Implement Tango messages

2021-06-20 16:37:03 +03:00 · 2021-06-20 16:37:03 +03:00 · a093f1921e
commit a093f1921e
parent 6e4bf51a6f
16 changed files with 186 additions and 65 deletions
--- a/controls-core/src/commonMain/kotlin/ru/mipt/npm/controls/api/Device.kt
+++ b/controls-core/src/commonMain/kotlin/ru/mipt/npm/controls/api/Device.kt
@ -36,7 +36,7 @@ public interface Device : Closeable, ContextAware {
     * Get the value of the property or throw error if property in not defined.
     * Suspend if property value is not available
     */
-    public suspend fun getProperty(propertyName: String): MetaItem?
+    public suspend fun getProperty(propertyName: String): MetaItem

    /**
     * Invalidate property and force recalculate
--- a/controls-core/src/commonMain/kotlin/ru/mipt/npm/controls/api/DeviceHub.kt
+++ b/controls-core/src/commonMain/kotlin/ru/mipt/npm/controls/api/DeviceHub.kt
@ -46,23 +46,29 @@ public interface DeviceHub : Provider {
 public operator fun DeviceHub.get(nameToken: NameToken): Device =
    devices[nameToken] ?: error("Device with name $nameToken not found in $this")

-public operator fun DeviceHub.get(name: Name): Device? = when {
+public fun DeviceHub.getOrNull(name: Name): Device? = when {
    name.isEmpty() -> this as? Device
    name.length == 1 -> get(name.firstOrNull()!!)
-    else -> (get(name.firstOrNull()!!) as? DeviceHub)?.get(name.cutFirst())
+    else -> (get(name.firstOrNull()!!) as? DeviceHub)?.getOrNull(name.cutFirst())
 }

-public operator fun DeviceHub.get(deviceName: String): Device? = get(deviceName.toName())
+public operator fun DeviceHub.get(name: Name): Device =
+    getOrNull(name) ?: error("Device with name $name not found in $this")

-public suspend fun DeviceHub.getProperty(deviceName: Name, propertyName: String): MetaItem? =
-    this[deviceName]?.getProperty(propertyName)
+public fun DeviceHub.getOrNull(nameString: String): Device? = getOrNull(nameString.toName())
+
+public operator fun DeviceHub.get(nameString: String): Device =
+    getOrNull(nameString) ?: error("Device with name $nameString not found in $this")
+
+public suspend fun DeviceHub.getProperty(deviceName: Name, propertyName: String): MetaItem =
+    this[deviceName].getProperty(propertyName)

 public suspend fun DeviceHub.setProperty(deviceName: Name, propertyName: String, value: MetaItem) {
-    this[deviceName]?.setProperty(propertyName, value)
+    this[deviceName].setProperty(propertyName, value)
 }

 public suspend fun DeviceHub.execute(deviceName: Name, command: String, argument: MetaItem?): MetaItem? =
-    this[deviceName]?.execute(command, argument)
+    this[deviceName].execute(command, argument)


 //suspend fun DeviceHub.respond(request: Envelope): EnvelopeBuilder {
--- a/controls-core/src/commonMain/kotlin/ru/mipt/npm/controls/controllers/DeviceController.kt
+++ b/controls-core/src/commonMain/kotlin/ru/mipt/npm/controls/controllers/DeviceController.kt
@ -4,7 +4,7 @@ import kotlinx.coroutines.flow.Flow
 import kotlinx.coroutines.flow.map
 import space.kscience.dataforge.control.api.Device
 import space.kscience.dataforge.control.api.DeviceHub
-import space.kscience.dataforge.control.api.get
+import space.kscience.dataforge.control.api.getOrNull
 import space.kscience.dataforge.control.messages.*
 import space.kscience.dataforge.meta.Meta
 import space.kscience.dataforge.meta.MetaItem
@ -146,7 +146,7 @@ public class DeviceController(
 public suspend fun DeviceHub.respondMessage(request: DeviceMessage): DeviceMessage {
    return try {
        val targetName = request.targetDevice?.toName() ?: Name.EMPTY
-        val device = this[targetName] ?: error("The device with name $targetName not found in $this")
+        val device = this.getOrNull(targetName) ?: error("The device with name $targetName not found in $this")
        DeviceController.respondMessage(device, targetName.toString(), request)
    } catch (ex: Exception) {
        DeviceMessage.error(ex, sourceDevice = deviceName, targetDevice = request.sourceDevice)
--- a/controls-core/src/commonMain/kotlin/ru/mipt/npm/controls/controllers/HubController.kt
+++ b/controls-core/src/commonMain/kotlin/ru/mipt/npm/controls/controllers/HubController.kt
@ -4,7 +4,7 @@ import kotlinx.coroutines.channels.Channel
 import kotlinx.coroutines.flow.Flow
 import kotlinx.coroutines.flow.consumeAsFlow
 import space.kscience.dataforge.control.api.DeviceHub
-import space.kscience.dataforge.control.api.get
+import space.kscience.dataforge.control.api.getOrNull
 import space.kscience.dataforge.control.messages.DeviceMessage
 import space.kscience.dataforge.misc.DFExperimental
 import space.kscience.dataforge.names.Name
@ -51,7 +51,7 @@ public class HubController(

