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WIP Constructor update

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This commit is contained in:
Alexander Nozik 2024-06-01 09:35:03 +03:00
parent 9edde7bdbd
commit 54e915ef10
22 changed files with 320 additions and 212 deletions
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7
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt
View File

@ -36,7 +36,7 @@ public class ConnectionConstrucorElement(
) : ConstructorElement
public class ModelConstructorElement(
public val model: ConstructorModel
public val model: ModelConstructor
) : ConstructorElement
@ -89,7 +89,7 @@ public fun <T> StateContainer.stateOf(initialValue: T): MutableDeviceState<T> =
MutableDeviceState(initialValue)
)
public fun <T : ConstructorModel> StateContainer.model(model: T): T {
public fun <T : ModelConstructor> StateContainer.model(model: T): T {
registerElement(ModelConstructorElement(model))
return model
}
@ -125,14 +125,13 @@ public fun <T1, T2, R> StateContainer.combineState(
transformation: (T1, T2) -> R,
): DeviceState<R> = state(DeviceState.combine(first, second, transformation))
/**
* Create and start binding between [sourceState] and [targetState]. Changes made to [sourceState] are automatically
* transferred onto [targetState], but not vise versa.
*
* On resulting [Job] cancel the binding is unregistered
*/
public fun <T> StateContainer.bindTo(sourceState: DeviceState<T>, targetState: MutableDeviceState<T>): Job {
public fun <T> StateContainer.bind(sourceState: DeviceState<T>, targetState: MutableDeviceState<T>): Job {
val descriptor = ConnectionConstrucorElement(setOf(sourceState), setOf(targetState))
registerElement(descriptor)
return sourceState.valueFlow.onEach {

18
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
View File

@ -32,13 +32,14 @@ public abstract class DeviceConstructor(
_constructorElements.remove(constructorElement)
}
override fun <T> registerProperty(
override fun <T, S: DeviceState<T>> registerAsProperty(
converter: MetaConverter<T>,
descriptor: PropertyDescriptor,
state: DeviceState<T>,
) {
super.registerProperty(converter, descriptor, state)
state: S,
): S {
val res = super.registerAsProperty(converter, descriptor, state)
registerElement(PropertyConstructorElement(this, descriptor.name, state))
return res
}
}
@ -83,7 +84,7 @@ public fun <T, S : DeviceState<T>> DeviceConstructor.property(
PropertyDelegateProvider { _: DeviceConstructor, property ->
val name = nameOverride ?: property.name
val descriptor = PropertyDescriptor(name).apply(descriptorBuilder)
registerProperty(converter, descriptor, state)
registerAsProperty(converter, descriptor, state)
ReadOnlyProperty { _: DeviceConstructor, _ ->
state
}
@ -140,7 +141,10 @@ public fun <T> DeviceConstructor.virtualProperty(
nameOverride,
)
public fun <T, S : DeviceState<T>> DeviceConstructor.property(
public fun <T, S : DeviceState<T>> DeviceConstructor.registerAsProperty(
spec: DevicePropertySpec<*, T>,
state: S,
): Unit = registerProperty(spec.converter, spec.descriptor, state)
): S {
registerAsProperty(spec.converter, spec.descriptor, state)
return state
}

17
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
View File

@ -93,11 +93,11 @@ public open class DeviceGroup(
/**
* Register a new property based on [DeviceState]. Properties could be modified dynamically
*/
public open fun <T> registerProperty(
public open fun <T, S : DeviceState<T>> registerAsProperty(
converter: MetaConverter<T>,
descriptor: PropertyDescriptor,
state: DeviceState<T>,
) {
state: S,
): S {
val name = descriptor.name.parseAsName()
require(properties[name] == null) { "Can't add property with name $name. It already exists." }
properties[name] = Property(state, converter, descriptor)
@ -109,6 +109,7 @@ public open class DeviceGroup(
)
)
}.launchIn(this)
return state
}
private val actions: MutableMap<Name, Action> = hashMapOf()
@ -174,8 +175,8 @@ public open class DeviceGroup(
}
}
public fun <T> DeviceGroup.registerProperty(propertySpec: DevicePropertySpec<*, T>, state: DeviceState<T>) {
registerProperty(propertySpec.converter, propertySpec.descriptor, state)
public fun <T> DeviceGroup.registerAsProperty(propertySpec: DevicePropertySpec<*, T>, state: DeviceState<T>) {
registerAsProperty(propertySpec.converter, propertySpec.descriptor, state)
}
public fun DeviceManager.registerDeviceGroup(
@ -246,13 +247,13 @@ public fun DeviceGroup.registerDeviceGroup(name: String, block: DeviceGroup.() -
/**
* Register read-only property based on [state]
*/
public fun <T : Any> DeviceGroup.registerProperty(
public fun <T : Any> DeviceGroup.registerAsProperty(
name: String,
converter: MetaConverter<T>,
state: DeviceState<T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
) {
registerProperty(
registerAsProperty(
converter,
PropertyDescriptor(name).apply(descriptorBuilder),
state
@ -268,7 +269,7 @@ public fun <T : Any> DeviceGroup.registerMutableProperty(
state: MutableDeviceState<T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
) {
registerProperty(
registerAsProperty(
converter,
PropertyDescriptor(name).apply(descriptorBuilder),
state

