private void ProcessCommand(CommandDefinition.CommandFormat command)
{
if (ProcessCommandEvent != null)
try { ProcessCommandEvent(command); }
catch { /*nobody to report to*/ }
if (command.CommandAck.AckRequired == BooleanValue.True)
SendAck(command);
}
private CommandDefinition.CommandFormat? CommandSendProcess(CommandDefinition.CommandFormat? reply)
{
if (!reply.HasValue)
reply = null;
else if (reply.Value.CommandAck.Command == CommandEnum.AdaptiveModeSpeed)
{
AdaptiveSpeed = BitConverter.ToSingle(reply.Value.Payload, 0);
AdaptiveSpeedMode = (OperatingMode)reply.Value.Action.SubAction;
SpeedMessageEvent.Set();
reply = null;
}
else if (reply.Value.CommandAck.Command == CommandEnum.SignOfLife)
{
uint sequence = BitConverter.ToUInt32(reply.Value.Payload, 0);
SignOfLifeSequence = sequence;
// If a board reset is detected, notify any subscribers.
APCSReset = /*reset?*/ SignOfLifeSequence > (uint)int.MaxValue;
if (/*reset?*/ APCSReset)
if (/*not shutting down?*/ !_monitorEnd.WaitOne(0))
if (/*subscribers?*/ APCSResetEvent != null)
try { APCSResetEvent(this, EventArgs.Empty); }
catch { }
reply = null;
}
return reply;
}
private CommandDefinition.CommandFormat? /*reply, if any*/ CommandSend(CommandDefinition.CommandFormat command, bool replyIsExpected = true)
{
CommandDefinition.CommandFormat? reply = null;
try
{
int ReadBufferLength = 10 * Marshal.SizeOf(typeof(CommandDefinition.CommandFormat));
lock (_commandSendLock)
if (/*run?*/ !_monitorEnd.WaitOne(CommandMargin))
if (/*OK?*/ (_connection != null) && _connection.Connected && (_connection.GetStream() != null))
{
byte[] buffer = command.Serialize();
_connection.GetStream().Write(buffer, 0, buffer.Length);
_connection.GetStream().Flush();
CommandMarginReset();
if (/*reply expected?*/ replyIsExpected)
if (/*run?*/ !_monitorEnd.WaitOne(0))
{
// Acquire the reply.
buffer = new byte[ReadBufferLength];
reply = null;
for (int retry = 0; /*OK?*/ retry < CommandSendReads; reply = null, retry++)
if (!_connection.GetStream().DataAvailable)
if (/*run?*/ !_monitorEnd.WaitOne((retry + 1) * Utilities.TimeTENTH))
continue;
else
break;
else
{
// Read blocks/waits up through
// TcpClient.GetStream().ReadTimeout; if the
// client is disposed, the read faults.
if (/*read OK?*/ _connection.GetStream().Read(buffer, 0, buffer.Length) >= 1)
{
reply = CommandSendProcess(command.Deserialize(buffer));
if (/*OK?*/ reply != null)
if (/*OK?*/ reply.HasValue)
if (/*OK?*/ reply.Value.CommandAck.Command == command.CommandAck.Command)
if (/*OK?*/ reply.Value.Action.Action == ActionEnum.Response)
{
if (/*run?*/ !_monitorEnd.WaitOne(0))
if (/*subscriber(s)?*/ ApcsUpdate != null)
try { ApcsUpdate(reply.Value.CommandAck.Command, reply.Value.Action.Action, reply.Value.Action.SubAction, reply.Value.Payload); }
catch { }
break;
}
}
else
break;
}
try
{
// Empty the "pipe."
buffer = new byte[ReadBufferLength];
Debug.Assert(_connection.GetStream().ReadTimeout == Utilities.TimeTENTH);
Debug.Assert(_connection.GetStream().CanRead);
while (/*run?*/ !_monitorEnd.WaitOne(0) && /*not empty?*/ _connection.GetStream().DataAvailable)
// Read blocks/waits up through
// TcpClient.GetStream().ReadTimeout; if the
// client is disposed, the read faults.
