From 7c4d0a5f36efb306eb0532e6141f6b0d4cdde3de Mon Sep 17 00:00:00 2001 From: Atos1337 Date: Wed, 20 Oct 2021 16:50:18 +0300 Subject: [PATCH] Change VirtualCar state and add controller --- .../controls/demo/virtual_car/VirtualCar.kt | 32 +++-- .../demo/virtual_car/VirtualCarController.kt | 125 ++++++++++++++++++ 2 files changed, 143 insertions(+), 14 deletions(-) create mode 100644 demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCarController.kt diff --git a/demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCar.kt b/demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCar.kt index c8dfcee..c8a8fc8 100644 --- a/demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCar.kt +++ b/demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCar.kt @@ -11,28 +11,33 @@ import kotlin.time.Duration import kotlin.time.ExperimentalTime class VirtualCar : DeviceBySpec(VirtualCar) { - private var speedState: Pair = Pair(0.0, 0.0) + private var _speedState: Pair = Pair(0.0, 0.0) + private val speedState: Pair get() { - val previous_speed = field - val current_acceleration = this.accelerationState - val now = Instant.now().toEpochMilli().toDouble() - val time_difference = now - this.timeState - this.timeState = now - field = Pair( - previous_speed.first + time_difference * current_acceleration.first, - previous_speed.second + time_difference * current_acceleration.second - ) - return field + updateSpeedLocationTime() + return this._speedState } private var accelerationState: Pair = Pair(0.0, 0.0) set(value) { - this.speedState + updateSpeedLocationTime() field = value } private var timeState = Instant.now().toEpochMilli().toDouble() + private fun updateSpeedLocationTime() { + val previousSpeed = this._speedState + val currentAcceleration = this.accelerationState + val now = Instant.now().toEpochMilli().toDouble() + val timeDifference = now - this.timeState + this.timeState = now + this._speedState = Pair( + previousSpeed.first + timeDifference * currentAcceleration.first * 1e-3, + previousSpeed.second + timeDifference * currentAcceleration.second * 1e-3 + ) + } + object DoublePairMetaConverter : MetaConverter> { override fun metaToObject(meta: Meta): Pair = Pair( meta["x"].double ?: 0.0, @@ -43,7 +48,6 @@ class VirtualCar : DeviceBySpec(VirtualCar) { "x" put obj.first "y" put obj.second } - } companion object : DeviceSpec(::VirtualCar) { @@ -66,7 +70,7 @@ class VirtualCar : DeviceBySpec(VirtualCar) { speed.read() acceleration.read() } - doRecurring(Duration.milliseconds(50)){ + doRecurring(Duration.seconds(1)){ carProperties.read() } } diff --git a/demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCarController.kt b/demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCarController.kt new file mode 100644 index 0000000..314bccb --- /dev/null +++ b/demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCarController.kt @@ -0,0 +1,125 @@ +package ru.mipt.npm.controls.demo.virtual_car + +import io.ktor.server.engine.ApplicationEngine +import javafx.beans.property.DoubleProperty +import javafx.scene.Parent +import javafx.scene.control.TextField +import javafx.scene.layout.Priority +import javafx.stage.Stage +import kotlinx.coroutines.launch +import org.eclipse.milo.opcua.sdk.server.OpcUaServer +import org.eclipse.milo.opcua.stack.core.types.builtin.LocalizedText +import ru.mipt.npm.controls.api.DeviceMessage +import ru.mipt.npm.controls.client.connectToMagix +import ru.mipt.npm.controls.controllers.DeviceManager +import ru.mipt.npm.controls.controllers.install +import ru.mipt.npm.controls.demo.virtual_car.VirtualCar.Companion.acceleration +import ru.mipt.npm.controls.opcua.server.OpcUaServer +import ru.mipt.npm.controls.opcua.server.endpoint +import ru.mipt.npm.controls.opcua.server.serveDevices +import ru.mipt.npm.magix.api.MagixEndpoint +import ru.mipt.npm.magix.rsocket.rSocketWithTcp +import ru.mipt.npm.magix.server.startMagixServer +import space.kscience.dataforge.context.* +import tornadofx.* + +class VirtualCarController : Controller(), ContextAware { + + var device: VirtualCar? = null + var magixServer: ApplicationEngine? = null + var opcUaServer: OpcUaServer = OpcUaServer { + setApplicationName(LocalizedText.english("ru.mipt.npm.controls.opcua")) + endpoint { + setBindPort(9999) + //use default endpoint + } + } + + override val context = Context("demoDevice") { + plugin(DeviceManager) + } + + private val deviceManager = context.fetch(DeviceManager) + + fun init() { + context.launch { + device = deviceManager.install("virtual-car", VirtualCar) + //starting magix event loop + magixServer = startMagixServer(enableRawRSocket = true, enableZmq = true) + //Launch device client and connect it to the server + val deviceEndpoint = MagixEndpoint.rSocketWithTcp("localhost", DeviceMessage.serializer()) + deviceManager.connectToMagix(deviceEndpoint) + + opcUaServer.startup() + opcUaServer.serveDevices(deviceManager) + } + } + + fun shutdown() { + logger.info { "Shutting down..." } + opcUaServer.shutdown() + logger.info { "OpcUa server stopped" } + magixServer?.stop(1000, 5000) + logger.info { "Magix server stopped" } + device?.close() + logger.info { "Device server stopped" } + context.close() + } +} + + +class VirtualCarControllerView : View(title = " Virtual car controller remote") { + private val controller: VirtualCarController by inject() + private var accelerationXProperty: DoubleProperty by singleAssign() + private var accelerationXTF: TextField by singleAssign() + private var accelerationYProperty: DoubleProperty by singleAssign() + private var accelerationYTF: TextField by singleAssign() + + override val root: Parent = vbox { + hbox { + label("AccelerationX") + pane { + hgrow = Priority.ALWAYS + } + accelerationXProperty = doubleProperty() + accelerationXTF = textfield(accelerationXProperty) + } + hbox { + label("AccelerationY") + pane { + hgrow = Priority.ALWAYS + } + accelerationYProperty = doubleProperty() + accelerationYTF = textfield(accelerationYProperty) + } + button("Submit") { + useMaxWidth = true + action { + controller.device?.run { + launch { + acceleration.write(Pair(accelerationXProperty.get(), accelerationYProperty.get())) + } + } + } + } + } +} + +class VirtualCarControllerApp : App(VirtualCarControllerView::class) { + private val controller: VirtualCarController by inject() + + override fun start(stage: Stage) { + super.start(stage) + controller.init() + } + + override fun stop() { + controller.shutdown() + super.stop() + } +} + + +fun main() { + launch() +} \ No newline at end of file