unetjs 1.1.0 → 2.0.2

package/dist/esm/unet.js

@@ -1,4 +1,4 @@
-/* unet.js v1.1.0 2022-02-19T07:01:46.580Z */
+/* unet.js v2.0.2 2022-06-10T03:18:03.319Z */
 
 /* fjage.js v1.9.1-rc6 */
 
@@ -1395,6 +1395,268 @@ let UnetMessages = {
   'SaveStateReq'           : MessageClass('org.arl.unet.state.SaveStateReq')
 };
 
+/**
+  * Convert coordinates from a local coordinates to GPS coordinate
+  * @param {Array} origin - Local coordinate system's origin as `[latitude, longitude]`
+  * @param {Number} x - X coordinate of the local coordinate to be converted
+  * @param {Number} y - Y coordinate of the local coordinate to be converted
+  * @returns {Array} - GPS coordinates (in decimal degrees) as `[latitude, longitude]`
+  */
+
+function toGps(origin, x, y) {
+  let coords = [] ;
+  let [xScale,yScale] = _initConv(origin[0]);
+  coords[1] = x/xScale + origin[1];
+  coords[0] = y/yScale + origin[0];
+  return coords;
+}
+
+/**
+  * Convert coordinates from a GPS coordinates to local coordinate
+  * @param {Array} origin - Local coordinate system's origin as `[latitude, longitude]`
+  * @param {Number} lat - Latitude of the GPS coordinate to be converted
+  * @param {Number} lon - Longitude of the GPS coordinate to be converted
+  * @returns {Array} - GPS coordinates (in decimal degrees) as `[latitude, longitude]`
+  */
+function toLocal(origin, lat, lon) {
+  let pos = [];
+  let [xScale,yScale] = _initConv(origin[0]);
+  pos[0] = (lon-origin[1]) * xScale;
+  pos[1] = (lat-origin[0]) * yScale;
+  return pos;
+}
+
+function _initConv(lat){
+  let rlat = lat * Math.PI/180;
+  let yScale = 111132.92 - 559.82*Math.cos(2*rlat) + 1.175*Math.cos(4*rlat) - 0.0023*Math.cos(6*rlat);
+  let xScale = 111412.84*Math.cos(rlat) - 93.5*Math.cos(3*rlat) + 0.118*Math.cos(5*rlat);
+  return [xScale, yScale];
+}
+
+/**
+ * A message which requests the transmission of the datagram from the Unet
+ *
+ * @typedef {Message} DatagramReq
+ * @property {number[]} data - data as an Array of bytes
+ * @property {number} from - from/source node address
+ * @property {number} to - to/destination node address
+ * @property {number} protocol - protocol number to be used to send this Datagram
+ * @property {boolean} reliability - true if Datagram should be reliable, false if unreliable
+ * @property {number} ttl - time-to-live for the datagram. Time-to-live is advisory, and an agent may choose it ignore it
+ */
+
+/**
+ * Notification of received datagram message received by the Unet node.
+ *
+ * @typedef {Message} DatagramNtf
+ * @property {number[]} data - data as an Array of bytes
+ * @property {number} from - from/source node address
+ * @property {number} to - to/destination node address
+ * @property {number} protocol - protocol number to be used to send this Datagram
+ * @property {number} ttl - time-to-live for the datagram. Time-to-live is advisory, and an agent may choose it ignore it
+ */
+
+/**
+ * An identifier for an agent or a topic.
+ * @external AgentID
+ * @see {@link https://org-arl.github.io/fjage/jsdoc/|fjåge.js Documentation}
+ */
+
+/**
+ * Services supported by fjage agents.
+ * @external Services
+ * @see {@link https://org-arl.github.io/fjage/jsdoc/|fjåge.js Documentation}
+ */
+
+/**
+ *  An action represented by a message.
+ * @external Performative
+ * @see {@link https://org-arl.github.io/fjage/jsdoc/|fjåge.js Documentation}
+ */
+
+/**
+ * Function to creates a unqualified message class based on a fully qualified name.
+ * @external MessageClass
