/// <summary>
/// Enqueue a message in the current priority queue. If you have not
/// set the priority of the message it is enqueued according to its
/// creation status.
/// </summary>
/// <param name="enqueue"></param>
public void commPriorityQueueEnqueue(CNCRMessage enqueue)
{
bool threadLocked = _commPriorityQLock.WaitOne(100);
if (threadLocked)
{
_commPriorityQueue.Enqueue(enqueue);
_commPriorityQLock.Release();
}
else
{
throw new Exception("Failed to lock thread");
}
}
// @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
// @@@@@ IComparable Functions @@@@@
public int CompareTo(object obj)
{
CNCRMessage msg = (CNCRMessage)obj;
if (msg != null)
{
int compare = getPriority().CompareTo(msg.getPriority());
switch (compare)
{
case 0:
return(_msgID.CompareTo(msg.getMsgID()));
default:
return(compare);
}
}
else
{
throw new ArgumentException("Object is not a message");
}
}
public void SendMsg(CNCRMessage msg)
{
//TODO: SendMsg: Should this function really be doing this check? Shouldnt the function errorhandler do this?
if (getDiscardingData() && // If we are discarding data.
msg.getMessageType() == CNCRMSG_TYPE.CMD_ACKNOWLEDGE && // and sending an acknowledge
((CNCRMsgCmdAck)msg).getError() == true) // and that acknowledge is saying we have an error.
{
setDiscardingData(false); // Then clear the discard data bit so we can see the response.
byte[] serialStuff = msg.toSerial();
string toDisplay = "Ack Sent: " + CNCRTools.BytesToHex(msg.toSerial());
toDisplay += "\n";
DisplayData(toDisplay);
}
if (msg.getMessageType() != CNCRMSG_TYPE.CMD_ACKNOWLEDGE)
{
setWaitingOnAck(true);
}
setLastMessage(msg);
DisplayData("Sending: " + msg.ToString() + "\n");
SendBytes(msg.toSerial());
}
private void btnSndMsg_Click(object sender, EventArgs e)
{
/*
* int discarded = 0;
* byte[] bytes = CNCRTools.GetBytes(txtHex.Text, out discarded);
* lblDbgOut.Text = "";
* for (int i = 0; i < bytes.Length; i++)
* {
* lblDbgOut.Text += bytes[i].ToString() + " ";
* }//*/
byte[] sendBytes = { 0 };
CNCRMessage sendMsg = null;
switch (cmbMsgs.SelectedIndex)
{
case 0:
int discarded = 0;
sendBytes = CNCRTools.GetBytes(txtHex.Text, out discarded);
break;
case 1:
sendMsg = new CNCRMsgPing();
sendBytes = sendMsg.toSerial();
break;
case 2:
sendMsg = new CNCRMsgCmdAck(false, 127);
sendBytes = sendMsg.toSerial();
break;
case 3:
sendMsg = new CNCRMsgEStop();
sendBytes = sendMsg.toSerial();
break;
case 4:
sendMsg = new CNCRMsgRequestCommands(128);
sendBytes = sendMsg.toSerial();
break;
case 5:
sendMsg = new CNCRMsgStartQueue(false);
sendBytes = sendMsg.toSerial();
break;
case 6:
sendMsg = new CNCRMsgSetSpeed(true, true, false, 40000);
sendBytes = sendMsg.toSerial();
break;
case 7:
sendMsg = new CNCRMsgMove(Int16.MinValue, Int16.MaxValue, 0);
sendBytes = sendMsg.toSerial();
break;
case 8:
sendMsg = new CNCRMsgToolCmd(true);
sendBytes = sendMsg.toSerial();
break;
}
rtbTraffic.AppendText(CNCRTools.BytesToHex(sendBytes) + "\n");
if (sendMsg == null)
{
commCmd.SendBytes(sendBytes);
}
else
{
commCmd.SendMsg(sendMsg);
}
}
private void setLastMessage(CNCRMessage lastMessage)
{
_lastMessageLock.WaitOne();
_lastMessage = lastMessage;
_lastMessageLock.Release();
}
public void SendMsg(CNCRMessage msg)
{
//TODO: SendMsg: Should this function really be doing this check? Shouldnt the function errorhandler do this?
if (getDiscardingData() // If we are discarding data.
