Modes now exist within the .NET

App/RobobinApp/Networking/WifiManager.cs

@@ -8,18 +8,46 @@ using System.Diagnostics;
 using System.Text.Json;
 using Newtonsoft.Json;
 using JsonException = Newtonsoft.Json.JsonException;
+using System.ComponentModel;
+using System.Runtime.CompilerServices;
 
 namespace RobobinApp.Networking
 {
-    public class WifiManager : IWifiService
+    public class WifiManager : IWifiService, INotifyPropertyChanged
     {
+        private (float X, float Y)? _location;
+        private string _mode = "Unknown";
+
+        public event PropertyChangedEventHandler PropertyChanged;
         private UdpClient _udpClient;
         private const int BroadcastPort = 5005;
         private bool _isConnected = false;
         private CancellationTokenSource _cancellationTokenSource;
         private TcpClient _tcpClient;
-        public string Location { get; private set; } = "Unknown";
+        public (float X, float Y)? Location
+        {
+            get => _location;
+            private set
+            {
+                _location = value;
+                OnPropertyChanged(); // Notify change
+            }
+        }
 
+        public string Mode
+        {
+            get => _mode;
+            private set
+            {
+                _mode = value;
+                OnPropertyChanged(); // Notify change
+            }
+        }
+
+        protected void OnPropertyChanged([CallerMemberName] string propertyName = null)
+        {
+            PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(propertyName));
+        }
         // Event to notify the UI or other parts of the app of specific messages
         public event Action<string> OnMessageReceived;
 
@@ -43,6 +71,7 @@ namespace RobobinApp.Networking
                     // Parse JSON
                     var jsonMessage = JsonConvert.DeserializeObject<dynamic>(message);
 
+                    Debug.WriteLine($"Message Type {jsonMessage.type}");
                     if (jsonMessage != null && jsonMessage.type == "ROBOBIN_PRESENT")
                     {
                         var location = jsonMessage.data?.Location;
@@ -50,7 +79,11 @@ namespace RobobinApp.Networking
 
                         if (location != null && mode != null)
                         {
-                            Location = $"({location[0]}, {location[1]})";
+                            float x = (float)location[0];
+                            float y = (float)location[1];
+                            Location = (x, y);
+                            Mode = mode.ToString();
+
                             Debug.WriteLine($"Detected Robobin presence at location: {Location}, Mode: {mode}");
                             SendConnectMessage(result.RemoteEndPoint.Address.ToString());
                         }
@@ -90,7 +123,7 @@ namespace RobobinApp.Networking
         {
             if (_isConnected)
             {
-                Debug.WriteLine("Already connected. No need to send another connect message.");
+                //Debug.WriteLine("Already connected. No need to send another connect message.");
                 return;
             }
 

App/RobobinApp/RobobinApp.csproj

@@ -53,6 +53,7 @@
 		<PackageReference Include="Microsoft.Extensions.Logging.Debug" Version="8.0.1" />
 		<PackageReference Include="Microsoft.Maui.Essentials" Version="8.0.91" />
 		<PackageReference Include="Microsoft.Maui.Resizetizer" Version="8.0.91" />
+		<PackageReference Include="Newtonsoft.Json" Version="13.0.3" />
 		<PackageReference Include="Plugin.BLE" Version="3.1.0" />
 		<PackageReference Include="Shiny" Version="2.7.3" />
 		<PackageReference Include="Shiny.BluetoothLE" Version="3.3.3" />

App/RobobinApp/Views/Sides/AdminBox.xaml

@@ -6,44 +6,85 @@
 	<Frame class="side-box-frame">
 		<VerticalStackLayout>
 
+			<!-- Header -->
 			<Grid class="side-box-header">
 				<Label x:Name="HeaderText"
                        Text="Admin:"
                        class="side-box-header-text"/>
 			</Grid>
 
+			<!-- Content -->
 			<ScrollView class="side-box-content">
 				<VerticalStackLayout>
 
-               
-                        
-                        <HorizontalStackLayout>
+					<!-- Send TCP Message Section -->
+					<VerticalStackLayout Spacing="10" Padding="10">
 						<Label Text="Send TCP Message:" />
+
+						<!-- Grid Layout for Entry and Button -->
+						<Grid ColumnDefinitions="*, Auto">
+							<!-- Entry Field -->
 							<Entry x:Name="TcpMessageEntry"
                                    Placeholder="Type message here"
                                    BackgroundColor="#FFFFFF"
-                                    Grid.Column="0"
-                HorizontalOptions="FillAndExpand"
+                                   HorizontalOptions="Start"
+                                   VerticalOptions="Center"
+                                   WidthRequest="200"
+                                   HeightRequest="40"
                                    Margin="0" />
 
