private void AutomaticSnowDumpInterval(Object source, ElapsedEventArgs e)
{
double DELTA = 0.01;
Orientation currentOrientation = GetCurrentOrientation();
// Check if we need to dump the snow off of the telescope
if (RadioTelescope.WeatherStation.GetOutsideTemp() <= 30.00 && RadioTelescope.WeatherStation.GetTotalRain() > 0.00)
{
// We want to check stow position precision with a 0.01 degree margin of error
if (Math.Abs(currentOrientation.Azimuth - MiscellaneousConstants.Stow.Azimuth) <= DELTA && Math.Abs(currentOrientation.Elevation - MiscellaneousConstants.Stow.Elevation) <= DELTA)
{
Console.WriteLine("Time threshold reached. Running snow dump...");
MovementResult result = SnowDump(MovementPriority.Appointment);
if (result != MovementResult.Success)
{
logger.Info($"{Utilities.GetTimeStamp()}: Automatic snow dump FAILED with error message: {result.ToString()}");
pushNotification.sendToAllAdmins("Snow Dump Failed", $"Automatic snow dump FAILED with error message: {result.ToString()}");
EmailNotifications.sendToAllAdmins("Snow Dump Failed", $"Automatic snow dump FAILED with error message: {result.ToString()}");
}
else
{
Console.WriteLine("Snow dump completed");
}
}
}
}
/// <summary>
/// This will set the overrides based on input. Takes in the sensor that it will be changing,
/// and then the status, true or false.
/// true = overriding
/// false = enabled
/// </summary>
/// <param name="sensor"></param>
/// <param name="set"></param>
public void setOverride(String sensor, bool set)
{
if (sensor.Equals("azimuth motor temperature"))
{
overrides.setAzimuthMotTemp(set);
}
else if (sensor.Equals("elevation motor temperature"))
{
overrides.setElevationMotTemp(set);
}
else if (sensor.Equals("main gate"))
{
overrides.setGatesOverride(set);
}
else if (sensor.Equals("elevation proximity (1)"))
{
overrides.setElProx0Override(set);
}
else if (sensor.Equals("elevation proximity (2)"))
{
overrides.setElProx90Override(set);
}
else if (sensor.Equals("azimuth absolute encoder"))
{
overrides.setAzimuthAbsEncoder(set);
}
else if (sensor.Equals("elevation absolute encoder"))
{
overrides.setElevationAbsEncoder(set);
}
else if (sensor.Equals("azimuth motor accelerometer"))
{
overrides.setAzimuthAccelerometer(set);
}
else if (sensor.Equals("elevation motor accelerometer"))
{
overrides.setElevationAccelerometer(set);
}
else if (sensor.Equals("counterbalance accelerometer"))
{
overrides.setCounterbalanceAccelerometer(set);
}
if (set)
{
logger.Info(Utilities.GetTimeStamp() + ": Overriding " + sensor + " sensor.");
pushNotification.sendToAllAdmins("SENSOR OVERRIDES", "Overriding " + sensor + " sensor.");
EmailNotifications.sendToAllAdmins("SENSOR OVERRIDES", "Overriding " + sensor + " sensor.");
}
else
{
logger.Info(Utilities.GetTimeStamp() + ": Enabled " + sensor + " sensor.");
pushNotification.sendToAllAdmins("SENSOR OVERRIDES", "Enabled " + sensor + " sensor.");
EmailNotifications.sendToAllAdmins("SENSOR OVERRIDES", "Enabled " + sensor + " sensor.");
}
}
public void TestSendingEmailToAllAdmins()
{
string sender = "*****@*****.**";
string subject = "Amazon SES Test";
string body = "AmazonSES Test (.NET)\r\nThis email was sent through AmazonSES using the AWS SDK for .NET.";
// Execute task
Task <bool> task = EmailNotifications.sendToAllAdmins(subject, body, sender, true);
// Wait for main task to finish before assertion
task.Wait();
Assert.IsTrue(task.Result);
}
public void WeatherMonitoringRoutine()
{
while (KeepWeatherMonitoringThreadAlive)
{
Sensor currentSensor = ControlRoom.RTControllerManagementThreads[0].Sensors.Find(i => i.Item == SensorItemEnum.WIND);
int windSpeedStatus = ControlRoom.WeatherStation.CurrentWindSpeedStatus;
// The Wind Speed has triggered an Alarm Status
if (windSpeedStatus == 2)
