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Add compose controls to pid simulator

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This commit is contained in:
Alexander Nozik 2023-11-22 21:55:13 +03:00
parent 07cc41c645
commit 81d6b672cf
3 changed files with 154 additions and 41 deletions
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22
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
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@ -16,12 +16,22 @@ import kotlin.time.DurationUnit
/**
* Pid regulator parameters
*/
public data class PidParameters(
public val kp: Double,
public val ki: Double,
public val kd: Double,
public val timeStep: Duration = 1.milliseconds,
)
public interface PidParameters {
public val kp: Double
public val ki: Double
public val kd: Double
public val timeStep: Duration
}
private data class PidParametersImpl(
override val kp: Double,
override val ki: Double,
override val kd: Double,
override val timeStep: Duration,
) : PidParameters
public fun PidParameters(kp: Double, ki: Double, kd: Double, timeStep: Duration = 1.milliseconds): PidParameters =
PidParametersImpl(kp, ki, kd, timeStep)
/**
* A drive with PID regulator

34
demo/constructor/build.gradle.kts
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@ -1,12 +1,13 @@
import org.jetbrains.compose.desktop.application.dsl.TargetFormat
import org.jetbrains.kotlin.gradle.dsl.ExplicitApiMode
plugins {
id("space.kscience.gradle.mpp")
application
id("org.jetbrains.compose") version "1.5.10"
}
kscience {
jvm{
jvm {
withJava()
}
useKtor()
@ -20,8 +21,31 @@ kscience {
}
}
application {
mainClass.set("space.kscience.controls.demo.constructor.MainKt")
kotlin {
sourceSets {
jvmMain {
dependencies {
implementation(compose.desktop.currentOs)
}
}
}
}
kotlin.explicitApi = ExplicitApiMode.Disabled
//application {
// mainClass.set("space.kscience.controls.demo.constructor.MainKt")
//}
kotlin.explicitApi = ExplicitApiMode.Disabled
compose.desktop {
application {
mainClass = "space.kscience.controls.demo.constructor.MainKt"
nativeDistributions {
targetFormats(TargetFormat.Exe)
packageName = "PidConstructor"
packageVersion = "1.0.0"
}
}
}

139
demo/constructor/src/jvmMain/kotlin/main.kt
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@ -1,15 +1,26 @@
package space.kscience.controls.demo.constructor
import kotlinx.coroutines.delay
import space.kscience.controls.api.get
import androidx.compose.foundation.layout.Column
import androidx.compose.foundation.layout.Row
import androidx.compose.foundation.layout.padding
import androidx.compose.foundation.layout.width
import androidx.compose.material.*
import androidx.compose.runtime.getValue
import androidx.compose.runtime.mutableStateOf
import androidx.compose.runtime.remember
import androidx.compose.runtime.setValue
import androidx.compose.ui.Alignment
import androidx.compose.ui.Modifier
import androidx.compose.ui.unit.dp
import androidx.compose.ui.window.Window
import androidx.compose.ui.window.application
import kotlinx.coroutines.launch
import space.kscience.controls.constructor.*
import space.kscience.controls.manager.ClockManager
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.clock
import space.kscience.controls.spec.doRecurring
import space.kscience.controls.spec.name
import space.kscience.controls.spec.read
import space.kscience.controls.spec.write
import space.kscience.controls.vision.plot
import space.kscience.controls.vision.plotDeviceProperty
import space.kscience.controls.vision.plotNumberState
@ -21,6 +32,7 @@ import space.kscience.plotly.models.ScatterMode
import space.kscience.visionforge.plotly.PlotlyPlugin
import kotlin.math.PI
import kotlin.math.sin
import kotlin.time.Duration
import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.Duration.Companion.seconds
import kotlin.time.DurationUnit
@ -46,23 +58,15 @@ class LinearDrive(
}
fun main() {
val context = Context {
plugin(DeviceManager)
plugin(PlotlyPlugin)
plugin(ClockManager)
}
val state = DoubleRangeState(0.0, -5.0..5.0)
val pidParameters = PidParameters(
kp = 2.5,
ki = 0.0,
kd = -0.1,
timeStep = 0.005.seconds
)
val device = context.install("device", LinearDrive(context, state, 0.005, pidParameters)).apply {
private fun Context.launchPidDevice(
state: DoubleRangeState,
pidParameters: PidParameters,
mass: Double,
) = launch {
val device = install(
"device",
LinearDrive(this@launchPidDevice, state, mass, pidParameters)
).apply {
val clock = context.clock
val clockStart = clock.now()
doRecurring(10.milliseconds) {
@ -78,7 +82,7 @@ fun main() {
val maxAge = 10.seconds
context.showDashboard {
showDashboard {
plot {
plotNumberState(context, state, maxAge = maxAge) {
name = "real position"
@ -106,13 +110,88 @@ fun main() {
}
}
suspend fun DeviceGroup.findEnd(): Double{
val regulator = get("pid") as Regulator
val limitEnd = get("end") as LimitSwitch
while(!limitEnd.read(LimitSwitch.locked)){
delay(10.milliseconds)
regulator.write(Regulator.target, regulator.read(Regulator.position) + 0.1)
fun main() = application {
val context = Context {
plugin(DeviceManager)
plugin(PlotlyPlugin)
plugin(ClockManager)
}
class MutablePidParameters(
kp: Double,
ki: Double,
kd: Double,
timeStep: Duration,
) : PidParameters {
override var kp by mutableStateOf(kp)
override var ki by mutableStateOf(ki)
override var kd by mutableStateOf(kd)
override var timeStep by mutableStateOf(timeStep)
}
val pidParameters = remember {
MutablePidParameters(
kp = 2.5,
ki = 0.0,
kd = -0.1,
timeStep = 0.005.seconds
)
}
context.launchPidDevice(
DoubleRangeState(0.0, -6.0..6.0),
pidParameters,
mass = 0.05
)
Window(onCloseRequest = ::exitApplication) {
MaterialTheme {
Column {
Row {
Text("kp:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
TextField(pidParameters.kp.toString(),{pidParameters.kp = it.toDouble()}, enabled = false)
Slider(
pidParameters.kp.toFloat(),
{ pidParameters.kp = it.toDouble()},
valueRange = 0f..10f,
steps = 100
)
}
Row {
Text("ki:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
TextField(pidParameters.ki.toString(),{pidParameters.ki = it.toDouble()}, enabled = false)
Slider(
pidParameters.ki.toFloat(),
{ pidParameters.ki = it.toDouble()},
valueRange = -5f..5f,
steps = 100
)
}
Row {
Text("kd:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
TextField(pidParameters.kd.toString(),{pidParameters.kd = it.toDouble()}, enabled = false)
Slider(
pidParameters.kd.toFloat(),
{ pidParameters.kd = it.toDouble()},
valueRange = -5f..5f,
steps = 100
)
}
Row {
Button({
pidParameters.run {
kp = 2.5
ki = 0.0
kd = -0.1
timeStep = 0.005.seconds
}
}){
Text("Reset")
}
}
}
}
}
return regulator.read(Regulator.position)
}