More or less working motors app

dataforge-device-core/src/commonMain/kotlin/hep/dataforge/control/base/devicePropertyDelegates.kt

@@ -93,6 +93,21 @@ public fun DeviceBase.readingNumber(
     }
 )
 
+public fun DeviceBase.readingDouble(
+    default: Number? = null,
+    descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+    getter: suspend () -> Double,
+): PropertyDelegateProvider<DeviceBase, TypedReadOnlyPropertyDelegate<Double>> = TypedReadOnlyDevicePropertyProvider(
+    this,
+    default?.let { MetaItem.ValueItem(it.asValue()) },
+    MetaConverter.double,
+    descriptorBuilder,
+    getter = {
+        val number = getter()
+        MetaItem.ValueItem(number.asValue())
+    }
+)
+
 public fun DeviceBase.readingString(
     default: String? = null,
     descriptorBuilder: PropertyDescriptor.() -> Unit = {},

motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt

@@ -7,9 +7,11 @@ import javafx.beans.property.ReadOnlyProperty
 import javafx.beans.property.SimpleIntegerProperty
 import javafx.beans.property.SimpleObjectProperty
 import javafx.beans.property.SimpleStringProperty
-import javafx.collections.FXCollections
+import javafx.geometry.Pos
 import javafx.scene.Parent
 import javafx.scene.layout.Priority
+import javafx.scene.layout.VBox
+import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Job
 import kotlinx.coroutines.launch
 import tornadofx.*
@@ -27,6 +29,51 @@ class PiMotionMasterController : Controller() {
     val motionMaster: PiMotionMasterDevice by deviceManager.installing(PiMotionMasterDevice)
 }
 
+fun VBox.piMotionMasterAxis(
+    axisName: String,
+    axis: PiMotionMasterDevice.Axis,
+    coroutineScope: CoroutineScope,
+) = hbox {
+    alignment = Pos.CENTER
+    label(axisName)
+    coroutineScope.launch {
+        val min = axis.minPosition.readTyped(true)
+        val max = axis.maxPosition.readTyped(true)
+        val positionProperty = axis.position.fxProperty(axis)
+        val startPosition = axis.position.readTyped(true)
+        runLater {
+            vbox {
+                hgrow = Priority.ALWAYS
+                slider(min..max, startPosition) {
+                    minWidth = 300.0
+                    isShowTickLabels = true
+                    isShowTickMarks = true
+                    minorTickCount = 10
+                    majorTickUnit = 1.0
+                    valueProperty().onChange {
+                        coroutineScope.launch {
+                            axis.move(value)
+                        }
+                    }
+                }
+                slider(min..max) {
+                    isDisable = true
+                    valueProperty().bind(positionProperty)
+                }
+            }
+        }
+    }
+}
+
+fun Parent.axisPane(axes: Map<String, PiMotionMasterDevice.Axis>, coroutineScope: CoroutineScope) {
+    vbox {
+        axes.forEach { (name, axis) ->
+            this.piMotionMasterAxis(name, axis, coroutineScope)
+        }
+    }
+}
+
+
 class PiMotionMasterView : View() {
 
     private val controller: PiMotionMasterController by inject()
@@ -35,7 +82,7 @@ class PiMotionMasterView : View() {
     private val connectedProperty: ReadOnlyProperty<Boolean> = device.connected.fxProperty(device)
     private val debugServerJobProperty = SimpleObjectProperty<Job>()
     private val debugServerStarted = debugServerJobProperty.booleanBinding { it != null }
-    private val axisList = FXCollections.observableArrayList<Map.Entry<String, PiMotionMasterDevice.Axis>>()
+    //private val axisList = FXCollections.observableArrayList<Map.Entry<String, PiMotionMasterDevice.Axis>>()
 
     override val root: Parent = borderpane {
         top {
@@ -86,9 +133,11 @@ class PiMotionMasterView : View() {
                     action {
                         if (!connectedProperty.value) {
                             device.connect(host.get(), port.get())
-                            axisList.addAll(device.axes.entries)
+                            center {
+                                axisPane(device.axes,controller.context)
+                            }
                         } else {
-                            axisList.removeAll()
+                            this@borderpane.center = null
                             device.disconnect()
                         }
                     }
@@ -98,34 +147,6 @@ class PiMotionMasterView : View() {
             }
         }
 
