Merge pull request #62 from MissouriMRDT/feature-rovecomm2

Feature Rovecomm2 and Development

RED/Addons/BoolToValueConverter.cs → Core/Addons/BoolToValueConverter.cs

@@ -1,7 +1,7 @@
 using System;
 using System.Windows.Data;
 
-namespace RED.Addons
+namespace Core.Addons
 {
     public class BoolToValueConverter<T> : IValueConverter
     {

RED/Configurations/Input/Controllers/XboxControllerInputConfig.cs → Core/Configurations/Input/Controllers/XboxControllerInputConfig.cs

@@ -1,6 +1,6 @@
-using RED.Contexts.Input.Controllers;
+using Core.Contexts.Input.Controllers;
 
-namespace RED.Configurations.Input.Controllers
+namespace Core.Configurations.Input.Controllers
 {
     internal static class XboxControllerInputConfig
     {

RED/Configurations/Input/InputManagerConfig.cs → Core/Configurations/Input/InputManagerConfig.cs

@@ -1,57 +1,59 @@
-using RED.Contexts.Input;
+using Core.Contexts.Input;
 
-namespace RED.Configurations.Input
+namespace Core.Configurations.Input
 {
-    internal static class InputManagerConfig
+    public static class InputManagerConfig
     {
-        internal static InputMappingsContext DefaultInputMappings = new InputMappingsContext(new[] {
-            new InputMappingContext("Tank Drive (Traditional)", "Xbox", "Drive", 30, new[] {
+        public static InputMappingsContext DefaultInputMappings = new InputMappingsContext(new[] {
+            new InputMappingContext("Tank Drive (Traditional)", "Xbox", "Drive", 100, new[] {
                 new InputChannelContext("JoyStick1Y", "WheelsLeft"){ Parabolic = true },
                 new InputChannelContext("JoyStick2Y", "WheelsRight"){ Parabolic = true },
                 new InputChannelContext("ButtonStartDebounced", "ModeCycle") }),
-            new InputMappingContext("Diagonal Drive", "FlightStick", "Drive", 30, new[] {
+            new InputMappingContext("Diagonal Drive", "FlightStick", "Drive", 100, new[] {
                 new InputChannelContext("X", "WheelsLeft"){ Parabolic = true },
                 new InputChannelContext("Y", "WheelsRight"){ Parabolic = true },
                 new InputChannelContext("Button7Debounced", "ModeCycle") }),
-            new InputMappingContext("Vector Drive", "FlightStick", "Drive", 30, new[] {
+            new InputMappingContext("Vector Drive", "FlightStick", "Drive", 100, new[] {
                 new InputChannelContext("X", "VectorX"),
                 new InputChannelContext("Y", "VectorY"),
+                new InputChannelContext("Button8", "ForwardBump"),
+                new InputChannelContext("Button10", "BackwardBump"),
                 new InputChannelContext("Slider0", "Throttle"),
                 new InputChannelContext("Button7Debounced", "ModeCycle") }),
             new InputMappingContext("Arm (Traditional)", "Xbox", "Arm", 100, new[] {
                 new InputChannelContext("JoyStick1Y", "IKYIncrement"){ Parabolic = true },
-                new InputChannelContext("JoyStick1Y", "ElbowBend"){ Parabolic = true },
+                new InputChannelContext("JoyStick1Y", "ElbowBend"){},
                 new InputChannelContext("JoyStick1X", "IKXIncrement"){ Parabolic = true },
-                new InputChannelContext("JoyStick1X", "ElbowTwist"){ Parabolic = true },
+                new InputChannelContext("JoyStick1X", "ElbowTwist"){},
                 new InputChannelContext("JoyStick2Y", "IKPitchIncrement"){ Parabolic = true },
-                new InputChannelContext("JoyStick2Y", "WristBend"){ Parabolic = true},
+                new InputChannelContext("JoyStick2Y", "WristBend"){},
                 new InputChannelContext("JoyStick2X", "IKYawIncrement"){ Parabolic = true },
-                new InputChannelContext("JoyStick2X", "WristTwist"){ Parabolic = true },
+                new InputChannelContext("JoyStick2X", "WristTwist"){},
                 new InputChannelContext("ButtonDPadUDebounced", "UseOpenLoop"),
                 new InputChannelContext("ButtonDPadDDebounced", "UseAngular"),
                 new InputChannelContext("ButtonDPadRDebounced", "UseRoverPerspectiveIK"),
                 new InputChannelContext("ButtonDPadLDebounced", "UseWristPerspectiveIK"),
