/// <summary>
/// 動作中のｽｸﾘﾌﾟﾄ実行を強制停止
/// </summary>
/// <param name="id"></param>
/// <returns></returns>
public int StopProgram(int id)
{
Trace.TraceFormat("Entry:ID={0}", id);
if (id == -1)
{
SvControl.Power(0);
if (_scriptThread != null)
{
Trace.TraceFormat("Thread Abort");
_scriptThread.Abort();
_scriptThread.Join();
}
}
else
{
if (id < 0 || id > 255)
{
Trace.TraceFormat("[ERR]ID={0} Param", id);
return((int)ErrCode.ERR_PARAM);
}
PEventManager.PEvent ev = GetEvent(id);
//ｽﾚｯﾄﾞで実行しているｽｸﾘﾌﾟﾄを停止させる
if (_scriptThread != null)
{
_scriptThread.Abort();
_scriptThread.Join();
}
Trace.TraceFormat("[ERR]Leave ID={0} Exec", id);
ev.Cancel((int)ErrCode.ERR_EXEC);
}
Trace.TraceFormat("Leave ID={0}", id);
return((int)ErrCode.RET_OK);
}
/// <summary>
/// ｲﾍﾞﾝﾄ待ち
/// </summary>
/// <param name="eventList">ｲﾍﾞﾝﾄIDﾘｽﾄ</param>
/// <param name="time">ﾀｲﾑｱｳﾄ(ms)</param>
/// <returns>発生したｲﾍﾞﾝﾄIDのｲﾝﾃﾞｯｸｽ</returns>
public int Wait(IList <int> eventList, int time)
{
WaitHandle[] evl = new WaitHandle[eventList.Count];
int[] evNo = new int[eventList.Count];
string msg = "[";
Trace.TraceFormat("EventCount={0} Time={1}", eventList.Count, time);
//ｲﾍﾞﾝﾄIDから真のｲﾍﾞﾝﾄｵﾌﾞｼﾞｪｸﾄを取り出す
int idx = 0;
foreach (int evId in eventList)
{
if (evId < 0 || evId >= 255)
{
evNo = null;
Trace.TraceFormat("[ERR]EventRangeOver={0}", evId);
return((int)ErrCode.ERR_PARAM);
}
PEventManager.PEvent ev = _eventCtrl.GetEvent(evId);
Object obj;
if ((obj = ev.GetEvent() as AutoResetEvent) != null)
{
evl[idx] = obj as AutoResetEvent;
}
else
{
evl[idx] = obj as ManualResetEvent;
}
evNo[idx] = evId;
idx++;
msg += (evId.ToString() + ",");
}
msg += "]";
Trace.TraceFormat("Wait({0},{1})", msg, time);
int ret = WaitHandle.WaitAny(evl, time);
//使用したｲﾍﾞﾝﾄIDは未使用状態にする
_eventCtrl.Flush(eventList);
if (ret == WaitHandle.WaitTimeout)
{
//ﾀｲﾑｱｳﾄの場合
Trace.TraceFormat("Leave TimeOut:{0}", time);
return(ret);
}
//発生したｲﾍﾞﾝﾄ(ｲﾝﾃﾞｯｸｽ)のｲﾍﾞﾝﾄが持つID番号
Trace.TraceFormat("Leave:ID={0}", _eventCtrl.GetEvent(evNo[ret])._number);
Trace.TraceFormat("Leave:St={0}", _eventCtrl.GetEvent(evNo[ret]).Status());
return(_eventCtrl.GetEvent(evNo[ret])._number);
}
/// <summary>
/// 軸移動指令の中止
/// </summary>
/// <returns></returns>
public int StopMove(int id)
{
Trace.TraceFormat("Entry:id={0}", id);
if (SvControl != null)
{
try {
PEventManager.PEvent evObj = _eventCtrl.GetEvent(id);
if (evObj.GetRscType() == 0)
{
//ｲﾍﾞﾝﾄが使用中である場合のみ
uint st = SvControl.GetMcStatus();
//ﾌﾟﾛｸﾞﾗﾑは停止させる(動作中かどうかは確認しない)
SvControl.StopCommand();
SvControl.Reset(); //ｽﾚｯﾄﾞをAbort()させると"ﾌﾞﾛｯｸ停止"なので