    public suspend fun respondMessage(message: DeviceMessage): DeviceMessage = try {
        val targetName = message.targetDevice?.toName() ?: Name.EMPTY
-        val device = hub[targetName] ?: error("The device with name $targetName not found in $hub")
+        val device = hub.getOrNull(targetName) ?: error("The device with name $targetName not found in $hub")
        DeviceController.respondMessage(device, targetName.toString(), message)
    } catch (ex: Exception) {
        DeviceMessage.error(ex, sourceDevice = hub.deviceName, targetDevice = message.sourceDevice)
--- a/controls-magix-client/src/commonMain/kotlin/ru/mipt/npm/controls/client/TangoPayload.kt
+++ b/controls-magix-client/src/commonMain/kotlin/ru/mipt/npm/controls/client/TangoPayload.kt
@ -1,24 +0,0 @@
-package space.kscience.dataforge.control.client
-
-//public sealed class TangoPayload(
-//    val host: String,
-//    val device: String,
-//    val name: String,
-//    val timestamp: Long? = null,
-//    val quality: String = "VALID",
-//    val event: String? = null,
-////    val input: Any? = null,
-////    val output: Any? = null,
-////    val errors: Iterable<Any?>?,
-//)
-//
-//public class TangoAttributePayload(
-//    host: String,
-//    device: String,
-//    name: String,
-//    val value: Any? = null,
-//    timestamp: Long? = null,
-//    quality: String = "VALID",
-//    event: String? = null,
-//    errors: Iterable<Any?>?,
-//) : TangoPayload(host, device, name, timestamp, quality, event)
--- a/controls-magix-client/src/commonMain/kotlin/ru/mipt/npm/controls/client/magixClient.kt
+++ b/controls-magix-client/src/commonMain/kotlin/ru/mipt/npm/controls/client/magixClient.kt
@ -6,17 +6,17 @@ import kotlinx.coroutines.flow.launchIn
 import kotlinx.coroutines.flow.onEach
 import kotlinx.coroutines.launch
 import ru.mipt.npm.magix.api.MagixEndpoint
+import ru.mipt.npm.magix.api.MagixMessage
 import space.kscience.dataforge.context.error
 import space.kscience.dataforge.context.logger
 import space.kscience.dataforge.control.controllers.DeviceManager
 import space.kscience.dataforge.control.controllers.respondMessage
 import space.kscience.dataforge.control.messages.DeviceMessage
-import space.kscience.dataforge.magix.api.MagixMessage


 public const val DATAFORGE_MAGIX_FORMAT: String = "dataforge"

-private fun generateId(request: MagixMessage<DeviceMessage>): String = if (request.id != null) {
+internal fun generateId(request: MagixMessage<*>): String = if (request.id != null) {
    "${request.id}.response"
 } else {
    "df[${request.payload.hashCode()}"
@ -25,13 +25,11 @@ private fun generateId(request: MagixMessage<DeviceMessage>): String = if (reque
 /**
 * Communicate with server in [Magix format](https://github.com/waltz-controls/rfc/tree/master/1)
 */
-public fun DeviceManager.launchMagixClient(
+public fun DeviceManager.launchDfMagix(
    endpoint: MagixEndpoint<DeviceMessage>,
    endpointID: String = DATAFORGE_MAGIX_FORMAT,
 ): Job = context.launch {
    endpoint.subscribe().onEach { request ->
-        //TODO analyze action
-
        val responsePayload = respondMessage(request.payload)
        val response = MagixMessage(
            format = DATAFORGE_MAGIX_FORMAT,
@ -46,11 +44,13 @@ public fun DeviceManager.launchMagixClient(
    }.launchIn(this)

