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Merge remote-tracking branch 'spc/dev' into dev

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# Conflicts:
#	demo/all-things/build.gradle.kts
This commit is contained in:
Alexander Nozik 2023-10-19 16:21:19 +03:00
commit 80cc62e25b
13 changed files with 145 additions and 93 deletions
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32
CHANGELOG.md
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@ -2,6 +2,28 @@
## Unreleased
### Added
### Changed
### Deprecated
### Removed
### Fixed
- Property writing does not trigger change if logical state already is the same as value to be set.
- Modbus-slave triggers only once for multi-register write.
### Security
## 0.2.2-dev-1 - 2023-09-24
### Changed
- updating logical state in `DeviceBase` is now protected and called `propertyChanged()`
- `DeviceBase` tries to read property after write if the writer does not set the value.
## 0.2.1 - 2023-09-24
### Added
- Core interfaces for building a device server
- Magix service for binding controls devices (both as RPC client and server)
@ -20,13 +42,3 @@
- A magix event loop implementation in Kotlin. Includes HTTP/SSE and RSocket routes.
- Magix history database API
- ZMQ client endpoint for Magix
### Changed
### Deprecated
### Removed
### Fixed
### Security

2
build.gradle.kts
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@ -14,7 +14,7 @@ val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
version = "0.2.2-dev-1"
version = "0.2.2-dev-2"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}

4
controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
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@ -124,5 +124,5 @@ public fun Device.getAllProperties(): Meta = Meta {
/**
* Subscribe on property changes for the whole device
*/
public fun Device.onPropertyChange(callback: suspend PropertyChangedMessage.() -> Unit): Job =
messageFlow.filterIsInstance<PropertyChangedMessage>().onEach(callback).launchIn(this)
public fun Device.onPropertyChange(scope: CoroutineScope = this, callback: suspend PropertyChangedMessage.() -> Unit): Job =
messageFlow.filterIsInstance<PropertyChangedMessage>().onEach(callback).launchIn(scope)

