From 8c7c017ab420c0625fec6e71da53e2458cd49f73 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Tue, 18 Jun 2024 19:25:55 +0300
Subject: [PATCH] Add linear drive calibration demo

---
 .../controls/constructor/devices/StepDrive.kt |  8 +--
 .../jvmMain/kotlin/LinearDriveCalibration.kt  | 66 +++++++++++++++++++
 2 files changed, 69 insertions(+), 5 deletions(-)
 create mode 100644 demo/constructor/src/jvmMain/kotlin/LinearDriveCalibration.kt

diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
index be32f07..ab33e39 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
@@ -22,6 +22,7 @@ import kotlin.time.DurationUnit
 public class StepDrive(
     context: Context,
     ticksPerSecond: MutableDeviceState<Double>,
+    position: MutableDeviceState<Long> = MutableDeviceState(0),
     target: MutableDeviceState<Long> = MutableDeviceState(0),
     private val writeTicks: suspend (ticks: Long, speed: Double) -> Unit = { _, _ -> },
 ) : DeviceConstructor(context) {
@@ -30,10 +31,7 @@ public class StepDrive(
 
     public val speed: MutableDeviceState<Double> by property(MetaConverter.double, ticksPerSecond)
 
-    private val positionState = stateOf(target.value)
-
-    public val position: DeviceState<Long> by property(MetaConverter.long, positionState)
-
+    public val position: DeviceState<Long> by property(MetaConverter.long, position)
 
     //FIXME round to zero problem
     private val ticker = onTimer(reads = setOf(target, position), writes = setOf(position)) { prev, next ->
@@ -46,7 +44,7 @@ public class StepDrive(
             else -> return@onTimer
         }
         writeTicks(steps, tickSpeed)
-        positionState.value += steps
+        position.value += steps
     }
 }
 
diff --git a/demo/constructor/src/jvmMain/kotlin/LinearDriveCalibration.kt b/demo/constructor/src/jvmMain/kotlin/LinearDriveCalibration.kt
new file mode 100644
index 0000000..1a2d5e9
--- /dev/null
+++ b/demo/constructor/src/jvmMain/kotlin/LinearDriveCalibration.kt
@@ -0,0 +1,66 @@
+package space.kscience.controls.demo.constructor
+
+import kotlinx.coroutines.coroutineScope
+import kotlinx.coroutines.ensureActive
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.device
+import space.kscience.controls.constructor.devices.LimitSwitch
+import space.kscience.controls.constructor.devices.StepDrive
+import space.kscience.controls.constructor.models.MutableRangeState
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.dataforge.context.Context
+
+private val ticksPerSecond = MutableDeviceState(3000.0)
+
+class LinearStepDrive(
+    context: Context,
+    drive: StepDrive,
+    atStart: LimitSwitch,
+    atEnd: LimitSwitch,
+):DeviceConstructor(context){
+    val drive by device(drive)
+    val atStart by device(atStart)
+    val atEnd by device(atEnd)
+}
+
+
+fun LinearStepDrive(
+    context: Context,
+    position: MutableRangeState<Long>,
+): LinearStepDrive  = LinearStepDrive(
+    context = context,
+    drive = StepDrive(context, ticksPerSecond, position),
+    atStart = LimitSwitch(context, position.atStart),
+    atEnd = LimitSwitch(context, position.atEnd)
+)
+
+suspend fun LinearStepDrive.calibrate(step: Long = 10): ClosedRange<Long> = coroutineScope{
+    do{
+        ensureActive()
+        drive.target.value += step
+    } while (!atEnd.locked.value)
+
+    val end = drive.position.value
+
+    do{
+        ensureActive()
+        drive.target.value -= step
+    } while (!atStart.locked.value)
+
+    val start = drive.position.value
+
+    return@coroutineScope start..end
+}
+
+suspend fun main() = coroutineScope {
+    val context = Context{
+        plugin(DeviceManager)
+    }
+
+    val positionModel = MutableRangeState<Long>(0L, -1002L..1012L)
+
+    val linearStepDrive = LinearStepDrive(context, positionModel)
+
+    println(linearStepDrive.calibrate())
+}
\ No newline at end of file