Display_D_HP/Team.FFFeederService/aflexCommunicationClass.cs

/*********************************************************************
 *
 *	Afag Telnet C# Integration Sample Header
 *
 *********************************************************************
 * FileName:        aflexCommunicationClass.cs
 * Dependencies:    aflex_CSharp_Integration_Sample
 * Company:         ima-tec GmbH
 *
 * Software License Agreement
 *
 *
 * THE SOFTWARE AND DOCUMENTATION ARE PROVIDED "AS IS" WITHOUT
 * WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT
 * LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS FOR A
 * PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL
 * AFAG BE LIABLE FOR ANY INCIDENTAL, SPECIAL, INDIRECT OR
 * CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, COST OF
 * PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR SERVICES, ANY CLAIMS
 * BY THIRD PARTIES (INCLUDING BUT NOT LIMITED TO ANY DEFENSE
 * THEREOF), ANY CLAIMS FOR INDEMNITY OR CONTRIBUTION, OR OTHER
 * SIMILAR COSTS, WHETHER ASSERTED ON THE BASIS OF CONTRACT, TORT
 * (INCLUDING NEGLIGENCE), BREACH OF WARRANTY, OR OTHERWISE.
 *
 *
 ********************************************************************/



using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading;
using System.Threading.Tasks;


namespace aflex_CSharp_Integration_Sample {
    class aflexCommunicationClass {

        //the target Values are the aflex Input values
        private UInt16 pr_target_direction;
        private UInt16 pr_target_intensity;
        private UInt16 pr_target_auxPowerOut;
        private Byte pr_target_ConfigNumber;
        private Byte pr_target_GeneralRelease;
        private Byte pr_target_ControllerRestart;


        //The actual device Values are the aflex Output values
        private UInt16 pr_actual_direction;
        private UInt16 pr_actual_intensity;
        private UInt16 pr_actual_auxPowerOut;
        private Byte pr_actual_ConfigNumber;
        private Byte pr_actual_AutoMode;
        private Byte pr_actual_GeneralRelease;
        private Byte pr_actual_ControllerRestart;

        //Bitoffset of the Values
        private const Byte pr_BitOff_direction = 48;
        private const Byte pr_BitOff_intensity = 64;
        private const Byte pr_BitOff_auxPowerOut = 8;
        private const Byte pr_BitOff_ConfigNumber = 0;
        private const Byte pr_BitOff_AutoMode = 32;
        private const Byte pr_BitOff_GeneralRelease = 40;
        private const Byte pr_BitOff_ControllerRestart = 24;


        //The aflex ControlUnit TelnetServer doesn't transmit a new package each time a value changed.
        //So the Client has to poll the aflex Outputs to detect the changes. For this the following TimeSpan are used.
        private TimeSpan pr_sync_direction= new TimeSpan();
        private TimeSpan pr_sync_intensity = new TimeSpan();
        private TimeSpan pr_sync_auxPowerOut = new TimeSpan();
        private TimeSpan pr_sync_ConfigNumber= new TimeSpan();
        private TimeSpan pr_sync_AutoMode = new TimeSpan();
        private TimeSpan pr_sync_GeneralRelease = new TimeSpan();
        private TimeSpan pr_sync_ControllerRestart = new TimeSpan();

        private const int TimerPeriod = 10; //fixed timer period in Milliseconds. Adjust that value due the Application requirements
        private TimeSpan tick = new TimeSpan(0, 0, 0, 0, TimerPeriod); //Timespan to Add each Timer tick
        private TimeSpan pr_MaxSync = new TimeSpan(0,0,0,0,100);  //Timespan for polling the aflex Outputs. Adjust that value due the Application requirements, max value "ticks" * 7!
        private Timer objSyncTimer; //Timer for polling 
        
        public TCPCommunicationClass objTelnetConnection; //connection interface
        private bool pr_b_LoggedIn; //Telnet Client logged in
        private bool pr_b_HBT; //Heartbeat state of the Telnet Server

        /// <summary>
        /// Occurs when a aflex value is recieved. Transmit the PropertyName as string. 
        /// </summary>
        public event EventHandler aflexValueChanged; 


        /// <summary>
        /// This Timer is used for cyclic polling the aflex outputs. TimerPeriod should be adjust due the Application requirements. 
        /// </summary>
        /// <param name="state"></param>
        private void  objSyncTimer_Tick(object state) {
            if (pr_b_LoggedIn) {
                pr_sync_direction = pr_sync_direction.Add(tick); 
                pr_sync_intensity= pr_sync_intensity.Add(tick);
                pr_sync_auxPowerOut = pr_sync_auxPowerOut.Add(tick);
                pr_sync_ConfigNumber = pr_sync_ConfigNumber.Add(tick);
                pr_sync_AutoMode = pr_sync_AutoMode.Add(tick);
                pr_sync_GeneralRelease = pr_sync_GeneralRelease.Add(tick);
                pr_sync_ControllerRestart =pr_sync_ControllerRestart.Add(tick);