{
logger.Info(Utilities.GetTimeStamp() + ": [ControlRoomController] Wind speeds were too high: " + ControlRoom.WeatherStation.CurrentWindSpeedMPH);
// Overriding the status warning if override is true
if (!ControlRoom.weatherStationOverride)
{
currentSensor.Status = SensorStatusEnum.ALARM;
pushNotification.sendToAllAdmins("WARNING: WEATHER STATION", "Wind speeds are too high: " + ControlRoom.WeatherStation.CurrentWindSpeedMPH);
EmailNotifications.sendToAllAdmins("WARNING: WEATHER STATION", "Wind speeds are too high: " + ControlRoom.WeatherStation.CurrentWindSpeedMPH);
}
DatabaseOperations.AddSensorStatusData(SensorStatus.Generate(SensorStatusEnum.WARNING, SensorStatusEnum.NORMAL, SensorStatusEnum.NORMAL, SensorStatusEnum.ALARM, currentSensor.Status));
//ControlRoom.RTControllerManagementThreads[0].checkCurrentSensorAndOverrideStatus();
/*
* //shut down telescopes
* foreach (RadioTelescopeController telescopeController in ControlRoom.RadioTelescopeControllers)
* {
* // change the sensor status in our Radio Telescope Controller Management Thread
* //int id = ControlRoom.RadioTelescopes.Find(i => i.WeatherStation == ControlRoom.WeatherStation).Id;
* //ControlRoom.RTControllerManagementThreads[0].Sensors.Add(new Sensor(SensorItemEnum.WIND_SPEED, SensorStatus.ALARM));
* //ControlRoom.RTControllerManagementThreads[0].checkCurrentSensorAndOverrideStatus();
* }
*/
}
// The Wind Speed has triggered a Warning Status
else if (windSpeedStatus == 1)
{
logger.Info(Utilities.GetTimeStamp() + ": [ControlRoomController] Wind speeds are in Warning Range: " + ControlRoom.WeatherStation.CurrentWindSpeedMPH);
// Overriding the status warning if override is true
if (!ControlRoom.weatherStationOverride)
{
currentSensor.Status = SensorStatusEnum.WARNING;
pushNotification.sendToAllAdmins("WARNING: WEATHER STATION", "Wind speeds are in Warning Range: " + ControlRoom.WeatherStation.CurrentWindSpeedMPH);
EmailNotifications.sendToAllAdmins("WARNING: WEATHER STATION", "Wind speeds are in Warning Range: " + ControlRoom.WeatherStation.CurrentWindSpeedMPH);
}
DatabaseOperations.AddSensorStatusData(SensorStatus.Generate(SensorStatusEnum.WARNING, SensorStatusEnum.NORMAL, SensorStatusEnum.NORMAL, SensorStatusEnum.ALARM, currentSensor.Status));
}
else if (windSpeedStatus == 0)
{
//logger.Info(Utilities.GetTimeStamp() + ": [ControlRoomController] Wind speeds are in a Safe State: " + ControlRoom.WeatherStation.CurrentWindSpeedMPH);
currentSensor.Status = SensorStatusEnum.NORMAL;
DatabaseOperations.AddSensorStatusData(SensorStatus.Generate(SensorStatusEnum.WARNING, SensorStatusEnum.NORMAL, SensorStatusEnum.NORMAL, SensorStatusEnum.ALARM, currentSensor.Status));
}
/*
* else if(currentSensor != null && currentSensor.Status == SensorStatus.ALARM) {
*
* //change the status
* currentSensor.Status = SensorStatus.NORMAL;
* logger.Info(Utilities.GetTimeStamp() + ": Wind speed sensor back in normal range.");
* }*/
//logger.Info(Utilities.GetTimeStamp() + ": Current wind speed is: " + ControlRoom.WeatherStation.GetWindSpeed());
Thread.Sleep(1000);
}
}
/// <summary>
/// fires whenever the data on the modbus server changes
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Server_Written_to_handler(object sender, DataStoreEventArgs e)
{
//e.Data.B //array representing data
if (is_test)
{
logger.Info(Utilities.GetTimeStamp() + ": recived message from PLC");
}
PLC_last_contact = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
switch (e.StartAddress)
{
case (ushort)PLC_modbus_server_register_mapping.AZ_0_LIMIT: {
bool previous = limitSwitchData.Azimuth_CCW_Limit;
limitSwitchData.Azimuth_CCW_Limit = !Int_to_bool(PLC_Modbusserver.DataStore.HoldingRegisters[(int)PLC_modbus_server_register_mapping.AZ_0_LIMIT]);
