/// <summary>
/// Constructor used to set the values needed to initialize the components of the class. It will not start waiting for data until
/// StartSensorMonitoringRoutine() is called.
///
/// The reason the client IP address is a string and not an IPAddress is because none of the TCPClient class's
/// constructors take an IPAddress. :(
/// </summary>
/// <param name="serverIPAddress">This is the IP address the SensorNetworkServer is "listening" to.</param>
/// <param name="serverPort">This is the port the SensorNetworkServer is "listening" to.</param>
/// <param name="clientIPAddress">This is the IP address of the SensorNetwork that we will be sending the sensor initialization to.</param>
/// <param name="clientPort">This is the port of the SensorNetwork that we will be sending the sensor initialization to.</param>
/// <param name="telescopeId">The Radio Telescope that the SensorNetworkConfig will apply to.</param>
/// <param name="isSimulation">Tells the SensorNetworkServer if it should initialize the SimulationSensorNetwork,
/// or if it is connecting to the production hardware (or maybe an outside simulation).</param>
public SensorNetworkServer(IPAddress serverIPAddress, int serverPort, string clientIPAddress, int clientPort, int telescopeId, bool isSimulation)
{
// Initialize main parts of the Sensor Network
Server = new TcpListener(serverIPAddress, serverPort);
InitializationClient = new SensorNetworkClient(clientIPAddress, clientPort, telescopeId);
// Sensor data initialization
CurrentElevationMotorTemp = new Temperature[1];
CurrentElevationMotorTemp[0] = new Temperature();
CurrentAzimuthMotorTemp = new Temperature[1];
CurrentAzimuthMotorTemp[0] = new Temperature();
CurrentAbsoluteOrientation = new Orientation();
CurrentElevationMotorAccl = new Acceleration[1];
CurrentElevationMotorAccl[0] = new Acceleration();
CurrentAzimuthMotorAccl = new Acceleration[1];
CurrentAzimuthMotorAccl[0] = new Acceleration();
CurrentCounterbalanceAccl = new Acceleration[1];
CurrentCounterbalanceAccl[0] = new Acceleration();
AbsoluteOrientationOffset = new Orientation();
// Sensor error initialization
SensorStatuses = new SensorStatuses();
SensorStatuses.AzimuthAbsoluteEncoderStatus = SensorNetworkSensorStatus.Okay;
SensorStatuses.ElevationAbsoluteEncoderStatus = SensorNetworkSensorStatus.Okay;
SensorStatuses.AzimuthTemperature1Status = SensorNetworkSensorStatus.Okay;
SensorStatuses.AzimuthTemperature2Status = SensorNetworkSensorStatus.Okay;
SensorStatuses.ElevationTemperature1Status = SensorNetworkSensorStatus.Okay;
SensorStatuses.ElevationTemperature2Status = SensorNetworkSensorStatus.Okay;
SensorStatuses.AzimuthAccelerometerStatus = SensorNetworkSensorStatus.Okay;
SensorStatuses.ElevationAccelerometerStatus = SensorNetworkSensorStatus.Okay;
SensorStatuses.CounterbalanceAccelerometerStatus = SensorNetworkSensorStatus.Okay;
// Initialize threads and additional processes, if applicable
SensorMonitoringThread = new Thread(() => { SensorMonitoringRoutine(); });
SensorMonitoringThread.Name = "SensorMonitorThread";
// We only want to run the internal simulation if the user selected to run the Simulated Sensor Network
if (isSimulation)
{
SimulationSensorNetwork = new SimulationSensorNetwork(serverIPAddress.ToString(), serverPort, IPAddress.Parse(clientIPAddress), clientPort);
}
else
{
SimulationSensorNetwork = null;
}
// Initialize the timeout timer but don't start it yet
Timeout = new System.Timers.Timer();
Timeout.Elapsed += TimedOut; // TimedOut is the function at the bottom that executes when this elapses
Timeout.AutoReset = false;
AccBlob = new AccelerationBlob();
}
/// <summary>
/// This is used to parse the sensor statuses into the SensorStatuses object.
