Virtual device complete

build.gradle.kts

@@ -1,10 +1,11 @@
-plugins{
+plugins {
-    kotlin("jvm") version "1.4.0" apply false
+    id("ru.mipt.npm.project")
-    kotlin("js") version "1.4.0" apply false
+    kotlin("jvm") apply false
+    kotlin("js") apply false
 }
 
-val dataforgeVersion: String by extra("0.1.9-dev-2")
+val dataforgeVersion: String by extra("0.2.0-dev-3")
-val ktorVersion: String by extra("1.4.0")
+val ktorVersion: String by extra("1.4.1")
 
 allprojects {
     repositories {
@@ -19,5 +20,11 @@ allprojects {
     version = "0.0.1"
 }
 
-val githubProject by extra("dataforge-control")
+ksciencePublish {
-val bintrayRepo by extra("dataforge")
+    githubProject = "dataforge-control"
+    bintrayRepo = "dataforge"
+}
+
+apiValidation {
+    validationDisabled = true
+}

dataforge-device-core/src/commonMain/kotlin/hep/dataforge/control/api/DeviceHub.kt

@@ -14,7 +14,7 @@ public interface DeviceHub : Provider {
 
     override val defaultChainTarget: String get() = Device.DEVICE_TARGET
 
-    override fun provideTop(target: String): Map<Name, Any> {
+    override fun content(target: String): Map<Name, Any> {
         if (target == Device.DEVICE_TARGET) {
             return buildMap {
                 fun putAll(prefix: Name, hub: DeviceHub) {

dataforge-device-core/src/commonMain/kotlin/hep/dataforge/control/controllers/DeviceManager.kt

@@ -28,7 +28,7 @@ public class DeviceManager : AbstractPlugin(), DeviceHub {
         top[name] = device
     }
 
-    override fun provideTop(target: String): Map<Name, Any> = super<DeviceHub>.provideTop(target)
+    override fun content(target: String): Map<Name, Any> = super<DeviceHub>.content(target)
 
     public companion object : PluginFactory<DeviceManager> {
         override val tag: PluginTag = PluginTag("devices", group = PluginTag.DATAFORGE_GROUP)

dataforge-device-server/src/main/kotlin/hep/dataforge/control/server/conversions.kt

@@ -39,5 +39,5 @@ public suspend fun ApplicationCall.respondMessage(builder: DeviceMessage.() -> U
 }
 
 public suspend fun ApplicationCall.respondFail(builder: DeviceMessage.() -> Unit) {
-    respondMessage(DeviceMessage.fail(null, builder))
+    respondMessage(DeviceMessage.fail(null, block = builder))
 }

ktor-sse/src/jvmTest/kotlin/ru/mipt/npm/io/sse/SseTest.kt

@@ -17,12 +17,11 @@ import io.ktor.server.cio.CIO
 import io.ktor.server.engine.embeddedServer
 import io.ktor.util.KtorExperimentalAPI
 import io.ktor.utils.io.ByteReadChannel
-import kotlinx.coroutines.delay
+import kotlinx.coroutines.*
 import kotlinx.coroutines.flow.Flow
 import kotlinx.coroutines.flow.collect
 import kotlinx.coroutines.flow.flow
 import kotlinx.coroutines.flow.map
-import kotlinx.coroutines.runBlocking
 import org.junit.jupiter.api.Test
 
 @OptIn(KtorExperimentalAPI::class)
@@ -33,19 +32,20 @@ suspend fun ApplicationCall.respondSse(events: Flow<SseEvent>) {
     }
 }
 
-suspend fun HttpClient.readSse(address: String, block: suspend (SseEvent) -> Unit): Unit =
+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)
     }
+}
 
 class SseTest {
     @OptIn(KtorExperimentalAPI::class)
     @Test
     fun testSseIntegration() {
-        runBlocking {
+        runBlocking(Dispatchers.Default) {
             val server = embeddedServer(CIO, 12080) {
                 routing {
                     get("/") {
@@ -67,6 +67,8 @@ class SseTest {
             client.readSse("http://localhost:12080") {
                 println(it)
             }
+            delay(2000)
+            println("Closing the client after waiting")
             client.close()
             server.stop(1000, 1000)
         }

motors/build.gradle.kts

@@ -5,6 +5,10 @@ plugins {
 
 //TODO to be moved to a separate project
 
+kotlin{
+    explicitApi = null
+}
+
 dependencies {
     implementation(project(":dataforge-device-core"))
 }