+ * @see {@link https://org-arl.github.io/fjage/jsdoc/|fjåge.js Documentation}
+ */
+
+/**
+ * A caching CachingAgentID which caches Agent parameters locally.
+ *
+ * @class
+ * @extends AgentID
+ * @param {string | AgentID} name - name of the agent or an AgentID to copy
+ * @param {boolean} topic - name of topic
+ * @param {Gateway} owner - Gateway owner for this AgentID
+ * @param {Boolean} [greedy=true] - greedily fetches and caches all parameters if this Agent
+ *
+*/
+class CachingAgentID extends AgentID {
+
+  constructor(name, topic, owner, greedy=true) {
+    if (name instanceof AgentID) {
+      super(name.getName(), name.topic, name.owner);
+    } else {
+      super(name, topic, owner);
+    }
+    this.greedy = greedy;
+    this.cache = {};
+  }
+
+  /**
+   * Sets parameter(s) on the Agent referred to by this AgentID, and caches the parameter(s).
+   *
+   * @param {(string|string[])} params - parameters name(s) to be set
+   * @param {(Object|Object[])} values - parameters value(s) to be set
+   * @param {number} [index=-1] - index of parameter(s) to be set
+   * @param {number} [timeout=5000] - timeout for the response
+   * @returns {Promise<(Object|Object[])>} - a promise which returns the new value(s) of the parameters
+   */
+  async set(params, values, index=-1, timeout=5000) {
+    let s = await super.set(params, values, index, timeout);
+    this._updateCache(params, s, index);
+  }
+
+  /**
+   * Gets parameter(s) on the Agent referred to by this AgentID, getting them from the cache if possible.
+   *
+   * @param {(string|string[])} params - parameters name(s) to be fetched
+   * @param {number} [index=-1] - index of parameter(s) to be fetched
+   * @param {number} [timeout=5000] - timeout for the response
+   * @param {number} [maxage=5000] - maximum age of the cached result to retreive
+   * @returns {Promise<(Object|Object[])>} - a promise which returns the value(s) of the parameters
+   */
+  async get(params, index=-1, timeout=5000, maxage=5000) {
+    if (this._isCached(params, index, maxage)) return this._getCache(params, index);
+    if (this.greedy && !(Array.isArray(params) && params.includes('name')) && params != 'name') {
+      let rsp = await super.get(null, index, timeout);
+      this._updateCache(null, rsp, index);
+      if (Array.isArray(params)) {
+        return params.map(p => {
+          let f = Object.keys(rsp).find(rv => this._toNamed(rv) === p);
+          return f ? rsp[f] : null;
+        });
+      } else {
+        let f = Object.keys(rsp).find(rv => this._toNamed(rv) === params);
+        return f ? rsp[f] : null;
+      }
+    } else {
+      let r = await super.get(params, index, timeout);
+      this._updateCache(params, r, index);
+      return r;
+    }
+  }
+
+  _updateCache(params, vals, index) {
+    if (vals == null || Array.isArray(vals) && vals.every(v => v == null)) return;
+    if (params == null) {
+      params = Object.keys(vals);
+      vals = Object.values(vals);
+    } else if (!Array.isArray(params)) params = [params];
+    if (!Array.isArray(vals)) vals = [vals];
+    params = params.map(this._toNamed);
+    if (this.cache[index.toString()] === undefined) this.cache[index.toString()] = {};
+    let c = this.cache[index.toString()];
+    for (let i = 0; i < params.length; i++) {
+      if (c[params[i]] === undefined) c[params[i]] = {};
+      c[params[i]].value = vals[i];
+      c[params[i]].ctime = Date.now();
+    }
+  }
+
+  _isCached(params, index, maxage) {
