/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Handles inbound data events.
///
/// NOTE: You are not on the Main Form Thread here.
/// </summary>
/// <history>
/// 19 Nov 18 Cynic - Started
/// </history>
private void ServerClientDataEventHandler(object sender, ServerClientData scData)
{
if (scData == null)
{
LogMessage("ServerClientDataEventHandler scData==null");
return;
}
// Ok, you probably already know this but I'll note it here because this is so important
// You do NOT want to update any form controls from a thread that is not the forms main
// thread. Very odd, intermittent and hard to debug problems will result. Even if your
// handler does not actually update any form controls do not do it! Sooner or later you
// or someone else will make changes that calls something that eventually updates a
// form or control and then you will have introduced a really hard to find bug.
// So, we always use the InvokeRequired...Invoke sequence to get us back on the form thread
if (InvokeRequired == true)
{
// call ourselves again but this time be on the form thread.
Invoke(new TCPDataTransporter.ServerClientDataEvent_Delegate(ServerClientDataEventHandler), new object[] { sender, scData });
return;
}
// Now we KNOW we are on the main form thread.
// what type of data is it
if (scData.DataContent == ServerClientDataContentEnum.USER_DATA)
{
// it is user defined data, log it
LogMessage("ServerClientDataEventHandler dataStr=" + scData.DataStr);
// display it
AppendDataToTrace("IN: dataInt= dataStr=" + scData.DataStr);
}
else if (scData.DataContent == ServerClientDataContentEnum.REMOTE_CONNECT)
{
// the remote side has connected
LogMessage("ServerClientDataEventHandler REMOTE_CONNECT");
// display it
AppendDataToTrace("IN: REMOTE_CONNECT");
// set the screen
SetScreenVisualsBasedOnConnectionState(true);
}
else if (scData.DataContent == ServerClientDataContentEnum.REMOTE_DISCONNECT)
{
// the remote side has connected
LogMessage("ServerClientDataEventHandler REMOTE_DISCONNECT");
// display it
AppendDataToTrace("IN: REMOTE_DISCONNECT");
// set the screen
SetScreenVisualsBasedOnConnectionState(false);
// shut things down on our end
ShutdownDataTransporter();
}
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Sends the data from the screen to the client
/// </summary>
/// <history>
/// 19 Nov 18 Cynic - Started
/// </history>
private void SendDataFromScreenToClient()
{
if (dataTransporter == null)
{
LogMessage("SendDataFromScreenToClient, dataTransporter == null");
return;
}
if (IsConnected() == false)
{
LogMessage("SendDataFromScreenToClient, Not connected");
return;
}
// some sanity checks
if (stepperControlSTEP0.StepSpeed == 0)
{
OISMessageBox("STEPPER 0, zero is not a valid speed");
return;
}
if (stepperControlSTEP1.StepSpeed == 0)
{
OISMessageBox("STEPPER 1, zero is not a valid speed");
return;
}
if (stepperControlSTEP2.StepSpeed == 0)
{
OISMessageBox("STEPPER 2, zero is not a valid speed");
return;
}
if (stepperControlSTEP3.StepSpeed == 0)
{
OISMessageBox("STEPPER 3, zero is not a valid speed");
return;
}
if (stepperControlSTEP4.StepSpeed == 0)
{
OISMessageBox("STEPPER 4, zero is not a valid speed");
return;
}
if (stepperControlSTEP5.StepSpeed == 0)
{
OISMessageBox("STEPPER 5, zero is not a valid speed");
return;
}
// get the server client data from the screen
ServerClientData scData = GetSCDataFromScreen("Data from server to client");
// display it
AppendDataToTrace("OUT: dataStr=" + scData.DataStr);
// send it
dataTransporter.SendData(scData);
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Handles presses on the buttonSendMessage button
/// </summary>
/// <history>
/// 10 Nov 18 Cynic - Started
/// </history>
private void buttonSendMessage_Click(object sender, EventArgs e)
{
LogMessage("buttonSendMessage_Click");
if (dataTransporter == null)
{
OISMessageBox("No data transporter");
return;
}
