infineon_cs_hmi/ads-wrapper/AdsManager.cs

using System.Text.Json;
using System.Timers;
using TwinCAT;
using TwinCAT.Ads;
using TwinCAT.Ads.TypeSystem;
using TwinCAT.TypeSystem;

namespace Heisig.HMI.AdsManager;

// AdsManager Interface for dependency injection
public interface IAdsManager
{
    public void Register(string variableName, EventHandler<ValueChangedEventArgs> eventHandler);

    public void Deregister(string variableName, EventHandler<ValueChangedEventArgs> eventHandler);

    public void WriteValue(string variableName, object value);

    public object? ReadValue(string variableName);

    public ISymbolLoader? GetSymbolLoader();
}

public sealed class AdsManager : IDisposable, IAdsManager
{
    enum ConnectionState
    {
        DISCONNECTED,
        CONNECTED
    }

    // Ads client instance
    private  readonly AdsClient _adsClient = new();

    // Ads symbol loader
    private ISymbolLoader? _symbolLoader;

    // Last value of online change count
    private uint? _lastOnlineChangeCount = null;

    // Online change detected
    private bool _onlineChangeDetected = false;

    // Dictionary with symbols and events for variable changing events
    private  readonly Dictionary<string, List<EventHandler<ValueChangedEventArgs>>> _test = [];

    // Timer to test cyclically if we are still connected
    private readonly System.Timers.Timer _timer = new();

    // Internal connection state
    private  ConnectionState _state = ConnectionState.DISCONNECTED;

    // Filename with the connection settings
    private const string _filename = "AdsSettings.json";

    // Settings for the connection
    private readonly AdsSettings _settings = new();

    // Thread safety lock
    private static readonly object _lock = new();

    // Json serializer options
    private readonly JsonSerializerOptions _jsonOptions = new() { WriteIndented = true };

    public AdsManager()
    {
        // Read settings file
        _settings = ReadSettings();

        // Start cyclic connection test
        _timer.Interval = _settings.ReconnectIntervalMS;
        _timer.Elapsed += CheckConnection;
        _timer.Start();
    }

    public void Dispose()
    {
        _timer.Stop();
        _timer.Dispose();

        _adsClient.Dispose();
    }

    private void WriteSettings(AdsSettings settings)
    {
        string text = JsonSerializer.Serialize(settings, _jsonOptions);
        File.WriteAllText(_filename, text);
    }

    private AdsSettings ReadSettings()
    {
        AdsSettings settings = new();
        string text;

        if (!File.Exists(_filename))
            WriteSettings(settings);
        else
        {
            text = File.ReadAllText(_filename);
            settings = JsonSerializer.Deserialize<AdsSettings>(text) ?? new AdsSettings();
        }

        return settings;
    }

    // Register a callback on variable change
    public void Register(string variableName, EventHandler<ValueChangedEventArgs> eventHandler)
    {
        List<EventHandler<ValueChangedEventArgs>> tempList;

        // Add new variable entry
        #pragma warning disable CA1854 // Methode „IDictionary.TryGetValue(TKey, out TValue)“ bevorzugen
        if (!_test.ContainsKey(variableName))
        #pragma warning restore CA1854 // Methode „IDictionary.TryGetValue(TKey, out TValue)“ bevorzugen
        {
            // Add new entry
            tempList = [eventHandler];
            _test.Add(variableName, tempList);
        }
        else
        {
            // Append event to variable
            tempList = _test[variableName];
            foreach (EventHandler<ValueChangedEventArgs> handler in tempList)
            {
                if (handler == eventHandler)
                    return;
            }
            tempList.Add(eventHandler);
            _test[variableName] = tempList;
        }

        // If we are already connected, directly register variable
        if (_state == ConnectionState.CONNECTED)
        {
            try
            {
                Symbol? symbol = (Symbol?)_symbolLoader?.Symbols[variableName];
                if (symbol != null)
                    symbol.ValueChanged += eventHandler;
            }
            catch (Exception)
            {
                Console.WriteLine($"Variable {variableName} could not be found");
            }
            
            Console.WriteLine($"Variable {variableName} registered");
        }
    }

    // Remove a registration from the dictionary
    public void Deregister(string variableName, EventHandler<ValueChangedEventArgs> eventHandler)
    {
        List<EventHandler<ValueChangedEventArgs>>? tempList;
        bool eventRemoved = false;

        if (_test.TryGetValue(variableName, out tempList))
        {
            foreach (EventHandler<ValueChangedEventArgs> handler in tempList)
            {
                if (handler == eventHandler)
                {
                    tempList.Remove(eventHandler);

