/// <summary>
/// Check if another instance is already running
/// </summary>
/// <returns>True if another instance is running</returns>
private static async Task <bool> CheckForAnotherInstance()
{
using DuetAPIClient.CommandConnection connection = new DuetAPIClient.CommandConnection();
try
{
await connection.Connect(Settings.FullSocketPath);
}
catch (SocketException)
{
return(false);
}
if (Settings.UpdateOnly)
{
Console.Write("Sending update request to DCS... ");
try
{
await connection.PerformCode(new DuetAPI.Commands.Code
{
Type = DuetAPI.Commands.CodeType.MCode,
MajorNumber = 997,
Flags = DuetAPI.Commands.CodeFlags.IsPrioritized
});
Console.WriteLine("Done!");
}
catch
{
Console.WriteLine("Error: Failed to send update request");
throw;
}
finally
{
CancelSource.Cancel();
}
}
else
{
_logger.Fatal("Another instance is already running. Stopping.");
}
return(true);
}
/// <summary>
/// Entry point of the program
/// </summary>
/// <param name="args">Command-line arguments</param>
/// <returns>Asynchronous task</returns>
static async Task Main(string[] args)
{
// Check if only the firmware is supposed to be updated
foreach (string arg in args)
{
if (arg == "-u" || arg == "--update")
{
UpdateOnly = true;
break;
}
}
// Display welcome message
WriteLine($"Duet Control Server v{Assembly.GetExecutingAssembly().GetName().Version}");
WriteLine("Written by Christian Hammacher for Duet3D");
WriteLine("Licensed under the terms of the GNU Public License Version 3");
WriteLine();
// Initialize settings
Write("Loading settings... ");
try
{
Settings.Init(args);
WriteLine("Done!");
}
catch (Exception e)
{
Console.WriteLine($"Error: {e.Message}");
return;
}
// Check if another instance is already running
using (DuetAPIClient.CommandConnection testConnection = new DuetAPIClient.CommandConnection())
{
try
{
await testConnection.Connect(Settings.SocketPath);
if (UpdateOnly)
{
Console.Write("Sending update request to DCS... ");
try
{
await testConnection.PerformCode(new DuetAPI.Commands.Code
{
Type = DuetAPI.Commands.CodeType.MCode,
MajorNumber = 997,
Flags = DuetAPI.Commands.CodeFlags.IsPrioritized
});
Console.WriteLine("Done!");
}
catch (Exception e)
{
Console.WriteLine($"Error: {e.Message}");
}
}
else
{
Console.WriteLine("Error: Another instance is already running. Stopping.");
}
return;
}
catch
{
// expected
}
}
// Initialise object model
Write("Initialising variables... ");
try
{
Commands.Code.InitScheduler();
Model.Provider.Init();
Model.Observer.Init();
WriteLine("Done!");
}
catch (Exception e)
{
Console.WriteLine($"Error: {e.Message}");
return;
}
// Connect to RRF controller
Write("Connecting to RepRapFirmware... ");
try
{
SPI.Interface.Init();
if (!SPI.Interface.Connect())
{
Console.WriteLine("Error: Duet is not available");
return;
}
WriteLine("Done!");
}
catch (AggregateException ae)
{
Console.WriteLine($"Error: {ae.InnerException.Message}");
return;
}
// Start up IPC server
Write("Creating IPC socket... ");
try
{
Server.CreateSocket();
WriteLine("Done!");
}
catch (Exception e)
{
Console.WriteLine($"Error: {e.Message}");
return;
}
WriteLine();
// Start main tasks in the background
Task spiTask = Task.Run(SPI.Interface.Run, CancelSource.Token);
Task ipcTask = Task.Run(Server.AcceptConnections, CancelSource.Token);
Task updateTask = Task.Run(Model.Updater.ProcessUpdates, CancelSource.Token);
Task periodicUpdateTask = Task.Run(Model.UpdateTask.UpdatePeriodically, CancelSource.Token);
Task[] taskList = { spiTask, ipcTask, updateTask, periodicUpdateTask };
// Deal with program termination requests (SIGTERM) and wait for program termination
AppDomain.CurrentDomain.ProcessExit += (sender, eventArgs) =>
{
if (!CancelSource.IsCancellationRequested)
{
Console.WriteLine("[info] Received SIGTERM, shutting down...");
CancelSource.Cancel();
}
};
await Task.WhenAny(taskList);
// Tell other tasks to stop in case this is an abnormal program termination
if (UpdateOnly)
{
CancelSource.Cancel();
}
