public void SetXY_ForwardValue()
{
// Setup
MockSerialDevice serialDevice = new MockSerialDevice("COM3", 9600);
Wheelchair chair = Wheelchair.Instance(serialDevice);
bool correctValues = true;
int input = 100;
int expectedOutput = 190;
int actualOutput = -1;
chair.Start();
// act
chair.SetX(0);
chair.SetY(input);
System.Threading.Thread.Sleep(150);
actualOutput = chair.VoltY;
chair.End();
string message = "Expected: ";
message += expectedOutput;
message += ", Actual: ";
message += actualOutput;
chair.Dispose();
Assert.AreEqual(expectedOutput, actualOutput, message);
}
public void SetXY_ValidVoltages()
{
// Setup
MockSerialDevice serialDevice = new MockSerialDevice("COM3", 9600);
Wheelchair chair = Wheelchair.Instance(serialDevice);
bool correctValues = true;
int[] inputValues =
{
0,
-100,
100
};
int[] expectedValues = { 128, 66, 190 };
chair.Start();
// act
for (int i = 0; i < 3; i++)
{
chair.SetX(inputValues[i]);
chair.SetY(inputValues[i]);
Thread.Sleep(150);
if (chair.VoltX != expectedValues[i])
{
correctValues = false;
}
if (chair.VoltY != expectedValues[i])
{
correctValues = false;
}
}
//chair.End();
chair.Dispose();
Assert.IsTrue(correctValues, "Voltages are not correct.");
}
public void Start_InvalidPortName_ShouldThrowArgumentException()
{
MockSerialDevice serialDevice = new MockSerialDevice("Con3", 9600);
Wheelchair chair = Wheelchair.Instance(serialDevice);
chair.Start();
chair.End();
chair.Dispose();
Assert.Fail("Invalid Port Name. Argument Exception was not thrown.");
}
public void Start_InvalidComPort_ShouldThrowIOException()
{
MockSerialDevice serialDevice = new MockSerialDevice("COM7", 9600);
Wheelchair chair = Wheelchair.Instance(serialDevice);
chair.Start();
chair.End();
chair.Dispose();
Assert.Fail("Invalid COM Port. IO Exception was not thrown.");
}
public void Start_PortInUse_ShouldThrowUnauthorizedEx()
{
// Setup
MockSerialDevice serialDevice = new MockSerialDevice("COM5", 9600);
Wheelchair chair = Wheelchair.Instance(serialDevice);
chair.Start();
chair.End();
chair.Dispose();
Assert.Fail("Unauthorized Access Exception was not thrown.");
}
public void Start_InvalidBaudRate_ShouldThrowOutOfRange()
{
bool caught = false;
try
{
MockSerialDevice serialDevice = new MockSerialDevice("COM3", 0);
Wheelchair chair = Wheelchair.Instance(serialDevice);
}
catch (ArgumentOutOfRangeException e)
{
caught = true;
Assert.AreEqual("BaudRate", e.ParamName);
}
if (!caught)
{
Assert.Fail("ArgumentOutOfRangeException was not thrown.");
}
}
public void SetSpeedAndDirection_Inputs()
{
//int[] directions = {0, 45, 90, 180, 270};
Vector[] directions = { new Vector(0, 0), new Vector(0, 1), new Vector(1, 0), new Vector(0, -1), new Vector(-1, 0) };
int[] expected_x = { 128, 172, 190, 128, 66 };
int[] expected_y = { 190, 172, 128, 66, 128 };
string message = "";
bool correctValues = true;
MockSerialDevice serialDevice = new MockSerialDevice("COM3", 9600);
Wheelchair chair = Wheelchair.Instance(serialDevice);
chair.Start();
for (int i = 0; i < 5; i++)
{
chair.SetSpeedAndDirection(100, directions[i]);
Thread.Sleep(100);
if (chair.VoltX != expected_x[i])
{
correctValues = false;
message += "Direction[" + directions[i];
message += "] was incorrect (X Voltage). Expected:";
message += expected_x[i] + ", Actual:";
message += chair.VoltX;
break;
}
if (chair.VoltY != expected_y[i])
{
correctValues = false;
message += "Direction[" + directions[i];
message += "] was incorrect (Y Voltage). Expected:";
message += expected_y[i] + ", Actual:";
message += chair.VoltY;
break;
}
}
chair.Dispose();
Assert.IsTrue(correctValues, message);
}
/// <summary>
/// Because currently Entity does not like working with this many linking tables, we have to manually overwrite the data.
