public static async Task MakeVarRecTask(MqttConfig config, ModuleInitInfo info, string certDir, Func <bool> shutdown)
{
SynchronizationContext theSyncContext = SynchronizationContext.Current !;
var mqttOptions = MakeMqttOptions(certDir, config, "VarRec");
var varRec = config.VarReceive !;
string topic = (string.IsNullOrEmpty(config.TopicRoot) ? "" : config.TopicRoot + "/") + varRec.Topic;
bool configChanged = false;
Action onConfigChanged = () => {
Console.WriteLine("MakeVarRecTask: onConfigChanged called");
configChanged = true;
};
Connection clientFAST = await EnsureConnectOrThrow(info, null, onConfigChanged, varRec.ModuleID);
while (!shutdown())
{
IMqttClient?clientMQTT = await EnsureConnect(mqttOptions, null);;
if (clientMQTT == null)
{
Console.WriteLine("Can not connect to MQTT broker");
await Task.Delay(5000);
continue;
}
clientFAST = await EnsureConnectOrThrow(info, clientFAST, onConfigChanged, varRec.ModuleID);
List <ObjectInfo> objs = await clientFAST.GetAllObjects(varRec.ModuleID);
ObjectInfo[] writableObjs = objs.Where(obj => obj.Variables.Any(v => v.Writable)).ToArray();
MqttTopicFilter[] topics = writableObjs.Select(obj => new MqttTopicFilter()
{
QualityOfServiceLevel = MqttQualityOfServiceLevel.AtLeastOnce,
Topic = $"{topic}/{obj.ID.LocalObjectID}"
}).ToArray();
clientMQTT.UseApplicationMessageReceivedHandler((arg) => {
var promise = new TaskCompletionSource <bool>();
theSyncContext !.Post(_ => {
Task task = OnReceivedVarWriteRequest(varRec, clientFAST, arg);
task.ContinueWith(completedTask => promise.CompleteFromTask(completedTask));
}, null);
return(promise.Task);
});
foreach (var top in topics)
{
Console.WriteLine($"Subscribing to topic {top.Topic}");
await clientMQTT.SubscribeAsync(top);
}
while (!configChanged && !shutdown())
{
try {
await clientMQTT.PingAsync(CancellationToken.None);
}
catch (Exception exp) {
Exception e = exp.GetBaseException() ?? exp;
Console.Error.WriteLine($"MakeVarRecTask: Connection broken during Ping. Trying to reconnect. Err: {e.Message}");
break;
}
try {
clientFAST = await EnsureConnectOrThrow(info, clientFAST, onConfigChanged, varRec.ModuleID);
}
catch (Exception) {
Console.Error.WriteLine("Connection to FAST core broken. Trying to reconnect...");
break;
}
await Time.WaitUntil(Timestamp.Now + Duration.FromSeconds(6), abort : () => configChanged || shutdown());
}
configChanged = false;
await CloseIntern(clientMQTT);
}
}