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Fix motors debug server

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This commit is contained in:
Alexander Nozik 2020-10-06 22:45:33 +03:00
parent dbf0466c64
commit 64043cf2c0
4 changed files with 65 additions and 47 deletions
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10
dataforge-device-core/src/commonMain/kotlin/hep/dataforge/control/controllers/DeviceMessage.kt
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@ -11,7 +11,7 @@ import kotlinx.serialization.encoding.Encoder
public class DeviceMessage : Scheme() {
public var action: String by string { error("Action not defined") }
public var status: String by string(default = RESPONSE_OK_STATUS)
public var status: String by string(default = OK_STATUS)
public var sourceName: String? by string()
public var targetName: String? by string()
public var comment: String? by string()
@ -25,9 +25,9 @@ public class DeviceMessage : Scheme() {
public val MESSAGE_KEY_KEY: Name = DeviceMessage::key.name.asName()
public val MESSAGE_VALUE_KEY: Name = DeviceMessage::value.name.asName()
public const val RESPONSE_OK_STATUS: String = "response.OK"
public const val RESPONSE_FAIL_STATUS: String = "response.FAIL"
public const val PROPERTY_CHANGED_ACTION: String = "event.propertyChange"
public const val OK_STATUS: String = "OK"
public const val FAIL_STATUS: String = "FAIL"
public const val PROPERTY_CHANGED_ACTION: String = "event.propertyChanged"
public inline fun ok(
request: DeviceMessage? = null,
@ -42,7 +42,7 @@ public class DeviceMessage : Scheme() {
block: DeviceMessage.() -> Unit = {},
): DeviceMessage = DeviceMessage {
targetName = request?.sourceName
status = RESPONSE_FAIL_STATUS
status = FAIL_STATUS
if (cause != null) {
configure {
set("error.type", cause::class.simpleName)

2
motors/build.gradle.kts
View File

@ -9,6 +9,8 @@ kotlin{
explicitApi = null
}
val ktorVersion: String by rootProject.extra
dependencies {
implementation(project(":dataforge-device-core"))
}

33
motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterVirtualDevice.kt
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@ -19,7 +19,7 @@ abstract class VirtualDevice(val scope: CoroutineScope) : Socket<ByteArray> {
private val toReceive = Channel<ByteArray>(100)
private val toRespond = Channel<ByteArray>(100)
private val receiveJob: Job = toReceive.consumeAsFlow().onEach {
private val receiveJob: Job = toReceive.consumeAsFlow().transformRequests().onEach {
evaluateRequest(it)
}.catch {
it.printStackTrace()
@ -48,7 +48,9 @@ abstract class VirtualDevice(val scope: CoroutineScope) : Socket<ByteArray> {
class VirtualPort(private val device: VirtualDevice, context: Context) : AbstractPort(context) {
private val respondJob = device.receiving().onEach(::receive).catch {
private val respondJob = device.receiving().onEach {
receive(it)
}.catch {
it.printStackTrace()
}.launchIn(scope)
@ -129,7 +131,7 @@ class PiMotionMasterVirtualDevice(scope: CoroutineScope, axisIds: List<String>)
}
private fun respondForAllAxis(axisIds: List<String>, extract: VirtualAxisState.(index: String) -> Any) {
val selectedAxis = if (axisIds.isEmpty()) {
val selectedAxis = if (axisIds.isEmpty()|| axisIds[0] == "ALL") {
axisState.keys
} else {
axisIds
@ -149,9 +151,23 @@ class PiMotionMasterVirtualDevice(scope: CoroutineScope, axisIds: List<String>)
val axisIds: List<String> = parts.drop(1)
when (command) {
"XXX" -> respond("")
"IDN?" -> respond("DataForge-device demo")
"VER?" -> respond("test")
"XXX" -> {}//respond("WAT?")
"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
4: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550041, 00.039
5: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550042, 00.039
6: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550043, 00.039
7: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550044, 00.039
8: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550046, 00.039
9: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550045, 00.039
10: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550047, 00.039
11: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550048, 00.039
12: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550049, 00.039
13: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550051, 00.039
FW_ARM: V1.0.0.1
""".trimIndent())
"HLP?" -> respond("""
The following commands are valid:
#4 Request Status Register
@ -192,7 +208,10 @@ class PiMotionMasterVirtualDevice(scope: CoroutineScope, axisIds: List<String>)
VER? Get Versions Of Firmware And Drivers
end of help
""".trimIndent())
"ERR?" -> respond(errorCode.toString())
"ERR?" -> {
respond(errorCode.toString())
errorCode = 0
}
"SAI?" -> respondForAllAxis(axisIds) { it }
"CST?" -> respond(WAT)
"RON?" -> respondForAllAxis(axisIds) { referenceMode }

67
motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt
View File

@ -9,55 +9,52 @@ import io.ktor.network.sockets.openWriteChannel
import io.ktor.util.InternalAPI
import io.ktor.util.KtorExperimentalAPI
import io.ktor.util.moveToByteArray
import io.ktor.utils.io.readUntilDelimiter
import io.ktor.utils.io.writeAvailable
import kotlinx.coroutines.*
import kotlinx.coroutines.flow.collect
import java.net.InetSocketAddress
import java.nio.ByteBuffer
private val delimeter = ByteBuffer.wrap("\n".encodeToByteArray())
val exceptionHandler = CoroutineExceptionHandler { coroutineContext, throwable ->
throwable.printStackTrace()
}
@OptIn(KtorExperimentalAPI::class, InternalAPI::class)
fun CoroutineScope.launchPiDebugServer(port: Int, virtualPort: Port): Job = launch {
fun CoroutineScope.launchPiDebugServer(port: Int, virtualPort: Port): Job = launch(exceptionHandler) {
val server = aSocket(ActorSelectorManager(Dispatchers.IO)).tcp().bind(InetSocketAddress("localhost", port))
println("Started virtual port server at ${server.localAddress}")
while (isActive) {
val socket = try {
server.accept()
} catch (ex: Exception) {
server.close()
ex.printStackTrace()
return@launch
}
val socket = server.accept()
launch(SupervisorJob(coroutineContext[Job])) {
println("Socket accepted: ${socket.remoteAddress}")
val input = socket.openReadChannel()
val output = socket.openWriteChannel()
println("Socket accepted: ${socket.remoteAddress}")
supervisorScope {
socket.use { socket ->
val input = socket.openReadChannel()
val output = socket.openWriteChannel(autoFlush = true)
val buffer = ByteBuffer.allocate(1024)
launch {
virtualPort.receiving().collect {
//println("Sending: ${it.decodeToString()}")
output.writeAvailable(it)
output.flush()
}
}
while (isActive) {
buffer.rewind()
val read = input.readUntilDelimiter(delimeter, buffer)
if (read > 0) {
buffer.flip()
val array = buffer.moveToByteArray()
//println("Received: ${array.decodeToString()}")
virtualPort.send(array)
}
val sendJob = launch {
virtualPort.receiving().collect {
//println("Sending: ${it.decodeToString()}")
output.writeAvailable(it)
output.flush()
}
}
try {
while (isActive) {
input.read { buffer ->
val array = buffer.moveToByteArray()
launch {
virtualPort.send(array)
}
}
}
} catch (e: Throwable) {
e.printStackTrace()
sendJob.cancel()
socket.close()
} finally {
println("Socket closed")
}
}
}
}