/// <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);
}
}
}
}
