Add ReconnectThread to reconnect to PLC and Keyboard on the fly

PamhagenSysCtrl/App.xaml.cs

@@ -37,12 +37,6 @@ namespace PamhagenSysCtrl {
             Version = new Version(typeof(App).GetTypeInfo().Assembly.GetCustomAttribute<AssemblyInformationalVersionAttribute>()?.InformationalVersion.Split('+')[0] ?? "0.0.0");
 
             Plant = new(Config.PlcPort);
-            try {
-                await Plant.StartThread();
-            } catch (Exception exc) {
-                // TODO
-            }
-
             base.OnStartup(evt);
 
             if (Config.UpdateUrl != null && Config.UpdateAuto) {

PamhagenSysCtrl/Helpers/PamhagenPlant.cs

@@ -32,40 +32,79 @@ namespace PamhagenSysCtrl.Helpers {
         protected Xbe24Keyboard? Keyboard;
         public PamhagenGraph Graph;
 
+        public bool IsPlcConnected => Plc != null;
+        public bool IsKeyboardConnected => Keyboard != null;
+
         protected bool IsRunning = true;
-        protected Thread? BackgroundThread;
+        protected Thread? ReconnectThread;
+        protected Thread? PlcThread;
 
         public event EventHandler<PlantEventArgs>? Update;
 
-        public string? PlcPortName => Plc?.PortName;
+        public readonly string PlcComPort;
+        public string? PlcConnectionError { get; private set; }
         public T1.Status? LastPlcStatus => Plc?.LastStatus;
         public T1Error? LastPlcError => Plc?.LastError;
         public long? LastRttNs { get; private set; }
 
-        public PamhagenState State => Plc?.State ?? default;  // FIXME
+        public PamhagenState State => Plc?.State ?? default;
         public bool ManualControlMode { get => Plc?.ManualControlMode ?? false; set => Plc?.ManualControlMode = value; }
         public bool OverridePathClearances { get => Plc?.OverridePathClearances ?? false; set => Plc?.OverridePathClearances = value; }
         public bool OverrideDryRunClearances { get => Plc?.OverrideDryRunClearances ?? false; set => Plc?.OverrideDryRunClearances = value; }
 
-        public PamhagenPlant(string portName) {
+        public PamhagenPlant(string comPort) {
-            try {
+            PlcComPort = comPort;
-                Plc = new(portName);
-            } catch (Exception exc) {
-                var str = $"Beim Aufbauen einer Verbindung zur SPS ist ein Fehler aufgetreten:\n\n{exc.GetType().Name}: {exc.Message}";
-                if (exc.InnerException != null) str += $"\n\n{exc.InnerException.GetType().Name}: {exc.InnerException.Message}";
-                MessageBox.Show(str, "SPS-Fehler", MessageBoxButton.OK, MessageBoxImage.Error);
-            }
             Graph = new();
-
-            try {
-                Keyboard = new();
-                Keyboard.KeyDown += Keyboard_KeyDown;
-                Keyboard.KeysChanged += Keyboard_KeysChanged;
-                Keyboard.SetFashFrequency(250);
-                Keyboard.SetBacklight(Color.FromRgb(4, 4, 4));
-            } catch { }
-
             Update += UpdateKeyboardBacklights;
+            ReconnectThread = new Thread(new ParameterizedThreadStart(ReconnectLoop));
+            ReconnectThread.Start();
+        }
+
+        protected async void ReconnectLoop(object? parameters) {
+            while (IsRunning) {
+                if (Plc == null) {
+                    PlcThread?.Join();
+                    PlcThread = null;
+                    PamhagenPlc? tmp = null;
+                    try {
+                        tmp = new PamhagenPlc(PlcComPort);
+                        await tmp.Initialize();
+                        Plc = tmp;
+                        PlcConnectionError = null;
+                        PlcThread = new Thread(new ParameterizedThreadStart(PlcLoop));
+                        PlcThread.Start();
+                    } catch (Exception exc) {
+                        tmp?.Dispose();
+                        PlcConnectionError = $"{exc.GetType().Name}: {exc.Message}";
+                        if (exc is FileNotFoundException) {
+                            // COM port does not exist - ignore
+                            PlcConnectionError = "Port existiert nicht";
+                        } else if (exc is UnauthorizedAccessException) {
+                            // COM port exists, but is used by other process - ignore
+                            PlcConnectionError = "Port wird bereits verwendet";
+                        } else if (exc is TimeoutException) {
+                            // COM port exists, but PLC not responding - ignore
+                            PlcConnectionError = "Keine Rückmeldung von SPS";
+                        } else {
+                            var str = $"Beim Aufbauen einer Verbindung zur SPS ist ein Fehler aufgetreten:\n\n{exc.GetType().Name}: {exc.Message}";
+                            if (exc.InnerException != null) str += $"\n\n{exc.InnerException.GetType().Name}: {exc.InnerException.Message}";
+                            MessageBox.Show(str, "SPS-Fehler", MessageBoxButton.OK, MessageBoxImage.Error);
+                        }
+                    }
+                    RaiseUpdateEvent(new());
+                }
+
+                if (Keyboard == null) {
+                    try {
+                        Keyboard = new();
+                        Keyboard.KeyDown += Keyboard_KeyDown;
+                        Keyboard.KeysChanged += Keyboard_KeysChanged;
+                        Keyboard.SetFashFrequency(250);
+                    } catch { }
+                }
+
+                await Task.Delay(100);
+            }
         }
 
