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/*! Copyright (c) 2021 Siemens AG. Licensed under the MIT License. */
Object.defineProperty(exports, "__esModule", { value: true });
exports.MasterController = void 0;
const __1 = require("..");
class MasterController extends __1.MasterControlClient {
constructor(clientOptions, controllerOptions) {
super(clientOptions);
this._currentOrders = new __1.AgvIdMap();
this._currentInstantActions = new __1.AgvIdMap();
this._currentInstantActionsValidationErrors = [];
this._controllerOptions = this._controllerOptionsWithDefaults(controllerOptions);
}
get controllerOptions() {
return this._controllerOptions;
}
async assignOrder(agvId, order, eventHandler) {
var _a;
this.debug("Assigning order %o to AGV %o", order, agvId);
let cache = this._getOrderStateCache(agvId, order.orderId, order.orderUpdateId);
if (cache !== undefined) {
this.debug("Discarded order %o for AGV %o", order, agvId);
return undefined;
}
cache = this._addOrderStateCache(agvId, order, eventHandler);
try {
const orderWithHeader = await this.publish(__1.Topic.Order, agvId, order);
this.debug("Assigned order with header %o to AGV %o", orderWithHeader, agvId);
return orderWithHeader;
}
catch (error) {
this.debug("Error assigning order %o to AGV %o: %s", order, agvId, (_a = error.message) !== null && _a !== void 0 ? _a : error);
this._removeOrderStateCache(cache);
throw error;
}
}
async initiateInstantActions(agvId, instantActions, eventHandler) {
var _a;
this.debug("Initiating instant actions %o on AGV %o", instantActions, agvId);
let actionStateCaches = this._currentInstantActions.get(agvId);
Eif (!actionStateCaches) {
this._currentInstantActions.set(agvId, actionStateCaches = new Map());
}
const newInstantActionsRef = this._currentInstantActionsRef === undefined ? 1 : this._currentInstantActionsRef + 1;
if (this.clientOptions.vdaVersion === "1.1.0") {
instantActions.instantActions.forEach(action => actionStateCaches.set(action.actionId, { agvId, action, eventHandler, instantActionsRef: newInstantActionsRef }));
}
else {
instantActions.actions.forEach(action => actionStateCaches.set(action.actionId, { agvId, action, eventHandler, instantActionsRef: newInstantActionsRef }));
}
try {
const actionsWithHeader = await this.publish(__1.Topic.InstantActions, agvId, instantActions);
this._currentInstantActionsRef = newInstantActionsRef;
this.debug("Initiated instant actions %o on AGV %o", actionsWithHeader, agvId);
return actionsWithHeader;
}
catch (error) {
this.debug("Error initiating instant actions %o on AGV %o: %s", instantActions, agvId, (_a = error.message) !== null && _a !== void 0 ? _a : error);
if (this.clientOptions.vdaVersion === "1.1.0") {
instantActions.instantActions.forEach(action => actionStateCaches.delete(action.actionId));
}
else {
instantActions.actions.forEach(action => actionStateCaches.delete(action.actionId));
}
if (actionStateCaches.size === 0) {
this._currentInstantActions.delete(agvId);
}
throw error;
}
}
async onStarted() {
await super.onStarted();
await this.subscribe(__1.Topic.State, this.controllerOptions.targetAgvs, (state, agvId) => this._dispatchState(state, agvId));
}
_controllerOptionsWithDefaults(options) {
const optionalDefaults = {
targetAgvs: {},
};
return Object.assign(optionalDefaults, options);
}
_dispatchState(state, agvId) {
for (const error of state.errors) {
let topic;
let orderId;
let orderUpdateId;
let hasActionIdRef = false;
let cache;
Eif (error.errorReferences !== undefined) {
for (const errorRef of error.errorReferences) {
if (errorRef.referenceKey === "actionId") {
