Implement VirtualCar
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package ru.mipt.npm.controls.demo.virtual_car
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import kotlinx.coroutines.launch
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import ru.mipt.npm.controls.properties.*
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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 java.time.Instant
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import kotlin.time.Duration
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import kotlin.time.ExperimentalTime
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class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) {
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private var speedState: Pair<Double, Double> = Pair(0.0, 0.0)
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get() {
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val previous_speed = field
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val current_acceleration = this.accelerationState
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val now = Instant.now().toEpochMilli().toDouble()
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val time_difference = now - this.timeState
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this.timeState = now
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field = Pair(
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previous_speed.first + time_difference * current_acceleration.first,
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previous_speed.second + time_difference * current_acceleration.second
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)
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return field
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}
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private var accelerationState: Pair<Double, Double> = Pair(0.0, 0.0)
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set(value) {
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this.speedState
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field = value
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}
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private var timeState = Instant.now().toEpochMilli().toDouble()
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object DoublePairMetaConverter : MetaConverter<Pair<Double, Double>> {
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override fun metaToObject(meta: Meta): Pair<Double, Double> = Pair(
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meta["x"].double ?: 0.0,
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meta["y"].double ?: 0.0
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)
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override fun objectToMeta(obj: Pair<Double, Double>): Meta = Meta {
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"x" put obj.first
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"y" put obj.second
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}
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}
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companion object : DeviceSpec<VirtualCar>(::VirtualCar) {
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val speed by property(DoublePairMetaConverter) { this.speedState }
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val acceleration by property(DoublePairMetaConverter, VirtualCar::accelerationState)
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val carProperties by metaProperty {
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Meta {
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val time = Instant.now()
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"time" put time.toEpochMilli()
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"speed" put DoublePairMetaConverter.objectToMeta(read(speed))
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"acceleration" put DoublePairMetaConverter.objectToMeta(read(acceleration))
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}
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}
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@OptIn(ExperimentalTime::class)
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override fun VirtualCar.onStartup() {
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launch {
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speed.read()
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acceleration.read()
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}
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doRecurring(Duration.milliseconds(50)){
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carProperties.read()
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}
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}
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}
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}
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