Implemented client-side disconnection if server is down.

pmcanseco · Apr 11, 2016 · c67d0f7 · c67d0f7
1 parent b77ed8c
commit c67d0f7
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Showing 7 changed files with 94 additions and 23 deletions.
diff --git a/raspi-server/server.py b/raspi-server/server.py
@@ -19,7 +19,6 @@ def log(sock, msg):
     sock.send(sock_message)
     print(sock_message)
 
-
 # socket settings
 TCP_IP = '0.0.0.0'
 TCP_PORT = 25555

diff --git a/windows/ControlStation/ControlStation.csproj b/windows/ControlStation/ControlStation.csproj
@@ -86,6 +86,12 @@
       <DependentUpon>AboutBox.cs</DependentUpon>
     </Compile>
     <Compile Include="DualShock4.cs" />
+    <Compile Include="ButtonMap.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="ButtonMap.Designer.cs">
+      <DependentUpon>ButtonMap.cs</DependentUpon>
+    </Compile>
     <Compile Include="MainWindow.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -97,6 +103,9 @@
     <EmbeddedResource Include="AboutBox.resx">
       <DependentUpon>AboutBox.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="ButtonMap.resx">
+      <DependentUpon>ButtonMap.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="MainWindow.resx">
       <DependentUpon>MainWindow.cs</DependentUpon>
     </EmbeddedResource>
@@ -128,6 +137,8 @@
     <None Include="Resources\robot.png" />
   </ItemGroup>
   <ItemGroup>
+    <None Include="Resources\ds4.png" />
+    <None Include="Resources\ds41.png" />
     <Content Include="Resources\robot.ico" />
   </ItemGroup>
   <ItemGroup>

diff --git a/windows/ControlStation/MainWindow.Designer.cs b/windows/ControlStation/MainWindow.Designer.cs
diff --git a/windows/ControlStation/MainWindow.cs b/windows/ControlStation/MainWindow.cs
@@ -152,6 +152,10 @@ private void disconnectButton_Click(object sender, EventArgs e) {
             }
         }
 
+        /// <summary>
+        /// takes the text value of the custom command box and
+        /// sends it to the robot.
+        /// </summary>
         private void sendCustomCommand(object sender, KeyPressEventArgs e) {
             if (e.KeyChar == (char)Keys.Return) {
                 send(txtCustomCommand.Text);
@@ -171,16 +175,23 @@ public static String GetFilePathTimestamp(DateTime value) {
         }
         public void send(String s) {
             log("GUI: " + s);
-            socket.Send(System.Text.Encoding.UTF8.GetBytes(s + ";"));
+            try {
+                socket.Send(System.Text.Encoding.UTF8.GetBytes(s + ";"));
+            } catch(Exception ex) {
+                log("Socket error, disconnecting: " + ex.Message);
+                log("Disconnecting");
+                disconnectButton_Click(null, null);
+            }
         }
         private void btn_MouseDown(object sender, MouseEventArgs e) {
             var btn = (FontAwesomeIcons.IconButton)sender;
             btn.BackColor = System.Drawing.Color.Gold;
+            bool dualMode = dualModeCheckBox.Checked;
             switch (btn.Name) {
-                case "goForward":  send("^"); break;
-                case "goBackward": send("v"); break;
-                case "turnCW":     send(">"); break;
-                case "turnCCW":    send("<"); break;
+                case "goForward":  send("^"); break; // GO FWD
+                case "goBackward": send("v"); break; // GO BACKWARD
+                case "turnCW":     send(">"); break; // TURN RIGHT
+                case "turnCCW":    send("<"); break; // TURN LEFT
                 case "raiseBot": send("u"); break; // RETRACT ACTUATORS
                 case "lowerBot": send("t"); break; // EXTEND ACTUATORS
                 case "raise_f":  send("z"); break; // RAISE FRONT DRUM
@@ -219,6 +230,12 @@ private void disableCommands() {
             miningGroup.Enabled = false;
         }
 
+        /// <summary>
+        /// check the connection to the robot
+        /// </summary>
+        /// <param name="socket">The socket to check if it's connected.</param>
+        /// <returns>true if we're connected</returns>
+        /// <returns>false if we're not connected</returns>
         public static bool isConnected(Socket socket) {
             try
             {
@@ -227,10 +244,19 @@ public static bool isConnected(Socket socket) {
             catch (SocketException) { return false; }
         }
 
-        // Implement a call with the right signature for events going off
+        /// <summary>
+        /// sends a letter 'b' to the robot to receive battery voltage
+        /// </summary>
         private void requestBatt(object source, ElapsedEventArgs e) {
             send("b");
         }
 
+        /// <summary>
+        /// shows the button mapping window
+        /// </summary>
+        private void buttonMapToolStripMenuItem_Click(object sender, EventArgs e) {
+            ButtonMap buttonMap = new ButtonMap();
+            buttonMap.Show();
+        }
     }
 }
diff --git a/windows/ControlStation/Properties/AssemblyInfo.cs b/windows/ControlStation/Properties/AssemblyInfo.cs
@@ -6,11 +6,11 @@
 // set of attributes. Change these attribute values to modify the information
 // associated with an assembly.
 [assembly: AssemblyTitle("ARES Control Station")]
-[assembly: AssemblyDescription("Senior Design 2015-16 project.\r\nCoded by Pablo Canseco with love.\r\nSource Code: https://github.com/pmcanseco/ARES-Control-Station")]
+[assembly: AssemblyDescription("Senior Design 2015-16 project.\r\nCoded by Pablo Canseco with love.\r\nSource Code: https://github.com/pmcanseco/ares")]
 [assembly: AssemblyConfiguration("")]
 [assembly: AssemblyCompany("Florida Institute of Technology")]
 [assembly: AssemblyProduct("ARES Control Station")]
-[assembly: AssemblyCopyright("Copyright ©  2015")]
+[assembly: AssemblyCopyright("Copyright ©  2016")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
 

diff --git a/windows/ControlStation/Properties/Resources.Designer.cs b/windows/ControlStation/Properties/Resources.Designer.cs
diff --git a/windows/ControlStation/Properties/Resources.resx b/windows/ControlStation/Properties/Resources.resx
@@ -118,7 +118,13 @@
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
   <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="ds4" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\ds4.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
   <data name="robot" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\robot.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <data name="ds41" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\ds41.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
 </root>