@openhps/core
Version:
Open Hybrid Positioning System - Core component
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text/typescript
import { DataFrame } from '../data/DataFrame';
import { DataObject } from '../data/object/DataObject';
import { SensorType } from '../data/object/SensorObject';
import { Node, NodeOptions } from '../Node';
import { GraphOptions, PullOptions, PushOptions } from '../graph/options';
import { SerializableObject, SerializableMember } from '../data/decorators';
/**
* Source node
*
* ## Usage
*
* ### Creating a SourceNode
* When creating a source node, you have to implement a promise based ```onPull``` method that expects a data
* frame.
*
* As mentioned in the {@link Node} class, pulling normally does not require you to return
* a data frame. The source node implementation provides an abstraction on top of this. If your source node can generate
* data frames, you can resolve to a data frame. The data frame will then be pushed to outgoing nodes.
* If not, you can simply resolve nothing or a null object.
*
* On top of this abstraction, a source node adds an intermediate output node that merges data objects from the [data service](#dataservice).
* This way, the data frame pushed by the source will always be up-to-date and merged with existing processed information.
*
* ```typescript
* import { DataFrame, SourceNode } from '@openhps/core';
*
* export class CustomSource<Out extends DataFrame> extends SourceNode<Out> {
* // ...
* constructor() {
* // Source nodes expect a source object to be provided
* super(new DataObject("mobile_input")));
* }
*
* public onPull(options?: GraphPullOptions): Promise<Out> {
* return new Promise<Out>((resolve, reject) => {
* // ... pull request
* // ... get data from somewhere
*
* const dataFrame = new DataFrame(this.getSource());
* resolve(dataFrame);
* });
* }
* }
* ```
* @category Source node
*/
export abstract class SourceNode<Out extends DataFrame = DataFrame> extends Node<Out, Out> {
protected declare options: SourceNodeOptions;
/**
* Construct a new source node
* @param {SourceNodeOptions} [options] Source node options
*/
constructor(options?: SourceNodeOptions) {
super(options);
// Default source settings
this.options.persistence = this.options['persistence'] === undefined ? true : this.options.persistence;
this.on('push', this._onPush.bind(this));
this.on('pull', this._onPull.bind(this));
if (this.source) {
this.once('build', this.registerService.bind(this));
}
}
/**
* Get the source data object
* @returns {DataObject} Source data object
*/
protected get source(): DataObject {
return this.options.source;
}
protected registerService(): Promise<void> {
return new Promise<void>((resolve) => {
const service = this.model.findDataService(this.source);
// Update source when modified
service.on('insert', (uid: string, object: DataObject) => {
if (uid === this.source.uid) {
this.options.source = object;
}
});
// Update to the latest version
service
.findByUID(this.source.uid)
.then((object: DataObject) => {
this.options.source = object;
resolve();
})
.catch(() => {
// Ignore, most likely not calibrated or stored yet
resolve();
});
});
}
private _onPush(data: Out | Out[], options?: PushOptions): Promise<void> {
return new Promise<void>((resolve, reject) => {
const servicePromises: Array<Promise<DataFrame>> = [];
if (this.options.persistence) {
if (data instanceof Array) {
for (const f of data) {
servicePromises.push(this.mergeFrame(f));
}
} else {
servicePromises.push(this.mergeFrame(data));
}
}
Promise.all(servicePromises)
.then(() => {
this.outlets.map((outlet) => outlet.push(data, options));
resolve();
})
.catch(reject);
});
}
protected mergeFrame(frame: DataFrame): Promise<DataFrame> {
return new Promise<DataFrame>((resolve, reject) => {
const defaultService = this.model.findDataService(DataObject);
const promises: Array<Promise<void>> = [];
const objects: DataObject[] = [];
frame.getObjects().forEach((object) => {
objects.push(object);
});
objects.forEach((object) => {
promises.push(
new Promise((objResolve) => {
let service = this.model.findDataService(object);
if (service === null || service === undefined) {
service = defaultService;
}
service
.findByUID(object.uid)
.then((existingObject: DataObject) => {
if (existingObject === null) {
objResolve();
}
this.mergeObject(object, existingObject);
objResolve();
})
.catch(() => {
// Ignore
objResolve();
});
}),
);
});
Promise.all(promises)
.then(() => {
resolve(frame);
})
.catch(reject);
});
}
/**
* Merge an object
* @param {DataObject} newObject New object
* @param {DataObject} oldObject Existing object
* @returns {DataObject} Existing object
*/
protected mergeObject(newObject: DataObject, oldObject: DataObject): DataObject {
newObject.displayName = newObject.displayName || oldObject.displayName;
newObject.position = newObject.position || oldObject.position;
newObject.parentUID = newObject.parentUID || oldObject.parentUID;
oldObject.relativePositions.forEach((relativePosition) => {
// Get the new relative position by its uid and type
const newPosition = newObject.getRelativePosition(
relativePosition.referenceObjectUID,
relativePosition.constructor.name,
);
if (newPosition && newPosition.timestamp < relativePosition.timestamp) {
// New object contains older relative position
newObject.addRelativePosition(relativePosition);
} else if (!newPosition) {
// New object does not contain stored relative position
newObject.addRelativePosition(relativePosition);
}
});
return newObject;
}
private _onPull(options: PullOptions = {}): Promise<void> {
if (options.sourceNode && options.sourceNode !== this.uid) {
// Pull options indicate the pull on a specific source node
return Promise.resolve();
}
const sequential = options['sequentialPull'] === undefined ? true : options.sequentialPull;
if (sequential) {
return this._onSequentialPull(options);
} else {
return this._onParallelPull(options);
}
}
private _onSequentialPull(options: PullOptions): Promise<void> {
const newOptions: PushOptions = {
sourceNode: this.uid,
// Expand options after setting source node
// original source node should not be overridden
...(options as GraphOptions),
};
const count = options.count || 1;
let promise = Promise.resolve();
for (let i = 0; i < count; i++) {
promise = promise.then(
() =>
new Promise((resolve, reject) => {
this.onPull(options)
.then((frame) => {
if (frame !== undefined && frame !== null) {
// Resolve after push is done
return this.push(frame, newOptions);
} else {
resolve();
}
})
.then(resolve)
.catch(reject);
}),
);
}
return promise;
}
private _onParallelPull(options: PullOptions): Promise<void> {
return new Promise((resolve, reject) => {
const newOptions: PushOptions = {
sourceNode: this.uid,
// Expand options after setting source node
// original source node should not be overridden
...(options as GraphOptions),
};
const count = options.count || 1;
Promise.all([...Array(count).keys()].map(() => this.onPull(options)))
.then((results) => {
const pushPromises: Array<Promise<void>> = [];
results.forEach((frame) => {
if (frame !== undefined && frame !== null) {
// Push without waiting
pushPromises.push(this.push(frame, newOptions));
}
});
return Promise.all(pushPromises);
})
.then(() => {
resolve();
})
.catch(reject);
});
}
public abstract onPull(options?: PullOptions): Promise<Out | undefined>;
}
export interface SourceNodeOptions extends NodeOptions {
/**
* Merge objects from persisted source
* @default true
*/
persistence?: boolean;
/**
* Source data object
*/
source?: DataObject;
}
export interface ActiveSourceOptions extends SourceNodeOptions {
/**
* Push interval
*/
interval?: number;
/**
* Auto start the sensor
*/
autoStart?: boolean;
/**
* Stopping the source will halt the pushing of frames but not stop the data collection.
*/
softStop?: boolean;
}
export interface SensorSourceOptions extends ActiveSourceOptions {
/**
* Sensor types
*/
sensors?: SensorType[];
}