private bool processMessage(String data)
{
if (data.IndexOf("COORDINATE_MOVE") != -1)
{
// we have a move command coming in
rtController.ExecuteRadioTelescopeControlledStop(MovementPriority.GeneralStop);
// get azimuth and orientation
int azimuthIndex = data.IndexOf("AZIM");
int elevationIndex = data.IndexOf("ELEV");
int idIndex = data.IndexOf("ID");
double azimuth = 0.0;
double elevation = 0.0;
string userId = "";
if (azimuthIndex != -1 && elevationIndex != -1 && idIndex != -1)
{
elevation = Convert.ToDouble(data.Substring(elevationIndex + 5, azimuthIndex - elevationIndex - 5));
azimuth = Convert.ToDouble(data.Substring(azimuthIndex + 5, idIndex - azimuthIndex - 5));
userId = data.Substring(idIndex + 3);
}
else
{
return(false);
}
logger.Debug(Utilities.GetTimeStamp() + ": Azimuth " + azimuth);
logger.Debug(Utilities.GetTimeStamp() + ": Elevation " + elevation);
Orientation movingTo = new Orientation(azimuth, elevation);
rtController.MoveRadioTelescopeToOrientation(movingTo, MovementPriority.Manual);
// TODO: store the User Id and movement somewhere in the database (issue #392)
return(true);
}
else if (data.IndexOf("SET_OVERRIDE") != -1)
{
// false = ENABLED; true = OVERRIDING
// If "OVR" is contained in the data, will return true
bool doOverride = data.Contains("OVR");
// Non-PLC Overrides
if (data.Contains("WEATHER_STATION"))
{
controlRoom.weatherStationOverride = data.Contains("OVR");
rtController.setOverride("weather station", data.Contains("OVR"));
DatabaseOperations.SetOverrideForSensor(SensorItemEnum.WEATHER_STATION, doOverride);
}
// PLC Overrides
else if (data.Contains("MAIN_GATE"))
{
rtController.setOverride("main gate", doOverride);
}
// Proximity overrides
else if (data.Contains("ELEVATION_LIMIT_0"))
{
rtController.setOverride("elevation proximity (1)", doOverride);
}
else if (data.Contains("ELEVATION_LIMIT_90"))
{
rtController.setOverride("elevation proximity (2)", doOverride);
}
// Sensor network overrides
else if (data.Contains("AZ_ABS_ENC"))
{
rtController.setOverride("azimuth absolute encoder", doOverride);
}
else if (data.Contains("EL_ABS_ENC"))
{
rtController.setOverride("elevation absolute encoder", doOverride);
}
else if (data.Contains("AZ_ACC"))
{
rtController.setOverride("azimuth motor accelerometer", doOverride);
}
else if (data.Contains("EL_ACC"))
{
rtController.setOverride("elevation motor accelerometer", doOverride);
}
else if (data.Contains("CB_ACC"))
{
rtController.setOverride("counterbalance accelerometer", doOverride);
}
else if (data.Contains("AZIMUTH_MOT_TEMP"))
{
rtController.setOverride("azimuth motor temperature", doOverride);
}
else if (data.Contains("ELEVATION_MOT_TEMP"))
{
rtController.setOverride("elevation motor temperature", doOverride);
}
else
{
return(false);
}
return(true);
}
else if (data.IndexOf("SCRIPT") != -1)
{
// we have a move command coming in
rtController.ExecuteRadioTelescopeControlledStop(MovementPriority.GeneralStop);
// get azimuth and orientation
int colonIndex = data.IndexOf(":");
string script = "";
if (colonIndex != -1)
{
script = data.Substring(colonIndex + 2);
}
else
{
return(false);
}
logger.Debug(Utilities.GetTimeStamp() + ": Script " + script);
if (script.Contains("DUMP"))
{
rtController.SnowDump(MovementPriority.Manual);
}
else if (script.Contains("FULL_EV"))
{
rtController.FullElevationMove(MovementPriority.Manual);
}
else if (script.Contains("CALIBRATE"))
{
rtController.ThermalCalibrateRadioTelescope(MovementPriority.Manual);
}
else if (script.Contains("STOW"))
{