/// </summary>
/// <param name="wheelchair">Old wheelchair with data inside it</param>
/// <returns>
/// New wheelchair with the data of the old wheelchair
/// </returns>
private Wheelchair OverwriteWheelchairData(Wheelchair wheelchair)
{
Wheelchair newWheelchair = new Wheelchair();
newWheelchair.Addition = wheelchair.Addition;
newWheelchair.AdditionId = wheelchair.AdditionId;
List <WheelchairArticle> newArticles = new List <WheelchairArticle>();
List <WheelchairFrontwheel> newFrontwheels = new List <WheelchairFrontwheel>();
List <WheelchairHoop> newHoops = new List <WheelchairHoop>();
List <WheelchairTire> newTires = new List <WheelchairTire>();
List <WheelchairWheel> newWheels = new List <WheelchairWheel>();
List <WheelchairWheelprotector> newWP = new List <WheelchairWheelprotector>();
foreach (var item in wheelchair.Articles)
{
newArticles.Add(new WheelchairArticle()
{
Addition = item.Addition,
AdditionId = item.AdditionId,
ArticleId = item.ArticleId
});
}
foreach (var item in wheelchair.Frontwheels)
{
newFrontwheels.Add(new WheelchairFrontwheel()
{
Addition = item.Addition,
AdditionId = item.AdditionId,
FrontWheelId = item.FrontWheelId
});
}
foreach (var item in wheelchair.Hoops)
{
newHoops.Add(new WheelchairHoop()
{
Addition = item.Addition,
AdditionId = item.AdditionId,
HoopId = item.HoopId
});
}
foreach (var item in wheelchair.Tires)
{
newTires.Add(new WheelchairTire()
{
Addition = item.Addition,
AdditionId = item.AdditionId,
TireId = item.TireId
});
}
foreach (var item in wheelchair.Wheels)
{
newWheels.Add(new WheelchairWheel()
{
Addition = item.Addition,
AdditionId = item.AdditionId,
WheelId = item.WheelId
});
}
foreach (var item in wheelchair.Wheelprotectors)
{
newWP.Add(new WheelchairWheelprotector()
{
Addition = item.Addition,
AdditionId = item.AdditionId,
WheelprotectorId = item.WheelprotectorId
});
}
newWheelchair.Articles = newArticles;
newWheelchair.BackrestHeight = wheelchair.BackrestHeight;
newWheelchair.BalancePoint = wheelchair.BalancePoint;
newWheelchair.Color = wheelchair.Color;
newWheelchair.CustomerId = wheelchair.CustomerId;
newWheelchair.DateOfMeasurement = wheelchair.DateOfMeasurement;
newWheelchair.Dealer = wheelchair.Dealer;
newWheelchair.FootplateWidth = wheelchair.FootplateWidth;
newWheelchair.FrameLength = wheelchair.FrameLength;
newWheelchair.Frontwheels = wheelchair.Frontwheels;
newWheelchair.Hoops = newHoops;
newWheelchair.LowerLegWidth = wheelchair.LowerLegWidth;
newWheelchair.OrderDate = wheelchair.OrderDate;
newWheelchair.RalId = wheelchair.RalId;
newWheelchair.SeatDepth = wheelchair.SeatDepth;
newWheelchair.SeatHeightBack = wheelchair.SeatHeightBack;
newWheelchair.SeatHeightFront = wheelchair.SeatHeightFront;
newWheelchair.SeatWidth = wheelchair.SeatWidth;
newWheelchair.SerialNumber = wheelchair.SerialNumber;
newWheelchair.Tires = newTires;
newWheelchair.User = wheelchair.User;
newWheelchair.UserId = wheelchair.UserId;
newWheelchair.Wheelprotectors = newWP;
newWheelchair.Wheels = newWheels;
return(newWheelchair);
}
public IHttpActionResult EditWheelchair([FromBody] Wheelchair wheelchair)
{
Wheelchair newWheelchair = new Wheelchair();
User user = new User();
int authorizedMessage = (int)AuthorizationService.CheckIfAuthorized(ref user, ref _database, Request.Headers, AccessLevel.Admin);
if (authorizedMessage == 1 || authorizedMessage == 2)
{
return(Content(HttpStatusCode.Forbidden, "User not logged in."));
}
if (authorizedMessage == 3)
{
return(Content(HttpStatusCode.Unauthorized, "User has no permission."));
}
if (authorizedMessage == 4)
{
return(Content(HttpStatusCode.Forbidden, "User account is disabled."));
}
