public static void Save()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "Saving database...");
Database.Instance.Save();
PrintSuccess("Saved database");
}
public static void Execute()
{
while (true)
{
Execute(Console.ReadLine());
ConsoleHandler.ClearCommand();
Thread.Yield(); // Other threads should be able to run after each command
}
}
public static void Reload()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "Reloading database...");
Database.Instance.Load();
PrintSuccess("Database loaded");
Program.UpdatePositionInformation();
}
public static void CurrentJob()
{
if (BluetoothConnection.CurrentJob != null)
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "Current job: '" + BluetoothConnection.CurrentJob.ToString() + "'");
}
else
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "No current job");
}
}
public static void Payload()
{
Forklift f = Database.Instance.Data.Forklifts.FirstOrDefault().Value;
if (f.HasPallet)
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "Payload: '" + f.Payload.Name + "'");
}
else
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "No payload");
}
}
public static void Position()
{
Forklift f = Database.Instance.Data.Forklifts.FirstOrDefault().Value;
if (f.FrontNode == null || f.RearNode == null)
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "Position: Unknown");
}
else
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "Front-node: " + f.FrontNode.Name);
ConsoleHandler.AddMessage(MessageType.REGULAR, "Rear-node: " + f.RearNode.Name);
}
}
public static void Palletlist()
{
Dictionary <int, Pallet> pallets = Database.Instance.Data.Pallets;
if (pallets.Count == 0)
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "No pallets");
return;
}
foreach (KeyValuePair <int, Pallet> pallet in pallets)
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "#" + pallet.Key + " - " + pallet.Value.ToString());
}
}
public static void Unblock(String nodeOne, String nodeTwo)
{
Graph g = Database.Instance.Data.Graphs.FirstOrDefault().Value;
try
{
Node n1 = g.getNode(nodeOne);
Node n2 = g.getNode(nodeTwo);
g.UnblockEdge(n1, n2);
ConsoleHandler.AddMessage(MessageType.SUCCESS, "Unblocked edge |" + n1.Name + " " + n2.Name + "|");
}
catch (NodeException e)
{
ConsoleHandler.AddMessage(MessageType.ERROR, e.Message);
}
}
public static void Joblist()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "Current joblist:");
List <int> IDlist = Database.Instance.Data.Jobs.Keys.ToList();
IDlist.Sort();
int c = 0;
foreach (int key in IDlist)
{
ConsoleHandler.AddMessage(MessageType.REGULAR, Database.Instance.Data.Jobs[key].ToString());
c++;
}
if (c == 0)
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "(Empty)");
}
}
// Main
private static void Main()
{
Console.Title = ConsoleHandler.DNS + " console";
Console.WindowWidth = 120;
Console.WindowHeight = 60;
ConsoleThread = new Thread(ConsoleHandler.PrintMessages);
ConsoleThread.Start();
ConsoleHandler.AddMessage(MessageType.SUCCESS, "______ ___ _ _ _____ ");
ConsoleHandler.AddMessage(MessageType.SUCCESS, "| ___ \\ / _ \\ | | | | | ___|");
ConsoleHandler.AddMessage(MessageType.SUCCESS, "| |_/ / / /_\\ \\ | | | | ______ | |__ ");
ConsoleHandler.AddMessage(MessageType.SUCCESS, "| __/ | _ | | | | | |______| | __| ");
ConsoleHandler.AddMessage(MessageType.SUCCESS, "| | | | | | | |____ | |____ | |___ ");
ConsoleHandler.AddMessage(MessageType.SUCCESS, "\\_| \\_| |_/ \\_____/ \\_____/ \\_____|");
ConsoleHandler.AddMessage(MessageType.SUCCESS, "");
// Make sure the database is populated
PopulateDatabase();
// Test and set if we know where PALL-E is
UpdatePositionInformation();
// Instantiate threads
ConsumeBTThread = new Thread(() => ConsumeBT(new BluetoothConnection("COM3")));
// Start the threads
ConsumeBTThread.Start();
// Wait until the device has bluetooth
while (!HasConnection)
{
; // Busy wait
}
CommandThread = new Thread(Commands.Execute);
CommandThread.Start();
}
// Sends a package with a given type
private void SendPackageBT(byte packageType, byte[] package_data)
{
// Calculate the size of package_data
int packageDataSize = package_data.Length;
// Calculate the total package size, assuming the package data size and
// start, end, and type bytes.
int packageTotalSize = (packageDataSize + 3);
// Check whether total data size is bigger than 256 bytes.
if (packageTotalSize > 256)
{
ConsoleHandler.AddMessage(MessageType.ERROR, "Tried to send package with over 256 bytes (package was not sent)");
return;
}
// Make an array that is as large as the total data size of the package.
byte[] packageToSend = new byte[packageTotalSize];
// Putting the start, end, and type byte in the array.
packageToSend[0] = START_BYTE;
packageToSend[1] = packageType;
packageToSend[packageTotalSize - 1] = END_BYTE;
// Fill the package data into the array at the correct array index
for (int i = 0; i < packageDataSize; i++)
{
packageToSend[i + 2] = (byte)package_data[i];
}
// Send the request over BT
this.Write(packageToSend, 0, packageTotalSize);
// Wait to ensure that continous requests is possible
System.Threading.Thread.Sleep(1);
return;
}
// Constructor
public BluetoothConnection(string portName) : base(portName)
{
// If the connection is not established try to connect.
