Lifecycle change
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@ -8,110 +8,56 @@ import kotlinx.coroutines.sync.Mutex
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import kotlinx.coroutines.sync.withLock
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import kotlinx.datetime.Clock
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import kotlinx.datetime.Instant
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import space.kscience.controls.api.Device
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import space.kscience.controls.api.DeviceLifecycleState
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import space.kscience.controls.spec.DeviceBySpec
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import space.kscience.controls.spec.DeviceSpec
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import space.kscience.controls.spec.doubleProperty
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import space.kscience.dataforge.context.Context
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import space.kscience.dataforge.context.Factory
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import space.kscience.dataforge.meta.Meta
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import space.kscience.dataforge.meta.double
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import space.kscience.dataforge.meta.get
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import space.kscience.dataforge.meta.transformations.MetaConverter
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import kotlin.math.pow
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import kotlin.time.Duration
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import kotlin.time.Duration.Companion.milliseconds
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import kotlin.time.DurationUnit
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interface PidRegulator : Device {
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/**
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* Proportional coefficient
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*/
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val kp: Double
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/**
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* Integral coefficient
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*/
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val ki: Double
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/**
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* Differential coefficient
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*/
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val kd: Double
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/**
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* The target value for PID
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*/
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var target: Double
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/**
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* Read current value
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*/
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suspend fun read(): Double
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companion object : DeviceSpec<PidRegulator>() {
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val target by property(MetaConverter.double, PidRegulator::target)
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val value by doubleProperty { read() }
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}
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}
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/**
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*
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* PID controller on top of a [Regulator]
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*/
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class VirtualPid(
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context: Context,
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override val kp: Double,
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override val ki: Double,
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override val kd: Double,
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val mass: Double,
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override var target: Double = 0.0,
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public class PidRegulator(
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public val regulator: Regulator,
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public val kp: Double,
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public val ki: Double,
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public val kd: Double,
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private val dt: Duration = 0.5.milliseconds,
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private val clock: Clock = Clock.System,
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) : DeviceBySpec<PidRegulator>(PidRegulator, context), PidRegulator {
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private val mutex = Mutex()
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) : DeviceBySpec<Regulator>(Regulator, regulator.context), Regulator {
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override var target: Double = regulator.target
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private var lastTime: Instant = clock.now()
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private var lastValue: Double = target
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private var lastRegulatorTarget: Double = target
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private var value: Double = target
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private var velocity: Double = 0.0
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private var acceleration: Double = 0.0
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private var integral: Double = 0.0
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private var updateJob: Job? = null
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private val mutex = Mutex()
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override suspend fun onStart() {
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if(regulator.lifecycleState == DeviceLifecycleState.STOPPED){
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regulator.start()
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}
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regulator.start()
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updateJob = launch {
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while (isActive) {
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delay(dt)
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mutex.withLock {
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val realTime = clock.now()
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val delta = target - value
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val delta = target - position
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val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
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integral += delta * dtSeconds
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val derivative = (value - lastValue) / dtSeconds
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val derivative = (regulator.target - lastRegulatorTarget) / dtSeconds
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//set last time and value to new values
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lastTime = realTime
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lastValue = value
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lastRegulatorTarget = regulator.target
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// compute new value based on velocity and acceleration from the previous step
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value += velocity * dtSeconds + acceleration * dtSeconds.pow(2) / 2
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// compute new velocity based on acceleration on the previous step
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velocity += acceleration * dtSeconds
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//compute force for the next step based on current values
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acceleration = (kp * delta + ki * integral + kd * derivative) / mass
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check(value.isFinite() && velocity.isFinite()) {
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"Value $value is not finite"
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}
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regulator.target = regulator.position + kp * delta + ki * integral + kd * derivative
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}
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}
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}
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@ -119,28 +65,131 @@ class VirtualPid(
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override fun onStop() {
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updateJob?.cancel()
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super<PidRegulator>.stop()
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}
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override suspend fun read(): Double = value
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override val position: Double get() = regulator.position
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suspend fun readVelocity(): Double = velocity
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suspend fun readAcceleration(): Double = acceleration
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suspend fun write(newTarget: Double) = mutex.withLock {
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require(newTarget.isFinite()) { "Value $newTarget is not valid" }
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target = newTarget
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}
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companion object : Factory<Device> {
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override fun build(context: Context, meta: Meta) = VirtualPid(
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context,
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meta["kp"].double ?: error("Kp is not defined"),
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meta["ki"].double ?: error("Ki is not defined"),
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meta["kd"].double ?: error("Kd is not defined"),
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meta["m"].double ?: error("Mass is not defined"),
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)
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}
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}
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//
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//interface PidRegulator : Device {
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// /**
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// * Proportional coefficient
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// */
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// val kp: Double
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//
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// /**
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// * Integral coefficient
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// */
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// val ki: Double
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//
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// /**
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// * Differential coefficient
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// */
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// val kd: Double
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//
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// /**
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// * The target value for PID
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// */
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// var target: Double
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//
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// /**
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// * Read current value
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// */
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// suspend fun read(): Double
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//
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// companion object : DeviceSpec<PidRegulator>() {
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// val target by property(MetaConverter.double, PidRegulator::target)
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// val value by doubleProperty { read() }
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// }
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//}
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//
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///**
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// *
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// */
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//class VirtualPid(
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// context: Context,
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// override val kp: Double,
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// override val ki: Double,
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// override val kd: Double,
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// val mass: Double,
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// override var target: Double = 0.0,
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// private val dt: Duration = 0.5.milliseconds,
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// private val clock: Clock = Clock.System,
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//) : DeviceBySpec<PidRegulator>(PidRegulator, context), PidRegulator {
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//