//ﾌﾟﾛｸﾞﾗﾑの停止を待つ
// ※ﾌﾟﾛｸﾞﾗﾑを停止させることによって、動作完了扱いとなるため
// 停止ｺﾏﾝﾄﾞを出した直後にｲﾍﾞﾝﾄのｽﾃｰﾀｽを変更しても
// 動作ｺﾏﾝﾄﾞの完了の方が遅くなるので、結果的にｲﾍﾞﾝﾄは
// ｷｬﾝｾﾙから成功になってしまう。
// このため、ﾌﾟﾛｸﾞﾗﾑの完了を待ってから、改めてｲﾍﾞﾝﾄをｷｬﾝｾﾙ設定する
Trace.TraceFormat("Wait:program stop");
uint nn;
do
{
Thread.Sleep(100);
nn = SvControl.GetMcStatus();
Trace.TraceFormat("programStatus:{0:X}", nn);
} while((nn & (0x10 << 16)) != 0);
if ((st & (0x10 << 16)) != 0)
{
//ﾌﾟﾛｸﾞﾗﾑ実行中であった場合はｲﾍﾞﾝﾄをｷｬﾝｾﾙ扱いとする
evObj.Cancel(0);
Trace.TraceFormat("programEvent Canceled");
}
}
else
{
Trace.TraceFormat("Event Not Used");
}
Trace.TraceFormat("Leave");
return((int)ErrCode.RET_OK);
}
catch (Exception) {
Trace.TraceFormat("[ERR]Exception Parameter");
return((int)ErrCode.ERR_PARAM);
}
}
else
{
return((int)ErrCode.ERR_EXEC);
}
}
/// <summary>
/// ｲﾍﾞﾝﾄに設定されたｴﾗｰｺｰﾄﾞ取得
/// </summary>
/// <param name="id"></param>
/// <returns></returns>
public int GetEventErrCode(int id)
{
try {
PEventManager.PEvent ev = _eventCtrl.GetEvent(id);
return(ev.ErrorCode());
}
catch (Exception) {
return((int)ErrCode.ERR_PARAM);
}
}
public void SetIoEvent(PEventManager.PEvent ev, int port, int bit, int onoff)
{
ev.SetRsc(new IoData(port, bit, onoff));
if (onoff == 1)
{
_ioAssert[bit] = ev;
}
else
{
_ioNagate[bit] = ev;
}
}
/// <summary>
/// ｲﾍﾞﾝﾄ状態を取得
/// </summary>
/// <param name="id"></param>
/// <returns></returns>
public int EventStatus(int id)
{
Trace.TraceFormat("Entry:ID={0}", id);
try {
PEventManager.PEvent ev = _eventCtrl.GetEvent(id);
Trace.TraceFormat("Leave:Status={0}", ev.Status());
return(ev.Status());
}
catch (Exception) {
Trace.TraceFormat("[ERR]Exception NotEventID={0}", id);
return((int)ErrCode.ERR_PARAM);
}
}
/// <summary>
/// ｲﾍﾞﾝﾄをｷｬﾝｾﾙ状態ｾｯﾄする
/// </summary>
/// <param name="id"></param>
/// <returns></returns>
public int CancelWait(int id)
{
Trace.TraceFormat("Entry:ID={0}", id);
try {
PEventManager.PEvent ev = _eventCtrl.GetEvent(id);
ev.Cancel((int)ErrCode.ERR_EXEC);
}
catch (Exception) {
Trace.TraceFormat("Exception: NotEventID={0}", id);
return((int)ErrCode.ERR_PARAM);
}
Trace.TraceFormat("Leave");
return((int)ErrCode.RET_OK);
}
/// <summary>
/// 軸の移動
/// </summary>
/// <param name="data">{"RX":xxxx,"RY":yyyy}</param>
/// <returns></returns>
public int Move(Dictionary <string, int> data, PEventManager.PEvent evObj)
{
Trace.TraceFormat("Entry");
int id = MoveAxis(data, evObj);
if (id < 0)
{
Trace.TraceFormat("[ERR]ret={0}", id);
evObj.Flush();
return(evObj.ErrorCode());
}
Trace.TraceFormat("Leave:EventID={0}", evObj._number);