                //only send one "GO" command each tick --> return. The pr_sync_XXXX Timespan is reset when reading the "RO" input command from the Server. 
                //So take care that the pr_MaxSync greater than "tick" * 7.
                if (pr_sync_AutoMode > pr_MaxSync) {
                    objTelnetConnection.SendCommand("GO " + pr_BitOff_AutoMode);              
                    return; //only send one Command each Tick
                }
                if (pr_sync_GeneralRelease > pr_MaxSync) {
                    objTelnetConnection.SendCommand("GO " + pr_BitOff_GeneralRelease);
                    return; //only send one Command each Tick
                }
                if(pr_sync_intensity > pr_MaxSync) {
                    objTelnetConnection.SendCommand("GO " + pr_BitOff_intensity);
                    return; //only send one Command each Tick
                }
                if (pr_sync_auxPowerOut > pr_MaxSync) {
                    objTelnetConnection.SendCommand("GO " + pr_BitOff_auxPowerOut);
                    return; //only send one Command each Tick
                }
                if (pr_sync_ConfigNumber > pr_MaxSync) {
                    objTelnetConnection.SendCommand("GO " + pr_BitOff_ConfigNumber);
                    return; //only send one Command each Tick
                }
                if (pr_sync_ControllerRestart > pr_MaxSync) {
                    objTelnetConnection.SendCommand("GO " + pr_BitOff_ControllerRestart);
                    return; //only send one Command each Tick
                }
                if (pr_sync_direction > pr_MaxSync) {
                    objTelnetConnection.SendCommand("GO " + pr_BitOff_direction);
                    return; //only send one Command each Tick
                }
            }
        }


        public aflexCommunicationClass() {
            objSyncTimer = new Timer(objSyncTimer_Tick, null, TimerPeriod, TimerPeriod); 
            objTelnetConnection = new TCPCommunicationClass();
            objTelnetConnection.ResultReceived += ObjTelnetConnection_ResultReceived;
            objTelnetConnection.ConnectionAbort += ObjTelnetConnection_ConnectionAbort;
        }

        private void ObjTelnetConnection_ConnectionAbort(object sender, EventArgs e) {
            this.pr_b_LoggedIn = false;
            if (aflexValueChanged != null) aflexValueChanged("LoggedIn", new EventArgs());
        }

        /// <summary>
        /// check the RX string for valid commands
        /// </summary>
        /// <param name="Result">input string</param>
        private void ObjTelnetConnection_ResultReceived(string Result) {
            if (Result != null) {
                string[] array_result = Result.Split(' '); //split with separator "space"
                string str_PropertyName = String.Empty;
                if (Result.Contains("\r\nTU")) { //Welcome String of Telnet server
                    objTelnetConnection.SendCommand("admin");
                } else {
                    if (array_result.Length == 1) { //TU & TP are the only commands with Lengt == 1
                        switch (array_result[0]) { //after the TCP/IP connection is established the client has to log in on the Server. This is request by the server with the commands "TU" and "TP". 
                            case "TU": //Type User to login to TelnetServer
                                objTelnetConnection.SendCommand("admin");
                                break;
                            case "TP": //Type Password of TelnetServer
                                objTelnetConnection.SendCommand("TelnetServer");
                                break;
                        }
                    } else if (array_result.Length > 1) { //all other Commands Length > 1
                        switch (array_result[0]) {
                            case "RO": //Read Output 
                                str_PropertyName = readRxValue(array_result);
                                break;
                            case "AK": //ACK from Set Input Command
                                str_PropertyName = readRxValue(array_result);
                                break;
                            case "ER": //Errorcode
                                str_PropertyName = "ER:" + array_result[1];
                                break;
                            case "LI": //Login/Logout response  
                                if (Convert.ToByte(array_result[1]) == 1) {
                                    pr_b_LoggedIn = true; //Now we can transfer aflex commands to the server
                                } else {
                                    pr_b_LoggedIn = false; 
                                }
                                str_PropertyName = "LoggedIn";
                                break;

                            case "HBT": //Heartbeat only for visualisation
                                pr_b_HBT = array_result[1] == "1" ? true : false;
                                str_PropertyName = "HBT";
                                break;
                        }                 
                    }
                }
                if (aflexValueChanged != null) aflexValueChanged(str_PropertyName, new EventArgs());
            }
        }


