Major constructor refactoring

build.gradle.kts

@@ -8,6 +8,9 @@ plugins {
 allprojects {
     group = "space.kscience"
     version = "0.4.0-dev-4"
+    repositories{
+        google()
+    }
 }
 
 ksciencePublish {

controls-constructor/build.gradle.kts

@@ -11,6 +11,7 @@ kscience{
     jvm()
     js()
     useCoroutines()
+    useSerialization()
     commonMain {
         api(projects.controlsCore)
     }

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt

@@ -2,9 +2,7 @@ package space.kscience.controls.constructor
 
 import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Job
-import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.*
-import kotlinx.coroutines.flow.onEach
-import kotlinx.coroutines.flow.runningFold
 import space.kscience.controls.api.Device
 import space.kscience.controls.manager.ClockManager
 import space.kscience.dataforge.context.ContextAware
@@ -14,34 +12,38 @@ import kotlin.time.Duration
 /**
  * A binding that is used to describe device functionality
  */
-public sealed interface StateDescriptor
+public sealed interface ConstructorElement
 
 /**
  * A binding that exposes device property as read-only state
  */
-public class StatePropertyDescriptor<T>(
+public class PropertyConstructorElement<T>(
     public val device: Device,
     public val propertyName: String,
     public val state: DeviceState<T>,
-) : StateDescriptor
+) : ConstructorElement
 
 /**
  * A binding for independent state like a timer
  */
-public class StateNodeDescriptor<T>(
+public class StateConstructorElement<T>(
     public val state: DeviceState<T>,
-) : StateDescriptor
+) : ConstructorElement
 
-public class StateConnectionDescriptor(
+public class ConnectionConstrucorElement(
     public val reads: Collection<DeviceState<*>>,
     public val writes: Collection<DeviceState<*>>,
-) : StateDescriptor
+) : ConstructorElement
+
+public class ModelConstructorElement(
+    public val model: ConstructorModel
+) : ConstructorElement
 
 
 public interface StateContainer : ContextAware, CoroutineScope {
-    public val stateDescriptors: Set<StateDescriptor>
+    public val constructorElements: Set<ConstructorElement>
-    public fun registerState(stateDescriptor: StateDescriptor)
+    public fun registerElement(constructorElement: ConstructorElement)
-    public fun unregisterState(stateDescriptor: StateDescriptor)
+    public fun unregisterElement(constructorElement: ConstructorElement)
 
 
     /**
@@ -50,16 +52,16 @@ public interface StateContainer : ContextAware, CoroutineScope {
      * Optionally provide [writes] - a set of states that this change affects.
      */
     public fun <T> DeviceState<T>.onNext(
-        vararg writes: DeviceState<*>,
+        writes: Collection<DeviceState<*>> = emptySet(),
-        alsoReads: Collection<DeviceState<*>> = emptySet(),
+        reads: Collection<DeviceState<*>> = emptySet(),
         onChange: suspend (T) -> Unit,
     ): Job = valueFlow.onEach(onChange).launchIn(this@StateContainer).also {
-        registerState(StateConnectionDescriptor(setOf(this, *alsoReads.toTypedArray()), setOf(*writes)))
+        registerElement(ConnectionConstrucorElement(reads + this, writes))
     }
 
     public fun <T> DeviceState<T>.onChange(
-        vararg writes: DeviceState<*>,
+        writes: Collection<DeviceState<*>> = emptySet(),
-        alsoReads: Collection<DeviceState<*>> = emptySet(),
+        reads: Collection<DeviceState<*>> = emptySet(),
         onChange: suspend (prev: T, next: T) -> Unit,
     ): Job = valueFlow.runningFold(Pair(value, value)) { pair, next ->
         Pair(pair.second, next)
@@ -68,7 +70,7 @@ public interface StateContainer : ContextAware, CoroutineScope {
             onChange(pair.first, pair.second)
         }
     }.launchIn(this@StateContainer).also {
-        registerState(StateConnectionDescriptor(setOf(this, *alsoReads.toTypedArray()), setOf(*writes)))
+        registerElement(ConnectionConstrucorElement(reads + this, writes))
     }
 }
 
@@ -76,21 +78,19 @@ public interface StateContainer : ContextAware, CoroutineScope {
  * Register a [state] in this container. The state is not registered as a device property if [this] is a [DeviceConstructor]
  */
 public fun <T, D : DeviceState<T>> StateContainer.state(state: D): D {
-    registerState(StateNodeDescriptor(state))
+    registerElement(StateConstructorElement(state))
     return state
 }
 
 /**
  * Create a register a [MutableDeviceState] with a given [converter]
  */
-public fun <T> StateContainer.mutableState(initialValue: T): MutableDeviceState<T> = state(
+public fun <T> StateContainer.stateOf(initialValue: T): MutableDeviceState<T> = state(
     MutableDeviceState(initialValue)
 )
 
-public fun <T : DeviceModel> StateContainer.model(model: T): T {
+public fun <T : ConstructorModel> StateContainer.model(model: T): T {
-    model.stateDescriptors.forEach {
+    registerElement(ModelConstructorElement(model))
-        registerState(it)
-    }
     return model
 }
 
@@ -101,9 +101,20 @@ public fun StateContainer.timer(tick: Duration): TimerState = state(TimerState(c
 
 
 public fun <T, R> StateContainer.mapState(
-    state: DeviceState<T>,
+    origin: DeviceState<T>,
     transformation: (T) -> R,
-): DeviceStateWithDependencies<R> = state(DeviceState.map(state, transformation))
+): DeviceStateWithDependencies<R> = state(DeviceState.map(origin, transformation))
+
+
+public fun <T, R> StateContainer.flowState(
+    origin: DeviceState<T>,
+    initialValue: R,
+    transformation: suspend FlowCollector<R>.(T) -> Unit
+): DeviceStateWithDependencies<R> {
+    val state = MutableDeviceState(initialValue)
+    origin.valueFlow.transform(transformation).onEach { state.value = it }.launchIn(this)
+    return state(state.withDependencies(setOf(origin)))
+}
 
 /**
  * Create a new state by combining two existing ones
@@ -122,13 +133,13 @@ public fun <T1, T2, R> StateContainer.combineState(
  * On resulting [Job] cancel the binding is unregistered
  */
 public fun <T> StateContainer.bindTo(sourceState: DeviceState<T>, targetState: MutableDeviceState<T>): Job {
-    val descriptor = StateConnectionDescriptor(setOf(sourceState), setOf(targetState))
+    val descriptor = ConnectionConstrucorElement(setOf(sourceState), setOf(targetState))
-    registerState(descriptor)
+    registerElement(descriptor)
     return sourceState.valueFlow.onEach {
         targetState.value = it
     }.launchIn(this).apply {
         invokeOnCompletion {
-            unregisterState(descriptor)
+            unregisterElement(descriptor)
         }
     }
 }
@@ -144,19 +155,19 @@ public fun <T, R> StateContainer.transformTo(
     targetState: MutableDeviceState<R>,
     transformation: suspend (T) -> R,
 ): Job {
-    val descriptor = StateConnectionDescriptor(setOf(sourceState), setOf(targetState))
+    val descriptor = ConnectionConstrucorElement(setOf(sourceState), setOf(targetState))
-    registerState(descriptor)
+    registerElement(descriptor)
     return sourceState.valueFlow.onEach {
         targetState.value = transformation(it)
     }.launchIn(this).apply {
         invokeOnCompletion {
-            unregisterState(descriptor)
+            unregisterElement(descriptor)
         }
     }
 }
 
 /**
- * Register [StateDescriptor] that combines values from [sourceState1] and [sourceState2] using [transformation].
+ * Register [ConstructorElement] that combines values from [sourceState1] and [sourceState2] using [transformation].
  *
  * On resulting [Job] cancel the binding is unregistered
  */
@@ -166,19 +177,19 @@ public fun <T1, T2, R> StateContainer.combineTo(
     targetState: MutableDeviceState<R>,
     transformation: suspend (T1, T2) -> R,
 ): Job {
-    val descriptor = StateConnectionDescriptor(setOf(sourceState1, sourceState2), setOf(targetState))
+    val descriptor = ConnectionConstrucorElement(setOf(sourceState1, sourceState2), setOf(targetState))
-    registerState(descriptor)
+    registerElement(descriptor)
     return kotlinx.coroutines.flow.combine(sourceState1.valueFlow, sourceState2.valueFlow, transformation).onEach {
         targetState.value = it
     }.launchIn(this).apply {
         invokeOnCompletion {
-            unregisterState(descriptor)
+            unregisterElement(descriptor)
         }
     }
 }
 
