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refactoring

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This commit is contained in:
Alexander Nozik 2020-10-08 11:20:08 +03:00
parent 64043cf2c0
commit 4b9f535002
15 changed files with 94 additions and 66 deletions
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13
dataforge-device-client/src/commonMain/kotlin/hep/dataforge/control/client/sseClient.kt
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@ -1,13 +0,0 @@
package hep.dataforge.control.client
import io.ktor.client.HttpClient
import io.ktor.client.call.receive
import io.ktor.client.request.get
import io.ktor.client.statement.HttpResponse
import io.ktor.client.statement.HttpStatement
import io.ktor.utils.io.ByteReadChannel
suspend fun HttpClient.sse(address: String) = get<HttpStatement>(address).execute { response: HttpResponse ->
// Response is not downloaded here.
val channel = response.receive<ByteReadChannel>()
}

18
dataforge-device-core/src/commonMain/kotlin/hep/dataforge/control/api/Device.kt
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@ -67,14 +67,6 @@ public interface Device : Closeable, ContextAware {
*/
public suspend fun execute(command: String, argument: MetaItem<*>? = null): MetaItem<*>?
/**
*
* A request with binary data or for binary response (or both). This request does not cover basic functionality like
* [setProperty], [getProperty] or [execute] and not defined for a generic device.
*
*/
public suspend fun respondWithData(request: Envelope): EnvelopeBuilder = error("No binary response defined")
override fun close() {
scope.cancel("The device is closed")
}
@ -84,4 +76,14 @@ public interface Device : Closeable, ContextAware {
}
}
public interface ResponderDevice{
/**
*
* A request with binary data or for binary response (or both). This request does not cover basic functionality like
* [setProperty], [getProperty] or [execute] and not defined for a generic device.
*
*/
public suspend fun respondWithData(request: Envelope): EnvelopeBuilder
}
public suspend fun Device.execute(name: String, meta: Meta?): MetaItem<*>? = execute(name, meta?.let { MetaItem.NodeItem(it) })

2
dataforge-device-core/src/commonMain/kotlin/hep/dataforge/control/base/Action.kt → dataforge-device-core/src/commonMain/kotlin/hep/dataforge/control/base/DeviceAction.kt
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@ -3,7 +3,7 @@ package hep.dataforge.control.base
import hep.dataforge.control.api.ActionDescriptor
import hep.dataforge.meta.MetaItem
public interface Action {
public interface DeviceAction {
public val name: String
public val descriptor: ActionDescriptor
public suspend operator fun invoke(arg: MetaItem<*>? = null): MetaItem<*>?

14
dataforge-device-core/src/commonMain/kotlin/hep/dataforge/control/base/DeviceBase.kt
View File

@ -19,8 +19,8 @@ public abstract class DeviceBase(override val context: Context) : Device {
private val _properties = HashMap<String, ReadOnlyDeviceProperty>()
public val properties: Map<String, ReadOnlyDeviceProperty> get() = _properties
private val _actions = HashMap<String, Action>()
public val actions: Map<String, Action> get() = _actions
private val _actions = HashMap<String, DeviceAction>()
public val actions: Map<String, DeviceAction> get() = _actions
private val listeners = ArrayList<Pair<Any?, DeviceListener>>(4)
@ -54,7 +54,7 @@ public abstract class DeviceBase(override val context: Context) : Device {
_properties[name] = property
}
internal fun registerAction(name: String, action: Action) {
internal fun registerAction(name: String, action: DeviceAction) {
if (_actions.contains(name)) error("Action with name $name already registered")
_actions[name] = action
}
@ -199,11 +199,11 @@ public abstract class DeviceBase(override val context: Context) : Device {
/**
* A stand-alone action
*/
private inner class BasicAction(
private inner class BasicDeviceAction(
override val name: String,
override val descriptor: ActionDescriptor,
private val block: suspend (MetaItem<*>?) -> MetaItem<*>?,
) : Action {
) : DeviceAction {
override suspend fun invoke(arg: MetaItem<*>?): MetaItem<*>? =
withContext(scope.coroutineContext + SupervisorJob(scope.coroutineContext[Job])) {
block(arg).also {
@ -221,8 +221,8 @@ public abstract class DeviceBase(override val context: Context) : Device {
name: String,
descriptorBuilder: ActionDescriptor.() -> Unit = {},
block: suspend (MetaItem<*>?) -> MetaItem<*>?,
): Action {
val action = BasicAction(name, ActionDescriptor(name).apply(descriptorBuilder), block)
): DeviceAction {
val action = BasicDeviceAction(name, ActionDescriptor(name).apply(descriptorBuilder), block)
registerAction(name, action)
return action
}