         protected virtual void RaiseUpdateEvent(PlantEventArgs evt) {
@@ -132,22 +171,17 @@ namespace PamhagenSysCtrl.Helpers {
             k.SetBacklight((int)Xbe24Key.STOP_MP1, highlightOffMP1 ? Color.FromRgb(255, 32, 0) : !State.MP1_IsActive ? Color.FromRgb(255, 0, 0) : Color.FromRgb(32, 4, 4));
         }
 
-        public async Task StartThread() {
-            if (Plc == null) throw new Exception();
-            await Plc.Initialize();
-            BackgroundThread = new Thread(new ParameterizedThreadStart(BackgroundLoop));
-            BackgroundThread.Start();
-        }
-
         public void Dispose() {
             IsRunning = false;
-            BackgroundThread?.Join();
+            ReconnectThread?.Join();
+            PlcThread?.Join();
             Plc?.Dispose();
             Keyboard?.Dispose();
             GC.SuppressFinalize(this);
         }
 
-        protected async void BackgroundLoop(object? parameters) {
+        protected async void PlcLoop(object? parameters) {
+            App.MainDispatcher?.Invoke(InitializePaths);
             while (IsRunning && Plc != null) {
                 var start = DateTime.Now;
                 try {
@@ -160,22 +194,24 @@ namespace PamhagenSysCtrl.Helpers {
                     if (exc.InnerException != null) str += "\n\n" + exc.InnerException.Message;
                     MessageBox.Show(str, "SPS-Fehler", MessageBoxButton.OK, MessageBoxImage.Error);
                     if (exc is TimeoutException or IOException) {
+                        PlcConnectionError = $"{exc.GetType().Name}: {exc.Message}";
                         Plc?.Dispose();
                         Plc = null;
-                        IsRunning = false;
                     } else {
                         await Task.Delay(1000);
                     }
                 }
             }
-            try {
+            if (Plc != null) {
-                if (Plc != null)
+                try {
                     await Plc.Shutdown();
-            } catch (Exception exc) {
+                } catch (Exception exc) {
-                var str = "Beim Schließen der Verbindung zur SPS ist ein Fehler aufgetreten:\n\n" + exc.Message;
+                    var str = "Beim Schließen der Verbindung zur SPS ist ein Fehler aufgetreten:\n\n" + exc.Message;
-                if (exc.InnerException != null) str += "\n\n" + exc.InnerException.Message;
+                    if (exc.InnerException != null) str += "\n\n" + exc.InnerException.Message;
-                MessageBox.Show(str, "SPS-Fehler", MessageBoxButton.OK, MessageBoxImage.Error);
+                    MessageBox.Show(str, "SPS-Fehler", MessageBoxButton.OK, MessageBoxImage.Error);
+                }
             }
+            RaiseUpdateEvent(new());
         }
 