+    if (maxage <= 0) return false;
+    if (params == null) return false;
+    let c = this.cache[index.toString()];
+    if (!c) {
+      return false;
+    }
+    if (!Array.isArray(params)) params = [params];
+    const rv = params.every(p => {
+      p = this._toNamed(p);
+      return (p in c) && (Date.now() - c[p].ctime <= maxage);
+    });
+    return rv;
+  }
+
+  _getCache(params, index) {
+    let c = this.cache[index.toString()];
+    if (!c) return null;
+    if (!Array.isArray(params)){
+      if (params in c) return c[params].value;
+      return null;
+    }else {
+      return params.map(p => p in c ? c[p].value : null);
+    }
+  }
+
+  _toNamed(param) {
+    const idx = param.lastIndexOf('.');
+    if (idx < 0) return param;
+    else return param.slice(idx+1);
+  }
+
+}
+
+
+class CachingGateway extends Gateway{
+
+  /**
+   * Get an AgentID for a given agent name.
+   *
+   * @param {string} name - name of agent
+   * @param {Boolean} [caching=true] - if the AgentID should cache parameters
+   * @param {Boolean} [greedy=true] - greedily fetches and caches all parameters if this Agent
+   * @returns {AgentID|CachingAgentID} - AgentID for the given name
+   */
+  agent(name, caching=true, greedy=true) {
+    const aid = super.agent(name);
+    return caching ? new CachingAgentID(aid, null, null, greedy) : aid;
+  }
+
+  /**
+   * Returns an object representing the named topic.
+   *
+   * @param {string|AgentID} topic - name of the topic or AgentID
+   * @param {string} topic2 - name of the topic if the topic param is an AgentID
+   * @param {Boolean} [caching=true] - if the AgentID should cache parameters
+   * @param {Boolean} [greedy=true] - greedily fetches and caches all parameters if this Agent
+   * @returns {AgentID|CachingAgentID} - object representing the topic
+   */
+  topic(topic, topic2, caching=true, greedy=true) {
+    const aid = super.topic(topic, topic2);
+    return caching ? new CachingAgentID(aid, null, null, greedy) : aid;
+  }
+
+  /**
+   * Finds an agent that provides a named service. If multiple agents are registered
+   * to provide a given service, any of the agents' id may be returned.
+   *
+   * @param {string} service - the named service of interest
+   * @param {Boolean} [caching=true] - if the AgentID should cache parameters
+   * @param {Boolean} [greedy=true] - greedily fetches and caches all parameters if this Agent
+   * @returns {Promise<?AgentID|CachingAgentID>} - a promise which returns an agent id for an agent that provides the service when resolved
+   */
+  async agentForService(service, caching=true, greedy=true) {
+    const aid = await super.agentForService(service);
+    if (!aid) return aid;
+    return caching ? new CachingAgentID(aid, null, null, greedy) : aid;
+  }
+
+  /**
+   * Finds all agents that provides a named service.
+   *
+   * @param {string} service - the named service of interest
+   * @param {Boolean} [caching=true] - if the AgentID should cache parameters
+   * @param {Boolean} [greedy=true] - greedily fetches and caches all parameters if this Agent
+   * @returns {Promise<?AgentID|CachingAgentID[]>} - a promise which returns an array of all agent ids that provides the service when resolved
+   */
+  async agentsForService(service, caching=true, greedy=true) {
+    const aids = await super.agentsForService(service);
+    return caching ? aids.map(a => new CachingAgentID(a, null, null, greedy)) : aids;
+  }
+}
+
 const REQUEST_TIMEOUT = 1000;
 
