From 010f732dc4c9e72cc76155564bb34d389916d213 Mon Sep 17 00:00:00 2001
From: Paul-Winpenny <92634321+Paul-Winpenny@users.noreply.github.com>
Date: Mon, 4 Nov 2024 16:52:12 +0000
Subject: [PATCH] Began the communication over TCP with the robobin and the
app. Focusing on just one app instance for now but I will need to do more
than 1
---
App/RobobinApp/App.xaml.cs | 78 +++++++------
.../{Interfaces => Networking}/BLEClasses.cs | 2 +-
.../BLEInterfaces.cs | 2 +-
App/RobobinApp/Networking/IWifiService.cs | 14 +++
App/RobobinApp/Networking/WifiManager.cs | 108 ++++++++++++++++++
.../ViewModels/ConnectionPageViewModel.cs | 2 +-
.../ViewModels/MainPageViewModel.cs | 11 +-
App/RobobinApp/Views/CentreGraph.xaml.cs | 65 ++++++++---
App/RobobinApp/Views/MainPage.xaml.cs | 21 +++-
Connectivity/SampleServerPi.py | 65 +++++++++++
10 files changed, 305 insertions(+), 63 deletions(-)
rename App/RobobinApp/{Interfaces => Networking}/BLEClasses.cs (93%)
rename App/RobobinApp/{Interfaces => Networking}/BLEInterfaces.cs (91%)
create mode 100644 App/RobobinApp/Networking/IWifiService.cs
create mode 100644 App/RobobinApp/Networking/WifiManager.cs
create mode 100644 Connectivity/SampleServerPi.py
diff --git a/App/RobobinApp/App.xaml.cs b/App/RobobinApp/App.xaml.cs
index 848550bd..4ae70a3d 100644
--- a/App/RobobinApp/App.xaml.cs
+++ b/App/RobobinApp/App.xaml.cs
@@ -1,52 +1,58 @@
using Microsoft.Extensions.Logging;
using Plugin.BLE;
using Plugin.BLE.Abstractions.Contracts;
+using RobobinApp.Networking; // Make sure to include the namespace for WifiManager
-namespace RobobinApp;
-
-public partial class App : Application
+namespace RobobinApp
{
- public static IBluetoothLE BluetoothLE { get; private set; }
- public static IAdapter BluetoothAdapter { get; private set; }
-
- public App()
+ public partial class App : Application
{
- InitializeComponent();
- ConfigureLogging();
+ public static IBluetoothLE BluetoothLE { get; private set; }
+ public static IAdapter BluetoothAdapter { get; private set; }
+ private WifiManager _wifiManager;
- // Initialize the Bluetooth adapter
- InitializeBluetoothAdapter();
+ public App()
+ {
+ InitializeComponent();
+ ConfigureLogging();
- MainPage = new AppShell();
- }
- protected override Window CreateWindow(IActivationState activationState)
- {
- var window = base.CreateWindow(activationState);
+
+ InitializeBluetoothAdapter();
+ _wifiManager = new WifiManager();
+ Task.Run(() => _wifiManager.StartListening());
- window.MinimumWidth = 800;
- window.MinimumHeight = 650;
+ MainPage = new AppShell();
+ }
- return window;
- }
- private void ConfigureLogging()
- {
- var loggerFactory = LoggerFactory.Create(builder =>
+ protected override Window CreateWindow(IActivationState activationState)
{
- builder
- .AddConsole()
- .AddDebug();
- });
+ var window = base.CreateWindow(activationState);
- Logger = loggerFactory.CreateLogger<App>();
- }
+ window.MinimumWidth = 800;
+ window.MinimumHeight = 650;
- private void InitializeBluetoothAdapter()
- {
-
- BluetoothLE = CrossBluetoothLE.Current;
- BluetoothAdapter = BluetoothLE.Adapter;
- }
+ return window;
+ }
+
+ private void ConfigureLogging()
+ {
+ var loggerFactory = LoggerFactory.Create(builder =>
+ {
+ builder
+ .AddConsole()
+ .AddDebug();
+ });
- public ILogger<App> Logger { get; private set; }
+ Logger = loggerFactory.CreateLogger<App>();
+ }
+
+ private void InitializeBluetoothAdapter()
+ {
+ BluetoothLE = CrossBluetoothLE.Current;
+ BluetoothAdapter = BluetoothLE.Adapter;
+ }
+
+ public ILogger<App> Logger { get; private set; }
+ }
}
diff --git a/App/RobobinApp/Interfaces/BLEClasses.cs b/App/RobobinApp/Networking/BLEClasses.cs