 /**
- * Register [StateDescriptor] that combines values from [sourceStates] using [transformation].
+ * Register [ConstructorElement] that combines values from [sourceStates] using [transformation].
  *
  * On resulting [Job] cancel the binding is unregistered
  */
@@ -187,13 +198,13 @@ public inline fun <reified T, R> StateContainer.combineTo(
     targetState: MutableDeviceState<R>,
     noinline transformation: suspend (Array<T>) -> R,
 ): Job {
-    val descriptor = StateConnectionDescriptor(sourceStates, setOf(targetState))
+    val descriptor = ConnectionConstrucorElement(sourceStates, setOf(targetState))
-    registerState(descriptor)
+    registerElement(descriptor)
     return kotlinx.coroutines.flow.combine(sourceStates.map { it.valueFlow }, transformation).onEach {
         targetState.value = it
     }.launchIn(this).apply {
         invokeOnCompletion {
-            unregisterState(descriptor)
+            unregisterElement(descriptor)
         }
     }
 }

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorModel.kt

@@ -0,0 +1,33 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.SupervisorJob
+import kotlinx.coroutines.newCoroutineContext
+import space.kscience.dataforge.context.Context
+import kotlin.coroutines.CoroutineContext
+
+public abstract class ConstructorModel(
+    final override val context: Context,
+    vararg dependencies: DeviceState<*>,
+) : StateContainer, CoroutineScope {
+
+    @OptIn(kotlinx.coroutines.ExperimentalCoroutinesApi::class)
+    override val coroutineContext: CoroutineContext = context.newCoroutineContext(SupervisorJob())
+
+
+    private val _constructorElements: MutableSet<ConstructorElement> = mutableSetOf<ConstructorElement>().apply {
+        dependencies.forEach {
+            add(StateConstructorElement(it))
+        }
+    }
+
+    override val constructorElements: Set<ConstructorElement> get() = _constructorElements
+
+    override fun registerElement(constructorElement: ConstructorElement) {
+        _constructorElements.add(constructorElement)
+    }
+
+    override fun unregisterElement(constructorElement: ConstructorElement) {
+        _constructorElements.remove(constructorElement)
+    }
+}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt

@@ -3,7 +3,6 @@ package space.kscience.controls.constructor
 import space.kscience.controls.api.Device
 import space.kscience.controls.api.PropertyDescriptor
 import space.kscience.controls.spec.DevicePropertySpec
-import space.kscience.controls.spec.MutableDevicePropertySpec
 import space.kscience.dataforge.context.Context
 import space.kscience.dataforge.context.Factory
 import space.kscience.dataforge.meta.Meta
@@ -22,15 +21,15 @@ public abstract class DeviceConstructor(
     context: Context,
     meta: Meta = Meta.EMPTY,
 ) : DeviceGroup(context, meta), StateContainer {
-    private val _stateDescriptors: MutableSet<StateDescriptor> = mutableSetOf()
+    private val _constructorElements: MutableSet<ConstructorElement> = mutableSetOf()
-    override val stateDescriptors: Set<StateDescriptor> get() = _stateDescriptors
+    override val constructorElements: Set<ConstructorElement> get() = _constructorElements
 
-    override fun registerState(stateDescriptor: StateDescriptor) {
+    override fun registerElement(constructorElement: ConstructorElement) {
-        _stateDescriptors.add(stateDescriptor)
+        _constructorElements.add(constructorElement)
     }
 
-    override fun unregisterState(stateDescriptor: StateDescriptor) {
+    override fun unregisterElement(constructorElement: ConstructorElement) {
-        _stateDescriptors.remove(stateDescriptor)
+        _constructorElements.remove(constructorElement)
     }
 
     override fun <T> registerProperty(
@@ -39,7 +38,7 @@ public abstract class DeviceConstructor(
         state: DeviceState<T>,
     ) {
         super.registerProperty(converter, descriptor, state)
-        registerState(StatePropertyDescriptor(this, descriptor.name, state))
+        registerElement(PropertyConstructorElement(this, descriptor.name, state))
     }
 }
 
@@ -108,7 +107,7 @@ public fun <T : Any> DeviceConstructor.property(
 )
 
 /**
- * Register a mutable external state as a property
+ * Create and register a mutable external state as a property
  */
 public fun <T : Any> DeviceConstructor.mutableProperty(
     metaConverter: MetaConverter<T>,
@@ -141,22 +140,7 @@ public fun <T> DeviceConstructor.virtualProperty(
     nameOverride,
 )
 
-/**
+public fun <T, S : DeviceState<T>> DeviceConstructor.property(
- * Bind existing property provided by specification to this device
+    spec: DevicePropertySpec<*, T>,
- */
+    state: S,
-public fun <T, D : Device> DeviceConstructor.deviceProperty(
+): Unit = registerProperty(spec.converter, spec.descriptor, state)
-    device: D,
-    property: DevicePropertySpec<D, T>,
-    initialValue: T,
-): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, DeviceState<T>>> =
-    property(property.converter, device.propertyAsState(property, initialValue))
-
-/**
- * Bind existing property provided by specification to this device
- */
-public fun <T, D : Device> DeviceConstructor.deviceProperty(
-    device: D,
-    property: MutableDevicePropertySpec<D, T>,
-    initialValue: T,
-): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, MutableDeviceState<T>>> =
-    property(property.converter, device.mutablePropertyAsState(property, initialValue))

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt

@@ -1,32 +0,0 @@
-package space.kscience.controls.constructor
-
-import kotlinx.coroutines.CoroutineScope
-import kotlinx.coroutines.SupervisorJob
-import kotlinx.coroutines.newCoroutineContext
-import space.kscience.dataforge.context.Context
-import kotlin.coroutines.CoroutineContext
-
-public abstract class DeviceModel(
-    final override val context: Context,
-    vararg dependencies: DeviceState<*>,
-) : StateContainer, CoroutineScope {
-
-    override val coroutineContext: CoroutineContext = context.newCoroutineContext(SupervisorJob())
-
-
-    private val _stateDescriptors: MutableSet<StateDescriptor> = mutableSetOf<StateDescriptor>().apply {
-        dependencies.forEach {
-            add(StateNodeDescriptor(it))
-        }
-    }
-
-    override val stateDescriptors: Set<StateDescriptor> get() = _stateDescriptors
-
-    override fun registerState(stateDescriptor: StateDescriptor) {
-        _stateDescriptors.add(stateDescriptor)
-    }
-
-    override fun unregisterState(stateDescriptor: StateDescriptor) {
-        _stateDescriptors.remove(stateDescriptor)
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt

@@ -48,6 +48,12 @@ public interface DeviceStateWithDependencies<T> : DeviceState<T> {
     public val dependencies: Collection<DeviceState<*>>
 }
 
+public fun <T> DeviceState<T>.withDependencies(
+    dependencies: Collection<DeviceState<*>>
+): DeviceStateWithDependencies<T> = object : DeviceStateWithDependencies<T>, DeviceState<T> by this {
+    override val dependencies: Collection<DeviceState<*>> = dependencies
+}
+
 /**
  * Create a new read-only [DeviceState] that mirrors receiver state by mapping the value with [mapper].
  */

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/boundState.kt

@@ -92,11 +92,11 @@ public suspend fun <T> Device.mutablePropertyAsState(
     return mutablePropertyAsState(propertyName, metaConverter, initialValue)
 }
 
-public suspend fun <D : Device, T> D.mutablePropertyAsState(
+public suspend fun <D : Device, T> D.propertyAsState(
     propertySpec: MutableDevicePropertySpec<D, T>,
 ): MutableDeviceState<T> = mutablePropertyAsState(propertySpec.name, propertySpec.converter)
 