ConsoleHandler.AddMessage(MessageType.BLUETOOTH, "Attempting to connect to " + ConsoleHandler.DNS + "...");
while (!this.IsOpen)
{
try
{
this.Open(); // Try to open the connection
Program.HasConnection = true;
}
catch
{
// Catched by retrying after sleep
ConsoleHandler.AddMessage(MessageType.BLUETOOTH, "Connection failed. Trying again...");
}
}
// Tell the user that the connection was established
ConsoleHandler.AddMessage(MessageType.BLUETOOTH, "Connection established.");
this.ReadTimeout = 10000; // Wait 10 sec before timeout on readbuffer
this.WriteTimeout = 10000; // Wait 10 sec before timeout on writebuffer
}
public static void PrintError(string s)
{
ConsoleHandler.AddMessage(MessageType.ERROR, "Error: " + s);
Console.ResetColor();
}
public static void CurrentJobHelp()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"currentjob\"");
}
public static void HelpHelp()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"help\"");
}
public static void PositionHelp()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"position\"");
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"position\" <front node> <rear node>");
}
private static void Execute(string command)
{
command = command.ToLower();
// No command provided, user must need help
if (String.IsNullOrEmpty(command))
{
PrintInvalidCommand();
return;
}
// Split the string into command and arguments
List <String> commandAndArguments = command.Split('-').ToList();
// No command provided, user must need help
if (String.IsNullOrEmpty(commandAndArguments[0]))
{
PrintInvalidCommand();
return;
}
// Split the command at every space
List <string> commandSplit = commandAndArguments[0].Split(' ').ToList();
// Remove empty commands (occours when multiple spaces are entered)
commandSplit.RemoveAll(s => s == "");
// Save the first part of the command
string commandIdentifier = commandSplit[0];
// Remove the first part of the command
commandSplit.RemoveAt(0);
int arguments = commandSplit.Count;
commandSplit.RemoveAll(s => s == "");
// Check if the command argument is "clear"
List <String> argumentList = commandAndArguments.Skip(1).ToList();
// Trim all command arguments
for (int i = 0; i < argumentList.Count; i++)
{
argumentList[i] = argumentList[i].Trim();
}
// Check if an argument is to clear the display
if (argumentList.Contains(COMMAND_ARGUMENT_CLEAR))
{
argumentList.RemoveAll(x => x == COMMAND_ARGUMENT_CLEAR);
Clear();
}
// Check if there are unprocessed arguments
if (argumentList.Count > 0)
{
String error = "Unknown command arguments: ";
foreach (string s in argumentList)
{
if (s != argumentList.FirstOrDefault())
{
error += ", ";
}
error += "'" + s + "'";
}
error += "\n";
ConsoleHandler.AddMessage(MessageType.ERROR, error);
return;
}
// Check if the command is "help"
if (commandIdentifier == HELP)
{
if (arguments == 0)
{
Help();
}
else
{
PrintIncorrectUse();
HelpHelp();
}
}
else if (commandIdentifier == COMMAND_STATUS)
{
if (arguments == 0)
{
Status();
}
else
{
PrintIncorrectUse();
StatusHelp();
}
}
// Check if the command is "joblist"
else if (commandIdentifier == COMMAND_JOBLIST)
{
if (arguments == 0)
{
Joblist();
}
else if (arguments == 1)
{
Joblist(commandSplit[0]);
}
else if (arguments == 2)
{
Joblist(commandSplit[0], commandSplit[1]);
}
else
{
PrintIncorrectUse();
JoblistHelp();
}
}
else if (commandIdentifier == COMMAND_CURRENTJOB)
{
if (arguments == 0)
{
CurrentJob();
}
else
{
PrintIncorrectUse();
CurrentJobHelp();
}
}
// Check if the command is "deliver", "fetch" or "navigate"
else if (commandIdentifier == COMMAND_FETCH)
{
if (arguments == 2)
{
if (commandSplit[0] == "node")
{
FetchNode(commandSplit[1]);
}
else if (commandSplit[0] == "pallet")
{
FetchPallet(commandSplit[1]);
}
else
{
PrintIncorrectUse();
FetchNodeHelp();
FetchPalletHelp();
}
}
else
{
PrintIncorrectUse();
FetchNodeHelp();
FetchPalletHelp();
}
}
else if (commandIdentifier == COMMAND_DELIVER ||
commandIdentifier == COMMAND_NAVIGATE)
{
if (arguments == 1)
{
DeliverNavigate(commandIdentifier, commandSplit[0]);
}
else
{
PrintIncorrectUse();
DeliverNavigateHelp();
}
}
else if (commandIdentifier == COMMAND_DEBUG)
{
if (arguments == 1)
{
Debug(commandSplit[0]);
}
}
else if (commandIdentifier == COMMAND_POSITION)
{
if (arguments == 0)
{
Position();
}
else if (arguments == 2)
{
Position(commandSplit[0], commandSplit[1]);
}
else
{
PrintIncorrectUse();
PositionHelp();
}
}
else if (commandIdentifier == COMMAND_CLEAR)
{
if (arguments == 0)
{
Clear();
}
else
{
PrintIncorrectUse();
ClearHelp();
}
}
else if (commandIdentifier == COMMAND_PALLETLIST)
{