+							<!-- Send Button -->
 							<Button Text="Send"
                                     Clicked="OnSendMessageClicked"
                                     class="button-primary"
-               Grid.Column="1"
                                     HorizontalOptions="End"
-               Margin="0"/>
-                        </HorizontalStackLayout>
-                    <HorizontalStackLayout>
-
-                        <Label Text="Latest Message:"  Margin="0,10,0,5"/>
-                        <Frame class="primaryFrame">
-                            <Label x:Name="LatestMessageLabel" TextColor="White"
-                               Text="No messages yet."
-                               />
+                                    Grid.Column="1"
+                                    HeightRequest="40"
+                                    Margin="5,0,0,0" />
+						</Grid>
+					</VerticalStackLayout>
+
+					<!-- Latest Message Section -->
+					<VerticalStackLayout>
+						<Label Text="Latest Message:"
+                               Margin="0,10,0,5" />
+						<Frame class="primaryFrame"
+                               Padding="5"
+                               HorizontalOptions="FillAndExpand">
+							<Label x:Name="LatestMessageLabel"
+                                   TextColor="White"
+                                   Text="No messages yet." />
 						</Frame>
-                    </HorizontalStackLayout>
+					</VerticalStackLayout>
 
+					<!-- Mode Selection Buttons -->
+					<VerticalStackLayout Spacing="10" Padding="10">
+						<Label Text="Mode Selection:"
+                               FontAttributes="Bold"
+                               HorizontalOptions="Center" />
 
+						<!-- Buttons for Modes -->
+						<Button Text="Manual Mode"
+                                Clicked="OnManualModeClicked"
+                                BackgroundColor="Red"
+                                TextColor="White"
+                                HeightRequest="40"
+                                CornerRadius="5" />
+
+						<Button Text="Call Me Mode"
+                                Clicked="OnCallMeModeClicked"
+                                BackgroundColor="Green"
+                                TextColor="White"
+                                HeightRequest="40"
+                                CornerRadius="5" />
+
+						<Button Text="Follow Me Mode"
+                                Clicked="OnFollowMeModeClicked"
+                                BackgroundColor="Blue"
+                                TextColor="White"
+                                HeightRequest="40"
+                                CornerRadius="5" />
+					</VerticalStackLayout>
 
 				</VerticalStackLayout>
 			</ScrollView>

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

@@ -54,6 +54,21 @@ namespace RobobinApp.Views.Sides
             }
         }
     
+        private void OnManualModeClicked(object sender, EventArgs e)
+        {
+            throw new NotImplementedException();
+        }
+
+        private void OnCallMeModeClicked(object sender, EventArgs e)
+        {
+            throw new NotImplementedException();
+        }
+
+        private void OnFollowMeModeClicked(object sender, EventArgs e)
+        {
+            throw new NotImplementedException();
+        }
+
         protected static void OnHeaderTitleChanged(BindableObject bindable, object oldValue, object newValue)
         {
             var control = (AdminBox)bindable;
@@ -72,5 +87,7 @@ namespace RobobinApp.Views.Sides
                 App.WifiManager.OnMessageReceived -= UpdateLatestMessage;
             }
         }
+       
     }
 }
+

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

-namespace RobobinApp.Views.Sides;
+using RobobinApp.Networking;
+using System.ComponentModel;
+using System.Diagnostics;
+using Microsoft.Maui.Dispatching;
 
+namespace RobobinApp.Views.Sides
+{
     public partial class ModeBox : ContentView
     {
         public ModeBox()
         {
             InitializeComponent();
-        UpdateMode("Control");
+
+            // Subscribe to changes in Mode
+            App.WifiManager.PropertyChanged += WifiManager_PropertyChanged;
+
+            // Initialize mode UI
+            UpdateMode(App.WifiManager.Mode);
+        }
+
+        private void WifiManager_PropertyChanged(object sender, PropertyChangedEventArgs e)
+        {
+            Debug.WriteLine($"New change, mode = {App.WifiManager.Mode}");
+
+            // Ensure the update happens on the UI thread
+            MainThread.BeginInvokeOnMainThread(() =>
+            {
+                UpdateMode(App.WifiManager.Mode);
+            });
         }
 
         public void UpdateMode(string mode)
         {
+            // Reset all states to default
             CallMeState.BackgroundColor = Colors.LightGray;
             FollowState.BackgroundColor = Colors.LightGray;
             ControlState.BackgroundColor = Colors.LightGray;
@@ -18,15 +40,18 @@ public partial class ModeBox : ContentView
             switch (mode)
             {
                 case "Call Me":
+                    Debug.WriteLine("New mode is call me");
                     CallMeState.BackgroundColor = Colors.Green;
                     break;
                 case "Follow":
+                    Debug.WriteLine("New mode is follow me");
                     FollowState.BackgroundColor = Colors.Blue;
                     break;
-            case "Control":
+                case "Manual":
+                    Debug.WriteLine("New mode is manual");
                     ControlState.BackgroundColor = Colors.Red;
                     break;
             }
         }
     }
-
+}

ros2/src/robobin/robobin/api_node.py

@@ -36,7 +36,11 @@ class ApiNode(Node):
                 if not data:
                     break
                 self.get_logger().info(f"Received data: {data}")
-                topic,message = self.message_handler.handle_message(client_socket, data)
+                result = self.message_handler.handle_message(client_socket, data)
+        
+                # Check if the result is not None
+                if result is not None:
+                    topic, message = result  # Safely unpack after checking
                     if topic is not None:
                         self.get_logger().info(f"Publishing to topic: {topic}")
                         self.publish_to_topic(topic, message)