59
controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
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@ -1,24 +1,35 @@
package space.kscience.controls.spec
import kotlinx.coroutines.*
import kotlinx.coroutines.CoroutineName
import kotlinx.coroutines.Job
import kotlinx.coroutines.SupervisorJob
import kotlinx.coroutines.channels.BufferOverflow
import kotlinx.coroutines.flow.MutableSharedFlow
import kotlinx.coroutines.flow.SharedFlow
import kotlinx.coroutines.newCoroutineContext
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import space.kscience.controls.api.*
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.error
import space.kscience.dataforge.context.debug
import space.kscience.dataforge.context.logger
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.get
import space.kscience.dataforge.meta.int
import space.kscience.dataforge.misc.DFExperimental
import kotlin.coroutines.CoroutineContext
/**
* Write a meta [item] to [device]
*/
@OptIn(InternalDeviceAPI::class)
private suspend fun <D : Device, T> WritableDevicePropertySpec<D, T>.writeMeta(device: D, item: Meta) {
write(device, converter.metaToObject(item) ?: error("Meta $item could not be read with $converter"))
}
/**
* Read Meta item from the [device]
*/
@OptIn(InternalDeviceAPI::class)
private suspend fun <D : Device, T> DevicePropertySpec<D, T>.readMeta(device: D): Meta? =
read(device)?.let(converter::objectToMeta)
@ -39,7 +50,7 @@ private suspend fun <D : Device, I, O> DeviceActionSpec<D, I, O>.executeWithMeta
*/
public abstract class DeviceBase<D : Device>(
final override val context: Context,
override val meta: Meta = Meta.EMPTY,
final override val meta: Meta = Meta.EMPTY,
) : Device {
/**
@ -59,13 +70,7 @@ public abstract class DeviceBase<D : Device>(
get() = actions.values.map { it.descriptor }
override val coroutineContext: CoroutineContext by lazy {
context.newCoroutineContext(
SupervisorJob(context.coroutineContext[Job]) +
CoroutineName("Device $this") +
CoroutineExceptionHandler { _, throwable ->
logger.error(throwable) { "Exception in device $this job" }
}
)
context.newCoroutineContext(SupervisorJob(context.coroutineContext[Job]) + CoroutineName("Device $this"))
}
@ -74,7 +79,10 @@ public abstract class DeviceBase<D : Device>(
*/
private val logicalState: HashMap<String, Meta?> = HashMap()
private val sharedMessageFlow: MutableSharedFlow<DeviceMessage> = MutableSharedFlow()
private val sharedMessageFlow: MutableSharedFlow<DeviceMessage> = MutableSharedFlow(
replay = meta["message.buffer"].int ?: 1000,
onBufferOverflow = BufferOverflow.DROP_OLDEST
)
public override val messageFlow: SharedFlow<DeviceMessage> get() = sharedMessageFlow
@ -87,7 +95,7 @@ public abstract class DeviceBase<D : Device>(
/**
* Update logical property state and notify listeners
*/
protected suspend fun updateLogical(propertyName: String, value: Meta?) {
protected suspend fun propertyChanged(propertyName: String, value: Meta?) {
if (value != logicalState[propertyName]) {
stateLock.withLock {
logicalState[propertyName] = value
@ -99,10 +107,10 @@ public abstract class DeviceBase<D : Device>(
}
/**
* Update logical state using given [spec] and its convertor
* Notify the device that a property with [spec] value is changed
*/
public suspend fun <T> updateLogical(spec: DevicePropertySpec<D, T>, value: T) {
updateLogical(spec.name, spec.converter.objectToMeta(value))
protected suspend fun <T> propertyChanged(spec: DevicePropertySpec<D, T>, value: T) {
propertyChanged(spec.name, spec.converter.objectToMeta(value))
}
/**
@ -112,7 +120,7 @@ public abstract class DeviceBase<D : Device>(
override suspend fun readProperty(propertyName: String): Meta {
val spec = properties[propertyName] ?: error("Property with name $propertyName not found")
val meta = spec.readMeta(self) ?: error("Failed to read property $propertyName")
updateLogical(propertyName, meta)
propertyChanged(propertyName, meta)
return meta
}
@ -122,7 +130,7 @@ public abstract class DeviceBase<D : Device>(
public suspend fun readPropertyOrNull(propertyName: String): Meta? {
val spec = properties[propertyName] ?: return null
val meta = spec.readMeta(self) ?: return null
updateLogical(propertyName, meta)
propertyChanged(propertyName, meta)
return meta
}
@ -135,15 +143,26 @@ public abstract class DeviceBase<D : Device>(
}
override suspend fun writeProperty(propertyName: String, value: Meta): Unit {
//bypass property setting if it already has that value
if (logicalState[propertyName] == value) {
logger.debug { "Skipping setting $propertyName to $value because value is already set" }
return
}
when (val property = properties[propertyName]) {
null -> {
//If there is a physical property with a given name, invalidate logical property and write physical one
updateLogical(propertyName, value)
//If there are no registered physical properties with given name, write a logical one.
propertyChanged(propertyName, value)
}
is WritableDevicePropertySpec -> {
//if there is a writeable property with a given name, invalidate logical and write physical
invalidate(propertyName)
property.writeMeta(self, value)
// perform read after writing if the writer did not set the value and the value is still in invalid state
if (logicalState[propertyName] == null) {
val meta = property.readMeta(self)
propertyChanged(propertyName, meta)
}
}
else -> {

6
controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
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@ -115,6 +115,7 @@ public fun <D : Device, T> D.propertyFlow(spec: DevicePropertySpec<D, T>): Flow<
*/
public fun <D : Device, T> D.onPropertyChange(
spec: DevicePropertySpec<D, T>,
scope: CoroutineScope = this,
callback: suspend PropertyChangedMessage.(T) -> Unit,
): Job = messageFlow
.filterIsInstance<PropertyChangedMessage>()
@ -124,15 +125,16 @@ public fun <D : Device, T> D.onPropertyChange(
if (newValue != null) {
change.callback(newValue)
}
}.launchIn(this)
}.launchIn(scope)
/**
* Call [callback] on initial property value and each value change
*/
public fun <D : Device, T> D.useProperty(
spec: DevicePropertySpec<D, T>,
scope: CoroutineScope = this,
callback: suspend (T) -> Unit,
): Job = launch {
): Job = scope.launch {
callback(read(spec))
messageFlow
.filterIsInstance<PropertyChangedMessage>()

