Merge pull request #85 from huskyroboticsteam/BaseStationRefactor

Consolidated BaseStation projects and organized UserInterface project

BaseStation/BaseStation.sln

@@ -7,11 +7,7 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Utilities", "Utilities\Util
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "UserInterface", "MainWindow\UserInterface.csproj", "{722B3498-9988-4667-B02C-C9D15D288657}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BaseServer", "BaseServer\BaseServer.csproj", "{5FCA414A-CF38-44CB-888D-95D151A5C662}"
-EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BaseStation", "BaseStation\BaseStation.csproj", "{717939F0-9BDC-4D66-99B5-AE34D586488E}"
-EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Cotroller Client Test", "Cotroller Client Test\Cotroller Client Test.csproj", "{E1987E62-47E6-426E-BC25-0C551AEC4CB2}"
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "EntryPoint", "BaseStation\EntryPoint.csproj", "{717939F0-9BDC-4D66-99B5-AE34D586488E}"
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "SensorDiagnosticsServer", "SensorDiagnostics\SensorDiagnosticsServer\SensorDiagnosticsServer.csproj", "{43D3828E-57A1-47A5-B7F6-3BCA1B3C2BC3}"
 EndProject
@@ -21,6 +17,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "SensorRealTimeGraph", "Sens
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "PTZCamera", "PTZCamera\PTZCamera.csproj", "{0506B166-5028-4C08-B98E-3C3B1F1E75DE}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Server", "Server\Server.csproj", "{D85C3799-A5D9-4993-8356-030483406E22}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -55,18 +53,6 @@ Global
 		{722B3498-9988-4667-B02C-C9D15D288657}.Release|x64.Build.0 = Release|x64
 		{722B3498-9988-4667-B02C-C9D15D288657}.Release|x86.ActiveCfg = Release|x86
 		{722B3498-9988-4667-B02C-C9D15D288657}.Release|x86.Build.0 = Release|x86
-		{5FCA414A-CF38-44CB-888D-95D151A5C662}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{5FCA414A-CF38-44CB-888D-95D151A5C662}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{5FCA414A-CF38-44CB-888D-95D151A5C662}.Debug|x64.ActiveCfg = Debug|Any CPU
-		{5FCA414A-CF38-44CB-888D-95D151A5C662}.Debug|x64.Build.0 = Debug|Any CPU
-		{5FCA414A-CF38-44CB-888D-95D151A5C662}.Debug|x86.ActiveCfg = Debug|Any CPU
-		{5FCA414A-CF38-44CB-888D-95D151A5C662}.Debug|x86.Build.0 = Debug|Any CPU
-		{5FCA414A-CF38-44CB-888D-95D151A5C662}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{5FCA414A-CF38-44CB-888D-95D151A5C662}.Release|Any CPU.Build.0 = Release|Any CPU
-		{5FCA414A-CF38-44CB-888D-95D151A5C662}.Release|x64.ActiveCfg = Release|Any CPU
-		{5FCA414A-CF38-44CB-888D-95D151A5C662}.Release|x64.Build.0 = Release|Any CPU
-		{5FCA414A-CF38-44CB-888D-95D151A5C662}.Release|x86.ActiveCfg = Release|Any CPU
-		{5FCA414A-CF38-44CB-888D-95D151A5C662}.Release|x86.Build.0 = Release|Any CPU
