Implement Tango messages

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

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? =
+public fun DeviceHub.getOrNull(nameString: String): Device? = getOrNull(nameString.toName())
-    this[deviceName]?.getProperty(propertyName)
+
+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 {

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)

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)

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)

controls-magix-client/src/commonMain/kotlin/ru/mipt/npm/controls/client/dfMagix.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,
@@ -46,12 +44,14 @@ public fun DeviceManager.launchMagixClient(
     }.launchIn(this)
 
     controller.messageOutput().onEach { 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" }
     }.launchIn(this)

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)
+}

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 }

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

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)

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
     }
 }

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

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;

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 ru.mipt.npm.magix.api.MagixMessage
-import space.kscience.dataforge.magix.api.MagixMessageFilter
+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

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 ru.mipt.npm.magix.api.MagixMessage
-import space.kscience.dataforge.magix.api.MagixMessageFilter
+import ru.mipt.npm.magix.api.MagixMessageFilter
-import space.kscience.dataforge.magix.api.filter
+import ru.mipt.npm.magix.api.filter
 import space.kscience.dataforge.magix.server.SseEvent
 import space.kscience.dataforge.magix.server.respondSse
 import java.util.*

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 ru.mipt.npm.magix.api.MagixMessage
-import space.kscience.dataforge.magix.api.MagixMessageFilter
+import ru.mipt.npm.magix.api.MagixMessageFilter
 import kotlin.coroutines.CoroutineContext
 import kotlin.coroutines.coroutineContext