public static void InitializeSerialConnections(ProsthesisCore.Utility.Logger logger)
{
string[] ports = GetPortNames();
logger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Found {0} ports", ports.Length));
foreach (string port in ports)
{
logger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Port {0} found", port));
}
}
private static void OnTelemetryPublishAlarm(object sender, ElapsedEventArgs arg)
{
using (var udpClient = new UdpClient(AddressFamily.InterNetwork))
{
ProsthesisCore.Telemetry.ProsthesisTelemetry telem = mContext.MachineState;
ProsthesisDataPacket packet = ProsthesisCore.Messages.ProsthesisDataPacket.BoxMessage <ProsthesisCore.Telemetry.ProsthesisTelemetry>(telem);
if (packet != null)
{
IPAddress address = IPAddress.Parse(ProsthesisCore.ProsthesisConstants.kMulticastGroupAddress);
IPEndPoint ipEndPoint = new IPEndPoint(address, ProsthesisCore.ProsthesisConstants.kTelemetryPort);
udpClient.JoinMulticastGroup(address, 50);
udpClient.Send(packet.Bytes, packet.Bytes.Length, ipEndPoint);
udpClient.Close();
}
else
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Telemetry, "Failed to box telemetry message");
}
}
}
public static void Main(string[] args)
{
mTelemetryBroadcastTimer = new Timer(kTelemetryBroadcastPeriod);
mTelemetryBroadcastTimer.AutoReset = true;
mTelemetryBroadcastTimer.Elapsed += OnTelemetryPublishAlarm;
string fileName = string.Format("Server-{0}.txt", System.DateTime.Now.ToString("dd MM yyyy HH-mm-ss"));
mLogger = new ProsthesisCore.Utility.Logger(fileName, true);
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.General, "ProsthesisOS startup", true);
mContext = new States.ProsthesisMainContext(ProsthesisCore.ProsthesisConstants.ConnectionPort, mLogger);
mTelemetryBroadcastTimer.Start();
//Safely shut down app
AppDomain.CurrentDomain.ProcessExit += delegate(object sender, EventArgs e)
{
if (mContext.IsRunning)
{
mContext.Terminate("Aborted");
}
mLogger.ShutDown();
};
Console.WriteLine("Press 'x' to exit");
while (Console.ReadKey().Key != ConsoleKey.X)
{
}
if (mContext.IsRunning)
{
mContext.Terminate("User terminated");
}
mTelemetryBroadcastTimer.Stop();
mLogger.ShutDown();
}
public static void Main(string[] args)
{
mTelemetryBroadcastTimer = new Timer(kTelemetryBroadcastPeriod);
mTelemetryBroadcastTimer.AutoReset = true;
mTelemetryBroadcastTimer.Elapsed += OnTelemetryPublishAlarm;
string fileName = string.Format("Server-{0}.txt", System.DateTime.Now.ToString("dd MM yyyy HH-mm-ss"));
mLogger = new ProsthesisCore.Utility.Logger(fileName, true);
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.General, "ProsthesisOS startup", true);
mContext = new States.ProsthesisMainContext(ProsthesisCore.ProsthesisConstants.ConnectionPort, mLogger);
mTelemetryBroadcastTimer.Start();
//Safely shut down app
AppDomain.CurrentDomain.ProcessExit += delegate(object sender, EventArgs e)
{
if (mContext.IsRunning)
{
mContext.Terminate("Aborted");
}
mLogger.ShutDown();
};
Console.WriteLine("Press 'x' to exit");
while (Console.ReadKey().Key != ConsoleKey.X) { }
if (mContext.IsRunning)
{
mContext.Terminate("User terminated");
}
mTelemetryBroadcastTimer.Stop();
mLogger.ShutDown();
}
public bool StartArduinoComms()
{
if (mWorkerThread != null)
{
mWorkerThread.Abort();
mWorkerThread = null;
}
string[] ports = GetPortNames();
bool foundCorrectArduino = false;
var idPacket = new ArduinoMessageBase();
idPacket.ID = ArduinoMessageValues.kIdentifyValue;
