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Create Coordinates class instead of Pair and refactor state update

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Atos1337 2021-10-23 12:12:19 +03:00
parent b1d9d8e8ba
commit 418a97f99a
2 changed files with 32 additions and 32 deletions
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62
demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCar.kt
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@ -10,22 +10,22 @@ import java.time.Instant
import kotlin.time.Duration import kotlin.time.Duration
import kotlin.time.ExperimentalTime import kotlin.time.ExperimentalTime
data class Coordinates(val x: Double = 0.0, val y: Double = 0.0)
class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) { class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) {
private var _speedState: Pair<Double, Double> = Pair(0.0, 0.0) private var speedState: Coordinates = Coordinates()
private val speedState: Pair<Double, Double> private fun updateAndGetSpeed(): Coordinates {
get() {
updateSpeedLocationTime() updateSpeedLocationTime()
return this._speedState return this.speedState
} }
private var _locationState: Pair<Double, Double> = Pair(0.0, 0.0) private var locationState: Coordinates = Coordinates()
private val locationState: Pair<Double, Double> private fun updateAndGetLocation(): Coordinates {
get() {
updateSpeedLocationTime() updateSpeedLocationTime()
return this._locationState return this.locationState
} }
private var accelerationState: Pair<Double, Double> = Pair(0.0, 0.0) private var accelerationState: Coordinates = Coordinates()
set(value) { set(value) {
updateSpeedLocationTime() updateSpeedLocationTime()
field = value field = value
@ -34,52 +34,52 @@ class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) {
private var timeState = Instant.now().toEpochMilli().toDouble() private var timeState = Instant.now().toEpochMilli().toDouble()
private fun updateSpeedLocationTime() { private fun updateSpeedLocationTime() {
val previousSpeed = this._speedState val previousSpeed = this.speedState
val previousLocation = this._locationState val previousLocation = this.locationState
val currentAcceleration = this.accelerationState val currentAcceleration = this.accelerationState
val now = Instant.now().toEpochMilli().toDouble() val now = Instant.now().toEpochMilli().toDouble()
val timeDifference = now - this.timeState val timeDifference = now - this.timeState
this.timeState = now this.timeState = now
this._speedState = Pair( this.speedState = Coordinates(
previousSpeed.first + timeDifference * currentAcceleration.first * 1e-3, previousSpeed.x + timeDifference * currentAcceleration.x * 1e-3,
previousSpeed.second + timeDifference * currentAcceleration.second * 1e-3 previousSpeed.y + timeDifference * currentAcceleration.y * 1e-3
) )
val locationDifference = Pair( val locationDifference = Coordinates(
timeDifference * 1e-3 * (previousSpeed.first + currentAcceleration.first * timeDifference * 1e-3 / 2), timeDifference * 1e-3 * (previousSpeed.x + currentAcceleration.x * timeDifference * 1e-3 / 2),
timeDifference * 1e-3 * (previousSpeed.second + currentAcceleration.second * timeDifference * 1e-3 / 2) timeDifference * 1e-3 * (previousSpeed.y + currentAcceleration.y * timeDifference * 1e-3 / 2)
) )
this._locationState = Pair( this.locationState = Coordinates(
previousLocation.first + locationDifference.first, previousLocation.x + locationDifference.x,
previousLocation.second + locationDifference.second previousLocation.y + locationDifference.y
) )
} }
object DoublePairMetaConverter : MetaConverter<Pair<Double, Double>> { object CoordinatesMetaConverter : MetaConverter<Coordinates> {
override fun metaToObject(meta: Meta): Pair<Double, Double> = Pair( override fun metaToObject(meta: Meta): Coordinates = Coordinates(
meta["x"].double ?: 0.0, meta["x"].double ?: 0.0,
meta["y"].double ?: 0.0 meta["y"].double ?: 0.0
) )
override fun objectToMeta(obj: Pair<Double, Double>): Meta = Meta { override fun objectToMeta(obj: Coordinates): Meta = Meta {
"x" put obj.first "x" put obj.x
"y" put obj.second "y" put obj.y
} }
} }
companion object : DeviceSpec<VirtualCar>(::VirtualCar) { companion object : DeviceSpec<VirtualCar>(::VirtualCar) {
val speed by property(DoublePairMetaConverter) { this.speedState } val speed by property(CoordinatesMetaConverter) { this.updateAndGetSpeed() }
val location by property(DoublePairMetaConverter) { this.locationState } val location by property(CoordinatesMetaConverter) { this.updateAndGetLocation() }
val acceleration by property(DoublePairMetaConverter, VirtualCar::accelerationState) val acceleration by property(CoordinatesMetaConverter, VirtualCar::accelerationState)
val carProperties by metaProperty { val carProperties by metaProperty {
Meta { Meta {
val time = Instant.now() val time = Instant.now()
"time" put time.toEpochMilli() "time" put time.toEpochMilli()
"speed" put DoublePairMetaConverter.objectToMeta(read(speed)) "speed" put CoordinatesMetaConverter.objectToMeta(read(speed))
"location" put DoublePairMetaConverter.objectToMeta(read(location)) "location" put CoordinatesMetaConverter.objectToMeta(read(location))
"acceleration" put DoublePairMetaConverter.objectToMeta(read(acceleration)) "acceleration" put CoordinatesMetaConverter.objectToMeta(read(acceleration))
} }
} }

2
demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCarController.kt
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@ -97,7 +97,7 @@ class VirtualCarControllerView : View(title = " Virtual car controller remote")
action { action {
controller.device?.run { controller.device?.run {
launch { launch {
acceleration.write(Pair(accelerationXProperty.get(), accelerationYProperty.get())) acceleration.write(Coordinates(accelerationXProperty.get(), accelerationYProperty.get()))
} }
} }
} }