//internal bool Monitor()
//{
// if (TryConnectMonitor())
// {
// // Establish a MotionCursor on `Control`
// this._parentDriver.parentControl.InitializeMotionCursor();
// this._motionCursor = this._parentDriver.parentControl.MotionCursor;
// return true;
// }
// return false;
//}
private bool TryConnectMonitor()
{
try
{
_monitorClientSocket = new TcpClient();
_monitorClientSocket.Connect(this._monitorIP, this._monitorPort);
_monitorStatus = TCPConnectionStatus.Connected;
_monitorClientSocket.ReceiveBufferSize = 1024;
_monitorClientSocket.SendBufferSize = 1024;
_monitoringThread = new Thread(MonitoringMethod);
_monitoringThread.IsBackground = true;
_monitoringThread.Start();
_isMonitored = true;
return(_monitorClientSocket.Connected);
}
catch (Exception ex)
{
logger.Info("Real-time monitoring not available on this device");
DisconnectMonitor();
}
return(false);
}
private bool DisconnectMonitor()
{
if (_monitorClientSocket != null && _isMonitored)
{
try
{
if (_monitorClientSocket.Connected != null && _monitorClientSocket.Connected)
{
_monitorClientSocket.Client.Disconnect(false);
}
}
catch (Exception ex)
{
logger.Error("Something went wrong trying to disconnect from monitor");
logger.Error(ex.ToString());
}
_monitorClientSocket.Close();
_monitorStatus = TCPConnectionStatus.Disconnected;
_isMonitored = false;
return(true);
}
return(false);
}
internal bool Disconnect()
{
if (_clientSocket != null)
{
// Upload an empty script to stop the running program
LoadEmptyScript();
UploadScriptToDevice(_driverScript, false);
ClientSocketStatus = TCPConnectionStatus.Disconnected;
_clientSocket.Client.Disconnect(false);
_clientSocket.Close();
if (_clientNetworkStream != null)
{
_clientNetworkStream.Dispose();
}
_isServerListeningRunning = false;
// TESTING
_robotSocket.Close();
_robotSocket.Dispose();
_robotSocket = null;
_serverSocket.Stop();
_serverSocket = null;
return(true);
}
return(false);
}
internal bool Connect()
{
try
{
clientSocket = new TcpClient();
clientSocket.Connect(this._ip, this._port);
Status = TCPConnectionStatus.Connected;
clientNetworkStream = clientSocket.GetStream();
clientSocket.ReceiveBufferSize = 1024;
clientSocket.SendBufferSize = 1024;
sendingThread = new Thread(SendingMethod);
sendingThread.IsBackground = true;
sendingThread.Start();
receivingThread = new Thread(ReceivingMethod);
receivingThread.IsBackground = true;
receivingThread.Start();
return(clientSocket.Connected);
}
catch (Exception ex)
{
Console.WriteLine(ex);
throw new Exception("ERROR: could not establish TCP connection");
}
//return false;
}
internal bool Connect()
{
try
{
clientSocket = new TcpClient();
clientSocket.Connect(this._ip, this._port);
Status = TCPConnectionStatus.Connected;
clientNetworkStream = clientSocket.GetStream();
clientSocket.ReceiveBufferSize = 1024;
clientSocket.SendBufferSize = 1024;
sendingThread = new Thread(SendingMethod);
sendingThread.IsBackground = true;
sendingThread.Start();
receivingThread = new Thread(ReceivingMethod);
receivingThread.IsBackground = true;
receivingThread.Start();
if (!WaitForInitialization())
{
Console.WriteLine("Machina error: timeout when waiting for initialization data from the controller");
return(false);
}
return(clientSocket.Connected);
}
catch (Exception ex)
{
Console.WriteLine(ex);
throw new Exception("ERROR: could not establish TCP connection");
}
//return false;
}
internal bool Connect()
{
try
{
_clientSocket = new TcpClient();
_clientSocket.Connect(this._robotIP, this._robotPort);
ClientSocketStatus = TCPConnectionStatus.Connected;
_clientNetworkStream = _clientSocket.GetStream();
_clientSocket.ReceiveBufferSize = 2048;
_clientSocket.SendBufferSize = 1024;
//// We don't need a sending thread to the client anymore, since the driver script will only be uplaoded once.