-public fun <D : Device, T> D.mutablePropertyAsState(
+public fun <D : Device, T> D.propertyAsState(
     propertySpec: MutableDevicePropertySpec<D, T>,
     initialValue: T,
 ): MutableDeviceState<T> = mutablePropertyAsState(propertySpec.name, propertySpec.converter, initialValue)

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt

@@ -53,5 +53,5 @@ public fun StateContainer.doubleInRangeState(
     initialValue: Double,
     range: ClosedFloatingPointRange<Double>,
 ): DoubleInRangeState = DoubleInRangeState(initialValue, range).also {
-    registerState(StateNodeDescriptor(it))
+    registerElement(StateConstructorElement(it))
 }

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Converter.kt

@@ -0,0 +1,20 @@
+package space.kscience.controls.constructor.library
+
+import kotlinx.coroutines.flow.FlowCollector
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.DeviceStateWithDependencies
+import space.kscience.controls.constructor.flowState
+import space.kscience.dataforge.context.Context
+
+/**
+ * A device that converts one type of physical quantity to another type
+ */
+public class Converter<T, R>(
+    context: Context,
+    input: DeviceState<T>,
+    initialValue: R,
+    transform: suspend FlowCollector<R>.(T) -> Unit,
+) : DeviceConstructor(context) {
+    public val output: DeviceStateWithDependencies<R> = flowState(input, initialValue, transform)
+}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt

@@ -6,7 +6,7 @@ import kotlinx.coroutines.isActive
 import kotlinx.coroutines.launch
 import space.kscience.controls.api.Device
 import space.kscience.controls.constructor.MutableDeviceState
-import space.kscience.controls.constructor.mutablePropertyAsState
+import space.kscience.controls.constructor.propertyAsState
 import space.kscience.controls.manager.clock
 import space.kscience.controls.spec.*
 import space.kscience.dataforge.context.Context
@@ -98,4 +98,4 @@ public class VirtualDrive(
     }
 }
 
-public suspend fun Drive.stateOfForce(): MutableDeviceState<Double> = mutablePropertyAsState(Drive.force)
+public suspend fun Drive.stateOfForce(): MutableDeviceState<Double> = propertyAsState(Drive.force)

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt

@@ -1,15 +1,14 @@
 package space.kscience.controls.constructor.library
 
-import kotlinx.coroutines.flow.launchIn
-import kotlinx.coroutines.flow.onEach
 import space.kscience.controls.api.Device
+import space.kscience.controls.constructor.DeviceConstructor
 import space.kscience.controls.constructor.DeviceState
-import space.kscience.controls.spec.DeviceBySpec
+import space.kscience.controls.constructor.property
 import space.kscience.controls.spec.DevicePropertySpec
 import space.kscience.controls.spec.DeviceSpec
 import space.kscience.controls.spec.booleanProperty
 import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.context.Factory
+import space.kscience.dataforge.meta.MetaConverter
 
 
 /**
@@ -17,13 +16,10 @@ import space.kscience.dataforge.context.Factory
  */
 public interface LimitSwitch : Device {
 
-    public val locked: Boolean
+    public fun isLocked(): Boolean
 
     public companion object : DeviceSpec<LimitSwitch>() {
-        public val locked: DevicePropertySpec<LimitSwitch, Boolean> by booleanProperty { locked }
+        public val locked: DevicePropertySpec<LimitSwitch, Boolean> by booleanProperty { isLocked() }
-        public operator fun invoke(lockedState: DeviceState<Boolean>): Factory<LimitSwitch> = Factory { context, _ ->
-            VirtualLimitSwitch(context, lockedState)
-        }
     }
 }
 
@@ -32,14 +28,10 @@ public interface LimitSwitch : Device {
  */
 public class VirtualLimitSwitch(
     context: Context,
-    public val lockedState: DeviceState<Boolean>,
+    locked: DeviceState<Boolean>,
-) : DeviceBySpec<LimitSwitch>(LimitSwitch, context), LimitSwitch {
+) : DeviceConstructor(context), LimitSwitch {
 
-    override suspend fun onStart() {
+    public val locked: DeviceState<Boolean> by property(MetaConverter.boolean, locked)
-        lockedState.valueFlow.onEach {
-            propertyChanged(LimitSwitch.locked, it)
-        }.launchIn(this)
-    }
 
-    override val locked: Boolean get() = lockedState.value
+    override fun isLocked(): Boolean = locked.value
 }

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt

@@ -16,32 +16,22 @@ import kotlin.time.Duration
 import kotlin.time.Duration.Companion.milliseconds
 import kotlin.time.DurationUnit
 
+
 /**
  * Pid regulator parameters
  */
-public interface PidParameters {
+public data class PidParameters(
-    public val kp: Double
+    val kp: Double,
-    public val ki: Double
+    val ki: Double,
-    public val kd: Double
+    val kd: Double,
-    public val timeStep: Duration
+    val timeStep: Duration  = 1.milliseconds,
-}
+)
-
-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
  */
 public class PidRegulator(
     public val drive: Drive,
-    public val pidParameters: PidParameters,
+    public var pidParameters: PidParameters, // TODO expose as property
 ) : DeviceBySpec<Regulator>(Regulator, drive.context), Regulator {
 
     private val clock = drive.context.clock
@@ -65,7 +55,7 @@ public class PidRegulator(
                 delay(pidParameters.timeStep)
                 mutex.withLock {
                     val realTime = clock.now()
-                    val delta = target - position
+                    val delta = target - getPosition()
                     val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
                     integral += delta * dtSeconds
                     val derivative = (drive.position - lastPosition) / dtSeconds
@@ -87,7 +77,7 @@ public class PidRegulator(
         drive.stop()
     }
 
-    override val position: Double get() = drive.position
+    override suspend fun getPosition(): Double = drive.position
 }
 
 public fun DeviceGroup.pid(

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt

@@ -17,11 +17,11 @@ public interface Regulator : Device {
     /**
      * Current position value
      */
-    public val position: Double
+    public suspend fun getPosition(): Double
 
     public companion object : DeviceSpec<Regulator>() {
         public val target: MutableDevicePropertySpec<Regulator, Double> by mutableProperty(MetaConverter.double, Regulator::target)
 
-        public val position: DevicePropertySpec<Regulator, Double> by doubleProperty { position }
+        public val position: DevicePropertySpec<Regulator, Double> by doubleProperty { getPosition() }
     }
 }

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt

@@ -0,0 +1,10 @@
+package space.kscience.controls.constructor.units
+
+import kotlin.jvm.JvmInline
+
+
+/**
+ * A value without identity coupled to units of measurements.
+ */
+@JvmInline
+public value class NumericalValue<T: UnitsOfMeasurement>(public val value: Double)

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt

@@ -0,0 +1,30 @@
+package space.kscience.controls.constructor.units
+
+
+public interface UnitsOfMeasurement
+
+/**/
+
+public interface UnitsOfLength : UnitsOfMeasurement
+
+public data object Meters: UnitsOfLength
+
+/**/
+
+public interface UnitsOfTime: UnitsOfMeasurement
+
+public data object Seconds: UnitsOfTime
+
+/**/
+
+public interface UnitsOfVelocity: UnitsOfMeasurement
+
+public data object MetersPerSecond: UnitsOfVelocity
+
+/**/
+
+public interface UnitsAngularOfVelocity: UnitsOfMeasurement
+
+public data object RadiansPerSecond: UnitsAngularOfVelocity
+
+public data object DegreesPerSecond: UnitsAngularOfVelocity

controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt

@@ -12,6 +12,7 @@ import kotlin.math.roundToLong
 
 @OptIn(InternalCoroutinesApi::class)
 private class CompressedTimeDispatcher(
+    val clockManager: ClockManager,
     val dispatcher: CoroutineDispatcher,
     val compression: Double,
 ) : CoroutineDispatcher(), Delay {
@@ -74,7 +75,7 @@ public class ClockManager : AbstractPlugin() {
     ): CoroutineDispatcher = if (timeCompression == 1.0) {
         dispatcher
     } else {
-        CompressedTimeDispatcher(dispatcher, timeCompression)
+        CompressedTimeDispatcher(this, dispatcher, timeCompression)
     }
 
     public companion object : PluginFactory<ClockManager> {

controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt

@@ -1,10 +1,7 @@
 package space.kscience.controls.spec
 
 import kotlinx.coroutines.withContext
-import space.kscience.controls.api.ActionDescriptor
+import space.kscience.controls.api.*
-import space.kscience.controls.api.Device
-import space.kscience.controls.api.PropertyDescriptor
-import space.kscience.controls.api.metaDescriptor
 import space.kscience.dataforge.meta.Meta
 import space.kscience.dataforge.meta.MetaConverter
 import space.kscience.dataforge.meta.descriptors.MetaDescriptor
@@ -159,7 +156,6 @@ public abstract class DeviceSpec<D : Device> {
                 deviceAction
             }
         }
-
 }
 
