/// <summary>
/// Copy constructor
/// </summary>
/// <param name="message"></param>
public Message(Message message)
: base(message)
{
Revision = message.Revision;
mSpindleID = message.mSpindleID;
mStationID = message.mStationID;
NoAck = message.NoAck;
}
public Client()
: base()
{
mInitialized = false;
mCommStarted = false;
mTorqueEventSubscribed = false;
mKeepAliveMessage = new Message(MessageType.KeepAlive);
mConnetionInterval = 500;
mKeepAliveInterval = 5000;
mTorqueIDs = new List<int>();
}
protected void OnMessageReceived(Message message)
{
mLastResponse = DateTime.Now;
if (message.MID == MessageType.KeepAlive) return;
if (message.MID == MessageType.LastTighteningResultUpload) {
ThreadPool.QueueUserWorkItem(OnTorqueEventReceived, message);
} else {
switch (mMessage.MID) {
case MessageType.CommunicationStart:
mCommStarted = (mMessage.Success == message.MID);
break;
case MessageType.LastTighteningResultSubscribe:
mTorqueEventSubscribed = (mMessage.Success == message.MID);
break;
}
}
}
protected void SendMessage(Message message)
{
if (mSocket == null || !mSocket.Connected) return;
Send(message.ToByteArray());
}
public static bool TryParse(byte[] data, out Message message)
{
try {
message = Message.Parse(data);
return true;
} catch {
message = null;
return false;
}
}
protected void ConnectionCallback(object state)
{
if (!Connected) {
mLastResponse = DateTime.Now;
mCommStarted = false;
mTorqueEventSubscribed = false;
base.Connect();
} else if(!mCommStarted) {
if (mMessage == null || mMessage.Age > 2000 || mMessage.MID != MessageType.CommunicationStart) {
mMessage = new Message(MessageType.CommunicationStart);
mMessage.Success = MessageType.CommunicationStartAck;
SendMessage(mMessage);
}
} else if (!mTorqueEventSubscribed) {
if (mMessage == null || mMessage.Age > 2000 || mMessage.MID != MessageType.LastTighteningResultSubscribe) {
mMessage = new Message(MessageType.LastTighteningResultSubscribe);
SendMessage(mMessage);
}
}
int age = (int)(DateTime.Now - mLastResponse).TotalMilliseconds;
if (Connected && (age > mKeepAliveInterval)) {
SendMessage(mKeepAliveMessage);
}
if (Connected && (age > (mKeepAliveInterval * 3))) {
Disconnect();
}
}
///////////////////////////////////////////////////////////////////////////////////////////
/// <summary>
/// Syncronous Send. Sends a message to the torque controller and waits 2 seconds for
/// the response. This function retries 3 times. Returns the reponse if successful,
/// null otherwise.
/// </summary>
/// <param name="message">The message to send</param>
/// <param name="success">The message exepected in response</param>
/// <returns></returns>
///////////////////////////////////////////////////////////////////////////////////////////
private Message Send(Message message, MessageType success)
{
return Send(message, success, 1000, 2);
}
///////////////////////////////////////////////////////////////////////////////////////////
/// <summary>
/// Syncronous Send. Sends a message to the torque controller and waits for
/// the response. Returns the reponse if successful, null otherwise.
/// </summary>
/// <param name="message">The message to send</param>
/// <param name="success">The message exepected in response</param>
/// <param name="timeout">The time to wait between retries</param>
/// <param name="retries">The number of send attempts before aborting</param>
/// <returns></returns>
///////////////////////////////////////////////////////////////////////////////////////////
private Message Send(Message message, MessageType success, int timeout, int retries)
{
lock (mSendLock) {
Message result = null;
int count = timeout / 50; //Determine loop count to satisfy the timeout
if (Connected) {
mResult = null;
//Send the message and retry if necessary
for (int i = 0; i <= retries; i++) {
//Send the message and wait for a response
Send(message);
for (int j = 0; j < count; j++) {
result = mResult;
//Make sure that the result is the response to THIS message
if (result != null && (result.Command == success || result.Command == MessageType.CommandError)) {
return result;
} else {
//If no response then sleep and check again.
result = null;
Thread.Sleep(50);
}
if (!Connected) break; //In case we lost connection while sending;
}
if (!Connected) break; //In case we lost connection while sending;
}
}
return (Message)result;
}
}
///////////////////////////////////////////////////////////////////////////////////////////
/// <summary>
/// Asyncronous Send. Sends a message to the torque controller and returns immediately
/// </summary>
/// <param name="message">The message to send</param>
///////////////////////////////////////////////////////////////////////////////////////////
private void Send(Message message)
{
if (!Connected) return;
mClient.Send(message);
//Update keep alive timestamp so it is not sent more than it needs to be
mKeepAlive.TimeStamp = DateTime.Now;
}
///////////////////////////////////////////////////////////////////////////////////////////
/// <summary>
/// Called each time the client thread is executed
/// </summary>
///////////////////////////////////////////////////////////////////////////////////////////
private void mClient_ThreadCallback(object sender, EventArgs e)
{
//If we are not connected set all flags to false
if (!Connected) {
mCommunicationStarted = false;
mTorqueEventSubscribed = false;
mAlarmEventSubscribed = false;
mStatus = OpenProtocolStatus.Disconnected;
} else {
StartCommunication();
SubscribeToLastTighteningResult();
if (mCommunicationStarted && mLastSetTime < DateTime.Now.AddHours(4)) {
Message setTime = new Message(MessageType.SetTime);
mLastSetTime = DateTime.Now.AddMilliseconds(500); // Add 500 milliseconds for transfer time.