ServerClientData scData = new ServerClientData(111, "test from server to client");
// display it
AppendDataToTrace("OUT: dataInt=" + scData.DataInt.ToString() + " dataStr=" + scData.DataStr);
// send it
dataTransporter.SendData(scData);
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Handles inbound data events
/// </summary>
/// <param name="scData">the server client data object</param>
/// <history>
/// 19 Nov 18 Cynic - Started
/// </history>
private void ServerClientDataEventHandler(object sender, ServerClientData scData)
{
if (scData == null)
{
LogMessage("ServerClientDataEventHandler scData==null");
Console.WriteLine("ServerClientDataEventHandler scData==null");
return;
}
// what type of data is it
if (scData.DataContent == ServerClientDataContentEnum.USER_DATA)
{
// user content
LogMessage("ServerClientDataEventHandler dataStr=" + scData.DataStr + ", Data=" + scData.ToString());
Console.WriteLine("inbound data received: dataStr=" + scData.DataStr + ", Data=" + scData.ToString());
// send the data to the PRU
SetPRUSteppersFromServerClientData(scData);
// for the purposes of demonstration, send an ack now
if (dataTransporter == null)
{
LogMessage("ServerClientDataEventHandler dataTransporter==null");
Console.WriteLine("ServerClientDataEventHandler dataTransporter==null");
return;
}
// send it
ServerClientData ackData = new ServerClientData("ACK from client to server");
dataTransporter.SendData(ackData);
}
else if (scData.DataContent == ServerClientDataContentEnum.REMOTE_CONNECT)
{
// the remote side has connected
LogMessage("ServerClientDataEventHandler REMOTE_CONNECT");
Console.WriteLine("ServerClientDataEventHandler REMOTE_CONNECT");
}
else if (scData.DataContent == ServerClientDataContentEnum.REMOTE_DISCONNECT)
{
// the remote side has connected
LogMessage("ServerClientDataEventHandler REMOTE_DISCONNECT");
Console.WriteLine("ServerClientDataEventHandler REMOTE_DISCONNECT");
}
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Shutsdown the data transporter safely
/// </summary>
/// <history>
/// 19 Nov 18 Cynic - Started
/// </history>
private void ShutdownDataTransporter()
{
// shutdown the data transporter
if (dataTransporter != null)
{
// are we connected? we want to tell the client to exit
if (IsConnected() == true)
{
// get the server client data from the screen
ServerClientData scData = GetSCDataFromScreen("Client close down message");
// set a special flag in here
scData.AllStep_Enable = 2;
// display it
AppendDataToTrace("OUT: dataStr=" + scData.DataStr);
// send it
dataTransporter.SendData(scData);
}
dataTransporter.Shutdown();
dataTransporter = null;
}
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Gets the server client data from the screen and returns the populated
/// container
/// </summary>
/// <returns>a populated ServerClientData container</returns>
/// <history>
/// 19 Nov 18 Cynic - Started
/// </history>
private ServerClientData GetSCDataFromScreen(string scDataText)
{
if (scDataText == null)
{
scDataText = "Data from Server to Client";
}
ServerClientData scData = new ServerClientData(scDataText);
// now get the data off the screen
scData.Step0_Enable = stepperControlSTEP0.StepEnabled;
scData.Step0_DirState = stepperControlSTEP0.StepDir;
if (radioButtonHz.Checked == true)
{
scData.Step0_StepSpeed = ConvertHzToCycles(stepperControlSTEP0.StepSpeed);
}
else
{
scData.Step0_StepSpeed = stepperControlSTEP0.StepSpeed;
}
scData.Step1_Enable = stepperControlSTEP1.StepEnabled;
scData.Step1_DirState = stepperControlSTEP1.StepDir;
if (radioButtonHz.Checked == true)
{
scData.Step1_StepSpeed = ConvertHzToCycles(stepperControlSTEP1.StepSpeed);
}
else
{
scData.Step1_StepSpeed = stepperControlSTEP1.StepSpeed;
}
scData.Step2_Enable = stepperControlSTEP2.StepEnabled;
scData.Step2_DirState = stepperControlSTEP2.StepDir;
if (radioButtonHz.Checked == true)
{
scData.Step2_StepSpeed = ConvertHzToCycles(stepperControlSTEP2.StepSpeed);
}
else
{
