static void Main(string[] args)
{
// if the app is already running, make the already running app window the foreground window and exit this instance
bool singleInstanceOnly = false;
bool.TryParse(ConfigurationManager.AppSettings["AllowSingleHulkamaniaInstanceOnly"], out singleInstanceOnly);
if (singleInstanceOnly && IsAlreadyRunning())
{
System.Environment.Exit(0);
return;
}
MainForm mainForm;
try {
// Set up logging
XmlConfigurator.ConfigureAndWatch(new FileInfo(LOGGING_CONFIG_FILE));
logger.Info("********** Starting Hulkamania **********");
// parse command line
mUseDummyMotionController = (Array.IndexOf(args, "UseDummyMotionControl") >= 0);
logger.Info("Checking 'UseDummyMotionControl' command line argument: using " + (mUseDummyMotionController ? "Dummy" : "HULK") + " motion controller");
// Disable screensaver
SystemParametersInfo(SPI.SPI_SETSCREENSAVEACTIVE, 0, 0, SPIF.None);
// Check if required data output folder exists
DataLogger.CheckIfRequiredFoldersExist(true);
// Start the thread that will control the Hulk
MotionController.Instance.CheckModalErrors();
controllerThread = new Thread(Hulk.ControlHulk)
{
Priority = ThreadPriority.Highest
};
controllerThread.Start();
// Set up handlers to deal with any exceptions not caught elsewhere in the application
AppDomain.CurrentDomain.UnhandledException += OnUnhandledException;
Application.ThreadException += OnUnhandledGuiException;
// Find available tasks
baseDirectory = Path.GetDirectoryName(Application.ExecutablePath);
LoadAvailableTasks();
// Start the network server
startServer();
statusTransmitter.initialize(serverHandler);
// Start the main form, which will run until it is closed by the user
Application.EnableVisualStyles();
mainForm = MainForm.GetMainForm();
Application.Run(mainForm);
statusTransmitter.shutdown();
stopServer();
} catch (Exception e) {
HandleUnhandledException(e);
}
try {
// Turn the screensaver back on
SystemParametersInfo(SPI.SPI_SETSCREENSAVEACTIVE, 1, 0, SPIF.None);
// Close the main control loop thread.
Hulk.KeepRunning = false;
// Stop the network server
stopServer();
} catch (Exception e) {
HandleUnhandledException(e);
}
logger.Info("********** Quitting Hulkamania **********");
Application.Exit();
}
/// <summary>
/// The main control loop.
/// </summary>
internal static void ControlHulk()
{
bool joystickMessageGiven;
bool lightMessageGiven;
logger.Debug("Enter: ControlHulk()");
logger.Info("Control loop starting.");
// Check frames-per-second once every second
frameTime = DateTime.Now.AddSeconds(1.0);
updateCounter = 0;
updateRate = 0;
joystickMessageGiven = false;
lightMessageGiven = false;
// Do the control loop until a signal is sent to stop
keepRunning = true;
do
{
// Record the frames-per-second
if (DateTime.Now.CompareTo(frameTime) >= 0)
{
updateRate = updateCounter;
frameTime = DateTime.Now.AddSeconds(1.0);
updateCounter = 1;
}
else
{
updateCounter++;
}
// Make sure that joystick input is possible
if (InputController.IsJoystickConnected)
{
joystickMessageGiven = false;
}
else
{
InputController.AcquireJoystick();
if (!InputController.IsJoystickConnected)
{
if (!joystickMessageGiven)
{
// if no joystick connection is detected, the following code needs to be executed just once. Piggyback on the joystickMessageGiven functionality to do this,
// since that message is logged once as well
// if a task is currently executing, halt execution
switch (status)
{
case Status.Task:
case Status.TaskExecuting:
case Status.Executing:
Hulk.Halt();
// Stop the currently executing task to prevent the task from continuing where it left off once the joystick is plugged back in
if (AppMain.CurrentTask != null)
{
AppMain.CurrentTask.StopTask();
}
status = Status.Idling;
break;
default:
break;
}
// put the HULK in the loading position
Hulk.Loading(null);
logger.Warn("Joystick must be plugged in to continue.");
joystickMessageGiven = true;
}
continue;
}
}
// See if safety lights show readiness for commands
if (DataController.Instance.IsLightGreen)
{
Hulk.Halt();
if (!lightMessageGiven)
{
logger.Warn("Light must be red to continue.");
lightMessageGiven = true;
}
Thread.Sleep(250);
continue;
}
else
{
if (lightMessageGiven)
{
logger.Info("Red light detected.");
lightMessageGiven = false;
}
}
// Is this program ready to send commands?
if (!DataController.Instance.PCReady)
{
Thread.Sleep(250);
continue;
}
// See if PLC is still ready to receive commands
if (!DataController.Instance.PLCReady)
{
Thread.Sleep(250);
continue;
}
// If needed, initiate mayday
if (DataController.Instance.IsMaydayPressed)
{
//Mayday(null);
ThreadPool.QueueUserWorkItem(new WaitCallback(Mayday));
}
// Check if the motion control board is reporting an error
MotionController.Instance.CheckModalErrors();
// Notify programs of current HULK motion
MotionController.Instance.ReadCurrentMotion(updateRate);
if (AppMain.CurrentTask != null)
{
AppMain.CurrentTask.LogBasicData();
AppMain.CurrentTask.UpdateNetworkClients();
}
switch (status)
{
case Status.Task:
AppMain.CurrentTask.ContinueTask();
break;
case Status.TaskExecuting:
if (MotionController.Instance.IsMoveComplete())
{
status = Status.Task;
}
break;
case Status.Stopping:
AppMain.CurrentTask.StopTask();
status = Status.Idling;
break;
case Status.Homing:
ContinueHoming();
break;
case Status.Executing:
if (MotionController.Instance.IsMoveComplete())
{
status = Status.Idling;
}
break;
}
} while (keepRunning);
// Program is exiting. Perform any necessary cleanup.
DataLogger.ReleaseDataLog();
InputController.ReleaseInputDevices();
Halt();
DataController.Instance.PCReady = false;
DataController.Instance.StopTasks();
logger.Info("Control loop has exited.");
}
