/**
* Method that handles when the GUI buttons are held down (Vehicle is moving a single direction)
*/
private void ButtonPress_Event(object sender, RoutedEventArgs e)
{
//TODO add button up event for stop command
//var picar = (PiCarConnection)DeviceListMn.SelectedItem;
//if (picar == null || picar.Mode != ModeRequest.Types.Mode.Lead) return;
var button = (RepeatButton)sender;
switch (button.Name)
{
case "Forward":
LogField.AppendText(DateTime.Now + ":\tMoving forward\n");
MoveVehicle(1.0, 0.0);
break;
case "Backwards":
LogField.AppendText(DateTime.Now + ":\tMoving backwards\n");
MoveVehicle(-1.0, 0.0);
break;
case "Left":
LogField.AppendText(DateTime.Now + ":\tMoving left\n");
MoveVehicle(0.0, -1.0);
break;
case "Right":
LogField.AppendText(DateTime.Now + ":\tMoving right\n");
MoveVehicle(0.0, 1.0);
break;
default:
Console.WriteLine("Mistakes were made");
break;
}
LogField.ScrollToEnd();
}
/**
* Method that handles when one or more key is released (Vehicle is stopping in one or more directions)
*/
private void Key_up(object sender, KeyEventArgs e)
{
//var picar = (PiCarConnection)DeviceListMn.SelectedItem;
//if (picar == null || picar.Mode != ModeRequest.Types.Mode.Lead) return;
var directionMotor = 0.0;
var throttleMotor = 0.0;
if (Keyboard.IsKeyUp(Key.W) && Keyboard.IsKeyUp(Key.Up))
{
throttleMotor--;
}
if (Keyboard.IsKeyUp(Key.S) && Keyboard.IsKeyUp(Key.Down))
{
throttleMotor++;
}
if (Keyboard.IsKeyUp(Key.A) && Keyboard.IsKeyUp(Key.Left))
{
directionMotor++;
}
if (Keyboard.IsKeyUp(Key.D) && Keyboard.IsKeyUp(Key.Right))
{
directionMotor--;
}
string output = Direction.EncodeDirection(DateTime.Now, throttleMotor, directionMotor);
LogField.AppendText(output);
MoveVehicle(throttleMotor, directionMotor);
LogField.ScrollToEnd();
}
/**
* Method that handles when the GUI button is released (Vehicle is stopped)
*/
private void ButtonPress_Released(object sender, RoutedEventArgs e)
{
//var picar = (PiCarConnection)DeviceListMn.SelectedItem;
//if (picar == null || picar.Mode != ModeRequest.Types.Mode.Lead) return;
LogField.AppendText(DateTime.Now + ":\tNow In Neutral\n");
MoveVehicle(0.0, 0.0);
LogField.ScrollToEnd();
}
//stops the stream from being saved
private void StopSaving_Click(object sender, RoutedEventArgs e)
{
StreamSavingHeader.IsEnabled = true;
StopStreamSavingHeader.IsEnabled = false;
if (_saveStreamEnabled == true)
{
LogField.AppendText(DateTime.Now + ":\tStream will no longer be saved to a file\n");
LogField.ScrollToEnd();
}
_saveStreamEnabled = false;
}
private void SetFollowerModelPID_Click(object sender, RoutedEventArgs e)
{
var picar = SelectedPiCar();
if (picar is null)
{
return;
}
LogField.AppendText(DateTime.Now + ":\tSetting " + picar + "to legacy PID follower model\n");
LogField.ScrollToEnd();
picar.SetFollowerModel(1);
}
private void DisconnectCar(PiCarConnection picar)
{
if (picar.GetType() == typeof(DummyConnection))
{
return;
}
LogField.AppendText(DateTime.Now + ":\t" + picar + " stopped responding, disconnecting.\n");
LogField.ScrollToEnd();
deviceListMain.Remove(picar);
DeviceListMn.ItemsSource = null;
DeviceListMn.ItemsSource = deviceListMain;
}
//opens up window for user to specify directory they want to save file to
//and allows them to specify the session prefix name
private void ImageSaving_Click(object sender, RoutedEventArgs e)
{
if (SaveStreamSetup == null)
{
SaveStreamSetup = new SaveStreamSetup();
SaveStreamSetup.Show();
}
else if (SaveStreamSetup != null)
{
SaveStreamSetup.Focus();
}
LogField.ScrollToEnd();
}
private void SetVehicleMode(PiCarConnection picar, ModeRequest.Types.Mode mode)
{
try
{
picar.SetMode(mode);
DeviceStatus.Text = picar.Mode.ToString();
