/// <summary>
/// Begin a task reading data from the Fanuc Device
/// </summary>
public void WriteOut(string data, FanucSocketOptions options)
{
if (SafeToProceed())
{
ns.Flush(); // Removes extra data that is stuck in the socket
cancelSource = new CancellationTokenSource();
opCancelToken = cancelSource.Token;
// Main read task
operation = new Task(
cancellationToken: cancelSource.Token,
creationOptions: TaskCreationOptions.LongRunning,
action: () =>
{
this.WriteOut_Main(data, options);
}
);
// If sending completes fully, fire event and dispose
operation.ContinueWith(
continuationOptions: TaskContinuationOptions.ExecuteSynchronously,
continuationAction: (t) =>
{
if (t.IsCompleted && !t.IsCanceled)
{
if (SendOperationCompleted != null)
{
SendOperationCompleted.Invoke(this, null);
}
}
else if (t.IsFaulted)
{
if (ExceptionOccurred != null)
{
ExceptionOccurred.Invoke(this, t.Exception);
}
}
cancelSource.Dispose();
cancelSource = null;
operation.Dispose();
operation = null;
ChangeState(FanucSocketState.Idle);
}
);
operation.Start();
}
else
{
throw new FanucException("Operation in progress!");
}
}
/// <summary>
/// Locks access to the socket and does a read operation. If data has arrived, it is checked for Fanuc
/// control codes and saved to memory.
/// </summary>
/// <returns>A FanucChunk with the complete data and status</returns>
private void ReadIn_Main(FanucSocketOptions options)
{
FanucChunk chunk;
opCancelToken.ThrowIfCancellationRequested();
chunk = new FanucChunk(0);
ChangeState(FanucSocketState.Receiving);
while (!opCancelToken.IsCancellationRequested)
{
if (ns.DataAvailable)
{
ReadIn_GetData(ref chunk);
if (chunk.State == FanucChunkState.ReadyForProcessing)
{
ReadIn_ParseData(ref chunk, options);
}
if (chunk.State == FanucChunkState.Processed)
{
if (ChunkReceived != null)
{
ChunkReceived.Invoke(this, chunk.Data);
}
}
else if (chunk.State == FanucChunkState.Error)
{
if (BadChunkReceived != null)
{
BadChunkReceived.Invoke(this, chunk.Data);
}
}
if (!options.HasFlag(FanucSocketOptions.IgnoreControlCodes))
{
if ((int)chunk.PersistentExtra == 0x14)
{
return;
}
}
chunk = new FanucChunk(chunk);
}
else
{
Thread.Sleep(500);
}
opCancelToken.ThrowIfCancellationRequested();
}
opCancelToken.ThrowIfCancellationRequested();
}
private void WriteOut_Prepare(out FanucChunk[] chunks, ref string data, FanucSocketOptions options)
{
if (!options.HasFlag(FanucSocketOptions.RawMode))
{
WriteOut_ToLF(ref data); // Correct newlines
WriteOut_Sanitize(ref data, options); // Sanitize data
}
WriteOut_ChunkData(out chunks, data);
}
/// <summary>
/// Parses the data and keeps a state
/// </summary>
/// <param name="chunk">The chunk to process</param>
/// <param name="options">Processing options</param>
static private void ReadIn_ParseData(ref FanucChunk chunk, FanucSocketOptions options)
{
if (!options.HasFlag(FanucSocketOptions.RawMode))
{
if (!options.HasFlag(FanucSocketOptions.IgnoreControlCodes))
{
ReadIn_ClipBlock(ref chunk);
}
if (options.HasFlag(FanucSocketOptions.FixNewline) && chunk.State != FanucChunkState.Error)
{
ReadIn_ToCRLF(ref chunk);
}
}
if (chunk.State == FanucChunkState.ReadyForProcessing)
{
chunk.State = FanucChunkState.Processed;
}
}
/// <summary>
/// Santizes data before sending it out. Needs some work
/// </summary>
/// <param name="data">The data string</param>
static private void WriteOut_Sanitize(ref string data, FanucSocketOptions options)
{
//Remove control codes left over in old files
data = Regex.Replace(data, @"[\x11-\x14]", "");
if (!options.HasFlag(FanucSocketOptions.NoStartBlock))
{
// Trim junk to the first program block
Match m = Regex.Match(data, @"[:oO][\d]{4}");
if (m != null)
{
data = data.Substring(m.Index);
data = "%\n" + data;
}
else
{
throw new FanucException("No sub-programs found!");
}
}
if (!options.HasFlag(FanucSocketOptions.NoEndBlock))
{
Match m = Regex.Match(data, "%", RegexOptions.RightToLeft);
//If it found a % (it better i JUST put one there)
if (m.Index != 0)
{
data = data.Substring(0, m.Index + 1);
}
else
{
//Fix this, its a 2AM hack.