&& msg.getMessageType() == CNCRMSG_TYPE.CMD_ACKNOWLEDGE // and sending an acknowledge
&& ((CNCRMsgCmdAck)msg).getError() == true) // and that acknowledge is saying we have an error.
{
setDiscardingData(false); // Then clear the discard data bit so we can see the response.
byte[] serialStuff = msg.toSerial();
string toDisplay = "Ack Sent: " + CNCRTools.BytesToHex(msg.toSerial());
toDisplay += "\n";
DisplayData(toDisplay);
}
if (msg.getMessageType() != CNCRMSG_TYPE.CMD_ACKNOWLEDGE)
{
setWaitingOnAck(true);
}
setLastMessage(msg);
DisplayData("Sending: " + msg.ToString() + "\n");
SendBytes(msg.toSerial());
}
/// <summary>
/// Enqueue a message in the current priority queue. If you have not
/// set the priority of the message it is enqueued according to its
/// creation status.
/// </summary>
/// <param name="enqueue"></param>
public void commPriorityQueueEnqueue(CNCRMessage enqueue)
{
bool threadLocked = _commPriorityQLock.WaitOne(100);
if (threadLocked)
{
_commPriorityQueue.Enqueue(enqueue);
_commPriorityQLock.Release();
}
else
throw new Exception("Failed to lock thread");
}
private void processQueues()
{
DateTime lastMsg = DateTime.Now;
TimeSpan timeout = new TimeSpan(CNCRConstants.TIMEOUT_MS * TimeSpan.TicksPerMillisecond);
while (!getEStopActive() && // While eStop is not active.
((commPriorityQueueCount() > 0) || (commCommandQueueCount() > 0 && getNumCmdsToSend() > 0)) && // And this stuff
((DateTime.Now - lastMsg) < timeout)) // TODO; Log a timeout error.
{
// If waiting for Ack or EStopped, exit thread, we cant send any commands.
if (!getWaitingOnAck() && !getEStopActive())
{
// reset the timeout
lastMsg = DateTime.Now;
int numCmdsToSend = getNumCmdsToSend();
// Check the priority queue first, it has priority.
if (commPriorityQueueCount() > 0)
{
CNCRMessage commMsg = commPriorityQueueDequeue();
if (commMsg.getMessageType() == CNCRMSG_TYPE.E_STOP)
{
setEStopActive(true);
}
SendMsg(commMsg);
}
// Check to see if the router is requesting commands and then
// Check to ensure we actually have commands to send.
else if (numCmdsToSend > 0 && commCommandQueueCount() > 0)
{
// Grab the next router command in the queue.
SendMsg(commCommandQueueDequeue());
// Check if we are out of commands, if so set the numCmdsToSend to 0
// and send StartQueue(true)
if (commCommandQueueCount() == 0)
{
numCmdsToSend = 0;
commPriorityQueueEnqueue(new CNCRMsgStartQueue(true));
}
else // Decrement the command counter
{
numCmdsToSend--;
}
// Set the new numCmdsToSend safely.
setNumCmdsToSend(numCmdsToSend);
}
}
// TODO: Check to see if we timed out, what do we do in this event?
// TODO: Check to see if the router is requesting more commands than we have.
// if so, send them a "StartQueue(true)" message to stop them.
// - Possibly do this when sending messages? what about when I receive this message?
// - I should be able to check on receipt if requested is > than received.
// - Or when emptying the queue, as soon as I hit 0 I can append a "stop message"
// (following message saved for posterity, moved from above last }
// - Well currently I do not even reach this level if there
// is a discrepency between commCommandQueueCount and
// getNumCmdsToSend due to the while loop. Figure this out.
Thread.Sleep(10);
}
}
/// <summary>
/// Takes the passed in message and performs the nessessary actions
/// required by that message.
/// </summary>
/// <param name="msg">Message to act on.</param>
public void actOnMessage(object msgObj)
{
CNCRMessage msg = (CNCRMessage)msgObj;
if (msg == null)
{
throw new ArgumentNullException();
}
switch (msg.getMessageType())
{
case CNCRMSG_TYPE.CMD_ACKNOWLEDGE:
if (((CNCRMsgCmdAck)msg).getError())
{
// if error, resend last message
CNCRMessage lastMsg = getLastMessage();
lastMsg.setPriority(CNCRMSG_PRIORITY.HIGH);
commPriorityQueueEnqueue(lastMsg);
}
else
{
// if not error, clear "Waiting for Ack"
setWaitingOnAck(false);
}
launchProcessQueues();
break;
case CNCRMSG_TYPE.E_STOP:
// Send Ack.
