node-opcua-address-space 2.51.0

package/src/state_machine/finite_state_machine.ts

@@ -0,0 +1,428 @@
+/**
+ * @module node-opcua-address-space
+ */
+import * as chalk from "chalk";
+import { UAState, UAStateVariable, UATransition, UATransition_Base,  UATransitionVariable } from "node-opcua-nodeset-ua";
+import { assert } from "node-opcua-assert";
+import { ObjectTypeIds } from "node-opcua-constants";
+import { coerceLocalizedText, LocalizedText, NodeClass } from "node-opcua-data-model";
+import { AttributeIds } from "node-opcua-data-model";
+import { NodeId } from "node-opcua-nodeid";
+import { StatusCodes } from "node-opcua-status-code";
+import { DataType } from "node-opcua-variant";
+import { BaseNode, UAMethod, UAObject, UAObjectType, UAVariable } from "node-opcua-address-space-base";
+import { registerNodePromoter } from "../../source/loader/register_node_promoter";
+
+import { UAStateMachineEx, TransitionSelector } from "../../source/interfaces/state_machine/ua_state_machine_type";
+import { UAObjectImpl } from "../ua_object_impl";
+import { UATransitionEx } from "../../source/interfaces/state_machine/ua_transition_ex";
+import { BaseNodeImpl } from "../base_node_impl";
+
+const doDebug = false;
+
+export declare interface UATransitionImpl extends UATransition,  UATransitionEx {
+}
+export class UATransitionImpl implements UATransition,  UATransitionEx  {}
+
+
+function getComponentFromTypeAndSubtype(typeDef: UAObjectType): UAObject[] {
+    const components_parts: BaseNode[][] = [];
+    components_parts.push(typeDef.getComponents());
+    while (typeDef.subtypeOfObj) {
+        typeDef = typeDef.subtypeOfObj;
+        components_parts.push(typeDef.getComponents());
+    }
+    return Array.prototype.concat.apply([], components_parts).filter((x: BaseNode) => x.nodeClass === NodeClass.Object);
+}
+
+export interface UAStateMachineImpl {
+    currentState: UAStateVariable<LocalizedText>;
+    lastTransition?: UATransitionVariable<LocalizedText>;
+
+    // Extra
+    _currentStateNode: UAState | null;
+}
+
+const defaultPredicate = (transitions: UATransition[], fromState: UAState, toState: UAState) => {
+    if (transitions.length === 0) {
+        return null;
+    }
+    if (transitions.length === 1) {
+        return transitions[0];
+    }
+    // tslint:disable-next-line: no-console
+    console.log(" FromState = ", fromState.browseName.toString());
+    // tslint:disable-next-line: no-console
+    console.log(" ToState   = ", toState.browseName.toString());
+    for (const transition of transitions) {
+        // tslint:disable-next-line: no-console
+        console.log("  possible transition : ", transition.browseName.toString(), " ", transition.nodeId.toString());
+    }
+    // tslint:disable-next-line: no-console
+    console.log(
+        "warning: a duplicated FromState Reference to the same target has been found.\nPlease check your model or provide a predicate method to select which one to use"
+    );
+    // tslint:disable-next-line: no-console
+    console.log("fromStateNode: ", fromState.toString());
+    return transitions[0];
+};
+
+/*
+ *
+ * @class StateMachine
+ * @constructor
+ * @extends UAObject
+ *
+ *
+ */
+export class UAStateMachineImpl extends UAObjectImpl implements UAStateMachineEx {
+    public getStates(): UAState[] {
+        const addressSpace = this.addressSpace;
+
+        const initialStateType = addressSpace.findObjectType("InitialStateType");
+        // istanbul ignore next
+        if (!initialStateType) {
+            throw new Error("cannot find InitialStateType");
+        }
+
+        const stateType = addressSpace.findObjectType("StateType");
+        // istanbul ignore next
+        if (!stateType) {
+            throw new Error("cannot find StateType");
+        }
+
+        assert(initialStateType.isSupertypeOf(stateType));
+
+        const typeDef = this.typeDefinitionObj;
+
+        let comp = getComponentFromTypeAndSubtype(typeDef);
+
+        comp = comp.filter((c) => {
+            if (!c.typeDefinitionObj || c.typeDefinitionObj.nodeClass !== NodeClass.ObjectType) {
+                return false;
+            }
+            return c.typeDefinitionObj.isSupertypeOf(stateType);
+        });
+
+        return comp as UAState[];
+    }
+
+    public get states(): UAState[] {
+        return this.getStates();
+    }
+
+    /**
+     * @method getStateByName
+     * @param name  the name of the state to get
+     * @return the state with the given name
+     */
+    public getStateByName(name: string): UAState | null {
+        let states = this.getStates();
+        states = states.filter((s: any) => {
+            return s.browseName.name === name;
+        });
+        assert(states.length <= 1);
+        return states.length === 1 ? (states[0] as any as UAState) : null;
+    }
+
+    public getTransitions(): UATransitionEx[] {
+        const addressSpace = this.addressSpace;
+
+        const transitionType = addressSpace.findObjectType("TransitionType");
+        // istanbul ignore next
+        if (!transitionType) {
+            throw new Error("cannot find TransitionType");
+        }
+        const typeDef = this.typeDefinitionObj;
+
+        let comp = getComponentFromTypeAndSubtype(typeDef);
+
+        comp = comp.filter((c) => {
+            if (!c.typeDefinitionObj || c.typeDefinitionObj.nodeClass !== NodeClass.ObjectType) {
