public Kugelmatik(Config config, ClusterConfig clusterConfig)
{
this.Config = config;
this.ClusterConfig = clusterConfig;
IAddressProvider addressProvider;
if (!string.IsNullOrWhiteSpace(config.AddressFile))
addressProvider = new FileAddressProvider(config.AddressFile);
else if (!string.IsNullOrWhiteSpace(config.FixedIP))
addressProvider = new FixedAddressProvider(config.FixedIP);
else
addressProvider = new KugelmatikAddressProvider();
InitClusters(addressProvider);
}
public static ClusterConfig GetDefault()
{
ClusterConfig config = new ClusterConfig();
config.StepMode = StepMode.Half;
config.BrakeMode = BrakeMode.Smart;
config.TickTime = 3500;
config.HomeTime = 3500;
config.FixTime = 3500;
config.MaxSteps = 8000;
config.HomeSteps = 8000;
config.FixSteps = 8000;
config.BrakeTicks = 10000;
config.MinStepDelta = 10;
return config;
}
public Kugelmatik(Config config, ClusterConfig clusterConfig, IAddressProvider addressProvider)
{
this.Config = config;
this.ClusterConfig = clusterConfig;
InitClusters(addressProvider);
}
/// <summary>
/// Sendet einen Config-Befehl an alle Cluster.
/// </summary>
public void SendConfig(ClusterConfig config)
{
foreach (Cluster cluster in clusters)
cluster.SendConfig(config);
}
private void HandlePacket(byte[] packet)
{
// jedes Kugelmatik V3 Paket ist mindestens HeaderSize Bytes lang und fangen mit "KKS" an
if (packet.Length < HeaderSize || packet[0] != 'K' || packet[1] != 'K' || packet[2] != 'S')
return;
bool isGuaranteed = packet[3] > 0;
PacketType type = (PacketType)packet[4];
using (MemoryStream stream = new MemoryStream(packet))
using (BinaryReader reader = new BinaryReader(stream))
{
stream.Position = HeaderSize - 4; // 4 Bytes für die Revision
int revision = reader.ReadInt32();
if (Kugelmatik.Config.VerbosePacketReceive
&& type != PacketType.Ack
&& (type != PacketType.Ping || Kugelmatik.Config.LogPingPacket))
Log.Verbose("[{0}, {1}] Received: [{2}] {3}, size: {4} bytes", X, Y, revision, type, packet.Length);
switch (type)
{
case PacketType.Ping:
bool wasNotConnected = !CheckConnection();
lastPing = Environment.TickCount;
long time = reader.ReadInt64(); // time ist der Wert von stopwatch zum Zeitpunkt des Absenden des Pakets
Ping = (int)(stopwatch.ElapsedMilliseconds - time);
RemovePacketToAcknowlegde(revision);
if (wasNotConnected && OnConnected != null)
OnConnected(this, EventArgs.Empty);
break;
case PacketType.Ack:
IPacket acknowlegdedPacket;
if (!packetsToAcknowledge.TryGetValue(revision, out acknowlegdedPacket))
{
if (Kugelmatik.Config.VerbosePacketReceive)
Log.Verbose("[{0}, {1}] Unknown acknowlegde: [{2}]", X, Y, revision);
break;
}
if (Kugelmatik.Config.VerbosePacketReceive)
Log.Verbose("[{0}, {1}] Acknowlegde: [{2}] {3}", X, Y, revision, acknowlegdedPacket.Type);
RemovePacketToAcknowlegde(revision);
break;
case PacketType.GetData:
for (int x = 0; x < Width; x++) // for-Schleife muss mit Firmware übereinstimmen
for (int y = 0; y < Height; y++)
{
Stepper stepper = GetStepperByPosition(x, y);
ushort height = reader.ReadUInt16();
if (height > Kugelmatik.ClusterConfig.MaxSteps)
continue; // Höhe ignorieren
byte waitTime = reader.ReadByte();
stepper.Height = height;
stepper.WaitTime = waitTime;
stepper.OnDataSent();
}
RemovePacketToAcknowlegde(revision);
break;
case PacketType.Info:
byte buildVersion = reader.ReadByte();
BusyCommand currentBusyCommand = BusyCommand.None;
if (buildVersion >= 11)
currentBusyCommand = (BusyCommand)reader.ReadByte();
else if (buildVersion >= 8)
currentBusyCommand = reader.ReadByte() > 0 ? BusyCommand.Unknown : BusyCommand.None;
int highestRevision = 0;
if (buildVersion >= 9)
highestRevision = reader.ReadInt32();
ClusterConfig config = new ClusterConfig();
if (buildVersion < 15)
{
byte stepMode = reader.ReadByte();
if (!Enum.IsDefined(typeof(StepMode), stepMode))
throw new InvalidDataException("Unknown step mode");
int delayTime = reader.ReadInt32();
bool useBreak = false;
if (buildVersion >= 6)
useBreak = reader.ReadByte() > 0;
config = ClusterConfig.GetCompatibility((StepMode)stepMode, delayTime, useBreak);
}
ErrorCode lastError = ErrorCode.None;
if (buildVersion >= 12) {
int error = reader.ReadByte();
if (!Enum.IsDefined(typeof(ErrorCode), error))
lastError = ErrorCode.UnknownError;
else
lastError = (ErrorCode)error;
}
ErrorCode lastSavedError = Info == null ? ErrorCode.None : info.LastError;
if (lastSavedError != lastError && lastError != ErrorCode.None)
Log.Error("[{0}, {1}] Error changed from {2} to {3}", X, Y, lastSavedError, lastError);
int freeRam = -1;
if (buildVersion >= 14)
freeRam = reader.ReadInt16();
if (buildVersion >= 15)
{
ushort configSize = reader.ReadUInt16();
if (configSize != ClusterConfig.Size)
{
config = new ClusterConfig();
Log.Error("[{0}, {1}] Packet config size does not match config structure size (firmware: {2}, size: {3} != {4})", X, Y, buildVersion, configSize, ClusterConfig.Size);
}
else
config = ClusterConfig.Read(reader);
}
byte mcpStatus = 0;
int loopTime = 0;
int networkTime = 0;
int maxNetworkTime = 0;
int stepperTime = 0;
int upTime = 0;
if (buildVersion >= 17)
{
mcpStatus = reader.ReadByte();
loopTime = reader.ReadInt32();
networkTime = reader.ReadInt32();
maxNetworkTime = reader.ReadInt32();
stepperTime = reader.ReadInt32();
upTime = reader.ReadInt32();
}
Info = new ClusterInfo(buildVersion, currentBusyCommand, highestRevision,
config, lastError, freeRam, mcpStatus,
loopTime, networkTime, maxNetworkTime, stepperTime,
upTime);
RemovePacketToAcknowlegde(revision);
break;
default:
throw new InvalidDataException("Invalid packet type sent by cluster.");
}
}
}
/// <summary>
/// Schickt einen Config-Befehl an das Cluster.
/// </summary>
public void SendConfig(ClusterConfig config)
{
if (IsDisposed)
throw new ObjectDisposedException(GetType().Name);
if (Info != null && Info.BuildVersion >= 15)
SendPacket(new PacketConfig2(config), true);
else
SendPacket(new PacketConfig(config), true);
}
