private void CarMoveCommand(CarControlCommand carControlCommand)
{
var now = DateTime.Now;
if (now.Subtract(_moveCarLastAction) >= TimeSpan.FromMilliseconds(MOVE_CAR_PERIOD_ACTION_MILLISECONDS) ||
(!carControlCommand.DirectionControlUp &&
!carControlCommand.DirectionControlLeft &&
!carControlCommand.DirectionControlRight &&
!carControlCommand.DirectionControlDown &&
!carControlCommand.SpeedControlForward &&
!carControlCommand.SpeedControlBackward))
{
_motorController.MoveCar(carControlCommand, null);
_servoController.MoveServo(carControlCommand);
_moveCarLastAction = now;
Task.Run(async() => { await CarControlCommandTimeout(now); });
}
}
private async Task WriteResponse(string relativeUrl, string request, bool requestError, IOutputStream outputStream)
{
var relativeUrlLower = relativeUrl.ToLowerInvariant();
//Request read not successfully
if (requestError)
{
HttpServerResponse.WriteResponseError("Request wurde nicht vollständig übermittelt oder zu langsam übermittelt und ist daher nicht vollständig.", outputStream);
}
//Get javascript
else if (relativeUrlLower.StartsWith("/javascript"))
{
HttpServerResponse.WriteResponseFile(ToFolderPath(relativeUrl), HttpContentType.JavaScript, outputStream);
}
//Get style
else if (relativeUrlLower.StartsWith("/styles"))
{
HttpServerResponse.WriteResponseFile(ToFolderPath(relativeUrl), HttpContentType.Css, outputStream);
}
//Get image
else if (relativeUrlLower.StartsWith("/images"))
{
HttpServerResponse.WriteResponseFile(ToFolderPath(relativeUrl), HttpContentType.Png, outputStream);
}
//Toggle automatic drive on/off
else if (relativeUrlLower.StartsWith("/automaticdrive"))
{
var requestBodyResult = GetRequestBody(request);
if (!requestBodyResult.Key)
{
HttpServerResponse.WriteResponseError("Request wurde nicht vollständig übermittelt.", outputStream);
}
var automaticDriveOn = requestBodyResult.Value["automaticDrive"].GetBoolean();
if (automaticDriveOn)
{
_automaticDrive.Start();
}
else
{
await _automaticDrive.Stop();
}
HttpServerResponse.WriteResponseOk(outputStream);
}
//Move car with command
else if (relativeUrlLower.StartsWith("/carcontrolcommand"))
{
var requestBodyResult = GetRequestBody(request);
if (!requestBodyResult.Key)
{
HttpServerResponse.WriteResponseError("Request wurde nicht vollständig übermittelt.", outputStream);
}
var carControlCommandRequest = requestBodyResult.Value;
var carControlCommand = new CarControlCommand
{
DirectionControlUp = carControlCommandRequest["directionControlUp"].GetBoolean(),
DirectionControlLeft = carControlCommandRequest["directionControlLeft"].GetBoolean(),
DirectionControlRight = carControlCommandRequest["directionControlRight"].GetBoolean(),
DirectionControlDown = carControlCommandRequest["directionControlDown"].GetBoolean(),
SpeedControlForward = carControlCommandRequest["speedControlForward"].GetBoolean(),
SpeedControlBackward = carControlCommandRequest["speedControlBackward"].GetBoolean(),
SpeedControlLeftRight = carControlCommandRequest["speedControlLeftRight"].GetNumber(),
DirectionControlUpDownStepSpeed = 7
};
if (carControlCommand.DirectionControlLeft &&
carControlCommand.DirectionControlRight)
{
carControlCommand.DirectionControlLeft = false;
carControlCommand.DirectionControlRight = false;
}
CarMoveCommand(carControlCommand);
HttpServerResponse.WriteResponseOk(outputStream);
}
//Get car speed
else if (relativeUrlLower.StartsWith("/speed"))
{
var speedResponse = new JsonObject
{
{ "RoundsPerMinute", JsonValue.CreateStringValue(SpeedSensor.RoundsPerMinute.ToString()) },
{ "KilometerPerHour", JsonValue.CreateStringValue(string.Format("{0:0.00}", SpeedSensor.KilometerPerHour).Replace(".", ",")) }
};
HttpServerResponse.WriteResponseJson(speedResponse.Stringify(), outputStream);
}
//Get speaker states (on/off) and automatic drive state (on/off)
else if (relativeUrlLower.StartsWith("/getstate"))
{
var stateResponse = new JsonObject
{
{ "CarSpeakerOn", JsonValue.CreateBooleanValue(AudioPlayerController.CarSpeakerOn) },
{ "HeadsetSpeakerOn", JsonValue.CreateBooleanValue(AudioPlayerController.HeadsetSpeakerOn) },
{ "SoundModeOn", JsonValue.CreateBooleanValue(AudioPlayerController.SoundModeOn) },
