static int T_Controller = 100; // [ms]
public CommunicationManager(FrameGUI Main, string name, PIDparameters ControllerParameters, AddressEndPoint Channel_EP, ConnectionParameters Controller_EP)
{
// main form access
this.Main = Main;
// channel endpoint
this.Channel_EP = Channel_EP;
// identity parameters
this.name = name;
this.Controller_EP = Controller_EP;
// specify the endpoint (either channel or directly the controller)
AddressEndPoint EP = new AddressEndPoint();
if (Main.using_channel == true)
{
EP = new AddressEndPoint(Channel_EP.IP, Channel_EP.Port);
}
else
{
EP = new AddressEndPoint(Controller_EP.IP, Controller_EP.Port);
}
// controller parameters
this.ControllerParameters = ControllerParameters;
// create a new thread for the sender
Thread thread_sender = new Thread(() => Sender(EP.IP, EP.Port));
thread_sender.Start();
// create a new thread for the listener
Thread thread_listener = new Thread(() => Listener(EP.IP, Controller_EP.PortThis));
thread_listener.Start();
// load kalman settings
kalman_filter.updateKalmanFilter(Main.config.kalmanDoubleWatertankModel.A1, Main.config.kalmanDoubleWatertankModel.a1, Main.config.kalmanDoubleWatertankModel.A2, Main.config.kalmanDoubleWatertankModel.a2, Main.config.kalmanDoubleWatertankModel.k);
kalman_filter.setAnomalyDetectorSettings(Main.config.anomalyDetector.cusumDelta);
}
private void btnAllowConnection_Click_1(object sender, EventArgs e)
{
// enable parameter settings
numUpDownKp.Enabled = true;
numUpDownKi.Enabled = true;
numUpDownKd.Enabled = true;
// control module name and corresponding ip:port pairs
string name = textBoxName.Text;
string IP_endpoint = textBox_ip_send.Text;
string IP_this = textBox_ip_receive.Text;
int port_endpoint = Convert.ToInt16(numericUpDown_port_send.Value);
int port_this = Convert.ToInt16(numericUpDown_port_receive.Value);
// look for name and port conflicts with present allowed traffics
bool connection_already_exists = false;
foreach (CommunicationManager controller in connections)
{
if ((controller.Controller_EP.PortThis == port_this && controller.Controller_EP.Port == port_endpoint) || controller.name == name)
{
connection_already_exists = true;
}
}
if (connection_already_exists == true)
{
log("Error: name or ip:port pair already in use");
}
else
{
// connection parameters
ConnectionParameters connectionParameters = new ConnectionParameters(IP_endpoint, port_endpoint, port_this);
// create and add controller
PIDparameters controllerParameters = new PIDparameters(Convert.ToDouble(numUpDownKp.Value), Convert.ToDouble(numUpDownKi.Value), Convert.ToDouble(numUpDownKd.Value));
CommunicationManager controller_connection = new CommunicationManager(this, name, controllerParameters, Channel_EP, connectionParameters);
connections.Add(controller_connection);
connection_selected = controller_connection;
listBoxModules.Items.Add(name);
// select the added module in the listbox
listBoxModules.SelectedIndex = listBoxModules.Items.Count - 1;
// start timers
timerCharts.Start();
timerUpdateGUI.Start();
// update tree
treeViewControllers.Nodes.Add(name, name);
treeViewControllers.Nodes[name].Nodes.Add("Communication", "Communication");
treeViewControllers.Nodes[name].Nodes["Communication"].Nodes.Add("ip", "IP (endpoint): " + IP_endpoint.ToString());
treeViewControllers.Nodes[name].Nodes["Communication"].Nodes.Add("port", "Port (endpoint): " + port_endpoint.ToString());
treeViewControllers.Nodes[name].Nodes["Communication"].Nodes.Add("port_gui", "Port (this): " + port_this.ToString());
treeViewControllers.Nodes[name].Nodes.Add("Controller", "Controller settings");
treeViewControllers.Nodes[name].Nodes["Controller"].Nodes.Add("Kp", "Kp: " + controllerParameters.Kp.ToString());
treeViewControllers.Nodes[name].Nodes["Controller"].Nodes.Add("Ki", "Ki: " + controllerParameters.Ki.ToString());
treeViewControllers.Nodes[name].Nodes["Controller"].Nodes.Add("Kd", "Ks: " + controllerParameters.Kd.ToString());
treeViewControllers.ExpandAll();
// update counter
n_connections += 1;
textBoxName.Text = "Module" + (n_connections + 1);
log("Communication to a control module enabled");
numericUpDown_port_receive.Value += 1;
numericUpDown_port_send.Value += 1;
}
}