if (arguments == 0)
{
Palletlist();
}
else if (arguments == 1)
{
Palletlist(commandSplit[0]);
}
else if (arguments == 2)
{
Palletlist(commandSplit[0], commandSplit[1]);
}
else if (arguments == 3)
{
Palletlist(commandSplit[0], commandSplit[1], commandSplit[2]);
}
else
{
PrintIncorrectUse();
PalletlistHelp();
}
}
else if (commandIdentifier == COMMAND_PAYLOAD)
{
if (arguments == 0)
{
Payload();
}
else if (arguments == 1)
{
Payload(commandSplit[0]);
}
else
{
PrintIncorrectUse();
PayloadHelp();
}
}
else if (commandIdentifier == COMMAND_NODE)
{
if (arguments == 1)
{
Node(commandSplit[0]);
}
else
{
NodeHelp();
}
}
else if (commandIdentifier == COMMAND_UNBLOCK)
{
if (arguments == 2)
{
Unblock(commandSplit[0], commandSplit[1]);
}
else if (arguments == 1)
{
Unblock(commandSplit[0]);
}
else
{
UnblockHelp();
}
}
else if (commandIdentifier == COMMAND_RELOAD)
{
if (arguments == 0)
{
Reload();
}
else
{
PrintIncorrectUse();
ReloadHelp();
}
}
else if (commandIdentifier == COMMAND_SAVE)
{
if (arguments == 0)
{
Save();
}
else
{
PrintIncorrectUse();
SaveHelp();
}
}
else if (commandIdentifier == COMMAND_EXIT)
{
if (arguments == 0)
{
Exit();
}
else
{
PrintIncorrectUse();
ExitHelp();
}
}
// Some unknown command, show the help
else
{
PrintInvalidCommand();
}
ConsoleHandler.ClearCommand();
}
public static void StatusHelp()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"status\"");
}
public static void NodeHelp()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"node\" <node>");
}
public static void FetchPalletHelp()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"fetch\" \"pallet\" {pallet}");
}
public static void FetchNodeHelp()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"fetch\" \"node\" {node}");
}
public static void JoblistHelp()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"joblist\"");
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"joblist\" \"clear\"");
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"joblist\" \"remove\" {[0-9]+}");
}
private static void PrintIncorrectUse()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "Incorrect use:");
}
public static void ExitHelp()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"exit\"");
}
public static void PayloadHelp()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"payload\"");
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"payload\" <pallet>");
}
public static void DebugHelp()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"debug\" {[BDLMRSTU]+}");
}
public static void Status()
{
Forklift f = Database.Instance.Data.Forklifts.FirstOrDefault().Value;
ConsoleHandler.AddMessage(MessageType.REGULAR, "Status: " + f.Status);
}
public static void PrintSuccess(string s)
{
ConsoleHandler.AddMessage(MessageType.SUCCESS, "Success: " + s);
}
// Used to check if position information is required
public static void UpdatePositionInformation()
{
Graph g = Database.Instance.Data.Graphs.FirstOrDefault().Value;
Forklift f = Database.Instance.Data.Forklifts.FirstOrDefault().Value;
if (f.RearNode == null || f.FrontNode == null)
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "Information about PALL-E position is required.");
bool result;
do
{
Node rearNode = null;
Node frontNode = null;
// The user must enter a faceing node
while (frontNode == null)
{
try
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "Enter name of front node...");
String faceing = Console.ReadLine();
ConsoleHandler.ClearCommand();
frontNode = g.getNode(faceing);
}
catch (NodeException e)
{
ConsoleHandler.AddMessage(MessageType.ERROR, "Error when finding node: '" + e.Message + "'");
}
}
// The user must enter a last node
while (rearNode == null)
{
try
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "Enter name of rear node...");
String last = Console.ReadLine();
ConsoleHandler.ClearCommand();
rearNode = g.getNode(last);
}
catch (NodeException e)
{
ConsoleHandler.AddMessage(MessageType.ERROR, "Error when finding node: '" + e.Message + "'");
}
}
// Update node information
result = f.UpdateNodes(frontNode, rearNode);
Commands.PrintSuccess("Position updated");
Commands.Position();
}while (!result);
}
else
{
ConsoleHandler.AddMessage(MessageType.REGULAR, ConsoleHandler.DNS + " position information:");
ConsoleHandler.AddMessage(MessageType.REGULAR, "Front-node: '" + f.FrontNode.Name + "'. Rear-node: '" + f.RearNode.Name + "'");
}
}
public static void DeliverNavigateHelp()
{
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"deliver\" {node}");
ConsoleHandler.AddMessage(MessageType.REGULAR, "\"navigate\" {node}");
}