-                new InputChannelContext("ButtonY", "NipperClose"),
-                new InputChannelContext("ButtonA", "NipperOpen"),
+                new InputChannelContext("ButtonY", "Nipper"),
                 new InputChannelContext("LeftTrigger", "IKZMagnitude"),
-                new InputChannelContext("LeftTrigger", "BaseBendMagnitude"),
+                new InputChannelContext("RightTrigger", "BaseBendMagnitude"),
                 new InputChannelContext("RightTrigger", "IKRollMagnitude"),
-                new InputChannelContext("RightTrigger", "BaseTwistMagnitude"),
+                new InputChannelContext("LeftTrigger", "BaseTwistMagnitude"),
                 new InputChannelContext("ButtonRb", "IKRollDirection"),
-                new InputChannelContext("ButtonRb", "BaseTwistDirection"),
+                new InputChannelContext("ButtonLb", "BaseTwistDirection"),
                 new InputChannelContext("ButtonLb", "IKZDirection"),
-                new InputChannelContext("ButtonLb", "BaseBendDirection"),
+                new InputChannelContext("ButtonRb", "BaseBendDirection"),
                 new InputChannelContext("ButtonB", "GripperOpen"),
                 new InputChannelContext("ButtonX", "GripperClose"),
+                new InputChannelContext("ButtonA", "SwitchTool"),
                 new InputChannelContext("ButtonBackDebounced", "GripperSwap"),
-                new InputChannelContext("ButtonStartDebounced", "ModeCycle") }),
+                new InputChannelContext("ButtonStartDebounced", "LaserToggle") }),
+
             new InputMappingContext("Xbox Science Controls", "Xbox", "ScienceControls", 100, new[] {
                 new InputChannelContext("JoyStick1Y", "Screw"){ Parabolic = true },
-                new InputChannelContext("JoyStick2Y", "Drill"){ Parabolic = true },
-                new InputChannelContext("DPadL", "GenevaLeft"){ Parabolic = true },
-                new InputChannelContext("DPadR", "GenevaRight"){ Parabolic = true },
-                new InputChannelContext("DPadU", "OpenLoop"){ Parabolic = true },
-                new InputChannelContext("DPadD", "ClosedLoop"){ Parabolic = true },
+                new InputChannelContext("JoyStick2X", "XActuation"){ Parabolic = true },
+                new InputChannelContext("JoyStick2Y", "YActuation"){ Parabolic = true },
+                new InputChannelContext("DPadU", "ScrewPosUp"),
+                new InputChannelContext("DPadD", "ScrewPosDown"),
                 new InputChannelContext("ButtonStartDebounced", "ModeCycle") }),
             new InputMappingContext("Xbox Gimbal", "Xbox", "Gimbal", 100, new[] {
                 new InputChannelContext("JoyStick1X", "Pan"){ Parabolic = true },
@@ -61,21 +63,21 @@ internal static class InputManagerConfig
                 new InputChannelContext("JoyStick2X", "Roll"){ Parabolic = true },
                 new InputChannelContext("JoyStick2Y", "Zoom"){ Parabolic = true },
                 new InputChannelContext("DPadU", "MainGimbalSwitch"){ Parabolic = true },
-                new InputChannelContext("DPadD", "SubGimbalSwitch"){ Parabolic = true },
+                new InputChannelContext("DPadD", "DriveGimbalSwitch"){ Parabolic = true },
                 new InputChannelContext("ButtonStartDebounced", "ModeCycle") }),
-            new InputMappingContext("Key Drive", "Keyboard", "Drive", 30, new[] {
+            new InputMappingContext("Key Drive", "Keyboard", "Drive", 100, new[] {
                 new InputChannelContext("WS", "WheelsLeft"),
                 new InputChannelContext("IK", "WheelsRight"),
                 new InputChannelContext("RDebounced", "ModeCycle") }),
-            new InputMappingContext("Key Gimbal", "Keyboard", "Gimbal", 30, new[] {
+            new InputMappingContext("Key Gimbal", "Keyboard", "Gimbal", 100, new[] {
                 new InputChannelContext("AD", "Pan"),
                 new InputChannelContext("WS", "Tilt"),
                 new InputChannelContext("I", "ZoomIn"),
                 new InputChannelContext("K", "ZoomOut"),
                 new InputChannelContext("RDebounced", "ModeCycle") }),
         });
 