if (/*data?*/ _connection.GetStream().Read(buffer, 0, buffer.Length) >= 1)
CommandSendProcess(command.Deserialize(buffer));
}
catch { }
}
}
}
catch
{
ConnectionDispose();
if (/*run?*/ !_monitorEnd.WaitOne(0))
throw;
}
return reply;
}
private string CommandReplyValidate(CommandDefinition.CommandFormat? reply, CommandEnum expectedCommand, byte expectedSubAction)
{
string result = CommandReplyValidate(reply, expectedCommand);
if (/*OK?*/ string.IsNullOrWhiteSpace(result))
if (/*fail?*/ reply.Value.CommandAck.IsAck != BooleanValue.True)
result = ".Value.CommandAck.IsAck(" + reply.Value.CommandAck.IsAck.ToString() + ") != BooleanValue.True";
else if (/*fail?*/ reply.Value.Action.SubAction != expectedSubAction)
result = ".Value.Action.SubAction(" + reply.Value.Action.SubAction.ToString() + ") != " + expectedSubAction.ToString();
return result;
}
private string CommandReplyValidate(CommandDefinition.CommandFormat? reply, CommandEnum expectedCommand)
{
string result = /*OK*/ string.Empty;
if (/*fail?*/ reply == null)
result = "null reply";
else if (/*fail?*/ !reply.HasValue)
result = "reply has no value (!.HasValue)";
else if (/*fail?*/ reply.Value.CommandAck.Command != expectedCommand)
result = ".Value.CommandAck.Command(" + reply.Value.CommandAck.Command.ToString() + ") != " + expectedCommand.ToString();
else if (/*fail?*/ reply.Value.Action.Action != ActionEnum.Response)
result = ".Value.Action.Action(" + reply.Value.Action.Action.ToString() + ") != " + ActionEnum.Response.ToString();
return result;
}
private void ReplySendBase(CommandDefinition.CommandFormat reply)
{
try
{
lock (_sessionSocket)
{
byte[] buffer = reply.Serialize();
if (_sessionSocket.Send(buffer) < 1)
throw new Exception();
}
}
catch
{
SessionClose( /*_sessionSocket == null*/ ); /*make ServerAgent reconnect*/
throw;
}
}
private bool ReplySend(CommandDefinition.CommandFormat reply)
{
try { ReplySendBase(reply); }
catch { return false; }
return true;
}
private void SendAck(CommandDefinition.CommandFormat command)
{
CommandDefinition.CommandFormat /*can't name it command*/ cmd = new CommandDefinition.CommandFormat();
cmd.CommandAck.Command = command.CommandAck.Command;
cmd.CommandAck.IsAck = BooleanValue.True;
cmd.Action.Action = ActionEnum.Response;
cmd.Action.SubAction = command.Action.SubAction;
cmd.Payload = command.Payload;
ReplySend(cmd);
}
private bool ConfirmSetActionResponse(CommandDefinition.CommandFormat? response, CommandEnum command, byte subAction)
{
return (response != null &&
response.Value.CommandAck.Command == command &&
response.Value.Action.Action == ActionEnum.Response &&
response.Value.CommandAck.IsAck == BooleanValue.True &&
response.Value.Action.SubAction == subAction);
}
private CommandDefinition.CommandFormat? SendCommand(CommandDefinition.CommandFormat command, bool expectingReply)
{
CommandDefinition.CommandFormat? response = null;
try
{
if (Connected)
{
byte[] cmd = command.Serialize();
_responseEvent.Reset();
_networkStream.Write(cmd, 0, cmd.Length);
for (int i = 0; i < _sendCommandRetrys; i++)
{
if (_responseEvent.WaitOne(_apcsCommandTimeout))
{
if (_commandResponse.CommandAck.Command == command.CommandAck.Command &&
_commandResponse.Action.Action == ActionEnum.Response)
{
response = _commandResponse;
_responseEvent.Reset();
break;
}
}
}
}
#if false
else
throw new Exception("SendCommand called while not connected to APCS.");
#endif
}
catch (Exception ex)
{
if (/*not terminated?*/ !_cancelEvent.WaitOne(0))
{
Debug.Assert(Lgr != null);
Lgr.LogError(ex);
}
}
return response;
}
private CommandDefinition.CommandFormat? CommandSendProcess(CommandDefinition.CommandFormat? reply)
{
#if !DEBUG
// Any kind of (even marginally valid) reply from the APCS is a suitable sign of life
// indicator: reset the APCS's sign of life timer by recreating it.