-        center {
-            listview(axisList) {
-                cellFormat { (name, axis) ->
-                    hbox {
-                        minHeight = 40.0
-                        label(name)
-                        controller.context.launch {
-                            val min = axis.minPosition.readTyped(true)
-                            val max = axis.maxPosition.readTyped(true)
-                            runLater {
-                                slider(min.toDouble()..max.toDouble()){
-                                    hgrow = Priority.ALWAYS
-                                    valueProperty().onChange {
-                                        isDisable = true
-                                        launch {
-                                            axis.move(value)
-                                            runLater {
-                                                isDisable = false
-                                            }
-                                        }
-                                    }
-                                }
-                            }
-                        }
-                    }
-                }
-            }
-        }
     }
 }
 

motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt

@@ -165,7 +165,7 @@ class PiMotionMasterDevice(
     private suspend fun requestAndParse(command: String, vararg arguments: String): Map<String, String> = buildMap {
         request(command, *arguments).forEach { line ->
             val (key, value) = line.split("=")
-            put(key, value)
+            put(key, value.trim())
         }
     }
 
@@ -277,7 +277,7 @@ class PiMotionMasterDevice(
             send("FRF", axisId)
         }
 
-        val minPosition by readingNumber(
+        val minPosition by readingDouble(
             descriptorBuilder = {
                 info = "Minimal position value for the axis"
             },
@@ -287,7 +287,7 @@ class PiMotionMasterDevice(
             }
         )
 
-        val maxPosition by readingNumber(
+        val maxPosition by readingDouble(
             descriptorBuilder = {
                 info = "Maximal position value for the axis"
             },
@@ -297,9 +297,15 @@ class PiMotionMasterDevice(
             }
         )
 
-        val position: TypedDeviceProperty<Double> by axisNumberProperty("POS") {
+        val position by readingDouble(
+            descriptorBuilder = {
                 info = "The current axis position."
+            },
+            getter = {
+                requestAndParse("POS?", axisId)[axisId]?.toDoubleOrNull()
+                    ?: error("Malformed `POS?` response. Should include float value for $axisId")
             }
+        )
 
         val openLoopTarget: DeviceProperty by axisNumberProperty("OMA") {
             info = "Position for open-loop operation."
@@ -320,7 +326,7 @@ class PiMotionMasterDevice(
             it.node["velocity"].double?.let { v ->
                 velocity.write(v)
             }
-            position.write(target)
+            targetPosition.write(target)
             //read `onTarget` and `position` properties in a cycle until movement is complete
             while (!onTarget.readTyped(true)) {
                 position.read(true)

motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterVirtualDevice.kt

@@ -8,6 +8,8 @@ import hep.dataforge.control.ports.withDelimiter
 import kotlinx.coroutines.*
 import kotlinx.coroutines.channels.Channel
 import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.sync.Mutex
+import kotlinx.coroutines.sync.withLock
 import kotlin.math.abs
 import kotlin.time.Duration
 
@@ -20,8 +22,12 @@ abstract class VirtualDevice(val scope: CoroutineScope) : Socket<ByteArray> {
     private val toReceive = Channel<ByteArray>(100)
     private val toRespond = Channel<ByteArray>(100)
 
+    private val mutex = Mutex()
+
     private val receiveJob: Job = toReceive.consumeAsFlow().transformRequests().onEach {
+        mutex.withLock {
             evaluateRequest(it)
+        }
     }.catch {
         it.printStackTrace()
     }.launchIn(scope)
@@ -143,7 +149,12 @@ class PiMotionMasterVirtualDevice(
         }
         val response = selectedAxis.joinToString(separator = " \n") {
             val state = axisState.getValue(it)
-            "$it=${state.extract(it)}"
+            val value = when (val extracted = state.extract(it)) {
+                true -> 1
+                false -> 0
+                else -> extracted
+            }
+            "$it=$value"
         }
         respond(response)
     }
@@ -241,6 +252,7 @@ class PiMotionMasterVirtualDevice(
             "TMX?" -> respondForAllAxis(axisIds) { maxPosition }
             "VEL?" -> respondForAllAxis(axisIds) { velocity }
             "SRG?" -> respond(WAT)
+            "ONT?" -> respondForAllAxis(axisIds) { onTarget() }
             "SVO" -> doForEachAxis(parts) { key, value ->
                 axisState[key]?.servoMode = value.toInt()
             }