private void Navbar_OnConnectButtonClicked(object sender, RoutedEventArgs e)
{
if (_robotConnectionService == null)
{
var portName = _selectedPortName;
if (string.IsNullOrEmpty(portName))
{
Logger.Error("No ports found");
MessageBox.Show("Please select serial port first.", "Port not found");
return;
}
Logger.Info("Starting connection...");
_mainViewModel.GuiStatusViewModel.ConnectionStatus = $"Connected to: {portName}";
_mainViewModel.GuiStatusViewModel.IsConnected = true;
_serialPort = _serialPortFactory.GetPort(portName);
_serialPortManager = new SerialPortManager(_serialPort);
_serialPortManager.TryOpen();
_serialPortAdapter = new SerialPortAdapter(_serialPort);
_robotConnectionService = new RobotConnectionService(_serialPortAdapter);
_robotConnectionService.SpeedCurrentFeedbackReceived += RobotConnection_CurrentSpeedFeedbackReceived;
_robotConnectionService.VoltageTemperatureFeedbackReceived += RobotConnection_VoltageTemperatureFeedbackReceived;
_robotConnectionService.ParametersReceived += RobotConnection_ParametersReceived;
_sender = new ControlsSender(_robotConnectionService, 50);
_experimentHandler.Sender = _sender;
RequestParameters();
}
}
public ControlsSender(RobotConnectionService robotConnectionService, int interval) : base(robotConnectionService)
{
_controls = new ControlsModel(0, 0);
_timer = new Timer(interval);
_timer.Elapsed += TimerOnElapsed;
_timer.Start();
}
private void Navbar_OnDisconnectButtonClicked(object sender, RoutedEventArgs e)
{
_mainViewModel.GuiStatusViewModel.ConnectionStatus = "Disconnected";
_mainViewModel.GuiStatusViewModel.IsConnected = false;
if (_robotConnectionService != null)
{
Logger.Info("Stopping connection...");
_robotConnectionService.Dispose();
_robotConnectionService = null;
}
if (_serialPort != null)
{
_serialPortManager.Close();
_serialPort.Dispose();
_serialPort = null;
}
}
private void WindowClose(object sender, CancelEventArgs e)
{
_gamepadService.Stop();
if (_robotConnectionService != null)
{
Logger.Info("Stopping connection...");
_robotConnectionService.Dispose();
_robotConnectionService = null;
}
if (_serialPort != null)
{
if (_serialPort.IsOpen)
{
_serialPort.DiscardInBuffer();
}
_serialPortManager.Close();
_serialPort.Dispose();
_serialPort = null;
}
}
public void SubscribeAndStart(RobotConnectionService robot, IGamepadService gamepad, string parametersHeader)
{
_robot = robot;
_gamepad = gamepad;
_writer = new FileWriter(_config);
_writer.WriteLine(parametersHeader);
_writer.WriteLine(_formatter.GetHeader());
_log = new DatalogModel();
Setpoints = new ControlsModel(0, 0);
try
{
// _gamepad.RobotControlChanged += GamepadSerrvice_RobotControlChanged;
_robot.SpeedCurrentFeedbackReceived += RobotConnection_SpeedCurrentReceived;
_robot.VoltageTemperatureFeedbackReceived += RobotConnection_VoltageTemperatureReceived;
_logger.Info($"Started on path {_config.Path}");
LoggingStarted?.Invoke(this, EventArgs.Empty);
}
catch (Exception e)
{
_logger.Error($"Cannot subscribe: {e.Message}. Please connect first.");
}
}
public Sender(RobotConnectionService robotConnectionService)
{
_robotConnectionService = robotConnectionService;
}