rtController.MoveRadioTelescopeToOrientation(MiscellaneousConstants.Stow, MovementPriority.Manual);
}
else if (script.Contains("FULL_CLOCK"))
{
// TODO: Implement with MoveByX function (issue #379)
}
else if (script.Contains("FULL_COUNTER"))
{
// TODO: Implement with MoveByX function (issue #379)
}
else
{
return(false);
}
return(true);
}
else if (data.IndexOf("STOP_RT") != -1)
{
rtController.ExecuteRadioTelescopeControlledStop(MovementPriority.GeneralStop);
}
else if (data.IndexOf("SENSOR_INIT") != -1)
{
string[] splitData = data.Split(',');
if (splitData.Length != 10)
{
return(false);
}
var config = rtController.RadioTelescope.SensorNetworkServer.InitializationClient.SensorNetworkConfig;
// Set all the sensors to their new initialization
config.AzimuthTemp1Init = splitData[(int)SensorInitializationEnum.AzimuthTemp].Equals("1");
config.ElevationTemp1Init = splitData[(int)SensorInitializationEnum.ElevationTemp].Equals("1");
config.AzimuthAccelerometerInit = splitData[(int)SensorInitializationEnum.AzimuthAccelerometer].Equals("1");
config.ElevationAccelerometerInit = splitData[(int)SensorInitializationEnum.ElevationAccelerometer].Equals("1");
config.CounterbalanceAccelerometerInit = splitData[(int)SensorInitializationEnum.CounterbalanceAccelerometer].Equals("1");
config.AzimuthEncoderInit = splitData[(int)SensorInitializationEnum.AzimuthEncoder].Equals("1");
config.ElevationEncoderInit = splitData[(int)SensorInitializationEnum.ElevationEncoder].Equals("1");
// Set the timeout values
config.TimeoutDataRetrieval = (int)(double.Parse(splitData[7]) * 1000);
config.TimeoutInitialization = (int)(double.Parse(splitData[8]) * 1000);
// Reboot
rtController.RadioTelescope.SensorNetworkServer.RebootSensorNetwork();
return(true);
}
// can't find a keyword then we fail
return(false);
}
public ExecuteTCPCommandResult ExecuteRLCommand(String[] splitCommandString)
{
// Convert version from string to double. This is the first value in our string before the "|" character.
// From here we will direct to the appropriate parsing for said version
double version = 0.0;
try
{
version = Double.Parse(splitCommandString[TCPCommunicationConstants.VERSION_NUM]);
}
catch (Exception e)
{
String errMessage = TCPCommunicationConstants.VERSION_CONVERSION_ERR + e.Message;
return(new ExecuteTCPCommandResult(MovementResult.InvalidCommand, errMessage));
}
// Use appropriate parsing for given version
if (version == 1.0)
{
// command is placed after pike and before colon; get it here
// <VERSION> | <COMMANDTYPE> | <NAME<VALUES>> | TIME
string command = splitCommandString[TCPCommunicationConstants.COMMAND_TYPE];
if (command == "ORIENTATION_MOVE")
{
// we have a move command coming in
rtController.ExecuteRadioTelescopeControlledStop(MovementPriority.GeneralStop);
// get azimuth and orientation
double azimuth = 0.0;
double elevation = 0.0;
try
{
azimuth = Convert.ToDouble(splitCommandString[TCPCommunicationConstants.ORIENTATION_MOVE_AZ]);
elevation = Convert.ToDouble(splitCommandString[TCPCommunicationConstants.ORIENTATION_MOVE_EL]);
}
catch (Exception e)
{
String errMessage = TCPCommunicationConstants.AZ_EL_CONVERSION_ERR + e.Message;
return(new ExecuteTCPCommandResult(MovementResult.InvalidCommand, errMessage));
}
logger.Debug(Utilities.GetTimeStamp() + ": Azimuth " + azimuth);
logger.Debug(Utilities.GetTimeStamp() + ": Elevation " + elevation);
Orientation movingTo = new Orientation(azimuth, elevation);
// check result of movement, if it fails we return the result type along with an error message.
