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ConsoleView and file path manipulation improvements #66

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merged 7 commits into from
Jul 21, 2018
Merged

ConsoleView and file path manipulation improvements #66

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e56f259
Clean up file path manipulation and remove unused using directives in…
Jul 14, 2018
009b93e
ConsoleView improvements
Jul 14, 2018
833c651
Minor improvements to BaseServer Update
Jul 14, 2018
882cfb9
Rename method for clarity, reduce update interval bandaid
Jul 17, 2018
637db4a
ConsoleView improvements and file path readability improvements
Jul 17, 2018
d00c2b7
Use Command Prompt instead of ConsoleView
Jul 17, 2018
8fd6fdd
Fixed crashes, app working in console mode
Obbay2 Jul 21, 2018
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202 changes: 90 additions & 112 deletions BaseStation/BaseServer/BaseServer.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -47,106 +47,93 @@ private static void ClientConnected(object sender, EventArgs e)
/// <param name="driveController"></param>
public static void Update(Controller driveController, Controller armController)
{
if (driveController.IsConnected
&& armController.IsConnected
&& (TimeNanoseconds() - lastControlSend) > CONTROL_SEND_INTERVAL_NANOSECONDS)
{
Packet SteerPack;
Packet SpeedPack;
Packet WristPack;
Packet ElbowPack;
Packet ShoulderPack;
Packet BasePack;

State driveState = driveController.GetState();
State armState = armController.GetState();
byte rightTrigger = driveState.Gamepad.RightTrigger;
byte leftTrigger = driveState.Gamepad.LeftTrigger;
short leftThumbX = PreventOverflow(driveState.Gamepad.LeftThumbX);

if (rightTrigger < TriggerThreshold) { rightTrigger = 0; }
if (leftTrigger < TriggerThreshold) { leftTrigger = 0; }
if (Math.Abs(leftThumbX) < LeftThumbDeadzone) { leftThumbX = 0; }

float speed = (float)UtilMain.LinearMap(rightTrigger - leftTrigger, -255, 255, -1, 1);
float steerPos = (float)UtilMain.LinearMap(leftThumbX, -32768, 32767, -1, 1);

//Console.WriteLine("Speed: " + speed);
//Console.WriteLine("Steer Pos: " + steerPos);

bool aPressedDrive = (driveState.Gamepad.Buttons & GamepadButtonFlags.A) != 0;
bool bPressedDrive = (driveState.Gamepad.Buttons & GamepadButtonFlags.B) != 0;

bool aPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.A) != 0;
bool bPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.B) != 0;
bool xPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.X) != 0;
bool yPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.Y) != 0;

bool upPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.DPadUp) != 0;
bool downPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.DPadDown) != 0;
bool leftPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.DPadLeft) != 0;
bool rightPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.DPadRight) != 0;

float steerSpeed = 0.0f;
if (aPressedDrive)
steerSpeed = 0.3f;
if (bPressedDrive)
steerSpeed = -0.3f;

float wristArmSpeed = 0.0f;
if (xPressedArm)
wristArmSpeed = 0.5f;
if (yPressedArm)
wristArmSpeed = -0.5f;

float elbowArmSpeed = 0.0f;
if (aPressedArm)
elbowArmSpeed = 0.5f;
if (bPressedArm)
elbowArmSpeed = -0.5f;

float shoulderArmSpeed = 0.0f;
if (upPressedArm)
shoulderArmSpeed = 1.0f;
if (downPressedArm)
shoulderArmSpeed = -1.0f;

float baseArmSpeed = 0.0f;
if (leftPressedArm)
baseArmSpeed = 0.5f;
if (rightPressedArm)
baseArmSpeed = -0.5f;

SteerPack = new Packet(0x8F, true, "MainRover");
SteerPack.AppendData(UtilData.ToBytes(steerSpeed));
Scarlet.Communications.Server.Send(SteerPack);