similarity index 93%
rename from App/RobobinApp/Interfaces/BLEClasses.cs
rename to App/RobobinApp/Networking/BLEClasses.cs
index d0823784..3718c695 100644
--- a/App/RobobinApp/Interfaces/BLEClasses.cs
+++ b/App/RobobinApp/Networking/BLEClasses.cs
@@ -6,7 +6,7 @@ using System.Linq;
using System.Text;
using System.Threading.Tasks;
-namespace Robobin.Interfaces
+namespace RobobinApp.Networking
{
public class BluetoothLEService : IBluetoothLEService
{
diff --git a/App/RobobinApp/Interfaces/BLEInterfaces.cs b/App/RobobinApp/Networking/BLEInterfaces.cs
similarity index 91%
rename from App/RobobinApp/Interfaces/BLEInterfaces.cs
rename to App/RobobinApp/Networking/BLEInterfaces.cs
index 181124d9..d61f586f 100644
--- a/App/RobobinApp/Interfaces/BLEInterfaces.cs
+++ b/App/RobobinApp/Networking/BLEInterfaces.cs
@@ -5,7 +5,7 @@ using System.Linq;
using System.Text;
using System.Threading.Tasks;
-namespace Robobin.Interfaces
+namespace RobobinApp.Networking
{
public interface IBluetoothLEService
{
diff --git a/App/RobobinApp/Networking/IWifiService.cs b/App/RobobinApp/Networking/IWifiService.cs
new file mode 100644
index 00000000..99b621ee
--- /dev/null
+++ b/App/RobobinApp/Networking/IWifiService.cs
@@ -0,0 +1,14 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace RobobinApp.Networking
+{
+ public interface IWifiService
+ {
+ Task StartListening();
+ void SendConnectMessage(string ipAddress);
+ }
+}
diff --git a/App/RobobinApp/Networking/WifiManager.cs b/App/RobobinApp/Networking/WifiManager.cs
new file mode 100644
index 00000000..b60745e2
--- /dev/null
+++ b/App/RobobinApp/Networking/WifiManager.cs
@@ -0,0 +1,108 @@
+using System;
+using System.Net;
+using System.Net.Sockets;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Diagnostics;
+
+namespace RobobinApp.Networking
+{
+ public class WifiManager : IWifiService
+ {
+ private UdpClient _udpClient;
+ private const int BroadcastPort = 5005;
+ private bool _isConnected = false; // Flag to indicate connection status
+ private CancellationTokenSource _cancellationTokenSource; // For stopping the UDP listener
+
+ public WifiManager()
+ {
+ _udpClient = new UdpClient(BroadcastPort);
+ _cancellationTokenSource = new CancellationTokenSource();
+ }
+
+ public async Task StartListening()
+ {
+ while (!_isConnected) // Continue listening until connected
+ {
+ Debug.WriteLine("Waiting for broadcast...");
+ var result = await _udpClient.ReceiveAsync();
+ string message = Encoding.ASCII.GetString(result.Buffer);
+
+ if (message == "ROBOBIN_PRESENT")
+ {
+ Debug.WriteLine("Detected Robobin presence from: " + result.RemoteEndPoint);
+ SendConnectMessage(result.RemoteEndPoint.Address.ToString());
+ }
+ }
+
+ // Stop listening if connected
+ Debug.WriteLine("Stopping UDP listener.");
+ _udpClient.Close();
+ }
+
+ public void SendConnectMessage(string ipAddress)
+ {
+ if (_isConnected)
+ {
+ Debug.WriteLine("Already connected. No need to send another connect message.");
+ return;
+ }
+
+ var endPoint = new IPEndPoint(IPAddress.Parse(ipAddress), 5006);
+ byte[] message = Encoding.ASCII.GetBytes("CONNECT");
+ _udpClient.Send(message, message.Length, endPoint);
+ Debug.WriteLine($"Sent connect message to: {ipAddress}");
+
+ Task.Run(() => ConnectToTcpServer(endPoint));
+ }
+ public async Task SendPingMessage(TcpClient tcpClient)
+ {
+ if (!_isConnected)
+ {
+ Debug.WriteLine("Not connected. Cannot send ping message.");
+ return;
+ }
+
+ try
+ {
+ NetworkStream stream = tcpClient.GetStream();
+ byte[] pingMessage = Encoding.ASCII.GetBytes("PING");