data += "%"; // Append one to the end
}
}
}
private void WriteOut_Main(string data, FanucSocketOptions options)
{
FanucChunk[] chunks;
opCancelToken.ThrowIfCancellationRequested();
WriteOut_Prepare(out chunks, ref data, options);
bool OkayToSend = false;
int lastCode = 0;
int cId = 0;
ChangeState(FanucSocketState.Waiting);
while (cId < chunks.Length)
{
lastCode = WriteOut_GetCode();
if ((lastCode == 0x11) && !OkayToSend)
{
OkayToSend = true; //Got DC1, Cleared to send
ChangeState(FanucSocketState.Sending);
}
else if ((lastCode == 0x13) && OkayToSend)
{
OkayToSend = false; //Got DC3, Pause until its cleared
ChangeState(FanucSocketState.Waiting);
}
if (OkayToSend)
{
WriteOut_SendChunk(chunks[cId]);
cId++;
if (ChunkSent != null)
{
ChunkSent.Invoke(this, Math.Round((cId / (double)chunks.Length) * 100, 1));
}
}
//opCancelToken.ThrowIfCancellationRequested();
Thread.Sleep(SendDelay);
opCancelToken.ThrowIfCancellationRequested();
}
bool isWaiting = true;
int tempTimer = 0;
while (isWaiting)
{
lastCode = WriteOut_GetCode();
if ((lastCode == 0x13) || tempTimer >= 30)
{
isWaiting = false;
}
tempTimer++;
Thread.Sleep(1000);
opCancelToken.ThrowIfCancellationRequested();
}
opCancelToken.ThrowIfCancellationRequested();
}
private void WriteOut_Prepare(out FanucChunk[] chunks, ref string data, FanucSocketOptions options)
{
if (!options.HasFlag(FanucSocketOptions.RawMode))
{
WriteOut_ToLF(ref data); // Correct newlines
WriteOut_Sanitize(ref data, options); // Sanitize data
}
WriteOut_ChunkData(out chunks, data);
}
private void WriteOut_Main(string data, FanucSocketOptions options)
{
FanucChunk[] chunks;
opCancelToken.ThrowIfCancellationRequested();
WriteOut_Prepare(out chunks, ref data, options);
bool OkayToSend = false;
int lastCode = 0;
int cId = 0;
ChangeState(FanucSocketState.Waiting);
while(cId < chunks.Length)
{
lastCode = WriteOut_GetCode();
if ((lastCode == 0x11) && !OkayToSend)
{
OkayToSend = true; //Got DC1, Cleared to send
ChangeState(FanucSocketState.Sending);
}
else if ((lastCode == 0x13) && OkayToSend)
{
OkayToSend = false; //Got DC3, Pause until its cleared
ChangeState(FanucSocketState.Waiting);
}
if (OkayToSend)
{
WriteOut_SendChunk(chunks[cId]);
cId++;
if (ChunkSent != null) ChunkSent.Invoke(this, Math.Round((cId / (double)chunks.Length) * 100, 1));
}
//opCancelToken.ThrowIfCancellationRequested();
Thread.Sleep(SendDelay);
opCancelToken.ThrowIfCancellationRequested();
}
bool isWaiting = true;
int tempTimer = 0;
while (isWaiting)
{
lastCode = WriteOut_GetCode();
if ((lastCode == 0x13) || tempTimer >= 30)
{
isWaiting = false;
}
tempTimer++;
Thread.Sleep(1000);
opCancelToken.ThrowIfCancellationRequested();
}
opCancelToken.ThrowIfCancellationRequested();
}
/// <summary>
/// Locks access to the socket and does a read operation. If data has arrived, it is checked for Fanuc
/// control codes and saved to memory.
