public async Task DisconnectAsync()
{
lock (this)
{
if (!Connected)
{
AddStatusMessage(StatusMessageTypes.Warning, "Can not disconnected - Not Connected");
return;
}
Mode = OperatingMode.Disconnected;
Connected = false;
MachinePosition = new Vector3();
WorkspacePosition = new Vector3();
Status = "Disconnected";
DistanceMode = ParseDistanceMode.Absolute;
Unit = ParseUnit.Metric;
Plane = ArcPlane.XY;
UnacknowledgedBytesSent = 0;
lock (_queueAccessLocker)
{
_toSend.Clear();
_toSendPriority.Clear();
_sentQueue.Clear();
}
}
if (_port != null)
{
await _port.CloseAsync();
AddStatusMessage(StatusMessageTypes.Info, "Closed Serial Port");
_port = null;
}
if (_socketClient != null)
{
await _socketClient.CloseAsync();
_socketClient.Dispose();
_socketClient = null;
}
if (this._cancelSource != null)
{
_cancelSource.Cancel();
_cancelSource = null;
}
AddStatusMessage(StatusMessageTypes.Info, "Disconnected");
}
protected override async Task RunService(CancellationToken stoppingToken)
{
var(success, errorMessage) = await Helpers.Retry(async() =>
{
await client.ConnectAsync(conf.CsIP, conf.CsPort, stoppingToken);
return(true);
}, ConnectRetries, RetryIntervalMs, stoppingToken);
if (!success)
{
logger.Error($"No connection could be made. Error: {errorMessage}");
lifetime.StopApplication();
return;
}
(bool receivedMessage, Message message) = await client.ReceiveAsync(stoppingToken);
while (!stoppingToken.IsCancellationRequested && receivedMessage)
{
bool sended = await queue.SendAsync(message, stoppingToken);
if (!sended)
{
logger.Warning($"SocketService| Message id: {message.MessageID} has been lost");
}
(receivedMessage, message) = await client.ReceiveAsync(stoppingToken);
}
await client.CloseAsync(stoppingToken);
message = new Message()
{
AgentID = -1,
MessageID = MessageID.CSDisconnected,
Payload = new EmptyPayload()
};
await queue.SendAsync(message, stoppingToken);
}
public override async Task <bool> InvokeAsync(string paramList)
{
await _socketClient.CloseAsync();
return(true);
}
protected override async Task CloseSocketAsync(ISocketClient <R, S> socket,
CancellationToken cancellationToken)
{
await socket.CloseAsync(cancellationToken);
}