+ await stream.WriteAsync(pingMessage, 0, pingMessage.Length);
+ Debug.WriteLine("Sent PING message to Robobin.");
+ }
+ catch (Exception ex)
+ {
+ Debug.WriteLine($"Failed to send PING message: {ex.Message}");
+ }
+ }
+
+ private async Task ConnectToTcpServer(IPEndPoint endPoint)
+ {
+ using (TcpClient tcpClient = new TcpClient())
+ {
+ try
+ {
+ await tcpClient.ConnectAsync(endPoint.Address, endPoint.Port);
+ Debug.WriteLine("Connected to Robobin via TCP.");
+
+ _isConnected = true;
+
+ // Keep the connection open to send PING messages periodically
+ while (_isConnected)
+ {
+ await SendPingMessage(tcpClient);
+ await Task.Delay(5000); // Send a ping every 5 seconds
+ }
+ }
+ catch (Exception ex)
+ {
+ Debug.WriteLine($"TCP connection failed: {ex.Message}");
+ }
+ }
+
+ _cancellationTokenSource.Cancel(); // Cancel the token to stop the UDP listener
+ }
+
+ }
+}
diff --git a/App/RobobinApp/ViewModels/ConnectionPageViewModel.cs b/App/RobobinApp/ViewModels/ConnectionPageViewModel.cs
index 57804e7a..74427aa2 100644
--- a/App/RobobinApp/ViewModels/ConnectionPageViewModel.cs
+++ b/App/RobobinApp/ViewModels/ConnectionPageViewModel.cs
@@ -19,7 +19,7 @@ using System.Reflection.PortableExecutable;
using Plugin.BLE.Windows;
using System.Text;
using System.Windows.Documents;
-using Robobin.Interfaces;
+using RobobinApp.Networking;
namespace RobobinApp.ViewModels
{
diff --git a/App/RobobinApp/ViewModels/MainPageViewModel.cs b/App/RobobinApp/ViewModels/MainPageViewModel.cs
index 26c62ad1..da7f2073 100644
--- a/App/RobobinApp/ViewModels/MainPageViewModel.cs
+++ b/App/RobobinApp/ViewModels/MainPageViewModel.cs
@@ -2,6 +2,7 @@ using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Runtime.CompilerServices;
using System.Windows.Input;
+using Microsoft.Extensions.Logging;
using Microsoft.Maui.Controls;
using Robobin.Models;
using RobobinApp.Views;
@@ -16,6 +17,10 @@ namespace RobobinApp.ViewModels
private bool _isBusy;
private string _statusMessage;
+
+
+
+
public ICommand ConnectToRobobinCommand { get; }
private Graph _selectedGraph;
@@ -36,7 +41,6 @@ namespace RobobinApp.ViewModels
{
ConnectToRobobinCommand = new Command(async () => await OnConnectToRobobin());
SelectGraphCommand = new Command<int>(OnSelectGraph);
-
var graphNodes1 = new List<Node>
{
new Node("A", 50, 50),
@@ -77,10 +81,7 @@ namespace RobobinApp.ViewModels
var graph1 = new Graph("Lab 1", graphNodes1, graphMatrix1);
-
-
-
-
+
diff --git a/App/RobobinApp/Views/CentreGraph.xaml.cs b/App/RobobinApp/Views/CentreGraph.xaml.cs
index 7836b1d3..61c3cd36 100644
--- a/App/RobobinApp/Views/CentreGraph.xaml.cs
+++ b/App/RobobinApp/Views/CentreGraph.xaml.cs
@@ -2,6 +2,7 @@ using Microsoft.Maui.Graphics;
using Robobin.Models;
using RobobinApp.Models;
using System;
+using System.Collections.Generic;
using System.Linq;
namespace RobobinApp.Views
@@ -15,16 +16,19 @@ namespace RobobinApp.Views
private static readonly Color BackgroundColor = Color.FromHex("#2C2F33");
private static readonly Color ConnectionColor = Colors.Grey;
private static readonly Color HighlightedNodeColor = Colors.Yellow; // Color for the highlighted node
+ private static readonly Color PathColor = Colors.Blue; // Color for the path
// Properties to keep track of scale and offset
public float CurrentScale { get; private set; } = 1.0f; // Initialize to default scale
public (float X, float Y) CurrentOffset { get; private set; } = (0, 0); // Initialize to default offset
private Node _highlightedNode; // Field to keep track of the highlighted node
+ private List<Node> _path; // Field to store the path
public void SetGraph(Graph graph)
{
