Update constructor

CHANGELOG.md

@@ -3,6 +3,8 @@
 ## Unreleased
 
 ### Added
+- Device lifecycle message
+- Low-code constructor
 
 ### Changed
 

controls-constructor/build.gradle.kts

@@ -4,7 +4,7 @@ plugins {
 }
 
 description = """
-    A low-code constructor foe composite devices simulation
+    A low-code constructor for composite devices simulation
 """.trimIndent()
 
 kscience{

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt

@@ -0,0 +1,25 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.flow.Flow
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.transformations.MetaConverter
+
+/**
+ * An observable state of a device
+ */
+public interface DeviceState<T> {
+    public val converter: MetaConverter<T>
+    public val value: T
+
+    public val valueFlow: Flow<T>
+
+    public val metaFlow: Flow<Meta>
+}
+
+
+/**
+ * A mutable state of a device
+ */
+public interface MutableDeviceState<T> : DeviceState<T>{
+    override var value: T
+}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceTree.kt

@@ -1,4 +1,4 @@
-package space.kscience.controls.spec
+package space.kscience.controls.constructor
 
 import space.kscience.controls.api.Device
 import space.kscience.controls.api.DeviceHub
@@ -7,11 +7,8 @@ import space.kscience.dataforge.context.Factory
 import space.kscience.dataforge.meta.Meta
 import space.kscience.dataforge.meta.get
 import space.kscience.dataforge.names.NameToken
-import kotlin.collections.Map
 import kotlin.collections.component1
 import kotlin.collections.component2
-import kotlin.collections.mapValues
-import kotlin.collections.mutableMapOf
 import kotlin.collections.set
 
 

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt

@@ -0,0 +1,91 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import kotlinx.datetime.Clock
+import space.kscience.controls.api.Device
+import space.kscience.controls.spec.DeviceBySpec
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.DeviceSpec
+import space.kscience.controls.spec.doubleProperty
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.double
+import space.kscience.dataforge.meta.get
+import space.kscience.dataforge.meta.transformations.MetaConverter
+import kotlin.math.pow
+import kotlin.time.Duration.Companion.milliseconds
+import kotlin.time.DurationUnit
+
+/**
+ * A classic drive regulated by force with encoder
+ */
+public interface Drive : Device {
+    /**
+     * Get or set drive force or momentum
+     */
+    public var force: Double
+
+    /**
+     * Current position value
+     */
+    public val position: Double
+
+    public companion object : DeviceSpec<Drive>() {
+        public val force: DevicePropertySpec<Drive, Double> by Drive.property(
+            MetaConverter.double,
+            Drive::force
+        )
+
+        public val position: DevicePropertySpec<Drive, Double> by doubleProperty { position }
+    }
+}
+
+/**
+ * A virtual drive
+ */
+public class VirtualDrive(
+    context: Context,
+    private val mass: Double,
+    position: Double,
+) : Drive, DeviceBySpec<Drive>(Drive, context) {
+
+    private val dt = meta["time.step"].double?.milliseconds ?: 5.milliseconds
+    private val clock = Clock.System
+
+    override var force: Double = 0.0
+
+    override var position: Double = position
+        private set
+
+    public var velocity: Double = 0.0
+        private set
+
+    private var updateJob: Job? = null
+
+    override suspend fun onStart() {
+        updateJob = launch {
+            var lastTime = clock.now()
+            while (isActive) {
+                delay(dt)
+                val realTime = clock.now()
+                val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
+
+                //set last time and value to new values
+                lastTime = realTime
+
+                // compute new value based on velocity and acceleration from the previous step
+                position += velocity * dtSeconds + force/mass * dtSeconds.pow(2) / 2
+
+                // compute new velocity based on acceleration on the previous step
+                velocity += force/mass * dtSeconds
+            }
+        }
+    }
+
+    override fun onStop() {
+        updateJob?.cancel()
+    }
+}
+

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt

@@ -1,4 +1,4 @@
-package center.sciprog.controls.devices.misc
+package space.kscience.controls.constructor
 
 import space.kscience.controls.api.Device
 import space.kscience.controls.spec.DeviceBySpec