 /**
@@ -196,3 +192,16 @@ public fun <D : Device> DeviceSpec<D>.metaAction(
         execute(it)
     }
 
+
+/**
+ * Throw an exception if device does not have all properties and actions defined by this specification
+ */
+public fun DeviceSpec<*>.validate(device: Device) {
+    properties.map { it.value.descriptor }.forEach { specProperty ->
+        check(specProperty in device.propertyDescriptors) { "Property ${specProperty.name} not registered in ${device.id}" }
+    }
+
+    actions.map { it.value.descriptor }.forEach { specAction ->
+        check(specAction in device.actionDescriptors) { "Action ${specAction.name} not registered in ${device.id}" }
+    }
+}

controls-magix/src/jvmTest/kotlin/space/kscience/controls/client/MagixLoopTest.kt

@@ -19,42 +19,37 @@ import kotlin.test.assertEquals
 class MagixLoopTest {
 
     @Test
-    fun deviceHub() = runTest {
+    fun realDeviceHub() = runTest {
-        val context = Context {
-            plugin(DeviceManager)
-        }
-
-        val server = context.startMagixServer()
-
-        val deviceManager = context.request(DeviceManager)
-
-        val deviceEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
-
-//        deviceEndpoint.subscribe().onEach {
-//            println(it)
-//        }.launchIn(this)
-
-        deviceManager.launchMagixService(deviceEndpoint, "device")
-
-        launch {
-            delay(50)
-            repeat(10) {
-                deviceManager.install("test[$it]", TestDevice)
-            }
-        }
-
-        val clientEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
-
-        val remoteHub = clientEndpoint.remoteDeviceHub(context, "client", "device")
-
-        assertEquals(0, remoteHub.devices.size)
-
-        delay(60)
-        //switch context to use actual delay
         withContext(Dispatchers.Default) {
+            val context = Context {
+                plugin(DeviceManager)
+            }
+
+            val server = context.startMagixServer()
+
+            val deviceManager = context.request(DeviceManager)
+
+            val deviceEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+
+            deviceManager.launchMagixService(deviceEndpoint, "device")
+
+            launch {
+                delay(50)
+                repeat(10) {
+                    deviceManager.install("test[$it]", TestDevice)
+                }
+            }
+
+            val clientEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+
+            val remoteHub = clientEndpoint.remoteDeviceHub(context, "client", "device")
+
+            assertEquals(0, remoteHub.devices.size)
+            delay(60)
             clientEndpoint.requestDeviceUpdate("client", "device")
             delay(60)
             assertEquals(10, remoteHub.devices.size)
+            server.stop()
         }
     }
 }

controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDevice.kt

@@ -34,7 +34,7 @@ public suspend inline fun <reified T: Any> OpcUaDevice.readOpcWithTime(
     converter: MetaConverter<T>,
     magAge: Double = 500.0
 ): Pair<T, DateTime> {
-    val data = client.readValue(magAge, TimestampsToReturn.Server, nodeId).await()
+    val data: DataValue = client.readValue(magAge, TimestampsToReturn.Server, nodeId).await()
     val time = data.serverTime ?: error("No server time provided")
     val meta: Meta = when (val content = data.value.value) {
         is T -> return content to time

controls-visualisation-compose/build.gradle.kts

@@ -0,0 +1,45 @@
+import org.jetbrains.compose.ExperimentalComposeLibrary
+
+plugins {
+    id("space.kscience.gradle.mpp")
+    alias(spclibs.plugins.compose)
+    `maven-publish`
+}
+
+description = """
+    Visualisation extension using compose-multiplatform
+""".trimIndent()
+
+kscience {
+    jvm()
+    useKtor()
+    useSerialization()
+    useContextReceivers()
+    commonMain {
+        api(projects.controlsConstructor)
+        api("io.github.koalaplot:koalaplot-core:0.6.0")
+    }
+}
+
+kotlin {
+    sourceSets {
+        commonMain {
+            dependencies {
+                api(compose.foundation)
+                api(compose.material3)
+                @OptIn(ExperimentalComposeLibrary::class)
+                api(compose.desktop.components.splitPane)
+            }
+        }
+//        jvmMain {
+//            dependencies {
+//                implementation(compose.desktop.currentOs)
+//            }
+//        }
+    }
+}
+
+
+readme {
+    maturity = space.kscience.gradle.Maturity.PROTOTYPE
+}

controls-visualisation-compose/src/commonMain/kotlin/TimeAxisModel.kt

@@ -0,0 +1,45 @@
+package space.kscience.controls.compose
+
+import androidx.compose.ui.unit.Dp
+import androidx.compose.ui.unit.dp
+import io.github.koalaplot.core.xygraph.AxisModel
+import io.github.koalaplot.core.xygraph.TickValues
+import kotlinx.datetime.Clock
+import kotlinx.datetime.Instant
+import kotlin.math.floor
+import kotlin.time.Duration
+import kotlin.time.times
+
+public class TimeAxisModel(
+    override val minimumMajorTickSpacing: Dp = 50.dp,
+    private val rangeProvider: () -> ClosedRange<Instant>,
+) : AxisModel<Instant> {
+
+    override fun computeTickValues(axisLength: Dp): TickValues<Instant> {
+        val currentRange = rangeProvider()
+        val rangeLength = currentRange.endInclusive - currentRange.start
+        val numTicks = floor(axisLength / minimumMajorTickSpacing).toInt()
+        val numMinorTicks = numTicks * 2
+        return object : TickValues<Instant> {
+            override val majorTickValues: List<Instant> = List(numTicks) {
+                currentRange.start + it.toDouble() / (numTicks - 1) * rangeLength
+            }
+
+            override val minorTickValues: List<Instant> = List(numMinorTicks) {
+                currentRange.start + it.toDouble() / (numMinorTicks - 1) * rangeLength
+            }
+        }
+    }
+
+    override fun computeOffset(point: Instant): Float {
+        val currentRange = rangeProvider()
+        return ((point - currentRange.start) / (currentRange.endInclusive - currentRange.start)).toFloat()
+    }
+
+    public companion object {
+        public fun recent(duration: Duration, clock: Clock = Clock.System): TimeAxisModel = TimeAxisModel {
+            val now = clock.now()
+            (now - duration)..now
+        }
+    }
+}

controls-visualisation-compose/src/commonMain/kotlin/composeState.kt

@@ -0,0 +1,31 @@
+package space.kscience.controls.compose
+
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.State
+import androidx.compose.runtime.collectAsState
+import androidx.compose.runtime.snapshotFlow
+import kotlinx.coroutines.flow.Flow
+import space.kscience.controls.constructor.DeviceState
+import kotlin.coroutines.CoroutineContext
+import kotlin.coroutines.EmptyCoroutineContext
+
+
+/**
+ * Represent this [DeviceState] as Compose multiplatform [State]
+ */
+@Composable
+public fun <T> DeviceState<T>.asComposeState(
+    coroutineContext: CoroutineContext = EmptyCoroutineContext,
+): State<T> = valueFlow.collectAsState(value, coroutineContext)
+
+
+/**
+ * Represent this Compose [State] as [DeviceState]
+ */
+public fun <T> State<T>.asDeviceState(): DeviceState<T> = object : DeviceState<T> {
+    override val value: T get() = this@asDeviceState.value
+
+    override val valueFlow: Flow<T> get() = snapshotFlow { this@asDeviceState.value }
+
+    override fun toString(): String = "ComposeState(value=$value)"
+}