if (previous != limitSwitchData.Azimuth_CCW_Limit)
{
pLCEvents.PLCLimitChanged(limitSwitchData, PLC_modbus_server_register_mapping.AZ_0_LIMIT, limitSwitchData.Azimuth_CCW_Limit);
}
break;
}
case (ushort)PLC_modbus_server_register_mapping.AZ_0_HOME: {
bool previous = homeSensorData.Azimuth_Home_One;
homeSensorData.Azimuth_Home_One = Int_to_bool(PLC_Modbusserver.DataStore.HoldingRegisters[(int)PLC_modbus_server_register_mapping.AZ_0_HOME]);
break;
}
case (ushort)PLC_modbus_server_register_mapping.AZ_0_SECONDARY: {
bool previous = homeSensorData.Azimuth_Home_Two;
homeSensorData.Azimuth_Home_Two = Int_to_bool(PLC_Modbusserver.DataStore.HoldingRegisters[(int)PLC_modbus_server_register_mapping.AZ_0_SECONDARY]);
break;
}
case (ushort)PLC_modbus_server_register_mapping.AZ_375_LIMIT: {
bool previous = limitSwitchData.Azimuth_CW_Limit;
limitSwitchData.Azimuth_CW_Limit = !Int_to_bool(PLC_Modbusserver.DataStore.HoldingRegisters[(int)PLC_modbus_server_register_mapping.AZ_375_LIMIT]);
if (previous != limitSwitchData.Azimuth_CW_Limit)
{
pLCEvents.PLCLimitChanged(limitSwitchData, PLC_modbus_server_register_mapping.AZ_375_LIMIT, limitSwitchData.Azimuth_CW_Limit);
}
break;
}
case (ushort)PLC_modbus_server_register_mapping.EL_10_LIMIT: {
bool previous = limitSwitchData.Elevation_Lower_Limit;
limitSwitchData.Elevation_Lower_Limit = !Int_to_bool(PLC_Modbusserver.DataStore.HoldingRegisters[(int)PLC_modbus_server_register_mapping.EL_10_LIMIT]);
if (previous != limitSwitchData.Elevation_Lower_Limit)
{
pLCEvents.PLCLimitChanged(limitSwitchData, PLC_modbus_server_register_mapping.EL_10_LIMIT, limitSwitchData.Elevation_Lower_Limit);
if (limitSwitchData.Elevation_Lower_Limit)
{
logger.Info(Utilities.GetTimeStamp() + ": Elevation Lower Limit Switch Hit");
pushNotification.sendToAllAdmins("LIMIT SWITCH", "Elevation lower limit switch hit");
EmailNotifications.sendToAllAdmins("LIMIT SWITCH", "Elevation lower limit switch hit");
}
}
break;
}
case (ushort)PLC_modbus_server_register_mapping.EL_0_HOME: {
bool previous = homeSensorData.Elevation_Home;
homeSensorData.Elevation_Home = Int_to_bool(PLC_Modbusserver.DataStore.HoldingRegisters[(int)PLC_modbus_server_register_mapping.EL_0_HOME]);
break;
}
case (ushort)PLC_modbus_server_register_mapping.EL_90_LIMIT: {
bool previous = limitSwitchData.Elevation_Upper_Limit;
limitSwitchData.Elevation_Upper_Limit = !Int_to_bool(PLC_Modbusserver.DataStore.HoldingRegisters[(int)PLC_modbus_server_register_mapping.EL_90_LIMIT]);
if (previous != limitSwitchData.Elevation_Upper_Limit)
{
pLCEvents.PLCLimitChanged(limitSwitchData, PLC_modbus_server_register_mapping.EL_90_LIMIT, limitSwitchData.Elevation_Upper_Limit);
if (limitSwitchData.Elevation_Upper_Limit)
{
logger.Info(Utilities.GetTimeStamp() + ": Elevation Upper Limit Switch Hit");
pushNotification.sendToAllAdmins("LIMIT SWITCH", "Elevation upper limit switch hit");
EmailNotifications.sendToAllAdmins("LIMIT SWITCH", "Elevation upper limit switch hit");
}
}
break;
}
case (ushort)PLC_modbus_server_register_mapping.Gate_Safety_INTERLOCK: {
bool previous = plcInput.Gate_Sensor;
plcInput.Gate_Sensor = !Int_to_bool(PLC_Modbusserver.DataStore.HoldingRegisters[(int)PLC_modbus_server_register_mapping.Gate_Safety_INTERLOCK]);
if (previous != plcInput.Gate_Sensor)
{
if (plcInput.Gate_Sensor)
{
logger.Info(Utilities.GetTimeStamp() + ": gate opened");
pushNotification.sendToAllAdmins("GATE ACTIVITY", "Gate has been opened.");
EmailNotifications.sendToAllAdmins("GATE ACTIVITY", "Gate has been opened.");
}
else
{
logger.Info(Utilities.GetTimeStamp() + ": gate closed");
pushNotification.sendToAllAdmins("GATE ACTIVITY", "Gate has been closed.");
EmailNotifications.sendToAllAdmins("GATE ACTIVITY", "Gate has been closed.");
}
}
break;
}