-        internal static InputSelectionsContext DefaultInputSelections = new InputSelectionsContext(new[] {
+        public static InputSelectionsContext DefaultInputSelections = new InputSelectionsContext(new[] {
             new InputSelectionContext("Drive", "Xbox 1", "Tank Drive (Traditional)", true),
             new InputSelectionContext("Arm", "Xbox 1", "Arm (Traditional)", false),
             new InputSelectionContext("Main Gimbal", "Xbox 1", "Xbox Gimbal",false),

Core/Configurations/MetadataManagerConfig.cs

@@ -4,7 +4,7 @@ namespace Core.Configurations
 {
     public static class MetadataManagerConfig
     {
-        public static MetadataSaveContext DefaultMetadata = new MetadataSaveContext(new[] {
+        internal static MetadataSaveContext RovecommOneMetadata = new MetadataSaveContext(new[] {
             new MetadataServerContext("Drive Board", "192.168.1.130") {
                 Commands = new[] {
                     new MetadataRecordContext(528, "DriveLeftRight", "Left wheels speed followed by right wheels speed"),
@@ -185,5 +185,128 @@ public static class MetadataManagerConfig
                 }
             },
         });
+
+
+
+
+
+        internal static MetadataSaveContext RovecommTwoMetadata = new MetadataSaveContext(new[] {
+            new MetadataServerContext("Drive Board", "192.168.1.134") {
+                Commands = new[] {
+                    new MetadataRecordContext(1000, "DriveLeftRight", "Left wheels speed followed by right wheels speed"),
+                    new MetadataRecordContext(1001, "SpeedRamp", "Controls the accleration limit, ms to full speed"),
+                },
+                Telemetry = new[]
+                {
+                    new MetadataRecordContext(1100, "DriveWatchdogTriggered", "")
+                }
+            },
+            new MetadataServerContext("Arm Board", "192.168.1.131") {
+                Commands = new[]
+                {
+                    new MetadataRecordContext(8000, "ArmToAngle", "All values for the arm together. Armj1-j6."),
+                    new MetadataRecordContext(8002, "IKRoverIncrement", "Incremental values for rover ik."),
+                    new MetadataRecordContext(8003, "IKGripperIncrement", "Incremental values for gripper ik."),
+                    new MetadataRecordContext(8004, "ArmValues", "All values for the arm together. Armj1-j6, then primary then secondary gripper."),
+                    new MetadataRecordContext(8007, "ArmCommands", "Swap Gripper, Get Position 0, 1"),
+                    new MetadataRecordContext(8013, "ToolSelection", "Change the selected tool, 0 1 & 2"),
+                    new MetadataRecordContext(8014, "Laser", "Toggle the laser"),
+                    new MetadataRecordContext(8015, "LimitSwitchOverride", "Toggle the laser")
+
+                },
+                 Telemetry = new[]
+                {
+                    new MetadataRecordContext(8101, "ArmAngles", "Angles for the arm joints")
+                }
+            },
+
+            new MetadataServerContext("BMS Board", "192.168.1.133") {
+                Commands = new[] {
+                    new MetadataRecordContext(2000, "BMSStop", "BMS E-stop. WARNING: Kills all rover power. Cannot be reversed remotely!")
+                },
+                Telemetry = new[] {
+                    new MetadataRecordContext(2101, "BMSVoltages", "BMS"),
+                    new MetadataRecordContext(2100, "TotalPackCurrentInt", "BMS"),
+                    new MetadataRecordContext(2102, "BMSTemperatureInt", "BMS"),
+                    new MetadataRecordContext(2103, "BMSError", "BMS")
+                }
+            },
+
+            new MetadataServerContext("Power Board", "192.168.1.132") {
+                Commands = new[] {
+                    new MetadataRecordContext(3000, "PowerBusEnableDisable", "Enables or Disables power bus"),
+                },
+                Telemetry = new[] {
+                    new MetadataRecordContext(3100, "PowerCurrents", "Powerboard"),
+                    new MetadataRecordContext(3101, "PowerBusStatus", "")
+                }
+            },
+            new MetadataServerContext("NavCamera Board", "192.168.1.136") {
+                Commands = new[]
+                {
+                    new MetadataRecordContext(5000, "CalibrateIMU", "")
+                },
+                Telemetry = new[] {
+                    new MetadataRecordContext(5100, "GPSPosition", "GPS Position. Latitude followed by Longitude"),