    controller.messageOutput().onEach { payload ->
-        MagixMessage(
-            format = DATAFORGE_MAGIX_FORMAT,
-            id = "df[${payload.hashCode()}]",
-            origin = endpointID,
-            payload = payload
+        endpoint.broadcast(
+            MagixMessage(
+                format = DATAFORGE_MAGIX_FORMAT,
+                id = "df[${payload.hashCode()}]",
+                origin = endpointID,
+                payload = payload
+            )
        )
    }.catch { error ->
        logger.error(error) { "Error while sending a message" }
--- a/controls-magix-client/src/commonMain/kotlin/ru/mipt/npm/controls/client/tangoMagix.kt
+++ b/controls-magix-client/src/commonMain/kotlin/ru/mipt/npm/controls/client/tangoMagix.kt
@ -0,0 +1,143 @@
+package ru.mipt.npm.controls.client
+
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.launch
+import kotlinx.serialization.Serializable
+import ru.mipt.npm.magix.api.MagixEndpoint
+import ru.mipt.npm.magix.api.MagixMessage
+import space.kscience.dataforge.context.error
+import space.kscience.dataforge.context.logger
+import space.kscience.dataforge.control.api.get
+import space.kscience.dataforge.control.client.generateId
+import space.kscience.dataforge.control.controllers.DeviceManager
+import space.kscience.dataforge.meta.MetaItem
+
+public const val TANGO_MAGIX_FORMAT: String = "tango"
+
+/*
+  See https://github.com/waltz-controls/rfc/tree/master/4 for details
+
+  "action":"read|write|exec|pipe",
+  "timestamp": "int",
+  "host":"tango_host",
+  "device":"device name",
+  "name":"attribute, command or pipe's name",
+  "[value]":"attribute's value",
+  "[quality]":"VALID|WARNING|ALARM",
+  "[argin]":"command argin",
+  "[argout]":"command argout",
+  "[data]":"pipe's data",
+  "[errors]":[]
+ */
+
+@Serializable
+public enum class TangoAction {
+    read,
+    write,
+    exec,
+    pipe
+}
+
+public enum class TangoQuality {
+    VALID,
+    WARNING,
+    ALARM
+}
+
+@Serializable
+public data class TangoPayload(
+    val action: TangoAction,
+    val timestamp: Int,
+    val host: String,
+    val device: String,
+    val name: String,
+    val value: MetaItem? = null,
+    val quality: TangoQuality = TangoQuality.VALID,
+    val argin: MetaItem? = null,
+    val argout: MetaItem? = null,
+    val data: MetaItem? = null,
+    val errors: List<String>? = null
+)
+
+public fun DeviceManager.launchTangoMagix(
+    endpoint: MagixEndpoint<TangoPayload>,
+    endpointID: String = TANGO_MAGIX_FORMAT,
+): Job = context.launch {
+
+    suspend inline fun respond(request: MagixMessage<TangoPayload>, payloadBuilder: (TangoPayload) -> TangoPayload) {
+        endpoint.broadcast(
+            request.copy(
+                id = generateId(request),
+                parentId = request.id,
+                origin = endpointID,
+                payload = payloadBuilder(request.payload)
+            )
+        )
+    }
+
+    endpoint.subscribe().onEach { request ->
+        try {
+            val device = get(request.payload.device)
+            when (request.payload.action) {
+                TangoAction.read -> {
+                    val value = device.getProperty(request.payload.name)
+                    respond(request) { requestPayload ->
+                        requestPayload.copy(
+                            value = value,
+                            quality = TangoQuality.VALID
+                        )
+                    }
+                }
+                TangoAction.write -> {
+                    request.payload.value?.let { value ->
+                        device.setProperty(request.payload.name, value)
+                    }
+                    //wait for value to be written and return final state
+                    val value = device.getProperty(request.payload.name)
+                    respond(request) { requestPayload ->
+                        requestPayload.copy(
+                            value = value,
+                            quality = TangoQuality.VALID
+                        )
+                    }
+                }
+                TangoAction.exec -> {
+                    val result = device.execute(request.payload.name, request.payload.argin)
+                    respond(request) { requestPayload ->
+                        requestPayload.copy(
+                            argout = result,
+                            quality = TangoQuality.VALID
+                        )
+                    }
+                }
+                TangoAction.pipe -> TODO("Pipe not implemented")
+            }
+        } catch (ex: Exception) {
+            logger.error(ex) { "Error while responding to message" }
+            endpoint.broadcast(
+                request.copy(
+                    id = generateId(request),
+                    parentId = request.id,
+                    origin = endpointID,
+                    payload = request.payload.copy(quality = TangoQuality.WARNING)
+                )
+            )
+        }
+    }.launchIn(this)
+
+//TODO implement subscriptions?
+//    controller.messageOutput().onEach { payload ->
+//        endpoint.broadcast(
+//            MagixMessage(
+//                format = TANGO_MAGIX_FORMAT,
+//                id = "df[${payload.hashCode()}]",
+//                origin = endpointID,
+//                payload = payload
+//            )
+//        )
+//    }.catch { error ->
+//        logger.error(error) { "Error while sending a message" }
+//    }.launchIn(this)
+}
--- a/controls-server/src/main/kotlin/ru/mipt/npm/controls/server/deviceWebServer.kt
+++ b/controls-server/src/main/kotlin/ru/mipt/npm/controls/server/deviceWebServer.kt
@ -29,7 +29,7 @@ import kotlinx.serialization.json.Json
 import kotlinx.serialization.json.JsonObject
 import kotlinx.serialization.json.buildJsonArray
 import kotlinx.serialization.json.put
-import space.kscience.dataforge.control.api.get
+import space.kscience.dataforge.control.api.getOrNull
 import space.kscience.dataforge.control.controllers.DeviceManager
 import space.kscience.dataforge.control.controllers.respondMessage
 import space.kscience.dataforge.control.messages.DeviceMessage
@ -115,7 +115,7 @@ public fun Application.deviceModule(
                        }
                        deviceNames.forEach { deviceName ->
                            val device =
-                                manager[deviceName] ?: error("The device with name $deviceName not found in $manager")
+                                manager.getOrNull(deviceName) ?: error("The device with name $deviceName not found in $manager")
                            div {
                                id = deviceName
                                h2 { +deviceName }
--- a/magix/magix-api/src/commonMain/kotlin/ru/mipt/npm/magix/api/MagixEndpoint.kt
+++ b/magix/magix-api/src/commonMain/kotlin/ru/mipt/npm/magix/api/MagixEndpoint.kt
@ -5,9 +5,6 @@ import kotlinx.coroutines.flow.map
 import kotlinx.serialization.KSerializer
 import kotlinx.serialization.json.Json
 import kotlinx.serialization.json.JsonElement
-import space.kscience.dataforge.magix.api.MagixMessage
-import space.kscience.dataforge.magix.api.MagixMessageFilter
-import space.kscience.dataforge.magix.api.replacePayload