 const AddressResolutionReq = UnetMessages.AddressResolutionReq;
@@ -1422,7 +1684,7 @@ class UnetSocket {
 
   constructor(hostname, port, path='') {
     return (async () => {
-      this.gw = new Gateway({
+      this.gw = new CachingGateway({
         hostname : hostname,
         port : port,
         path : path
@@ -1633,31 +1895,34 @@ class UnetSocket {
   /**
    * Gets an AgentID providing a specified service for low-level access to UnetStack
    * @param {string} svc - the named service of interest
+   * @param {Boolean} caching - if the AgentID should cache parameters
    * @returns {Promise<?AgentID>} - a promise which returns an {@link AgentID} that provides the service when resolved
    */
-  async agentForService(svc) {
+  async agentForService(svc, caching=true) {
     if (this.gw == null) return null;
-    return await this.gw.agentForService(svc);
+    return await this.gw.agentForService(svc, caching);
   }
 
   /**
    *
    * @param {string} svc - the named service of interest
+   * @param {Boolean} caching - if the AgentID should cache parameters
    * @returns {Promise<AgentID[]>} - a promise which returns an array of {@link AgentID|AgentIDs} that provides the service when resolved
    */
-  async agentsForService(svc) {
+  async agentsForService(svc, caching=true) {
     if (this.gw == null) return null;
-    return await this.gw.agentsForService(svc);
+    return await this.gw.agentsForService(svc, caching``);
   }
 
   /**
    * Gets a named AgentID for low-level access to UnetStack.
    * @param {string} name - name of agent
+   * @param {Boolean} caching - if the AgentID should cache parameters
    * @returns {AgentID} - AgentID for the given name
    */
-  agent(name) {
+  agent(name, caching=true) {
     if (this.gw == null) return null;
-    return this.gw.agent(name);
+    return this.gw.agent(name, caching);
   }
 
   /**
@@ -1677,4 +1942,4 @@ class UnetSocket {
   }
 }
 
-export { AgentID, Gateway, Message, MessageClass, Performative, Protocol, Services, UnetMessages, UnetSocket };
+export { AgentID, CachingAgentID, CachingGateway as Gateway, Message, MessageClass, Performative, Protocol, Services, UnetMessages, UnetSocket, toGps, toLocal };

package/dist/unetjs.js

@@ -1399,6 +1399,268 @@
     'SaveStateReq'           : MessageClass('org.arl.unet.state.SaveStateReq')
   };
 
