Merge pull request #42 from joshreed13/develop

URC 2016 Modifications
MissouriMRDT · Oct 14, 2016 · 7c00e2e · 7c00e2e
2 parents a68fbff + 0ce1a96
commit 7c00e2e
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Showing 13 changed files with 181 additions and 10 deletions.
diff --git a/RED/Models/ArmControllerModeModel.cs b/RED/Models/ArmControllerModeModel.cs
@@ -15,5 +15,6 @@ internal class ArmControllerModeModel
         internal float AngleJ4;
         internal float AngleJ5;
         internal float AngleJ6;
+        internal int EndeffectorSpeedLimit = 500;
     }
 }
diff --git a/RED/Models/ControlCenterModel.cs b/RED/Models/ControlCenterModel.cs
@@ -23,5 +23,6 @@ public class ControlCenterModel
         internal DropBaysViewModel _dropBays;
         internal PowerViewModel _power;
         internal CameraMuxViewModel _cameraMux;
+        internal ExternalControlsViewModel _externalControls;
     }
 }
diff --git a/RED/Models/ScienceModel.cs b/RED/Models/ScienceModel.cs
@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using System.IO;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
@@ -20,5 +21,7 @@ internal class ScienceModel
         internal System.Net.IPAddress CCDIPAddress;
         internal ushort CCDPortNumber;
         internal string CCDFilePath = Environment.CurrentDirectory;
+
+        internal Stream SensorDataFile;
     }
 }
diff --git a/RED/RED.csproj b/RED/RED.csproj
@@ -137,6 +137,7 @@
     <Compile Include="Models\XboxControllerInputModel.cs" />
     <Compile Include="ViewModels\ControlCenter\ArmControllerModeViewModel.cs" />
     <Compile Include="ViewModels\ControlCenter\CameraMuxViewModel.cs" />
+    <Compile Include="ViewModels\ControlCenter\ExternalControlsViewModel.cs" />
     <Compile Include="ViewModels\ControlCenter\GimbalControllerModeViewModel.cs" />
     <Compile Include="ViewModels\ControlCenter\DropBaysViewModel.cs" />
     <Compile Include="ViewModels\ControlCenter\NetworkManagerViewModel.cs" />
@@ -176,6 +177,9 @@
     <Compile Include="Views\ControlCenter\DriveControllerModeView.xaml.cs">
       <DependentUpon>DriveControllerModeView.xaml</DependentUpon>
     </Compile>
+    <Compile Include="Views\ControlCenter\ExternalControlsView.xaml.cs">
+      <DependentUpon>ExternalControlsView.xaml</DependentUpon>
+    </Compile>
     <Compile Include="Views\ControlCenter\GimbalControllerModeView.xaml.cs">
       <DependentUpon>GimbalControllerModeView.xaml</DependentUpon>
     </Compile>
@@ -225,6 +229,10 @@
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
+    <Page Include="Views\ControlCenter\ExternalControlsView.xaml">
+      <SubType>Designer</SubType>
+      <Generator>MSBuild:Compile</Generator>
+    </Page>
     <Page Include="Views\ControlCenter\GimbalControllerModeView.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>

diff --git a/RED/ViewModels/ControlCenter/ArmControllerModeViewModel.cs b/RED/ViewModels/ControlCenter/ArmControllerModeViewModel.cs
@@ -18,6 +18,7 @@ public class ArmControllerModeViewModel : PropertyChangedBase, IControllerMode,
 
         private const short motorRangeFactor = 1000;
         private readonly EndEffectorModes[] AvailibleEndEffectorModes = { EndEffectorModes.Gripper, EndEffectorModes.Drill, EndEffectorModes.RegulatorDetach };
+        private readonly string[] EndEffectorModeNames = { "Gripper", "Drill", "Regulator Detachment" };
 
         private readonly ArmControllerModeModel _model;
         private readonly ControlCenterViewModel _controlCenter;
@@ -38,6 +39,14 @@ public int CurrentEndEffectorMode
             {
                 _model.CurrentEndEffectorMode = value;
                 NotifyOfPropertyChange(() => CurrentEndEffectorMode);
+                NotifyOfPropertyChange(() => CurrentEndEffectorModeName);
+            }
+        }
+        public string CurrentEndEffectorModeName
+        {
+            get
+            {
+                return EndEffectorModeNames[CurrentEndEffectorMode];
             }
         }
 
