public void listen_for_error_and_state()
{
string res_sta = "";
string res_err = "";
try
{
while (true)
{
String timestamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
String str = cmd_query_out;
//Console.WriteLine("Transmitting for query: " + str);
Console.WriteLine(timestamp + " -------------------------------------------------");
res_sta = query(cmd_query_out);
Console.WriteLine(res_sta);
//ID of bit in state bytes
int q1b = 2;
int q2b = 3;
int teilb = 7;
string rel = res_sta.Substring(5, 2); //Takes last 2 places of response
Console.WriteLine(rel);
byte r = byte.Parse(rel, System.Globalization.NumberStyles.HexNumber);
//Console.WriteLine("Zustandbytes:");
//Console.WriteLine(r);
bool q1 = (r & (1 << q1b)) != 0;
bool q2 = (r & (1 << q2b)) != 0;
bool teil = (r & (1 << teilb)) != 0;
Console.WriteLine("q1: " + q1);
Console.WriteLine("q2: " + q2);
Console.WriteLine("teil: " + teil);
if (q1 && q2 && (teil == false))
{
Console.WriteLine("KOLBEN NACHFUELLEN");
q1 = false;
q2 = false;
}
if (q1 && q2 && teil)
{
Console.WriteLine("TEIL VERLOREN");
q1 = false;
q2 = false;
}
if (q1 == false && q2 && teil == false)
{
Console.WriteLine("DECKEL NACHFUELLEN");
}
if (q1 && q2 == false && teil == false)
{
Console.WriteLine("FEDERN NACHFUELLEN");
}
Console.Write("... \n");//---------------------------------
res_err = query(cmd_query_err);
Console.WriteLine(res_err);
//char errorstate_c = res[2];
bool robot_state_bool = res_err.Contains('K');
string robot_state_str = "FEHLER";
if (robot_state_bool)
{
robot_state_str = "OK";
}
Console.WriteLine("Zustand: " + robot_state_str);
Console.WriteLine("");
// Send data to MID ------------------------------------------
MachineData fmachineData = new MachineData(fmachineSchema);
fmachineData.Put("state_ok", robot_state_bool);
fmachineData.Put("q1", q1);
fmachineData.Put("q2", q2);
fmachineData.Put("Tuer offen", !robot_state_bool);
fmachineData.Put("Federmagazin leer", q1);
fmachineData.Put("Deckelmagazin leer", q2);
fmachineData.Put("Teil verloren", teil);
if (first_msg || (q1 != q1_old) || (q2 != q2_old) || (teil != teil_old) || (robot_state_bool != robot_state_bool_old))
{
DataMessage dataMessage1 = new DataMessage();
dataMessage1.Add(fmachineData);
Console.WriteLine("Sending Data Message: " + dataMessage1);
// client1.Send(dataMessage1);
}
q1_old = q1;
q2_old = q2;
teil_old = teil;
robot_state_bool_old = robot_state_bool;
first_msg = false;
Thread.Sleep(wait_ms);
}//end while
}
catch (Exception e)
{
Console.WriteLine("Error at listening for state.....\n" + e.StackTrace);
}
}