hasActionIdRef = true;
}
if (errorRef.referenceKey === "topic") {
topic = errorRef.referenceValue;
}
if (errorRef.referenceKey === "orderId") {
orderId = errorRef.referenceValue;
}
if (errorRef.referenceKey === "orderUpdateId") {
orderUpdateId = parseInt(errorRef.referenceValue, 10);
}
}
}
if (topic !== undefined && topic !== __1.Topic.Order) {
continue;
}
if (hasActionIdRef && error.errorType !== __1.ErrorType.Order) {
continue;
}
if (orderId !== undefined && orderUpdateId !== undefined) {
cache = this._getOrderStateCache(agvId, orderId, orderUpdateId);
}
else Iif (topic === __1.Topic.Order && error.errorType === __1.ErrorType.OrderValidation) {
}
else Eif (orderId === undefined) {
cache = this._getLastAssignedOrderStateCache(agvId);
}
if (cache !== undefined) {
this._removeOrderStateCache(cache);
this.debug("onOrderProcessed with error %o for cache %o with state %j", error, cache, state);
cache.eventHandler.onOrderProcessed(error, false, false, { order: cache.order, agvId, state });
}
}
const orderStateCache = this._getOrderStateCache(agvId, state.orderId, state.orderUpdateId);
if (orderStateCache) {
this._dispatchOrderState(state, orderStateCache);
}
this._updateInstantActionsValidationError(state.errors);
const actionStateCaches = this._currentInstantActions.get(agvId);
if (actionStateCaches) {
for (const [actionId, actionStateCache] of actionStateCaches) {
const actionState = state.actionStates.find(s => s.actionId === actionId);
if (actionState) {
this._dispatchInstantActionState(actionState, actionStateCache, state);
}
else {
const actionError = this._getActionError(state.errors, actionId, true);
if (actionError) {
this._dispatchInstantActionError(actionError, actionStateCache, state);
}
else {
const validationError = this._getInstantActionsValidationError(actionStateCache.instantActionsRef);
if (validationError) {
this._dispatchInstantActionError(validationError, actionStateCache, state);
}
}
}
}
}
}
_dispatchOrderState(state, cache) {
const processEdgeEvents = () => {
if (this._isOrderCanceling(cache, state, [__1.ActionStatus.Running, __1.ActionStatus.Finished])) {
return;
}
const nextEdge = this._getNextReleasedEdge(cache.combinedOrder, cache.lastNodeTraversed);
if (nextEdge) {
const startNode = this._getEdgeStartNode(cache.combinedOrder, nextEdge);
const endNode = this._getEdgeEndNode(cache.combinedOrder, nextEdge);
const edgeState = state.edgeStates.find(s => s.edgeId === nextEdge.edgeId && s.sequenceId === nextEdge.sequenceId);
if (!edgeState) {
Iif (cache.lastEdgeProcessed === nextEdge) {
return;
}
this._updateEdgeStateChanges(nextEdge, startNode, endNode, cache, state);
cache.lastEdgeStateChanges = undefined;
cache.edgeStateChangeInvocations = 0;
cache.lastEdgeProcessed = nextEdge;
this.debug("onEdgeTraversed %o for cache %j", nextEdge, cache);
Eif (cache.eventHandler.onEdgeTraversed) {
cache.eventHandler.onEdgeTraversed(nextEdge, startNode, endNode, { order: cache.order, agvId: cache.agvId, state });
}
}
else {
if (cache.lastEdgeStateChanges !== undefined || this._areAllBlockingActionsEnded(cache.lastNodeTraversed, state)) {
this._updateEdgeStateChanges(nextEdge, startNode, endNode, cache, state);
}
}
}
};
this.debug("Dispatching order state %j \nfor cache %j", state, cache);
if (cache.lastCache !== undefined) {
const lastCache = this._getLastActiveOrderStateCache(cache);
if (lastCache !== undefined) {
let lastHorizonStartIndex = lastCache.combinedOrder.nodes.findIndex(n => !n.released);
const lastBaseEnd = lastCache.combinedOrder.nodes[lastHorizonStartIndex === -1 ?