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// private val mutex = Mutex()
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//
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//
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// private var lastTime: Instant = clock.now()
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// private var lastValue: Double = target
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//
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// private var value: Double = target
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// private var velocity: Double = 0.0
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// private var acceleration: Double = 0.0
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// private var integral: Double = 0.0
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//
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//
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// private var updateJob: Job? = null
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//
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// override suspend fun onStart() {
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// updateJob = launch {
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// while (isActive) {
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// delay(dt)
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// mutex.withLock {
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// val realTime = clock.now()
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// val delta = target - value
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// val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
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// integral += delta * dtSeconds
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// val derivative = (value - lastValue) / dtSeconds
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//
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// //set last time and value to new values
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// lastTime = realTime
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// lastValue = value
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//
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// // compute new value based on velocity and acceleration from the previous step
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// value += velocity * dtSeconds + acceleration * dtSeconds.pow(2) / 2
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//
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// // compute new velocity based on acceleration on the previous step
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// velocity += acceleration * dtSeconds
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//
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// //compute force for the next step based on current values
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// acceleration = (kp * delta + ki * integral + kd * derivative) / mass
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//
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//
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// check(value.isFinite() && velocity.isFinite()) {
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// "Value $value is not finite"
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// }
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// }
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// }
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// }
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// }
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//
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// override fun onStop() {
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// updateJob?.cancel()
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// super<PidRegulator>.stop()
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// }
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//
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// override suspend fun read(): Double = value
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//
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// suspend fun readVelocity(): Double = velocity
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//
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// suspend fun readAcceleration(): Double = acceleration
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//
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// suspend fun write(newTarget: Double) = mutex.withLock {
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// require(newTarget.isFinite()) { "Value $newTarget is not valid" }
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// target = newTarget
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// }
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//
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// companion object : Factory<Device> {
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// override fun build(context: Context, meta: Meta) = VirtualPid(
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// context,
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// meta["kp"].double ?: error("Kp is not defined"),
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// meta["ki"].double ?: error("Ki is not defined"),
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// meta["kd"].double ?: error("Kd is not defined"),
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// meta["m"].double ?: error("Mass is not defined"),
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// )
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//
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// }
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//}
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@ -13,7 +13,7 @@ import space.kscience.dataforge.meta.transformations.MetaConverter
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/**
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* A single axis drive
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*/
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public interface Drive : Device {
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public interface Regulator : Device {
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/**
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* Get or set target value
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*/
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@ -24,21 +24,21 @@ public interface Drive : Device {
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*/
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public val position: Double
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public companion object : DeviceSpec<Drive>() {
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public val target: DevicePropertySpec<Drive, Double> by property(MetaConverter.double, Drive::target)
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public companion object : DeviceSpec<Regulator>() {
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public val target: DevicePropertySpec<Regulator, Double> by property(MetaConverter.double, Regulator::target)
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public val position: DevicePropertySpec<Drive, Double> by doubleProperty { position }
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public val position: DevicePropertySpec<Regulator, Double> by doubleProperty { position }
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}
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}
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/**
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* Virtual [Drive] with speed limit
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* Virtual [Regulator] with speed limit
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*/
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public class VirtualDrive(
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public class VirtualRegulator(
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context: Context,
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value: Double,
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private val speed: Double,
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) : DeviceBySpec<Drive>(Drive, context), Drive {
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) : DeviceBySpec<Regulator>(Regulator, context), Regulator {
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private var moveJob: Job? = null
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@ -19,21 +19,22 @@ import space.kscience.dataforge.names.Name
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/**
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* A lifecycle state of a device
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*/
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public enum class DeviceLifecycleState{
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public enum class DeviceLifecycleState {
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/**
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* Device is initializing
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*/
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INIT,
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STARTING,
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/**
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* The Device is initialized and running
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*/
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OPEN,
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STARTED,
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/**
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* The Device is closed
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*/
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CLOSED
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STOPPED
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}
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/**
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@ -136,5 +137,8 @@ public fun Device.getAllProperties(): Meta = Meta {
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/**
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* Subscribe on property changes for the whole device
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*/
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public fun Device.onPropertyChange(scope: CoroutineScope = this, callback: suspend PropertyChangedMessage.() -> Unit): Job =
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public fun Device.onPropertyChange(
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scope: CoroutineScope = this,
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callback: suspend PropertyChangedMessage.() -> Unit,
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): Job =
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messageFlow.filterIsInstance<PropertyChangedMessage>().onEach(callback).launchIn(scope)
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@ -189,7 +189,7 @@ public abstract class DeviceBase<D : Device>(
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}
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@DFExperimental
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override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.INIT
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override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
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protected set
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protected open suspend fun onStart() {
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@ -198,10 +198,14 @@ public abstract class DeviceBase<D : Device>(
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@OptIn(DFExperimental::class)
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final override suspend fun start() {
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if(lifecycleState == DeviceLifecycleState.STOPPED) {
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super.start()
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lifecycleState = DeviceLifecycleState.INIT
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lifecycleState = DeviceLifecycleState.STARTING
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onStart()
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lifecycleState = DeviceLifecycleState.OPEN
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lifecycleState = DeviceLifecycleState.STARTED
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} else {
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logger.debug { "Device $this is already started" }
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}
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}
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protected open fun onStop() {
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@ -211,7 +215,7 @@ public abstract class DeviceBase<D : Device>(
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@OptIn(DFExperimental::class)
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final override fun stop() {
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onStop()
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lifecycleState = DeviceLifecycleState.CLOSED
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lifecycleState = DeviceLifecycleState.STOPPED
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super.stop()
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}
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@ -99,7 +99,7 @@ public class DeviceClient(
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}
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@DFExperimental
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override val lifecycleState: DeviceLifecycleState = DeviceLifecycleState.OPEN
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override val lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STARTED
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}
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/**
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