Return notifications about pid and drive updates. Introduce debounce

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

@@ -74,6 +74,7 @@ public class VirtualDrive(
 
                 // compute new value based on velocity and acceleration from the previous step
                 positionState.value += velocity * dtSeconds + force / mass * dtSeconds.pow(2) / 2
+                propertyChanged(Drive.position, positionState.value)
 
                 // compute new velocity based on acceleration on the previous step
                 velocity += force / mass * dtSeconds

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

@@ -62,6 +62,7 @@ public class PidRegulator(
                     lastPosition = drive.position
 
                     drive.force = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative
+                    propertyChanged(Regulator.position, drive.position)
                 }
             }
         }

controls-vision/src/commonMain/kotlin/plotExtensions.kt

@@ -1,7 +1,11 @@
+@file:OptIn(FlowPreview::class)
+
 package space.kscience.controls.vision
 
 import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.FlowPreview
 import kotlinx.coroutines.Job
+import kotlinx.coroutines.flow.debounce
 import kotlinx.coroutines.flow.launchIn
 import kotlinx.coroutines.flow.onEach
 import kotlinx.coroutines.flow.transform
@@ -25,6 +29,7 @@ import space.kscience.plotly.models.TraceValues
 import space.kscience.plotly.scatter
 import kotlin.time.Duration
 import kotlin.time.Duration.Companion.hours
+import kotlin.time.Duration.Companion.milliseconds
 
 private var TraceValues.values: List<Value>
     get() = value?.list ?: emptyList()
@@ -88,12 +93,13 @@ public fun Plot.plotDeviceProperty(
     maxAge: Duration = 1.hours,
     maxPoints: Int = 800,
     minPoints: Int = 400,
+    debounceDuration: Duration = 10.milliseconds,
     coroutineScope: CoroutineScope = device.context,
     configuration: Scatter.() -> Unit = {},
 ): Job = scatter(configuration).run {
     val clock = device.context.clock
     val data = TimeData()
-    device.propertyMessageFlow(propertyName).transform {
+    device.propertyMessageFlow(propertyName).debounce(debounceDuration).transform {
         data.append(it.time ?: clock.now(), it.value.extractValue())
         data.trim(maxAge, maxPoints, minPoints)
         emit(data)
@@ -109,10 +115,11 @@ private fun <T> Trace.updateFromState(
     maxAge: Duration = 1.hours,
     maxPoints: Int = 800,
     minPoints: Int = 400,
+    debounceDuration: Duration = 10.milliseconds,
 ): Job {
     val clock = context.clock
     val data = TimeData()
-    return state.valueFlow.transform<T, TimeData> {
+    return state.valueFlow.debounce(debounceDuration).transform<T, TimeData> {
         data.append(clock.now(), it.extractValue())
         data.trim(maxAge, maxPoints, minPoints)
     }.onEach {
@@ -127,9 +134,10 @@ public fun <T> Plot.plotDeviceState(
     maxAge: Duration = 1.hours,
     maxPoints: Int = 800,
     minPoints: Int = 400,
+    debounceDuration: Duration = 10.milliseconds,
     configuration: Scatter.() -> Unit = {},
 ): Job = scatter(configuration).run {
-    updateFromState(context, state, extractValue, maxAge, maxPoints, minPoints)
+    updateFromState(context, state, extractValue, maxAge, maxPoints, minPoints, debounceDuration)
 }
 
 
@@ -139,9 +147,10 @@ public fun Plot.plotNumberState(
     maxAge: Duration = 1.hours,
     maxPoints: Int = 800,
     minPoints: Int = 400,
+    debounceDuration: Duration = 10.milliseconds,
     configuration: Scatter.() -> Unit = {},
 ): Job = scatter(configuration).run {
-    updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints)
+    updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints, debounceDuration)
 }
 
 
@@ -151,7 +160,8 @@ public fun Plot.plotBooleanState(
     maxAge: Duration = 1.hours,
     maxPoints: Int = 800,
     minPoints: Int = 400,
+    debounceDuration: Duration = 10.milliseconds,
     configuration: Bar.() -> Unit = {},
 ): Job = bar(configuration).run {
-    updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints)
+    updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints, debounceDuration)
 }