4
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
View File

@ -67,9 +67,11 @@ public fun <T, R> DeviceState.Companion.map(
override val valueFlow: Flow<R> = state.valueFlow.map(mapper)
override fun toString(): String = "DeviceState.map(arg=${state})"
override fun toString(): String = "DeviceState.map(state=${state})"
}
public fun <T, R> DeviceState<T>.map(mapper: (T) -> R): DeviceStateWithDependencies<R> = DeviceState.map(this, mapper)
/**
* Combine two device states into one read-only [DeviceState]. Only the latest value of each state is used.
*/

2
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorModel.kt → controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ModelConstructor.kt
View File

@ -6,7 +6,7 @@ import kotlinx.coroutines.newCoroutineContext
import space.kscience.dataforge.context.Context
import kotlin.coroutines.CoroutineContext
public abstract class ConstructorModel(
public abstract class ModelConstructor(
final override val context: Context,
vararg dependencies: DeviceState<*>,
) : StateContainer, CoroutineScope {

57
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt
View File

@ -1,57 +0,0 @@
package space.kscience.controls.constructor
import kotlinx.coroutines.flow.MutableStateFlow
import kotlinx.coroutines.flow.StateFlow
/**
* A state describing a [Double] value in the [range]
*/
public class DoubleInRangeState(
initialValue: Double,
public val range: ClosedFloatingPointRange<Double>,
) : MutableDeviceState<Double> {
init {
require(initialValue in range) { "Initial value should be in range" }
}
private val _valueFlow = MutableStateFlow(initialValue)
override var value: Double
get() = _valueFlow.value
set(newValue) {
_valueFlow.value = newValue.coerceIn(range)
}
override val valueFlow: StateFlow<Double> get() = _valueFlow
/**
* A state showing that the range is on its lower boundary
*/
public val atStart: DeviceState<Boolean> = DeviceState.map(this) {
it <= range.start
}
/**
* A state showing that the range is on its higher boundary
*/
public val atEnd: DeviceState<Boolean> = DeviceState.map(this) {
it >= range.endInclusive
}
override fun toString(): String = "DoubleRangeState(range=$range)"
}
/**
* Create and register a [DoubleInRangeState]
*/
public fun StateContainer.doubleInRangeState(
initialValue: Double,
range: ClosedFloatingPointRange<Double>,
): DoubleInRangeState = DoubleInRangeState(initialValue, range).also {
registerElement(StateConstructorElement(it))
}

16
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
View File

@ -2,6 +2,7 @@ package space.kscience.controls.constructor
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.MutableStateFlow
import kotlinx.coroutines.flow.emptyFlow
/**
* A [MutableDeviceState] that does not correspond to a physical state
@ -35,3 +36,18 @@ public fun <T> MutableDeviceState(
initialValue: T,
callback: (T) -> Unit = {},
): MutableDeviceState<T> = VirtualDeviceState(initialValue, callback)
/**
* Create a [DeviceState] with constant value
*/
public fun <T> DeviceState(
value: T
): DeviceState<T> = object : DeviceState<T> {
override val value: T get() = value
override val valueFlow: Flow<T>
get() = emptyFlow()
override fun toString(): String = "ConstDeviceState($value)"
}