_graph = graph ?? throw new ArgumentNullException(nameof(graph));
_highlightedNode = null; // Reset highlighted node when setting a new graph
+ _path = null; // Reset the path when setting a new graph
}
public void Draw(ICanvas canvas, RectF dirtyRect)
@@ -40,6 +44,8 @@ namespace RobobinApp.Views
float nodeRadius = BaseNodeRadius * CurrentScale;
DrawConnections(canvas, CurrentScale, offsetX, offsetY);
+ DrawPath(canvas, CurrentScale, offsetX, offsetY); // Draw the path
+
DrawNodes(canvas, CurrentScale, offsetX, offsetY, nodeRadius, _highlightedNode);
}
@@ -64,7 +70,7 @@ namespace RobobinApp.Views
float graphHeight = maxY - minY;
float scaleX = dirtyRect.Width / graphWidth;
float scaleY = dirtyRect.Height / graphHeight;
- return Math.Min(scaleX, scaleY) * 0.8f; // Scale with some margin
+ return Math.Min(scaleX, scaleY) * 0.8f;
}
private (float offsetX, float offsetY) CalculateOffsets(RectF dirtyRect, float minX, float minY, float maxX, float maxY, float scale)
@@ -135,26 +141,27 @@ namespace RobobinApp.Views
public void HighlightNode(Node node)
{
- _highlightedNode = node; // Store the node to highlight
+ _highlightedNode = node;
}
+
public List<Node> AStarPathfinding(Node startNode, Node targetNode)
{
var openSet = new List<Node> { startNode };
var cameFrom = new Dictionary<Node, Node>();
- var gScore = new Dictionary<Node, float>(); // Cost from start to node
- var fScore = new Dictionary<Node, float>(); // Estimated cost from start to target through node
+ var gScore = new Dictionary<Node, float>();
+ var fScore = new Dictionary<Node, float>();
foreach (var node in _graph.Nodes)
{
- gScore[node] = float.MaxValue; // Initial cost is infinite
- fScore[node] = float.MaxValue; // Initial cost is infinite
+ gScore[node] = float.MaxValue;
+ fScore[node] = float.MaxValue;
}
gScore[startNode] = 0;
- fScore[startNode] = Heuristic(startNode, targetNode); // Initial heuristic
+ fScore[startNode] = Heuristic(startNode, targetNode);
while (openSet.Count > 0)
{
- // Find node with the lowest fScore
+
Node currentNode = openSet.OrderBy(node => fScore[node]).First();
if (currentNode == targetNode)
@@ -164,13 +171,13 @@ namespace RobobinApp.Views
openSet.Remove(currentNode);
- // Check neighboring nodes
+
foreach (var edge in currentNode.Edges)
{
- Node neighbor = edge.TargetNode; // Get the neighboring node
- float tentativeGScore = gScore[currentNode] + edge.Cost; // Calculate tentative gScore
+ Node neighbor = edge.TargetNode;
+ float tentativeGScore = gScore[currentNode] + edge.Cost;
- if (tentativeGScore < gScore[neighbor]) // A better path has been found
+ if (tentativeGScore < gScore[neighbor])
{
cameFrom[neighbor] = currentNode;
gScore[neighbor] = tentativeGScore;
@@ -184,12 +191,12 @@ namespace RobobinApp.Views
}
}
- return new List<Node>(); // Return empty path if there is no path
+ return new List<Node>();
}
private float Heuristic(Node a, Node b)
{
- // Euclidean distance
+
return MathF.Sqrt(MathF.Pow(a.X - b.X, 2) + MathF.Pow(a.Y - b.Y, 2));
}
@@ -203,9 +210,37 @@ namespace RobobinApp.Views
totalPath.Add(currentNode);
}
- totalPath.Reverse(); // Reverse the path to start from the initial node
+ totalPath.Reverse();
return totalPath;
}
+ public Node GetHomeNode()
+ {
+ return _graph.Nodes.FirstOrDefault(n => n.Name == "Home");
+ }
+ public List<Node> Path
+ {
+ get => _path;
+ set => _path = value;
+ }
+
+ private void DrawPath(ICanvas canvas, float scale, float offsetX, float offsetY)
+ {
+ if (_path != null && _path.Count > 0)
+ {
+ canvas.StrokeColor = PathColor; // Color for the path
+ canvas.StrokeSize = 3;
+
+ for (int i = 0; i < _path.Count - 1; i++)
+ {