controls-visualisation-compose/src/commonMain/kotlin/indicators.kt

@@ -0,0 +1,2 @@
+package space.kscience.controls.compose
+

controls-visualisation-compose/src/commonMain/kotlin/koalaPlots.kt

@@ -0,0 +1,230 @@
+package space.kscience.controls.compose
+
+import androidx.compose.runtime.*
+import androidx.compose.ui.graphics.SolidColor
+import io.github.koalaplot.core.line.LinePlot
+import io.github.koalaplot.core.style.LineStyle
+import io.github.koalaplot.core.xygraph.DefaultPoint
+import io.github.koalaplot.core.xygraph.XYGraphScope
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import kotlinx.datetime.Clock
+import kotlinx.datetime.Instant
+import space.kscience.controls.api.Device
+import space.kscience.controls.api.PropertyChangedMessage
+import space.kscience.controls.api.propertyMessageFlow
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.manager.clock
+import space.kscience.controls.misc.ValueWithTime
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.name
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.double
+import kotlin.time.Duration
+import kotlin.time.Duration.Companion.minutes
+import kotlin.time.Duration.Companion.seconds
+
+
+private val defaultMaxAge get() = 10.minutes
+private val defaultMaxPoints get() = 800
+private val defaultMinPoints get() = 400
+private val defaultSampling get() = 1.seconds
+
+
+internal fun <T> Flow<ValueWithTime<T>>.collectAndTrim(
+    maxAge: Duration = defaultMaxAge,
+    maxPoints: Int = defaultMaxPoints,
+    minPoints: Int = defaultMinPoints,
+    clock: Clock = Clock.System,
+): Flow<List<ValueWithTime<T>>> {
+    require(maxPoints > 2)
+    require(minPoints > 0)
+    require(maxPoints > minPoints)
+    val points = mutableListOf<ValueWithTime<T>>()
+    return transform { newPoint ->
+        points.add(newPoint)
+        val now = clock.now()
+        // filter old points
+        points.removeAll { now - it.time > maxAge }
+
+        if (points.size > maxPoints) {
+            val durationBetweenPoints = maxAge / minPoints
+            val markedForRemoval = buildList {
+                var lastTime: Instant? = null
+                points.forEach { point ->
+                    if (lastTime?.let { point.time - it < durationBetweenPoints } == true) {
+                        add(point)
+                    } else {
+                        lastTime = point.time
+                    }
+                }
+            }
+
+            points.removeAll(markedForRemoval)
+        }
+        //return a protective copy
+        emit(ArrayList(points))
+    }
+}
+
+private val defaultLineStyle: LineStyle = LineStyle(SolidColor(androidx.compose.ui.graphics.Color.Black))
+
+
+@Composable
+private fun <T> XYGraphScope<Instant, T>.PlotTimeSeries(
+    data: List<ValueWithTime<T>>,
+    lineStyle: LineStyle = defaultLineStyle,
+) {
+    LinePlot(
+        data = data.map { DefaultPoint(it.time, it.value) },
+        lineStyle = lineStyle
+    )
+}
+
+
+/**
+ * Add a trace that shows a [Device] property change over time. Show only latest [maxPoints] .
+ * @return a [Job] that handles the listener
+ */
+@Composable
+public fun XYGraphScope<Instant, Double>.PlotDeviceProperty(
+    device: Device,
+    propertyName: String,
+    extractValue: Meta.() -> Double = { value?.double ?: Double.NaN },
+    maxAge: Duration = defaultMaxAge,
+    maxPoints: Int = defaultMaxPoints,
+    minPoints: Int = defaultMinPoints,
+    sampling: Duration = defaultSampling,
+    lineStyle: LineStyle = defaultLineStyle,
+) {
+    var points by remember { mutableStateOf<List<ValueWithTime<Double>>>(emptyList()) }
+
+    LaunchedEffect(device, propertyName, maxAge, maxPoints, minPoints, sampling) {
+        device.propertyMessageFlow(propertyName)
+            .sample(sampling)
+            .map { ValueWithTime(it.value.extractValue(), it.time) }
+            .collectAndTrim(maxAge, maxPoints, minPoints, device.clock)
+            .onEach { points = it }
+            .launchIn(this)
+    }
+
+
+    PlotTimeSeries(points, lineStyle)
+}
+
+@Composable
+public fun XYGraphScope<Instant, Double>.PlotDeviceProperty(
+    device: Device,
+    property: DevicePropertySpec<*, out Number>,
+    maxAge: Duration = defaultMaxAge,
+    maxPoints: Int = defaultMaxPoints,
+    minPoints: Int = defaultMinPoints,
+    sampling: Duration = defaultSampling,
+    lineStyle: LineStyle = LineStyle(SolidColor(androidx.compose.ui.graphics.Color.Black)),
+): Unit = PlotDeviceProperty(
+    device = device,
+    propertyName = property.name,
+    extractValue = { property.converter.readOrNull(this)?.toDouble() ?: Double.NaN },
+    maxAge = maxAge,
+    maxPoints = maxPoints,
+    minPoints = minPoints,
+    sampling = sampling,
+    lineStyle = lineStyle
+)
+
+@Composable
+public fun XYGraphScope<Instant, Double>.PlotNumberState(
+    context: Context,
+    state: DeviceState<out Number>,
+    maxAge: Duration = defaultMaxAge,
+    maxPoints: Int = defaultMaxPoints,
+    minPoints: Int = defaultMinPoints,
+    sampling: Duration = defaultSampling,
+    lineStyle: LineStyle = defaultLineStyle,
+): Unit {
+    var points by remember { mutableStateOf<List<ValueWithTime<Double>>>(emptyList()) }
+
+
+    LaunchedEffect(context, state, maxAge, maxPoints, minPoints, sampling) {
+        val clock = context.clock
+
+        state.valueFlow.sample(sampling)
+            .map { ValueWithTime(it.toDouble(), clock.now()) }
+            .collectAndTrim(maxAge, maxPoints, minPoints, clock)
+            .onEach { points = it }
+            .launchIn(this)
+    }
+
+
+    PlotTimeSeries(points, lineStyle)
+}
+
+
+private fun List<Instant>.averageTime(): Instant {
+    val min = min()
+    val max = max()
+    val duration = max - min
+    return min + duration / 2
+}
+
+private fun <T> Flow<T>.chunkedByPeriod(duration: Duration): Flow<List<T>> {
+    val collector: ArrayDeque<T> = ArrayDeque<T>()
+    return channelFlow {
+        launch {
+            while (isActive) {
+                delay(duration)
+                send(ArrayList(collector))
+                collector.clear()
+            }
+        }
+        this@chunkedByPeriod.collect {
+            collector.add(it)
+        }
+    }
+}
+
+
+/**
+ * Average property value by [averagingInterval]. Return [startValue] on each sample interval if no events arrived.
+ */
+@Composable
+public fun XYGraphScope<Instant, Double>.PlotAveragedDeviceProperty(
+    device: Device,
+    propertyName: String,
+    startValue: Double = 0.0,
+    extractValue: Meta.() -> Double = { value?.double ?: startValue },
+    maxAge: Duration = defaultMaxAge,
+    maxPoints: Int = defaultMaxPoints,
+    minPoints: Int = defaultMinPoints,
+    averagingInterval: Duration = defaultSampling,
+    lineStyle: LineStyle = defaultLineStyle,
+) {
+
+    var points by remember { mutableStateOf<List<ValueWithTime<Double>>>(emptyList()) }
+
+    LaunchedEffect(device, propertyName, startValue, maxAge, maxPoints, minPoints, averagingInterval) {
+        val clock = device.clock
+        var lastValue = startValue
+        device.propertyMessageFlow(propertyName)
+            .chunkedByPeriod(averagingInterval)
+            .transform<List<PropertyChangedMessage>, ValueWithTime<Double>> { eventList ->
+                if (eventList.isEmpty()) {
+                    ValueWithTime(lastValue, clock.now())
+                } else {
+                    val time = eventList.map { it.time }.averageTime()
+                    val value = eventList.map { extractValue(it.value) }.average()
+                    ValueWithTime(value, time).also {
+                        lastValue = value
+                    }
+                }
+            }.collectAndTrim(maxAge, maxPoints, minPoints, clock)
+            .onEach { points = it }
+            .launchIn(this)
+    }
+
+    PlotTimeSeries(points, lineStyle)
+}