//_clientSendingThread = new Thread(ClientSendingMethod);
//_clientSendingThread.IsBackground = true;
//_clientSendingThread.Start();
_clientReceivingThread = new Thread(ClientReceivingMethod);
_clientReceivingThread.IsBackground = true;
_clientReceivingThread.Start();
if (!Machina.Net.GetLocalIPAddressInNetwork(_robotIP, "255.255.255.0", out _serverIP))
{
throw new Exception("ERROR: Could not figure out local IP");
}
Console.WriteLine("Machina local IP: " + _serverIP);
_serverSocket = new TcpListener(IPAddress.Parse(_serverIP), _serverPort);
_serverSocket.Start();
_isServerListeningRunning = true;
_serverListeningThread = new Thread(ServerReceivingMethod);
_serverListeningThread.IsBackground = true;
_serverListeningThread.Start();
//LoadStreamProgramParts();
LoadDriverScript();
UploadScriptToDevice(_driverScript, false);
return(_clientSocket.Connected);
}
catch (Exception ex)
{
Console.WriteLine("ERROR: something went wrong trying to connect to robot...");
Console.WriteLine(ex);
throw new Exception();
}
//return false;
}
internal bool Disconnect()
{
if (clientSocket != null)
{
Status = TCPConnectionStatus.Disconnected;
clientSocket.Client.Disconnect(false);
clientSocket.Close();
if (clientNetworkStream != null)
{
clientNetworkStream.Dispose();
}
return(true);
}
return(false);
}
internal bool Connect()
{
try
{
_clientSocket = new TcpClient();
_clientSocket.Connect(this._ip, this._port);
_clientStatus = TCPConnectionStatus.Connected;
_clientNetworkStream = _clientSocket.GetStream();
_clientSocket.ReceiveBufferSize = 1024;
_clientSocket.SendBufferSize = 1024;
_sendingThread = new Thread(SendingMethod);
_sendingThread.IsBackground = true;
_sendingThread.Start();
_receivingThread = new Thread(ReceivingMethod);
_receivingThread.IsBackground = true;
_receivingThread.Start();
if (!WaitForInitialization())
{
logger.Error("Timeout when waiting for initialization data from the controller");
Disconnect();
return(false);
}
// During YuMi development I was having a really weird problem: if a monitor is running, I cannot connect to another driver in the same unit...
// So, for the time being, let's make monitoring an explicit process with its own API?
if (TryConnectMonitor())
{
// Establish a MotionCursor on `Control`
this._parentDriver.parentControl.InitializeMotionCursor();
this._motionCursor = this._parentDriver.parentControl.MotionCursor;
}
return(_clientSocket.Connected);
}
catch (Exception ex)
{
logger.Debug(ex);
//throw new Exception("ERROR: could not establish TCP connection");
Disconnect();
}
return(false);
}
internal bool Disconnect()
{
if (_clientSocket != null)
{
ClientSocketStatus = TCPConnectionStatus.Disconnected;
_clientSocket.Client.Disconnect(false);
_clientSocket.Close();
if (_clientNetworkStream != null)
{
_clientNetworkStream.Dispose();
}
_isServerListeningRunning = false;
return(true);
}
return(false);
}
internal bool Disconnect()
{
if (_clientSocket != null)
{
// Upload an empty script to stop the running program
string emptyScript = LoadEmptyScript();
if (!UploadScriptToDevice(emptyScript, false))
{
Logger.Error("Could not load empty script to robot");
}
try
{
ClientSocketStatus = TCPConnectionStatus.Disconnected;
_clientSocket.Client.Disconnect(false);
_clientSocket.Close();
if (_clientNetworkStream != null)
{
_clientNetworkStream.Dispose();
}
_isServerListeningRunning = false;
// TESTING
_robotSocket.Close();
_robotSocket.Dispose();
_robotSocket = null;
_serverSocket.Stop();
_serverSocket = null;
return(true);
}
catch (Exception ex)
{
logger.Error("Something went wrong on disconnection:");
logger.Error(ex);
return(false);
}
}
return(false);
}
internal bool Disconnect()
{
DisconnectMonitor();
if (_clientSocket != null)
{
_clientStatus = TCPConnectionStatus.Disconnected;
try
{
_clientSocket.Client.Disconnect(false);
}
catch { }
_clientSocket.Close();
if (_clientNetworkStream != null)
{
_clientNetworkStream.Dispose();
}
return(true);
}
return(false);
}
internal bool Connect()
{
try
{
_clientSocket = new TcpClient();
_clientSocket.Connect(this._robotIP, this._robotPort);
ClientSocketStatus = TCPConnectionStatus.Connected;
_clientNetworkStream = _clientSocket.GetStream();
_clientSocket.ReceiveBufferSize = 2048;
_clientSocket.SendBufferSize = 1024;
//// We don't need a sending thread to the client anymore, since the driver script will only be uplaoded once.
//_clientSendingThread = new Thread(ClientSendingMethod);
//_clientSendingThread.IsBackground = true;
//_clientSendingThread.Start();
_clientReceivingThread = new Thread(ClientReceivingMethod);
_clientReceivingThread.IsBackground = true;
_clientReceivingThread.Start();
if (!Net.Net.GetLocalIPAddressInNetwork(_robotIP, "255.255.255.0", out _serverIP))
{
throw new Exception("ERROR: Could not figure out local IP");
}
logger.Debug("Machina local IP: " + _serverIP);
_serverSocket = new TcpListener(IPAddress.Parse(_serverIP), _serverPort);
_serverSocket.Start();
_isServerListeningRunning = true;
_serverListeningThread = new Thread(ServerReceivingMethod);
_serverListeningThread.IsBackground = true;
_serverListeningThread.Start();
string drScript = LoadDriverScript();
if (!UploadScriptToDevice(drScript, false))
{
logger.Error("Could not upload driver to robot");
Disconnect();
return(false);
}
if (!WaitForInitialization())
{
logger.Error("Timeout when waiting for initialization data from the controller");
Disconnect();
return(false);
}
return(_clientSocket.Connected);
}
catch (Exception ex)
{
logger.Error("Something went wrong trying to connect to robot...");
logger.Debug(ex);
Disconnect();
return(false);
}
//return false;
}