{ "AutomaticDriveOn", JsonValue.CreateBooleanValue(_automaticDrive.IsRunning) }
};
HttpServerResponse.WriteResponseJson(stateResponse.Stringify(), outputStream);
}
//Set all speaker on
else if (relativeUrlLower.StartsWith("/speakeronoff?on=true"))
{
await AudioPlayerController.SetAllSpeakerOnOff(true);
HttpServerResponse.WriteResponseOk(outputStream);
}
//Set all speaker off
else if (relativeUrlLower.StartsWith("/speakeronoff?on=false"))
{
await AudioPlayerController.SetAllSpeakerOnOff(false);
HttpServerResponse.WriteResponseOk(outputStream);
}
//Set car speaker on
else if (relativeUrlLower.StartsWith("/carspeakeronoff?on=true"))
{
await AudioPlayerController.SetCarSpeakerOnOff(true);
HttpServerResponse.WriteResponseOk(outputStream);
}
//Set car speaker off
else if (relativeUrlLower.StartsWith("/carspeakeronoff?on=false"))
{
await AudioPlayerController.SetCarSpeakerOnOff(false);
HttpServerResponse.WriteResponseOk(outputStream);
}
//Set headset speaker on
else if (relativeUrlLower.StartsWith("/headsetspeakeronoff?on=true"))
{
await AudioPlayerController.SetHeadsetSpeakerOnOff(true);
HttpServerResponse.WriteResponseOk(outputStream);
}
//Set headset speaker off
else if (relativeUrlLower.StartsWith("/headsetspeakeronoff?on=false"))
{
await AudioPlayerController.SetHeadsetSpeakerOnOff(false);
HttpServerResponse.WriteResponseOk(outputStream);
}
//Set sound mode on
else if (relativeUrlLower.StartsWith("/soundmodeonoff?on=true"))
{
await AudioPlayerController.SetSoundModeOnOff(true);
HttpServerResponse.WriteResponseOk(outputStream);
}
//Set sound mode off
else if (relativeUrlLower.StartsWith("/soundmodeonoff?on=false"))
{
await AudioPlayerController.SetSoundModeOnOff(false);
HttpServerResponse.WriteResponseOk(outputStream);
}
//Shutdown Windows
else if (relativeUrlLower.StartsWith("/ausschalten"))
{
await SystemController.Shutdown();
HttpServerResponse.WriteResponseOk(outputStream);
}
//Restart Windows
else if (relativeUrlLower.StartsWith("/neustarten"))
{
await SystemController.Restart();
HttpServerResponse.WriteResponseOk(outputStream);
}
//Get debug file
else if (relativeUrlLower.StartsWith("/debug"))
{
var debugFile = await ApplicationData.Current.LocalFolder.TryGetItemAsync(Logger.FILE_NAME);
if (debugFile != null)
{
HttpServerResponse.WriteResponseFileFromLocalFolder(Logger.FILE_NAME, HttpContentType.Text, outputStream);
}
else
{
HttpServerResponse.WriteResponseText("Debug file is empty", outputStream);
}
}
//Get camera frame
else if (relativeUrlLower.StartsWith("/videoframe"))
{
if (_camera.Frame != null)
{
HttpServerResponse.WriteResponseFile(_camera.Frame, HttpContentType.Jpeg, outputStream);
}
else
{
HttpServerResponse.WriteResponseError("Not camera fram available. Maybe there is an error or camera is not started.", outputStream);
}
}
//Get desktop html view
else if (relativeUrlLower.StartsWith("/desktop"))
{
HttpServerResponse.WriteResponseFile(@"\Views\Desktop.html", HttpContentType.Html, outputStream);
}
//Get mobile html view
else if (relativeUrlLower.StartsWith("/mobile"))
{
HttpServerResponse.WriteResponseFile(@"\Views\Mobile.html", HttpContentType.Html, outputStream);
}
//Get view that redirect to desktop oder mobile view
else
{
HttpServerResponse.WriteResponseFile(@"\Views\Index.html", HttpContentType.Html, outputStream);
}
}
private async Task StartGamepadReading(Gamepad gamepad)
{
_isGamepadReadingStopped = false;
var buttonDownTimeMiddle = TimeSpan.FromSeconds(2);
var buttonDownTimeLong = TimeSpan.FromSeconds(5);
var viewButton = new GamepadButtonDown(TimeSpan.Zero, GamepadButtons.View);
var menuButton = new GamepadButtonDown(TimeSpan.Zero, GamepadButtons.Menu);
var dPadUpButton = new GamepadButtonDown(buttonDownTimeMiddle, GamepadButtons.DPadUp);
var dPadDownButton = new GamepadButtonDown(buttonDownTimeMiddle, GamepadButtons.DPadDown);
var dPadLeftButton = new GamepadButtonDown(buttonDownTimeMiddle, GamepadButtons.DPadLeft);
var dPadRightButton = new GamepadButtonDown(buttonDownTimeMiddle, GamepadButtons.DPadRight);
var yButton = new GamepadButtonDown(buttonDownTimeMiddle, GamepadButtons.Y);
var bButton = new GamepadButtonDown(buttonDownTimeMiddle, GamepadButtons.B);
var xRightShoulderButton = new GamepadButtonDown(buttonDownTimeLong, GamepadButtons.X, GamepadButtons.RightShoulder);