SpeedPack = new Packet(0x95, true, "MainRover");
SpeedPack.AppendData(UtilData.ToBytes(speed));
Scarlet.Communications.Server.Send(SpeedPack);

WristPack = new Packet(0x9D, true, "ArmMaster");
WristPack.AppendData(UtilData.ToBytes(wristArmSpeed));
Scarlet.Communications.Server.Send(WristPack);

ElbowPack = new Packet(0x9C, true, "ArmMaster");
ElbowPack.AppendData(UtilData.ToBytes(elbowArmSpeed));
Scarlet.Communications.Server.Send(ElbowPack);

ShoulderPack = new Packet(0x9B, true, "ArmMaster");
ShoulderPack.AppendData(UtilData.ToBytes(shoulderArmSpeed));
Scarlet.Communications.Server.Send(ShoulderPack);

BasePack = new Packet(0x9A, true, "ArmMaster");
BasePack.AppendData(UtilData.ToBytes(baseArmSpeed));
Scarlet.Communications.Server.Send(BasePack);

lastControlSend = TimeNanoseconds(); //time in nanoseconds
}
else if ((TimeNanoseconds() - lastControlSend) > CONTROL_SEND_INTERVAL_NANOSECONDS)
{
Console.WriteLine("Gamepad not connected");
HaltRoverMotion();
if(SendIntervalElapsed()) {
if(driveController.IsConnected && armController.IsConnected) {
State driveState = driveController.GetState();
State armState = armController.GetState();
byte rightTrigger = driveState.Gamepad.RightTrigger;
byte leftTrigger = driveState.Gamepad.LeftTrigger;
short leftThumbX = PreventOverflow(driveState.Gamepad.LeftThumbX);

if (rightTrigger < TriggerThreshold) { rightTrigger = 0; }
if (leftTrigger < TriggerThreshold) { leftTrigger = 0; }
if (Math.Abs(leftThumbX) < LeftThumbDeadzone) { leftThumbX = 0; }

float speed = (float)UtilMain.LinearMap(rightTrigger - leftTrigger, -255, 255, -1, 1);
float steerPos = (float)UtilMain.LinearMap(leftThumbX, -32768, 32767, -1, 1);

bool aPressedDrive = (driveState.Gamepad.Buttons & GamepadButtonFlags.A) != 0;
bool bPressedDrive = (driveState.Gamepad.Buttons & GamepadButtonFlags.B) != 0;

bool aPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.A) != 0;
bool bPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.B) != 0;
bool xPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.X) != 0;
bool yPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.Y) != 0;

bool upPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.DPadUp) != 0;
bool downPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.DPadDown) != 0;
bool leftPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.DPadLeft) != 0;
bool rightPressedArm = (armState.Gamepad.Buttons & GamepadButtonFlags.DPadRight) != 0;

float steerSpeed = 0.0f;
if (bPressedDrive)
steerSpeed = -0.3f;
else if (aPressedDrive)
steerSpeed = 0.3f;

float wristArmSpeed = 0.0f;
if (yPressedArm)
wristArmSpeed = -0.5f;
else if (xPressedArm)
wristArmSpeed = 0.5f;

float elbowArmSpeed = 0.0f;
if (bPressedArm)
elbowArmSpeed = -0.5f;
else if (aPressedArm)
elbowArmSpeed = 0.5f;

float shoulderArmSpeed = 0.0f;
if (downPressedArm)
shoulderArmSpeed = -1.0f;
else if (upPressedArm)
shoulderArmSpeed = 1.0f;

float baseArmSpeed = 0.0f;
if (rightPressedArm)
baseArmSpeed = -0.5f;
else if (leftPressedArm)
baseArmSpeed = 0.5f;

Packet SteerPack = new Packet(0x8F, true, "MainRover");
SteerPack.AppendData(UtilData.ToBytes(steerSpeed));
Scarlet.Communications.Server.Send(SteerPack);