+  /**
+    * Convert coordinates from a local coordinates to GPS coordinate
+    * @param {Array} origin - Local coordinate system's origin as `[latitude, longitude]`
+    * @param {Number} x - X coordinate of the local coordinate to be converted
+    * @param {Number} y - Y coordinate of the local coordinate to be converted
+    * @returns {Array} - GPS coordinates (in decimal degrees) as `[latitude, longitude]`
+    */
+
+  function toGps(origin, x, y) {
+    let coords = [] ;
+    let [xScale,yScale] = _initConv(origin[0]);
+    coords[1] = x/xScale + origin[1];
+    coords[0] = y/yScale + origin[0];
+    return coords;
+  }
+
+  /**
+    * Convert coordinates from a GPS coordinates to local coordinate
+    * @param {Array} origin - Local coordinate system's origin as `[latitude, longitude]`
+    * @param {Number} lat - Latitude of the GPS coordinate to be converted
+    * @param {Number} lon - Longitude of the GPS coordinate to be converted
+    * @returns {Array} - GPS coordinates (in decimal degrees) as `[latitude, longitude]`
+    */
+  function toLocal(origin, lat, lon) {
+    let pos = [];
+    let [xScale,yScale] = _initConv(origin[0]);
+    pos[0] = (lon-origin[1]) * xScale;
+    pos[1] = (lat-origin[0]) * yScale;
+    return pos;
+  }
+
+  function _initConv(lat){
+    let rlat = lat * Math.PI/180;
+    let yScale = 111132.92 - 559.82*Math.cos(2*rlat) + 1.175*Math.cos(4*rlat) - 0.0023*Math.cos(6*rlat);
+    let xScale = 111412.84*Math.cos(rlat) - 93.5*Math.cos(3*rlat) + 0.118*Math.cos(5*rlat);
+    return [xScale, yScale];
+  }
+
+  /**
+   * A message which requests the transmission of the datagram from the Unet
+   *
+   * @typedef {Message} DatagramReq
+   * @property {number[]} data - data as an Array of bytes
+   * @property {number} from - from/source node address
+   * @property {number} to - to/destination node address
+   * @property {number} protocol - protocol number to be used to send this Datagram
+   * @property {boolean} reliability - true if Datagram should be reliable, false if unreliable
+   * @property {number} ttl - time-to-live for the datagram. Time-to-live is advisory, and an agent may choose it ignore it
+   */
+
+  /**
+   * Notification of received datagram message received by the Unet node.
+   *
+   * @typedef {Message} DatagramNtf
+   * @property {number[]} data - data as an Array of bytes
+   * @property {number} from - from/source node address
+   * @property {number} to - to/destination node address
+   * @property {number} protocol - protocol number to be used to send this Datagram
+   * @property {number} ttl - time-to-live for the datagram. Time-to-live is advisory, and an agent may choose it ignore it
+   */
+
+  /**
+   * An identifier for an agent or a topic.
+   * @external AgentID
+   * @see {@link https://org-arl.github.io/fjage/jsdoc/|fjåge.js Documentation}
+   */
+
+  /**
+   * Services supported by fjage agents.
+   * @external Services
+   * @see {@link https://org-arl.github.io/fjage/jsdoc/|fjåge.js Documentation}
+   */
+
+  /**
+   *  An action represented by a message.
+   * @external Performative
+   * @see {@link https://org-arl.github.io/fjage/jsdoc/|fjåge.js Documentation}
+   */
+
+  /**
+   * Function to creates a unqualified message class based on a fully qualified name.
+   * @external MessageClass
+   * @see {@link https://org-arl.github.io/fjage/jsdoc/|fjåge.js Documentation}
+   */
+
+  /**
+   * A caching CachingAgentID which caches Agent parameters locally.
+   *
+   * @class
+   * @extends AgentID
+   * @param {string | AgentID} name - name of the agent or an AgentID to copy
+   * @param {boolean} topic - name of topic
+   * @param {Gateway} owner - Gateway owner for this AgentID
+   * @param {Boolean} [greedy=true] - greedily fetches and caches all parameters if this Agent
+   *
+  */
+  class CachingAgentID extends AgentID {
+
+    constructor(name, topic, owner, greedy=true) {
+      if (name instanceof AgentID) {
+        super(name.getName(), name.topic, name.owner);
+      } else {
+        super(name, topic, owner);
+      }
+      this.greedy = greedy;
+      this.cache = {};
+    }
+
+    /**
+     * Sets parameter(s) on the Agent referred to by this AgentID, and caches the parameter(s).
+     *
+     * @param {(string|string[])} params - parameters name(s) to be set
+     * @param {(Object|Object[])} values - parameters value(s) to be set
+     * @param {number} [index=-1] - index of parameter(s) to be set
+     * @param {number} [timeout=5000] - timeout for the response
+     * @returns {Promise<(Object|Object[])>} - a promise which returns the new value(s) of the parameters
+     */
+    async set(params, values, index=-1, timeout=5000) {
+      let s = await super.set(params, values, index, timeout);
+      this._updateCache(params, s, index);
+    }
+
+    /**
+     * Gets parameter(s) on the Agent referred to by this AgentID, getting them from the cache if possible.
+     *
+     * @param {(string|string[])} params - parameters name(s) to be fetched
+     * @param {number} [index=-1] - index of parameter(s) to be fetched
+     * @param {number} [timeout=5000] - timeout for the response
+     * @param {number} [maxage=5000] - maximum age of the cached result to retreive
+     * @returns {Promise<(Object|Object[])>} - a promise which returns the value(s) of the parameters