else if (!CancelSource.IsCancellationRequested)
{
Console.Write("[crit] Abnormal program termination: ");
if (spiTask.IsCompleted)
{
Console.WriteLine("SPI task terminated");
}
if (ipcTask.IsCompleted)
{
Console.WriteLine("IPC task terminated");
}
if (updateTask.IsCompleted)
{
Console.WriteLine("Update task terminated");
}
if (periodicUpdateTask.IsCompleted)
{
Console.WriteLine("Periodic update task terminated");
}
CancelSource.Cancel();
}
// Stop logging
await Utility.Logger.Stop();
// Stop the IPC subsystem. This has to happen here because Socket.AcceptAsync() does not have a CancellationToken parameter
Server.Shutdown();
// Wait for all tasks to finish
try
{
// Do not use Task.WhenAll() here because it does not throw exceptions for already completed tasks
Task.WaitAll(taskList);
}
catch (AggregateException ae)
{
foreach (Exception e in ae.InnerExceptions)
{
if (!(e is OperationCanceledException))
{
Console.Write("[crit] ");
Console.WriteLine(e);
}
}
}
}
/// <summary>
/// Entry point of the program
/// </summary>
/// <param name="args">Command-line arguments</param>
static void Main(string[] args)
{
Console.WriteLine($"Duet Control Server v{Assembly.GetExecutingAssembly().GetName().Version}");
Console.WriteLine("Written by Christian Hammacher for Duet3D");
Console.WriteLine("Licensed under the terms of the GNU Public License Version 3");
Console.WriteLine();
// Deal with program termination requests (SIGTERM)
AppDomain.CurrentDomain.ProcessExit += (sender, eventArgs) => CancelSource.Cancel();
// Initialise settings
Console.Write("Loading settings... ");
try
{
Settings.Load(args);
Console.WriteLine("Done!");
}
catch (Exception e)
{
Console.WriteLine($"Error: {e.Message}");
return;
}
// Check if another instance is already running
using (DuetAPIClient.CommandConnection testConnection = new DuetAPIClient.CommandConnection())
{
try
{
testConnection.Connect(Settings.SocketPath, CancelSource.Token).Wait();
Console.WriteLine("Error: Another instance is already running. Stopping.");
return;
}
catch
{
// expected
}
}
// Initialise object model
Console.Write("Initialising object model... ");
try
{
Model.Provider.Init();
Model.Updater.Init();
Console.WriteLine("Done!");
}
catch (Exception e)
{
Console.WriteLine($"Error: {e.Message}");
return;
}
// Connect to the controller
Console.Write("Connecting to RepRapFirmware... ");
try
{
SPI.Interface.Init();
if (!SPI.Interface.Connect())
{
Console.WriteLine("Error: Duet is not available");
return;
}
Console.WriteLine("Done!");
}
catch (AggregateException ae)
{
Console.WriteLine($"Error: {ae.InnerException.Message}");
return;
}
// Start up the IPC server
Console.Write("Creating IPC socket... ");
try
{
Server.CreateSocket();
Console.WriteLine("Done!");
}
catch (Exception e)
{
Console.WriteLine($"Error: {e.Message}");
return;
}
Console.WriteLine();
// Run the main tasks in the background
Task spiTask = Task.Run(SPI.Interface.Run);
Task ipcTask = Server.AcceptConnections();
Task modelUpdateTask = Model.UpdateTask.UpdatePeriodically();
Task[] taskList = { spiTask, ipcTask, modelUpdateTask };
// Wait for program termination
Task.WaitAny(taskList);
// Tell other tasks to stop in case this is an abnormal program termination
if (!CancelSource.IsCancellationRequested)
{
Console.WriteLine("[crit] Abnormal program termination:");
if (spiTask.IsCompleted)
{
Console.WriteLine("SPI task terminated");
}
if (ipcTask.IsCompleted)
{
Console.WriteLine("IPC task terminated");
}
if (modelUpdateTask.IsCompleted)
{
Console.WriteLine("Model task terminated");
}
CancelSource.Cancel();
}
// Stop the IPC subsystem. This has to happen here because Socket.AcceptAsync() does not have a CancellationToken parameter
Server.Shutdown();
// Wait for all tasks to finish
try
{
Task.WaitAll(taskList);
}
catch (AggregateException ae)
{
foreach (Exception e in ae.InnerExceptions)
{
if (!(e is OperationCanceledException) && !(e is SocketException))
{
Console.Write("[crit] ");
Console.WriteLine(e);
}
}
}
}