// The command parse was successful however, so we indicate that
MovementResult result = rtController.MoveRadioTelescopeToOrientation(movingTo, MovementPriority.Manual);
if (result != MovementResult.Success)
{
return(new ExecuteTCPCommandResult(result, TCPCommunicationConstants.ORIENTATION_MOVE_ERR + result.ToString()));
}
else
// everything was successful
{
return(new ExecuteTCPCommandResult(result));
}
}
else if (command == "RELATIVE_MOVE")
{
// we have a relative movement command
rtController.ExecuteRadioTelescopeControlledStop(MovementPriority.GeneralStop);
// get azimuth and orientation
double azimuth = 0.0;
double elevation = 0.0;
try
{
azimuth = Convert.ToDouble(splitCommandString[TCPCommunicationConstants.RELATIVE_MOVE_AZ]);
elevation = Convert.ToDouble(splitCommandString[TCPCommunicationConstants.RELATIVE_MOVE_EL]);
}
catch (Exception e)
{
String errMessage = TCPCommunicationConstants.AZ_EL_CONVERSION_ERR + e.Message;
return(new ExecuteTCPCommandResult(MovementResult.InvalidCommand, errMessage));
}
logger.Debug(Utilities.GetTimeStamp() + ": Azimuth " + azimuth);
logger.Debug(Utilities.GetTimeStamp() + ": Elevation " + elevation);
Orientation movingBy = new Orientation(azimuth, elevation);
MovementResult result = rtController.MoveRadioTelescopeByXDegrees(movingBy, MovementPriority.Manual);
if (result != MovementResult.Success)
{
// the actual movement failed
return(new ExecuteTCPCommandResult(result, TCPCommunicationConstants.RELATIVE_MOVE_ERR + result.ToString()));
}
else
{
// everything was successful
return(new ExecuteTCPCommandResult(result));
}
}
else if (command == "SET_OVERRIDE")
{
string sensorToOverride = splitCommandString[TCPCommunicationConstants.SENSOR_TO_OVERRIDE];
bool doOverride = splitCommandString[TCPCommunicationConstants.DO_OVERRIDE] == "TRUE" ? true : false;
switch (sensorToOverride)
{
// Non-PLC Overrides
case "WEATHER_STATION":
controlRoom.weatherStationOverride = doOverride;
rtController.setOverride("weather station", doOverride);
DatabaseOperations.SetOverrideForSensor(SensorItemEnum.WEATHER_STATION, doOverride);
break;
// PLC Overrides
case "MAIN_GATE":
rtController.setOverride("main gate", doOverride);
break;
// Proximity overrides
case "ELEVATION_LIMIT_0":
rtController.setOverride("elevation proximity (1)", doOverride);
break;
case "ELEVATION_LIMIT_90":
rtController.setOverride("elevation proximity (2)", doOverride);
break;
// Sensor network overrides
case "AZ_ABS_ENC":
rtController.setOverride("azimuth absolute encoder", doOverride);
break;
case "EL_ABS_ENC":
rtController.setOverride("elevation absolute encoder", doOverride);
break;
case "AZ_ACC":
rtController.setOverride("azimuth motor accelerometer", doOverride);
break;
case "EL_ACC":
rtController.setOverride("elevation motor accelerometer", doOverride);
break;
case "CB_ACC":
rtController.setOverride("counterbalance accelerometer", doOverride);
break;
case "AZIMUTH_MOT_TEMP":
rtController.setOverride("azimuth motor temperature", doOverride);
break;
case "ELEVATION_MOT_TEMP":
rtController.setOverride("elevation motor temperature", doOverride);
break;
// If no case is reached, the sensor is not valid. Return appropriately
default:
return(new ExecuteTCPCommandResult(MovementResult.InvalidCommand, TCPCommunicationConstants.INVALID_SENSOR_OVERRIDE + sensorToOverride));
}
return(new ExecuteTCPCommandResult(MovementResult.Success));
}
else if (command == "SCRIPT")
{
// we have a move command coming in
rtController.ExecuteRadioTelescopeControlledStop(MovementPriority.GeneralStop);
// Retrieve script name used for switch case
string script = splitCommandString[TCPCommunicationConstants.SCRIPT_NAME];
MovementResult result = MovementResult.None;