4
dataforge-device-core/src/commonMain/kotlin/hep/dataforge/control/base/actionDelegates.kt
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@ -9,13 +9,13 @@ import kotlin.properties.ReadOnlyProperty
import kotlin.reflect.KProperty
private fun <D : DeviceBase> D.provideAction(): ReadOnlyProperty<D, Action> =
private fun <D : DeviceBase> D.provideAction(): ReadOnlyProperty<D, DeviceAction> =
ReadOnlyProperty { _: D, property: KProperty<*> ->
val name = property.name
return@ReadOnlyProperty actions[name]!!
}
public typealias ActionDelegate = ReadOnlyProperty<DeviceBase, Action>
public typealias ActionDelegate = ReadOnlyProperty<DeviceBase, DeviceAction>
private class ActionProvider<D : DeviceBase>(
val owner: D,

11
dataforge-device-core/src/commonMain/kotlin/hep/dataforge/control/controllers/DeviceController.kt
View File

@ -1,9 +1,6 @@
package hep.dataforge.control.controllers
import hep.dataforge.control.api.Device
import hep.dataforge.control.api.DeviceHub
import hep.dataforge.control.api.DeviceListener
import hep.dataforge.control.api.get
import hep.dataforge.control.api.*
import hep.dataforge.control.controllers.DeviceMessage.Companion.PROPERTY_CHANGED_ACTION
import hep.dataforge.io.Consumer
import hep.dataforge.io.Envelope
@ -77,13 +74,15 @@ public class DeviceController(
} else if (target != null && target != deviceTarget) {
error("Wrong target name $deviceTarget expected but $target found")
} else {
if (device is ResponderDevice) {
val response = device.respondWithData(request).apply {
meta {
"target" put request.meta["source"].string
"source" put deviceTarget
}
}
return response.seal()
response.seal()
} else error("Device does not support binary response")
}
} catch (ex: Exception) {
DeviceMessage.fail(cause = ex).wrap()
@ -99,7 +98,7 @@ public class DeviceController(
DeviceMessage.ok {
targetName = request.sourceName
sourceName = deviceTarget
action ="response.${request.action}"
action = "response.${request.action}"
val requestKey = request.key
val requestValue = request.value

3
dataforge-device-client/build.gradle.kts → dataforge-magix-client/build.gradle.kts
View File

@ -10,12 +10,13 @@ kotlin {
commonMain {
dependencies {
implementation(project(":dataforge-device-core"))
implementation(project(":ktor-sse"))
implementation("io.ktor:ktor-client-core:$ktorVersion")
}
}
jvmMain {
dependencies {
implementation("io.ktor:ktor-client-cio:$ktorVersion")
}
}
jsMain {

26
dataforge-device-client/src/commonMain/kotlin/hep/dataforge/control/client/MagixClient.kt → dataforge-magix-client/src/commonMain/kotlin/hep/dataforge/control/client/MagixClient.kt
View File

@ -7,18 +7,34 @@ import hep.dataforge.meta.toJson
import hep.dataforge.meta.toMeta
import hep.dataforge.meta.wrap
import io.ktor.client.HttpClient
import io.ktor.client.call.receive
import io.ktor.client.request.get
import io.ktor.client.request.post
import io.ktor.client.statement.HttpResponse
import io.ktor.client.statement.HttpStatement
import io.ktor.http.ContentType
import io.ktor.http.Url
import io.ktor.http.contentType
import io.ktor.utils.io.ByteReadChannel
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Job
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.collect
import kotlinx.coroutines.launch
import kotlinx.serialization.json.*
import ru.mipt.npm.io.sse.SseEvent
import ru.mipt.npm.io.sse.readSseFlow
import kotlin.coroutines.CoroutineContext
private suspend fun HttpClient.readSse(address: String, block: suspend (SseEvent) -> Unit): Job = launch {
get<HttpStatement>(address).execute { response: HttpResponse ->
// Response is not downloaded here.
val channel = response.receive<ByteReadChannel>()
val flow = channel.readSseFlow()
flow.collect(block)
}
}
/*
{
"id":"string|number[optional, but desired]",
@ -31,14 +47,14 @@ import kotlin.coroutines.CoroutineContext
}
*/
/**
* Communicate with server in [Magix format](https://github.com/waltz-controls/rfc/tree/master/1)
*/
public class MagixClient(
private val manager: DeviceManager,
private val postUrl: Url,
private val inbox: Flow<JsonObject>
private val sseUrl: Url
//private val inbox: Flow<JsonObject>
): CoroutineScope {
override val coroutineContext: CoroutineContext = manager.context.coroutineContext + Job(manager.context.coroutineContext[Job])
@ -79,7 +95,9 @@ public class MagixClient(
}
private val respondJob = launch {
inbox.collect { json ->
client.readSse(sseUrl.toString()){
val json = Json.parseToJsonElement(it.data) as JsonObject
val requestId = json["id"]?.jsonPrimitive?.content
val payload = json["payload"]?.jsonObject
//TODO analyze action

