* manage connection loss to NC

Ladder99 · Feb 2, 2023 · 3080be7 · 3080be7
1 parent 3b41394
commit 3080be7
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Showing 5 changed files with 18 additions and 8 deletions.
diff --git a/examples/windows/config.machines.yml b/examples/windows/config.machines.yml
@@ -15,7 +15,7 @@ machines:
         port: !!int 8193
         timeout_s: !!int 3
     l99.driver.fanuc.strategies.FanucMultiStrategy, fanuc:
-      stay_connected: !!bool false
+      stay_connected: !!bool true
       #exclusions:
       #  1: 
       #  2: [ X, S ]

diff --git a/fanuc/platform/Connect.cs b/fanuc/platform/Connect.cs
@@ -16,7 +16,7 @@ public dynamic Connect()
                 _machine.FocasEndpoint.Port,
                 _machine.FocasEndpoint.ConnectionTimeout,
                 out _handle);
-        });
+        }, throwOnSocketError: false); // Exclude Connect from throwing if EW_SOCKET
 
         var nr = new
         {

diff --git a/fanuc/platform/Disconnect.cs b/fanuc/platform/Disconnect.cs
@@ -9,7 +9,10 @@ public async Task<dynamic> DisconnectAsync()
 
     public dynamic Disconnect()
     {
-        var ndr = _nativeDispatch(() => { return (Focas.focas_ret) Focas.cnc_freelibhndl(_handle); });
+        var ndr = _nativeDispatch(() =>
+        {
+            return (Focas.focas_ret) Focas.cnc_freelibhndl(_handle);
+        }, throwOnSocketError: false); // Exclude Disconnect from throwing if EW_SOCKET
 
         var nr = new
         {

diff --git a/fanuc/platform/Platform.cs b/fanuc/platform/Platform.cs
@@ -62,7 +62,7 @@ public Platform(FanucMachine machine)
 
     private readonly string _docBasePath = "https://docs.ladder99.com/drivers/fanuc-driver/focas-api";
 
-    private NativeDispatchReturn _nativeDispatch(Func<Focas.focas_ret> func)
+    private NativeDispatchReturn _nativeDispatch(Func<Focas.focas_ret> func, bool throwOnSocketError = true)
     {
         Focas.focas_ret innerRc = Focas.focas_ret.EW_OK;
         long innerElapsed = 0;
@@ -80,6 +80,13 @@ private NativeDispatchReturn _nativeDispatch(Func<Focas.focas_ret> func)
         outerSw.Stop();
 
         //Console.WriteLine($"elapsed={innerElapsed}, waiting={outerSw.ElapsedMilliseconds - innerElapsed}");
+
+        // Throw if connection loss detected.
+        if (throwOnSocketError && innerRc == Focas.focas_ret.EW_SOCKET)
+        {
+            _logger.Error($"[{_machine.Id}] Connection lost.");
+            throw new SocketException((int)Focas.focas_ret.EW_SOCKET);
+        }
 
         return new NativeDispatchReturn
         {

diff --git a/fanuc/strategies/FanucExtendedStrategy.cs b/fanuc/strategies/FanucExtendedStrategy.cs
@@ -648,9 +648,9 @@ protected virtual async Task CollectBeginAsync()
             await SetNative("connect",
                 await Platform.ConnectAsync());
             await Peel("connection",
-                new[]
+                new dynamic[]
                 {
-                    Get("connect")
+                    Get("connect")!
                 },
                 new dynamic[]
                 {
@@ -729,9 +729,9 @@ protected virtual async Task CollectEndAsync()
             await SetNative("disconnect",
                 await Platform.DisconnectAsync());
             await Peel("connection",
-                new[]
+                new dynamic[]
                 {
-                    Get("disconnect")
+                    Get("disconnect")!
                 },
                 new dynamic[]
                 {