/// </summary>
/// <param name="statuses">Regular statuses.</param>
/// <param name="errors">Various error codes if there are errors.</param>
/// <returns></returns>
private SensorStatuses ParseSensorStatuses(BitArray statuses, UInt32 errors)
{
SensorStatuses s = new SensorStatuses
{
// Regular statuses
AzimuthAbsoluteEncoderStatus = statuses[0] ? SensorNetworkSensorStatus.Okay : SensorNetworkSensorStatus.Error,
AzimuthTemperature1Status = statuses[2] ? SensorNetworkSensorStatus.Okay : SensorNetworkSensorStatus.Error,
AzimuthTemperature2Status = statuses[1] ? SensorNetworkSensorStatus.Okay : SensorNetworkSensorStatus.Error,
ElevationTemperature1Status = statuses[4] ? SensorNetworkSensorStatus.Okay : SensorNetworkSensorStatus.Error,
ElevationTemperature2Status = statuses[3] ? SensorNetworkSensorStatus.Okay : SensorNetworkSensorStatus.Error,
AzimuthAccelerometerStatus = statuses[6] ? SensorNetworkSensorStatus.Okay : SensorNetworkSensorStatus.Error,
ElevationAccelerometerStatus = statuses[7] ? SensorNetworkSensorStatus.Okay : SensorNetworkSensorStatus.Error,
CounterbalanceAccelerometerStatus = statuses[5] ? SensorNetworkSensorStatus.Okay : SensorNetworkSensorStatus.Error,
// TODO: Parse errors here. You will need to add the errors to the SensorStatuses object (issue #353)
};
return(s);
}
/// <summary>
/// This is important for the simulation. This will convert the data arrays we get from CSV files
/// to bytes that we can send to the SensorNetworkServer.
/// </summary>
/// <param name="elAccl">Array of RAW elevation accelerometer samples.</param>
/// <param name="azAccl">Array of RAW azimuth accelerometer samples.</param>
/// <param name="cbAccl">Array of RAW counterbalance accelerometer samples.</param>
/// <param name="elTemps">Array of elevation temperature samples.</param>
/// <param name="azTemps">Array of azimuth temperature samples.</param>
/// <param name="elEnc">Array of elevation encoder samples.</param>
/// <param name="azEnc">Array of azimuth encoder samples.</param>
/// <param name="statuses">All the sensor statuses and errors that come from the sensor network.</param>
/// <returns></returns>
public static byte[] ConvertDataArraysToBytes(RawAccelerometerData[] elAccl, RawAccelerometerData[] azAccl, RawAccelerometerData[] cbAccl, double[] elTemps, double[] azTemps, double[] elEnc, double[] azEnc, SensorStatuses statuses)
{
uint dataSize = CalcDataSize(elAccl.Length, azAccl.Length, cbAccl.Length, elTemps.Length, azTemps.Length, elEnc.Length, azEnc.Length);
// If you want to input raw data instead, just comment out the next few loops.
// They exist so that we can input data into our CSV files that make sense to us, since
// raw data values are not very readable
// Convert elevation temperature to raw data
short[] rawElTemps = new short[elTemps.Length];
for (int i = 0; i < elTemps.Length; i++)
{
rawElTemps[i] = ConvertTempCToRawData(elTemps[i]);
}
// Convert azimuth temperature to raw data
short[] rawAzTemps = new short[azTemps.Length];
for (int i = 0; i < azTemps.Length; i++)
{
rawAzTemps[i] = ConvertTempCToRawData(azTemps[i]);
}
// Convert elevation position to raw data
short[] rawElEnc = new short[elEnc.Length];
for (int i = 0; i < elEnc.Length; i++)
{
rawElEnc[i] = ConvertDegreesToRawElData(elEnc[i]);
}
// Convert azimuth position to raw data
short[] rawAzEnc = new short[azEnc.Length];
for (int i = 0; i < azEnc.Length; i++)
{
rawAzEnc[i] = ConvertDegreesToRawAzData(azEnc[i]);
}
bool[] sensorStatusBoolArray = new bool[] {
statuses.ElevationAccelerometerStatus == SensorNetworkSensorStatus.Okay,
statuses.AzimuthAccelerometerStatus == SensorNetworkSensorStatus.Okay,
statuses.CounterbalanceAccelerometerStatus == SensorNetworkSensorStatus.Okay,
statuses.ElevationTemperature1Status == SensorNetworkSensorStatus.Okay,
statuses.ElevationTemperature2Status == SensorNetworkSensorStatus.Okay,
statuses.AzimuthTemperature1Status == SensorNetworkSensorStatus.Okay,
statuses.AzimuthTemperature2Status == SensorNetworkSensorStatus.Okay,
statuses.AzimuthAbsoluteEncoderStatus == SensorNetworkSensorStatus.Okay
};
int errors = 0; // TODO: implement conversion (issue #376)
return(EncodeRawData(dataSize, elAccl, azAccl, cbAccl, rawElTemps, rawAzTemps, rawElEnc, rawAzEnc, sensorStatusBoolArray, errors));
}