         public void InitializePaths() {
@@ -219,69 +255,67 @@ namespace PamhagenSysCtrl.Helpers {
         }
 
         private void Keyboard_KeyDown(object? sender, int keyIndex) {
+            if (Plc == null) return;
             var key = (Xbe24Key)keyIndex;
-            App.MainDispatcher?.BeginInvoke(() => {
+            try {
-                if (Plc == null) return;
+                if (key == Xbe24Key.START_REBLER) {
-                try {
+                    Plc.StartRebler();
-                    if (key == Xbe24Key.START_REBLER) {
+                } else if (key == Xbe24Key.STOP_REBLER) {
-                        Plc.StartRebler();
+                    if (State.Rebler_IsActive) {
-                    } else if (key == Xbe24Key.STOP_REBLER) {
+                        Plc.StopRebler();
-                        if (State.Rebler_IsActive) {
+                    } else {
-                            Plc.StopRebler();
+                        Plc.StopAuger1();
-                        } else {
+                        if (!State.PressCrossAuger_IsActive) {
-                            Plc.StopAuger1();
+                            Plc.StopAuger2();
-                            if (!State.PressCrossAuger_IsActive) {
+                            Plc.StopAuger3();
-                                Plc.StopAuger2();
-                                Plc.StopAuger3();
-                            }
                         }
-                    } else if (key == Xbe24Key.START_TROUGH_AUGER) {
-                        Plc.StartTroughAuger();
-                    } else if (key == Xbe24Key.STOP_TROUGH_AUGER) {
-                        Plc.StopTroughAuger();
-                    } else  if (key == Xbe24Key.SELECT_MW2) {
-                        Plc.SelectMW2();
-                    } else if (key == Xbe24Key.SELECT_MW1) {
-                        Plc.SelectMW1();
-                    } else if (key == Xbe24Key.START_MP2) {
-                        Plc.StartMP2Forward();
-                    } else if (key == Xbe24Key.STOP_MP2) {
-                        Plc.StopMP2();
-                    } else if (key == Xbe24Key.START_MP1) {
-                        Plc.StartMP1Forward();
-                    } else if (key == Xbe24Key.STOP_MP1) {
-                        Plc.StopMP1();
-                    } else if (key == Xbe24Key.FAST_SELECT_MW1_1) {
-                        FastSelect(Graph.MW1, Graph.Press1);
-                    } else if (key == Xbe24Key.FAST_SELECT_MW1_2) {
-                        FastSelect(Graph.MW1, Graph.Press2);
-                    } else if (key == Xbe24Key.FAST_SELECT_MW1_3) {
-                        FastSelect(Graph.MW1, Graph.Tank1);
-                    } else if (key == Xbe24Key.FAST_SELECT_MW1_4) {
-                        FastSelect(Graph.MW1, Graph.Tank2);
-                    } else if (key == Xbe24Key.FAST_SELECT_MW1_5) {
-                        FastSelect(Graph.MW1, Graph.Tank3);
-                    } else if (key == Xbe24Key.FAST_SELECT_MW1_6) {
-                        FastSelect(Graph.MW1, Graph.Tank4);
-                    } else if (key == Xbe24Key.FAST_SELECT_MW2_1) {
-                        FastSelect(Graph.MW2, Graph.Press1);
-                    } else if (key == Xbe24Key.FAST_SELECT_MW2_2) {
-                        FastSelect(Graph.MW2, Graph.Press2);
-                    } else if (key == Xbe24Key.FAST_SELECT_MW2_3) {