2
controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
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@ -22,7 +22,7 @@ public val MetaConverter.Companion.unit: MetaConverter<Unit> get() = UnitMetaCon
@OptIn(InternalDeviceAPI::class)
public abstract class DeviceSpec<D : Device> {
//initializing meta property for everyone
//initializing the metadata property for everyone
private val _properties = hashMapOf<String, DevicePropertySpec<D, *>>(
DeviceMetaPropertySpec.name to DeviceMetaPropertySpec
)

69
controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
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@ -1,9 +1,9 @@
package space.kscience.controls.modbus
import com.ghgande.j2mod.modbus.procimg.*
import io.ktor.utils.io.core.buildPacket
import io.ktor.utils.io.core.readByteBuffer
import io.ktor.utils.io.core.writeShort
import io.ktor.utils.io.core.*
import kotlinx.coroutines.delay
import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
import space.kscience.controls.api.Device
import space.kscience.controls.spec.DevicePropertySpec
@ -118,22 +118,48 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
}
}
/**
* Trigger [block] if one of register changes.
*/
private fun List<ObservableRegister>.onChange(block: (ByteReadPacket) -> Unit) {
var ready = false
forEach { register ->
register.addObserver { _, _ ->
ready = true
}
}
device.launch {
val builder = BytePacketBuilder()
while (isActive) {
delay(1)
if (ready) {
val packet = builder.apply {
forEach { value ->
writeShort(value.toShort())
}
}.build()
block(packet)
ready = false
}
}
}
}
public fun <T> bind(key: ModbusRegistryKey.HoldingRange<T>, propertySpec: WritableDevicePropertySpec<D, T>) {
val registers = List(key.count) {
ObservableRegister()
}
registers.forEachIndexed { index, register ->
register.addObserver { _, _ ->
val packet = buildPacket {
registers.forEach { value ->
writeShort(value.toShort())
}
}
device[propertySpec] = key.format.readObject(packet)
}
image.addRegister(key.address + index, register)
}
registers.onChange { packet ->
device[propertySpec] = key.format.readObject(packet)
}
device.useProperty(propertySpec) { value ->
val packet = buildPacket {
key.format.writeObject(this, value)
@ -182,20 +208,17 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
val registers = List(key.count) {
ObservableRegister()
}
registers.forEachIndexed { index, register ->
register.addObserver { _, _ ->
val packet = buildPacket {
registers.forEach { value ->
writeShort(value.toShort())
}
}
device.launch {
device.action(key.format.readObject(packet))
}
}
image.addRegister(key.address + index, register)
}
registers.onChange { packet ->
device.launch {
device.action(key.format.readObject(packet))
}
}
return registers
}
@ -205,11 +228,13 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
* Bind the device to Modbus slave (server) image.
*/
public fun <D : Device> D.bindProcessImage(
unitId: Int = 0,
openOnBind: Boolean = true,
binding: DeviceProcessImageBuilder<D>.() -> Unit,
): ProcessImage {
val image = SimpleProcessImage()
val image = SimpleProcessImage(unitId)
DeviceProcessImageBuilder(this, image).apply(binding)
image.setLocked(true)
if (openOnBind) {
launch {
open()