controls-visualisation-compose/src/commonMain/kotlin/sliders.kt

@@ -0,0 +1,51 @@
+package space.kscience.controls.compose
+
+import androidx.compose.foundation.interaction.MutableInteractionSource
+import androidx.compose.material3.SliderColors
+import androidx.compose.material3.SliderDefaults
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.remember
+import androidx.compose.ui.Modifier
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.MutableDeviceState
+
+@Composable
+public fun Slider(
+    deviceState: MutableDeviceState<Number>,
+    modifier: Modifier = Modifier,
+    enabled: Boolean = true,
+    valueRange: ClosedFloatingPointRange<Float> = 0f..1f,
+    steps: Int = 0,
+    interactionSource: MutableInteractionSource = remember { MutableInteractionSource() },
+    colors: SliderColors = SliderDefaults.colors(),
+) {
+    androidx.compose.material3.Slider(
+        value = deviceState.value.toFloat(),
+        onValueChange = { deviceState.value = it },
+        modifier = modifier,
+        enabled = enabled,
+        valueRange = valueRange,
+        steps = steps,
+        interactionSource = interactionSource,
+        colors = colors,
+    )
+}
+
+@Composable
+public fun SliderIndicator(
+    deviceState: DeviceState<Number>,
+    modifier: Modifier = Modifier,
+    valueRange: ClosedFloatingPointRange<Float> = 0f..1f,
+    steps: Int = 0,
+    colors: SliderColors = SliderDefaults.colors(),
+) {
+    androidx.compose.material3.Slider(
+        value = deviceState.value.toFloat(),
+        onValueChange = { /*do nothing*/ },
+        modifier = modifier,
+        enabled = false,
+        valueRange = valueRange,
+        steps = steps,
+        colors = colors,
+    )
+}

demo/constructor/build.gradle.kts

@@ -1,4 +1,3 @@
-import org.jetbrains.compose.ExperimentalComposeLibrary
 import org.jetbrains.compose.desktop.application.dsl.TargetFormat
 import org.jetbrains.kotlin.gradle.dsl.ExplicitApiMode
 
@@ -8,14 +7,13 @@ plugins {
 }
 
 kscience {
-    jvm {
+    jvm()
-        withJava()
-    }
     useKtor()
     useSerialization()
     useContextReceivers()
     commonMain {
-        implementation(projects.controlsVision)
+        implementation(projects.controlsVisualisationCompose)
+//        implementation(projects.controlsVision)
         implementation(projects.controlsConstructor)
 //        implementation("io.github.koalaplot:koalaplot-core:0.6.0")
     }
@@ -30,8 +28,6 @@ kotlin {
         jvmMain {
             dependencies {
                 implementation(compose.desktop.currentOs)
-                @OptIn(ExperimentalComposeLibrary::class)
-                implementation(compose.desktop.components.splitPane)
             }
         }
     }

demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt

@@ -5,7 +5,8 @@ import androidx.compose.foundation.layout.Box
 import androidx.compose.foundation.layout.fillMaxSize
 import androidx.compose.foundation.layout.size
 import androidx.compose.material.MaterialTheme
-import androidx.compose.runtime.*
+import androidx.compose.runtime.getValue
+import androidx.compose.runtime.remember
 import androidx.compose.ui.Modifier
 import androidx.compose.ui.geometry.Offset
 import androidx.compose.ui.graphics.Color
@@ -13,10 +14,9 @@ import androidx.compose.ui.unit.dp
 import androidx.compose.ui.window.Window
 import androidx.compose.ui.window.application
 import kotlinx.serialization.Serializable
+import space.kscience.controls.compose.asComposeState
 import space.kscience.controls.constructor.*
 import space.kscience.dataforge.context.Context
-import kotlin.coroutines.CoroutineContext
-import kotlin.coroutines.EmptyCoroutineContext
 import kotlin.math.pow
 import kotlin.math.sqrt
 import kotlin.time.Duration.Companion.milliseconds
@@ -29,16 +29,11 @@ data class XY(val x: Double, val y: Double) {
     }
 }
 
+val XY.length: Double get() = sqrt(x.pow(2) + y.pow(2))
+
 operator fun XY.plus(other: XY): XY = XY(x + other.x, y + other.y)
 operator fun XY.times(c: Double): XY = XY(x * c, y * c)
 operator fun XY.div(c: Double): XY = XY(x / c, y / c)
-//
-//class XYPosition(context: Context, x0: Double, y0: Double) : DeviceModel(context) {
-//    val x: MutableDeviceState<Double> = mutableState(x0)
-//    val y: MutableDeviceState<Double> = mutableState(y0)
-//
-//    val xy = combineState(x, y) { x, y -> XY(x, y) }
-//}
 
 class Spring(
     context: Context,
@@ -46,27 +41,25 @@ class Spring(
     val l0: Double,
     val begin: DeviceState<XY>,
     val end: DeviceState<XY>,
-) : DeviceConstructor(context) {
+) : ConstructorModel(context) {
-
-    val length = combineState(begin, end) { begin, end ->
-        sqrt((end.y - begin.y).pow(2) + (end.x - begin.x).pow(2))
-    }
-
-    val tension: DeviceState<Double> = mapState(length) { l ->
-        val delta = l - l0
-        k * delta
-    }
 
     /**
-     * direction from start to end
+     * vector from start to end
      */
-    val direction = combineState(begin, end) { begin, end ->
+    val direction = combineState(begin, end) { begin: XY, end: XY ->
         val dx = end.x - begin.x
         val dy = end.y - begin.y
-        val l = sqrt((end.y - begin.y).pow(2) + (end.x - begin.x).pow(2))
+        val l = sqrt(dx.pow(2) + dy.pow(2))
         XY(dx / l, dy / l)
     }
 
+    val tension: DeviceState<Double> = combineState(begin, end) { begin: XY, end: XY ->
+        val dx = end.x - begin.x
+        val dy = end.y - begin.y
+        k * sqrt(dx.pow(2) + dy.pow(2))
+    }
+
+
     val beginForce = combineState(direction, tension) { direction: XY, tension: Double ->
         direction * (tension)
     }
@@ -83,13 +76,15 @@ class MaterialPoint(
     val force: DeviceState<XY>,
     val position: MutableDeviceState<XY>,
     val velocity: MutableDeviceState<XY> = MutableDeviceState(XY.ZERO),
-) : DeviceModel(context, force) {
+) : ConstructorModel(context, force, position, velocity) {
 
     private val timer: TimerState = timer(2.milliseconds)
 
+    //TODO synchronize force change
+
     private val movement = timer.onChange(
-        position, velocity,
+        writes = setOf(position, velocity),
-        alsoReads = setOf(force, velocity, position)
+        reads = setOf(force, velocity, position)
     ) { prev, next ->
         val dt = (next - prev).toDouble(DurationUnit.SECONDS)
         val a = force.value / mass
@@ -105,31 +100,31 @@ class BodyOnSprings(
     k: Double,
     startPosition: XY,
     l0: Double = 1.0,
-    val xLeft: Double = 0.0,
+    val xLeft: Double = -1.0,
-    val xRight: Double = 2.0,
+    val xRight: Double = 1.0,
-    val yBottom: Double = 0.0,
+    val yBottom: Double = -1.0,
-    val yTop: Double = 2.0,
+    val yTop: Double = 1.0,
 ) : DeviceConstructor(context) {
 
     val width = xRight - xLeft
     val height = yTop - yBottom
 
-    val position = mutableState(startPosition)
+    val position = stateOf(startPosition)
 
-    private val leftAnchor = mutableState(XY(xLeft, yTop + yBottom / 2))
+    private val leftAnchor = stateOf(XY(xLeft, (yTop + yBottom) / 2))
 
-    val leftSpring by device(
+    val leftSpring = model(
         Spring(context, k, l0, leftAnchor, position)
     )
 
-    private val rightAnchor = mutableState(XY(xRight, yTop + yBottom / 2))
+    private val rightAnchor = stateOf(XY(xRight, (yTop + yBottom) / 2))
 