2
demo/src/main/kotlin/hep/dataforge/control/demo/DemoDevice.kt
View File

@ -50,7 +50,7 @@ class DemoDevice(context: Context) : DeviceBase(context) {
}
val resetScale: Action by acting {
val resetScale: DeviceAction by acting {
timeScaleValue = 5000.0
sinScaleValue = 1.0
cosScaleValue = 1.0

2
ktor-sse/src/commonMain/kotlin/ru/mipt/npm/io/sse/SseEvent.kt
View File

@ -39,7 +39,7 @@ public suspend fun ByteReadChannel.readSseFlow(): Flow<SseEvent> = channelFlow {
do{
val line = readUTF8Line()
if (line != null && !line.isBlank()) {
if (line != null && line.isNotBlank()) {
val key = line.substringBefore(":")
val value = line.substringAfter(": ")
when (key) {

1
motors/build.gradle.kts
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@ -13,4 +13,5 @@ val ktorVersion: String by rootProject.extra
dependencies {
implementation(project(":dataforge-device-core"))
implementation(project(":dataforge-magix-client"))
}

17
motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
View File

@ -12,8 +12,10 @@ import hep.dataforge.control.ports.PortProxy
import hep.dataforge.control.ports.send
import hep.dataforge.control.ports.withDelimiter
import hep.dataforge.meta.MetaItem
import hep.dataforge.meta.asMetaItem
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.takeWhile
@ -48,7 +50,8 @@ public class PiMotionMasterDevice(
private val mutex = Mutex()
private suspend fun dispatchError(errorCode: Int) {
logger.error { "Error code: $errorCode" }
//TODO add error handling
}
private suspend fun sendCommandInternal(command: String, vararg arguments: String) {
@ -108,7 +111,7 @@ public class PiMotionMasterDevice(
}
public val initialize: Action by acting {
public val initialize: DeviceAction by acting {
send("INI")
}
@ -116,7 +119,7 @@ public class PiMotionMasterDevice(
request("VER?").first()
}
public val stop: Action by acting(
public val stop: DeviceAction by acting(
descriptorBuilder = {
info = "Stop all axis"
},
@ -164,7 +167,7 @@ public class PiMotionMasterDevice(
info = "Motor enable state."
}
public val halt: Action by acting {
public val halt: DeviceAction by acting {
send("HLT", axisId)
}
@ -218,10 +221,14 @@ public class PiMotionMasterDevice(
}
}
val axisIds: ReadOnlyDeviceProperty by reading {
request("SAI?").map { it.asValue() }.asValue().asMetaItem()
}
override val devices: Map<NameToken, Axis> = axes.associate { NameToken(it) to Axis(it) }
/**
*
* Name-friendly accessor for axis
*/
val axes: Map<String, Axis> get() = devices.mapKeys { it.toString() }

33
motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterVirtualDevice.kt
View File