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt

@@ -1,4 +1,4 @@
-package center.sciprog.controls.devices.misc
+package space.kscience.controls.constructor
 
 import kotlinx.coroutines.Job
 import kotlinx.coroutines.delay
@@ -8,28 +8,27 @@ import kotlinx.coroutines.sync.Mutex
 import kotlinx.coroutines.sync.withLock
 import kotlinx.datetime.Clock
 import kotlinx.datetime.Instant
-import space.kscience.controls.api.DeviceLifecycleState
 import space.kscience.controls.spec.DeviceBySpec
 import kotlin.time.Duration
 import kotlin.time.Duration.Companion.milliseconds
 import kotlin.time.DurationUnit
 
 /**
- * PID controller on top of a [Regulator]
+ * A drive with PID regulator
  */
 public class PidRegulator(
-    public val regulator: Regulator,
+    public val drive: Drive,
     public val kp: Double,
     public val ki: Double,
     public val kd: Double,
-    private val dt: Duration = 0.5.milliseconds,
+    private val dt: Duration = 1.milliseconds,
     private val clock: Clock = Clock.System,
-) : DeviceBySpec<Regulator>(Regulator, regulator.context), Regulator {
+) : DeviceBySpec<Regulator>(Regulator, drive.context), Regulator {
 
-    override var target: Double = regulator.target
+    override var target: Double = drive.position
 
     private var lastTime: Instant = clock.now()
-    private var lastRegulatorTarget: Double = target
+    private var lastPosition: Double = target
 
     private var integral: Double = 0.0
 
@@ -39,10 +38,7 @@ public class PidRegulator(
 
 
     override suspend fun onStart() {
-        if(regulator.lifecycleState == DeviceLifecycleState.STOPPED){
-            regulator.start()
-        }
-        regulator.start()
+        drive.start()
         updateJob = launch {
             while (isActive) {
                 delay(dt)
@@ -51,13 +47,13 @@ public class PidRegulator(
                     val delta = target - position
                     val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
                     integral += delta * dtSeconds
-                    val derivative = (regulator.target - lastRegulatorTarget) / dtSeconds
+                    val derivative = (drive.position - lastPosition) / dtSeconds
 
                     //set last time and value to new values
                     lastTime = realTime
-                    lastRegulatorTarget = regulator.target
+                    lastPosition = drive.position
 
-                    regulator.target = regulator.position + kp * delta + ki * integral + kd * derivative
+                    drive.force = kp * delta + ki * integral + kd * derivative
                 }
             }
         }
@@ -67,129 +63,6 @@ public class PidRegulator(
         updateJob?.cancel()
     }
 
-    override val position: Double get() = regulator.position
+    override val position: Double get() = drive.position
 