-    val rightSpring by device(
+    val rightSpring = model(
         Spring(context, k, l0, rightAnchor, position)
     )
 
-    val force: DeviceState<XY> = combineState(leftSpring.endForce, rightSpring.endForce) { left, rignt ->
+    val force: DeviceState<XY> = combineState(leftSpring.endForce, rightSpring.endForce) { left, right ->
-        left + rignt
+        left + right
     }
 
 
@@ -138,18 +133,13 @@ class BodyOnSprings(
             context = context,
             mass = mass,
             force = force,
-            position = position
+            position = position,
         )
     )
 }
 
-@Composable
-fun <T> DeviceState<T>.collect(
-    coroutineContext: CoroutineContext = EmptyCoroutineContext,
-): State<T> = valueFlow.collectAsState(value, coroutineContext)
-
 fun main() = application {
-    val initialState = XY(1.1, 1.1)
+    val initialState = XY(0.1, 0.2)
 
     Window(title = "Ball on springs", onCloseRequest = ::exitApplication) {
         MaterialTheme {
@@ -161,12 +151,20 @@ fun main() = application {
                 BodyOnSprings(context, 100.0, 1000.0, initialState)
             }
 
-            val position: XY by model.body.position.collect()
+            //TODO add ability to freeze model
+
+//            LaunchedEffect(Unit){
+//                model.position.valueFlow.onEach {
+//                    model.position.value = it.copy(y = model.position.value.y.coerceIn(-1.0..1.0))
+//                }.collect()
+//            }
+
+            val position: XY by model.body.position.asComposeState()
             Box(Modifier.size(400.dp)) {
                 Canvas(modifier = Modifier.fillMaxSize()) {
                     fun XY.toOffset() = Offset(
-                        (x / model.width * size.width).toFloat(),
+                        center.x + (x / model.width * size.width).toFloat(),
-                        (y / model.height * size.height).toFloat()
+                        center.y - (y / model.height * size.height).toFloat()
                     )
 
                     drawCircle(

demo/constructor/src/jvmMain/kotlin/LinearDrive.kt

@@ -1,38 +1,40 @@
 package space.kscience.controls.demo.constructor
 
-import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.background
-import androidx.compose.foundation.layout.Row
+import androidx.compose.foundation.layout.*
-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.*
-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.graphics.Color
+import androidx.compose.ui.graphics.SolidColor
 import androidx.compose.ui.unit.dp
 import androidx.compose.ui.window.Window
 import androidx.compose.ui.window.application
-import space.kscience.controls.constructor.DeviceConstructor
+import io.github.koalaplot.core.ChartLayout
-import space.kscience.controls.constructor.DoubleInRangeState
+import io.github.koalaplot.core.legend.FlowLegend
-import space.kscience.controls.constructor.device
+import io.github.koalaplot.core.style.LineStyle
-import space.kscience.controls.constructor.deviceProperty
+import io.github.koalaplot.core.util.ExperimentalKoalaPlotApi
+import io.github.koalaplot.core.util.toString
+import io.github.koalaplot.core.xygraph.XYGraph
+import io.github.koalaplot.core.xygraph.rememberDoubleLinearAxisModel
+import kotlinx.coroutines.flow.collect
+import kotlinx.coroutines.flow.onEach
+import kotlinx.datetime.Instant
+import org.jetbrains.compose.splitpane.ExperimentalSplitPaneApi
+import org.jetbrains.compose.splitpane.HorizontalSplitPane
+import space.kscience.controls.compose.PlotDeviceProperty
+import space.kscience.controls.compose.PlotNumberState
+import space.kscience.controls.compose.TimeAxisModel
+import space.kscience.controls.constructor.*
 import space.kscience.controls.constructor.library.*
 import space.kscience.controls.manager.ClockManager
 import space.kscience.controls.manager.DeviceManager
 import space.kscience.controls.manager.clock
 import space.kscience.controls.manager.install
-import space.kscience.controls.spec.doRecurring
-import space.kscience.controls.spec.name
-import space.kscience.controls.vision.plot
-import space.kscience.controls.vision.plotDeviceProperty
-import space.kscience.controls.vision.plotNumberState
-import space.kscience.controls.vision.showDashboard
 import space.kscience.dataforge.context.Context
 import space.kscience.dataforge.meta.Meta
-import space.kscience.plotly.models.ScatterMode
+import java.awt.Dimension
-import space.kscience.visionforge.plotly.PlotlyPlugin
 import kotlin.math.PI
 import kotlin.math.sin
 import kotlin.time.Duration
@@ -49,15 +51,15 @@ class LinearDrive(
     meta: Meta = Meta.EMPTY,
 ) : DeviceConstructor(drive.context, meta) {
 
-    val drive: Drive by device(drive)
+    val drive by device(drive)
     val pid by device(PidRegulator(drive, pidParameters))
 
     val start by device(start)
     val end by device(end)
 
-    val position by deviceProperty(drive, Drive.position, Double.NaN)
+    val position = drive.propertyAsState(Drive.position, Double.NaN)
 
-    val target by deviceProperty(pid, Regulator.target, 0.0)
+    val target = pid.propertyAsState(Regulator.target, 0.0)
 }
 
 /**
@@ -77,163 +79,205 @@ fun LinearDrive(
     meta = meta
 )
 
+class Modulator(
+    context: Context,
+    target: MutableDeviceState<Double>,
+    var freq: Double = 0.1,
+    var timeStep: Duration = 5.milliseconds,
+) : DeviceConstructor(context) {
+    private val clockStart = clock.now()
 
+    val timer = timer(10.milliseconds)
+
+    private val modulation = timer.onNext {
+        val timeFromStart = clock.now() - clockStart
+        val t = timeFromStart.toDouble(DurationUnit.SECONDS)
+        target.value = 5 * sin(2.0 * PI * freq * t) +
+                sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / timeStep))
+    }
+}
+
+
+private val maxAge = 10.seconds
+
+@OptIn(ExperimentalSplitPaneApi::class, ExperimentalKoalaPlotApi::class)
 fun main() = application {
-    val context = Context {
+    val context = remember {
-        plugin(DeviceManager)
+        Context {
-        plugin(PlotlyPlugin)
+            plugin(DeviceManager)
-        plugin(ClockManager)
+            plugin(ClockManager)
+        }
     }
 
-    class MutablePidParameters(
+    val clock = remember { context.clock }
-        kp: Double,
+
-        ki: Double,
+
-        kd: Double,
+    var pidParameters by remember {
-        timeStep: Duration,
+        mutableStateOf(PidParameters(kp = 2.5, ki = 0.0, kd = -0.1, timeStep = 0.005.seconds))
-    ) : 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 {
+    val state = remember { DoubleInRangeState(0.0, -6.0..6.0) }
-        MutablePidParameters(
+
-            kp = 2.5,
+    val linearDrive = remember {
-            ki = 0.0,
+        context.install(
-            kd = -0.1,
+            "linearDrive",
-            timeStep = 0.005.seconds
+            LinearDrive(context, state, 0.05, pidParameters)
         )
     }
 
-    val state = DoubleInRangeState(0.0, -6.0..6.0)
+    val modulator = remember {
-
+        context.install(
-    val linearDrive = context.install(
+            "modulator",
-        "linearDrive",
+            Modulator(context, linearDrive.target)
-        LinearDrive(context, state, 0.05, pidParameters)
+        )
-    )
-
-    val clockStart = context.clock.now()
-    linearDrive.doRecurring(10.milliseconds) {
-        val timeFromStart = clock.now() - clockStart
-        val t = timeFromStart.toDouble(DurationUnit.SECONDS)
-        val freq = 0.1
-        target.value = 5 * sin(2.0 * PI * freq * t) +
-                sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / pidParameters.timeStep))
     }
 