@ -1,6 +1,7 @@
package ru.mipt.npm.devices.pimotionmaster
import hep.dataforge.context.Context
import hep.dataforge.context.ContextAware
import hep.dataforge.control.api.Socket
import hep.dataforge.control.ports.AbstractPort
import hep.dataforge.control.ports.withDelimiter
@ -66,7 +67,11 @@ class VirtualPort(private val device: VirtualDevice, context: Context) : Abstrac
}
class PiMotionMasterVirtualDevice(scope: CoroutineScope, axisIds: List<String>) : VirtualDevice(scope) {
class PiMotionMasterVirtualDevice(
override val context: Context,
axisIds: List<String>,
scope: CoroutineScope = context,
) : VirtualDevice(scope), ContextAware {
init {
//add asynchronous send logic here
@ -131,13 +136,14 @@ class PiMotionMasterVirtualDevice(scope: CoroutineScope, axisIds: List<String>)
}
private fun respondForAllAxis(axisIds: List<String>, extract: VirtualAxisState.(index: String) -> Any) {
val selectedAxis = if (axisIds.isEmpty()|| axisIds[0] == "ALL") {
val selectedAxis = if (axisIds.isEmpty() || axisIds[0] == "ALL") {
axisState.keys
} else {
axisIds
}
val response = selectedAxis.joinToString(postfix = "\n", separator = " \n") {
axisState.getValue(it).extract(it).toString()
val response = selectedAxis.joinToString(separator = " \n") {
val state = axisState.getValue(it)
"$it=${state.extract(it)}"
}
respond(response)
}
@ -145,14 +151,18 @@ class PiMotionMasterVirtualDevice(scope: CoroutineScope, axisIds: List<String>)
override suspend fun evaluateRequest(request: ByteArray) {
assert(request.last() == '\n'.toByte())
val string = request.decodeToString().substringBefore("\n")
.dropWhile { it != '*' && it != '#' && it !in 'A'..'Z' } //filter junk symbols at the beginning of the line
//logger.debug { "Received command: $string" }
val parts = string.split(' ')
val command = parts.firstOrNull() ?: error("Command not present")
val axisIds: List<String> = parts.drop(1)
when (command) {
"XXX" -> {}//respond("WAT?")
"IDN?","*IDN?" -> respond("(c)2015 Physik Instrumente(PI) Karlsruhe, C-885.M1 TCP-IP Master,0,1.0.0.1")
"XXX" -> {
}
"IDN?", "*IDN?" -> respond("(c)2015 Physik Instrumente(PI) Karlsruhe, C-885.M1 TCP-IP Master,0,1.0.0.1")
"VER?" -> respond("""
2: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550039, 00.039
3: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550040, 00.039
@ -212,12 +222,12 @@ class PiMotionMasterVirtualDevice(scope: CoroutineScope, axisIds: List<String>)
respond(errorCode.toString())
errorCode = 0
}
"SAI?" -> respondForAllAxis(axisIds) { it }
"CST?" -> respond(WAT)
"SAI?" -> respond(axisIds.joinToString(separator = " \n"))
"CST?" -> respondForAllAxis(axisIds) { "L-220.20SG" }
"RON?" -> respondForAllAxis(axisIds) { referenceMode }
"FRF?" -> respondForAllAxis(axisIds) { "1" } // WAT?
"SVO?" -> respondForAllAxis(axisIds) { servoMode }
"MVO?" -> respondForAllAxis(axisIds) { targetPosition }
"MOV?" -> respondForAllAxis(axisIds) { targetPosition }
"POS?" -> respondForAllAxis(axisIds) { position }
"TMN?" -> respondForAllAxis(axisIds) { minPosition }
"TMX?" -> respondForAllAxis(axisIds) { maxPosition }
@ -228,7 +238,10 @@ class PiMotionMasterVirtualDevice(scope: CoroutineScope, axisIds: List<String>)
val servoMode = parts.last()
axisState[requestAxis]?.servoMode = servoMode.toInt()
}
else -> errorCode = 2 // do not send anything. Ser error code
else -> {
logger.warn { "Unknown command: $command in message ${String(request)}" }
errorCode = 2
} // do not send anything. Ser error code
}
}

2
motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt
View File

@ -14,7 +14,7 @@ import kotlinx.coroutines.*
import kotlinx.coroutines.flow.collect
import java.net.InetSocketAddress
val exceptionHandler = CoroutineExceptionHandler { coroutineContext, throwable ->
val exceptionHandler = CoroutineExceptionHandler { _, throwable ->
throwable.printStackTrace()
}

2
settings.gradle.kts
View File

@ -31,7 +31,7 @@ include(
":dataforge-device-core",
":dataforge-device-serial",
":dataforge-device-server",
":dataforge-device-client",
":dataforge-magix-client",
":demo",
":motors"
)