case (ushort)PLC_modbus_server_register_mapping.E_STOP: {
bool previous = plcInput.Estop;
plcInput.Estop = !Int_to_bool(PLC_Modbusserver.DataStore.HoldingRegisters[(int)PLC_modbus_server_register_mapping.E_STOP]);
if (previous != plcInput.Estop)
{
if (plcInput.Estop)
{
logger.Info(Utilities.GetTimeStamp() + ": Estop Hit");
pushNotification.sendToAllAdmins("E-STOP ACTIVITY", "E-stop has been hit.");
EmailNotifications.sendToAllAdmins("E-STOP ACTIVITY", "E-stop has been hit.");
}
else
{
logger.Info(Utilities.GetTimeStamp() + ": Estop released");
pushNotification.sendToAllAdmins("E-STOP ACTIVITY", "E-stop has been released.");
EmailNotifications.sendToAllAdmins("E-STOP ACTIVITY", "E-stop has been released.");
}
}
break;
}
case (ushort)PLC_modbus_server_register_mapping.EL_SLIP_CAPTURE: {
bool previous = plcInput.EL_Slip_CAPTURE;
plcInput.EL_Slip_CAPTURE = Int_to_bool(PLC_Modbusserver.DataStore.HoldingRegisters[(int)PLC_modbus_server_register_mapping.EL_SLIP_CAPTURE]);
break;
}
}
}
/// <summary>
/// Checks that the motor temperatures are within acceptable ranges. If the temperature exceeds
/// the corresponding value in SimulationConstants.cs, it will return false, otherwise
/// it will return true if everything is good.
/// Tl;dr:
/// False - bad
/// True - good
/// </summary>
/// <returns>override bool</returns>
public bool checkTemp(Temperature t, bool lastIsSafe)
{
// get maximum temperature threshold
double max;
// Determine whether azimuth or elevation
String s;
bool isOverridden;
if (t.location_ID == (int)SensorLocationEnum.AZ_MOTOR)
{
s = "Azimuth";
isOverridden = overrides.overrideAzimuthMotTemp;
max = MaxAzTempThreshold;
}
else
{
s = "Elevation";
isOverridden = overrides.overrideElevatMotTemp;
max = MaxElTempThreshold;
}
// Check temperatures
if (t.temp < SimulationConstants.MIN_MOTOR_TEMP)
{
if (lastIsSafe)
{
logger.Info(Utilities.GetTimeStamp() + ": " + s + " motor temperature BELOW stable temperature by " + Math.Truncate(SimulationConstants.STABLE_MOTOR_TEMP - t.temp) + " degrees Fahrenheit.");
pushNotification.sendToAllAdmins("MOTOR TEMPERATURE", s + " motor temperature BELOW stable temperature by " + Math.Truncate(SimulationConstants.STABLE_MOTOR_TEMP - t.temp) + " degrees Fahrenheit.");
EmailNotifications.sendToAllAdmins("MOTOR TEMPERATURE", s + " motor temperature BELOW stable temperature by " + Math.Truncate(SimulationConstants.STABLE_MOTOR_TEMP - t.temp) + " degrees Fahrenheit.");
}
// Only overrides if switch is true
if (!isOverridden)
{
return(false);
}
else
{
return(true);
}
}
else if (t.temp > SimulationConstants.OVERHEAT_MOTOR_TEMP)
{
if (lastIsSafe)
{
logger.Info(Utilities.GetTimeStamp() + ": " + s + " motor temperature OVERHEATING by " + Math.Truncate(t.temp - max) + " degrees Fahrenheit.");
pushNotification.sendToAllAdmins("MOTOR TEMPERATURE", s + " motor temperature OVERHEATING by " + Math.Truncate(t.temp - max) + " degrees Fahrenheit.");
EmailNotifications.sendToAllAdmins("MOTOR TEMPERATURE", s + " motor temperature OVERHEATING by " + Math.Truncate(t.temp - max) + " degrees Fahrenheit.");
}
// Only overrides if switch is true
if (!isOverridden)
{
return(false);
}
else
{
return(true);
}
}
else if (t.temp <= SimulationConstants.MAX_MOTOR_TEMP && t.temp >= SimulationConstants.MIN_MOTOR_TEMP && !lastIsSafe)
{
logger.Info(Utilities.GetTimeStamp() + ": " + s + " motor temperature stable.");
pushNotification.sendToAllAdmins("MOTOR TEMPERATURE", s + " motor temperature stable.");
EmailNotifications.sendToAllAdmins("MOTOR TEMPERATURE", s + " motor temperature stable.");
}
return(true);
}
//Run Script Button Functionality
//Case Depends on which script is currently selected
private async void runControlScript_Click(object sender, EventArgs e)
{