40
controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
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@ -21,9 +21,9 @@ import kotlin.reflect.KProperty
public interface ModbusDevice : Device {
/**
* Client id for this specific device
* Unit id for this specific device
*/
public val clientId: Int
public val unitId: Int
/**
* The modubus master connector
@ -61,7 +61,7 @@ public interface ModbusDevice : Device {
}
public operator fun <T> ModbusRegistryKey.HoldingRange<T>.getValue(thisRef: Any?, property: KProperty<*>): T {
val packet = readInputRegistersToPacket(address, count)
val packet = readHoldingRegistersToPacket(address, count)
return format.readObject(packet)
}
@ -82,35 +82,35 @@ public interface ModbusDevice : Device {
* Read multiple sequential modbus coils (bit-values)
*/
public fun ModbusDevice.readCoils(address: Int, count: Int): BitVector =
master.readCoils(clientId, address, count)
master.readCoils(unitId, address, count)
public fun ModbusDevice.readCoil(address: Int): Boolean =
master.readCoils(clientId, address, 1).getBit(0)
master.readCoils(unitId, address, 1).getBit(0)
public fun ModbusDevice.writeCoils(address: Int, values: BooleanArray) {
val bitVector = BitVector(values.size)
values.forEachIndexed { index, value ->
bitVector.setBit(index, value)
}
master.writeMultipleCoils(clientId, address, bitVector)
master.writeMultipleCoils(unitId, address, bitVector)
}
public fun ModbusDevice.writeCoil(address: Int, value: Boolean) {
master.writeCoil(clientId, address, value)
master.writeCoil(unitId, address, value)
}
public fun ModbusDevice.writeCoil(key: ModbusRegistryKey.Coil, value: Boolean) {
master.writeCoil(clientId, key.address, value)
master.writeCoil(unitId, key.address, value)
}
public fun ModbusDevice.readInputDiscretes(address: Int, count: Int): BitVector =
master.readInputDiscretes(clientId, address, count)
master.readInputDiscretes(unitId, address, count)
public fun ModbusDevice.readInputDiscrete(address: Int): Boolean =
master.readInputDiscretes(clientId, address, 1).getBit(0)
master.readInputDiscretes(unitId, address, 1).getBit(0)
public fun ModbusDevice.readInputRegisters(address: Int, count: Int): List<InputRegister> =
master.readInputRegisters(clientId, address, count).toList()
master.readInputRegisters(unitId, address, count).toList()
private fun Array<out InputRegister>.toBuffer(): ByteBuffer {
val buffer: ByteBuffer = ByteBuffer.allocate(size * 2)
@ -129,10 +129,10 @@ private fun Array<out InputRegister>.toPacket(): ByteReadPacket = buildPacket {
}
public fun ModbusDevice.readInputRegistersToBuffer(address: Int, count: Int): ByteBuffer =
master.readInputRegisters(clientId, address, count).toBuffer()
master.readInputRegisters(unitId, address, count).toBuffer()
public fun ModbusDevice.readInputRegistersToPacket(address: Int, count: Int): ByteReadPacket =
master.readInputRegisters(clientId, address, count).toPacket()
master.readInputRegisters(unitId, address, count).toPacket()
public fun ModbusDevice.readDoubleInput(address: Int): Double =
readInputRegistersToBuffer(address, Double.SIZE_BYTES).getDouble()
@ -141,7 +141,7 @@ public fun ModbusDevice.readInputRegister(address: Int): Short =
readInputRegisters(address, 1).first().toShort()
public fun ModbusDevice.readHoldingRegisters(address: Int, count: Int): List<Register> =
master.readMultipleRegisters(clientId, address, count).toList()
master.readMultipleRegisters(unitId, address, count).toList()
/**
* Read a number of registers to a [ByteBuffer]
@ -149,10 +149,10 @@ public fun ModbusDevice.readHoldingRegisters(address: Int, count: Int): List<Reg
* @param count number of 2-bytes registers to read. Buffer size is 2*[count]
*/
public fun ModbusDevice.readHoldingRegistersToBuffer(address: Int, count: Int): ByteBuffer =
master.readMultipleRegisters(clientId, address, count).toBuffer()
master.readMultipleRegisters(unitId, address, count).toBuffer()
public fun ModbusDevice.readHoldingRegistersToPacket(address: Int, count: Int): ByteReadPacket =
master.readMultipleRegisters(clientId, address, count).toPacket()
master.readMultipleRegisters(unitId, address, count).toPacket()
public fun ModbusDevice.readDoubleRegister(address: Int): Double =
readHoldingRegistersToBuffer(address, Double.SIZE_BYTES).getDouble()
@ -162,14 +162,14 @@ public fun ModbusDevice.readHoldingRegister(address: Int): Short =
public fun ModbusDevice.writeHoldingRegisters(address: Int, values: ShortArray): Int =
master.writeMultipleRegisters(
clientId,
unitId,
address,
Array<Register>(values.size) { SimpleInputRegister(values[it].toInt()) }
)
public fun ModbusDevice.writeHoldingRegister(address: Int, value: Short): Int =
master.writeSingleRegister(
clientId,
unitId,
address,
SimpleInputRegister(value.toInt())
)
@ -183,10 +183,6 @@ public fun ModbusDevice.writeHoldingRegisters(address: Int, buffer: ByteBuffer):
return writeHoldingRegisters(address, array)
}
public fun ModbusDevice.writeShortRegister(address: Int, value: Short) {
master.writeSingleRegister(address, SimpleInputRegister(value.toInt()))
}
public fun ModbusDevice.modbusRegister(
address: Int,
): ReadWriteProperty<ModbusDevice, Short> = object : ReadWriteProperty<ModbusDevice, Short> {