@@ -114,6 +123,19 @@ public float AngleJ6
             }
         }
 
+        public int EndeffectorSpeedLimit
+        {
+            get
+            {
+                return _model.EndeffectorSpeedLimit;
+            }
+            set
+            {
+                _model.EndeffectorSpeedLimit = value;
+                NotifyOfPropertyChange(() => EndeffectorSpeedLimit);
+            }
+        }
+
         public ArmControllerModeViewModel(IInputDevice inputVM, ControlCenterViewModel cc)
         {
             _model = new ArmControllerModeModel();
@@ -199,9 +221,9 @@ public void EvaluateMode()
             {
                 case EndEffectorModes.Gripper:
                     if (InputVM.GripperClose > 0)
-                        _controlCenter.DataRouter.Send(_controlCenter.MetadataManager.GetId("Gripper"), (Int16)(InputVM.GripperClose * motorRangeFactor));
+                        _controlCenter.DataRouter.Send(_controlCenter.MetadataManager.GetId("Gripper"), (Int16)(InputVM.GripperClose * EndeffectorSpeedLimit));
                     else if (InputVM.GripperOpen > 0)
-                        _controlCenter.DataRouter.Send(_controlCenter.MetadataManager.GetId("Gripper"), (Int16)(-InputVM.GripperOpen * motorRangeFactor));
+                        _controlCenter.DataRouter.Send(_controlCenter.MetadataManager.GetId("Gripper"), (Int16)(-InputVM.GripperOpen * EndeffectorSpeedLimit));
                     else
                         _controlCenter.DataRouter.Send(_controlCenter.MetadataManager.GetId("Gripper"), (Int16)(0));
                     break;
@@ -216,9 +238,9 @@ public void EvaluateMode()
 
                 case EndEffectorModes.RegulatorDetach:
                     if (InputVM.GripperClose > 0)
-                        _controlCenter.DataRouter.Send(_controlCenter.MetadataManager.GetId("Gripper"), (Int16)(InputVM.GripperClose * motorRangeFactor));
+                        _controlCenter.DataRouter.Send(_controlCenter.MetadataManager.GetId("Gripper"), (Int16)(InputVM.GripperClose * EndeffectorSpeedLimit));
                     else if (InputVM.GripperOpen > 0)
-                        _controlCenter.DataRouter.Send(_controlCenter.MetadataManager.GetId("Gripper"), (Int16)(-InputVM.GripperOpen * motorRangeFactor));
+                        _controlCenter.DataRouter.Send(_controlCenter.MetadataManager.GetId("Gripper"), (Int16)(-InputVM.GripperOpen * EndeffectorSpeedLimit));
                     else
                         _controlCenter.DataRouter.Send(_controlCenter.MetadataManager.GetId("Gripper"), (Int16)(0));
 

diff --git a/RED/ViewModels/ControlCenter/ExternalControlsViewModel.cs b/RED/ViewModels/ControlCenter/ExternalControlsViewModel.cs
@@ -0,0 +1,30 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace RED.ViewModels.ControlCenter
+{
+    public class ExternalControlsViewModel
+    {
+        private ControlCenterViewModel _cc;
+
+        private const byte GimbalDisableCommand = 0x00;
+        private const byte GimbalEnableCommand = 0x01;
+
+        public ExternalControlsViewModel(ControlCenterViewModel cc)
+        {
+            _cc = cc;
+        }
+
+        public void EnableAll()
+        {
+            _cc.DataRouter.Send(_cc.MetadataManager.GetId("GimbalEnableAll"), GimbalEnableCommand);
+        }
+        public void DisableAll()
+        {
+            _cc.DataRouter.Send(_cc.MetadataManager.GetId("GimbalEnableAll"), GimbalDisableCommand);
+        }
+    }
+}
diff --git a/RED/ViewModels/ControlCenter/ScienceViewModel.cs b/RED/ViewModels/ControlCenter/ScienceViewModel.cs
@@ -151,6 +151,19 @@ public string CCDFilePath
             }
         }
 