setTime.Data = mLastSetTime.ToString("yyyy-MM-dd:HH:mm:ss");
Send(setTime, MessageType.CommandAccepted);
}
if (mTorqueEventSubscribed) {
mStatus = (mEnabled) ? OpenProtocolStatus.Running : OpenProtocolStatus.Disabled;
} else {
mStatus = OpenProtocolStatus.Initializing;
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////
/// <summary>
/// Called each time the client receives a new message
/// </summary>
///////////////////////////////////////////////////////////////////////////////////////////
private void mClient_MessageReceived(object sender, MessageReceivedEventArgs<Message> e)
{
Message result = null;
if (e.Message is Message) {
switch (e.Message.Command) {
case MessageType.CommandError:
if (!CommandError.TryParse(e.Message, out result)) {
System.Diagnostics.Debug.Write("Error parsing received CommandError");
return;
};
break;
case MessageType.OldTighteningResultUpload:
if (!OldTighteningResultUpload.TryParse(e.Message, out result)) {
System.Diagnostics.Debug.Write("Error parsing received OldTighteningResultUpload");
return;
};
break;
case MessageType.LastTighteningResultUpload:
if (LastTighteningResultUpload.TryParse(e.Message, out result)) {
OnLastTighteningResultUpload((LastTighteningResultUpload)result);
} else {
System.Diagnostics.Debug.Write("Error parsing received LastTighteningResultUpload");
return;
}
return; //Must return because this is an event driven messate and we do not want to sent mResult
//All others are responses to sent messages so set mResult
default:
mResult = e.Message;
return;
}
if (result != null) mResult = result;
}
}
///////////////////////////////////////////////////////////////////////////////////////////
/// <summary>
/// Starts communication with the torque controller
/// </summary>
///////////////////////////////////////////////////////////////////////////////////////////
public bool StartCommunication()
{
if (!Connected || mCommunicationStarted) return mCommunicationStarted;
//Send message to start communication
Message result = Send(new Message(MessageType.CommunicationStart), MessageType.CommunicationStartAck);
if (result != null && result.Command == MessageType.CommunicationStartAck) {
mCommunicationStarted = true;
} else {
Disconnect();
}
//Always sync the time when starting communication
if (mCommunicationStarted) {
Message setTime = new Message(MessageType.SetTime);
mLastSetTime = DateTime.Now.AddMilliseconds(500); // Add 500 milliseconds for transfer time.
setTime.Data = mLastSetTime.ToString("yyyy-MM-dd:HH:mm:ss");
Send(setTime, MessageType.CommandAccepted);
//Make sure tool state is syncronized
if (mEnabled) {
SendEnable();
} else {
SendDisable();
}
//Make sure last tightening id is syncronized. Request with 0 returns last result
//Check for missing torque values if in auto mode and missing torques exist
OldTighteningResultUpload last = null;
if (RequestOldTighteningResult(0, out last)) {
if (mLastTighteningID == last.TighteningID || mLastTighteningID == 0 ||
(mFlags & OpenProtocolFlags.AutoMode) != OpenProtocolFlags.AutoMode) {
mLastTighteningID = last.TighteningID;
} else {
RecoverTighteningResults(mLastTighteningID, last.TighteningID);
}
}
}
return mCommunicationStarted;
}
///////////////////////////////////////////////////////////////////////////////////////////
/// <summary>
/// Initializes the Client object
/// </summary>
/// <param name="host">IP address or host name of the remote host</param>
/// <param name="port">Port number of the remote host</param>
///////////////////////////////////////////////////////////////////////////////////////////
public void Initialize(string host, int port)
{
mLastTighteningID = 0;
mTighteningIDs = new List<UInt32>();
if (mFlags == OpenProtocolFlags.AutoMode) {
mClient = new TCPClient<Message>(host, port, ClientFlags.AutoConnect | ClientFlags.AutoKeepAlive);
mClient.Disconnected += new EventHandler(mClient_Disconnected);
mClient.MessageReceived += new MessageReceivedEventHandler<Message>(mClient_MessageReceived);
mKeepAlive = new Message(MessageType.KeepAlive);
mClient.SetKeepAlive(mKeepAlive, 5000);
mClient.ThreadCallback += new EventHandler(mClient_ThreadCallback);
} else {
mClient = new TCPClient<Message>(host, port, ClientFlags.None);
}
mPSet = 0; //Default to 1
mClient.STX = null;
mClient.ETX = 0x00;
mTorqueEventLock = new object();
mSendLock = new object();
mInitialized = true;
}
