Lifecycle change

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

@@ -8,110 +8,56 @@ import kotlinx.coroutines.sync.Mutex
 import kotlinx.coroutines.sync.withLock
 import kotlinx.datetime.Clock
 import kotlinx.datetime.Instant
-import space.kscience.controls.api.Device
+import space.kscience.controls.api.DeviceLifecycleState
 import space.kscience.controls.spec.DeviceBySpec
-import space.kscience.controls.spec.DeviceSpec
-import space.kscience.controls.spec.doubleProperty
-import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.context.Factory
-import space.kscience.dataforge.meta.Meta
-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
 import kotlin.time.Duration.Companion.milliseconds
 import kotlin.time.DurationUnit
 
-
-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() }
-    }
-}
-
 /**
- *
+ * PID controller on top of a [Regulator]
  */
-class VirtualPid(
+public class PidRegulator(
-    context: Context,
+    public val regulator: Regulator,
-    override val kp: Double,
+    public val kp: Double,
-    override val ki: Double,
+    public val ki: Double,
-    override val kd: Double,
+    public 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 {
+) : DeviceBySpec<Regulator>(Regulator, regulator.context), Regulator {
-
-    private val mutex = Mutex()
 
+    override var target: Double = regulator.target
 
     private var lastTime: Instant = clock.now()
-    private var lastValue: Double = target
+    private var lastRegulatorTarget: 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
+    private val mutex = Mutex()
+
 
     override suspend fun onStart() {
+        if(regulator.lifecycleState == DeviceLifecycleState.STOPPED){
+            regulator.start()
+        }
+        regulator.start()
         updateJob = launch {
             while (isActive) {
                 delay(dt)
                 mutex.withLock {
                     val realTime = clock.now()
-                    val delta = target - value
+                    val delta = target - position
                     val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
                     integral += delta * dtSeconds
-                    val derivative = (value - lastValue) / dtSeconds
+                    val derivative = (regulator.target - lastRegulatorTarget) / dtSeconds
 
                     //set last time and value to new values
                     lastTime = realTime
-                    lastValue = value
+                    lastRegulatorTarget = regulator.target
 
-                    // compute new value based on velocity and acceleration from the previous step
+                    regulator.target = regulator.position + kp * delta + ki * integral + kd * derivative
-                    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"
-                    }
                 }
             }
         }
@@ -119,28 +65,131 @@ class VirtualPid(
 
     override fun onStop() {
         updateJob?.cancel()
-        super<PidRegulator>.stop()
     }
 
-    override suspend fun read(): Double = value
+    override val position: Double get() = regulator.position
 
-    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"),
-        )
-
-    }
 }
+
+
+//
+//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

@@ -13,7 +13,7 @@ import space.kscience.dataforge.meta.transformations.MetaConverter
 /**
  * A single axis drive
  */
-public interface Drive : Device {
+public interface Regulator : Device {
     /**
      * Get or set target value
      */
@@ -24,21 +24,21 @@ public interface Drive : Device {
      */
     public val position: Double
 
-    public companion object : DeviceSpec<Drive>() {
+    public companion object : DeviceSpec<Regulator>() {
-        public val target: DevicePropertySpec<Drive, Double> by property(MetaConverter.double, Drive::target)
+        public val target: DevicePropertySpec<Regulator, Double> by property(MetaConverter.double, Regulator::target)
 
-        public val position: DevicePropertySpec<Drive, Double> by doubleProperty { position }
+        public val position: DevicePropertySpec<Regulator, Double> by doubleProperty { position }
     }
 }
 
 /**
- * Virtual [Drive] with speed limit
+ * Virtual [Regulator] with speed limit
  */
-public class VirtualDrive(
+public class VirtualRegulator(
     context: Context,
     value: Double,
     private val speed: Double,
-) : DeviceBySpec<Drive>(Drive, context), Drive {
+) : DeviceBySpec<Regulator>(Regulator, context), Regulator {
 
     private var moveJob: Job? = null
 

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

@@ -19,21 +19,22 @@ import space.kscience.dataforge.names.Name
 /**
  * A lifecycle state of a device
  */
-public enum class DeviceLifecycleState{
+public enum class DeviceLifecycleState {
+
     /**
      * Device is initializing
      */
-    INIT,
+    STARTING,
 
     /**
      * The Device is initialized and running
      */
-    OPEN,
+    STARTED,
 
     /**
      * The Device is closed
      */
-    CLOSED
+    STOPPED
 }
 
 /**
@@ -136,5 +137,8 @@ public fun Device.getAllProperties(): Meta = Meta {
 /**
  * Subscribe on property changes for the whole device
  */
-public fun Device.onPropertyChange(scope: CoroutineScope = this, callback: suspend PropertyChangedMessage.() -> Unit): Job =
+public fun Device.onPropertyChange(
+    scope: CoroutineScope = this,
+    callback: suspend PropertyChangedMessage.() -> Unit,
+): Job =
     messageFlow.filterIsInstance<PropertyChangedMessage>().onEach(callback).launchIn(scope)

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

@@ -189,7 +189,7 @@ public abstract class DeviceBase<D : Device>(
     }
 
     @DFExperimental
-    override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.INIT
+    override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
         protected set
 
     protected open suspend fun onStart() {
@@ -198,10 +198,14 @@ public abstract class DeviceBase<D : Device>(
 
     @OptIn(DFExperimental::class)
     final override suspend fun start() {
+        if(lifecycleState == DeviceLifecycleState.STOPPED) {
             super.start()
-        lifecycleState = DeviceLifecycleState.INIT
+            lifecycleState = DeviceLifecycleState.STARTING
             onStart()
-        lifecycleState = DeviceLifecycleState.OPEN
+            lifecycleState = DeviceLifecycleState.STARTED
+        } else {
+            logger.debug { "Device $this is already started" }
+        }
     }
 
     protected open fun onStop() {
@@ -211,7 +215,7 @@ public abstract class DeviceBase<D : Device>(
     @OptIn(DFExperimental::class)
     final override fun stop() {
         onStop()
-        lifecycleState = DeviceLifecycleState.CLOSED
+        lifecycleState = DeviceLifecycleState.STOPPED
         super.stop()
     }
 

controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt

@@ -99,7 +99,7 @@ public class DeviceClient(
     }
 
     @DFExperimental
-    override val lifecycleState: DeviceLifecycleState = DeviceLifecycleState.OPEN
+    override val lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STARTED
 }
 
 /**