kscience/controls-kt
8
0
Fork 0
Code Issues Pull Requests 2 Packages Projects Releases 1 Wiki Activity

Add magix for debugging and moved DeviceSpec to IVirtualCar

Browse Source
This commit is contained in:
Atos1337 2021-11-02 22:21:13 +03:00
parent 4dc33c012d
commit 289ff6ffd0
4 changed files with 51 additions and 30 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
demo/car/build.gradle.kts
View File

@ -16,6 +16,9 @@ val rsocketVersion: String by rootProject.extra
dependencies {
implementation(projects.controlsCore)
implementation(projects.magix.magixApi)
implementation(projects.magix.magixServer)
implementation(projects.magix.magixRsocket)
implementation(projects.controlsMagixClient)
implementation("org.jetbrains.kotlinx:kotlinx-datetime:0.3.1")
implementation("no.tornado:tornadofx:1.7.20")

27
demo/car/src/main/kotlin/ru/mipt/npm/controls/demo/car/IVirtualCar.kt Normal file
View File

@ -0,0 +1,27 @@
package ru.mipt.npm.controls.demo.car
import ru.mipt.npm.controls.api.Device
import ru.mipt.npm.controls.spec.DeviceSpec
interface IVirtualCar : Device {
var speedState: Vector2D
var locationState: Vector2D
var accelerationState: Vector2D
companion object : DeviceSpec<IVirtualCar>() {
/**
* Read-only speed
*/
val speed by property(Vector2D, IVirtualCar::speedState)
/**
* Read-only location
*/
val location by property(Vector2D, IVirtualCar::locationState)
/**
* writable acceleration
*/
val acceleration by mutableProperty(Vector2D, IVirtualCar::accelerationState)
}
}

35
demo/car/src/main/kotlin/ru/mipt/npm/controls/demo/car/VirtualCar.kt
View File

@ -6,9 +6,7 @@ import kotlinx.coroutines.delay
import kotlinx.coroutines.launch
import kotlinx.datetime.Clock
import kotlinx.datetime.Instant
import ru.mipt.npm.controls.api.Device
import ru.mipt.npm.controls.spec.DeviceBySpec
import ru.mipt.npm.controls.spec.DeviceSpec
import ru.mipt.npm.controls.spec.doRecurring
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
@ -40,13 +38,7 @@ data class Vector2D(var x: Double = 0.0, var y: Double = 0.0) : MetaRepr {
}
}
interface IVirtualCar : Device {
var speedState: Vector2D
var locationState: Vector2D
var accelerationState: Vector2D
}
class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(VirtualCar, context, meta), IVirtualCar {
class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(IVirtualCar, context, meta), IVirtualCar {
private val timeScale = 1e-3
private val mass by meta.double(1000.0) // mass in kilograms
@ -85,14 +77,14 @@ class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(Virtua
//TODO apply friction. One can introduce rotation of the cabin and different friction coefficients along the axis
launch {
//update logical states
location.read()
speed.read()
acceleration.read()
IVirtualCar.location.read()
IVirtualCar.speed.read()
IVirtualCar.acceleration.read()
}
}
public fun applyForce(force: Vector2D, duration: Duration) {
fun applyForce(force: Vector2D, duration: Duration) {
launch {
update()
accelerationState = force / mass
@ -116,22 +108,7 @@ class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(Virtua
}
}
companion object : DeviceSpec<IVirtualCar>(), Factory<VirtualCar> {
companion object : Factory<VirtualCar> {
override fun invoke(meta: Meta, context: Context): VirtualCar = VirtualCar(context, meta)
/**
* Read-only speed
*/
val speed by property(Vector2D, IVirtualCar::speedState)
/**
* Read-only location
*/
val location by property(Vector2D, IVirtualCar::locationState)
/**
* writable acceleration
*/
val acceleration by mutableProperty(Vector2D, IVirtualCar::accelerationState)
}
}

16
demo/car/src/main/kotlin/ru/mipt/npm/controls/demo/car/VirtualCarController.kt
View File

@ -1,20 +1,27 @@
package ru.mipt.npm.controls.demo.car
import io.ktor.server.engine.*
import javafx.beans.property.DoubleProperty
import javafx.scene.Parent
import javafx.scene.control.TextField
import javafx.scene.layout.Priority
import javafx.stage.Stage
import kotlinx.coroutines.launch
import ru.mipt.npm.controls.api.DeviceMessage
import ru.mipt.npm.controls.client.connectToMagix
import ru.mipt.npm.controls.controllers.DeviceManager
import ru.mipt.npm.controls.controllers.install
import ru.mipt.npm.controls.demo.car.VirtualCar.Companion.acceleration
import ru.mipt.npm.controls.demo.car.IVirtualCar.Companion.acceleration
import ru.mipt.npm.magix.api.MagixEndpoint
import ru.mipt.npm.magix.rsocket.rSocketWithTcp
import ru.mipt.npm.magix.server.startMagixServer
import space.kscience.dataforge.context.*
import tornadofx.*
class VirtualCarController : Controller(), ContextAware {
var device: VirtualCar? = null
var magixServer: ApplicationEngine? = null
override val context = Context("demoDevice") {
plugin(DeviceManager)
@ -25,11 +32,18 @@ class VirtualCarController : Controller(), ContextAware {
fun init() {
context.launch {
device = deviceManager.install("virtual-car", VirtualCar)
//starting magix event loop
magixServer = startMagixServer(enableRawRSocket = true, enableZmq = true)
//Launch device client and connect it to the server
val deviceEndpoint = MagixEndpoint.rSocketWithTcp("localhost", DeviceMessage.serializer())
deviceManager.connectToMagix(deviceEndpoint)
}
}
fun shutdown() {
logger.info { "Shutting down..." }
magixServer?.stop(1000, 5000)
logger.info { "Magix server stopped" }
device?.close()
logger.info { "Device server stopped" }
context.close()