Fix motors parser

dataforge-device-core/src/commonMain/kotlin/hep/dataforge/control/base/TypedDeviceProperty.kt

@@ -32,11 +32,11 @@ public class TypedDeviceProperty<T : Any>(
     converter: MetaConverter<T>,
 ) : TypedReadOnlyDeviceProperty<T>(property, converter), DeviceProperty {
 
-//    override var value: MetaItem<*>?
+    override var value: MetaItem<*>?
-//        get() = property.value
+        get() = property.value
-//        set(arg) {
+        set(arg) {
-//            property.value = arg
+            property.value = arg
-//        }
+        }
 
     public override var typedValue: T?
         get() = value?.let { converter.itemToObject(it) }

dataforge-device-core/src/commonMain/kotlin/hep/dataforge/control/ports/Port.kt

@@ -40,7 +40,7 @@ public abstract class AbstractPort(
      */
     protected fun receive(data: ByteArray) {
         scope.launch {
-            logger.debug { "[${this@AbstractPort}] RECEIVED: ${data.decodeToString()}" }
+            logger.debug { "${this@AbstractPort} RECEIVED: ${data.decodeToString()}" }
             incoming.send(data)
         }
     }
@@ -49,7 +49,7 @@ public abstract class AbstractPort(
         for (data in outgoing) {
             try {
                 write(data)
-                logger.debug { "[${this@AbstractPort}] SENT: ${data.decodeToString()}" }
+                logger.debug { "${this@AbstractPort} SENT: ${data.decodeToString()}" }
             } catch (ex: Exception) {
                 if (ex is CancellationException) throw ex
                 logger.error(ex) { "Error while writing data to the port" }

motors/build.gradle.kts

@@ -9,7 +9,7 @@ plugins {
 
 kotlin{
     explicitApi = null
-    useFx(ru.mipt.npm.gradle.FXModule.CONTROLS)
+    useFx(ru.mipt.npm.gradle.FXModule.CONTROLS, configuration = ru.mipt.npm.gradle.DependencyConfiguration.IMPLEMENTATION)
 }
 
 val ktorVersion: String by rootProject.extra

motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt

@@ -3,6 +3,7 @@ package ru.mipt.npm.devices.pimotionmaster
 import hep.dataforge.context.Global
 import hep.dataforge.control.controllers.DeviceManager
 import hep.dataforge.control.controllers.installing
+import javafx.beans.property.SimpleBooleanProperty
 import javafx.beans.property.SimpleIntegerProperty
 import javafx.beans.property.SimpleStringProperty
 import javafx.scene.Parent
@@ -27,20 +28,29 @@ class PiMotionMasterView : View() {
 
     override val root: Parent = borderpane {
         top {
-            hbox {
+            form {
                 val host = SimpleStringProperty("127.0.0.1")
                 val port = SimpleIntegerProperty(10024)
+                val virtual = SimpleBooleanProperty(false)
                 fieldset("Address:") {
                     field("Host:") {
-                        textfield(host)
+                        textfield(host){
+                            enableWhen(virtual.not())
+                        }
                     }
                     field("Port:") {
                         textfield(port)
                     }
+                    field("Virtual device:") {
+                        checkbox(property = virtual)
+                    }
                 }
 
                 button("Connect") {
                     action {
+                        if(virtual.get()){
+                            controller.context.launchPiDebugServer(port.get(), listOf("1", "2"))
+                        }
                         controller.motionMaster.connect(host.get(), port.get())
                     }
                 }

motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt

@@ -10,12 +10,9 @@ import hep.dataforge.control.controllers.*
 import hep.dataforge.control.ports.*
 import hep.dataforge.meta.*
 import hep.dataforge.names.NameToken
-import hep.dataforge.values.Null
 import hep.dataforge.values.asValue
 import kotlinx.coroutines.*
-import kotlinx.coroutines.flow.first
+import kotlinx.coroutines.flow.*
-import kotlinx.coroutines.flow.takeWhile
-import kotlinx.coroutines.flow.toList
 import kotlinx.coroutines.sync.Mutex
 import kotlinx.coroutines.sync.withLock
 import tornadofx.*
@@ -32,10 +29,13 @@ class PiMotionMasterDevice(
         context.coroutineContext + SupervisorJob(context.coroutineContext[Job])
     )
 
-    val address: DeviceProperty by writingVirtual(Null) {
+    private var address: Meta? = null
-        info = "The port for TCP connector"
-    }
 