20
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Converter.kt
View File

@ -1,20 +0,0 @@
package space.kscience.controls.constructor.library
import kotlinx.coroutines.flow.FlowCollector
import space.kscience.controls.constructor.DeviceConstructor
import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.constructor.DeviceStateWithDependencies
import space.kscience.controls.constructor.flowState
import space.kscience.dataforge.context.Context
/**
* A device that converts one type of physical quantity to another type
*/
public class Converter<T, R>(
context: Context,
input: DeviceState<T>,
initialValue: R,
transform: suspend FlowCollector<R>.(T) -> Unit,
) : DeviceConstructor(context) {
public val output: DeviceStateWithDependencies<R> = flowState(input, initialValue, transform)
}

57
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/DoubleInRangeState.kt Normal file
View File

@ -0,0 +1,57 @@
package space.kscience.controls.constructor.library
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.map
import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.constructor.MutableDeviceState
import space.kscience.controls.constructor.map
/**
* A state describing a [Double] value in the [range]
*/
public open class DoubleInRangeState(
private val input: DeviceState<Double>,
public val range: ClosedFloatingPointRange<Double>,
) : DeviceState<Double> {
override val valueFlow: Flow<Double> get() = input.valueFlow.map { it.coerceIn(range) }
override val value: Double get() = input.value.coerceIn(range)
/**
* A state showing that the range is on its lower boundary
*/
public val atStart: DeviceState<Boolean> = input.map { it <= range.start }
/**
* A state showing that the range is on its higher boundary
*/
public val atEnd: DeviceState<Boolean> = input.map { it >= range.endInclusive }
override fun toString(): String = "DoubleRangeState(value=${value},range=$range)"
}
public class MutableDoubleInRangeState(
private val mutableInput: MutableDeviceState<Double>,
range: ClosedFloatingPointRange<Double>
) : DoubleInRangeState(mutableInput, range), MutableDeviceState<Double> {
override var value: Double
get() = super.value
set(value) {
mutableInput.value = value.coerceIn(range)
}
}
public fun MutableDoubleInRangeState(
initialValue: Double,
range: ClosedFloatingPointRange<Double>
): MutableDoubleInRangeState = MutableDoubleInRangeState(MutableDeviceState(initialValue),range)
public fun DeviceState<Double>.coerceIn(
range: ClosedFloatingPointRange<Double>
): DoubleInRangeState = DoubleInRangeState(this, range)
public fun MutableDeviceState<Double>.coerceIn(
range: ClosedFloatingPointRange<Double>
): MutableDoubleInRangeState = MutableDoubleInRangeState(this, range)

3
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt
View File

@ -98,4 +98,5 @@ public class VirtualDrive(
}
}
public suspend fun Drive.stateOfForce(): MutableDeviceState<Double> = propertyAsState(Drive.force)
public fun Drive.stateOfForce(initialForce: Double = 0.0): MutableDeviceState<Double> =
propertyAsState(Drive.force, initialForce)

46
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
View File

@ -1,37 +1,45 @@
package space.kscience.controls.constructor.library
import space.kscience.controls.api.Device
import space.kscience.controls.constructor.DeviceConstructor
import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.constructor.property
import space.kscience.controls.constructor.map
import space.kscience.controls.constructor.registerAsProperty
import space.kscience.controls.constructor.units.Direction
import space.kscience.controls.constructor.units.NumericalValue
import space.kscience.controls.constructor.units.UnitsOfMeasurement
import space.kscience.controls.constructor.units.compareTo
import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.DeviceSpec
import space.kscience.controls.spec.booleanProperty
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.MetaConverter
/**
* A limit switch device
*/
public interface LimitSwitch : Device {
public fun isLocked(): Boolean
public companion object : DeviceSpec<LimitSwitch>() {
public val locked: DevicePropertySpec<LimitSwitch, Boolean> by booleanProperty { isLocked() }
}
}
/**
* Virtual [LimitSwitch]
*/
public class VirtualLimitSwitch(
public class LimitSwitch(
context: Context,
locked: DeviceState<Boolean>,
) : DeviceConstructor(context), LimitSwitch {
) : DeviceConstructor(context) {
public val locked: DeviceState<Boolean> by property(MetaConverter.boolean, locked)
public val locked: DeviceState<Boolean> = registerAsProperty(LimitSwitch.locked, locked)
override fun isLocked(): Boolean = locked.value
public companion object : DeviceSpec<LimitSwitch>() {
public val locked: DevicePropertySpec<LimitSwitch, Boolean> by booleanProperty { locked.value }
}
}
public fun <U : UnitsOfMeasurement, T : NumericalValue<U>> LimitSwitch(
context: Context,
limit: T,
boundary: Direction,
position: DeviceState<T>,
): LimitSwitch = LimitSwitch(
context,
DeviceState.map(position) {
when (boundary) {
Direction.UP -> it >= limit
Direction.DOWN -> it <= limit
}
}
)

