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Fix nullability in actions

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This commit is contained in:
Alexander Nozik 2023-05-25 10:07:51 +03:00
parent 25d7fe0a8e
commit 7b792afd7a
1 changed files with 20 additions and 25 deletions
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45
demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
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@ -162,7 +162,7 @@ class PiMotionMasterDevice(
send("STP")
}
val connect by metaAction(descriptorBuilder = {
val connect by action(MetaConverter.meta, MetaConverter.unit, descriptorBuilder = {
info = "Connect to specific port and initialize axis"
}) { portSpec ->
//Clear current actions if present
@ -171,36 +171,32 @@ class PiMotionMasterDevice(
}
//Update port
//address = portSpec.node
port = portFactory(portSpec ?: Meta.EMPTY, context)
port = portFactory(portSpec, context)
updateLogical(connected, true)
// connector.open()
//Initialize axes
if (portSpec != null) {
val idn = read(identity)
failIfError { "Can't connect to $portSpec. Error code: $it" }
logger.info { "Connected to $idn on $portSpec" }
val ids = request("SAI?").map { it.trim() }
if (ids != axes.keys.toList()) {
//re-define axes if needed
axes = ids.associateWith { Axis(this, it) }
}
Meta(ids.map { it.asValue() }.asValue())
execute(initialize)
failIfError()
val idn = read(identity)
failIfError { "Can't connect to $portSpec. Error code: $it" }
logger.info { "Connected to $idn on $portSpec" }
val ids = request("SAI?").map { it.trim() }
if (ids != axes.keys.toList()) {
//re-define axes if needed
axes = ids.associateWith { Axis(this, it) }
}
null
Meta(ids.map { it.asValue() }.asValue())
execute(initialize)
failIfError()
}
val disconnect by metaAction({
val disconnect by unitAction({
info = "Disconnect the program from the device if it is connected"
}) {
port?.let{
port?.let {
execute(stop)
it.close()
}
port = null
updateLogical(connected, false)
null
}
@ -212,7 +208,7 @@ class PiMotionMasterDevice(
class Axis(
val mm: PiMotionMasterDevice,
val axisId: String
val axisId: String,
) : DeviceBySpec<Axis>(Axis, mm.context) {
/**
@ -244,7 +240,7 @@ class PiMotionMasterDevice(
private fun axisBooleanProperty(
command: String,
descriptorBuilder: PropertyDescriptor.() -> Unit = {}
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
) = booleanProperty(
read = {
readAxisBoolean("$command?")
@ -257,7 +253,7 @@ class PiMotionMasterDevice(
private fun axisNumberProperty(
command: String,
descriptorBuilder: PropertyDescriptor.() -> Unit = {}
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
) = doubleProperty(
read = {
mm.requestAndParse("$command?", axisId)[axisId]?.toDoubleOrNull()
@ -334,11 +330,11 @@ class PiMotionMasterDevice(
info = "Velocity value for closed-loop operation"
}
val move by metaAction {
val target = it.double ?: it?.get("target").double ?: error("Unacceptable target value $it")
val move by action(MetaConverter.meta, MetaConverter.unit) {
val target = it.double ?: it["target"].double ?: error("Unacceptable target value $it")
write(closedLoop, true)
//optionally set velocity
it?.get("velocity").double?.let { v ->
it["velocity"].double?.let { v ->
write(velocity, v)
}
write(targetPosition, target)
@ -347,7 +343,6 @@ class PiMotionMasterDevice(
read(position)
delay(200)
}
null
}
}