CNCRMessage ack = new CNCRMsgCmdAck(false, 0);
ack.setPriority(CNCRMSG_PRIORITY.MEDIUM); // TODO: what about the E-stop Ack.
commPriorityQueueEnqueue(ack);
// Set the "Stop Sending Messages variable"
setEStopActive(true);
break;
case CNCRMSG_TYPE.REQUEST_COMMAND:
// Send Ack.
CNCRMessage ack2 = new CNCRMsgCmdAck(false, 0);
ack2.setPriority(CNCRMSG_PRIORITY.MEDIUM);
commPriorityQueueEnqueue(ack2);
// Set the "Send Commands" variable to the # of messages.
CNCRMsgRequestCommands msgRC = (CNCRMsgRequestCommands)msg;
setNumCmdsToSend(msgRC.getCommandCount() + getNumCmdsToSend());
// If it is not already started, kick off the "SendMessages" method.
launchProcessQueues();
break;
case CNCRMSG_TYPE.MOVE:
case CNCRMSG_TYPE.PING:
case CNCRMSG_TYPE.SET_SPEED:
case CNCRMSG_TYPE.START_QUEUE:
case CNCRMSG_TYPE.TOOL_CMD:
// We should not be receiving any of these messages.
DisplayData("Received a valid message that should not have " +
"been sent by the router. " + msg.ToString() + "\n");
break;
default:
throw new ArgumentException("CNCRMessage has an invalid type");
}
}
public void handleData(byte[] commBuffer)
{
// Are we currently in the middle of a type?
if (_commBufferQueue.Count == 0)
{
// No, so grab the type in the next byte.
setCurType((CNCRMSG_TYPE)Enum.ToObject(typeof(CNCRMSG_TYPE), (commBuffer[0] & 0xF0) >> 4));
}
// Get the current type, if it is not between MIN and MAX_TYPE
CNCRMSG_TYPE currentType = getCurType();
if (CNCRMSG_TYPE.zMIN_TYPE < currentType && currentType < CNCRMSG_TYPE.zMAX_TYPE)
{
// Drop all incoming bytes into the queue
for (int i = 0; i < commBuffer.Length; i++)
{
if (CNCRTools.validateParityBit(commBuffer[i]))
{
_commBufferQueue.Enqueue(commBuffer[i]);
}
else
{
// Bad Parity bit, Discard the data and log an error.
handleError("Invalid Parity Bit.");
return;
}
}
// Check how long of a message we are expecting
int expectedLength = CNCRTools.getMsgLenFromType(getCurType());
// Uh, Oh, what about expectedLength = 0, AKA, bad type?
// - At this point, curType should be validated and curType
// should not be unknown, throw an error in getMsgLenFromType.
if (expectedLength > 0)
{
// Process the current Queue
while (_commBufferQueue.Count >= expectedLength)
{
// We have enough bytes, lets get the message for those bytes.
byte[] msgBytes = new byte[expectedLength];
for (int i = 0; i < msgBytes.Length; i++)
{
msgBytes[i] = _commBufferQueue.Dequeue();
}
if (CNCRTools.validateParityByte(msgBytes))
{
DisplayData("- Valid Parity\n");
CNCRMessage CommMsg = CNCRTools.getMsgFromBytes(msgBytes);
DisplayData("- Type: " + CommMsg.ToString() + "\n");
Thread runActOnMessage = new Thread(new ParameterizedThreadStart(actOnMessage));
runActOnMessage.Start(CommMsg);
}
else
{
handleError("Invalid Parity Byte.");
return;
}
}
}
else
{
handleError("Expected length was 0 or less.");
return;
}
}
else
{
// Bad type: log an error, discard bytes.
handleError("Invalid message type.");
return;
}
}
private void setLastMessage(CNCRMessage lastMessage)
{
_lastMessageLock.WaitOne();
_lastMessage = lastMessage;
_lastMessageLock.Release();
}