lastCache.combinedOrder.nodes.length - 1 : lastHorizonStartIndex - 1];
const newFirstNodeActions = cache.combinedOrder.nodes[0].actions;
cache.combinedOrder.nodes = lastCache.combinedOrder.nodes
.slice(0, lastHorizonStartIndex === -1 ? undefined : lastHorizonStartIndex)
.concat(cache.combinedOrder.nodes.slice(1));
lastBaseEnd.actions = lastBaseEnd.actions.concat(newFirstNodeActions);
lastHorizonStartIndex = lastCache.combinedOrder.edges.findIndex(n => !n.released);
cache.combinedOrder.edges = lastCache.combinedOrder.edges
.slice(0, lastHorizonStartIndex === -1 ? undefined : lastHorizonStartIndex)
.concat(cache.combinedOrder.edges);
cache.lastNodeTraversed = cache.combinedOrder.nodes.find(n => { var _a, _b; return n.nodeId === ((_a = lastCache.lastNodeTraversed) === null || _a === void 0 ? void 0 : _a.nodeId) && n.sequenceId === ((_b = lastCache.lastNodeTraversed) === null || _b === void 0 ? void 0 : _b.sequenceId); });
cache.lastEdgeStateChanges = lastCache.lastEdgeStateChanges;
cache.edgeStateChangeInvocations = lastCache.edgeStateChangeInvocations;
cache.lastEdgeProcessed = lastCache.lastEdgeProcessed;
cache.mappedActions = new Map([...lastCache.mappedActions, ...cache.mappedActions]);
cache.lastActionStates = lastCache.lastActionStates;
this.debug("stitching current order onto active order with combined cache %j", cache);
this._removeOrderStateCache(lastCache, true);
}
}
for (const actionState of state.actionStates) {
const { actionId, actionStatus } = actionState;
const actionTarget = cache.mappedActions.get(actionId);
if (actionTarget) {
const [action, target] = actionTarget;
const lastActionState = cache.lastActionStates.get(actionId);
if ((lastActionState === null || lastActionState === void 0 ? void 0 : lastActionState.actionStatus) !== actionStatus) {
cache.lastActionStates.set(actionId, actionState);
const error = actionStatus === __1.ActionStatus.Failed ? this._getActionError(state.errors, actionId, false) : undefined;
if (error) {
this.debug("onActionStateChanged %o with error %o for action %s on target %o for cache %j", actionState, error, action, target, cache);
}
else {
this.debug("onActionStateChanged %o for action %s on target %o for cache %j", actionState, action, target, cache);
}
Eif (cache.eventHandler.onActionStateChanged) {
cache.eventHandler.onActionStateChanged(actionState, error, action, target, { order: cache.order, agvId: cache.agvId, state });
}
}
}
}
if (cache.lastNodeTraversed) {
processEdgeEvents();
}
let nextNode;
if (cache.lastNodeTraversed === undefined) {
const firstNode = cache.combinedOrder.nodes[0];
if (!state.nodeStates.find(n => n.nodeId === firstNode.nodeId && n.sequenceId === firstNode.sequenceId)) {
nextNode = firstNode;
}
}
else {
if (cache.lastNodeTraversed.nodeId !== state.lastNodeId || cache.lastNodeTraversed.sequenceId !== state.lastNodeSequenceId) {
nextNode = this._getNode(cache.combinedOrder, state.lastNodeId, state.lastNodeSequenceId);
}
}
if (nextNode !== undefined) {
cache.lastNodeTraversed = nextNode;
const nextEdge = this._getNextEdge(cache.combinedOrder, nextNode);
const edgeEndNode = nextEdge ? this._getEdgeEndNode(cache.combinedOrder, nextEdge) : undefined;
this.debug("onNodeTraversed %o for cache %j", nextNode, cache);
if (cache.eventHandler.onNodeTraversed) {
cache.eventHandler.onNodeTraversed(nextNode, nextEdge, edgeEndNode, { order: cache.order, agvId: cache.agvId, state });
}
processEdgeEvents();
}
const result = this._isOrderProcessed(cache, state);
const isActive = result === undefined;