-                        FastSelect(Graph.MW2, Graph.Tank1);
-                    } else if (key == Xbe24Key.FAST_SELECT_MW2_4) {
-                        FastSelect(Graph.MW2, Graph.Tank2);
-                    } else if (key == Xbe24Key.FAST_SELECT_MW2_5) {
-                        FastSelect(Graph.MW2, Graph.Tank3);
-                    } else if (key == Xbe24Key.FAST_SELECT_MW2_6) {
-                        FastSelect(Graph.MW2, Graph.Tank4);
                     }
-                } catch (NoClearanceException) {
+                } else if (key == Xbe24Key.START_TROUGH_AUGER) {
-                    // Keyboard?.SetBacklight(keyIndex, Color.FromRgb(255, 0, 0));
+                    Plc.StartTroughAuger();
-                } catch (Exception) {
+                } else if (key == Xbe24Key.STOP_TROUGH_AUGER) {
-                    // ignore
+                    Plc.StopTroughAuger();
+                } else  if (key == Xbe24Key.SELECT_MW2) {
+                    Plc.SelectMW2();
+                } else if (key == Xbe24Key.SELECT_MW1) {
+                    Plc.SelectMW1();
+                } else if (key == Xbe24Key.START_MP2) {
+                    Plc.StartMP2Forward();
+                } else if (key == Xbe24Key.STOP_MP2) {
+                    Plc.StopMP2();
+                } else if (key == Xbe24Key.START_MP1) {
+                    Plc.StartMP1Forward();
+                } else if (key == Xbe24Key.STOP_MP1) {
+                    Plc.StopMP1();
+                } else if (key == Xbe24Key.FAST_SELECT_MW1_1) {
+                    FastSelect(Graph.MW1, Graph.Press1);
+                } else if (key == Xbe24Key.FAST_SELECT_MW1_2) {
+                    FastSelect(Graph.MW1, Graph.Press2);
+                } else if (key == Xbe24Key.FAST_SELECT_MW1_3) {
+                    FastSelect(Graph.MW1, Graph.Tank1);
+                } else if (key == Xbe24Key.FAST_SELECT_MW1_4) {
+                    FastSelect(Graph.MW1, Graph.Tank2);
+                } else if (key == Xbe24Key.FAST_SELECT_MW1_5) {
+                    FastSelect(Graph.MW1, Graph.Tank3);
+                } else if (key == Xbe24Key.FAST_SELECT_MW1_6) {
+                    FastSelect(Graph.MW1, Graph.Tank4);
+                } else if (key == Xbe24Key.FAST_SELECT_MW2_1) {
+                    FastSelect(Graph.MW2, Graph.Press1);
+                } else if (key == Xbe24Key.FAST_SELECT_MW2_2) {
+                    FastSelect(Graph.MW2, Graph.Press2);
+                } else if (key == Xbe24Key.FAST_SELECT_MW2_3) {
+                    FastSelect(Graph.MW2, Graph.Tank1);
+                } else if (key == Xbe24Key.FAST_SELECT_MW2_4) {
+                    FastSelect(Graph.MW2, Graph.Tank2);
+                } else if (key == Xbe24Key.FAST_SELECT_MW2_5) {
+                    FastSelect(Graph.MW2, Graph.Tank3);
+                } else if (key == Xbe24Key.FAST_SELECT_MW2_6) {
+                    FastSelect(Graph.MW2, Graph.Tank4);
                 }
-            });
+            } catch (NoClearanceException) {
+                // Keyboard?.SetBacklight(keyIndex, Color.FromRgb(255, 0, 0));
+            } catch (Exception) {
+                // ignore
+            }
         }
 
         private void Keyboard_KeysChanged(object? sender, Xbe24Keyboard.KeyState state) {

PamhagenSysCtrl/Helpers/Plc/LegacyPamhagenPlc.cs

@@ -34,12 +34,12 @@ namespace PamhagenSysCtrl.Helpers.Plc {
 
         protected readonly T1 Plc;
 
