public CompanyAssistantController()
{
SessionModel.Initialize();
client = new InitializationClient(SessionModel.AuthorizationHeader, ClientConfiguration.GetAdapterFromConfig());
}
/// <summary>
/// This is used internally by the SensorNetworkServer to tell what kind of data the Sensor Network
/// is sending. It may send data, in which case a transit ID will be present, or it may ask for
/// an initialization.
/// </summary>
/// <param name="data">The data we are interpreting.</param>
/// <param name="receivedDataSize">This will be used to tell if our data is complete.</param>
private bool InterpretData(byte[] data, int receivedDataSize)
{
bool success = false;
if (Encoding.ASCII.GetString(data, 0, receivedDataSize).Equals("Send Sensor Configuration"))
{ // Reaching here means that we've received a request for sensor initialization
Status = SensorNetworkStatusEnum.Initializing;
// If the init sending fails, set status to reflect that
if (!InitializationClient.SendSensorInitialization())
{
Status = SensorNetworkStatusEnum.InitializationSendingFailed;
if (Timeout.Enabled)
{
Timeout.Stop();
}
pushNotification.sendToAllAdmins("Sensor Network Error", $"Status: {Status}");
}
else
{
logger.Info($"{Utilities.GetTimeStamp()}: Successfully sent sensor initialization to the Sensor Network.");
success = true;
}
}
else
{
Status = SensorNetworkStatusEnum.ReceivingData;
// Bytes 1-3 of the data contain the overall size of the packet
UInt32 expectedDataSize = (UInt32)(data[1] << 24 | data[2] << 16 | data[3] << 8 | data[4]);
// Check that the data we received is the same size as what we expect
if (expectedDataSize == receivedDataSize)
{
// Byte 0 contains the transmit ID
int receivedTransitId = data[0];
// Verify that the first byte contains the "success" code (transit ID)
if (receivedTransitId == SensorNetworkConstants.TransitIdSuccess)
{
// At this point, we may begin parsing the data
// Sensor statuses and error codes
BitArray sensorStatus = new BitArray(new byte[] { data[5] }); // sensor statuses
UInt32 sensorErrors = (UInt32)(data[6] << 16 | data[7] << 8 | data[8]); // sensor self-tests | adxl error codes and azimuth encoder error code | temp sensor error codes
// Acquire the sample sizes for each sensor
UInt16 elAcclSize = (UInt16)(data[9] << 8 | data[10]);
UInt16 azAcclSize = (UInt16)(data[11] << 8 | data[12]);
UInt16 cbAcclSize = (UInt16)(data[13] << 8 | data[14]);
UInt16 elTempSensorSize = (UInt16)(data[15] << 8 | data[16]);
UInt16 azTempSensorSize = (UInt16)(data[17] << 8 | data[18]);
UInt16 elEncoderSize = (UInt16)(data[19] << 8 | data[20]);
UInt16 azEncoderSize = (UInt16)(data[21] << 8 | data[22]);
// TODO: Outside of right here, we aren't doing anything with the sensor statuses. These should
// be updated along with the sensor data on the diagnostics form. How this looks is up to you. (issue #353)
SensorStatuses = ParseSensorStatuses(sensorStatus, sensorErrors);
// This is the index we start reading sensor data
int k = 23;
// If no data comes through for a sensor (i.e. the size is 0), then it will not be updated,
// otherwise the UI value would temporarily be set to 0, which would be inaccurate
// Accelerometer 1 (elevation)
if (elAcclSize > 0)
{
//Create array of acceleration objects
CurrentElevationMotorAccl = GetAccelerationFromBytes(ref k, data, elAcclSize, SensorLocationEnum.EL_MOTOR);
//add to the Elevation Acceleration Blob
ElevationAccBlob.BuildAccelerationBlob(CurrentElevationMotorAccl);
}
// Accelerometer 2 (azimuth)
if (azAcclSize > 0)
{
CurrentAzimuthMotorAccl = GetAccelerationFromBytes(ref k, data, azAcclSize, SensorLocationEnum.AZ_MOTOR);
//add to the Azimuth Acceleration Blob
AzimuthAccBlob.BuildAccelerationBlob(CurrentAzimuthMotorAccl);
}
// Accelerometer 3 (counterbalance)
if (cbAcclSize > 0)
{
CurrentCounterbalanceAccl = GetAccelerationFromBytes(ref k, data, cbAcclSize, SensorLocationEnum.COUNTERBALANCE);
//add to the Counterbalance Acceleration Blob
CounterbalanceAccBlob.BuildAccelerationBlob(CurrentCounterbalanceAccl);
// If there is new counterbalance accelerometer data, update the elevation position
UpdateCBAccelElevationPosition();
}
// Elevation temperature
if (elTempSensorSize > 0)
{
CurrentElevationMotorTemp = GetTemperatureFromBytes(ref k, data, elTempSensorSize, SensorLocationEnum.EL_MOTOR);
Database.DatabaseOperations.AddSensorData(CurrentElevationMotorTemp);
}
// Azimuth temperature
if (azTempSensorSize > 0)
{
CurrentAzimuthMotorTemp = GetTemperatureFromBytes(ref k, data, azTempSensorSize, SensorLocationEnum.AZ_MOTOR);
Database.DatabaseOperations.AddSensorData(CurrentAzimuthMotorTemp);
}
// Elevation absolute encoder
if (elEncoderSize > 0)
{
CurrentAbsoluteOrientation.Elevation = GetElevationAxisPositionFromBytes(ref k, data, AbsoluteOrientationOffset.Elevation, CurrentAbsoluteOrientation.Elevation);
}
// Azimuth absolute encoder
if (azEncoderSize > 0)
{
CurrentAbsoluteOrientation.Azimuth = GetAzimuthAxisPositionFromBytes(ref k, data, AbsoluteOrientationOffset.Azimuth, CurrentAbsoluteOrientation.Azimuth);
}
success = true;
}
// This may be replaced with different errors at some point (that have different transit IDs),
// though there are currently no plans for this. Right now, it is treated as an error overall:
// We should NOT be receiving anything other than TransitIdSuccess.
else
{
if (Status != SensorNetworkStatusEnum.TransitIdError)
{
logger.Error($"{Utilities.GetTimeStamp()}: Transit ID error: Expected " +
$"ID {SensorNetworkConstants.TransitIdSuccess}, received ID {receivedTransitId})");
Status = SensorNetworkStatusEnum.TransitIdError;
}
}
}
}
return(success);
}