2
controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
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@ -15,7 +15,7 @@ import space.kscience.dataforge.names.NameToken
public open class ModbusDeviceBySpec<D: Device>(
context: Context,
spec: DeviceSpec<D>,
override val clientId: Int,
override val unitId: Int,
override val master: AbstractModbusMaster,
private val disposeMasterOnClose: Boolean = true,
meta: Meta = Meta.EMPTY,

2
controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt
View File

@ -152,7 +152,7 @@ public abstract class ModbusRegistryMap {
val rangeString = if (key.count == 1) {
key.address.toString()
} else {
"${key.address} - ${key.address + key.count}"
"${key.address} - ${key.address + key.count - 1}"
}
to.appendLine("${typeString}\t$rangeString\t$description")
}

2
demo/all-things/build.gradle.kts
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@ -12,7 +12,6 @@ repositories {
val ktorVersion: String by rootProject.extra
val rsocketVersion: String by rootProject.extra
val visionforgeVersion: String by rootProject.extra
dependencies {
implementation(projects.controlsCore)
@ -26,7 +25,6 @@ dependencies {
implementation("io.ktor:ktor-client-cio:$ktorVersion")
implementation("no.tornado:tornadofx:1.7.20")
implementation("space.kscience:plotlykt-server:0.6.0")
implementation("space.kscience:visionforge-plotly:$visionforgeVersion")
// implementation("com.github.Ricky12Awesome:json-schema-serialization:0.6.6")
implementation(spclibs.logback.classic)
}

14
demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
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@ -49,16 +49,16 @@ class MksPdr900Device(context: Context, meta: Meta) : DeviceBySpec<MksPdr900Devi
if (powerOnValue) {
val ans = talk("FP!ON")
if (ans == "ON") {
updateLogical(powerOn, true)
propertyChanged(powerOn, true)
} else {
updateLogical(error, "Failed to set power state")
propertyChanged(error, "Failed to set power state")
}
} else {
val ans = talk("FP!OFF")
if (ans == "OFF") {
updateLogical(powerOn, false)
propertyChanged(powerOn, false)
} else {
updateLogical(error, "Failed to set power state")
propertyChanged(error, "Failed to set power state")
}
}
}
@ -68,13 +68,13 @@ class MksPdr900Device(context: Context, meta: Meta) : DeviceBySpec<MksPdr900Devi
invalidate(error)
return if (answer.isNullOrEmpty()) {
// updateState(PortSensor.CONNECTED_STATE, false)
updateLogical(error, "No connection")
propertyChanged(error, "No connection")
null
} else {
val res = answer.toDouble()
if (res <= 0) {
updateLogical(powerOn, false)
updateLogical(error, "No power")
propertyChanged(powerOn, false)
propertyChanged(error, "No power")
null
} else {
res

4
demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
View File

@ -172,7 +172,7 @@ class PiMotionMasterDevice(
//Update port
//address = portSpec.node
port = portFactory(portSpec, context)
updateLogical(connected, true)
propertyChanged(connected, true)
// connector.open()
//Initialize axes
val idn = read(identity)
@ -196,7 +196,7 @@ class PiMotionMasterDevice(
it.close()
}
port = null
updateLogical(connected, false)
propertyChanged(connected, false)
}