called when "Detect Arena" button is clicked
/// </summary>
/// <param name="sender">Sender object</param>
/// <param name="e">Event</param>
protected void OnButtonAskArenaClicked(object sender, EventArgs e)
{
// Send command to server for arean rendering
if (cmdManager.CameraAskArena() != DestijlCommandManager.CommandStatus.Success)
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Error",
"Error when asking for arena rendering");
return;
}
// show popup and wait for user to say if arena is ok or not
DetectArena();
}
/// <summary>
/// Callback function for FPS checkbutton
/// </summary>
/// <param name="sender">Sender object</param>
/// <param name="e">unused paramter</param>
protected void OnCheckButtonFPSToggled(object sender, EventArgs e)
{
imageWidget.ShowFPS = checkButtonFPS.Active;
}
}