-
+    //bind pid parameters
-    val maxAge = 10.seconds
+    LaunchedEffect(Unit) {
-
+        snapshotFlow {
-    context.showDashboard {
+            pidParameters
-        plot {
+        }.onEach {
-            plotNumberState(context, state, maxAge = maxAge, sampling = 50.milliseconds) {
+            linearDrive.pid.pidParameters = pidParameters
-                name = "real position"
+        }.collect()
-            }
-            plotDeviceProperty(linearDrive.pid, Regulator.position.name, maxAge = maxAge, sampling = 50.milliseconds) {
-                name = "read position"
-            }
-
-            plotDeviceProperty(linearDrive.pid, Regulator.target.name, maxAge = maxAge, sampling = 50.milliseconds) {
-                name = "target"
-            }
-        }
-
-        plot {
-            plotDeviceProperty(
-                linearDrive.start,
-                LimitSwitch.locked.name,
-                maxAge = maxAge,
-                sampling = 50.milliseconds
-            ) {
-                name = "start measured"
-                mode = ScatterMode.markers
-            }
-            plotDeviceProperty(linearDrive.end, LimitSwitch.locked.name, maxAge = maxAge, sampling = 50.milliseconds) {
-                name = "end measured"
-                mode = ScatterMode.markers
-            }
-        }
-
     }
 
     Window(title = "Pid regulator simulator", onCloseRequest = ::exitApplication) {
+        window.minimumSize = Dimension(800, 400)
         MaterialTheme {
-            Column {
+            HorizontalSplitPane {
-                Row {
+                first(400.dp) {
-                    Text("kp:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
+                    Column(modifier = Modifier.background(color = Color.LightGray).fillMaxHeight()) {
-                    TextField(
+                        Row {
-                        String.format("%.2f", pidParameters.kp),
+                            Text("kp:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
-                        { pidParameters.kp = it.toDouble() },
+                            TextField(
-                        Modifier.width(100.dp),
+                                String.format("%.2f", pidParameters.kp),
-                        enabled = false
+                                { pidParameters = pidParameters.copy(kp = it.toDouble()) },
-                    )
+                                Modifier.width(100.dp),
-                    Slider(
+                                enabled = false
-                        pidParameters.kp.toFloat(),
+                            )
-                        { pidParameters.kp = it.toDouble() },
+                            Slider(
-                        valueRange = 0f..20f,
+                                pidParameters.kp.toFloat(),
-                        steps = 100
+                                { pidParameters = pidParameters.copy(kp = it.toDouble()) },
-                    )
+                                valueRange = 0f..20f,
-                }
+                                steps = 100
-                Row {
+                            )
-                    Text("ki:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
+                        }
-                    TextField(
+                        Row {
-                        String.format("%.2f", pidParameters.ki),
+                            Text("ki:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
-                        { pidParameters.ki = it.toDouble() },
+                            TextField(
-                        Modifier.width(100.dp),
+                                String.format("%.2f", pidParameters.ki),
-                        enabled = false
+                                { pidParameters = pidParameters.copy(ki = it.toDouble()) },
-                    )
+                                Modifier.width(100.dp),
-
+                                enabled = false
-                    Slider(
+                            )
-                        pidParameters.ki.toFloat(),
+
-                        { pidParameters.ki = it.toDouble() },
+                            Slider(
-                        valueRange = -10f..10f,
+                                pidParameters.ki.toFloat(),
-                        steps = 100
+                                { pidParameters = pidParameters.copy(ki = it.toDouble()) },
-                    )
+                                valueRange = -10f..10f,
-                }
+                                steps = 100
-                Row {
+                            )
-                    Text("kd:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
+                        }
-                    TextField(
+                        Row {
-                        String.format("%.2f", pidParameters.kd),
+                            Text("kd:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
-                        { pidParameters.kd = it.toDouble() },
+                            TextField(
-                        Modifier.width(100.dp),
+                                String.format("%.2f", pidParameters.kd),
-                        enabled = false
+                                { pidParameters = pidParameters.copy(kd = it.toDouble()) },
-                    )
+                                Modifier.width(100.dp),
-
+                                enabled = false
-                    Slider(
+                            )
-                        pidParameters.kd.toFloat(),
+
-                        { pidParameters.kd = it.toDouble() },
+                            Slider(
-                        valueRange = -10f..10f,
+                                pidParameters.kd.toFloat(),
-                        steps = 100
+                                { pidParameters = pidParameters.copy(kd = it.toDouble()) },
-                    )
+                                valueRange = -10f..10f,
-                }
+                                steps = 100
-
+                            )
-                Row {
+                        }
-                    Text("dt:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
+
-                    TextField(
+                        Row {
-                        pidParameters.timeStep.toString(DurationUnit.MILLISECONDS),
+                            Text("dt:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
-                        { pidParameters.timeStep = it.toDouble().milliseconds },
+                            TextField(
-                        Modifier.width(100.dp),
+                                pidParameters.timeStep.toString(DurationUnit.MILLISECONDS),
-                        enabled = false
+                                { pidParameters = pidParameters.copy(timeStep = it.toDouble().milliseconds) },
-                    )
+                                Modifier.width(100.dp),
-
+                                enabled = false
-                    Slider(
+                            )
-                        pidParameters.timeStep.toDouble(DurationUnit.MILLISECONDS).toFloat(),
+
-                        { pidParameters.timeStep = it.toDouble().milliseconds },
+                            Slider(
-                        valueRange = 0f..100f,
+                                pidParameters.timeStep.toDouble(DurationUnit.MILLISECONDS).toFloat(),
-                        steps = 100
+                                { pidParameters = pidParameters.copy(timeStep = it.toDouble().milliseconds) },
-                    )
+                                valueRange = 0f..100f,
-                }
+                                steps = 100
-                Row {
+                            )
-                    Button({
+                        }
-                        pidParameters.run {
+                        Row {
-                            kp = 2.5
+                            Button({
-                            ki = 0.0
+                                pidParameters = PidParameters(
-                            kd = -0.1
+                                    kp = 2.5,
-                            timeStep = 0.005.seconds
+                                    ki = 0.0,
+                                    kd = -0.1,
+                                    timeStep = 0.005.seconds
+                                )
+                            }) {
+                                Text("Reset")
+                            }
+                        }
+                    }
+                }
+                second(400.dp) {
+                    ChartLayout {
+                        XYGraph<Instant, Double>(
+                            xAxisModel = remember { TimeAxisModel.recent(maxAge, clock) },
+                            yAxisModel = rememberDoubleLinearAxisModel(state.range),
+                            xAxisTitle = { Text("Time in seconds relative to current") },
+                            xAxisLabels = { it: Instant ->
+                                androidx.compose.material3.Text(
+                                    (clock.now() - it).toDouble(
+                                        DurationUnit.SECONDS
+                                    ).toString(2)
+                                )
+                            },
+                            yAxisLabels = { it: Double -> Text(it.toString(2)) }
+                        ) {
+                            PlotNumberState(
+                                context = context,
+                                state = state,
+                                maxAge = maxAge,
+                                sampling = 50.milliseconds,
+                                lineStyle = LineStyle(SolidColor(Color.Blue))
+                            )
+                            PlotDeviceProperty(
+                                linearDrive.pid,
+                                Regulator.position,
+                                maxAge = maxAge,
+                                sampling = 50.milliseconds,
+                            )
+                            PlotDeviceProperty(
+                                linearDrive.pid,
+                                Regulator.target,
+                                maxAge = maxAge,
+                                sampling = 50.milliseconds,
+                                lineStyle = LineStyle(SolidColor(Color.Red))
+                            )
+                        }
+                        Surface {
+                            FlowLegend(3, label = {
+                                when (it) {
+                                    0 -> {
+                                        Text("Body position", color = Color.Blue)
+                                    }
+
+                                    1 -> {
+                                        Text("Regulator position", color = Color.Black)
+                                    }
+
+                                    2 -> {
+                                        Text("Regulator target", color = Color.Red)
+                                    }
+                                }
+                            })
                         }
-                    }) {
-                        Text("Reset")
                     }
                 }
             }

demo/constructor/src/jvmMain/kotlin/Plotter.kt

@@ -0,0 +1,2 @@
+package space.kscience.controls.demo.constructor
+

settings.gradle.kts

@@ -64,6 +64,7 @@ include(
     ":controls-storage",
     ":controls-storage:controls-xodus",
     ":controls-constructor",
+    ":controls-visualisation-compose",
     ":controls-vision",
     ":controls-jupyter",
     ":magix",