-}
-
-
-//
-//interface PidRegulator : Device {
-//    /**
-//     * Proportional coefficient
-//     */
-//    val kp: Double
-//
-//    /**
-//     * Integral coefficient
-//     */
-//    val ki: Double
-//
-//    /**
-//     * Differential coefficient
-//     */
-//    val kd: Double
-//
-//    /**
-//     * The target value for PID
-//     */
-//    var target: Double
-//
-//    /**
-//     * Read current value
-//     */
-//    suspend fun read(): Double
-//
-//    companion object : DeviceSpec<PidRegulator>() {
-//        val target by property(MetaConverter.double, PidRegulator::target)
-//        val value by doubleProperty { read() }
-//    }
-//}
-//
-///**
-// *
-// */
-//class VirtualPid(
-//    context: Context,
-//    override val kp: Double,
-//    override val ki: Double,
-//    override val kd: Double,
-//    val mass: Double,
-//    override var target: Double = 0.0,
-//    private val dt: Duration = 0.5.milliseconds,
-//    private val clock: Clock = Clock.System,
-//) : DeviceBySpec<PidRegulator>(PidRegulator, context), PidRegulator {
-//
-//    private val mutex = Mutex()
-//
-//
-//    private var lastTime: Instant = clock.now()
-//    private var lastValue: Double = target
-//
-//    private var value: Double = target
-//    private var velocity: Double = 0.0
-//    private var acceleration: Double = 0.0
-//    private var integral: Double = 0.0
-//
-//
-//    private var updateJob: Job? = null
-//
-//    override suspend fun onStart() {
-//        updateJob = launch {
-//            while (isActive) {
-//                delay(dt)
-//                mutex.withLock {
-//                    val realTime = clock.now()
-//                    val delta = target - value
-//                    val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
-//                    integral += delta * dtSeconds
-//                    val derivative = (value - lastValue) / dtSeconds
-//
-//                    //set last time and value to new values
-//                    lastTime = realTime
-//                    lastValue = value
-//
-//                    // compute new value based on velocity and acceleration from the previous step
-//                    value += velocity * dtSeconds + acceleration * dtSeconds.pow(2) / 2
-//
-//                    // compute new velocity based on acceleration on the previous step
-//                    velocity += acceleration * dtSeconds
-//
-//                    //compute force for the next step based on current values
-//                    acceleration = (kp * delta + ki * integral + kd * derivative) / mass
-//
-//
-//                    check(value.isFinite() && velocity.isFinite()) {
-//                        "Value $value is not finite"
-//                    }
-//                }
-//            }
-//        }
-//    }
-//
-//    override fun onStop() {
-//        updateJob?.cancel()
-//        super<PidRegulator>.stop()
-//    }
-//
-//    override suspend fun read(): Double = value
-//
-//    suspend fun readVelocity(): Double = velocity
-//
-//    suspend fun readAcceleration(): Double = acceleration
-//
-//    suspend fun write(newTarget: Double) = mutex.withLock {
-//        require(newTarget.isFinite()) { "Value $newTarget is not valid" }
-//        target = newTarget
-//    }
-//
-//    companion object : Factory<Device> {
-//        override fun build(context: Context, meta: Meta) = VirtualPid(
-//            context,
-//            meta["kp"].double ?: error("Kp is not defined"),
-//            meta["ki"].double ?: error("Ki is not defined"),
-//            meta["kd"].double ?: error("Kd is not defined"),
-//            meta["m"].double ?: error("Mass is not defined"),
-//        )
-//
-//    }
-//}
+}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt

@@ -1,17 +1,14 @@
-package center.sciprog.controls.devices.misc
+package space.kscience.controls.constructor
 
-import kotlinx.coroutines.Job
 import space.kscience.controls.api.Device
-import space.kscience.controls.spec.DeviceBySpec
 import space.kscience.controls.spec.DevicePropertySpec
 import space.kscience.controls.spec.DeviceSpec
 import space.kscience.controls.spec.doubleProperty
-import space.kscience.dataforge.context.Context
 import space.kscience.dataforge.meta.transformations.MetaConverter
 
 
 /**
- * A single axis drive
+ * A regulator with target value and current position
  */
 public interface Regulator : Device {
     /**
@@ -29,23 +26,4 @@ public interface Regulator : Device {
 
         public val position: DevicePropertySpec<Regulator, Double> by doubleProperty { position }
     }
-}
-
-/**
- * Virtual [Regulator] with speed limit
- */
-public class VirtualRegulator(
-    context: Context,
-    value: Double,
-    private val speed: Double,
-) : DeviceBySpec<Regulator>(Regulator, context), Regulator {
-
-    private var moveJob: Job? = null
-
-    override var position: Double = value
-        private set
-
-    override var target: Double = value
-
-
 }

controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt

@@ -7,6 +7,7 @@ import kotlinx.coroutines.flow.Flow
 import kotlinx.coroutines.flow.filterIsInstance
 import kotlinx.coroutines.flow.launchIn
 import kotlinx.coroutines.flow.onEach
+import kotlinx.serialization.Serializable
 import space.kscience.controls.api.Device.Companion.DEVICE_TARGET
 import space.kscience.dataforge.context.ContextAware
 import space.kscience.dataforge.context.info
@@ -19,6 +20,7 @@ import space.kscience.dataforge.names.Name
 /**
  * A lifecycle state of a device
  */
+@Serializable
 public enum class DeviceLifecycleState {
 
     /**
@@ -34,7 +36,12 @@ public enum class DeviceLifecycleState {
     /**
      * The Device is closed
      */
-    STOPPED
+    STOPPED,
+
+    /**
+     * The device encountered irrecoverable error
+     */
+    ERROR
 }
 
 /**
@@ -98,7 +105,8 @@ public interface Device : ContextAware, CoroutineScope {
     public suspend fun execute(actionName: String, argument: Meta? = null): Meta?
 