return(evObj._number);
}
/// <summary>
/// ｽｸﾘﾌﾟﾄ実行ｽﾚｯﾄﾞ
/// </summary>
/// <param name="source"></param>
public void execute_script(string source)
{
PEventManager.PEvent ev = VM.GetEvent();
ThreadArgs args = new ThreadArgs();
args.vm = VM;
args.cmd = source;
args._event = ev;
args._timeOut = Int32.Parse(ProgTimeOut.Text);
//ｽｸﾘﾌﾟﾄ実行待ちのｽﾚｯﾄﾞ
_waitThread = new Thread(new ParameterizedThreadStart(EventThread));
//ｽｸﾘﾌﾟﾄ・ｽﾚｯﾄﾞ
_progThread = new Thread(new ParameterizedThreadStart(ScriptThread));
_waitThread.Start(args);
_progThread.Start(args);
}
/// <summary>
/// ｻｰﾎﾞｼｽﾃﾑの異常通知用ｲﾍﾞﾝﾄの設定
/// </summary>
/// <param name="ev"></param>
public void SetUnitEvent(PEventManager.PEvent ev)
{
_svCtrl.SetUnitEvent(ev);
}
/// <summary>
/// 軸移動指示(複数動作)
/// </summary>
/// <param name="data">{"X":xxx,"Y":xxx},{"X":xxx,"Y":yyy},...</param>
/// <param name="evObj">ｲﾍﾞﾝﾄID</param>
/// <returns></returns>
public int MoveProgAxis(IList <Dictionary <string, int> > data, PEventManager.PEvent evObj)
{
return(_svCtrl.MoveProgAxis(data, evObj));
}
/// <summary>
/// 軸移動指示(単一動作)
/// </summary>
/// <param name="data">{"X":xxx,"Y":yyy,...}</param>
/// <param name="evObj">ｲﾍﾞﾝﾄID</param>
/// <returns></returns>
public int MoveAxis(Dictionary <string, int> data, PEventManager.PEvent evObj)
{
return(_svCtrl.MoveAxis(data, evObj));
}
/// <summary>
/// ｺﾏﾝﾄﾞ受信ｽﾚｯﾄﾞ
/// </summary>
unsafe private void CommandThread(Object argObj)
{
//引数の展開
object[] argsTmp = (object[])argObj;
byte[] buffer = new byte[1024];
//ｿｹｯﾄの生成
_sock = new SockCtrl();
_sock.Init(_serverIP, (int)argsTmp[0]);
while (_sock.listener == null)
{
Thread.Sleep(10);
}
try {
_sock.listener.Pending();
}
catch (Exception err) {
_sock.listener.Start();
}
while (true)
{
if (_sock.listener.Pending() == true)
{
_sock.Accept();
ConnectionMsg = "接続中";
Trace.TraceFormat("Socket Connected");
int len = 0;
NetworkStream stream = _sock.stream;
MemoryStream ms = new MemoryStream();
int cmdMode = 0;
bool loop = true;
while (loop)
{
//ｺﾏﾝﾄﾞ文字列受信
do
{
try {
len = stream.Read(buffer, 0, 1);
if (len == 0)
{
//ｸﾗｲｱﾝﾄ側から切断された
loop = false;
ms.Position = 0;
ms.Dispose();
break;
}
ms.Write(buffer, 0, len);
}
catch (Exception err) {
//Read中に切断された
//MessageBox.Show("CMD::" + err.Message, "警告", MessageBoxButton.OK, MessageBoxImage.Warning);
WriteConsole(err.Message);
loop = false;
ms.Flush();
ms.Position = 0;
ms.Dispose();
break;
}
//ｺﾏﾝﾄﾞの最終文字は';' または'@'とする
if (buffer[0] == ';')
{
cmdMode = 1;
break;
}
if (buffer[0] == '@')
{
cmdMode = 2;
break;
}
if (buffer[0] == '?')