67
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
View File

@ -1,19 +1,17 @@
package space.kscience.controls.constructor.library
import kotlinx.coroutines.Job
import kotlinx.coroutines.delay
import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import kotlinx.datetime.Instant
import space.kscience.controls.constructor.DeviceGroup
import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.constructor.MutableDeviceState
import space.kscience.controls.constructor.state
import space.kscience.controls.constructor.stateOf
import space.kscience.controls.manager.clock
import space.kscience.controls.spec.DeviceBySpec
import space.kscience.controls.spec.write
import space.kscience.dataforge.names.parseAsName
import space.kscience.dataforge.context.Context
import kotlin.time.Duration
import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.DurationUnit
@ -24,64 +22,53 @@ public data class PidParameters(
val kp: Double,
val ki: Double,
val kd: Double,
val timeStep: Duration = 1.milliseconds,
val timeStep: Duration,
)
/**
* A drive with PID regulator
* A PID regulator
*/
public class PidRegulator(
public val drive: Drive,
context: Context,
private val position: DeviceState<Double>,
public var pidParameters: PidParameters, // TODO expose as property
) : DeviceBySpec<Regulator>(Regulator, drive.context), Regulator {
output: MutableDeviceState<Double> = MutableDeviceState(0.0),
) : Regulator<Double>(context) {
private val clock = drive.context.clock
override val target: MutableDeviceState<Double> = stateOf(0.0)
override val output: MutableDeviceState<Double> = state(output)
override var target: Double = drive.position
private var lastTime: Instant = clock.now()
private var lastPosition: Double = target
private var lastPosition: Double = target.value
private var integral: Double = 0.0
private var updateJob: Job? = null
private val mutex = Mutex()
private var lastTime = clock.now()
override suspend fun onStart() {
drive.start()
updateJob = launch {
private val updateJob = launch {
while (isActive) {
delay(pidParameters.timeStep)
mutex.withLock {
val realTime = clock.now()
val delta = target - getPosition()
val delta = target.value - position.value
val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
integral += delta * dtSeconds
val derivative = (drive.position - lastPosition) / dtSeconds
val derivative = (position.value - lastPosition) / dtSeconds
//set last time and value to new values
lastTime = realTime
lastPosition = drive.position
lastPosition = position.value
drive.write(Drive.force,pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative)
//drive.force = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative
propertyChanged(Regulator.position, drive.position)
output.value = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative
}
}
}
}
override suspend fun onStop() {
updateJob?.cancel()
drive.stop()
}
override suspend fun getPosition(): Double = drive.position
}
public fun DeviceGroup.pid(
name: String,
drive: Drive,
pidParameters: PidParameters,
): PidRegulator = install(name.parseAsName(), PidRegulator(drive, pidParameters))
//
//public fun DeviceGroup.pid(
// name: String,
// drive: Drive,
// pidParameters: PidParameters,
//): PidRegulator = install(name.parseAsName(), PidRegulator(drive, pidParameters))

24
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt
View File

@ -1,27 +1,17 @@
package space.kscience.controls.constructor.library
import space.kscience.controls.api.Device
import space.kscience.controls.spec.*
import space.kscience.dataforge.meta.MetaConverter
import space.kscience.controls.constructor.DeviceConstructor
import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.constructor.MutableDeviceState
import space.kscience.dataforge.context.Context
/**
* A regulator with target value and current position
*/
public interface Regulator : Device {
/**
* Get or set target value
*/
public var target: Double
public abstract class Regulator<T>(context: Context) : DeviceConstructor(context) {
/**
* Current position value
*/
public suspend fun getPosition(): Double
public abstract val target: MutableDeviceState<T>
public companion object : DeviceSpec<Regulator>() {
public val target: MutableDevicePropertySpec<Regulator, Double> by mutableProperty(MetaConverter.double, Regulator::target)
public val position: DevicePropertySpec<Regulator, Double> by doubleProperty { getPosition() }
}
public abstract val output: DeviceState<T>
}

33
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/StepDrive.kt Normal file
View File