 		{717939F0-9BDC-4D66-99B5-AE34D586488E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{717939F0-9BDC-4D66-99B5-AE34D586488E}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{717939F0-9BDC-4D66-99B5-AE34D586488E}.Debug|x64.ActiveCfg = Debug|Any CPU
@@ -79,18 +65,6 @@ Global
 		{717939F0-9BDC-4D66-99B5-AE34D586488E}.Release|x64.Build.0 = Release|Any CPU
 		{717939F0-9BDC-4D66-99B5-AE34D586488E}.Release|x86.ActiveCfg = Release|Any CPU
 		{717939F0-9BDC-4D66-99B5-AE34D586488E}.Release|x86.Build.0 = Release|Any CPU
-		{E1987E62-47E6-426E-BC25-0C551AEC4CB2}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{E1987E62-47E6-426E-BC25-0C551AEC4CB2}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{E1987E62-47E6-426E-BC25-0C551AEC4CB2}.Debug|x64.ActiveCfg = Debug|Any CPU
-		{E1987E62-47E6-426E-BC25-0C551AEC4CB2}.Debug|x64.Build.0 = Debug|Any CPU
-		{E1987E62-47E6-426E-BC25-0C551AEC4CB2}.Debug|x86.ActiveCfg = Debug|Any CPU
-		{E1987E62-47E6-426E-BC25-0C551AEC4CB2}.Debug|x86.Build.0 = Debug|Any CPU
-		{E1987E62-47E6-426E-BC25-0C551AEC4CB2}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{E1987E62-47E6-426E-BC25-0C551AEC4CB2}.Release|Any CPU.Build.0 = Release|Any CPU
-		{E1987E62-47E6-426E-BC25-0C551AEC4CB2}.Release|x64.ActiveCfg = Release|Any CPU
-		{E1987E62-47E6-426E-BC25-0C551AEC4CB2}.Release|x64.Build.0 = Release|Any CPU
-		{E1987E62-47E6-426E-BC25-0C551AEC4CB2}.Release|x86.ActiveCfg = Release|Any CPU
-		{E1987E62-47E6-426E-BC25-0C551AEC4CB2}.Release|x86.Build.0 = Release|Any CPU
 		{43D3828E-57A1-47A5-B7F6-3BCA1B3C2BC3}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{43D3828E-57A1-47A5-B7F6-3BCA1B3C2BC3}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{43D3828E-57A1-47A5-B7F6-3BCA1B3C2BC3}.Debug|x64.ActiveCfg = Debug|Any CPU
@@ -139,6 +113,18 @@ Global
 		{0506B166-5028-4C08-B98E-3C3B1F1E75DE}.Release|x64.Build.0 = Release|Any CPU
 		{0506B166-5028-4C08-B98E-3C3B1F1E75DE}.Release|x86.ActiveCfg = Release|Any CPU
 		{0506B166-5028-4C08-B98E-3C3B1F1E75DE}.Release|x86.Build.0 = Release|Any CPU
+		{D85C3799-A5D9-4993-8356-030483406E22}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{D85C3799-A5D9-4993-8356-030483406E22}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{D85C3799-A5D9-4993-8356-030483406E22}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{D85C3799-A5D9-4993-8356-030483406E22}.Debug|x64.Build.0 = Debug|Any CPU
+		{D85C3799-A5D9-4993-8356-030483406E22}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{D85C3799-A5D9-4993-8356-030483406E22}.Debug|x86.Build.0 = Debug|Any CPU
+		{D85C3799-A5D9-4993-8356-030483406E22}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{D85C3799-A5D9-4993-8356-030483406E22}.Release|Any CPU.Build.0 = Release|Any CPU
+		{D85C3799-A5D9-4993-8356-030483406E22}.Release|x64.ActiveCfg = Release|Any CPU
+		{D85C3799-A5D9-4993-8356-030483406E22}.Release|x64.Build.0 = Release|Any CPU
+		{D85C3799-A5D9-4993-8356-030483406E22}.Release|x86.ActiveCfg = Release|Any CPU
+		{D85C3799-A5D9-4993-8356-030483406E22}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

