ln.ethercat/ln.ethercat/controller/remote/StupidSerialRemote.cs

using System;
using System.IO.Ports;
using System.Net.Http.Headers;
using System.Text;
using System.Threading;
using ln.logging;
using ln.type;

namespace ln.ethercat.controller.remote
{
    /*
#define LED_ERROR		0x00
#define LED_RUN			0x01
#define LED_LOAD25		0x02
#define LED_LOAD50		0x03
#define LED_LOAD75		0x04
#define LED_LOAD100		0x05
#define LED_SERVICE		0x06
#define LED_AUX			0x07
*/

    [Flags]
    public enum StupidLEDs : int
    {
        NONE = 0,
        ERROR = (1<<15),
        RUN = (1<<1),
        LOAD25 = (1<<2),
        LOAD50 = (1<<3),
        LOAD75 = (1<<4),
        LOAD100 = (1<<15),
        ALL = -1
    }
    public class StupidSerialRemote : ControllerRemote
    {
        public string SerialPortName { get; }

        SerialPort serialPort;

        bool stopReceiverThread;
        Thread threadReceiver;

        public StupidSerialRemote(Controller controller)
            :this(controller, SerialPort.GetPortNames()[0]){}
        public StupidSerialRemote(Controller controller, string serialDevice)
            :base(controller)
        {
            SerialPortName = serialDevice;
            CycleFrequency = 10.0;
        }

        protected override void Cycle()
        {
            byte cycleDisplayStep = (byte)(CycleCounter & 0x0F);

            switch (Controller.ControllerState)
            {
                case ControllerStates.NOTREADY:
                    SetLEDs(((cycleDisplayStep & 0x07) < 0x04) ? StupidLEDs.ALL : StupidLEDs.NONE);
                    break;
                case ControllerStates.FAULT:
                    SetLEDs(((cycleDisplayStep & 0x07) < 0x04) ? StupidLEDs.ERROR : StupidLEDs.NONE);
                    break;
                case ControllerStates.READY:
                    SetLEDs((cycleDisplayStep < 0x08) ? StupidLEDs.RUN : StupidLEDs.NONE);
                    break;
                case ControllerStates.OPERATIONAL:
                    StupidLEDs leds = StupidLEDs.RUN;
                    if (Controller.ECMaster.DriveControllers[0].ActualLoad >= 0.25)
                        leds |= StupidLEDs.LOAD25;
                    if (Controller.ECMaster.DriveControllers[0].ActualLoad >= 0.5)
                        leds |= StupidLEDs.LOAD50;
                    if (Controller.ECMaster.DriveControllers[0].ActualLoad >= 0.75)
                        leds |= StupidLEDs.LOAD75;
                    if (Controller.ECMaster.DriveControllers[0].ActualLoad >= 1)
                        leds |= StupidLEDs.LOAD100;
                    SetLEDs(leds);
                    break;
                case ControllerStates.ENABLING:
                    break;
                case ControllerStates.DISABLING:
                    break;
            }
        }

        void Receiver()
        {
            while (!stopReceiverThread)
            {
                string rxLine = serialPort.ReadLine();
               //Logging.Log(LogLevel.DEBUGDETAIL, rxLine);
               if (rxLine.Length >= 6)
               {
                    ushort av = ushort.Parse(rxLine.Substring(2,4), System.Globalization.NumberStyles.HexNumber);
                    switch (rxLine[0])
                    {
                        case 'A':
                            int drive = rxLine[1] - '0';
                            if (drive == 0) drive = 1;
                            else if (drive == 1) drive = 2;
                            else if (drive == 2) drive = 0;
                            double rel = (double)av / 65535;
                            if ((drive >= 0) && (drive < Controller.ECMaster.DriveControllers.Length))
                                Controller.RemoteUpdateTarget(drive, rel);
                            break;
                        case 'B':
                            switch (rxLine[1])
                            {
                                case 'P':
                                    switch (av)
                                    {
                                        case 0:
                                            if (Controller.ControllerState == ControllerStates.FAULT)
                                                Controller.RemoteAction(CRActions.CLEARFAULT);
                                            else if (Controller.ControllerState == ControllerStates.READY)
                                                Controller.RemoteAction(CRActions.ENABLE);
                                            break;
                                        case 1:
                                            Controller.RemoteAction(CRActions.DISABLE);
                                            break;
                                        case 3:
                                            // ToDo: Feeder left
                                            break;
                                        case 4:
                                            // ToDo: Feeder right
                                            break;
                                        case 14:
                                            // ToDo: cycle drilling
                                            break;
                                    }
                                    break;
                            }
                            break;
                    }
               }
            }
        }

        void SetLEDs(StupidLEDs leds)
        {
            serialPort.Write(string.Format("LS{0:X4}\r\n", (ushort)leds));
        }


        protected override void Initialize()
        {
            stopReceiverThread = false;

            serialPort = new SerialPort(SerialPortName);
            serialPort.BaudRate = 57600;
            serialPort.Parity = Parity.None;
            serialPort.DataBits = 8;
            serialPort.StopBits = StopBits.One;
            serialPort.Open();

            if (!(threadReceiver?.IsAlive ?? false))
            {
                threadReceiver = new Thread(Receiver);
                threadReceiver.Start();
            }
        }

        protected override void Shutdown()
        {
            stopReceiverThread = true;
            serialPort.Close();
        }
    }
}