+ float startX = _path[i].X * scale + offsetX;
+ float startY = _path[i].Y * scale + offsetY;
+ float endX = _path[i + 1].X * scale + offsetX;
+ float endY = _path[i + 1].Y * scale + offsetY;
+
+ canvas.DrawLine(startX, startY, endX, endY);
+ }
+ }
+ }
}
}
diff --git a/App/RobobinApp/Views/MainPage.xaml.cs b/App/RobobinApp/Views/MainPage.xaml.cs
index 5b06ec41..a8c12e68 100644
--- a/App/RobobinApp/Views/MainPage.xaml.cs
+++ b/App/RobobinApp/Views/MainPage.xaml.cs
@@ -3,6 +3,7 @@ using RobobinApp.ViewModels;
using RobobinApp.Models;
using System.Diagnostics;
using RobobinApp.Views;
+using Robobin.Models;
namespace RobobinApp.Views
{
@@ -12,7 +13,7 @@ namespace RobobinApp.Views
{
InitializeComponent();
-
+
var drawable = (GraphicsDrawable)Resources["drawable"];
if (BindingContext is MainPageViewModel viewModel)
{
@@ -58,12 +59,22 @@ namespace RobobinApp.Views
var tapPointY = (float)tapPoint.Value.Y;
var nearestNode = drawable.FindNearestNode(tapPointX, tapPointY, scale, offset.X, offset.Y);
-
+ // Highlight the nearest node
drawable.HighlightNode(nearestNode);
-
if (nearestNode != null)
{
+ // Find the home node
+ Node homeNode = drawable.GetHomeNode();
+
+ if (homeNode != null)
+ {
+
+ List<Node> path = drawable.AStarPathfinding(nearestNode, homeNode);
+ drawable.Path = path;
+ GraphicsView.Invalidate();
+ }
+
DisplayAlert("Node Clicked", $"You clicked on node: {nearestNode.Name}", "OK");
}
else
@@ -71,8 +82,10 @@ namespace RobobinApp.Views
DisplayAlert("No Node", "No node was clicked.", "OK");
}
+ // Invalidate to trigger a redraw and highlight the node
GraphicsView.Invalidate();
}
+
}
-
+
}
diff --git a/Connectivity/SampleServerPi.py b/Connectivity/SampleServerPi.py
new file mode 100644
index 00000000..30465635
--- /dev/null
+++ b/Connectivity/SampleServerPi.py
@@ -0,0 +1,65 @@
+import socket
+import threading
+import time
+
+UDP_IP = "255.255.255.255"
+UDP_PORT = 5005
+LISTEN_PORT = 5006
+
+def broadcast_presence():
+ sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+
+ while True:
+ message = b"ROBOBIN_PRESENT"
+ sock.sendto(message, (UDP_IP, UDP_PORT))
+ time.sleep(5)
+
+def handle_client_connection(client_socket):
+ while True:
+ request = client_socket.recv(1024)
+ if not request:
+ break
+ message = request.decode()
+ print("Received from client: {}".format(message))
+
+ if message == "PING":
+ print("Received PING from client.")
+ response = b"PONG"
+ client_socket.sendall(response)
+
+ client_socket.close()
+ print("Client disconnected.")
+
+
+def listen_for_connections():
+ sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+ sock.bind(('', LISTEN_PORT))
+
+ while True:
+ data, addr = sock.recvfrom(1024)
+ if data.decode() == "CONNECT":
+ print("Received connection request from {}".format(addr))
+
+ # Create a TCP socket to accept connections
+ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as tcp_socket:
+ tcp_socket.bind(('', 5006)) # Listen on the fixed TCP port
+ tcp_socket.listen(1)
+ print("Listening for TCP connection...")
+
+ client_socket, client_addr = tcp_socket.accept()
+ print("Client connected from {}".format(client_addr))
+
+ # Spawn a new thread for handling the client connection
+ threading.Thread(target=handle_client_connection, args=(client_socket,)).start()
+
+
+# Start the broadcasting and listening in separate threads
+broadcast_thread = threading.Thread(target=broadcast_presence)
+listen_thread = threading.Thread(target=listen_for_connections)
+
+broadcast_thread.start()
+listen_thread.start()
+
+broadcast_thread.join()
+listen_thread.join()
--
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