 /**
 * Inwards API of magix endpoint used to build services
--- a/magix/magix-api/src/commonMain/kotlin/ru/mipt/npm/magix/api/MagixMessage.kt
+++ b/magix/magix-api/src/commonMain/kotlin/ru/mipt/npm/magix/api/MagixMessage.kt
@ -1,4 +1,4 @@
-package space.kscience.dataforge.magix.api
+package ru.mipt.npm.magix.api

 import kotlinx.serialization.Serializable
 import kotlinx.serialization.json.JsonElement
@ -28,7 +28,6 @@ public data class MagixMessage<T>(
    val id: String? = null,
    val parentId: String? = null,
    val user: JsonElement? = null,
-    val action: String? = null
 )

 /**
@ -36,4 +35,4 @@ public data class MagixMessage<T>(
 */
@Suppress("UNCHECKED_CAST")
 public fun <T, R> MagixMessage<T>.replacePayload(payloadTransform: (T) -> R): MagixMessage<R> =
-    MagixMessage(format, origin, payloadTransform(payload), target, id, parentId, user, action)
+    MagixMessage(format, origin, payloadTransform(payload), target, id, parentId, user)
--- a/magix/magix-api/src/commonMain/kotlin/ru/mipt/npm/magix/api/MagixMessageFilter.kt
+++ b/magix/magix-api/src/commonMain/kotlin/ru/mipt/npm/magix/api/MagixMessageFilter.kt
@ -1,4 +1,4 @@
-package space.kscience.dataforge.magix.api
+package ru.mipt.npm.magix.api