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

@@ -0,0 +1,210 @@
+package ru.mipt.npm.devices.pimotionmaster
+
+import hep.dataforge.context.Context
+import hep.dataforge.control.ports.AbstractPort
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.channels.Channel
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.collect
+import kotlinx.coroutines.flow.receiveAsFlow
+import kotlinx.coroutines.launch
+import kotlin.math.abs
+import kotlin.time.Duration
+
+public abstract class VirtualDevice {
+    protected abstract val scope: CoroutineScope
+
+    public abstract suspend fun evaluateRequest(request: ByteArray)
+
+    private val toSend = Channel<ByteArray>(100)
+
+    public val responses: Flow<ByteArray> get() = toSend.receiveAsFlow()
+
+    protected suspend fun send(response: ByteArray) {
+        toSend.send(response)
+    }
+//
+//    protected suspend fun respond(response: String){
+//        respond(response.encodeToByteArray())
+//    }
+
+    protected fun respondInFuture(delay: Duration, response: suspend () -> ByteArray): Job = scope.launch {
+        delay(delay)
+        send(response())
+    }
+}
+
+public class VirtualPort(private val device: VirtualDevice, context: Context) : AbstractPort(context) {
+
+    private val respondJob = scope.launch {
+        device.responses.collect {
+            receive(it)
+        }
+    }
+
+    override suspend fun write(data: ByteArray) {
+        device.evaluateRequest(data)
+    }
+
+    override fun close() {
+        respondJob.cancel()
+        super.close()
+    }
+}
+
+
+class PiMotionMasterVirtualDevice(override val scope: CoroutineScope, axisIds: List<String>) : VirtualDevice() {
+
+    init {
+        //add asynchronous send logic here
+    }
+
+    private val axisID = "0"
+
+    private var errorCode: Int = 0
+
+    private val axisState: Map<String, VirtualAxisState> = axisIds.associateWith { VirtualAxisState() }
+
+    private inner class VirtualAxisState {
+        private var movementJob: Job? = null
+
+        private fun startMovement() {
+            movementJob?.cancel()
+            movementJob = scope.launch {
+                while (!onTarget()) {
+                    delay(100)
+                    val proposedStep = velocity / 10
+                    val distance = targetPosition - position
+                    when {
+                        abs(distance) < proposedStep -> {
+                            position = targetPosition
+                        }
+                        targetPosition > position -> {
+                            position += proposedStep
+                        }
+                        else -> {
+                            position -= proposedStep
+                        }
+                    }
+                }
+            }
+        }
+
+        var referenceMode = 1
+
+        var velocity = 0.6
+
+        var position = 0.0
+            private set
+        var servoMode: Int = 1
+
+        var targetPosition = 0.0
+            set(value) {
+                field = value
+                if (servoMode == 1) {
+                    startMovement()
+                }
+            }
+
+        fun onTarget() = abs(targetPosition - position) < 0.001
+
+        val minPosition = 0.0
+        val maxPosition = 26.0
+    }
+
+
+    private fun respond(str: String) = scope.launch {
+        send((str + "\n").encodeToByteArray())
+    }
+
+    private fun respondForAllAxis(axisIds: List<String>, extract: VirtualAxisState.(index: String) -> Any) {
+        val selectedAxis = if (axisIds.isEmpty()) {
+            axisState.keys
+        } else {
+            axisIds
+        }
+        val response = selectedAxis.joinToString(postfix = "\n", separator = " \n") {
+            axisState.getValue(it).extract(it).toString()
+        }
+        respond(response)
+    }
+
+    override suspend fun evaluateRequest(request: ByteArray) {
+        assert(request.last() == '\n'.toByte())
+        val string = request.decodeToString().substringBefore("\n")
+        val parts = string.split(' ')
+        val command = parts.firstOrNull() ?: error("Command not present")
+
+        val axisIds: List<String> = parts.drop(1)
+
+        when (command) {
+            "XXX" -> respond("")
+            "IDN?" -> respond("DataForge-device demo")
+            "VER?" -> respond("test")
+            "HLP?" -> respond("""
+                The following commands are valid: 
+                #4 Request Status Register 
+                #5 Request Motion Status 
+                #7 Request Controller Ready Status 
+                #24 Stop All Axes 
+                *IDN? Get Device Identification 
+                CST? [{<AxisID>}] Get Assignment Of Stages To Axes 
+                CSV? Get Current Syntax Version 
+                ERR? Get Error Number 
+                FRF [{<AxisID>}] Fast Reference Move To Reference Switch 
+                FRF? [{<AxisID>}] Get Referencing Result 
+                HLP? Get List Of Available Commands 
+                HLT [{<AxisID>}] Halt Motion Smoothly 
+                IFC {<InterfacePam> <PamValue>} Set Interface Parameters Temporarily 
+                IFC? [{<InterfacePam>}] Get Current Interface Parameters 
+                IFS <Pswd> {<InterfacePam> <PamValue>} Set Interface Parameters As Default Values 
+                IFS? [{<InterfacePam>}] Get Interface Parameters As Default Values 
+                INI Initialize Axes 
+                MAN? <CMD> Get Help String For Command 
+                MOV {<AxisID> <Position>} Set Target Position (start absolute motion) 
+                MOV? [{<AxisID>}] Get Target Position 
+                ONT? [{<AxisID>}] Get On-Target State 
+                POS {<AxisID> <Position>} Set Real Position (does not cause motion)
+                POS? [{<AxisID>}] Get Real Position 
+                RBT Reboot System 
+                RON {<AxisID> <ReferenceOn>} Set Reference Mode 
+                RON? [{<AxisID>}] Get Reference Mode 
+                SAI? [ALL] Get List Of Current Axis Identifiers 
+                SRG? {<AxisID> <RegisterID>} Query Status Register Value 
+                STP Stop All Axes 
+                SVO {<AxisID> <ServoState>} Set Servo Mode 
+                SVO? [{<AxisID>}] Get Servo Mode 
+                TMN? [{<AxisID>}] Get Minimum Commandable Position 
+                TMX? [{<AxisID>}] Get Maximum Commandable Position 
+                VEL {<AxisID> <Velocity>} Set Closed-Loop Velocity 
+                VEL? [{<AxisID>}] Get Closed-Loop Velocity 
+                VER? Get Versions Of Firmware And Drivers 
+                end of help
+            """.trimIndent())
+            "ERR?" -> respond(errorCode.toString())
+            "SAI?" -> respondForAllAxis(axisIds) { it }
+            "CST?" -> respond(WAT)
+            "RON?" -> respondForAllAxis(axisIds) { referenceMode }
+            "FRF?" -> respondForAllAxis(axisIds) { "1" } // WAT?
+            "SVO?" -> respondForAllAxis(axisIds) { servoMode }
+            "MVO?" -> respondForAllAxis(axisIds) { targetPosition }
+            "POS?" -> respondForAllAxis(axisIds) { position }
+            "TMN?" -> respondForAllAxis(axisIds) { minPosition }
+            "TMX?" -> respondForAllAxis(axisIds) { maxPosition }
+            "VEL?" -> respondForAllAxis(axisIds) { velocity }
+            "SRG?" -> respond(WAT)
+            "SVO" -> {
+                val requestAxis = parts[1]
+                val servoMode = parts.last()
+                axisState[requestAxis]?.servoMode = servoMode.toInt()
+            }
+            else -> errorCode = 2 // do not send anything. Ser error code
+        }
+    }
+
+    companion object {
+        private const val WAT = "WAT?"
+    }
+}