string jsonOutput = Newtonsoft.Json.JsonConvert.SerializeObject(idPacket);
foreach (string port in ports)
{
SerialPort serialPort = new SerialPort(port, kArduinoCommsBaudRate);
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Now checking Arduino on port {0}", port));
}
//Only check unopened ports
if (!serialPort.IsOpen)
{
try
{
serialPort.Open();
}
//Port is already open in another context, or Arduino. In any case, skip this one
catch (UnauthorizedAccessException)
{
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Unable to open port {0} because of unauthorized access exception", port));
}
continue;
}
//Wait for the Arduino to boot once we've opened the port
System.Threading.Thread.Sleep(kArduinoBootloaderDelayMilliseconds);
//Disable telemtry just incase
var toggle = new { ID = ArduinoMessageValues.kTelemetryEnableValue, EN = false };
string disableTelem = Newtonsoft.Json.JsonConvert.SerializeObject(toggle);
serialPort.Write(disableTelem);
var toggleHB = new { ID = ArduinoMessageValues.kHeartbeatEnableValue, EN = false };
string disableHB = Newtonsoft.Json.JsonConvert.SerializeObject(toggleHB);
serialPort.Write(disableHB);
//Discard any built up data
serialPort.DiscardInBuffer();
serialPort.Write(jsonOutput);
serialPort.ReadTimeout = kIDTimeoutMilliseconds;
string response = string.Empty;
for (int i = 0; i < kNumRetries; ++i)
{
try
{
response = ReadLine(serialPort);
break;
}
//Catch case where the serial port is unavailable. MOve to next port
catch (TimeoutException)
{
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Port {0} timed out. Attempt {1} of {2}", port, i + 1, kNumRetries));
}
continue;
}
}
if (!string.IsNullOrEmpty(response))
{
try
{
ArduinoIDAckMessage msg = Newtonsoft.Json.JsonConvert.DeserializeObject <ArduinoIDAckMessage>(response);
if (msg.ID == ArduinoMessageValues.kAcknowledgeID && msg.AID == mArduinoID)
{
mTelemetryToggled = msg.TS;
mDeviceState = msg.DS;
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Got the arduino we're looking for on port {0} with AID {1}. Telemetry is {2} and the device's state is {3}", port, mArduinoID, msg.TS, msg.DS));
}
mPort = serialPort;
//Don't timeout anymore. Our worker thread will yield while it waits for data
mPort.ReadTimeout = -1;
mWorkerThread = new System.Threading.Thread(new System.Threading.ParameterizedThreadStart(ReadSerialDataFromPort));
mWorkerThread.Name = string.Format("Arduino IO worker for AID {0}", mArduinoID);
mPort.Disposed += new EventHandler(OnPortDisposed);
mPortName = port;
foundCorrectArduino = true;
//Start our worker
mWorkerThread.Start();
}
else if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Found a Prosthesis Arduino, but not the arduino we're looking for on port {0} with AID {1}", port, mArduinoID));
}
}
//Catch malformed JSON response, if there is one at all
catch (Newtonsoft.Json.JsonSerializationException)
{
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Malformed response. Ignoring port {0}", port));
}
}
catch (Newtonsoft.Json.JsonReaderException)
{
if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Malformed response. Ignoring port {0}", port));
}
}
}
else if (mLogger != null)
{
mLogger.LogMessage(ProsthesisCore.Utility.Logger.LoggerChannels.Arduino, string.Format("Serial port {0} doesn't have an arduino", port));
}
if (!foundCorrectArduino)
{
serialPort.Close();
serialPort.Dispose();
}
else
{
//We've found our Arduino, no need to continue checking
break;
}
}
}
return(foundCorrectArduino);
}