BaseStation/BaseStation/BaseStation.csproj → BaseStation/BaseStation/EntryPoint.csproj

@@ -64,14 +64,9 @@
     <None Include="packages.config" />
   </ItemGroup>
   <ItemGroup>
-    <Compile Include="GamepadFactory.cs" />
     <Compile Include="StartBaseStation.cs" />
   </ItemGroup>
   <ItemGroup>
-    <ProjectReference Include="..\BaseServer\BaseServer.csproj">
-      <Project>{5fca414a-cf38-44cb-888d-95d151a5c662}</Project>
-      <Name>BaseServer</Name>
-    </ProjectReference>
     <ProjectReference Include="..\MainWindow\UserInterface.csproj">
       <Project>{722b3498-9988-4667-b02c-c9d15d288657}</Project>
       <Name>UserInterface</Name>
@@ -80,6 +75,10 @@
       <Project>{0506b166-5028-4c08-b98e-3c3b1f1e75de}</Project>
       <Name>PTZCamera</Name>
     </ProjectReference>
+    <ProjectReference Include="..\Server\Server.csproj">
+      <Project>{d85c3799-a5d9-4993-8356-030483406e22}</Project>
+      <Name>Server</Name>
+    </ProjectReference>
     <ProjectReference Include="..\Utilities\Utilities.csproj">
       <Project>{a6dfdff4-614f-4225-8f75-c81c6765f23e}</Project>
       <Name>Utilities</Name>
@@ -90,15 +89,6 @@
       <HintPath>..\packages\HuskyRobotics.Scarlet.0.5.1\lib\BBBCSIO.dll</HintPath>
     </Reference>
     <Reference Include="PresentationFramework" />
-    <Reference Include="Scarlet, Version=0.5.1.0, Culture=neutral, processorArchitecture=MSIL">
-      <HintPath>..\packages\HuskyRobotics.Scarlet.0.5.1\lib\Scarlet.dll</HintPath>
-    </Reference>
-    <Reference Include="SharpDX, Version=4.2.0.0, Culture=neutral, PublicKeyToken=b4dcf0f35e5521f1, processorArchitecture=MSIL">
-      <HintPath>..\packages\SharpDX.4.2.0\lib\net45\SharpDX.dll</HintPath>
-    </Reference>
-    <Reference Include="SharpDX.XInput, Version=4.2.0.0, Culture=neutral, PublicKeyToken=b4dcf0f35e5521f1, processorArchitecture=MSIL">
-      <HintPath>..\packages\SharpDX.XInput.4.2.0\lib\net45\SharpDX.XInput.dll</HintPath>
-    </Reference>
     <Reference Include="System" />
     <Reference Include="System.Half, Version=0.0.0.0, Culture=neutral, processorArchitecture=MSIL">
       <HintPath>..\packages\HuskyRobotics.Scarlet.0.5.1\lib\System.Half.dll</HintPath>

BaseStation/BaseStation/StartBaseStation.cs

@@ -11,9 +11,6 @@ namespace HuskyRobotics.BaseStation.Start
 {
     public static class StartBaseStation
     {
-        private static readonly SharpDX.XInput.Controller DriveController = GamepadFactory.GetDriveGamePad();
-        private static readonly SharpDX.XInput.Controller ArmController = GamepadFactory.GetArmGamepad();
-
         /// <summary>
         /// The entry point of the base station system. Starts the base station user interface
 		/// and communication with the rover.
@@ -22,7 +19,7 @@ public static class StartBaseStation
 		[STAThread]
         public static void Main(String[] args)
         {
-            BaseServer.Setup();
+            PacketSender.Setup();
             CameraControl.Setup();
             new Thread(StartUpdates).Start();
             Application app = new Application();
@@ -32,8 +29,8 @@ public static void Main(String[] args)
 
         private static void Update()
         {
-            BaseServer.Update(DriveController, ArmController);
-            CameraControl.Update(DriveController);
+            PacketSender.Update();
+            CameraControl.Update();
             Thread.Sleep(100);
         }
 
@@ -50,7 +47,7 @@ public static void StartUpdates()
         public static void StopUpdates()
         {
             exit = true;
-            BaseServer.Shutdown();
+            PacketSender.Shutdown();
         }
     }
 }

BaseStation/MainWindow/BeaconFinder.xaml.cs → BaseStation/MainWindow/Elements/BeaconFinder.xaml.cs