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

@@ -1,45 +0,0 @@
-package ru.mipt.npm.devices.pimotionmaster
-
-import hep.dataforge.context.Context
-import hep.dataforge.control.ports.AbstractPort
-
-abstract class VirtualPort(context: Context) : AbstractPort(context)
-
-
-class PiMotionMasterVirtualPort(context: Context) : VirtualPort(context) {
-
-    init {
-        //add asynchronous send logic here
-    }
-
-    private val axisID = "0"
-
-    private var errorCode: Int = 0
-    private var velocity: Float = 1.0f
-    private var position: Float = 0.0f
-    private var servoMode: Int = 1
-    private var targetPosition: Float = 0.0f
-
-
-    private fun receive(str: String) = receive((str + "\n").toByteArray())
-
-    override suspend fun write(data: ByteArray) {
-        assert(data.last() == '\n'.toByte())
-        val string = data.decodeToString().substringBefore("\n")
-        val parts = string.split(' ')
-        val command = parts.firstOrNull() ?: error("Command not present")
-        when (command) {
-            "XXX" -> receive("WAT?")
-            "VER?" -> receive("test")
-            "ERR?" -> receive(errorCode.toString())
-            "SVO?" -> receive("$axisID=$servoMode")
-            "SVO" ->{
-                val requestAxis = parts[1]
-                if(requestAxis == axisID) {
-                    servoMode = parts[2].toInt()
-                }
-            }
-            else -> errorCode = 2 // do not send anything. Ser error code
-        }
-    }
-}

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

@@ -66,7 +66,8 @@ fun CoroutineScope.launchPiDebugServer(port: Int, virtualPort: Port): Job = laun
 
 fun main() {
     val port = 10024
-    val virtualPort = PiMotionMasterVirtualPort(Global)
+    val virtualDevice = PiMotionMasterVirtualDevice(Global, listOf("1","2"))
+    val virtualPort = VirtualPort(virtualDevice, Global)
     runBlocking(Dispatchers.Default) {
         val serverJob = launchPiDebugServer(port, virtualPort)
         readLine()

settings.gradle.kts

@@ -1,6 +1,6 @@
 pluginManagement {
-    val kotlinVersion = "1.4.10"
+    val kotlinVersion = "1.4.20-M1"
-    val toolsVersion = "0.6.0"
+    val toolsVersion = "0.6.3-dev-1.4.20-M1"
 
     repositories {
         mavenLocal()
@@ -14,6 +14,7 @@ pluginManagement {
     }
 
     plugins {
+        id("ru.mipt.npm.project") version toolsVersion
         id("ru.mipt.npm.mpp") version toolsVersion
         id("ru.mipt.npm.jvm") version toolsVersion
         id("ru.mipt.npm.js") version toolsVersion