+                    new MetadataRecordContext(5101, "PitchHeadingRoll", ""),
+                    new MetadataRecordContext(5102, "Lidar", ""),
+                    new MetadataRecordContext(5103, "GPSTelem", ""),
+                    //new MetadataRecordContext(1296, "GPSQuality", "Quality of GPS signal"),
+                    //new MetadataRecordContext(1298, "GPSSpeed", "Speed of GPS delta"),
+                    //new MetadataRecordContext(1299, "GPSSpeedAngle", "Angle of GPS delta in degrees"),
+                    //new MetadataRecordContext(1300, "GPSAltitude", "GPS Altitude"),
+                    //new MetadataRecordContext(1301, "GPSSatellites", "Number of GPS Satellites"),
+
+                    new MetadataRecordContext(4000, "CameraMuxChannel1", "Selection for Camera Mux Channel"),
+                }
+            },
+            new MetadataServerContext("Gimbal Board", "192.168.1.135") {
+                Commands = new[] {
+                    new MetadataRecordContext(6002, "MainGimbalIncrement", "pan, tilt"),
+                    new MetadataRecordContext(6004, "DriveGimbalIncrement", "pan, tilt")
+                }
+            },
+            new MetadataServerContext("ScienceSensors Board", "192.168.1.138") {
+                Commands = new[] {
+                    new MetadataRecordContext(10000, "RunSpectrometer", "Sends command to begin the spectrometer sequence."),
+                    new MetadataRecordContext(10001, "UVLedControl", "Control of light source."),
+                },
+                Telemetry = new[] {
+                    new MetadataRecordContext(10100, "ScienceSensors", "Sensor data [AirT, AirM, SoilT, SoilM, Methane]"),
+                }
+            },
+            new MetadataServerContext("ScienceAcutation Board", "192.168.1.137") {
+                Commands = new[] {
+                    new MetadataRecordContext(9000, "Screw", "-1000 to 1000 open loop for screw control"),
+                    new MetadataRecordContext(9001, "ScrewAbsoluteSetPosition", ""),
+                    new MetadataRecordContext(9002, "ScrewRelativeSetPosition", ""),
+                    new MetadataRecordContext(9002, "XYActuation", "[x][y]"),
+                    new MetadataRecordContext(9004, "CenterX", "")
+                },
+                Telemetry = new[]
+                {
+                    new MetadataRecordContext(9100, "ScrewAtPos", "byte"),
+                }
+            },
+            new MetadataServerContext("Autonomy Board", "192.168.1.139") {
+                Commands = new[] {
+                    new MetadataRecordContext(11100, "AutonomousModeEnable", ""),
+                    new MetadataRecordContext(11101, "AutonomousModeDisable", ""),
+                    new MetadataRecordContext(11102, "WaypointAdd", ""),
+                    new MetadataRecordContext(11103, "WaypointsClearAll", ""),
+                    new MetadataRecordContext(11104, "AutonomyCalibrate", "")
+                },
+                Telemetry = new[] {
+                    new MetadataRecordContext(2580, "WaypointReached", "")
+                }
+            },
+            new MetadataServerContext("Lighting Board", "192.168.1.142") {
+                Commands = new[] {
+                    new MetadataRecordContext(7000, "Headlights", "Headlights for the front of rover"),
+                    new MetadataRecordContext(7001, "UnderglowColor", "rgb byte[]"),
+                    new MetadataRecordContext(7002, "CycleLightingMode", "byte mode")
+                }
+            },
+        });
     }
 }

RED/Contexts/Input/Controllers/XboxControllerSettingsContext.cs → Core/Contexts/Input/Controllers/XboxControllerSettingsContext.cs

@@ -1,6 +1,6 @@
 using Core.Contexts;
 
-namespace RED.Contexts.Input.Controllers
+namespace Core.Contexts.Input.Controllers
 {
     public class XboxControllerSettingsContext : ConfigurationFile
     {

RED/Contexts/Input/InputMappingsContext.cs → Core/Contexts/Input/InputMappingsContext.cs

@@ -1,7 +1,7 @@
 using System.Xml.Serialization;
 using Core.Contexts;
 
-namespace RED.Contexts.Input
+namespace Core.Contexts.Input
 {
     [XmlType(TypeName = "InputMappings")]
     public class InputMappingsContext : ConfigurationFile

RED/Contexts/Input/InputSelectionContext.cs → Core/Contexts/Input/InputSelectionContext.cs

@@ -2,7 +2,7 @@
 using System.Xml.Serialization;
 using Core.Contexts;
 
-namespace RED.Contexts.Input
+namespace Core.Contexts.Input
 {
     [XmlType(TypeName = "InputSelectionData")]
     public class InputSelectionsContext : ConfigurationFile