        /// <summary>
        /// detect the RX commands and get the values
        /// </summary>
        /// <param name="Input">Rx input string array</param>
        /// <returns>PropertyName as string</returns>
        private string readRxValue(string[] Input) {
            if (Input.Length >= 2) { 
                switch (Convert.ToByte(Input[1])) { 
                    case pr_BitOff_AutoMode:
                        pr_actual_AutoMode = Convert.ToByte(Input[2]);
                        pr_sync_AutoMode = pr_sync_AutoMode.Subtract(pr_sync_AutoMode); //Reset Sync Timespan
                        return "AutoMode";
                    case pr_BitOff_auxPowerOut:
                        pr_actual_auxPowerOut = Convert.ToUInt16(Input[2]);
                        pr_sync_auxPowerOut = pr_sync_auxPowerOut.Subtract(pr_sync_auxPowerOut); //Reset Sync Timespan
                        return "AuxPowerOut";
                    case pr_BitOff_ConfigNumber:
                        pr_actual_ConfigNumber = Convert.ToByte(Input[2]);
                        pr_sync_ConfigNumber = pr_sync_ConfigNumber.Subtract(pr_sync_ConfigNumber); //Reset Sync Timespan
                        return "ConfigNumber";
                    case pr_BitOff_ControllerRestart:
                        pr_actual_ControllerRestart = Convert.ToByte(Input[2]);
                        pr_sync_ControllerRestart = pr_sync_ControllerRestart.Subtract(pr_sync_ControllerRestart); //Reset Sync Timespan
                        if (pr_actual_ControllerRestart != 0 && pr_target_ControllerRestart != 0) {
                            pr_target_ControllerRestart = 0;
                            objTelnetConnection.SendCommand("SI " + pr_BitOff_ControllerRestart + " " + pr_target_ControllerRestart); //After setting ControllerRestart, reset the Command to start the Restart. 
                        }
                        return "ControllerRestart";
                    case pr_BitOff_direction:
                        pr_actual_direction = Convert.ToUInt16(Input[2]);
                        pr_sync_direction = pr_sync_direction.Subtract(pr_sync_direction); //Reset Sync Timespan
                        return "Direction";
                    case pr_BitOff_GeneralRelease:
                        pr_actual_GeneralRelease = Convert.ToByte(Input[2]);
                        pr_sync_GeneralRelease = pr_sync_GeneralRelease.Subtract(pr_sync_GeneralRelease); //Reset Sync Timespan
                        return "GeneralRelease";
                    case pr_BitOff_intensity:
                        pr_actual_intensity = Convert.ToUInt16(Input[2]);
                        pr_sync_intensity = pr_sync_intensity.Subtract(pr_sync_intensity); //Reset Sync Timespan
                        return "Intensity";
                }
            }
            return String.Empty; 
        }


        #region Commands
        /// <summary>
        /// Establish the connetion to the Telnet Server
        /// </summary>
        /// <param name="IPAdress">IP Adress of the ControlUnit</param>
        /// <param name="Port">Port that is configured in the ControlUnit (default Port 23) </param>
        public bool Connect(IPAddress IPAdress,int Port) {
            return this.objTelnetConnection.Connect(IPAdress, Port); 
        }

        /// <summary>
        /// disconnects from Telnet Server
        /// </summary>
        public void Disconnect() {
            this.pr_b_LoggedIn = false;
            this.objTelnetConnection.Disconnect();
        }


        /// <summary>
        /// Calculates the target direction and transmits the value to the aflex
        /// </summary>
        /// <param name="Degree">Direction [°]: 0-360 allowed</param>
        public void SetDirection (double Degree) {
            //Direction Value = (MaxValue / 360) * target dircetion (user manual 6.6.1) 
            //MaxValue (16Bit) = 65535 
            if (pr_b_LoggedIn) {
                //Calculate UINT16 Value 7
                if (Degree <= 360.0 && Degree >= 0.0) {
                    pr_target_direction = (UInt16)((UInt16.MaxValue / 360.0) * Degree);
                    objTelnetConnection.SendCommand("SI " + pr_BitOff_direction + " " + pr_target_direction);
                }
            }
        }

        /// <summary>
        /// Calculates the target intensity and transmit value to the aflex 
        /// </summary>
        /// <param name="Intensity">Intensity [%]:  0-100 allowed</param>
        public void SetIntensity(double Intensity) {
            //Intensity Value = (MaxValue / 100%) * target direction[%] (user manual 6.6.1) 
            //MaxValue (16Bit) = 65535 
            if (pr_b_LoggedIn) {
                if (Intensity <= 100.0 && Intensity >= 0.0) {
                    pr_target_intensity = (UInt16)((UInt16.MaxValue / 100.0) * Intensity);
                    objTelnetConnection.SendCommand("SI " + pr_BitOff_intensity + " " + pr_target_intensity);
                }      
            }
        }

