public PiCarConnection()
{
Name = "Default";
ipAddress = "127.0.0.1";
Mode = ModeRequest.Types.Mode.Idle;
currentlyMirroring = false;
}
public PiCarConnection(string name, string ipAddress)
{
this.Name = name;
this.ipAddress = ipAddress;
_channel = new Channel(ipAddress + ":50051", ChannelCredentials.Insecure);
_client = new PiCarClient(new PiCar.PiCarClient(_channel));
Mode = ModeRequest.Types.Mode.Idle; //Start in Idle mode
currentlyMirroring = false;
}
private void SetVehicleMode(ModeRequest.Types.Mode mode)
{
var picar = SelectedPiCar();
if (picar is null)
{
return;
}
SetVehicleMode(picar, mode);
}
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 SetVehicleMode(ModeRequest.Types.Mode mode)
{
var picar = (PiCarConnection)_mainWindow.DeviceListMn.SelectedItem;
try
{
picar.SetMode(mode);
_mainWindow.DeviceStatus.Text = picar.Mode.ToString();
_mainWindow.LogField.AppendText(DateTime.Now + ":\tSetting " + picar + "to " + picar.Mode.ToString() + "\n");
_mainWindow.LogField.ScrollToEnd();
}
catch (Exception e)
{
DisconnectCar();
Console.WriteLine(e);
}
}
//Set the mode of the PiCar, return success
public bool SetMode(ModeRequest.Types.Mode mode)
{
try
{
var request = new ModeRequest {
Mode = mode
};
var ack = _client.SwitchMode(request);
return(ack.Success);
}
catch (RpcException e)
{
Console.Write("RPC failed " + e);
throw;
}
}
public override void SetMode(ModeRequest.Types.Mode mode)
{
Mode = mode;
}
public virtual void SetMode(ModeRequest.Types.Mode mode)
{
_client.SetMode(mode);
Mode = mode;
}