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Create Coordinates class instead of Pair and refactor state update

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This commit is contained in:
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.ExperimentalTime
data class Coordinates(val x: Double = 0.0, val y: Double = 0.0)
class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) {
private var _speedState: Pair<Double, Double> = Pair(0.0, 0.0)
private val speedState: Pair<Double, Double>
get() {
private var speedState: Coordinates = Coordinates()
private fun updateAndGetSpeed(): Coordinates {
updateSpeedLocationTime()
return this._speedState
return this.speedState
}
private var _locationState: Pair<Double, Double> = Pair(0.0, 0.0)
private val locationState: Pair<Double, Double>
get() {
private var locationState: Coordinates = Coordinates()
private fun updateAndGetLocation(): Coordinates {
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) {
updateSpeedLocationTime()
field = value
@ -34,52 +34,52 @@ class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) {
private var timeState = Instant.now().toEpochMilli().toDouble()
private fun updateSpeedLocationTime() {
val previousSpeed = this._speedState
val previousLocation = this._locationState
val previousSpeed = this.speedState
val previousLocation = this.locationState
val currentAcceleration = this.accelerationState
val now = Instant.now().toEpochMilli().toDouble()
val timeDifference = now - this.timeState
this.timeState = now
this._speedState = Pair(
previousSpeed.first + timeDifference * currentAcceleration.first * 1e-3,
previousSpeed.second + timeDifference * currentAcceleration.second * 1e-3
this.speedState = Coordinates(
previousSpeed.x + timeDifference * currentAcceleration.x * 1e-3,
previousSpeed.y + timeDifference * currentAcceleration.y * 1e-3
)
val locationDifference = Pair(
timeDifference * 1e-3 * (previousSpeed.first + currentAcceleration.first * timeDifference * 1e-3 / 2),
timeDifference * 1e-3 * (previousSpeed.second + currentAcceleration.second * timeDifference * 1e-3 / 2)
val locationDifference = Coordinates(
timeDifference * 1e-3 * (previousSpeed.x + currentAcceleration.x * timeDifference * 1e-3 / 2),
timeDifference * 1e-3 * (previousSpeed.y + currentAcceleration.y * timeDifference * 1e-3 / 2)
)
this._locationState = Pair(
previousLocation.first + locationDifference.first,
previousLocation.second + locationDifference.second
this.locationState = Coordinates(
previousLocation.x + locationDifference.x,
previousLocation.y + locationDifference.y
)
}
object DoublePairMetaConverter : MetaConverter<Pair<Double, Double>> {
override fun metaToObject(meta: Meta): Pair<Double, Double> = Pair(
object CoordinatesMetaConverter : MetaConverter<Coordinates> {
override fun metaToObject(meta: Meta): Coordinates = Coordinates(
meta["x"].double ?: 0.0,
meta["y"].double ?: 0.0
)
override fun objectToMeta(obj: Pair<Double, Double>): Meta = Meta {
"x" put obj.first
"y" put obj.second
override fun objectToMeta(obj: Coordinates): Meta = Meta {
"x" put obj.x
"y" put obj.y
}
}
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 {
Meta {
val time = Instant.now()
"time" put time.toEpochMilli()
"speed" put DoublePairMetaConverter.objectToMeta(read(speed))
"location" put DoublePairMetaConverter.objectToMeta(read(location))
"acceleration" put DoublePairMetaConverter.objectToMeta(read(acceleration))
"speed" put CoordinatesMetaConverter.objectToMeta(read(speed))
"location" put CoordinatesMetaConverter.objectToMeta(read(location))
"acceleration" put CoordinatesMetaConverter.objectToMeta(read(acceleration))
}
}

2
demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCarController.kt
View File

@ -97,7 +97,7 @@ class VirtualCarControllerView : View(title = " Virtual car controller remote")
action {
controller.device?.run {
launch {
acceleration.write(Pair(accelerationXProperty.get(), accelerationYProperty.get()))
acceleration.write(Coordinates(accelerationXProperty.get(), accelerationYProperty.get()))
}
}
}