/// </summary>
/// <returns>A FanucChunk with the complete data and status</returns>
private void ReadIn_Main(FanucSocketOptions options)
{
FanucChunk chunk;
opCancelToken.ThrowIfCancellationRequested();
chunk = new FanucChunk(0);
ChangeState(FanucSocketState.Receiving);
while (!opCancelToken.IsCancellationRequested)
{
if (ns.DataAvailable)
{
ReadIn_GetData(ref chunk);
if (chunk.State == FanucChunkState.ReadyForProcessing)
{
ReadIn_ParseData(ref chunk, options);
}
if (chunk.State == FanucChunkState.Processed)
{
if (ChunkReceived != null) ChunkReceived.Invoke(this, chunk.Data);
}
else if (chunk.State == FanucChunkState.Error)
{
if (BadChunkReceived != null) BadChunkReceived.Invoke(this, chunk.Data);
}
if (!options.HasFlag(FanucSocketOptions.IgnoreControlCodes))
if ((int)chunk.PersistentExtra == 0x14)
return;
chunk = new FanucChunk(chunk);
}
else
{
Thread.Sleep(500);
}
opCancelToken.ThrowIfCancellationRequested();
}
opCancelToken.ThrowIfCancellationRequested();
}
/// <summary>
/// Santizes data before sending it out. Needs some work
/// </summary>
/// <param name="data">The data string</param>
private static void WriteOut_Sanitize(ref string data, FanucSocketOptions options)
{
//Remove control codes left over in old files
data = Regex.Replace(data, @"[\x11-\x14]", "");
if (!options.HasFlag(FanucSocketOptions.NoStartBlock))
{
// Trim junk to the first program block
Match m = Regex.Match(data, @"[:oO][\d]{4}");
if (m != null)
{
data = data.Substring(m.Index);
data = "%\n" + data;
}
else
{
throw new FanucException("No sub-programs found!");
}
}
if (!options.HasFlag(FanucSocketOptions.NoEndBlock))
{
Match m = Regex.Match(data, "%", RegexOptions.RightToLeft);
//If it found a % (it better i JUST put one there)
if (m.Index != 0)
{
data = data.Substring(0, m.Index + 1);
}
else
{
//Fix this, its a 2AM hack.
data += "%"; // Append one to the end
}
}
}
/// <summary>
/// Parses the data and keeps a state
/// </summary>
/// <param name="chunk">The chunk to process</param>
/// <param name="options">Processing options</param>
private static void ReadIn_ParseData(ref FanucChunk chunk, FanucSocketOptions options)
{
if (!options.HasFlag(FanucSocketOptions.RawMode))
{
if (!options.HasFlag(FanucSocketOptions.IgnoreControlCodes))
{
ReadIn_ClipBlock(ref chunk);
}
if (options.HasFlag(FanucSocketOptions.FixNewline) && chunk.State != FanucChunkState.Error)
{
ReadIn_ToCRLF(ref chunk);
}
}
if (chunk.State == FanucChunkState.ReadyForProcessing)
{
chunk.State = FanucChunkState.Processed;
}
}
/// <summary>
/// Begin a task reading data from the Fanuc Device
/// </summary>
public void WriteOut(string data, FanucSocketOptions options)
{
if (SafeToProceed())
{
ns.Flush(); // Removes extra data that is stuck in the socket
cancelSource = new CancellationTokenSource();
opCancelToken = cancelSource.Token;
// Main read task
operation = new Task(
cancellationToken: cancelSource.Token,
creationOptions: TaskCreationOptions.LongRunning,
action: () =>
{
this.WriteOut_Main(data, options);
}
);
// If sending completes fully, fire event and dispose
operation.ContinueWith(
continuationOptions: TaskContinuationOptions.ExecuteSynchronously,
continuationAction: (t) =>
{
if (t.IsCompleted && !t.IsCanceled)
{
if (SendOperationCompleted != null) SendOperationCompleted.Invoke(this, null);
}
else if (t.IsFaulted)
{
if (ExceptionOccurred != null) ExceptionOccurred.Invoke(this, t.Exception);
}
cancelSource.Dispose();
cancelSource = null;
operation.Dispose();
operation = null;
ChangeState(FanucSocketState.Idle);
}
);
operation.Start();
}
else throw new FanucException("Operation in progress!");
}