Packet SpeedPack = new Packet(0x95, true, "MainRover");
SpeedPack.AppendData(UtilData.ToBytes(speed));
Scarlet.Communications.Server.Send(SpeedPack);

Packet WristPack = new Packet(0x9D, true, "ArmMaster");
WristPack.AppendData(UtilData.ToBytes(wristArmSpeed));
Scarlet.Communications.Server.Send(WristPack);

Packet ElbowPack = new Packet(0x9C, true, "ArmMaster");
ElbowPack.AppendData(UtilData.ToBytes(elbowArmSpeed));
Scarlet.Communications.Server.Send(ElbowPack);

Packet ShoulderPack = new Packet(0x9B, true, "ArmMaster");
ShoulderPack.AppendData(UtilData.ToBytes(shoulderArmSpeed));
Scarlet.Communications.Server.Send(ShoulderPack);

Packet BasePack = new Packet(0x9A, true, "ArmMaster");
BasePack.AppendData(UtilData.ToBytes(baseArmSpeed));
Scarlet.Communications.Server.Send(BasePack);
} else {
Console.WriteLine("Gamepad not connected!");
HaltRoverMotion();
}

lastControlSend = TimeNanoseconds();
}
}

Expand All @@ -164,19 +151,10 @@ private static void HaltRoverMotion()
Scarlet.Communications.Server.Send(ArmEmergencyStop);
}

private static short PreventOverflow(short shortVal)
{
if (shortVal == -32768)
{
shortVal++;
}
return shortVal;
}
private static short PreventOverflow(short shortVal) => shortVal == -32768 ? (short)(shortVal + 1) : shortVal;

private static long TimeNanoseconds()
{
return DateTime.UtcNow.Ticks * 100;
}
private static bool SendIntervalElapsed() => (TimeNanoseconds() - lastControlSend) > CONTROL_SEND_INTERVAL_NANOSECONDS;
private static long TimeNanoseconds() => DateTime.UtcNow.Ticks * 100;

private static List<float> ConvertToFloatArray(Packet data)
{
Expand Down
2 changes: 1 addition & 1 deletion BaseStation/BaseStation/BaseStation.csproj
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProjectGuid>{717939F0-9BDC-4D66-99B5-AE34D586488E}</ProjectGuid>
<OutputType>WinExe</OutputType>
<OutputType>Exe</OutputType>
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You can't just convert this to a console application! We still need the UI to spawn in which is only does as a Windows Application. You'll have to spawn the command prompt as a child process and redirect standard out to it. If you leave it as a Windows Application and have no command process it will write to Visual Studio console, but we can't assume Visual Studio will always be running.

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The UI still runs when it's a console application.

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It wasn't running on my computer when I tested it. I'll try again tonight!

<RootNamespace>HuskyRobotics.BaseStation</RootNamespace>
<AssemblyName>BaseStation</AssemblyName>
<TargetFrameworkVersion>v4.7</TargetFrameworkVersion>
Expand Down
2 changes: 1 addition & 1 deletion BaseStation/BaseStation/StartBaseStation.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ private static void Update()
{
BaseServer.Update(DriveController, ArmController);
CameraControl.Update(DriveController);
Thread.Sleep(150);
Thread.Sleep(100);
}

private static volatile bool exit;
Expand Down
87 changes: 42 additions & 45 deletions BaseStation/MainWindow/ConsoleView.xaml.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,84 +2,82 @@
using System.IO;
using System.Text;
using System.Windows.Controls;
using System.Windows.Media;

namespace HuskyRobotics.UI
{
/// <summary>
/// Interaction logic for ConsoleView.xaml
/// </summary>
public partial class ConsoleView : ScrollViewer
{
public ConsoleView()
{
TextBlock child = new TextBlock();
AddChild(child);
child.FontFamily = new System.Windows.Media.FontFamily("consolas");
child.FontSize = 16;
Console.SetOut(new ConsoleWriter(child, this, Console.Out));
public partial class ConsoleView : ScrollViewer {
private readonly ConsoleWriter writer;

public TextWriter Writer => writer;

public ConsoleView() {
TextBox box = new TextBox {
FontFamily = new FontFamily("consolas"),
FontSize = 16,
IsReadOnly = true,
IsReadOnlyCaretVisible = false,
BorderThickness = new System.Windows.Thickness(0),
TextWrapping = System.Windows.TextWrapping.Wrap
};