@ -0,0 +1,33 @@
package space.kscience.controls.constructor.library
import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.constructor.MutableDeviceState
import space.kscience.controls.constructor.combineState
import space.kscience.controls.constructor.property
import space.kscience.controls.constructor.units.*
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.MetaConverter
/**
* A step drive regulated by [input]
*/
public class StepDrive(
context: Context,
public val step: NumericalValue<Degrees>,
public val zero: NumericalValue<Degrees> = NumericalValue(0.0),
direction: Direction = Direction.UP,
input: MutableDeviceState<Int> = MutableDeviceState(0),
hold: MutableDeviceState<Boolean> = MutableDeviceState(false)
) : Transmission<Int, NumericalValue<Degrees>>(context) {
override val input: MutableDeviceState<Int> by property(MetaConverter.int, input)
public val hold: MutableDeviceState<Boolean> by property(MetaConverter.boolean, hold)
override val output: DeviceState<NumericalValue<Degrees>> = combineState(
input, hold
) { input, hold ->
//TODO use hold parameter
zero + input * direction.coef * step
}
}

33
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Transmission.kt Normal file
View File

@ -0,0 +1,33 @@
package space.kscience.controls.constructor.library
import space.kscience.controls.constructor.DeviceConstructor
import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.constructor.MutableDeviceState
import space.kscience.controls.constructor.flowState
import space.kscience.dataforge.context.Context
/**
* A model for a device that converts one type of physical quantity to another type
*/
public abstract class Transmission<T, R>(context: Context) : DeviceConstructor(context) {
public abstract val input: MutableDeviceState<T>
public abstract val output: DeviceState<R>
public companion object {
/**
* Create a device that is a hard connection between two physical quantities
*/
public suspend fun <T, R> direct(
context: Context,
input: MutableDeviceState<T>,
transform: suspend (T) -> R
): Transmission<T, R> {
val initialValue = transform(input.value)
return object : Transmission<T, R>(context) {
override val input: MutableDeviceState<T> = input
override val output: DeviceState<R> = flowState(input, initialValue) { emit(transform(it)) }
}
}
}
}

6
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/Direction.kt Normal file
View File

@ -0,0 +1,6 @@
package space.kscience.controls.constructor.units
public enum class Direction(public val coef: Int) {
UP(1),
DOWN(-1)
}

29
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
View File

@ -7,4 +7,31 @@ import kotlin.jvm.JvmInline
* A value without identity coupled to units of measurements.
*/
@JvmInline
public value class NumericalValue<T: UnitsOfMeasurement>(public val value: Double)
public value class NumericalValue<U : UnitsOfMeasurement>(public val value: Double)
public operator fun <U: UnitsOfMeasurement> NumericalValue<U>.compareTo(other: NumericalValue<U>): Int =
value.compareTo(other.value)
public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.plus(
other: NumericalValue<U>
): NumericalValue<U> = NumericalValue(this.value + other.value)
public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.minus(
other: NumericalValue<U>
): NumericalValue<U> = NumericalValue(this.value - other.value)
public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.times(
c: Number
): NumericalValue<U> = NumericalValue(this.value * c.toDouble())
public operator fun <U : UnitsOfMeasurement> Number.times(
numericalValue: NumericalValue<U>
): NumericalValue<U> = NumericalValue(numericalValue.value * toDouble())
public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.times(
c: Double
): NumericalValue<U> = NumericalValue(this.value * c)
public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.div(
c: Number
): NumericalValue<U> = NumericalValue(this.value / c.toDouble())

7
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt
View File

@ -23,6 +23,13 @@ public data object MetersPerSecond: UnitsOfVelocity
/**/
public sealed interface UnitsOfAngles : UnitsOfMeasurement
public data object Radians : UnitsOfAngles
public data object Degrees : UnitsOfAngles
/**/
public interface UnitsAngularOfVelocity : UnitsOfMeasurement
public data object RadiansPerSecond : UnitsAngularOfVelocity

3
controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/TimerTest.kt
View File

@ -15,8 +15,9 @@ class TimerTest {
@Test
fun timer() = runTest {
val timer = TimerState(Global.request(ClockManager), 10.milliseconds)
timer.valueFlow.take(10).onEach {
timer.valueFlow.take(100).onEach {
println(it)
}.collect()
}
}