demo/notebooks/constructor.ipynb

@@ -3,17 +3,28 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {
+   "metadata": {},
-    "collapsed": true
-   },
    "outputs": [],
    "source": [
-    "USE(ControlsJupyter())"
+    "//import space.kscience.controls.jupyter.ControlsJupyter\n",
+    "\n",
+    "//USE(ControlsJupyter())\n",
+    "USE{\n",
+    "    repositories{\n",
+    "        maven(\"https://repo.kotlin.link\")\n",
+    "    }\n",
+    "    dependencies{\n",
+    "        implementation(\"space.kscience:controls-jupyter-jvm:0.3.0-dev-2\")\n",
+    "    }\n",
+    "}"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
+   "metadata": {
+    "collapsed": false
+   },
    "outputs": [],
    "source": [
     "class LinearDrive(\n",
@@ -34,14 +45,14 @@
     "    val position by property(state)\n",
     "    var target by mutableProperty(pid.mutablePropertyAsState(Regulator.target, 0.0))\n",
     "}\n"
-   ],
+   ]
-   "metadata": {
-    "collapsed": false
-   }
   },
   {
    "cell_type": "code",
    "execution_count": null,
+   "metadata": {
+    "collapsed": false
+   },
    "outputs": [],
    "source": [
     "import kotlin.time.Duration.Companion.milliseconds\n",
@@ -57,14 +68,14 @@
     ")\n",
     "\n",
     "val device = context.install(\"device\", LinearDrive(context, state, 0.005, pidParameters))"
-   ],
+   ]
-   "metadata": {
-    "collapsed": false
-   }
   },
   {
    "cell_type": "code",
    "execution_count": null,
+   "metadata": {
+    "collapsed": false
+   },
    "outputs": [],
    "source": [
     "\n",
@@ -80,14 +91,14 @@
     "                sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / pidParameters.timeStep))\n",
     "    }\n",
     "}"
-   ],
+   ]
-   "metadata": {
-    "collapsed": false
-   }
   },
   {
    "cell_type": "code",
    "execution_count": null,
+   "metadata": {
+    "collapsed": false
+   },
    "outputs": [],
    "source": [
     "val maxAge = 10.seconds\n",
@@ -96,16 +107,18 @@
     "VisionForge.fragment {\n",
     "    vision {\n",
     "        plotly {\n",
-    "            plotNumberState(context, state, maxAge = maxAge) {\n",
-    "                name = \"real position\"\n",
-    "            }\n",
-    "            plotDeviceProperty(device.pid, Regulator.position.name, maxAge = maxAge) {\n",
-    "                name = \"read position\"\n",
-    "            }\n",
     "            \n",
     "            plotDeviceProperty(device.pid, Regulator.target.name, maxAge = maxAge) {\n",
     "                name = \"target\"\n",
     "            }\n",
+    "            \n",
+    "            plotNumberState(context, state, maxAge = maxAge) {\n",
+    "                name = \"real position\"\n",
+    "            }\n",
+    "            \n",
+    "            plotDeviceProperty(device.pid, Regulator.position.name, maxAge = maxAge) {\n",
+    "                name = \"read position\"\n",
+    "            }\n",
     "        }\n",
     "    }\n",
     "\n",
@@ -122,23 +135,29 @@
     "        }\n",
     "    }\n",
     "}"
-   ],
+   ]
-   "metadata": {
-    "collapsed": false
-   }
   },
   {
    "cell_type": "code",
    "execution_count": null,
+   "metadata": {
+    "collapsed": false
+   },
    "outputs": [],
    "source": [
     "import kotlinx.coroutines.cancel\n",
     "\n",
     "job.cancel()"
-   ],
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
    "metadata": {
     "collapsed": false
-   }
+   },
+   "outputs": [],
+   "source": []
   },
   {
    "cell_type": "code",
@@ -156,21 +175,21 @@
    "language": "kotlin",
    "name": "kotlin"
   },
-  "language_info": {
-   "name": "kotlin",
-   "version": "1.9.0",
-   "mimetype": "text/x-kotlin",
-   "file_extension": ".kt",
-   "pygments_lexer": "kotlin",
-   "codemirror_mode": "text/x-kotlin",
-   "nbconvert_exporter": ""
-  },
   "ktnbPluginMetadata": {
    "projectDependencies": [
     "controls-kt.controls-jupyter.jvmMain"
    ]
+  },
+  "language_info": {
+   "codemirror_mode": "text/x-kotlin",
+   "file_extension": ".kt",
+   "mimetype": "text/x-kotlin",
+   "name": "kotlin",
+   "nbconvert_exporter": "",
+   "pygments_lexer": "kotlin",
+   "version": "1.8.20"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 0
+ "nbformat_minor": 4
 }