int index = controlScriptsCombo.SelectedIndex + 0;
string indexName = controlScriptsCombo.SelectedItem.ToString();
// We must run this async so it doesn't hold up the UI
await Task.Run(() => {
logger.Info($"{Utilities.GetTimeStamp()}: Starting script {indexName}.");
MovementResult movementResult = MovementResult.None;
switch (index)
{
case 1:
movementResult = rtController.MoveRadioTelescopeToOrientation(MiscellaneousConstants.Stow, MovementPriority.Manual);
break;
case 2:
movementResult = rtController.FullElevationMove(MovementPriority.Manual);
break;
case 3:
movementResult = rtController.MoveRadioTelescopeByXDegrees(new Entities.Orientation(360, 0), MovementPriority.Manual);
break;
case 4:
movementResult = rtController.MoveRadioTelescopeByXDegrees(new Entities.Orientation(-360, 0), MovementPriority.Manual);
break;
case 5:
movementResult = rtController.ThermalCalibrateRadioTelescope(MovementPriority.Manual);
break;
case 6:
movementResult = rtController.SnowDump(MovementPriority.Manual);
break;
case 7:
movementResult = rtController.HomeTelescope(MovementPriority.Manual);
break;
case 8:
double azimuthPos = 0;
double elevationPos = 0;
string input = "";
string[] values;
Entities.Orientation currentOrientation = rtController.GetCurrentOrientation();
// Get validated user input for azimuth position
do
{
input = Interaction.InputBox("The Radio Telescope is currently set to be type " + rtController.RadioTelescope.teleType + "." +
" This script is best run with a telescope type of SLIP_RING.\n\n" +
"Please type an a custom orientation containing azimuth between 0 and 360 degrees," +
" and elevation between " + Constants.SimulationConstants.LIMIT_LOW_EL_DEGREES + " and " + Constants.SimulationConstants.LIMIT_HIGH_EL_DEGREES +
" degrees. Format the entry as a comma-separated list in the format " +
"azimuth, elevation. Ex: 55,80",
"Azimuth Orientation", currentOrientation.Azimuth.ToString() + "," + currentOrientation.Elevation.ToString());
values = input.Split(',');
if (values.Length == 2 && !input.Equals(""))
{
Double.TryParse(values[0], out azimuthPos);
Double.TryParse(values[1], out elevationPos);
}
// check to make sure the entered values are valid, that there are not too many values entered, and that the entry was formatted correctly
}while ((azimuthPos > 360 || azimuthPos < 0) || (elevationPos > Constants.SimulationConstants.LIMIT_HIGH_EL_DEGREES || elevationPos <= Constants.SimulationConstants.LIMIT_LOW_EL_DEGREES) &&
(!input.Equals("") && values.Length <= 2));
// Only run script if cancel button was not hit
if (!input.Equals(""))
{
Entities.Orientation moveTo = new Entities.Orientation(azimuthPos, elevationPos);
movementResult = rtController.MoveRadioTelescopeToOrientation(moveTo, MovementPriority.Manual);
}
else
{
MessageBox.Show("Custom Orientation script cancelled.", "Script Cancelled");
}
break;
case 9:
rtController.StartRadioTelescopeJog(1, RadioTelescopeDirectionEnum.ClockwiseOrNegative, RadioTelescopeAxisEnum.AZIMUTH);
MessageBox.Show("Currently spinning Azimuth. Press OK to stop spinning.", "Azimuth Moving");
ExecuteCorrectStop();
movementResult = MovementResult.Success;
break;
default:
// Script does not exist
break;
}
if (movementResult == MovementResult.Success)
{
logger.Info($"{Utilities.GetTimeStamp()}: Successfully finished script {indexName}.");
}
else if (movementResult != MovementResult.None)
{
logger.Info($"{Utilities.GetTimeStamp()}: Script {indexName} FAILED with error message: {movementResult.ToString()}");
pushNotification.sendToAllAdmins("Script Failed", $"Script {indexName} FAILED with error message: {movementResult.ToString()}");
EmailNotifications.sendToAllAdmins("Script Failed", $"Script {indexName} FAILED with error message: {movementResult.ToString()}");
}
});
}