+        public Stream SensorDataFile
+        {
+            get
+            {
+                return _model.SensorDataFile;
+            }
+            set
+            {
+                _model.SensorDataFile = value;
+                NotifyOfPropertyChange(() => SensorDataFile);
+            }
+        }
+
         public ScienceViewModel(ControlCenterViewModel cc)
         {
             _model = new ScienceModel();
@@ -239,7 +252,7 @@ public void RequestCCD()
         public async void DownloadCCD()
         {
             _cc.Console.WriteToConsole("CCD data downloaded started.");
-            string filename = Path.Combine(CCDFilePath, "REDCCDData" + DateTime.Now.ToString("s") + ".dat");
+            string filename = Path.Combine(CCDFilePath, "REDCCDData" + DateTime.Now.ToString("yyyyMMdd'T'HHmmss") + ".dat");
             using (var client = new TcpClient())
             {
                 await client.ConnectAsync(CCDIPAddress, CCDPortNumber);
@@ -295,33 +308,57 @@ public void FunnelClose()
             _cc.DataRouter.Send(_cc.MetadataManager.GetId("ScienceCommand"), (byte)ScienceRequestTypes.FunnelClose);
         }
 
+        public void SaveFileStart()
+        {
+            SensorDataFile = new FileStream("REDSensorData" + DateTime.Now.ToString("yyyyMMdd'T'HHmmss") + ".dat", FileMode.Create);
+        }
+        public void SaveFileStop()
+        {
+            if (SensorDataFile.CanWrite)
+                SensorDataFile.Close();
+        }
+        private async void SaveFileWrite(string sensorName, object value)
+        {
+            if (!SensorDataFile.CanWrite) return;
+            var data = Encoding.UTF8.GetBytes(String.Format("{0:s} {1} {2}{3}", DateTime.Now, sensorName, value.ToString(), Environment.NewLine));
+            await SensorDataFile.WriteAsync(data, 0, data.Length);
+        }
+
         public void ReceiveFromRouter(ushort dataId, byte[] data)
         {
             switch (_cc.MetadataManager.GetTelemetry(dataId).Name)
             {
                 case "Temperature1":
                     Temperature1Value = BitConverter.ToSingle(data, 0);
+                    SaveFileWrite("Temperature1", Temperature1Value);
                     break;
                 case "Temperature2":
                     Temperature2Value = BitConverter.ToSingle(data, 0);
+                    SaveFileWrite("Temperature2", Temperature2Value);
                     break;
                 case "Temperature3":
                     Temperature3Value = BitConverter.ToSingle(data, 0);
+                    SaveFileWrite("Temperature3", Temperature3Value);
                     break;
                 case "Temperature4":
                     Temperature4Value = BitConverter.ToSingle(data, 0);
+                    SaveFileWrite("Temperature4", Temperature4Value);
                     break;
                 case "Moisture1":
                     Moisture1Value = BitConverter.ToSingle(data, 0);
+                    SaveFileWrite("Moisture1", Moisture1Value);
                     break;
                 case "Moisture2":
                     Moisture2Value = BitConverter.ToSingle(data, 0);
+                    SaveFileWrite("Moisture2", Moisture2Value);
                     break;
                 case "Moisture3":
                     Moisture3Value = BitConverter.ToSingle(data, 0);
+                    SaveFileWrite("Moisture3", Moisture3Value);
                     break;
                 case "Moisture4":
                     Moisture4Value = BitConverter.ToSingle(data, 0);
+                    SaveFileWrite("Moisture4", Moisture4Value);
                     break;
             }
         }

diff --git a/RED/ViewModels/ControlCenterViewModel.cs b/RED/ViewModels/ControlCenterViewModel.cs
@@ -192,6 +192,18 @@ public CameraMuxViewModel CameraMux
                 NotifyOfPropertyChange(() => CameraMux);
             }
         }
+        public ExternalControlsViewModel ExternalControls
+        {
+            get
+            {
+                return _model._externalControls;
+            }
+            set
+            {
+                _model._externalControls = value;
+                NotifyOfPropertyChange(() => ExternalControls);
+            }
+        }
 
         public DriveControllerModeViewModel DriveControllerMode
         {
@@ -242,6 +254,7 @@ public ControlCenterViewModel()
             DropBays = new DropBaysViewModel(this);
             Power = new PowerViewModel(this);
             CameraMux = new CameraMuxViewModel(this);
+            ExternalControls = new ExternalControlsViewModel(this);
 