if (wheelchair.FootplateWidth == 0 || wheelchair.FrameLength == 0 || wheelchair.LowerLegWidth == 0 || wheelchair.SeatDepth == 0 ||
wheelchair.SeatHeightBack == 0 || wheelchair.SeatHeightFront == 0 || wheelchair.SeatWidth == 0)
{
return(BadRequest("Incorrect wheelchair sizes!"));
}
if (wheelchair.Articles == null)
{
return(BadRequest("Wheelchair must have atleast one article!"));
}
if (wheelchair.CustomerId == 0)
{
return(BadRequest("Wheelchair must have a customer bound!"));
}
if (wheelchair.Frontwheels == null)
{
return(BadRequest("Wheelchair must have atleast one frontwheel set!"));
}
if (wheelchair.Hoops == null)
{
return(BadRequest("Wheelchair must have atleast one hoop set!"));
}
if (wheelchair.Tires == null)
{
return(BadRequest("Wheelchair must have atleast one tire set!"));
}
if (wheelchair.Wheels == null)
{
return(BadRequest("Wheelchair must have atleast one wheel set!"));
}
if (wheelchair.Color == null)
{
return(BadRequest("Wheelchair must have a color!"));
}
if (wheelchair.OldId == 0)
{
wheelchair.DateOfMeasurement = DateTime.Now;
wheelchair.Dealer = "TNS Rijen";
wheelchair.UserId = user.Id;
_database.Wheelchairs.Add(wheelchair);
}
else
{
wheelchair.User = user;
wheelchair.UserId = user.Id;
wheelchair.RalId = wheelchair.Color.Id;
var articles = _database.WheelchairArticles.Where(x => x.WheelchairId == wheelchair.OldId);
var frontwheels = _database.WheelchairFrontwheels.Where(x => x.WheelchairId == wheelchair.OldId);
var hoops = _database.WheelchairHoops.Where(x => x.WheelchairId == wheelchair.OldId);
var tires = _database.WheelchairTires.Where(x => x.WheelchairId == wheelchair.OldId);
var wps = _database.WheelchairWheelprotectors.Where(x => x.WheelchairId == wheelchair.OldId);
var wheels = _database.WheelchairWheels.Where(x => x.WheelchairId == wheelchair.OldId);
if (articles != null)
{
_database.WheelchairArticles.RemoveRange(articles);
}
if (frontwheels != null)
{
_database.WheelchairFrontwheels.RemoveRange(frontwheels);
}
if (hoops != null)
{
_database.WheelchairHoops.RemoveRange(hoops);
}
if (tires != null)
{
_database.WheelchairTires.RemoveRange(tires);
}
if (wps != null)
{
_database.WheelchairWheelprotectors.RemoveRange(wps);
}
if (wheels != null)
{
_database.WheelchairWheels.RemoveRange(wheels);
}
foreach (var item in wheelchair.Articles)
{
_database.Context.Entry(item).State = System.Data.Entity.EntityState.Detached;
item.WheelchairId = 0;
}
foreach (var item in wheelchair.Frontwheels)
{
_database.Context.Entry(item).State = System.Data.Entity.EntityState.Detached;
item.WheelchairId = 0;
}
foreach (var item in wheelchair.Hoops)
{
_database.Context.Entry(item).State = System.Data.Entity.EntityState.Detached;
item.WheelchairId = 0;
}
foreach (var item in wheelchair.Tires)
{
_database.Context.Entry(item).State = System.Data.Entity.EntityState.Detached;
item.WheelchairId = 0;
}
foreach (var item in wheelchair.Wheelprotectors)
{
_database.Context.Entry(item).State = System.Data.Entity.EntityState.Detached;
item.WheelchairId = 0;
}
foreach (var item in wheelchair.Wheels)
{
_database.Context.Entry(item).State = System.Data.Entity.EntityState.Detached;
item.WheelchairId = 0;
}
_database.Context.SaveChanges();
_database.Wheelchairs.Remove(_database.Wheelchairs.Where(x => x.Id == wheelchair.OldId).FirstOrDefault());
_database.Context.SaveChanges();
newWheelchair = OverwriteWheelchairData(wheelchair);
_database.Wheelchairs.Add(newWheelchair);
}
_database.Context.SaveChanges();
if (newWheelchair.Id == 0)
{
return(Ok(wheelchair));
}
else
{
return(Ok(newWheelchair));
}
}
static void Main()
{
//change the test file xml here and make sure it is in bin.