if (result !== false && cache.lastOrderProcessedIsActive !== isActive) {
const byCancelation = this._isOrderCanceling(cache, state, [__1.ActionStatus.Finished]);
if (byCancelation) {
this.debug("onOrderProcessed by cancelation in state active=%s", isActive);
}
else {
this.debug("onOrderProcessed in state active=%s", isActive);
}
if (!isActive) {
this._removeOrderStateCache(cache, true);
}
cache.lastOrderProcessedIsActive = isActive;
cache.eventHandler.onOrderProcessed(undefined, byCancelation, isActive, { order: cache.order, agvId: cache.agvId, state });
return;
}
else {
Iif (cache.eventHandler.onStateUpdate) {
cache.eventHandler.onStateUpdate({ order: cache.order, agvId: cache.agvId, state });
}
}
}
_addOrderStateCache(agvId, order, eventHandler) {
const cache = {
agvId,
order: order,
eventHandler,
lastOrderProcessedIsActive: null,
lastCache: this._getLastAssignedOrderStateCache(agvId),
combinedOrder: {
edges: [...order.edges],
nodes: [...order.nodes],
orderId: order.orderId,
orderUpdateId: order.orderUpdateId,
zoneSetId: order.zoneSetId,
},
};
let orderIds = this._currentOrders.get(cache.agvId);
if (!orderIds) {
orderIds = new Map();
this._currentOrders.set(cache.agvId, orderIds);
}
orderIds["lastCache"] = cache;
let orderUpdateIds = orderIds.get(cache.order.orderId);
if (!orderUpdateIds) {
orderUpdateIds = new Map();
orderIds.set(cache.order.orderId, orderUpdateIds);
}
this._initCachedActions(cache);
orderUpdateIds.set(cache.order.orderUpdateId, cache);
return cache;
}
_removeOrderStateCache(cache, deleteLastCache = false) {
if (deleteLastCache) {
cache.lastCache = undefined;
}
const orderIds = this._currentOrders.get(cache.agvId);
Iif (!orderIds) {
return;
}
const orderUpdateIds = orderIds.get(cache.order.orderId);
Iif (!orderUpdateIds) {
return;
}
orderUpdateIds.delete(cache.order.orderUpdateId);
if (orderUpdateIds.size === 0) {
orderIds.delete(cache.order.orderId);
if (orderIds.size === 0) {
this._currentOrders.delete(cache.agvId);
}
}
}
_getOrderStateCache(agvId, orderId, orderUpdateId) {
const orderIds = this._currentOrders.get(agvId);
if (!orderIds) {
return undefined;
}
const orderUpdateIds = orderIds.get(orderId);
if (!orderUpdateIds) {
return undefined;
}
return orderUpdateIds.get(orderUpdateId);
}
_getLastAssignedOrderStateCache(agvId) {
const orderIds = this._currentOrders.get(agvId);
if (!orderIds) {
return undefined;
}
return orderIds["lastCache"];
}
_getLastActiveOrderStateCache(cache) {
let nextCache = cache.lastCache;
do {
const lastCache = this._getOrderStateCache(cache.agvId, nextCache.order.orderId, nextCache.order.orderUpdateId);
if (lastCache === nextCache) {
return lastCache;
}
nextCache = nextCache.lastCache;
} while (nextCache !== undefined);
return nextCache;
}
_initCachedActions(cache) {
Eif (!cache.mappedActions) {
cache.mappedActions = new Map();
for (const node of cache.order.nodes) {
if (!node.released) {
break;
}
for (const action of node.actions) {
cache.mappedActions.set(action.actionId, [action, node]);
}
}
for (const edge of cache.order.edges) {
if (!edge.released) {
break;
}
for (const action of edge.actions) {
cache.mappedActions.set(action.actionId, [action, edge]);
}
}
}
Eif (!cache.lastActionStates) {
cache.lastActionStates = new Map();
}
}
_isOrderProcessed(cache, state) {
let isProcessed = false;
if (state.nodeStates.length === 0 && state.edgeStates.length === 0) {
isProcessed = true;
}
else if (state.nodeStates.every(s => !s.released) && state.edgeStates.every(s => !s.released)) {
isProcessed = undefined;