@@ -25,7 +25,7 @@ public partial class BeaconFinder : UserControl
 
         public BeaconFinder()
         {
-            BaseServer.RFUpdate += UpdateVoltage;
+            PacketSender.RFUpdate += UpdateVoltage;
             InitializeComponent();
         }
 

BaseStation/MainWindow/CompassHeading.xaml.cs → BaseStation/MainWindow/Elements/CompassHeading.xaml.cs

@@ -25,7 +25,7 @@ public partial class CompassHeading : UserControl
         public CompassHeading()
         {
             InitializeComponent();
-            BaseServer.MagnetometerUpdate += UpdateHeading;
+            PacketSender.MagnetometerUpdate += UpdateHeading;
         }
 
         public void UpdateHeading(Object sender, (float, float, float) data)

BaseStation/MainWindow/MapDisplay.xaml.cs → BaseStation/MainWindow/Elements/MapDisplay.xaml.cs

@@ -47,7 +47,7 @@ public ObservableCollection<Waypoint> Waypoints
         public MapDisplay()
         {
             InitializeComponent();
-            BaseServer.GPSUpdate += UpdateRoverPosition;
+            PacketSender.GPSUpdate += UpdateRoverPosition;
             _roverIconBitmap = LoadImageFromRelativeFile("Icons/RealRoverIcon.png");
             _waypointBitmap = LoadImageFromRelativeFile("Icons/waypoint.png");
             RoverIcon = new Image { Source = _roverIconBitmap };