string startingXMLFile = "ETRL_03_07.xml";
//string startingXMLFile = "FloorPlanTest.xml";
//string startingOpenFile = "Sloan46_FINAL.xml";
double compassToMapOffset = 72.0;
// List of all the objects we'll be initializing.
// Default to null, as some of them will only
// be initialized conditionally e.g.
// vehicle is only initialized if
// there is a vehicle connected.
SerialPort sp = null;
IVehicle vehicle = null;
IImageStream depthStream = null;
IImageStream videoStream = null;
IObstacleDetector obstacleDetector = null;
ICartographer cartographer = null;
IOdometer odometer = null;
IInputDevice input = KeyboardInput.Instance;
ObstacleMap obstacleMap = null;
INavigator navigator = null;
MainWindow mainWindow = null;
Driver.Driver driver = null;
VisualInputGridPresenter uiInputPresenter = null;
ObstacleGridPresenter uiGridPresenter = null;
PositioningSystem ips = null;
OverlayRenderer overlayRenderer = null;
SensorArray sensorArray = null;
Pose pose = null;
IDoorDetector doorDetector = null;
ObstacleLocalizer obstacleLocalizer = null;
SonarDetector sonarDetector = null;
Config.Initialize();
Devices.Initialize();
//string wheelchair_com_port = Devices.IsWheelchairConnected();
string wheelchair_com_port = "COM3";//Devices.FindComPort("Arduino Uno");
bool WheelChairConnected = false;
if (wheelchair_com_port != "")
{
WheelChairConnected = true;
}
//bool WheelChairConnected = true;
bool EyeTribeConnected = true; // Devices.IsEyeTribeConnected();
bool ControllerConnected = true; //Devices.IsControllerConnected();
bool KinectConnected = true; //Devices.IsKinectConnected();
//Console.WriteLine("Kinect Connected: {0}", KinectConnected.ToString());
//Console.WriteLine("Eyetribe Connected: {0}", EyeTribeConnected.ToString());
//Console.WriteLine("Wheelchair Connected: {0}", WheelChairConnected.ToString());
//Console.WriteLine("Controller Connected: {0}", ControllerConnected.ToString());
// Initialize vehicle and serial connection if
// there is a vehicle connected.