}
else {
return false;
}
for (const [, [action]] of cache.mappedActions) {
const as = cache.lastActionStates.get(action.actionId);
if (as === undefined || (as.actionStatus !== __1.ActionStatus.Finished && as.actionStatus !== __1.ActionStatus.Failed)) {
return false;
}
}
return isProcessed;
}
_isOrderCanceling(cache, state, cancelStatus) {
const actionStateCaches = this._currentInstantActions.get(cache.agvId);
if (actionStateCaches) {
for (const [actionId, actionStateCache] of actionStateCaches) {
Eif (actionStateCache.action.actionType === "cancelOrder") {
const as = state.actionStates.find(s => s.actionId === actionId);
return as !== undefined && cancelStatus.includes(as.actionStatus);
}
}
}
return false;
}
_getNode(order, nodeId, sequenceId) {
return order.nodes.find(n => n.nodeId === nodeId && n.sequenceId === sequenceId);
}
_getNextEdge(order, node) {
return order.edges.find(e => e.startNodeId === node.nodeId && e.sequenceId === node.sequenceId + 1);
}
_getNextReleasedEdge(order, node) {
return order.edges.find(e => e.released && e.startNodeId === node.nodeId && e.sequenceId === node.sequenceId + 1);
}
_getEdgeStartNode(order, edge) {
return order.nodes.find(n => n.nodeId === edge.startNodeId && n.sequenceId === edge.sequenceId - 1);
}
_getEdgeEndNode(order, edge) {
return order.nodes.find(n => n.nodeId === edge.endNodeId && n.sequenceId === edge.sequenceId + 1);
}
_areAllBlockingActionsEnded(node, state) {
const isActionEnded = (action) => {
const as = state.actionStates.find(s => s.actionId === action.actionId);
return as !== undefined && (as.actionStatus === __1.ActionStatus.Finished || as.actionStatus === __1.ActionStatus.Failed);
};
return node.actions.every(a => a.blockingType === __1.BlockingType.None || isActionEnded(a));
}
_updateEdgeStateChanges(edge, startNode, endNode, cache, state) {
const reportChanges = (changes) => {
if (cache.edgeStateChangeInvocations === undefined) {
cache.edgeStateChangeInvocations = 0;
}
cache.edgeStateChangeInvocations++;
this.debug("onEdgeTraversing %o with changes %o for cache %j", edge, changes, cache);
Eif (cache.eventHandler.onEdgeTraversing) {
cache.eventHandler.onEdgeTraversing(edge, startNode, endNode, changes, cache.edgeStateChangeInvocations, { order: cache.order, agvId: cache.agvId, state });
}
};
if (cache.lastEdgeStateChanges === undefined) {
cache.lastEdgeStateChanges = {
distanceSinceLastNode: state.distanceSinceLastNode,
driving: state.driving,
newBaseRequest: state.newBaseRequest,
operatingMode: state.operatingMode,
paused: state.paused,
safetyState: state.safetyState,
};
reportChanges(cache.lastEdgeStateChanges);
return;
}
const currentChanges = cache.lastEdgeStateChanges;
const newDeltas = {};
let hasChanges = false;
Iif (currentChanges.distanceSinceLastNode !== state.distanceSinceLastNode) {
currentChanges.distanceSinceLastNode = newDeltas.distanceSinceLastNode = state.distanceSinceLastNode;
hasChanges = true;
}
if (currentChanges.driving !== state.driving) {
currentChanges.driving = newDeltas.driving = state.driving;
hasChanges = true;
}
Iif (currentChanges.newBaseRequest !== state.newBaseRequest) {
currentChanges.newBaseRequest = newDeltas.newBaseRequest = state.newBaseRequest;
hasChanges = true;
}
Iif (currentChanges.operatingMode !== state.operatingMode) {
currentChanges.operatingMode = newDeltas.operatingMode = state.operatingMode;
hasChanges = true;
}
Iif (currentChanges.paused !== state.paused) {
currentChanges.paused = newDeltas.paused = state.paused;
hasChanges = true;
}