WatchDogCreate();
#endif
// Process the reply.
if (!reply.HasValue)
reply = null;
else if (reply.Value.CommandAck.Command == CommandEnum.AdaptiveModeSpeed)
{
AdaptiveSpeed = BitConverter.ToSingle(reply.Value.Payload, 0);
AdaptiveSpeedMode = (OperatingMode)reply.Value.Action.SubAction;
SpeedMessageEvent.Set();
reply = null;
}
else if (reply.Value.CommandAck.Command == CommandEnum.SignOfLife)
{
uint sequence = BitConverter.ToUInt32(reply.Value.Payload, 0);
SignOfLifeSequence = sequence;
// If a board reset is detected, notify any subscribers.
APCSReset = /*reset?*/ SignOfLifeSequence > (uint)int.MaxValue;
if (/*reset?*/ APCSReset)
if (/*not shutting down?*/ !_monitorEnd.WaitOne(0))
if (/*subscribers?*/ APCSResetEvent != null)
try { APCSResetEvent(this, EventArgs.Empty); }
catch { }
reply = null;
}
return reply;
}
static void hostAccess_ProcessCommandEvent(CommandDefinition.CommandFormat command)
{
if (command.CommandAck.Command == CommandEnum.ScanMode)
{
if (command.Action.Action == ActionEnum.Set)
{
currentEnergyMode = (ScanEnergyMode)command.Action.SubAction;
PWMOutputConfig pwmConfig = (PWMOutputConfig)pc.GetPWMRunStatus();
if (pwmConfig == PWMOutputConfig.OutputEnabled)
pc.PWMOutputDisable();
if (currentEnergyMode == ScanEnergyMode.Dual)
{
Reset.Write(true);
Preset.Write(true);
}
else if (currentEnergyMode == ScanEnergyMode.High)
{
Reset.Write(true);
Preset.Write(false);
}
else
{
Reset.Write(false);
Preset.Write(true);
}
if (pwmConfig == PWMOutputConfig.OutputEnabled)
pc.PWMOutputEnable();
}
hostAccess.SendScanModeResponse(currentEnergyMode);
}
else if (command.CommandAck.Command == CommandEnum.StaticPulseFreq)
{
OperatingMode mode = (OperatingMode)command.Action.SubAction;
int freq = BitConverter.ToInt32(command.Payload, 0); ;
if (command.Action.Action == ActionEnum.Set)
{
if (mode == OperatingMode.NonAdaptiveMobile)
StaticPulseFreq[0] = freq;
else if (mode == OperatingMode.NonAdpativePortal)
StaticPulseFreq[1] = freq;
if (currentOperatingMode == mode)
{
currentStaticPulseFreq = freq;
pc.UpdatePWMFrequency(freq);
}
hostAccess.SendStaticPulseFreqResponse(mode, freq);
}
else if (command.Action.Action == ActionEnum.Get)
{
if (mode == OperatingMode.NonAdaptiveMobile)
freq = StaticPulseFreq[0];
else if (mode == OperatingMode.NonAdpativePortal)
freq = StaticPulseFreq[1];
hostAccess.SendStaticPulseFreqResponse(mode, freq);
}
}
else if (command.CommandAck.Command == CommandEnum.PulseWidth)
{
if (command.Action.Action == ActionEnum.Set)
{
if (currentPulseWidth != (PulseWidth)command.Action.SubAction)
{
currentPulseWidth = (PulseWidth)command.Action.SubAction;
pc.UpdatePWMPulseWidth(PulseWidthsDutyCycle[(int)currentPulseWidth - 1]);
}
}
hostAccess.SendPulseWidthResponse(currentPulseWidth);
}
else if (command.CommandAck.Command == CommandEnum.ConfigPulseWidth)
{
if (command.Action.Action == ActionEnum.Set)
{
int index = command.Action.SubAction - 1;
PulseWidthsDutyCycle[index] = BitConverter.ToSingle(command.Payload, 0);
if (currentPulseWidth == (PulseWidth)command.Action.SubAction)
pc.UpdatePWMPulseWidth(PulseWidthsDutyCycle[index]);
}
