public ServerUnit(GlobalDataSet globalDataSet)
{
this.globalDataSet = globalDataSet;
// ENC28J60
dataPackage = new byte[this.globalDataSet.MAX_MOTOR_AMOUNT * 5];
// RASPBERRY PI
//dataPackage = new byte[this.globalDataSet.MAX_MOTOR_AMOUNT][];
//// Set event for new available packaged data
//dataPackager.newPackageEvent += new DataPackager.DataPackagedEventHandler(dataPackageReceived);
// Initialize data array with default values
// ENC28J60
for (int j = 0; j < (this.globalDataSet.MAX_MOTOR_AMOUNT * 5); j++)
{
dataPackage[j] = 0;
}
// RASPERRY PI
//for (int i = 0; i < this.globalDataSet.MAX_MOTOR_AMOUNT; i++)
//{
// dataPackage[i] = new byte[8];
// for (int j = 0; j < this.globalDataSet.MAX_DATAPACKAGE_ELEMENTS; j++) dataPackage[i][j] = 0;
//}
}
public FormRobotControl()
{
InitializeComponent();
// Definition
globalDataSet = new GlobalDataSet();
helperFunctions = new HelperFunctions(globalDataSet);
dataPackager = new DataPackager(globalDataSet);
tcpServer = new ServerUnit(globalDataSet);
// Initialize
sampleStep = DEFAULT_SAMPLE_TIME_FACTOR;
aliveBit = false;
notExecuted = true;
// User defines
globalDataSet.DebugMode = false;
globalDataSet.ShowProgramDuration = false;
// Set event that is fired by datapackager named newPackageEvent with method dataPackageReceived (listener: server)
// Set event that is fired by server named newServerEvent with method dataPackageServerReceived (listener: dataPackager)
dataPackager.newPackageEvent += new DataPackager.DataPackagedEventHandler(tcpServer.dataPackageReceived);
// Start server
tcpServer.startServer();
// Start thread to package data (the data were packaged before the client is connected
dataPackager.startPackaging();
// Check sensor alive in background
indicatorLedThread = new Thread(new ThreadStart(indicatorLed));
indicatorLedThread.Start();
ActionSelector actionSelector = new ActionSelector(globalDataSet);
}
public TcpIpCommunicationUnit(String pCommunicationName, GlobalDataSet globalDataSet)
{
this.globalDataSet = globalDataSet;
this.communicationName = pCommunicationName;
this.configfilename = pCommunicationName + "_NetworkConfig.xml";
this.loadNetworkConfiguration();
this.tunnelingMessage += new MessageTunnelingHandler(tcpDiagnoseServer_tunnelingMessage);
}
public MainPage()
{
this.InitializeComponent();
// Initilize data
errorCounterTransfer = 0;
mcpExecutorCounter = 0;
firstStart = true;
stopSequenceIsActive = false;
globalDataSet = new GlobalDataSet(); // Get things like mcp2515, logic_Mcp2515_Sender, logic_Mcp2515_Receiver
//serverComm = new ServerUnit(globalDataSet);
clientUnit = new ClientUnit(globalDataSet);
diagnose = new Diagnose(globalDataSet);
mcp2515 = globalDataSet.Mcp2515;
pulses = new Pulses();
clientUnit.newEvent += new ClientUnit.myEvent(this.dataPackageReceived);
// USER CONFIGURATION
globalDataSet.DebugMode = false;
getProgramDuration = false;
// Inititalize raspberry pi and gpio
init_raspberry_pi_gpio();
init_raspberry_pi_spi();
// Inititalize mcp2515
Task task_initMcp2515 = new Task(globalDataSet.init_mcp2515_task);
task_initMcp2515.Start();
task_initMcp2515.Wait();
// Start executor service
task_mcpExecutorService = new Task(mcpExecutorService_task);
task_mcpExecutorService.Start();
// Inititalize background tasks
stateTimer = new Timer(this.StateTimer, null, 0, DELTA_T_TIMER_CALLBACK); // Create timer to display the state of message transmission
errorTimer = new Timer(this.ErrorTimer, null, 0, DELTA_T_ERROR_TIMER); // Create timer to display the state of message transmission
// Inititalize server
//Task<bool> serverStarted = serverComm.StartServer();
clientUnit.StartClient_loop();
}
/// Constructor of the ActionSelector class
public ActionSelector(GlobalDataSet globalDataSet)
{
this.globalDataSet = globalDataSet;
// Inititialize
duration = new long[globalDataSet.MAX_MOTOR_AMOUNT];
for (int i = 0; i < globalDataSet.MAX_MOTOR_AMOUNT; i++)
{
duration[i] = 0;
}
// Start task to get all data from remote database
Task loadDatabaseTask = Task.Factory.StartNew(() => updateLocalDatabase());
loadDatabaseTask.Wait();
// Create datasets from local db
dataSetLocal = localDatabaseManager.createDatasetsForDb(localDbDescription);
// Start robot control as a timer
controlTimer = new Timer(this.controlRobot, null, 0, SAMPLE_TIME);
//loadDatabaseThread = new Thread(controlRobot);
}
public ServerUnit(GlobalDataSet globalDataSet)
{
this.globalDataSet = globalDataSet;
}
public Diagnose(GlobalDataSet globalDataSet)
{
this.globalDataSet = globalDataSet;
}
public ServerComm(GlobalDataSet globalDataSet)
{
this.globalDataSet = globalDataSet;
}
public ClientUnit(GlobalDataSet globalDataSet)
{
this.globalDataSet = globalDataSet;
}