+     */
+    async get(params, index=-1, timeout=5000, maxage=5000) {
+      if (this._isCached(params, index, maxage)) return this._getCache(params, index);
+      if (this.greedy && !(Array.isArray(params) && params.includes('name')) && params != 'name') {
+        let rsp = await super.get(null, index, timeout);
+        this._updateCache(null, rsp, index);
+        if (Array.isArray(params)) {
+          return params.map(p => {
+            let f = Object.keys(rsp).find(rv => this._toNamed(rv) === p);
+            return f ? rsp[f] : null;
+          });
+        } else {
+          let f = Object.keys(rsp).find(rv => this._toNamed(rv) === params);
+          return f ? rsp[f] : null;
+        }
+      } else {
+        let r = await super.get(params, index, timeout);
+        this._updateCache(params, r, index);
+        return r;
+      }
+    }
+
+    _updateCache(params, vals, index) {
+      if (vals == null || Array.isArray(vals) && vals.every(v => v == null)) return;
+      if (params == null) {
+        params = Object.keys(vals);
+        vals = Object.values(vals);
+      } else if (!Array.isArray(params)) params = [params];
+      if (!Array.isArray(vals)) vals = [vals];
+      params = params.map(this._toNamed);
+      if (this.cache[index.toString()] === undefined) this.cache[index.toString()] = {};
+      let c = this.cache[index.toString()];
+      for (let i = 0; i < params.length; i++) {
+        if (c[params[i]] === undefined) c[params[i]] = {};
+        c[params[i]].value = vals[i];
+        c[params[i]].ctime = Date.now();
+      }
+    }
+
+    _isCached(params, index, maxage) {
+      if (maxage <= 0) return false;
+      if (params == null) return false;
+      let c = this.cache[index.toString()];
+      if (!c) {
+        return false;
+      }
+      if (!Array.isArray(params)) params = [params];
+      const rv = params.every(p => {
+        p = this._toNamed(p);
+        return (p in c) && (Date.now() - c[p].ctime <= maxage);
+      });
+      return rv;
+    }
+
+    _getCache(params, index) {
+      let c = this.cache[index.toString()];
+      if (!c) return null;
+      if (!Array.isArray(params)){
+        if (params in c) return c[params].value;
+        return null;
+      }else {
+        return params.map(p => p in c ? c[p].value : null);
+      }
+    }
+
+    _toNamed(param) {
+      const idx = param.lastIndexOf('.');
+      if (idx < 0) return param;
+      else return param.slice(idx+1);
+    }
+
+  }
+
+
+  class CachingGateway extends Gateway{
+
+    /**
+     * Get an AgentID for a given agent name.
+     *
+     * @param {string} name - name of agent
+     * @param {Boolean} [caching=true] - if the AgentID should cache parameters
+     * @param {Boolean} [greedy=true] - greedily fetches and caches all parameters if this Agent
+     * @returns {AgentID|CachingAgentID} - AgentID for the given name
+     */
+    agent(name, caching=true, greedy=true) {
+      const aid = super.agent(name);
+      return caching ? new CachingAgentID(aid, null, null, greedy) : aid;
+    }
+
+    /**
+     * Returns an object representing the named topic.
+     *
+     * @param {string|AgentID} topic - name of the topic or AgentID
+     * @param {string} topic2 - name of the topic if the topic param is an AgentID
+     * @param {Boolean} [caching=true] - if the AgentID should cache parameters
+     * @param {Boolean} [greedy=true] - greedily fetches and caches all parameters if this Agent
+     * @returns {AgentID|CachingAgentID} - object representing the topic
+     */
+    topic(topic, topic2, caching=true, greedy=true) {
+      const aid = super.topic(topic, topic2);
+      return caching ? new CachingAgentID(aid, null, null, greedy) : aid;
+    }
+
+    /**
+     * Finds an agent that provides a named service. If multiple agents are registered
+     * to provide a given service, any of the agents' id may be returned.
+     *
+     * @param {string} service - the named service of interest
+     * @param {Boolean} [caching=true] - if the AgentID should cache parameters
+     * @param {Boolean} [greedy=true] - greedily fetches and caches all parameters if this Agent
+     * @returns {Promise<?AgentID|CachingAgentID>} - a promise which returns an agent id for an agent that provides the service when resolved
+     */
+    async agentForService(service, caching=true, greedy=true) {
+      const aid = await super.agentForService(service);
+      if (!aid) return aid;
+      return caching ? new CachingAgentID(aid, null, null, greedy) : aid;
+    }
+
+    /**
+     * Finds all agents that provides a named service.
+     *
+     * @param {string} service - the named service of interest
+     * @param {Boolean} [caching=true] - if the AgentID should cache parameters
+     * @param {Boolean} [greedy=true] - greedily fetches and caches all parameters if this Agent
+     * @returns {Promise<?AgentID|CachingAgentID[]>} - a promise which returns an array of all agent ids that provides the service when resolved
+     */
+    async agentsForService(service, caching=true, greedy=true) {
+      const aids = await super.agentsForService(service);
+      return caching ? aids.map(a => new CachingAgentID(a, null, null, greedy)) : aids;
+    }
+  }
+
   const REQUEST_TIMEOUT = 1000;
 