logger.Debug(Utilities.GetTimeStamp() + ": Script " + script);
switch (script)
{
case "DUMP":
result = rtController.SnowDump(MovementPriority.Manual);
break;
case "FULL_EV":
result = rtController.FullElevationMove(MovementPriority.Manual);
break;
case "THERMAL_CALIBRATE":
result = rtController.ThermalCalibrateRadioTelescope(MovementPriority.Manual);
break;
case "STOW":
result = rtController.MoveRadioTelescopeToOrientation(MiscellaneousConstants.Stow, MovementPriority.Manual);
break;
case "FULL_CLOCK":
result = rtController.MoveRadioTelescopeByXDegrees(new Orientation(360, 0), MovementPriority.Manual);
break;
case "FULL_COUNTER":
result = rtController.MoveRadioTelescopeByXDegrees(new Orientation(-360, 0), MovementPriority.Manual);
break;
case "HOME":
result = rtController.HomeTelescope(MovementPriority.Manual);
break;
case "HARDWARE_MVMT_SCRIPT":
result = rtController.ExecuteHardwareMovementScript(MovementPriority.Manual);
break;
default:
// If no command is found, result = invalid
result = MovementResult.InvalidCommand;
break;
}
// Return based off of movement result
if (result != MovementResult.Success)
{
return(new ExecuteTCPCommandResult(result, TCPCommunicationConstants.SCRIPT_ERR + result.ToString()));
}
else
{
// everything was successful
return(new ExecuteTCPCommandResult(result));
}
}
else if (command == "STOP_RT")
{
rtController.RadioTelescope.PLCDriver.InterruptMovementAndWaitUntilStopped();
return(new ExecuteTCPCommandResult(MovementResult.Success, TCPCommunicationConstants.ALL_STOP_ERR));
}
else if (command == "SENSOR_INIT")
{
// Retrieve sensor init values from the comma separated portion of the string
string[] splitData = splitCommandString[TCPCommunicationConstants.SENSOR_INIT_VALUES].Split(',');
var config = rtController.RadioTelescope.SensorNetworkServer.InitializationClient.SensorNetworkConfig;
// Set all the sensors to their new initialization
config.AzimuthTemp1Init = splitData[(int)SensorInitializationEnum.AzimuthTemp].Equals("1");
config.ElevationTemp1Init = splitData[(int)SensorInitializationEnum.ElevationTemp].Equals("1");
config.AzimuthAccelerometerInit = splitData[(int)SensorInitializationEnum.AzimuthAccelerometer].Equals("1");
config.ElevationAccelerometerInit = splitData[(int)SensorInitializationEnum.ElevationAccelerometer].Equals("1");
config.CounterbalanceAccelerometerInit = splitData[(int)SensorInitializationEnum.CounterbalanceAccelerometer].Equals("1");
config.AzimuthEncoderInit = splitData[(int)SensorInitializationEnum.AzimuthEncoder].Equals("1");
config.ElevationEncoderInit = splitData[(int)SensorInitializationEnum.ElevationEncoder].Equals("1");
// Set the timeout values
config.TimeoutDataRetrieval = (int)(double.Parse(splitData[7]) * 1000);
config.TimeoutInitialization = (int)(double.Parse(splitData[8]) * 1000);
// Reboot
rtController.RadioTelescope.SensorNetworkServer.RebootSensorNetwork();
return(new ExecuteTCPCommandResult(MovementResult.Success));
}
else if (command == "REQUEST")
{
switch (splitCommandString[TCPCommunicationConstants.REQUEST_TYPE])
{
case "MVMT_DATA":
return(new ExecuteTCPCommandResult(MovementResult.Success, GetMovementData()));
default:
return(new ExecuteTCPCommandResult(MovementResult.InvalidCommand, TCPCommunicationConstants.INVALID_REQUEST_TYPE + splitCommandString[TCPCommunicationConstants.REQUEST_TYPE]));
}
}
// can't find a keyword then we return Invalid Command sent
return(new ExecuteTCPCommandResult(MovementResult.InvalidCommand, TCPCommunicationConstants.COMMAND_NOT_FOUND + command));
}
// Version is not found; add new versions here
else
{
return(new ExecuteTCPCommandResult(MovementResult.InvalidCommand, TCPCommunicationConstants.VERSION_NOT_FOUND + version));
}
}