Iif (this._hasSafetyStateChanged(currentChanges.safetyState, state.safetyState)) {
currentChanges.safetyState = newDeltas.safetyState = state.safetyState;
hasChanges = true;
}
if (hasChanges) {
reportChanges(newDeltas);
}
}
_hasSafetyStateChanged(prev, next) {
var _a, _b;
Iif (prev.fieldViolation !== next.fieldViolation) {
return true;
}
const prevEStop = (_a = prev.eStop) !== null && _a !== void 0 ? _a : prev.activeEmergencyStop;
const nextEStop = (_b = next.eStop) !== null && _b !== void 0 ? _b : next.activeEmergencyStop;
return prevEStop !== nextEStop;
}
_dispatchInstantActionState(actionState, cache, state) {
var _a;
this.debug("Dispatching instant action state %o for cache %o with state %j", actionState, cache, state);
Eif (actionState.actionStatus !== ((_a = cache.lastActionState) === null || _a === void 0 ? void 0 : _a.actionStatus)) {
cache.lastActionState = actionState;
if (actionState.actionStatus === __1.ActionStatus.Finished || actionState.actionStatus === __1.ActionStatus.Failed) {
this._removeInstantActionStateCache(cache);
}
const error = actionState.actionStatus === __1.ActionStatus.Failed ?
this._getActionError(state.errors, cache.action.actionId, true) :
undefined;
this.debug("onActionStateChanged for instant action state %o with error %o for cache %o with state %j", actionState, error, cache, state);
cache.eventHandler.onActionStateChanged(actionState, error, cache.action, cache.agvId, state);
}
}
_dispatchInstantActionError(actionError, cache, state) {
this._removeInstantActionStateCache(cache);
this.debug("onActionError %o for instant action cache %o with state %j", actionError, cache, state);
cache.eventHandler.onActionError(actionError, cache.action, cache.agvId, state);
}
_removeInstantActionStateCache(cache) {
const actionStateCaches = this._currentInstantActions.get(cache.agvId);
actionStateCaches.delete(cache.action.actionId);
if (actionStateCaches.size === 0) {
this._currentInstantActions.delete(cache.agvId);
}
}
_getInstantActionsValidationError(instanceActionsRef) {
const ref = this._currentInstantActionsValidationErrors.find(r => r[0] === instanceActionsRef);
return ref ? ref[1] : undefined;
}
_updateInstantActionsValidationError(errors) {
if (this._currentInstantActionsRef === undefined) {
return;
}
const validationErrors = errors.filter(error => {
var _a;
const refs = (_a = error.errorReferences) !== null && _a !== void 0 ? _a : [];
return error.errorType === __1.ErrorType.InstantActionValidation &&
refs.some(r => r.referenceKey === "topic" && r.referenceValue === __1.Topic.InstantActions) &&
!refs.some(r => r.referenceKey === "orderId") &&
!refs.some(r => r.referenceKey === "actionId");
});
const delta = validationErrors.length - this._currentInstantActionsValidationErrors.length;
if (delta > 0) {
this._currentInstantActionsValidationErrors.push(...validationErrors.slice(validationErrors.length - delta)
.map((e, i) => [this._currentInstantActionsRef - i, e]));
}
else if (delta < 0) {
this._currentInstantActionsValidationErrors.splice(0, -delta);
}
}
_getActionError(errors, actionId, asInstantAction) {
return errors.find(e => {
var _a;
const refs = (_a = e.errorReferences) !== null && _a !== void 0 ? _a : [];
return refs.some(r => r.referenceKey === "actionId" && r.referenceValue === actionId) &&
refs.some(r => r.referenceKey === "topic" &&
r.referenceValue === (asInstantAction ? __1.Topic.InstantActions : __1.Topic.Order));
});
}
}
exports.MasterController = MasterController;
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