 import kotlinx.coroutines.flow.Flow
 import kotlinx.coroutines.flow.filter
@ -9,7 +9,6 @@ public data class MagixMessageFilter(
    val format: List<String?>? = null,
    val origin: List<String?>? = null,
    val target: List<String?>? = null,
-    val action: List<String?>? = null,
 ) {
    public companion object {
        public val ALL: MagixMessageFilter = MagixMessageFilter()
@ -28,6 +27,5 @@ public fun <T> Flow<MagixMessage<T>>.filter(filter: MagixMessageFilter): Flow<Ma
                && filter.origin?.contains(message.origin) ?: true
                && filter.origin?.contains(message.origin) ?: true
                && filter.target?.contains(message.target) ?: true
-                && filter.action?.contains(message.action) ?: true
    }
 }
--- a/magix/magix-api/src/commonMain/kotlin/ru/mipt/npm/magix/api/converters.kt
+++ b/magix/magix-api/src/commonMain/kotlin/ru/mipt/npm/magix/api/converters.kt
@ -5,6 +5,8 @@ import kotlinx.coroutines.Job
 import kotlinx.coroutines.flow.launchIn
 import kotlinx.coroutines.flow.onEach
 import ru.mipt.npm.magix.api.MagixEndpoint
+import ru.mipt.npm.magix.api.MagixMessage
+import ru.mipt.npm.magix.api.MagixMessageFilter

 /**
 * Launch magix message converter service
--- a/magix/magix-java-client/src/main/java/ru/mipt/npm/magix/client/MagixClient.java
+++ b/magix/magix-java-client/src/main/java/ru/mipt/npm/magix/client/MagixClient.java
@ -1,7 +1,7 @@
 package ru.mipt.npm.magix.client;

 import kotlinx.serialization.json.JsonElement;
-import space.kscience.dataforge.magix.api.MagixMessage;
+import ru.mipt.npm.magix.api.MagixMessage;

 import java.io.IOException;
 import java.util.concurrent.Flow;
--- a/magix/magix-java-client/src/main/kotlin/ru/mipt/npm/magix/client/ControlsMagixClient.kt
+++ b/magix/magix-java-client/src/main/kotlin/ru/mipt/npm/magix/client/ControlsMagixClient.kt
@ -4,8 +4,8 @@ import kotlinx.coroutines.jdk9.asPublisher
 import kotlinx.coroutines.runBlocking
 import kotlinx.serialization.KSerializer
 import ru.mipt.npm.magix.api.MagixEndpoint
-import space.kscience.dataforge.magix.api.MagixMessage
-import space.kscience.dataforge.magix.api.MagixMessageFilter
+import ru.mipt.npm.magix.api.MagixMessage
+import ru.mipt.npm.magix.api.MagixMessageFilter
 import space.kscience.dataforge.magix.service.RSocketMagixEndpoint
 import space.kscience.dataforge.magix.service.withTcp
 import java.util.concurrent.Flow
--- a/magix/magix-server/src/main/kotlin/ru/mipt/npm/magix/server/magixModule.kt
+++ b/magix/magix-server/src/main/kotlin/ru/mipt/npm/magix/server/magixModule.kt
@ -26,9 +26,9 @@ import kotlinx.html.*
 import kotlinx.serialization.KSerializer
 import kotlinx.serialization.json.JsonElement
 import ru.mipt.npm.magix.api.MagixEndpoint.Companion.magixJson
-import space.kscience.dataforge.magix.api.MagixMessage
-import space.kscience.dataforge.magix.api.MagixMessageFilter
-import space.kscience.dataforge.magix.api.filter
+import ru.mipt.npm.magix.api.MagixMessage
+import ru.mipt.npm.magix.api.MagixMessageFilter
+import ru.mipt.npm.magix.api.filter
 import space.kscience.dataforge.magix.server.SseEvent
 import space.kscience.dataforge.magix.server.respondSse
 import java.util.*
--- a/magix/magix-service/src/commonMain/kotlin/ru/mipt/npm/magix/service/RSocketMagixEndpoint.kt
+++ b/magix/magix-service/src/commonMain/kotlin/ru/mipt/npm/magix/service/RSocketMagixEndpoint.kt
@ -15,8 +15,8 @@ import kotlinx.coroutines.withContext
 import kotlinx.serialization.KSerializer
 import kotlinx.serialization.encodeToString
 import ru.mipt.npm.magix.api.MagixEndpoint
-import space.kscience.dataforge.magix.api.MagixMessage
-import space.kscience.dataforge.magix.api.MagixMessageFilter
+import ru.mipt.npm.magix.api.MagixMessage
+import ru.mipt.npm.magix.api.MagixMessageFilter
 import kotlin.coroutines.CoroutineContext
 import kotlin.coroutines.coroutineContext