BaseStation/MainWindow/UserInterface.csproj

@@ -126,38 +126,38 @@
     <Reference Include="PresentationFramework" />
   </ItemGroup>
   <ItemGroup>
-    <Compile Include="ArmSideView.cs" />
-    <Compile Include="ArmTopView.cs" />
-    <Compile Include="ArmView.xaml.cs">
+    <Compile Include="Arm\ArmSideView.cs" />
+    <Compile Include="Arm\ArmTopView.cs" />
+    <Compile Include="Elements\ArmView.xaml.cs">
       <DependentUpon>ArmView.xaml</DependentUpon>
     </Compile>
-    <Compile Include="CompassHeading.xaml.cs">
+    <Compile Include="Elements\CompassHeading.xaml.cs">
       <DependentUpon>CompassHeading.xaml</DependentUpon>
     </Compile>
-    <Compile Include="ConsoleView.xaml.cs">
+    <Compile Include="Elements\ConsoleView.xaml.cs">
       <DependentUpon>ConsoleView.xaml</DependentUpon>
     </Compile>
-    <Compile Include="GamePadView.xaml.cs">
+    <Compile Include="Elements\GamePadView.xaml.cs">
       <DependentUpon>GamePadView.xaml</DependentUpon>
     </Compile>
-    <Compile Include="MapConfiguration.cs" />
-    <Compile Include="MapDisplay.xaml.cs">
+    <Compile Include="Map\MapConfiguration.cs" />
+    <Compile Include="Elements\MapDisplay.xaml.cs">
       <DependentUpon>MapDisplay.xaml</DependentUpon>
     </Compile>
-    <Compile Include="MapTileDownloadManager.cs" />
+    <Compile Include="Map\MapTileDownloadManager.cs" />
     <Compile Include="Settings\RemoteDevice.cs" />
     <Compile Include="Settings\Settings.cs" />
     <Compile Include="Settings\SettingsFile.cs" />
     <Compile Include="Settings\SettingsPanel.xaml.cs">
       <DependentUpon>SettingsPanel.xaml</DependentUpon>
     </Compile>
     <Compile Include="Settings\VideoDevice.cs" />
-    <Compile Include="BeaconFinder.xaml.cs">
+    <Compile Include="Elements\BeaconFinder.xaml.cs">
       <DependentUpon>BeaconFinder.xaml</DependentUpon>
     </Compile>
     <Compile Include="Utilities\MockObservableMap.cs" />
     <Compile Include="Utilities\ProportionToDegree.cs" />
-    <Compile Include="RoverView.xaml.cs">
+    <Compile Include="Elements\RoverView.xaml.cs">
       <DependentUpon>RoverView.xaml</DependentUpon>
     </Compile>
     <Compile Include="VideoStreamer\RTSPVideoWindow.xaml.cs">
@@ -168,45 +168,45 @@
       <DependentUpon>RTPVideoWindow.xaml</DependentUpon>
     </Compile>
     <Compile Include="VideoStreamer\VideoWindow.cs" />
-    <Compile Include="Waypoint.cs" />
-    <Compile Include="WaypointsFile.cs" />
-    <Page Include="ArmView.xaml">
+    <Compile Include="Map\Waypoint.cs" />
+    <Compile Include="Map\WaypointsFile.cs" />
+    <Page Include="Elements\ArmView.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
-    <Page Include="CompassHeading.xaml">
+    <Page Include="Elements\CompassHeading.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
-    <Page Include="ConsoleView.xaml">
+    <Page Include="Elements\ConsoleView.xaml">
       <SubType>Designer</SubType>
       <Generator>XamlIntelliSenseFileGenerator</Generator>
     </Page>
-    <Page Include="GamePadView.xaml">
+    <Page Include="Elements\GamePadView.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
-    <Page Include="MainWindow.xaml">
+    <Page Include="Elements\MainWindow.xaml">
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
     </Page>
-    <Compile Include="MainWindow.xaml.cs">
+    <Compile Include="Elements\MainWindow.xaml.cs">
       <DependentUpon>MainWindow.xaml</DependentUpon>
       <SubType>Code</SubType>
     </Compile>
-    <Page Include="MapDisplay.xaml">
+    <Page Include="Elements\MapDisplay.xaml">
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
     </Page>
-    <Page Include="RoverView.xaml">
+    <Page Include="Elements\RoverView.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
     <Page Include="Settings\SettingsPanel.xaml">
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
     </Page>
-    <Page Include="BeaconFinder.xaml">
+    <Page Include="Elements\BeaconFinder.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
@@ -247,9 +247,9 @@
     <None Include="App.config" />
   </ItemGroup>
   <ItemGroup>
-    <ProjectReference Include="..\BaseServer\BaseServer.csproj">
-      <Project>{5fca414a-cf38-44cb-888d-95d151a5c662}</Project>
-      <Name>BaseServer</Name>
+    <ProjectReference Include="..\Server\Server.csproj">
+      <Project>{d85c3799-a5d9-4993-8356-030483406e22}</Project>
+      <Name>Server</Name>
     </ProjectReference>
     <ProjectReference Include="..\Utilities\Utilities.csproj">
       <Project>{A6DFDFF4-614F-4225-8F75-C81C6765F23E}</Project>

BaseStation/PTZCamera/CameraControl.cs

@@ -1,13 +1,6 @@
-using Scarlet.Utilities;
-using SharpDX.XInput;
+using SharpDX.XInput;
 using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Net;
 using System.Net.Http;
-using System.Text;
-using System.Threading;
-using System.Threading.Tasks;
 
 
 namespace HuskyRobotics.BaseStation
@@ -22,8 +15,9 @@ public static class CameraControl
 
         public static void Setup() => cam = new PTZCamera("192.168.0.42", "admin", "1234", new HttpClient());
 
-        public static void Update(Controller controller)
+        public static void Update()
         {
+			Controller controller = GamepadFactory.DriveGamepad;
             if(controller.IsConnected)
             {
                 State state = controller.GetState();

BaseStation/PTZCamera/PTZCamera.csproj

@@ -69,5 +69,11 @@
     <None Include="App.config" />
     <None Include="packages.config" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\Utilities\Utilities.csproj">
+      <Project>{a6dfdff4-614f-4225-8f75-c81c6765f23e}</Project>
+      <Name>Utilities</Name>
+    </ProjectReference>
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>