Manual controls now work from the users side (need to lock multiple users).

App/RobobinApp/RobobinApp.csproj.user

@@ -4,7 +4,7 @@
     <IsFirstTimeProjectOpen>False</IsFirstTimeProjectOpen>
     <ActiveDebugFramework>net8.0-windows10.0.19041.0</ActiveDebugFramework>
     <ActiveDebugProfile>Windows Machine</ActiveDebugProfile>
-    <SelectedPlatformGroup>Emulator</SelectedPlatformGroup>
+    <SelectedPlatformGroup>PhysicalDevice</SelectedPlatformGroup>
     <DefaultDevice>pixel_5_-_api_34</DefaultDevice>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(TargetFramework)|$(Platform)'=='Debug|net8.0-android|AnyCPU'">

App/RobobinApp/Views/MainPage_Android.xaml

@@ -37,8 +37,6 @@
                       HorizontalOptions="Center" />
                 </HorizontalStackLayout>
 
-                <sides:SideBox HeaderTitle="Queue:" />
-                <sides:SideBox HeaderTitle="Status:" />
             </VerticalStackLayout>
 
             <!-- Main Drawable Area with specific HeightRequest to ensure visibility -->

App/RobobinApp/Views/Sides/AdminBox.xaml

@@ -86,6 +86,56 @@
                                 CornerRadius="5" />
                     </VerticalStackLayout>
 
+                    <!-- WASD Button Layout -->
+                    <VerticalStackLayout Spacing="5" Padding="5">
+                        <Label Text="Control Pad:"
+                               FontAttributes="Bold"
+                               HorizontalOptions="Center" />
+                        <Grid RowDefinitions="Auto, Auto, Auto"
+                              ColumnDefinitions="Auto, Auto, Auto"
+                              HorizontalOptions="Center">
+                            <!-- W Button -->
+                            <Button Text="W"
+                                    Clicked="OnWClicked"
+                                    Grid.Row="0"
+                                    Grid.Column="1"
+                                    WidthRequest="50"
+                                    HeightRequest="50"
+                                    CornerRadius="5" 
+                                    BackgroundColor="LightGrey"/>
+
+                            <!-- A Button -->
+                            <Button Text="A"
+                                    Clicked="OnAClicked"
+                                    Grid.Row="1"
+                                    Grid.Column="0"
+                                    WidthRequest="50"
+                                    HeightRequest="50"
+                                    CornerRadius="5" 
+                                    BackgroundColor="LightGrey"/>
+
+                            <!-- S Button -->
+                            <Button Text="S"
+                                    Clicked="OnSClicked"
+                                    Grid.Row="1"
+                                    Grid.Column="1"
+                                    WidthRequest="50"
+                                    HeightRequest="50"
+                                    CornerRadius="5" 
+                                    BackgroundColor="LightGrey"/>
+
+                            <!-- D Button -->
+                            <Button Text="D"
+                                    Clicked="OnDClicked"
+                                    Grid.Row="1"
+                                    Grid.Column="2"
+                                    WidthRequest="50"
+                                    HeightRequest="50"
+                                    CornerRadius="5" 
+                                    BackgroundColor="LightGrey"/>
+                        </Grid>
+                    </VerticalStackLayout>
+
                 </VerticalStackLayout>
             </ScrollView>
         </VerticalStackLayout>

App/RobobinApp/Views/Sides/AdminBox.xaml.cs

@@ -22,13 +22,11 @@ namespace RobobinApp.Views.Sides
         {
             InitializeComponent();
 
-
             App.WifiManager.OnMessageReceived += UpdateLatestMessage;
         }
 
         private void UpdateLatestMessage(string message)
         {
-
             MainThread.BeginInvokeOnMainThread(() =>
             {
                 LatestMessageLabel.Text = message;
@@ -37,15 +35,11 @@ namespace RobobinApp.Views.Sides
 
         private async void OnSendMessageClicked(object sender, EventArgs e)
         {
-
             string messageToSend = TcpMessageEntry.Text;
 
             if (!string.IsNullOrWhiteSpace(messageToSend))
             {
-
                 await App.WifiManager.SendMessageAsync(messageToSend);
-
-
                 TcpMessageEntry.Text = string.Empty;
             }
             else
@@ -69,6 +63,41 @@ namespace RobobinApp.Views.Sides
             await App.WifiManager.SendMessageAsync("SETMODE Follow");
         }
 
+        // WASD Button Handlers
+        private async void OnWClicked(object sender, EventArgs e)
+        {
+            await SendManualControlMessage("W");
+        }
+
+        private async void OnAClicked(object sender, EventArgs e)
+        {
+            await SendManualControlMessage("A");
+        }
+
+        private async void OnSClicked(object sender, EventArgs e)
+        {
+            await SendManualControlMessage("S");
+        }
+
+        private async void OnDClicked(object sender, EventArgs e)
+        {
+            await SendManualControlMessage("D");
+        }
+
+        // Helper Method for Manual Control Messages
+        private async Task SendManualControlMessage(string direction)
+        {
+            if (App.WifiManager.Mode == "Manual")
+            {
+                string message = $"MANUALCTRL {direction}";
+                await App.WifiManager.SendMessageAsync(message);
+            }
+            else
+            {
+                await Application.Current.MainPage.DisplayAlert("Error", "App is not in Manual mode.", "OK");
+            }
+        }
+
         protected static void OnHeaderTitleChanged(BindableObject bindable, object oldValue, object newValue)
         {
             var control = (AdminBox)bindable;
@@ -87,7 +116,5 @@ namespace RobobinApp.Views.Sides
                 App.WifiManager.OnMessageReceived -= UpdateLatestMessage;
             }
         }
-       
     }
 }
-

ros2/src/robobin/robobin/message_handler.py

@@ -35,7 +35,7 @@ class MessageHandler:
         else:
             client_socket.sendall(response)
         self.api_node.mode = message
-        return "mode", message
+        return None
     def handle_time_request(self, client_socket, _):
         """Sends the current server time."""
         response = time.ctime().encode()