        /// <summary>
        /// Set the general release of the ControlUnit 
        /// </summary>
        /// <param name="Value">true = release | false = inhibit</param>
        public void SetGeneralRelease (bool Value) {
            if (pr_b_LoggedIn) {
                if (Value) pr_target_GeneralRelease = Byte.MaxValue;
                else pr_target_GeneralRelease = 0;
                objTelnetConnection.SendCommand("SI " + pr_BitOff_GeneralRelease + " " + pr_target_GeneralRelease); 
            }
        }

        /// <summary>
        /// Calculates the target AuxPowerOutput of the ControlUnit and transmitt it. (AuxPowerOut --> Backlight) 
        /// </summary>
        /// <param name="Intensity">Intensity [%]:  0-100 allowed</param>
        public void SetAuxPowerOut(double Intensity) {
            //Intensity Value = (MaxValue / 100%) * target direction[%] (user manual 6.6.1) 
            //MaxValue (16Bit) = 65535 
            if (pr_b_LoggedIn) {
                if (Intensity <= 100.0 && Intensity >= 0.0) {
                    pr_target_auxPowerOut = (UInt16)((UInt16.MaxValue / 100.0) * Intensity);
                    objTelnetConnection.SendCommand("SI " + pr_BitOff_auxPowerOut + " " + pr_target_auxPowerOut);
                }
            }
        }


        /// <summary>
        /// Load a aflexConfiguration
        /// </summary>
        /// <param name="ConfigNumber">Config number to load. 1-49 allowed</param>
        public void LoadConfiguration(byte ConfigNumber) {
            if (pr_b_LoggedIn) {
                if (ConfigNumber < 50 && ConfigNumber > 0) {
                    pr_target_ConfigNumber = ConfigNumber;
                    objTelnetConnection.SendCommand("SI " + pr_BitOff_ConfigNumber + " " + pr_target_ConfigNumber);
                }
            }
        }

        /// <summary>
        /// restart the ControlUnit. Telnet connection will be lost. Manual reconnect required.
        /// </summary>
        public void RestartController() {
            if (pr_b_LoggedIn) {
                    pr_target_ControllerRestart = Byte.MaxValue; 
                    objTelnetConnection.SendCommand("SI " + pr_BitOff_ControllerRestart + " " + pr_target_ControllerRestart);
            }
        }
        #endregion


        #region Get/Set 
      /// <summary>
      /// Client logged in on the Telnet Server
      /// </summary>
        public bool LoggedIn {
            get {
                return pr_b_LoggedIn; 
            }
        }

        /// <summary>
        /// actual state of the Telnet Hearbeat. Toggles if connection established
        /// </summary>
        public bool HeartbeatState {
            get {
                return pr_b_HBT; 
            }
        }

        /// <summary>
        /// actual aflex intensity as double [%] 0-100%
        /// </summary>
        public double actual_intensity {
            get {
                return (double)((pr_actual_intensity * 100.0 / UInt16.MaxValue)); 
            }
        }


        /// <summary>
        /// actual aflex direction as double [°] 0-360°
        /// </summary>
        public double actual_direction {
            get {
                return (double)((pr_actual_direction * 360.0 / UInt16.MaxValue));  //Convert uint16 value to double [°] 
            }
        }


        /// <summary>
        /// actual ControlUnit auxPowerOutput as double [%] 0-100%
        /// </summary>
        public double actual_auxPowerOut {
            get {
                return (double)((pr_actual_auxPowerOut * 100.0 / UInt16.MaxValue)); 
            }
        }


        /// <summary>
        /// actual aflex Configuration Number as byte. 
        /// </summary>
        public byte actual_ConfigNumber {
            get {
                return pr_actual_ConfigNumber; 
            }
        }


        /// <summary>
        /// actual ControlUnit AutoMode. False - Manual | True - Automatic
        /// </summary>
        public bool actual_AutoMode {
            get {
                return pr_actual_AutoMode > 0 ? true : false; 
            }
        }

        /// <summary>
        /// actual ControlUnit General Release. False - inhibit | True - released (if inhibit all power outputs are blocked) 
        /// </summary>
        public bool actual_GeneralRelease {
            get {
                return pr_actual_GeneralRelease > 0 ? true : false;
            }
        }


        /// <summary>
        /// actual ControlUnit Restart bool
        /// </summary>
        public bool actual_ControllerRestart {
            get {
                return pr_actual_ControllerRestart > 0 ? true : false;
            }
        }
        #endregion 
    }

}