AddChild(box);
writer = new ConsoleWriter(box, this);
InitializeComponent();
}

private class ConsoleWriter : TextWriter
{
private readonly TextBlock view;
private readonly ScrollViewer scroll;
private readonly TextWriter oldOut;
private class ConsoleWriter : TextWriter {
private readonly TextBox view;
private readonly ScrollViewer scroll;

public ConsoleWriter(TextBlock view, ScrollViewer scroll, TextWriter oldOut)
{
this.view = view;
this.scroll = scroll;
this.oldOut = oldOut;
view.TextWrapping = System.Windows.TextWrapping.Wrap;
}
public ConsoleWriter(TextBox view, ScrollViewer scroll) {
this.view = view;
this.scroll = scroll;
}

public override Encoding Encoding => Encoding.UTF8;

public override void Write(char value)
{
oldOut.Write(value);
view.Dispatcher.BeginInvoke(new Action(() =>
{
view.Text += value;
view.Dispatcher.InvokeAsync(() => {
view.AppendText(value.ToString());
UpdateView();
}));
});
}

public override void Write(char[] buffer, int index, int count)
{
oldOut.Write(buffer, index, count);
view.Dispatcher.BeginInvoke(new Action(() =>
{
view.Text += new string(buffer, index, count);
view.Dispatcher.InvokeAsync(() => {
view.AppendText(new string(buffer, index, count));
UpdateView();
}));
});
}

//removes extra text (prevent memory leak)
//and scrolls view to bottom (like a console)
private void UpdateView()
{
int len = view.Text.Length;
private void UpdateView() {
int len = view.Text.Length;
double scrollHeight = scroll.ViewportHeight;
double viewHeight = view.ActualHeight;
int totalLines = CountLines(view.Text);
int lineHeight = (int)viewHeight / totalLines;
int possibleVisibleLines = (int)(scrollHeight / lineHeight);
if (viewHeight > scrollHeight * 2) //if stored text is partially offscreen, the 2 is there to buffer the text so there isn't so much garbage produced
{
if (viewHeight > scrollHeight) {
view.Text = GetFinalLines(view.Text, totalLines, Math.Min(totalLines, possibleVisibleLines));
}
scroll.ScrollToEnd();
}
scroll.ScrollToEnd();
}

private static string GetFinalLines(string text, int totalLines, int lineCount)
{
int ind = GetIndexAfter(text, totalLines - lineCount);
int ind = GetIndexAfterNewline(text, totalLines - lineCount);
return text.Substring(ind);
}

private static int GetIndexAfter(string str, int count)
private static int GetIndexAfterNewline(string str, int count)
{
if (str == string.Empty) return -1;
int index = -1;
Expand All @@ -95,12 +93,11 @@ private static int CountLines(string str)
if (str == string.Empty) return 0;
int index = -1;
int count = 0;
while (-1 != (index = str.IndexOf(Environment.NewLine, index + Environment.NewLine.Length)))
{
count++;
}
while (-1 != (index = str.IndexOf(Environment.NewLine, index + Environment.NewLine.Length))) {
count++;
}
return count + 1;
}
}
}
}
}
2 changes: 1 addition & 1 deletion BaseStation/MainWindow/MainWindow.xaml
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@
<ui:SettingsPanel x:Name="SettingPanel"/>
</TabItem>
<TabItem Header="Console">
<ui:ConsoleView Grid.Column="3"></ui:ConsoleView>
<ui:ConsoleView x:Name="console" Grid.Column="3"/>
</TabItem>
</TabControl>
</DockPanel>
Expand Down
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