/// <summary>
/// This will wait for the SensorNetworkServer, and when it finds it, it will connect!
/// This code was directly lifted from how this functionality works in the Teensy's source code.
/// </summary>
private void WaitForAndConnectToServer()
{
bool connected = false;
// Wait for the SensorNetworkServer to be up
while (!connected && CurrentlyRunning)
{
try
{
Client = new TcpClient(ClientIP, ClientPort);
ClientStream = Client.GetStream();
connected = true;
// Ask the SensorNetworkServer for its initialization
byte[] askForInit = Encoding.ASCII.GetBytes("Send Sensor Configuration");
ClientStream.Write(askForInit, 0, askForInit.Length);
ClientStream.Flush();
}
catch
{
logger.Info($"{Utilities.GetTimeStamp()}: SimulationSensorNetwork is waiting for the SensorNetworkServer.");
if (Client != null)
{
Client.Dispose();
}
if (ClientStream != null)
{
ClientStream.Dispose();
}
}
}
}
} // To detect redundant calls
protected virtual void Dispose(bool disposing)
{
if (!DisposedValue)
{
if (disposing)
{
try
{
ClientStream.Close();
ClientStream.Dispose();
Client.Disconnect();
Client.Dispose();
}
finally
{
ConnectionInfo = null;
AuthenticationMethod = null;
ClientStream = null;
Client = null;
}
}
DisposedValue = true;
}
}
private void ClientErrorOccurred(object sender, ExceptionEventArgs e)
{
System.Diagnostics.Debug.WriteLine(e.Exception.Message);
if (e.Exception is Renci.SshNet.Common.SshConnectionException)
{
try
{
ClientStream.Close();
ClientStream.Dispose();
}
finally
{
ClientStream = null;
}
try
{
Client.Disconnect();
Client.Dispose();
}
finally
{
ConnectionInfo = null;
AuthenticationMethod = null;
Client = null;
PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("IsConnected"));
}
}
else
{
throw new NotImplementedException();
}
}
public void Dispose()
{
Close();
(Client as IDisposable)?.Dispose();
ClientStream?.Dispose();
}
public void Dispose()
{
Close();
((IDisposable)Client)?.Dispose();
ClientStream?.Dispose();
}
public void CloseForm()
{
Cts.Cancel();
Thread.Sleep(1000);
ClientStream.Close();
ClientStream.Dispose();
}
public void OnPipeDisposed()
{
if (ClientStream != null && ClientStream.IsConnected)
{
ClientStream?.Close();
}
ClientStream?.Close();
ClientStream?.Dispose();
ClientStream = null;
}
/// <summary>
/// This is used to start the simulation Sensor Network. Calling this is equivalent to powering off the Teensy.
/// </summary>
public void EndSimulationSensorNetwork()
{
if (CurrentlyRunning)
{
CurrentlyRunning = false;
if (Client != null)
{
Client.Dispose();
}
if (ClientStream != null)
{
ClientStream.Close();
ClientStream.Dispose();
}
Server.Stop();
if (ServerStream != null)
{
ServerStream.Close();
ServerStream.Dispose();
}
SimulationSensorMonitoringThread.Join();
}
}
private void DisconnectForced(string reason)
{
bool clientWasConnected = Client?.Connected == true;
ReceivedLines.Clear();
Client?.Dispose();
ClientStream?.Dispose();
ClientReader?.Dispose();
ClientWriter?.Dispose();
Client = null;
ClientStream = null;
ClientReader = null;
ClientWriter = null;
Connected = false;
ReadLoopTask = null;
KeepAliveTask = null;
if (clientWasConnected)
{
ConnectionClosed?.Invoke(this, new EventArgs <string>(reason));
}
}
protected virtual void Dispose(bool disposing)
{
if (ClientStream != null)
{
ClientStream.Close();
ClientStream.Dispose();
}
if (ServerStream != null)
{
ServerStream.Close();
ServerStream.Dispose();
}
if (ClientTcpClient != null)
{
ClientTcpClient.Dispose();
}
if (ServerTcpClient != null)
{
ServerTcpClient.Dispose();
}
}
private void SimulationSensorMonitor()
{
// First, we want to connect to the SensorNetworkServer
if (CurrentlyRunning)
{
WaitForAndConnectToServer();
}
// Next, we want to request initialization and receive it
byte[] receivedInit = new byte[0];
if (CurrentlyRunning)
{
receivedInit = RequestAndAcquireSensorInitialization();
}
// At this point, we have the initialization and can initialize the sensors
if (CurrentlyRunning)
{
InitializeSensors(receivedInit);
}
// Now we can grab the CSV data for ONLY the initialized sensors...
if (CurrentlyRunning)
{
ReadFakeDataFromCSV();
}
// Keep track of the indexes for each data array, because we are only extracting a small subsection of each one.
// We want to know what subsection we just got so we can get the next subsection in the next iteration
int?elTempIdx = 0;
int?azTempIdx = 0;
int?elEncIdx = 0;
int?azEncIdx = 0;
int?elAccIdx = 0;
int?azAccIdx = 0;
int?cbAccIdx = 0;
// This will tell us if we are rebooting or not. We will only reboot if the connection is randomly terminated.
bool reboot = false;
// Now we enter the "super loop"
while (CurrentlyRunning)
{
// Convert subarrays to bytes
SimulationSubArrayData subArrays = BuildSubArrays(ref elTempIdx, ref azTempIdx, ref elEncIdx, ref azEncIdx, ref elAccIdx, ref azAccIdx, ref cbAccIdx);
SensorStatuses statuses = new SensorStatuses
{
// TODO: Write the values of each sensor status in here so it can get be encoded (issue #376)
};
byte[] dataToSend = ConvertDataArraysToBytes(
subArrays.ElevationAccl,
subArrays.AzimuthAccl,
subArrays.CounterBAccl,
subArrays.ElevationTemps,
subArrays.AzimuthTemps,
subArrays.ElevationEnc,
subArrays.AzimuthEnc,
statuses
);
// We have to check for CurrentlyRunning down here because we don't know when the connection is going to be terminated, and
// it could very well be in the middle of the loop.
if (CurrentlyRunning)
{
try
{
// Send arrays
ClientStream.Write(dataToSend, 0, dataToSend.Length);
Thread.Sleep(SensorNetworkConstants.DataSendingInterval);
}
// This will be reached if the connection is unexpectedly terminated (like it is during sensor reinitialization)
catch
{
CurrentlyRunning = false;
reboot = true;
}
}
}
// If the server disconnects, that triggers a reboot
if (reboot)
{
CurrentlyRunning = true;
Client.Dispose();
ClientStream.Dispose();
SimulationSensorMonitor();
}
}
internal void Disconnect()
{
ClientStream.Dispose();
ClientSocket.Dispose();
}