public MirroringMode(PiCarConnection picar)
{
Picar = picar;
InitializeComponent();
//pressing enter key starts mirroring
var submit = new RoutedCommand();
submit.InputGestures.Add(new KeyGesture(Key.Enter));
CommandBindings.Add(new CommandBinding(submit, StartMirroring_Click));
}
/**
* Given two different car connections and a list of inputs,
* start replaying to the first car and then replay to the second car after a delay.
*/
public static Tuple <Replay, Replay> StartTwoWithDelay(PiCarConnection first, PiCarConnection second, List <Direction> savedInputs, TimeSpan delay)
{
var firstReplay = new Replay(first, savedInputs, 0);
var secondReplay = new Replay(second, savedInputs, 0);
firstReplay.Start();
Thread.Sleep(delay);
secondReplay.Start();
return(Tuple.Create(firstReplay, secondReplay));
}
/**
* Function that tries to connect to a given IP address
*/
private async Task IPConnect(string selectedIP, string selectedName)
{
//Handle the dummy connection
if (selectedIP == "DummyIP")
{
var dummyConnection = new DummyConnection(selectedName, selectedIP);
_mainWindow.deviceListMain.Add(dummyConnection);
_mainWindow.LogField.AppendText(DateTime.Now + ":\t" + "Added " + selectedName + " for testing\n");
LogFieldReg.AppendText("Added " + selectedName + " for testing\n");
}
else if (!CheckIfValidIP(selectedIP))
{
LogFieldReg.AppendText("Invalid IP used, try again!\n");
_mainWindow.LogField.AppendText(DateTime.Now + ":\tInvalid IP used, try again!\n");
}
else
{
PiCarConnection newConnection = null;
var canConnect = false;
try
{
newConnection = new PiCarConnection(selectedName, selectedIP);
var connectResponse = newConnection.RequestConnect();
Console.Write(connectResponse.Item2);
LogFieldReg.AppendText(connectResponse.Item2);
_mainWindow.LogField.AppendText(DateTime.Now + ":\t" + connectResponse.Item2);
canConnect = connectResponse.Item1;
}
catch (RpcException rpcE)
{
_mainWindow.LogField.AppendText(DateTime.Now + ":\tError! " + rpcE + "\n");
}
catch (Exception exception)
{
_mainWindow.LogField.AppendText(DateTime.Now + ":\tError! " + exception + "\n");
}
if (canConnect)
{
_mainWindow.LogField.AppendText(DateTime.Now + ":\t" + "Connected to " + selectedName + " with IP: " + selectedIP + "\n");
LogFieldReg.AppendText("Connected to " + selectedName + " with IP: " + selectedIP + "\n");
_mainWindow.deviceListMain.Add(newConnection);
}
else
{
_mainWindow.LogField.AppendText(DateTime.Now + ":\t" + "Failed to connect to " + selectedName + " with IP: " + selectedIP + "\n");
LogFieldReg.AppendText("Failed to connect to " + selectedName + " with IP: " + selectedIP + "\n");
}
}
}
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;
}
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);
}
}
/**
* Create a replay which will send the SavedInputs to the piCar after .Start() is called.
*/
public Replay(PiCarConnection piCarConnection, List <Direction> savedInputs, int initDelay)
{
this.InitialDelay = initDelay;
this.piCar = piCarConnection;
// Map Direction -> <Offset to next instruction, Direction>
var priorTime = savedInputs[0].time;
this.savedOffsetInputs = savedInputs.Select(x =>
{
var t = Tuple.Create(x.time - priorTime, x);
if (t.Item1.Duration() != t.Item1)
{
throw new ArgumentException("Replay inputs must be in chronological order");
}
priorTime = x.time;
return(t);
}).ToList();
this.replayThread = new Thread(DoReplay);
}
/**
* Given two different car connections and a list of inputs,
* start replaying to the first car and then replay to the second car after giving an initial forward acceleration.
* This is done in order to catch up to the starting position of the first car.
*/
public static Tuple <Replay, Replay> StartTwoWithCatchup(PiCarConnection first, PiCarConnection second, List <Direction> savedInputs, double catchupDistance)
{
TimeSpan CatchupDuration = TimeSpan.FromSeconds(catchupDistance / PiCarConnection.SPEED_AT_MAX_THROTTLE);
var secondInputs = new List <Direction>(savedInputs);
Direction catchupInput = new Direction(secondInputs[0].time - CatchupDuration, 1.0, 0.0);
secondInputs.Insert(0, catchupInput);
secondInputs.Add(new Direction(secondInputs.Last().time, 0.0, 0.0)); // Ensure we stop at the end
Direction avoidCrashInput = new Direction(savedInputs.Last().time, 1.0, 0.0);
savedInputs.Add(avoidCrashInput);
savedInputs.Add(new Direction(savedInputs.Last().time + CatchupDuration, 0.0, 0.0)); // Stop after avoiding crash
var firstReplay = new Replay(first, savedInputs, 0);
var secondReplay = new Replay(second, secondInputs, 0);
firstReplay.Start();
secondReplay.Start();
return(Tuple.Create(firstReplay, secondReplay));
}