             SettingsManager = new SettingsManagerViewModel(this);
 

diff --git a/RED/Views/ControlCenter/ArmControllerModeView.xaml b/RED/Views/ControlCenter/ArmControllerModeView.xaml
@@ -15,8 +15,12 @@
                 <ColumnDefinition Width="*" />
             </Grid.ColumnDefinitions>
             <Label Grid.Row="0" Grid.Column="0">Current Endeffector Mode</Label>
-            <Label Grid.Row="0" Grid.Column="1" x:Name="CurrentEndEffectorMode" />
+            <Label Grid.Row="0" Grid.Column="1" x:Name="CurrentEndEffectorModeName" />
         </Grid>
+        <DockPanel>
+            <Label x:Name="EndeffectorSpeedLimit" Width="40px" DockPanel.Dock="Right" HorizontalContentAlignment="Right" />
+            <Slider Minimum="0" Maximum="1000" Value="{Binding EndeffectorSpeedLimit}" Margin="3px" />
+        </DockPanel>
         <Grid>
             <Grid.RowDefinitions>
                 <RowDefinition Height="auto" />

diff --git a/RED/Views/ControlCenter/ExternalControlsView.xaml b/RED/Views/ControlCenter/ExternalControlsView.xaml
@@ -0,0 +1,15 @@
+<UserControl x:Class="RED.Views.ControlCenter.ExternalControlsView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             mc:Ignorable="d" 
+             d:DesignHeight="300" d:DesignWidth="300">
+    <DockPanel>
+        <Label DockPanel.Dock="Left">12V</Label>
+        <UniformGrid Rows="1">
+            <Button x:Name="EnableAll">Enable</Button>
+            <Button x:Name="DisableAll">Disable</Button>
+        </UniformGrid>
+    </DockPanel>
+</UserControl>
diff --git a/RED/Views/ControlCenter/ExternalControlsView.xaml.cs b/RED/Views/ControlCenter/ExternalControlsView.xaml.cs
@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace RED.Views.ControlCenter
+{
+    /// <summary>
+    /// Interaction logic for ExternalControlsView.xaml
+    /// </summary>
+    public partial class ExternalControlsView : UserControl
+    {
+        public ExternalControlsView()
+        {
+            InitializeComponent();
+        }
+    }
+}
diff --git a/RED/Views/ControlCenter/ScienceView.xaml b/RED/Views/ControlCenter/ScienceView.xaml
@@ -76,6 +76,7 @@
                 <RowDefinition />
                 <RowDefinition />
                 <RowDefinition />
+                <RowDefinition />
             </Grid.RowDefinitions>
             <Grid.ColumnDefinitions>
                 <ColumnDefinition Width="auto" />
@@ -105,6 +106,11 @@
                 <Button x:Name="RequestCCD">Request</Button>
                 <Button x:Name="DownloadCCD">Download</Button>
             </UniformGrid>
+            <Label Grid.Row="4" Grid.Column="0">Save</Label>
+            <UniformGrid Grid.Row="4" Grid.Column="1" Rows="1">
+                <Button x:Name="SaveFileStart">Start</Button>
+                <Button x:Name="SaveFileStop">Stop</Button>
+            </UniformGrid>
         </Grid>
 
     </StackPanel>

diff --git a/RED/Views/ControlCenterView.xaml b/RED/Views/ControlCenterView.xaml
@@ -46,10 +46,13 @@
                             <ContentControl x:Name="Sensor" />
                         </Expander>
                         <Expander Header="Gimbal">
-                            <UniformGrid Rows="1">
-                                <ContentControl x:Name="GimbalControllerMode" />
-                                <ContentControl x:Name="Gimbal2ControllerMode" />
-                            </UniformGrid>
+                            <StackPanel>
+                                <ContentControl x:Name="ExternalControls" />
+                                <UniformGrid Rows="1">
+                                    <ContentControl x:Name="GimbalControllerMode" />
+                                    <ContentControl x:Name="Gimbal2ControllerMode" />
+                                </UniformGrid>
+                            </StackPanel>
                         </Expander>
                         <Expander Header="Drop Bays">
                             <ContentControl x:Name="DropBays" />