if (WheelChairConnected)
{
//sp = new SerialPort(wheelchair_com_port, 9600);
vehicle = Wheelchair.Instance(wheelchair_com_port);
vehicle.initializeOffset(Properties.Settings.Default.CalibrationOffset);
}
else
{
vehicle = new MockVehicle();
MockVehicleWindow mockDisplay = new MockVehicleWindow((MockVehicle)vehicle);
mockDisplay.Show();
}
//initalize IPS here
IByteReader sensorReader = null;
try
{
//sensorReader = new SerialByteReader("Arduino Mega");
sensorReader = new SerialByteReader("COM4");
}
catch (Exception e)
{
MessageBox.Show(e.Message);
}
if (sensorReader != null)
{
ILogger logger = new NullLogger();
sensorArray = new SensorArray(sensorReader, logger);
sonarDetector = new SonarDetector();
}
else
{
sensorReader = new NullByteReader();
ILogger logger = new NullLogger();
sensorArray = new SensorArray(sensorReader, logger);
}
IByteReader byteReader = null;
try
{
//byteReader = new SerialByteReader(Devices.FindComPort("STMicroelectronics"));
byteReader = new SerialByteReader("COM3");
}
catch (Exception e)
{
MessageBox.Show(e.Message);
}
if (byteReader != null)
{
ILogger logger = new NullLogger();
ips = new MarvelMind(byteReader, logger);
}
else
{
//Setup Mock IPS
//IByteReader mockByteReader = new FileByteReader(@"C:\Users\Dana\Documents\Visual Studio 2013\Projects\UITests\UITests\Mock_IPS_Data.txt");
//IByteReader mockByteReader = new XLineFixedYByteReader(800, 100, 200);
IByteReader mockByteReader = new RandomByteReader(300, 299);
ILogger mockLogger = new NullLogger();
ips = new MarvelMind(mockByteReader, mockLogger);
}
//wait for an iteration of the IPS system that way
//we can get the starting location
while (false == ips.XUpdated && false == ips.YUpdated)
{
continue;
}
//Tuple<double, double> t = new Tuple<double, double>((double)ips.X, (double)ips.Y);
Tuple <double, double> t = new Tuple <double, double>((double)ips.Y, (double)ips.X);
mPoint startingLocationInXY = new mPoint(t);
// UI, input, object detection, navigation, and driver are initialized always,
// as they are not directly dependent on external hardware.
obstacleMap = new ObstacleMap();
//cartographer = new Cartographer(Directory.GetCurrentDirectory() + @"\FloorPlanTest.xml", ips);
// might need to be changed later. If the location is not in the starting room. add staring room.
//cartographer = new Cartographer(Directory.GetCurrentDirectory() + @"\FloorPlanTest.xml", startingLocationInXY);
OpenFileDialog ofd = new OpenFileDialog();
ofd.Filter = "XML | *.xml";
ofd.Title = "Open Map";
if (ofd.ShowDialog() == true)
{
startingXMLFile = ofd.FileName;
Console.WriteLine(startingXMLFile);
}
cartographer = new Cartographer(startingXMLFile, startingLocationInXY);
pose = new Pose(ips, cartographer.GetStartingRoom(), sensorArray.CompassDevice, compassToMapOffset);
overlayRenderer = new OverlayRenderer();
if (KinectConnected)
{
depthStream = DepthStream.Instance;
videoStream = VideoStream.Instance;
// Initialize depthstream if kinect is connected.
obstacleDetector = new ObstacleDetector(depthStream, false);
obstacleDetector.Start();
obstacleLocalizer = new ObstacleLocalizer(pose);
ObstaclesOverlay obstaclesOverlay = new ObstaclesOverlay(obstacleDetector);
overlayRenderer.Overlays.Add(obstaclesOverlay);
doorDetector = new DepthBasedDoorDetector();
doorDetector.RunAsync(depthStream);
try
{
sonarDetector.RunAsync(sensorArray);
}
catch (Exception e)
{
}
}
// Obstacle detector and driver are only run
// if both the vehicle and kinect are connected.
if (vehicle != null && KinectConnected)
{
Vector startPoint = new Vector(7 / 0.75f, 43 / 0.75f);
Vector startRotation = new Vector(-7, -43);
startRotation.Normalize();
odometer = new Odometer();
navigator = new Navigator(obstacleMap, obstacleDetector, obstacleLocalizer, cartographer, doorDetector, pose, sonarDetector, sensorArray);
driver = new Driver.Driver(input, vehicle, navigator);
driver.Start();
}
mainWindow = new MainWindow(pose, obstacleMap, cartographer, navigator, doorDetector, overlayRenderer, EyeTribeConnected, ControllerConnected, sensorArray);
uiInputPresenter = new VisualInputGridPresenter(mainWindow.visualInputGrid);
//This starts the program.
Application app = new Application();
app.ShutdownMode = ShutdownMode.OnMainWindowClose;
app.MainWindow = mainWindow;
app.MainWindow.Show();
app.Run();
}