+                return false;
+            }
+            return c.typeDefinitionObj.isSupertypeOf(transitionType);
+        });
+
+        return comp as UATransitionEx[];
+    }
+
+    public get transitions(): UATransitionEx[] {
+        return this.getTransitions();
+    }
+
+    /**
+     * return the node InitialStateType
+     * @property initialState
+     */
+    get initialState(): UAState | null {
+        const addressSpace = this.addressSpace;
+
+        const initialStateType = addressSpace.findObjectType("InitialStateType");
+        const typeDef = this.typeDefinitionObj;
+
+        let comp = getComponentFromTypeAndSubtype(typeDef);
+
+        comp = comp.filter((c: any) => c.typeDefinitionObj === initialStateType);
+
+        // istanbul ignore next
+        if (comp.length > 1) {
+            throw new Error(" More than 1 initial state in stateMachine");
+        }
+        return comp.length === 0 ? null : comp[0] as UAState;
+    }
+
+    /**
+     *
+     * @param node
+     * @private
+     */
+    public _coerceNode(node: UAState | BaseNode | null | string | NodeId): BaseNode | null {
+        if (node === null) {
+            return null;
+        }
+        const addressSpace = this.addressSpace;
+        if (node instanceof BaseNodeImpl) {
+            return node;
+        } else if (node instanceof NodeId) {
+            return addressSpace.findNode(node) as BaseNode;
+        } else if (typeof node === "string") {
+            return this.getStateByName(node) as any as BaseNode;
+        }
+        return null;
+    }
+
+    /**
+     * @method isValidTransition
+     * @param toStateNode
+     * @return {boolean}
+     */
+    public isValidTransition(toStateNode: UAState | string, predicate?: TransitionSelector): boolean {
+        // is it legal to go from state currentState to toStateNode;
+        if (!this.currentStateNode) {
+            return true;
+        }
+        const n = this.currentState.readValue();
+
+        // to be executed there must be a transition from currentState to toState
+        const transition = this.findTransitionNode(this.currentStateNode, toStateNode, predicate);
+        if (!transition) {
+            // istanbul ignore next
+            if (doDebug) {
+                // tslint:disable-next-line: no-console
+                console.log(" No transition from ", this.currentStateNode.browseName.toString(), " to ", toStateNode.toString());
+            }
+            return false;
+        }
+        return true;
+    }
+
+    /**
+     */
+    public findTransitionNode(
+        fromStateNode: NodeId | UAState | string | null,
+        toStateNode: NodeId | UAState | string | null,
+        predicate?: TransitionSelector
+    ): UATransitionEx | null {
+        const addressSpace = this.addressSpace;
+
+        const _fromStateNode = this._coerceNode(fromStateNode) as UAObject;
+        if (!_fromStateNode) {
+            return null;
+        }
+
+        const _toStateNode = this._coerceNode(toStateNode) as UAObject;
+        if (!_toStateNode) {
+            return null;
+        }
+
+        if (_fromStateNode.nodeClass !== NodeClass.Object) {
+            throw new Error("Internal Error");
+        }
+        if (_toStateNode && _toStateNode.nodeClass !== NodeClass.Object) {
+            throw new Error("Internal Error");
+        }
+
+        const stateType = addressSpace.findObjectType("StateType");
+        if (!stateType) {
+            throw new Error("Cannot find StateType");
+        }
+        assert((_fromStateNode.typeDefinitionObj as any).isSupertypeOf(stateType));
+        assert((_toStateNode.typeDefinitionObj as any).isSupertypeOf(stateType));
+
+        let transitions = _fromStateNode.findReferencesAsObject("FromState", false) as UATransitionImpl[];
+
+        transitions = transitions.filter((transition: any) => {
+            assert(transition.toStateNode.nodeClass === NodeClass.Object);
+            return transition.toStateNode === _toStateNode;
+        });
+        if (transitions.length === 0) {
+            // cannot find a transition from fromState to toState
+            return null;
+        }
+        // istanbul ignore next
+        if (transitions.length > 1) {
+            const selectedTransition = (predicate || defaultPredicate)(
+                transitions,
+                _fromStateNode as unknown as UAState,
+                _toStateNode as unknown as UAState
+            );
+            return selectedTransition as UATransitionEx;
+        }
+        return transitions[0];
+    }
+
+    public get currentStateNode(): UAState | null {
+        return this._currentStateNode;
+    }
+
+    /**
+     * @property currentStateNode
+     * @type BaseNode
+     */
+    public set currentStateNode(value: UAState | null) {
+        this._currentStateNode = value;
+    }
+
+    /**
+     */
+    public getCurrentState(): string | null {
+        // xx this.currentState.readValue().value.value.text
+        // xx this.shelvingState.currentStateNode.browseName.toString()
+        if (!this.currentStateNode) {
+            return null;
+        }
+        return this.currentStateNode.browseName.toString();
+    }
+
+    /**
+     * @method setState
+     */
+    public setState(toStateNode: string | UAState | null, predicate?: TransitionSelector): void {
