/// <summary>
/// Removes the tunnel from the server and closes all connections.
/// </summary>
/// <param name="tunnel">The tunnel to be removed.</param>
/// <param name="notifyServer">if set to <c>true</c> then notify the server of the closure.</param>
protected virtual async Task RemoveTunnelAsync(ClientTunnel tunnel, bool notifyServer)
{
if (Tunnels.TryRemove(tunnel.Id, out var _))
{
if (notifyServer)
{
var message = new Message
{
Type = MessageType.Notification,
Code = MessageCode.CloseTunnelMessage
};
message.Values["tunnel_id"] = tunnel.Id;
await SendMessageAsync(message, CancellationToken.None);
}
var connections = Connections.Values.Where(a => a.TunnelId == tunnel.Id).ToList();
foreach (var connection in connections)
{
await RemoveConnectionAsync(connection, false);
}
await tunnel.CloseLocalAsync();
}
}
public void initializeClients()
{
int clientsConnected = 0;
for (int i = 0; i < tunnelSystem.Length; i++)
{
if (tunnelSystem[i] == null)
{
tunnelSystem[i] = new ClientTunnel(_serverIp, _serverSocket);
if (tunnelSystem[i].isConnected())
{
clientsConnected++;
}
}
}
if (clientsConnected == tunnelSystem.Length)
{
MessageBox.Show("all connected");
initializeBackgroundComs();
}
else
{
for (int i = 0; i < tunnelSystem.Length; i++)
{
tunnelSystem[i] = null;
}
}
}
private void readCurrentPos()
{
ClientTunnel tempClient = getNextClient();
CurrentPos = new E6Pos(tempClient.readVariable("$POS_ACT"));
tempClient.IsActive = false;
CurrentPos.updateCurrentE6Pos(ref _globalCoordinates);
}
private void readCurrentAxis()
{
ClientTunnel tempClient = getNextClient();
CurrentAxis = new E6Axis(tempClient.readVariable("$AXIS_ACT_MEAS"));
tempClient.IsActive = false;
CurrentAxis.updateCurrentE6Axis();
}
public OpenArms(string serverIP, int serverSocket, ref SharedMemorySpace globalCoordinates)
{
tunnelSystem = new ClientTunnel[10];
//initializeClients(serverIP, serverSocket);
_globalCoordinates = globalCoordinates;
_serverIp = serverIP;
_serverSocket = serverSocket;
CurrentAxis = new E6Axis();
CurrentPos = new E6Pos();
}
private void writerAssistant_DoWork(object sender, System.ComponentModel.DoWorkEventArgs e)
{
writerAssistTimer.Restart();
BackgroundWorker worker = (BackgroundWorker)sender;
E6Pos tempE6 = new OpenArms.E6Pos();
tempE6.updateE6Pos(calculateDelta());
ClientTunnel tempClient = getNextClient();
tempClient.writeVariable("MYPOS", tempE6.currentValue);
tempClient.IsActive = false;
WriterBackgroundTimer = writerAssistTimer.Elapsed.TotalMilliseconds;
}
/// <summary>
/// Removes the tunnel from the server and closes all connections.
/// </summary>
/// <param name="tunnel">The tunnel to be removed.</param>
public virtual Task RemoveTunnelAsync(ClientTunnel tunnel)
{
return(RemoveTunnelAsync(tunnel, true));
}
/// <summary>
/// Adds the tunnel.
/// </summary>
/// <param name="tunnel">The tunnel.</param>
public virtual void AddTunnel(ClientTunnel tunnel)
{
Tunnels.TryAdd(tunnel.Id, tunnel);
}