LogField.AppendText(DateTime.Now + ":\tSetting " + picar + "to " + picar.Mode.ToString() + "\n");
LogField.ScrollToEnd();
}
catch (Exception e)
{
DisconnectCar(picar);
Console.WriteLine(e);
}
}
private void ModeChanger_Click(object sender, RoutedEventArgs e)
{
if (_controlMode)
{
_controlMode = false;
DefaultHeader.IsEnabled = true;
AlternativeHeader.IsEnabled = false;
LogField.AppendText(DateTime.Now + ":\tUsing RC control mode\n");
}
else
{
_controlMode = true;
DefaultHeader.IsEnabled = false;
AlternativeHeader.IsEnabled = true;
LogField.AppendText(DateTime.Now + ":\tUsing simulator control mode\n");
}
LogField.ScrollToEnd();
}
/**
* Method that handles when one or more key is pressed down (Vehicle is moving in one or more directions)
*/
private void Key_down(object sender, KeyEventArgs e)
{
//var picar = (PiCarConnection)DeviceListMn.SelectedItem;
//if (picar == null || picar.Mode != ModeRequest.Types.Mode.Lead) return;
if (e.IsRepeat)
{
return;
}
var directionMotor = 0.0;
var throttleMotor = 0.0;
string[] throttleStrings = { "Moving backwards", "In Neutral", "Moving forwards" };
string[] directionStrings = { "and left", "", "and right" };
if (Keyboard.IsKeyDown(Key.W) || Keyboard.IsKeyDown(Key.Up))
{
throttleMotor++;
}
if (Keyboard.IsKeyDown(Key.S) || Keyboard.IsKeyDown(Key.Down))
{
throttleMotor--;
}
if (Keyboard.IsKeyDown(Key.A) || Keyboard.IsKeyDown(Key.Left))
{
directionMotor--;
}
if (Keyboard.IsKeyDown(Key.D) || Keyboard.IsKeyDown(Key.Right))
{
directionMotor++;
}
string output = Direction.EncodeDirection(DateTime.Now, throttleMotor, directionMotor);
LogField.AppendText(output);
MoveVehicle(throttleMotor, directionMotor);
LogField.ScrollToEnd();
}
/**
* Method that handles the simulator style input for variable speed and direction
*/
private void ControllerMovement()
{
//var picar = (PiCarConnection)DeviceListMn.SelectedItem;
//if (picar == null || picar.Mode != ModeRequest.Types.Mode.Lead) return;
var state = _controller.GetState().Gamepad;
//Default control settings (Simulator Mode)
if (_controlMode)
{
if (state.LeftThumbX.Equals(_previousState.LeftThumbX) &&
state.LeftTrigger.Equals(_previousState.LeftTrigger) &&
state.RightTrigger.Equals(_previousState.RightTrigger))
{
return;
}
//_Motor1 produces either -1.0 for left or 1.0 for right motion
_directionController = Math.Abs((double)state.LeftThumbX) < DeadzoneValue
? 0 :
(double)state.LeftThumbX / short.MinValue * -1;
_directionController = Math.Round(_directionController, 3);
/**
* These variables produce either 1.0 for forward motion, or -1 for backwards.
* If the values are both non-zero, then there will be no motion in either direction
*/
var forwardSpeed = Math.Round(state.RightTrigger / 255.0, 3);
var backwardSpeed = Math.Round(state.LeftTrigger / 255.0 * -1.0, 3);
if (forwardSpeed > 0 && backwardSpeed == 0)
{
_throttleController = forwardSpeed;
}
else if (backwardSpeed < 0 && forwardSpeed == 0)
{
_throttleController = backwardSpeed;
}
else
{
_throttleController = 0.0;
}
}
//Alternative control settings (RC Mode)
else
{
if (state.LeftThumbY.Equals(_previousState.LeftThumbY) &&
state.RightThumbX.Equals(_previousState.RightThumbX))
{
return;
}
_directionController = Math.Abs((double)state.RightThumbX) < DeadzoneValue
? 0
: (double)state.RightThumbX / short.MinValue * -1;
_directionController = Math.Round(_directionController, 3);
_throttleController = Math.Abs((double)state.LeftThumbY) < DeadzoneValue
? 0
: (double)state.LeftThumbY / short.MinValue * -1;
}
string output = Direction.EncodeDirection(DateTime.Now, _throttleController, _directionController);
LogField.AppendText(output);
LogField.ScrollToEnd();
MoveVehicle(_throttleController, _directionController);
_previousState = state;
}