var aRightShoulderButton = new GamepadButtonDown(buttonDownTimeLong, GamepadButtons.A, GamepadButtons.RightShoulder);
var xRightShoulderButtonNotClickableButtons = new List <GamepadButtons>
{
GamepadButtons.Y
};
var aRightShoulderButtonNotClickableButtons = new List <GamepadButtons>
{
GamepadButtons.X
};
var dPadUpNotClickableButtons = new List <GamepadButtons>
{
GamepadButtons.DPadDown,
GamepadButtons.DPadLeft,
GamepadButtons.DPadRight
};
var dPadDownNotClickableButtons = new List <GamepadButtons>
{
GamepadButtons.DPadUp,
GamepadButtons.DPadLeft,
GamepadButtons.DPadRight
};
var dPadLeftNotClickableButtons = new List <GamepadButtons>
{
GamepadButtons.DPadUp,
GamepadButtons.DPadDown,
GamepadButtons.DPadRight
};
var dPadRightNotClickableButtons = new List <GamepadButtons>
{
GamepadButtons.DPadUp,
GamepadButtons.DPadDown,
GamepadButtons.DPadLeft
};
while (_gamepad == gamepad)
{
//gamepad variable could be null
var gamepadReadingTry = gamepad?.GetCurrentReading();
if (!gamepadReadingTry.HasValue)
{
break;
}
var gamepadReading = gamepadReadingTry.Value;
var carMoveCommand = new CarMoveCommand(gamepadReading);
var carControlCommand = new CarControlCommand(gamepadReading);
//Move car and servo if is new command available
if (!(_carStopped &&
carMoveCommand.Speed == 0.0 &&
!carControlCommand.DirectionControlUp &&
!carControlCommand.DirectionControlDown))
{
_carStopped = false;
_motorController.MoveCar(null, carMoveCommand);
_servoController.MoveServo(carControlCommand);
}
//Car and servo not moving
if (carMoveCommand.Speed == 0.0 &&
!carControlCommand.DirectionControlUp &&
!carControlCommand.DirectionControlDown)
{
_carStopped = true;
}
// Enable/ disable gamepad vibration
var viewButtonResult = viewButton.UpdateGamepadButtonState(gamepadReading);
if (viewButtonResult.ButtonClicked)
{
_gamepadShouldVibrate = !_gamepadShouldVibrate;
if (_gamepadShouldVibrate)
{
await AudioPlayerController.Play(AudioName.GamepadVibrationOn);
}
else
{
await AudioPlayerController.Play(AudioName.GamepadVibrationOff);
}
}
//Automatic drive toggle
var menuButtonResult = menuButton.UpdateGamepadButtonState(gamepadReading);
if (menuButtonResult.ButtonClicked)
{
await _automaticDrive.StartStopToggle();
}
var dPadUpButtonResult = dPadUpButton.UpdateGamepadButtonState(gamepadReading, dPadUpNotClickableButtons);
var dPadDownButtonResult = dPadDownButton.UpdateGamepadButtonState(gamepadReading, dPadDownNotClickableButtons);
var dPadLeftButtonResult = dPadLeftButton.UpdateGamepadButtonState(gamepadReading, dPadLeftNotClickableButtons);
var dPadRightButtonResult = dPadRightButton.UpdateGamepadButtonState(gamepadReading, dPadRightNotClickableButtons);
//All speaker on
if (dPadUpButtonResult.ButtonClicked)
{
await AudioPlayerController.SetAllSpeakerOnOff(true);
}
//All speaker off
if (dPadDownButtonResult.ButtonClicked)
{
await AudioPlayerController.SetAllSpeakerOnOff(false);
}
//Car speaker on/off toggle
if (dPadLeftButtonResult.ButtonClicked)
{
await AudioPlayerController.SetCarSpeakerOnOffToggle();
}
//Headset speaker on/off toggle
if (dPadRightButtonResult.ButtonClicked)
{
await AudioPlayerController.SetHeadsetSpeakerOnOffToggle();
}
//Sound mode on/off toggle
var yButtonResult = yButton.UpdateGamepadButtonState(gamepadReading);
if (yButtonResult.ButtonClicked)
{
await AudioPlayerController.SetSoundModeOnOffToggle();
}
//Speak current speaker and sound mode state
var bButtonResult = bButton.UpdateGamepadButtonState(gamepadReading);
if (bButtonResult.ButtonClicked)
{
await AudioPlayerController.PlaySpeakerOnOffSoundMode();
}
//Shutdown
var xRightShoulderButtonResult = xRightShoulderButton.UpdateGamepadButtonState(gamepadReading, xRightShoulderButtonNotClickableButtons);
if (xRightShoulderButtonResult.ButtonClicked)
{
_isGamepadReadingStopped = true;
await SystemController.Shutdown();
}
//Restart
var aRightShoulderButtonResult = aRightShoulderButton.UpdateGamepadButtonState(gamepadReading, aRightShoulderButtonNotClickableButtons);
if (aRightShoulderButtonResult.ButtonClicked)
{
_isGamepadReadingStopped = true;
await SystemController.Restart();
}
await Task.Delay(25);
}
_isGamepadReadingStopped = true;
}