-        public string PortName => Plc.PortName;
+        public string ComPort => Plc.PortName;
         public T1.Status LastStatus => Plc.LastStatus;
         public T1Error LastError => Plc.LastError;
 
-        public LegacyPamhagenPlc(string portName, Parity parity = Parity.Odd) {
+        public LegacyPamhagenPlc(string comPort, Parity parity = Parity.Odd) {
-            Plc = new T1(portName, parity);
+            Plc = new T1(comPort, parity);
         }
 
         public void Dispose() {

PamhagenSysCtrl/Helpers/Plc/PamhagenPlc.cs

@@ -13,7 +13,7 @@ namespace PamhagenSysCtrl.Helpers.Plc {
         protected LegacyPamhagenPlc Plc;
         public PamhagenState State { get; private set; }
 
-        public string? PortName => Plc?.PortName;
+        public string? ComPort => Plc?.ComPort;
         public T1.Status? LastStatus => Plc?.LastStatus;
         public T1Error? LastError => Plc?.LastError;
 
@@ -23,8 +23,8 @@ namespace PamhagenSysCtrl.Helpers.Plc {
                 FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown
             ], default);
 
-        public PamhagenPlc(string portName, Parity parity = Parity.Odd) {
+        public PamhagenPlc(string comPort, Parity parity = Parity.Odd) {
-            Plc = new(portName, parity);
+            Plc = new(comPort, parity);
         }
 
         public void Dispose() {
@@ -36,6 +36,8 @@ namespace PamhagenSysCtrl.Helpers.Plc {
             await Plc.TestConnection();
             Actuators = await Plc.ReadOutputs();
             LastActuators = Actuators;
+            Sensors = await Plc.ReadInputs();
+            State = new(Sensors, () => Actuators, OverridePathClearances, OverrideDryRunClearances);
         }
 
         public async Task Shutdown() {
@@ -46,9 +48,8 @@ namespace PamhagenSysCtrl.Helpers.Plc {
             UpdateInterlocks();
 
             if (Actuators != LastActuators) {
-                // FIXME race condition!
-                await Plc.WriteOutputs(Actuators);
                 LastActuators = Actuators;
+                await Plc.WriteOutputs(LastActuators);
             }
             Sensors = await Plc.ReadInputs();
             State = new(Sensors, () => Actuators, OverridePathClearances, OverrideDryRunClearances);

PamhagenSysCtrl/Helpers/Plc/PamhagenState.cs

@@ -15,7 +15,7 @@ namespace PamhagenSysCtrl.Helpers.Plc {
         public FillState MW1_FillLevel => Sensors.FillLevelMW1;
         public FillState MW2_FillLevel => Sensors.FillLevelMW2;
 
-        public FillState[] Tanks_FillLevel => Sensors.FillLevelTanks;
+        public FillState[] Tanks_FillLevel => Sensors.FillLevelTanks ?? [FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown];
         public FillState T1_FillLevel => Sensors.FillLevelTanks[0];
         public FillState T2_FillLevel => Sensors.FillLevelTanks[1];
         public FillState T3_FillLevel => Sensors.FillLevelTanks[2];

PamhagenSysCtrl/Helpers/Xbe24Keyboard.cs

@@ -39,9 +39,13 @@ namespace PamhagenSysCtrl.Helpers {
                 throw new IOException($"Unable to SetDataCallback for XBE keyboard: {res}");
             if ((res = XbeDevice.SetErrorCallback(this)) != 0)
                 throw new IOException($"Unable to SetErrorCallback for XBE keyboard: {res}");
+
+            SetBacklight(Color.FromRgb(1, 1, 1));
         }
 
         public void Dispose() {
+            GC.SuppressFinalize(this);
+            SetBacklight(Color.FromRgb(1, 1, 1));
             XbeDevice?.CloseInterface();
         }
 

