diff --git a/App/RobobinApp/Networking/WifiManager.cs b/App/RobobinApp/Networking/WifiManager.cs
index b034c3496698af9c8bce55c84ae0feccec2db2eb..1ba99cc03b7edc3659ac4991482a22295259a77c 100644
--- a/App/RobobinApp/Networking/WifiManager.cs
+++ b/App/RobobinApp/Networking/WifiManager.cs
@@ -186,9 +186,10 @@ namespace RobobinApp.Networking
public async Task SendMessageAsync(string message)
{
+ Debug.WriteLine($"Sent message: {message}");
if (!_isConnected || _tcpClient == null)
{
- Debug.WriteLine("Not connected. Cannot send message.");
+ //Debug.WriteLine("Not connected. Cannot send message.");
return;
}
@@ -197,7 +198,7 @@ namespace RobobinApp.Networking
NetworkStream stream = _tcpClient.GetStream();
byte[] data = Encoding.ASCII.GetBytes(message);
await stream.WriteAsync(data, 0, data.Length);
- Debug.WriteLine($"Sent message: {message}");
+
}
catch (Exception ex)
{
diff --git a/App/RobobinApp/ViewModels/MainPageViewModel.cs b/App/RobobinApp/ViewModels/MainPageViewModel.cs
index a3477a1d0ff40f31f1e1d4e42b9b69a2ff06a3cd..536ae8e31f87b1dbcad4ced19da53555b6cbcd31 100644
--- a/App/RobobinApp/ViewModels/MainPageViewModel.cs
+++ b/App/RobobinApp/ViewModels/MainPageViewModel.cs
@@ -182,6 +182,9 @@ namespace RobobinApp.ViewModels
{
mode = "Call";
await App.WifiManager.SendMessageAsync("SETMODE " + mode);
+ } else
+ {
+ Debug.WriteLine($"Can't switch while in mode " + App.WifiManager.Mode);
}
}
diff --git a/App/RobobinApp/Views/Sides/AdminBox.xaml.cs b/App/RobobinApp/Views/Sides/AdminBox.xaml.cs
index e9b1e994edf09559fd4f9cb582cbdf6951eccf3f..473bf50334a75b302df3a7e709f48ed5893665a3 100644
--- a/App/RobobinApp/Views/Sides/AdminBox.xaml.cs
+++ b/App/RobobinApp/Views/Sides/AdminBox.xaml.cs
@@ -1,4 +1,5 @@
using System;
+using System.Diagnostics;
using Microsoft.Maui.Controls;
namespace RobobinApp.Views.Sides
@@ -85,10 +86,12 @@ namespace RobobinApp.Views.Sides
}
private async void OnStopClicked(object sender, EventArgs e)
{
-
+ if (App.WifiManager.Mode == "Manual")
+ {
string stopMessage = "STOP";
await App.WifiManager.SendMessageAsync(stopMessage);
-
+ }
+
}
private async void OnCallBPMClicked(object sender, EventArgs e)
diff --git a/ros2/src/robobin/robobin/helpers/message_handler.py b/ros2/src/robobin/robobin/helpers/message_handler.py
index 3182da3bd7e274b158b5f3003f77798ee748a734..533db517abbbe89d081780c72625426c0198438d 100644
--- a/ros2/src/robobin/robobin/helpers/message_handler.py
+++ b/ros2/src/robobin/robobin/helpers/message_handler.py
@@ -14,12 +14,15 @@ class MessageHandler:
"SETMODE": self.handle_set_mode,
"STOP": self.handle_stop,
"CALLME": self.handle_call_me,
- "BPM": self.handle_call_bpm,
+ "CALLBPM": self.handle_call_bpm,
"REQMAP": self.handle_request_map,
"LOCATION": self.handle_request_location
}
def handle_request_location(self, client_socket, message):
"""Handles the LOC command."""
+ if self.testing:
+ print("Requesting location")
+ return "nav_command", "LOC"
response = f"location is {self.api_node.connection_manager.location}".encode()
if self.testing:
print(response.decode())
@@ -44,16 +47,17 @@ class MessageHandler:
print(message)
location = message.strip() # Remove parentheses
location = f"{location}" # Add parentheses back for proper formatting
-
- for existing_socket, existing_location in self.api_node.called_locations:
- if existing_socket == client_socket:
- client_socket.sendall(b"User already requested location")
- return None
-
- # Append the client socket and location to the list
- self.api_node.called_locations.append((client_socket, location))
+ if not self.testing:
+ for existing_socket, existing_location in self.api_node.called_locations:
+ if existing_socket == client_socket:
+ client_socket.sendall(b"User already requested location")
+ return None
+
+ # Append the client socket and location to the list
+ self.api_node.called_locations.append((client_socket, location))
print(f"Added {ip} with location {location} to the queue.")
-
+ if self.testing:
+ return None
response = f"Queue Position = {len(self.api_node.called_locations)-1} {location}".encode()
client_socket.sendall(response)
# print("nav_command", location)
@@ -66,7 +70,8 @@ class MessageHandler:
print(response.decode())
else:
client_socket.sendall(response)
- self.api_node.called_locations = [] # Clear the queue
+
+ self.api_node.called_locations = [] # Clear the queue
return "cmd_vel", (0.0, 0.0)
def handle_ping(self, client_socket, _):
@@ -85,8 +90,9 @@ class MessageHandler:
print(response.decode())
else:
client_socket.sendall(response)
- self.api_node.mode = message
- self.api_node.called_locations = [] # Clear the queue
+ if self.api_node is not None:
+ self.api_node.mode = message
+ self.api_node.called_locations = [] # Clear the queue
return "nav_command", "SETMODE " + message
def handle_time_request(self, client_socket, _):
"""Sends the current server time."""
@@ -104,7 +110,7 @@ class MessageHandler:
print(response.decode())
else:
client_socket.sendall(response)
-
+
return "nav_command","BPM"
def handle_manual_control(self, client_socket, message):
"""Handles manual control commands: W, A, S, D."""
@@ -138,7 +144,7 @@ class MessageHandler:
"""Handles the REQMAP command."""
# Relative path to the JSON file
working_dir = os.getcwd()
- graph_file_path = os.path.abspath(os.path.join(working_dir,"src", "robobin", "robobin", "graphs", "graph.json"))
+ graph_file_path = os.path.abspath(os.path.join(working_dir,"src", "robobin", "robobin", "graphs", "anchors.json"))
try:
# Load the graph JSON file
@@ -201,6 +207,13 @@ if __name__ == "__main__":
assert message_handler.handle_message(None, "MANUALCTRL D") == ("cmd_vel", (0, -0.25))
assert message_handler.handle_message(None, "STOP") == ("cmd_vel", (0.0, 0.0))
- assert message_handler.handle_message(None, "CALLME (212.9638, 283.98108)") == ("nav_command", "(212.9638, 283.98108)")
+ assert message_handler.handle_message(None, "CALLME (212.9638, 283.98108)") == None
assert message_handler.handle_message(None, "UNKNOWN") is None
- assert message_handler.handle_message(None, "REQMAP") is None
\ No newline at end of file
+ assert message_handler.handle_message(None, "REQMAP") is None
+ assert message_handler.handle_message(None, "SETMODE MANUAL") == ("nav_command", "SETMODE MANUAL")
+
+
+
+
+ assert message_handler.handle_message(None, "CALLBPM")== ("nav_command", "BPM")
+ assert message_handler.handle_message(None, "LOCATION") is ("nav_command", "LOC")
\ No newline at end of file