                    // If we are connected remove directly remove variable changed event
                    if (_state == ConnectionState.CONNECTED)
                    {
                        try
                        {
                            Symbol? symbol = (Symbol?)_symbolLoader?.Symbols[variableName];
                            if (symbol != null)
                                symbol.ValueChanged -= eventHandler;
                        }
                        catch(Exception)
                        {
                            Console.WriteLine($"Variable {variableName} could not be found and deregistered");
                        }
                        Console.WriteLine("Variable {0} deregistered", variableName);
                    }

                    break;
                }
                if (eventRemoved)
                    _test[variableName] = tempList;
            }
        }
    }

    private void RegisterValueChangedEvents()
    {
        if (_symbolLoader == null)
            return;

        Symbol symbol;
        foreach(KeyValuePair<string, List<EventHandler<ValueChangedEventArgs>>> entry in _test)
        {
            symbol = (Symbol)_symbolLoader.Symbols[entry.Key];
            foreach (EventHandler<ValueChangedEventArgs> handler in entry.Value)
                symbol.ValueChanged += handler;
        }
    }

    public void WriteValue(string variableName, object value)
    {
        if (_state == ConnectionState.CONNECTED)
        {
            _adsClient.TryWriteValue(variableName, value);
        }
    }

    public object? ReadValue(string variableName)
    {
        if (_state == ConnectionState.CONNECTED)
        {
            _adsClient.TryReadValue(variableName, out object? value);
            return value;
        }
        else
            return null;
    }

    // Cyclic check if we are still connected to the ads server
    private void CheckConnection(object? sender, ElapsedEventArgs e)
    {
        lock(_lock)
        {
            // Stop timer
            _timer.Stop();
        }

        switch (_state)
        {
            case ConnectionState.DISCONNECTED:
                // Connect if not already connected
                if (!_adsClient.IsConnected)
                    _adsClient.Connect(_settings.AdsAdress, _settings.AdsPort);

                // Check if we have a connection
                if (TestIfConnected())
                {
                    Console.WriteLine("Connected");
                    Console.WriteLine("Reading Symbols ...");

                    // Load ads symbols
                    _symbolLoader = SymbolLoaderFactory.Create(_adsClient, SymbolLoaderSettings.Default);

                    Console.WriteLine("{0} Symbols read", _symbolLoader.Symbols.Count);

                    // Read last online change count
                    lock(_lock)
                    {
                        _lastOnlineChangeCount = (uint)((Symbol)_symbolLoader.Symbols[_settings.OnlineChangeCntVar]).ReadValue();

                        // Change state to connected
                        _state = ConnectionState.CONNECTED;
                    }

                    // Register value changed events
                    RegisterValueChangedEvents();
                }
                break;

            case ConnectionState.CONNECTED:
                if (!TestIfConnected())
                {
                    Console.WriteLine("Connection lost");
                    lock (_lock)
                        _state = ConnectionState.DISCONNECTED;
                }
                else
                {
                    try
                    {

                        uint onlineChangeCnt = (uint)((Symbol)_symbolLoader!.Symbols[_settings.OnlineChangeCntVar]).ReadValue();
                        lock (_lock)
                        {
                            _onlineChangeDetected = false;
                            if (onlineChangeCnt != _lastOnlineChangeCount)
                                _onlineChangeDetected = true;
                            _lastOnlineChangeCount = (uint)((Symbol)_symbolLoader.Symbols[_settings.OnlineChangeCntVar]).ReadValue();
                        }

                        // Reread symbols
                        if (_onlineChangeDetected)
                        {
                            Console.WriteLine("Online change detected. Rereading symbols ...");
                            _symbolLoader = SymbolLoaderFactory.Create(_adsClient, SymbolLoaderSettings.Default);
                            Console.WriteLine("{0} Symbols read", _symbolLoader.Symbols.Count);
                            RegisterValueChangedEvents();
                        }
                    }
                    catch(Exception)
                    {
                        Console.WriteLine("Could not read online change count");
                    }
                }
                break;
        }

        lock (_lock)
        {
            // Restart timer
            _timer.Start();
        }
    }

    private bool TestIfConnected()
    {
        bool connected;

        // Test if connection could be established and is still alive
        try
        {
            // Read ads server status
            StateInfo state = _adsClient.ReadState();
            connected = true;
        }
        catch (AdsErrorException)
        {
            connected = false;
        }

        return connected;
    }

    public ISymbolLoader? GetSymbolLoader()
    {
        return _symbolLoader;
    }
}