{
cmdMode = 3;
break;
}
}while (stream.DataAvailable);
//ｺﾏﾝﾄﾞを受信した
if (loop == true && (int)ms.Position != 0)
{
Encoding enc = Encoding.UTF8;
string cmd = enc.GetString(ms.GetBuffer(), 0, (int)ms.Length - 1);
ms.Flush();
ms.Position = 0;
ms.Dispose();
//ｺﾏﾝﾄﾞｽｸﾘﾌﾟﾄを実行する
if (cmdMode == 1)
{
MessageData msg;
try {
ScriptSource src = _pythonConsole.Pad.Console.ScriptScope.Engine.CreateScriptSourceFromString(cmd);
Object obj = src.Execute(_pythonConsole.Pad.Console.ScriptScope);
msg = CreateMsg(MessageCode.SYS_CMD_RETOK, obj);
}
catch (Exception err) {
//ｽｸﾘﾌﾟﾄの実行で例外発生
string errMsg = _pythonConsole.Pad.Console.ScriptScope.Engine.GetService <ExceptionOperations>().FormatException(err);
Trace.TraceFormat("[ERR]Script:{0}", errMsg);
//MessageBox.Show(errMsg, "err", MessageBoxButton.OK, MessageBoxImage.Error);
_pythonConsole.Pad.Console.WriteLine(errMsg, Microsoft.Scripting.Hosting.Shell.Style.Out);
msg = CreateMsg(MessageCode.SYS_CMD_RETNG, (int)ErrCode.ERR_EXEC);
}
try {
//結果を送信する
stream.Write(msg.Binary(), 0, Marshal.SizeOf(msg));
}
catch (Exception err) {
//MessageBox.Show("CMD_Write::" + err.Message, "警告", MessageBoxButton.OK, MessageBoxImage.Warning);
WriteConsole(err.Message);
loop = false;
}
}
else if (cmdMode == 3)
{
//ｽｸﾘﾌﾟﾄﾌｧｲﾙで実行
MessageData msg;
try {
ScriptSource src = _pythonConsole.Pad.Console.ScriptScope.Engine.CreateScriptSourceFromFile(cmd);
Object obj = src.Execute(_pythonConsole.Pad.Console.ScriptScope);
msg = CreateMsg(MessageCode.SYS_CMD_RETOK, obj);
}
catch (Exception err) {
//ｽｸﾘﾌﾟﾄの実行で例外発生
string errMsg = _pythonConsole.Pad.Console.ScriptScope.Engine.GetService <ExceptionOperations>().FormatException(err);
Trace.TraceFormat("[ERR]Script:{0}", errMsg);
// MessageBox.Show(errMsg, "err", MessageBoxButton.OK, MessageBoxImage.Error);
msg = CreateMsg(MessageCode.SYS_CMD_RETNG, (int)ErrCode.ERR_EXEC);
}
try {
//結果を送信する
stream.Write(msg.Binary(), 0, Marshal.SizeOf(msg));
}
catch (Exception err) {
Trace.TraceFormat("[ERR]Socket Write:{0}", err.Message);
//MessageBox.Show("CMD_Write::" + err.Message, "警告", MessageBoxButton.OK, MessageBoxImage.Warning);
WriteConsole(err.Message);
loop = false;
}
_ExecuteScript(this, new ScriptEventArgs("\n"));
}
else
{
// 別ｽﾚｯﾄﾞでのｺﾏﾝﾄﾞ実行
bool threadRun = true;
if (_scriptThread != null)
{
if (_scriptThread.ThreadState != ThreadState.Stopped)
{
//前回のｽｸﾘﾌﾟﾄｽﾚｯﾄﾞが動作中
Trace.TraceFormat("Script already Run");
MessageData msg = CreateMsg(MessageCode.SYS_CMD_RETNG, (int)ErrCode.ERR_EXEC);
try {
//結果を送信する
stream.Write(msg.Binary(), 0, Marshal.SizeOf(msg));
}
catch (Exception err) {
Trace.TraceFormat("[ERR]Socket Write:{0}", err.Message);
//MessageBox.Show("CMD_Write::" + err.Message, "警告", MessageBoxButton.OK, MessageBoxImage.Warning);
WriteConsole(err.Message);
loop = false;
threadRun = false;
}
threadRun = false;
}
}
if (threadRun == true)
{
//ｽｸﾘﾌﾟﾄ実行のｲﾍﾞﾝﾄ
PEventManager.PEvent evObj = GetEvent();
ThreadArgs args = new ThreadArgs();
args.vm = this;
args.cmd = cmd;
args._event = evObj;
_scriptThread = new Thread(new ParameterizedThreadStart(ScriptThread));
_scriptThread.Start(args);
Trace.TraceFormat("Script thread started");
//execute_program() のﾘﾀｰﾝ用ﾃﾞｰﾀ
MessageData msg = CreateMsg(MessageCode.SYS_CMD_RETOK, evObj._number);
try {
stream.Write(msg.Binary(), 0, Marshal.SizeOf(msg));
}
catch (Exception err) {
Trace.TraceFormat("[ERR]Socket:{0}", err.Message);
//MessageBox.Show("SCR_Write::" + err.Message, "警告", MessageBoxButton.OK, MessageBoxImage.Warning);
WriteConsole(err.Message);
loop = false;
}
}
}
ms = new MemoryStream();
}
}
_sock.Close();
ConnectionMsg = "未接続";
_threadRestart = 1;
Trace.TraceFormat("Socket DisConnected");
}
else
{
Thread.Sleep(500);
if (_threadStop != 0)
{
break;
}
}
}
_sock.Close();
ConnectionMsg = "未接続";
_threadRestart = 1;
Trace.TraceFormat("Socket DisConnected");
}
public int GetMsgEventID()
{
_msgEvent = GetEvent();
return(_msgEvent._number);
}
