private void BuggyDisconnectBtn_Click(object sender, EventArgs e)
{
//Disable button to prevent multiple disconnection requests.
buggyDisconnectBtn.Enabled = false;
//Send message to server to notify that the controller client is disconnecting from the buggy and that it is available for connections again.
MessageHandler.BuggyDisconnect();
//Wait until disconnection finishes before continuing with enabling/disabling buggy controls.
while (ConnectionManager.buggyConnected)
{
}
//Enable buggy connect button
buggyConnectBtn.Enabled = true;
//Disable buggy controls
comboBoxIntMode.Enabled = false;
comboBoxConfig.Enabled = false;
ManualControlFocusBtn.Enabled = false;
textBoxConfigStatus.Enabled = false;
textBoxCurrConfig.Enabled = false;
buttonConfigUpdate.Enabled = false;
comboBoxNewConfig.Enabled = false;
TempTextBox.Enabled = false;
HumTextBox.Enabled = false;
LIntTextBox.Enabled = false;
buttonReqData.Enabled = false;
//Don't record motor control inputs and don't send them to the buggy as requests
BuggyMotorControl.PauseMotorControl();
//Display disconnection status.
textBoxBuggyConnectStatus.Text = "Disconnected";
}
private void comboBoxIntMode_SelectedIndexChanged(object sender, EventArgs e)
{
/*
* Enable or disable buggy controls based on the interaction mode selected.
* Set boolean that enables motor control values to be recorded in manual mode based on interaction mode.
* Send interaction mode request to the buggy.
*/
switch (comboBoxIntMode.SelectedItem.ToString())
{
case "Manual":
ManualControlFocusBtn.Enabled = true;
TempTextBox.Enabled = true;
HumTextBox.Enabled = true;
LIntTextBox.Enabled = true;
buttonReqData.Enabled = true;
comboBoxConfig.Enabled = false;
textBoxCurrConfig.Enabled = false;
textBoxConfigStatus.Enabled = false;
buttonConfigUpdate.Enabled = false;
comboBoxNewConfig.Enabled = false;
BuggyMotorControl.RestartMotorControl();
MessageHandler.InteractionMode(InteractionMode.Manual);
break;
case "Autonomous":
TempTextBox.Enabled = true;
HumTextBox.Enabled = true;
LIntTextBox.Enabled = true;
comboBoxConfig.Enabled = false;
ManualControlFocusBtn.Enabled = false;
textBoxCurrConfig.Enabled = false;
textBoxConfigStatus.Enabled = false;
buttonConfigUpdate.Enabled = false;
comboBoxNewConfig.Enabled = false;
buttonReqData.Enabled = false;
BuggyMotorControl.PauseMotorControl();
MessageHandler.InteractionMode(InteractionMode.Autonomous);
break;
case "Configuration":
comboBoxConfig.Enabled = true;
ManualControlFocusBtn.Enabled = false;
textBoxCurrConfig.Enabled = true;
textBoxConfigStatus.Enabled = true;
buttonConfigUpdate.Enabled = true;
comboBoxNewConfig.Enabled = true;
TempTextBox.Enabled = false;
HumTextBox.Enabled = false;
LIntTextBox.Enabled = false;
buttonReqData.Enabled = false;
BuggyMotorControl.PauseMotorControl();
MessageHandler.InteractionMode(InteractionMode.Configuration);
break;
default:
comboBoxConfig.Enabled = false;
ManualControlFocusBtn.Enabled = false;
textBoxConfigStatus.Enabled = false;
textBoxCurrConfig.Enabled = false;
buttonConfigUpdate.Enabled = false;
comboBoxNewConfig.Enabled = false;
TempTextBox.Enabled = false;
HumTextBox.Enabled = false;
LIntTextBox.Enabled = false;
buttonReqData.Enabled = false;
BuggyMotorControl.PauseMotorControl();
break;
}
}
private void buggyConnectBtn_Click(object sender, EventArgs e)
{
int index = 0;
if (listBox1.SelectedIndex == -1) //if no client was selected from the listbox
{
textBoxBuggyConnectStatus.Text = "Select a buggy to connect to.";
}
else //client was selected
{
//Disable button to prevent multiple requests from being made.
buggyConnectBtn.Enabled = false;
//Send request to server to ask for permission to connect to the selected buggy.
MessageHandler.BuggyConnect(Convert.ToInt32(listBox1.SelectedItem));
//Wait for the response from the server or until connection with server is lost
while (BuggyConnectResponse.response == 0 && (ConnectionManager.ConnectionLost == false))
{
}
if (ConnectionManager.ConnectionLost == false) //Display response if connection with server was not lost
{
switch (BuggyConnectResponse.response)
{
case BuggyConnectResponse.ConnectPermitted:
//find the buggy connection infromation from the list by searching the list by client id and make a connection to the buggy.
index = clientManager.Clients.FindIndex(x => x.clientID == Convert.ToInt32(listBox1.SelectedItem));
ConnectionManager.AddClient(clientManager.Clients[index].ipAddress, 80);
//display connection status of the buggy
textBoxBuggyConnectStatus.Text = "Connected to buggy";
/*
* Disable appropriate controls so that the user cannot connect to other buggies while connected to one.
* Enable appropriate buggy controls to allow the user to use the buggy.
*/
buggyConnectBtn.Enabled = false;
buggyDisconnectBtn.Enabled = true;
comboBoxIntMode.Enabled = true;
//Start thread that will monitor motor control inputs if manual mode is on.
BuggyMotorControl.StartMotorControl();
break;
case BuggyConnectResponse.BuggyInUse:
textBoxBuggyConnectStatus.Text = "Buggy is used by another client";
buggyConnectBtn.Enabled = true;
break;
default:
textBoxBuggyConnectStatus.Text = "Buggy is used by another client";
buggyConnectBtn.Enabled = true;
break;
}
}
//Reset The response indicator
BuggyConnectResponse.response = 0;
}
}