+    val connected by readingBoolean(false, descriptorBuilder = {
+        info = "True if the connection address is defined and the device is initialized"
+    }) {
+        address != null
+    }
 
     val timeout: DeviceProperty by writingVirtual(200.asValue()) {
         info = "Timeout"
@@ -43,8 +43,7 @@ class PiMotionMasterDevice(
 
     var timeoutValue: Duration by timeout.duration()
 
-    private val connector = PortProxy { portFactory(address.value.node ?: Meta.EMPTY, context) }
+    private val connector = PortProxy { portFactory(address ?: error("The device is not connected"), context) }
-
 
     /**
      * Name-friendly accessor for axis
@@ -63,11 +62,13 @@ class PiMotionMasterDevice(
         info = "Connect to specific port and initialize axis"
     }) { portSpec ->
         //Clear current actions if present
-        if (address.value != null) {
+        if (address != null) {
             stop()
         }
         //Update port
-        address.value = portSpec
+        address = portSpec.node
+        connected.invalidate()
+        connector.open()
         //Initialize axes
         if (portSpec != null) {
             val idn = identity.read()
@@ -84,6 +85,17 @@ class PiMotionMasterDevice(
         }
     }
 
+    val disconnect: DeviceAction by acting({
+        info = "Disconnect the program from the device if it is connected"
+    }) {
+        connector.close()
+        if (address != null) {
+            stop()
+        }
+        address = null
+        connected.invalidate()
+    }
+
     fun connect(host: String, port: Int) {
         scope.launch {
             connect(Meta {
@@ -126,7 +138,16 @@ class PiMotionMasterDevice(
             withTimeout(timeoutValue) {
                 sendCommandInternal(command, *arguments)
                 val phrases = connector.receiving().withDelimiter("\n")
-                phrases.takeWhile { it.endsWith(" \n") }.toList() + phrases.first()
+                var lastLineFlag = false
+                phrases.transformWhile { line ->
+                    if (lastLineFlag) {
+                        false
+                    } else {
+                        emit(line)
+                        lastLineFlag = !line.endsWith(" \n")
+                        true
+                    }
+                }.toList()
             }
         } catch (ex: Throwable) {
             logger.warn { "Error during PIMotionMaster request. Requesting error code." }

motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt

@@ -1,7 +1,7 @@
 package ru.mipt.npm.devices.pimotionmaster
 
+import hep.dataforge.context.Context
 import hep.dataforge.context.Global
-import hep.dataforge.control.ports.Port
 import io.ktor.network.selector.ActorSelectorManager
 import io.ktor.network.sockets.aSocket
 import io.ktor.network.sockets.openReadChannel
@@ -19,7 +19,8 @@ val exceptionHandler = CoroutineExceptionHandler { _, throwable ->
 }
 
 @OptIn(KtorExperimentalAPI::class, InternalAPI::class)
-fun CoroutineScope.launchPiDebugServer(port: Int, virtualPort: Port): Job = launch(exceptionHandler) {
+fun Context.launchPiDebugServer(port: Int, axes: List<String>): Job = launch(exceptionHandler) {
+    val virtualDevice = PiMotionMasterVirtualDevice(this@launchPiDebugServer, axes)
     val server = aSocket(ActorSelectorManager(Dispatchers.IO)).tcp().bind(InetSocketAddress("localhost", port))
     println("Started virtual port server at ${server.localAddress}")
 
@@ -31,7 +32,7 @@ fun CoroutineScope.launchPiDebugServer(port: Int, virtualPort: Port): Job = laun
             val output = socket.openWriteChannel()
 
             val sendJob = launch {
-                virtualPort.receiving().collect {
+                virtualDevice.receiving().collect {
                     //println("Sending: ${it.decodeToString()}")
                     output.writeAvailable(it)
                     output.flush()
@@ -43,7 +44,7 @@ fun CoroutineScope.launchPiDebugServer(port: Int, virtualPort: Port): Job = laun
                     input.read { buffer ->
                         val array = buffer.moveToByteArray()
                         launch {
-                            virtualPort.send(array)
+                            virtualDevice.send(array)
                         }
                     }
                 }
@@ -61,10 +62,8 @@ fun CoroutineScope.launchPiDebugServer(port: Int, virtualPort: Port): Job = laun
 
 fun main() {
     val port = 10024
-    val virtualDevice = PiMotionMasterVirtualDevice(Global, listOf("1", "2"))
-    val virtualPort = VirtualPort(virtualDevice, Global)
     runBlocking(Dispatchers.Default) {
-        val serverJob = launchPiDebugServer(port, virtualPort)
+        val serverJob = Global.launchPiDebugServer(port, listOf("1", "2"))
         readLine()
         serverJob.cancel()
     }