PulseWidth width = (PulseWidth)command.Action.SubAction;
hostAccess.SendPulseWidthConfigResponse(width, PulseWidthsDutyCycle[(byte)width - 1]);
}
else if (command.CommandAck.Command == CommandEnum.OperatingMode)
{
short minFreq, maxFreq;
if (command.Action.Action == ActionEnum.Set)
{
minFreq = (short)BitConverter.ToInt16(command.Payload, 0);
maxFreq = (short)BitConverter.ToInt16(command.Payload, 2);
currentOperatingMode = (OperatingMode)command.Action.SubAction;
if ((currentOperatingMode == OperatingMode.NonAdaptiveMobile) || (currentOperatingMode == OperatingMode.NonAdpativePortal))
{
if (currentOperatingMode == OperatingMode.NonAdaptiveMobile)
currentStaticPulseFreq = StaticPulseFreq[0];
else
currentStaticPulseFreq = StaticPulseFreq[1];
pc.SetOperatingMode(currentOperatingMode);
pc.UpdatePWMFrequency(currentStaticPulseFreq);
pc.UpdatePWMPulseWidth(PulseWidthsDutyCycle[(int)currentPulseWidth - 1]);
pc.PWMOutputEnable();
}
else if ((currentOperatingMode == OperatingMode.AdaptiveMobile) || (currentOperatingMode == OperatingMode.AdaptivePortal))
{
pc.SetFrequencyRange(currentOperatingMode, minFreq, maxFreq);
pc.SetOperatingMode(currentOperatingMode);
pc.PWMOutputEnable();
}
hostAccess.SendOperatingModeResponse(currentOperatingMode, minFreq, maxFreq);
}
else if (command.Action.Action == ActionEnum.Get)
{
pc.GetFrequencyRange(currentOperatingMode, out minFreq, out maxFreq);
hostAccess.SendOperatingModeResponse(currentOperatingMode, minFreq, maxFreq);
}
}
else if (command.CommandAck.Command == CommandEnum.AdaptiveModeToTrigRatio)
{
float ratio;
OperatingMode mode = (OperatingMode)command.Action.SubAction;
if (command.Action.Action == ActionEnum.Set)
{
ratio = BitConverter.ToSingle(command.Payload, 0);
pc.SetInputToOutputRatio(mode, ratio);
hostAccess.SendAdaptiveModeToTrigRatioResponse(mode, ratio);
}
else if (command.Action.Action == ActionEnum.Get)
{
pc.GetInputToOutputRatio(mode, out ratio);
hostAccess.SendAdaptiveModeToTrigRatioResponse(mode, ratio);
}
}
else if (command.CommandAck.Command == CommandEnum.AdaptiveSpeedFeedbackConfig)
{
if (command.Action.Action == ActionEnum.Set)
{
adaptiveSpeedMsgFreq = BitConverter.ToSingle(command.Payload, 0);
speedMsgMode = (AdaptiveSpeedFeedbackConfig)command.Action.SubAction;
if ((speedMsgMode == AdaptiveSpeedFeedbackConfig.EnabledWithFreq) && (adaptiveSpeedMsgFreq > 0.0f))
{
int period = (int)(1000.0f / adaptiveSpeedMsgFreq);
adaptiveSpeedMsgTimer.Change(period, period);
}
else
adaptiveSpeedMsgTimer.Change(Timeout.Infinite, Timeout.Infinite);
}
hostAccess.SendAdaptiveSpeedFeedbackConfigResponse(speedMsgMode, adaptiveSpeedMsgFreq);
}
else if (command.CommandAck.Command == CommandEnum.PWMOutput)
{
if (command.Action.Action == ActionEnum.Set)
{
if ((PWMOutputConfig)command.Action.SubAction == PWMOutputConfig.OutputEnabled)
pc.PWMOutputEnable();
else
pc.PWMOutputDisable();
hostAccess.SendPWMOutputStatus((PWMOutputConfig)command.Action.SubAction);
}
else if (command.Action.Action == ActionEnum.Get)
{
hostAccess.SendPWMOutputStatus((PWMOutputConfig)pc.GetPWMRunStatus());
}
}
else if (command.CommandAck.Command == CommandEnum.ResetBoard)
ResetBoard();
}
