buggy.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.IO.Ports;
using System.Threading;

namespace Lab2
{
    class Program
    {
        static List<string> messages = new List<string>();

        static SerialPort port = new SerialPort();
        static int numGanteries = 0;

        // toggles between 0 and 1.
        // Buggy 0 parks in the 3rd gantry and goes first.
        // Buggy 1 parks in the parking lane and goes second.
        // Currently, Buggy 0 always goes clockwise (and goes first) and buggy 1 always goes anti-clockwise, starting second.

        static int currentBuggy = 0;

        static int lapsLeft = 20;

        static bool buggy0Alive = false;
        static bool buggy1Alive = false;

        static bool buggy0Responded = false;
        static bool buggy1Responded = false;

        static bool isDone = false;

        public enum Challege { Bronze, Silver, Gold };
        static Challege CurrentChallege;

        static void Main(string[] args)
        {
            // Initilise port with correct port ID.
            port.PortName = "COM8";
            port.BaudRate = 9600;
            port.Open();

            port.Write("+++");
            Thread.Sleep(1100);
            port.WriteLine("ATID 3306, CH C, CN");

            // Set up listener to port, whenever the port recieves information, DataHandler will be called.
            port.DataReceived += new SerialDataReceivedEventHandler(DataHandler);

            int mode = 0;
            while (true)
            {
                Console.WriteLine("Enter the challage you'd like to run. 0: Bronze, 1: Silver, 2: Gold");

                if (int.TryParse(Console.ReadLine(), out mode))
                    break;
                else
                    Console.WriteLine("Please enter a valid number.");
            }

            if (mode == 0) CurrentChallege = Challege.Bronze;
            if (mode == 1) CurrentChallege = Challege.Silver;
            if (mode == 2) CurrentChallege = Challege.Gold;

            if (CurrentChallege == Challege.Silver)
                lapsLeft = 2;

            while (true && CurrentChallege == Challege.Gold)
            {
                Console.WriteLine("Enter the number of laps you'd like each buggy to complete");

                if (int.TryParse(Console.ReadLine(), out lapsLeft))
                    break;
                else
                    Console.WriteLine("Please enter a valid number.");
            }

            // Convert to the total number of laps done by either buggy.
            // E.g: If you enter 2 laps. Both buggies do 2 laps, and the last buggy does an extra lap to park = 5 laps.
            lapsLeft = lapsLeft * 2 + 1;


          //while (true)
          //{
          //    Console.Write("> ");
          //    string message = Console.ReadLine();

          //    if (message == "PrintChat")
          //        PrintChat();

          //    port.WriteLine(message);
          //    messages.Add("Sent: " + message);
          //}

            while (true)
            {
                if (!buggy0Responded && buggy0Alive)
                {
                    Console.WriteLine("Buggy 0 disconnected");
                    buggy0Alive = false;
                }
                if (!buggy1Responded && buggy1Alive)
                {
                    Console.WriteLine("Buggy 1 disconnected");
                    buggy1Alive = false;
                }

                if (buggy0Responded && !buggy0Alive)
                {
                    Console.WriteLine("Buggy 0 reconnected");
                    buggy0Alive = true;

                    if (currentBuggy == 0 && ! isDone)
                        port.WriteLine("0GO");
                }
                if (buggy1Responded && !buggy1Alive)
                {
                    Console.WriteLine("Buggy 1 reconnected");
                    buggy1Alive = true;

                    if (currentBuggy == 1 && ! isDone)
                        port.WriteLine("1GO");
                }

                buggy0Responded = false;
                buggy1Responded = false;

                // ping buggys
                port.WriteLine("0?");
                port.WriteLine("1?");
                //Console.WriteLine("tst");

                Thread.Sleep(2000);
            }

        }

        static void PrintChat()
        {
            foreach (string s in messages)
            {
                Console.WriteLine(s);
            }
        }


        static string message = "";
        private static void DataHandler(object sender, SerialDataReceivedEventArgs e)
        {
            SerialPort sp = (SerialPort) sender;

            foreach (char c in sp.ReadExisting())
            {
                if (c == '\n')
                {
                    HandleMessage(message);
                    message = "";
                }
                else
                    message += c;
            }
        }

        private static void HandleMessage(string message)
        {
            //SerialPort sp = (SerialPort) sender;
            //string message = sp.ReadExisting();

            /Console.WriteLine($"recieved: {message}");

            // Buggy ping renponse.
            if (message.StartsWith("!"))
            {
                if (message[1] == '0')
                    buggy0Responded = true;
                else if (message[1] == '1')
                    buggy1Responded = true;
                else Console.WriteLine("error reading ping response");
            }
            // Gantry message.
            else if (message.StartsWith("G"))
            {
                numGanteries++;

                int gate = 4;

                // When the buggy is parked it sends 'GP', so if the second charachter of the message isn't a number we're parked.
                if (!int.TryParse(message.Substring(1, message.Length - 1), out gate))
                    Console.WriteLine("Buggy finished parking.");

                Console.WriteLine($"Buggy: {currentBuggy}, At Gate: G{gate}, NumGanteries: {numGanteries}, Laps Left: {lapsLeft}");
                Console.WriteLine($"Other buggy waiting at: " + (currentBuggy == 0 ? "Parking Lane" : "3rd Gantry"));

                if (CurrentChallege == Challege.Bronze)
                {
                    if (numGanteries < 5)
                        port.WriteLine("0GO");
                    else if (numGanteries == 5)
                    {
                        Console.WriteLine("telling buggy to park");
                        port.WriteLine("0PARKL");
                        isDone = true;
                    }
                }
                else // Gold or Silver challeges.
                {

                    if (numGanteries == 3)
                    {
                        lapsLeft--;

                        // switch buggies
                        currentBuggy = currentBuggy == 0 ? 1 : 0;
                        numGanteries = 0;

                        Console.WriteLine($"Changing to buggy {currentBuggy}");

                        if (lapsLeft > 0)
                            port.WriteLine($"{currentBuggy}GO");
                        else
                        {
                            Console.WriteLine("--------- DONE ---------");
                            isDone = true;
                        }
                    }

                    // Park buggy 1 on every lap, and buggy 0 on the last lap.
                    else if (numGanteries == 2 && currentBuggy == 1)
                    {
                        //Console.WriteLine("telling buggy to park");
                        port.WriteLine("1PARKR");
                    }
                    else if (numGanteries == 2 && currentBuggy == 0 && lapsLeft == 1)
                    {
                        port.WriteLine("0PARKL");
                    }
                    else
                    {
                        // No gate of interest, tell buggy to go.
                        port.WriteLine($"{currentBuggy}GO");
                    }


                }

            }

            messages.Add("Recieved: " + message);
        }

    }
}