   const AddressResolutionReq = UnetMessages.AddressResolutionReq;
@@ -1426,7 +1688,7 @@
 
     constructor(hostname, port, path='') {
       return (async () => {
-        this.gw = new Gateway({
+        this.gw = new CachingGateway({
           hostname : hostname,
           port : port,
           path : path
@@ -1637,31 +1899,34 @@
     /**
      * Gets an AgentID providing a specified service for low-level access to UnetStack
      * @param {string} svc - the named service of interest
+     * @param {Boolean} caching - if the AgentID should cache parameters
      * @returns {Promise<?AgentID>} - a promise which returns an {@link AgentID} that provides the service when resolved
      */
-    async agentForService(svc) {
+    async agentForService(svc, caching=true) {
       if (this.gw == null) return null;
-      return await this.gw.agentForService(svc);
+      return await this.gw.agentForService(svc, caching);
     }
 
     /**
      *
      * @param {string} svc - the named service of interest
+     * @param {Boolean} caching - if the AgentID should cache parameters
      * @returns {Promise<AgentID[]>} - a promise which returns an array of {@link AgentID|AgentIDs} that provides the service when resolved
      */
-    async agentsForService(svc) {
+    async agentsForService(svc, caching=true) {
       if (this.gw == null) return null;
-      return await this.gw.agentsForService(svc);
+      return await this.gw.agentsForService(svc, caching``);
     }
 
     /**
      * Gets a named AgentID for low-level access to UnetStack.
      * @param {string} name - name of agent
+     * @param {Boolean} caching - if the AgentID should cache parameters
      * @returns {AgentID} - AgentID for the given name
      */
-    agent(name) {
+    agent(name, caching=true) {
       if (this.gw == null) return null;
-      return this.gw.agent(name);
+      return this.gw.agent(name, caching);
     }
 
     /**
@@ -1682,7 +1947,8 @@
   }
 
   exports.AgentID = AgentID;
-  exports.Gateway = Gateway;
+  exports.CachingAgentID = CachingAgentID;
+  exports.Gateway = CachingGateway;
   exports.Message = Message;
   exports.MessageClass = MessageClass;
   exports.Performative = Performative;
@@ -1690,6 +1956,8 @@
   exports.Services = Services;
   exports.UnetMessages = UnetMessages;
   exports.UnetSocket = UnetSocket;
+  exports.toGps = toGps;
+  exports.toLocal = toLocal;
 
 }));
 //# sourceMappingURL=unetjs.js.map