scData.Step2_StepSpeed = stepperControlSTEP2.StepSpeed;
}
scData.Step3_Enable = stepperControlSTEP3.StepEnabled;
scData.Step3_DirState = stepperControlSTEP3.StepDir;
if (radioButtonHz.Checked == true)
{
scData.Step3_StepSpeed = ConvertHzToCycles(stepperControlSTEP3.StepSpeed);
}
else
{
scData.Step3_StepSpeed = stepperControlSTEP3.StepSpeed;
}
scData.Step4_Enable = stepperControlSTEP4.StepEnabled;
scData.Step4_DirState = stepperControlSTEP4.StepDir;
if (radioButtonHz.Checked == true)
{
scData.Step4_StepSpeed = ConvertHzToCycles(stepperControlSTEP4.StepSpeed);
}
else
{
scData.Step4_StepSpeed = stepperControlSTEP4.StepSpeed;
}
scData.Step5_Enable = stepperControlSTEP5.StepEnabled;
scData.Step5_DirState = stepperControlSTEP5.StepDir;
if (radioButtonHz.Checked == true)
{
scData.Step5_StepSpeed = ConvertHzToCycles(stepperControlSTEP5.StepSpeed);
}
else
{
scData.Step5_StepSpeed = stepperControlSTEP5.StepSpeed;
}
// get the global enable
if (checkBoxEnabledSTEPALL.Checked == true)
{
scData.AllStep_Enable = 1;
}
else
{
scData.AllStep_Enable = 0;
}
return(scData);
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// A function to send data received from the server over to the
/// code running in the PRU
///
/// </summary>
/// <param name="scData">the server client data object</param>
/// <history>
/// 19 Nov 18 Cynic - Originally written
/// </history>
public void SetPRUSteppersFromServerClientData(ServerClientData scData)
{
// sanity check
if (scData == null)
{
LogMessage("SetPRUSteppersFromServerClientData, scData==null");
return;
}
// write the allstep_enable flag
pruDriver.WritePRUDataUInt32(scData.AllStep_Enable, ALLSTEP_ENABLE_OFFSET);
// write the STEP0 enable/disable flag
pruDriver.WritePRUDataUInt32(scData.Step0_Enable, STEP0_ENABLED_OFFSET);
// write the STEP0 fullcount value
pruDriver.WritePRUDataUInt32(scData.Step0_StepSpeed, STEP0_FULLCOUNT);
// write the STEP0 direction flag
pruDriver.WritePRUDataUInt32(scData.Step0_DirState, STEP0_DIRSTATE);
// write the STEP1 enable/disable flag
pruDriver.WritePRUDataUInt32(scData.Step1_Enable, STEP1_ENABLED_OFFSET);
// write the STEP1 fullcount value
pruDriver.WritePRUDataUInt32(scData.Step1_StepSpeed, STEP1_FULLCOUNT);
// write the STEP1 direction flag
pruDriver.WritePRUDataUInt32(scData.Step1_DirState, STEP1_DIRSTATE);
// write the STEP2 enable/disable flag
pruDriver.WritePRUDataUInt32(scData.Step2_Enable, STEP2_ENABLED_OFFSET);
// write the STEP2 fullcount value
pruDriver.WritePRUDataUInt32(scData.Step2_StepSpeed, STEP2_FULLCOUNT);
// write the STEP2 direction flag
pruDriver.WritePRUDataUInt32(scData.Step2_DirState, STEP2_DIRSTATE);
// write the STEP3 enable/disable flag
pruDriver.WritePRUDataUInt32(scData.Step3_Enable, STEP3_ENABLED_OFFSET);
// write the STEP3 fullcount value
pruDriver.WritePRUDataUInt32(scData.Step3_StepSpeed, STEP3_FULLCOUNT);
// write the STEP3 direction flag
pruDriver.WritePRUDataUInt32(scData.Step3_DirState, STEP3_DIRSTATE);
// write the STEP4 enable/disable flag
pruDriver.WritePRUDataUInt32(scData.Step4_Enable, STEP4_ENABLED_OFFSET);
// write the STEP4 fullcount value
pruDriver.WritePRUDataUInt32(scData.Step4_StepSpeed, STEP4_FULLCOUNT);
// write the STEP4 direction flag
pruDriver.WritePRUDataUInt32(scData.Step4_DirState, STEP4_DIRSTATE);
// write the STEP5 enable/disable flag
pruDriver.WritePRUDataUInt32(scData.Step5_Enable, STEP5_ENABLED_OFFSET);
// write the STEP5 fullcount value
pruDriver.WritePRUDataUInt32(scData.Step5_StepSpeed, STEP5_FULLCOUNT);
// write the STEP5 direction flag
pruDriver.WritePRUDataUInt32(scData.Step5_DirState, STEP5_DIRSTATE);
// pump the current state out to the console
Console.WriteLine(scData.GetState());
LogMessage("scData=" + scData.GetState());
// write the semaphore. This must come last, the code running in the
// PRU will see this change and set things up according to the
// other configuration items above
pruDriver.WritePRUDataUInt32(1, SEMAPHORE_OFFSET);
}