PamhagenSysCtrl/Windows/PlantSchemeWindow.xaml.cs

@@ -68,8 +68,10 @@ namespace PamhagenSysCtrl.Windows {
                 [FastSelectButton_MW1_Tank5]  = (Graph.MW1, Graph.MP1, Graph.Tank5),
                 [FastSelectButton_MW2_Tank5]  = (Graph.MW2, Graph.MP2, Graph.Tank5),
             };
-            App.Plant?.Update += OnUpdate;
+            if (App.Plant != null) {
-            App.Plant?.InitializePaths();
+                Status_Connection.Text = $"Nein ({App.Plant.PlcComPort})";
+                App.Plant.Update += OnUpdate;
+            }
         }
 
         private void OnClosed(object sender, EventArgs evt) {
@@ -584,27 +586,21 @@ namespace PamhagenSysCtrl.Windows {
 
         public void OnUpdate(object? sender, PlantEventArgs? evt) {
             if (App.Plant is PamhagenPlant p) {
-                Status_Connection.Text = $"Ja ({p.PlcPortName}" + (p.LastRttNs != null ? $", {p.LastRttNs / 1000000.0:N0} ms" : "") + ")";
+                if (p.IsPlcConnected) {
-                Status_Plc.Text = $"{p.LastPlcStatus?.Mode} ({p.LastPlcStatus?.Flags:X3}) / {p.LastPlcError?.GetName()} ({(int?)p.LastPlcError:0000})";
+                    Status_Connection.Text = $"Ja ({p.PlcComPort}" + (p.LastRttNs != null ? $", {p.LastRttNs / 1000000.0:N0} ms" : "") + ")";
-                Status_CompressedAir.Text = Enumerable.Range(1, 57).Any(p.State.Valve_IsClosed) ? "Ein" : Enumerable.Range(1, 57).Any(p.State.Valve_WantClosed) ? "Aus" : "?";
+                    Status_Plc.Text = $"{p.LastPlcStatus?.Mode} ({p.LastPlcStatus?.Flags:X3}) / {p.LastPlcError?.GetName()} ({(int?)p.LastPlcError:0000})";
-                Status_ValvesOpen.Text = Enumerable.Range(1, 57).Count(p.State.Valve_IsOpen) + " / " + Enumerable.Range(1, 57).Count(p.State.Valve_WantOpen) + " / 57";
+                    Status_CompressedAir.Text = Enumerable.Range(1, 57).Any(p.State.Valve_IsClosed) ? "Ein" : Enumerable.Range(1, 57).Any(p.State.Valve_WantClosed) ? "Aus" : "?";
+                    Status_ValvesOpen.Text = Enumerable.Range(1, 57).Count(p.State.Valve_IsOpen) + " / " + Enumerable.Range(1, 57).Count(p.State.Valve_WantOpen) + " / 57";
+                } else {
+                    Status_Connection.Text = p.PlcConnectionError is string err ? $"Nein ({p.PlcComPort}, {err})" : $"Nein ({p.PlcComPort})";
+                    Status_Plc.Text = "-";
+                    Status_CompressedAir.Text = "-";
+                    Status_ValvesOpen.Text = "-";
+                }
             }
             UpdateScheme(Mouse.GetPosition(SchemeCanvas), Mouse.LeftButton == MouseButtonState.Pressed);
         }
 
-        public void InitializePaths() {
-            var add = ReconstructSelectedPaths().ToList();
-            var remove = Graph.SelectedPaths.ToList();
-            foreach (var p in remove) Graph.RemovePath(p);
-            for (int i = 1; i <= 57; i++) {
-                App.Plant?.CloseV(i);
-            }
-            foreach (var p in add) {
-                if (p.Hops.Any(h => h.Node is ControlledValve v && v.IsLocked)) continue;
-                Graph.AddPath(p);
-            }
-        }
-
         public IEnumerable<Path> ReconstructSelectedPaths() {
             if (App.Plant is not PamhagenPlant p) yield break;
             var sources = Graph.Nodes.Where(n => n is ISource).ToList();