Refactor MagixVirtualCar.kt
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@ -4,21 +4,18 @@ import kotlinx.coroutines.flow.collect
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import kotlinx.coroutines.launch
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import ru.mipt.npm.controls.api.DeviceMessage
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import ru.mipt.npm.controls.api.PropertyChangedMessage
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import ru.mipt.npm.controls.spec.DeviceBySpec
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import ru.mipt.npm.controls.spec.doRecurring
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import ru.mipt.npm.magix.api.MagixEndpoint
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import ru.mipt.npm.magix.rsocket.rSocketWithWebSockets
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import space.kscience.dataforge.context.Context
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import space.kscience.dataforge.context.Factory
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import space.kscience.dataforge.meta.Meta
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import space.kscience.dataforge.meta.get
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import space.kscience.dataforge.meta.string
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import space.kscience.dataforge.names.Name
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import kotlin.time.Duration
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import kotlin.time.ExperimentalTime
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class MagixVirtualCar(private val magixEndpoint: MagixEndpoint<DeviceMessage>, context: Context, meta: Meta)
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: DeviceBySpec<MagixVirtualCar>(IVirtualCar, context, meta), IVirtualCar {
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override var speedState: Vector2D = Vector2D()
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override var locationState: Vector2D = Vector2D()
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override var accelerationState: Vector2D = Vector2D()
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class MagixVirtualCar(context: Context, meta: Meta)
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: VirtualCar(context, meta) {
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private suspend fun MagixEndpoint<DeviceMessage>.startMagixVirtualCarUpdate() {
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launch {
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@ -26,9 +23,7 @@ class MagixVirtualCar(private val magixEndpoint: MagixEndpoint<DeviceMessage>, c
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(magix.payload as? PropertyChangedMessage)?.let { message ->
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if (message.sourceDevice == Name.parse("virtual-car")) {
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when (message.property) {
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"speed" -> speedState = Vector2D.metaToObject(message.value)
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"location" -> locationState = Vector2D.metaToObject(message.value)
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"acceleration" -> accelerationState = Vector2D.metaToObject(message.value)
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"acceleration" -> IVirtualCar.acceleration.write(Vector2D.metaToObject(message.value))
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}
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}
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}
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@ -38,21 +33,19 @@ class MagixVirtualCar(private val magixEndpoint: MagixEndpoint<DeviceMessage>, c
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@OptIn(ExperimentalTime::class)
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override suspend fun open() {
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super<DeviceBySpec>.open()
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super.open()
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val magixEndpoint = MagixEndpoint.rSocketWithWebSockets(
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meta["magixServerHost"].string ?: "localhost",
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DeviceMessage.serializer()
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)
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launch {
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magixEndpoint.startMagixVirtualCarUpdate()
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}
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//starting regular updates
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doRecurring(Duration.milliseconds(100)) {
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IVirtualCar.speed.read()
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IVirtualCar.location.read()
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IVirtualCar.acceleration.read()
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}
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companion object : Factory<MagixVirtualCar> {
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override fun invoke(meta: Meta, context: Context): MagixVirtualCar = MagixVirtualCar(context, meta)
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}
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}
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class MagixVirtualCarFactory(private val magixEndpoint: MagixEndpoint<DeviceMessage>) : Factory<MagixVirtualCar> {
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override fun invoke(meta: Meta, context: Context): MagixVirtualCar = MagixVirtualCar(magixEndpoint, context, meta)
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}
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@ -38,7 +38,7 @@ data class Vector2D(var x: Double = 0.0, var y: Double = 0.0) : MetaRepr {
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}
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}
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class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(IVirtualCar, context, meta), IVirtualCar {
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open class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(IVirtualCar, context, meta), IVirtualCar {
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private val timeScale = 1e-3
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private val mass by meta.double(1000.0) // mass in kilograms
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@ -36,8 +36,7 @@ class VirtualCarController : Controller(), ContextAware {
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virtualCar = deviceManager.install("virtual-car", VirtualCar)
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//starting magix event loop
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magixServer = startMagixServer(enableRawRSocket = true, enableZmq = true)
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val magixEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost", DeviceMessage.serializer())
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magixVirtualCar = deviceManager.install("magix-virtual-car", MagixVirtualCarFactory(magixEndpoint))
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magixVirtualCar = deviceManager.install("magix-virtual-car", MagixVirtualCar)
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//Launch device client and connect it to the server
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val deviceEndpoint = MagixEndpoint.rSocketWithTcp("localhost", DeviceMessage.serializer())
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deviceManager.connectToMagix(deviceEndpoint)
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