Change VirtualCar state and add controller

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>(VirtualCar) {
-    private var speedState: Pair<Double, Double> = Pair(0.0, 0.0)
+    private var _speedState: Pair<Double, Double> = Pair(0.0, 0.0)
+    private val speedState: Pair<Double, Double>
     get() {
-        val previous_speed = field
+        updateSpeedLocationTime()
-        val current_acceleration = this.accelerationState
+        return this._speedState
-        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
     }
 
     private var accelerationState: Pair<Double, Double> = 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<Pair<Double, Double>> {
         override fun metaToObject(meta: Meta): Pair<Double, Double> = Pair(
             meta["x"].double ?: 0.0,
@@ -43,7 +48,6 @@ class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) {
             "x" put obj.first
             "y" put obj.second
         }
-
     }
 
     companion object : DeviceSpec<VirtualCar>(::VirtualCar) {
@@ -66,7 +70,7 @@ class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) {
                 speed.read()
                 acceleration.read()
             }
-            doRecurring(Duration.milliseconds(50)){
+            doRecurring(Duration.seconds(1)){
                 carProperties.read()
             }
         }

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<VirtualCarControllerApp>()
+}