     /**
-     * Initialize the device. This function suspends until the device is finished initialization
+     * Initialize the device. This function suspends until the device is finished initialization.
+     * Does nothing if the device is started or is starting
      */
     public suspend fun start(): Unit = Unit
 

controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt

@@ -1,4 +1,4 @@
-@file:OptIn(ExperimentalSerializationApi::class)
+@file:OptIn(ExperimentalSerializationApi::class, ExperimentalSerializationApi::class)
 
 package space.kscience.controls.api
 
@@ -228,6 +228,21 @@ public data class DeviceErrorMessage(
     override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = block(sourceDevice))
 }
 
+/**
+ * Device [Device.lifecycleState] is changed
+ */
+@Serializable
+@SerialName("lifecycle")
+public data class DeviceLifeCycleMessage(
+    val state: DeviceLifecycleState,
+    override val sourceDevice: Name = Name.EMPTY,
+    override val targetDevice: Name? = null,
+    override val comment: String? = null,
+    @EncodeDefault override val time: Instant? = Clock.System.now(),
+) : DeviceMessage() {
+    override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = block(sourceDevice))
+}
+
 
 public fun DeviceMessage.toMeta(): Meta = Json.encodeToJsonElement(this).toMeta()
 

controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt

@@ -64,6 +64,7 @@ public suspend fun Device.respondMessage(deviceTarget: Name, request: DeviceMess
         is DeviceErrorMessage,
         is EmptyDeviceMessage,
         is DeviceLogMessage,
+        is DeviceLifeCycleMessage,
         -> null
     }
 } catch (ex: Exception) {
@@ -87,7 +88,7 @@ public suspend fun DeviceHub.respondHubMessage(request: DeviceMessage): DeviceMe
  * Collect all messages from given [DeviceHub], applying proper relative names.
  */
 public fun DeviceHub.hubMessageFlow(scope: CoroutineScope): Flow<DeviceMessage> {
-    
+
     //TODO could we avoid using downstream scope?
     val outbox = MutableSharedFlow<DeviceMessage>()
     if (this is Device) {

controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt

@@ -190,7 +190,16 @@ public abstract class DeviceBase<D : Device>(
 
     @DFExperimental
     override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
-        protected set
+        protected set(value) {
+            if (field != value) {
+                launch {
+                    sharedMessageFlow.emit(
+                        DeviceLifeCycleMessage(value)
+                    )
+                }
+            }
+            field = value
+        }
 
     protected open suspend fun onStart() {
 
@@ -198,7 +207,7 @@ public abstract class DeviceBase<D : Device>(
 
     @OptIn(DFExperimental::class)
     final override suspend fun start() {
-        if(lifecycleState == DeviceLifecycleState.STOPPED) {
+        if (lifecycleState == DeviceLifecycleState.STOPPED) {
             super.start()
             lifecycleState = DeviceLifecycleState.STARTING
             onStart()

controls-vision/build.gradle.kts

@@ -0,0 +1,20 @@
+plugins {
+    id("space.kscience.gradle.mpp")
+    `maven-publish`
+}
+
+description = """
+    Dashboard and visualization extensions for devices
+""".trimIndent()
+
+kscience{
+    jvm()
+    js()
+    dependencies {
+        api(projects.controlsCore)
+    }
+}
+
+readme{
+    maturity = space.kscience.gradle.Maturity.PROTOTYPE
+}

settings.gradle.kts

@@ -51,6 +51,7 @@ include(
     ":controls-storage",
     ":controls-storage:controls-xodus",
     ":controls-constructor",
+    ":controls-vision",
     ":magix",
     ":magix:magix-api",
     ":magix:magix-server",