+        if (!toStateNode) {
+            this.currentStateNode = null;
+            this.currentState.setValueFromSource({ dataType: DataType.LocalizedText, value: null }, StatusCodes.BadStateNotActive);
+            return;
+        }
+
+        if (typeof toStateNode === "string") {
+            const state = this.getStateByName(toStateNode);
+            // istanbul ignore next
+            if (!state) {
+                throw new Error("Cannot find state with name " + toStateNode);
+            }
+            assert(state.browseName.name!.toString() === toStateNode);
+            toStateNode = state;
+        }
+        const fromStateNode = this.currentStateNode;
+
+        toStateNode = this._coerceNode(toStateNode) as any as UAState;
+        assert(toStateNode.nodeClass === NodeClass.Object);
+
+        this.currentState.setValueFromSource(
+            {
+                dataType: DataType.LocalizedText,
+                value: coerceLocalizedText(toStateNode.browseName.toString())
+            },
+            StatusCodes.Good
+        );
+
+        this.currentStateNode = toStateNode;
+
+        const transitionNode = this.findTransitionNode(fromStateNode, toStateNode, predicate) as UATransitionImpl;
+
+        if (transitionNode) {
+            // xx console.log("transitionNode ",transitionNode.toString());
+            // The inherited Property SourceNode shall be filled with the NodeId of the StateMachine instance where the
+            // Transition occurs. If the Transition occurs in a SubStateMachine, then the NodeId of the SubStateMachine
+            // has to be used. If the Transition occurs between a StateMachine and a SubStateMachine, then the NodeId of
+            // the StateMachine has to be used, independent of the direction of the Transition.
+            // Transition identifies the Transition that triggered the Event.
+            // FromState identifies the State before the Transition.
+            // ToState identifies the State after the Transition.
+            this.raiseEvent("TransitionEventType", {
+                // Base EventType
+                // xx nodeId:      this.nodeId,
+                // TransitionEventType
+                // TransitionVariableType
+                transition: {
+                    dataType: "LocalizedText",
+                    value: (transitionNode as BaseNode).displayName[0]
+                },
+
+                "transition.id": transitionNode.transitionNumber.readValue().value,
+
+                fromState: {
+                    dataType: "LocalizedText",
+                    value: fromStateNode ? fromStateNode.displayName[0] : ""
+                }, // StateVariableType
+
+                "fromState.id": fromStateNode
+                    ? fromStateNode.stateNumber.readValue().value
+                    : {
+                          dataType: "Null"
+                      },
+
+                toState: {
+                    dataType: "LocalizedText",
+                    value: toStateNode.displayName[0]
+                }, // StateVariableType
+
+                "toState.id": toStateNode.stateNumber.readValue().value
+            });
+        } else {
+            if (fromStateNode && fromStateNode !== toStateNode) {
+                // istanbul ignore next
+                if (doDebug) {
+                    const f = fromStateNode.browseName.toString();
+                    const t = toStateNode.browseName.toString();
+                    // tslint:disable-next-line:no-console
+                    console.log(chalk.red("Warning"), " cannot raise event :  transition " + f + " to " + t + " is missing");
+                }
+            }
+        }
+
+        // also update executable flags on methods
+        for (const method of this.getMethods()) {
+            (method as any)._notifyAttributeChange(AttributeIds.Executable);
+        }
+    }
+
+    /**
+     * @internal
+     * @private
+     */
+    public _post_initialize(): void {
+        const addressSpace = this.addressSpace;
+        const finiteStateMachineType = addressSpace.findObjectType("FiniteStateMachineType");
+        if (!finiteStateMachineType) {
+            throw new Error("cannot find FiniteStateMachineType");
+        }
+
+        // xx assert(this.typeDefinitionObj && !this.subtypeOfObj);
+        // xx assert(!this.typeDefinitionObj || this.typeDefinitionObj.isSupertypeOf(finiteStateMachineType));
+        // get current Status
+
+        const d = this.currentState.readValue();
+
+        if (d.statusCode !== StatusCodes.Good) {
+            this.setState(null);
+        } else {
+            const txt =
+                d.value && d.value.value ? (d.value.value.text ? d.value.value.text.toString() : d.value.value.toString()) : "";
+            this.currentStateNode = this.getStateByName(txt);
+        }
+    }
+}
+
+export function promoteToStateMachine(node: UAObject): UAStateMachineEx {
+    if (node instanceof UAStateMachineImpl) {
+        return node; // already promoted
+    }
+    Object.setPrototypeOf(node, UAStateMachineImpl.prototype);
+    assert(node instanceof UAStateMachineImpl, "should now  be a State Machine");
+    const _node = node as unknown as UAStateMachineImpl;
+    _node._post_initialize();
+    return _node;
+}
+registerNodePromoter(ObjectTypeIds.FiniteStateMachineType, promoteToStateMachine);