private CommandDefinition.CommandFormat ReplyCreate(CommandEnum command, BooleanValue isAck, ActionEnum action, byte subAction, byte[] data)
{
CommandDefinition.CommandAckStruct /*can't name it command*/ cmd = new CommandDefinition.CommandAckStruct(command, BooleanValue.False, isAck);
CommandDefinition.ActionStruct /*can't name it action*/ act = new CommandDefinition.ActionStruct(ActionEnum.Response, subAction);
CommandDefinition.CommandFormat packet = new CommandDefinition.CommandFormat(cmd, act, data);
return packet;
}
private CommandDefinition.CommandFormat CommandMake(CommandEnum commandCode, BooleanValue acknowledgeIsRequested, ActionEnum actionCode, byte subAction)
{
CommandDefinition.CommandAckStruct acknowledgement = new CommandDefinition.CommandAckStruct(commandCode, acknowledgeIsRequested, BooleanValue.False);
CommandDefinition.ActionStruct action = new CommandDefinition.ActionStruct(actionCode, subAction);
CommandDefinition.CommandFormat returnedCommand = new CommandDefinition.CommandFormat(acknowledgement.CommandWithAck, action.ActionAndSubAction);
return returnedCommand;
}
private void ServerAgent()
{
while (!_serverTerminate)
try
{
WIZnet_W5100.Enable(SPI.SPI_module.SPI1, (Cpu.Pin)FEZ_Pin.Digital.Di10, (Cpu.Pin)FEZ_Pin.Digital.Di7, true);
NetworkInterface.EnableStaticIP(ServerAddress, ServerSubnet, ServerGateway, ServerMac);
NetworkInterface.EnableStaticDns(ServerGateway);
try
{
ListenerClose( /*_listenerSocket == null*/ ); /*just to ensure tidiness*/
_listenerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
try
{
IPEndPoint endPoint = new IPEndPoint(IPAddress.Any, ServerPort);
_listenerSocket.Bind(endPoint);
_listenerSocket.Listen(1); /*blocks...*/
SessionClose( /*_sessionSocket == null*/ ); /*just to ensure tidiness*/
using (_sessionSocket = _listenerSocket.Accept()) /*using overkill, but what th' hey...*/
try
{
SignOfLifeStart( /*_signOfLifeTimer != null*/ );
try
{
byte[] buffer = new byte[/*extra for safety*/ 2 * CommandDefinition.PacketSize];
while (/*read OK?*/_sessionSocket.Receive(buffer, buffer.Length, SocketFlags.None) >= 1 /*blocks...*/)
{
CommandDefinition.CommandFormat command = new CommandDefinition.CommandFormat();
command = command.Deserialize(buffer);
ProcessCommand(command);
}
}
catch { SendSignOfLife(uint.MaxValue - 4); }
finally { SignOfLifeStop( /*_signOfLifeTimer == null*/ ); }
}
catch { SendSignOfLife(uint.MaxValue -3); }
finally { SessionClose( /*_sessionSocket == null*/ ); }
}
catch { SendSignOfLife(uint.MaxValue - 2); }
finally { ListenerClose( /*_listenerSocket == null*/ ); }
}
catch { SendSignOfLife(uint.MaxValue - 1); }
finally { WIZnet_W5100.ReintializeNetworking(); }
}
catch { SendSignOfLife(uint.MaxValue); }
finally
{
Thread.Sleep(/*1s*/ 1000 /*ms*/ );
Program.ResetBoard();
}
}
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 CommandDefinition.CommandFormat ConstructCommand(CommandEnum command, BooleanValue ackReq, ActionEnum action, byte subAction)
{
CommandDefinition.CommandAckStruct cmdAck = new CommandDefinition.CommandAckStruct(command, ackReq, BooleanValue.False);
CommandDefinition.ActionStruct a = new CommandDefinition.ActionStruct(action, subAction);
CommandDefinition.CommandFormat cmd = new CommandDefinition.CommandFormat(cmdAck.CommandWithAck, a.ActionAndSubAction);
return cmd;
}
private void ResponseThreadMethod()
{
int length = Marshal.SizeOf(typeof(CommandDefinition.CommandFormat));
do
{
while (Connected)
{
try
{
byte[] response = new byte[length];
int dataRead = _networkStream.Read(response, 0, response.Length);
if (dataRead > 0)
{
CommandDefinition.CommandFormat commandResponse = _commandResponse.Deserialize(response);
if (commandResponse.CommandAck.Command == CommandEnum.SignOfLife)
{
SignOfLifeSequence = BitConverter.ToUInt32(commandResponse.Payload, 0);
if (_signOfLifeTimer != null)
_signOfLifeTimer.Change(_signOfLifeTimerDueTime, Timeout.Infinite);
}
else if (commandResponse.CommandAck.Command == CommandEnum.AdaptiveModeSpeed)
{
_adaptiveSpeed = BitConverter.ToSingle(commandResponse.Payload, 0);
_speedMsgOpMode = (OperatingMode)commandResponse.Action.SubAction;
SpeedMsgEvent.Set();
}
else
{
_commandResponse = commandResponse;
_responseEvent.Set();
if (ApcsUpdate != null)
ApcsUpdate(commandResponse.CommandAck.Command, commandResponse.Action.Action, commandResponse.Action.SubAction, commandResponse.Payload);
}
}
else
throw new Exception("Data read from APCS has size 0. Restarting Connection.");
}
catch (Exception ex)
{
if (/*not terminated?*/ !_cancelEvent.WaitOne(0))
{
Debug.Assert(Lgr != null);
Lgr.LogError(ex);
}
if (_tcpClient != null && _tcpClient.Connected)
{
//CloseConnection();
_tcpClient = null;
}
}
}
}
while (!_cancelEvent.WaitOne(ApcsDelay));
}