9
controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
View File

@ -9,6 +9,7 @@ import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.double
import kotlin.coroutines.CoroutineContext
import kotlin.math.roundToLong
import kotlin.time.Duration
@OptIn(InternalCoroutinesApi::class)
private class CompressedTimeDispatcher(
@ -78,6 +79,14 @@ public class ClockManager : AbstractPlugin() {
CompressedTimeDispatcher(this, dispatcher, timeCompression)
}
public fun scheduleWithFixedDelay(tick: Duration, block: suspend () -> Unit): Job = context.launch(asDispatcher()) {
while (isActive) {
delay(tick)
block()
}
}
public companion object : PluginFactory<ClockManager> {
override val tag: PluginTag = PluginTag("clock", group = PluginTag.DATAFORGE_GROUP)

4
demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
View File

@ -41,7 +41,7 @@ class Spring(
val l0: Double,
val begin: DeviceState<XY>,
val end: DeviceState<XY>,
) : ConstructorModel(context) {
) : ModelConstructor(context) {
/**
* vector from start to end
@ -76,7 +76,7 @@ class MaterialPoint(
val force: DeviceState<XY>,
val position: MutableDeviceState<XY>,
val velocity: MutableDeviceState<XY> = MutableDeviceState(XY.ZERO),
) : ConstructorModel(context, force, position, velocity) {
) : ModelConstructor(context, force, position, velocity) {
private val timer: TimerState = timer(2.milliseconds)

36
demo/constructor/src/jvmMain/kotlin/LinearDrive.kt → demo/constructor/src/jvmMain/kotlin/PidDemo.kt
View File

@ -52,14 +52,18 @@ class LinearDrive(
) : DeviceConstructor(drive.context, meta) {
val drive by device(drive)
val pid by device(PidRegulator(drive, pidParameters))
val pid by device(
PidRegulator(
context = context,
position = drive.propertyAsState(Drive.position, 0.0),
pidParameters = pidParameters
)
)
private val binding = bind(pid.output, drive.stateOfForce())
val start by device(start)
val end by device(end)
val position = drive.propertyAsState(Drive.position, Double.NaN)
val target = pid.propertyAsState(Regulator.target, 0.0)
}
/**
@ -67,14 +71,14 @@ class LinearDrive(
*/
fun LinearDrive(
context: Context,
positionState: DoubleInRangeState,
positionState: MutableDoubleInRangeState,
mass: Double,
pidParameters: PidParameters,
meta: Meta = Meta.EMPTY,
): LinearDrive = LinearDrive(
drive = VirtualDrive(context, mass, positionState),
start = VirtualLimitSwitch(context, positionState.atStart),
end = VirtualLimitSwitch(context, positionState.atEnd),
start = LimitSwitch(context, positionState.atStart),
end = LimitSwitch(context, positionState.atEnd),
pidParameters = pidParameters,
meta = meta
)
@ -116,7 +120,7 @@ fun main() = application {
mutableStateOf(PidParameters(kp = 2.5, ki = 0.0, kd = -0.1, timeStep = 0.005.seconds))
}
val state = remember { DoubleInRangeState(0.0, -6.0..6.0) }
val state = remember { MutableDoubleInRangeState(0.0, -6.0..6.0) }
val linearDrive = remember {
context.install(
@ -128,7 +132,7 @@ fun main() = application {
val modulator = remember {
context.install(
"modulator",
Modulator(context, linearDrive.target)
Modulator(context, linearDrive.pid.target)
)
}
@ -207,7 +211,7 @@ fun main() = application {
Slider(
pidParameters.timeStep.toDouble(DurationUnit.MILLISECONDS).toFloat(),
{ pidParameters = pidParameters.copy(timeStep = it.toDouble().milliseconds) },
valueRange = 0f..100f,
valueRange = 1f..100f,
steps = 100
)
}
@ -248,14 +252,14 @@ fun main() = application {
lineStyle = LineStyle(SolidColor(Color.Blue))
)
PlotDeviceProperty(
linearDrive.pid,
Regulator.position,
linearDrive.drive,
Drive.position,
maxAge = maxAge,
sampling = 50.milliseconds,
)
PlotDeviceProperty(
linearDrive.pid,
Regulator.target,
PlotNumberState(
context = context,
state = linearDrive.pid.target,
maxAge = maxAge,
sampling = 50.milliseconds,
lineStyle = LineStyle(SolidColor(Color.Red))