Add device collective demo

controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt

@@ -93,7 +93,7 @@ internal class RemoteDeviceConnect {
 
         val virtualMagixEndpoint = VirtualMagixEndpoint(deviceManager)
 
-        val remoteDevice = virtualMagixEndpoint.remoteDevice(context, "client", "device", "test".asName())
+        val remoteDevice: DeviceClient = virtualMagixEndpoint.remoteDevice(context, "client", "device", "test".asName())
 
         assertContains(0.0..1.0, remoteDevice.read(TestDevice.value))
 

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

@@ -1,10 +1,10 @@
 package space.kscience.controls.client
 
+import kotlinx.coroutines.CompletableDeferred
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
 import kotlinx.coroutines.test.runTest
-import kotlinx.coroutines.withContext
 import space.kscience.controls.client.RemoteDeviceConnect.TestDevice
 import space.kscience.controls.manager.DeviceManager
 import space.kscience.controls.manager.install
@@ -20,8 +20,8 @@ class MagixLoopTest {
 
     @Test
     fun realDeviceHub() = runTest {
-        withContext(Dispatchers.Default) {
         val context = Context {
+            coroutineContext(Dispatchers.Default)
             plugin(DeviceManager)
         }
 
@@ -33,11 +33,14 @@ class MagixLoopTest {
 
         deviceManager.launchMagixService(deviceEndpoint, "device")
 
-            launch {
-                delay(50)
+        val trigger = CompletableDeferred<Unit>()
+
+        context.launch {
             repeat(10) {
                 deviceManager.install("test[$it]", TestDevice)
             }
+            delay(100)
+            trigger.complete(Unit)
         }
 
         val clientEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
@@ -45,11 +48,9 @@ class MagixLoopTest {
         val remoteHub = clientEndpoint.remoteDeviceHub(context, "client", "device")
 
         assertEquals(0, remoteHub.devices.size)
-            delay(60)
         clientEndpoint.requestDeviceUpdate("client", "device")
-            delay(60)
+        trigger.join()
         assertEquals(10, remoteHub.devices.size)
         server.stop()
     }
-    }
 }

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

@@ -1,3 +1,5 @@
+@file:OptIn(FlowPreview::class)
+
 package space.kscience.controls.compose
 
 import androidx.compose.runtime.*
@@ -6,11 +8,8 @@ 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.*
 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

demo/device-collective/build.gradle.kts

@@ -13,6 +13,7 @@ kscience {
     commonMain {
         implementation(projects.controlsVisualisationCompose)
         implementation(projects.controlsConstructor)
+        implementation(projects.magix.magixRsocket)
     }
     jvmMain {
 //        implementation("io.ktor:ktor-server-cio")

demo/device-collective/src/jvmMain/kotlin/DebounceDeviceState.kt

@@ -0,0 +1,20 @@
+package space.kscience.controls.demo.map
+
+import kotlinx.coroutines.FlowPreview
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.sample
+import space.kscience.controls.constructor.DeviceState
+import kotlin.time.Duration
+
+@OptIn(FlowPreview::class)
+class DebounceDeviceState<T>(
+    val origin: DeviceState<T>,
+    val interval: Duration,
+) : DeviceState<T> {
+    override val value: T get() = origin.value
+    override val valueFlow: Flow<T> get() = origin.valueFlow.sample(interval)
+
+    override fun toString(): String = "DebounceDeviceState($value, interval=$interval)"
+}
+
+fun <T> DeviceState<T>.debounce(interval: Duration) = DebounceDeviceState(this, interval)

demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt

@@ -0,0 +1,43 @@
+package space.kscience.controls.demo.map
+
+import space.kscience.controls.constructor.ModelConstructor
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.onTimer
+import space.kscience.dataforge.context.Context
+import space.kscience.maps.coordinates.Gmc
+
+
+typealias RemoteDeviceId = String
+
+
+data class RemoteDeviceState(
+    val id: RemoteDeviceId,
+    val configuration: RemoteDeviceConfiguration,
+    val position: MutableDeviceState<Gmc>,
+    val velocity: MutableDeviceState<GmcVelocity>,
+)
+
+public fun RemoteDeviceState(
+    id: RemoteDeviceId,
+    position: Gmc,
+    configuration: RemoteDeviceConfiguration.() -> Unit = {},
+) = RemoteDeviceState(
+    id,
+    RemoteDeviceConfiguration(configuration),
+    MutableDeviceState(position),
+    MutableDeviceState(GmcVelocity.zero)
+)
+
+
+class DeviceCollectiveModel(
+    context: Context,
+    val deviceStates: Collection<RemoteDeviceState>,
+) : ModelConstructor(context) {
+
+    private val movement = onTimer { prev, next ->
+        val delta = (next - prev)
+        deviceStates.forEach { state ->
+            state.position.value = state.position.value.moveWith(state.velocity.value, delta)
+        }
+    }
+}

demo/device-collective/src/jvmMain/kotlin/GmcVelocity.kt

@@ -0,0 +1,24 @@
+package space.kscience.controls.demo.map
+
+import kotlinx.serialization.Serializable
+import space.kscience.kmath.geometry.Angle
+import space.kscience.maps.coordinates.*
+import kotlin.time.Duration
+import kotlin.time.DurationUnit
+
+@Serializable
+data class GmcVelocity(val bearing: Angle, val velocity: Distance, val elevation: Distance = 0.kilometers){
+    companion object{
+        val zero = GmcVelocity(Angle.zero, 0.kilometers)
+    }
+}
+
+
+fun Gmc.moveWith(velocity: GmcVelocity, duration: Duration): Gmc {
+    val seconds = duration.toDouble(DurationUnit.SECONDS)
+
+    return GeoEllipsoid.WGS84.curveInDirection(
+        GmcPose(this, velocity.bearing),
+        velocity.velocity * seconds,
+    ).backward.coordinates
+}

demo/device-collective/src/jvmMain/kotlin/RemoteDevice.kt

@@ -0,0 +1,64 @@
+@file:OptIn(DFExperimental::class)
+
+package space.kscience.controls.demo.map
+
+import space.kscience.controls.api.Device
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.registerAsProperty
+import space.kscience.controls.spec.DeviceSpec
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.MetaConverter
+import space.kscience.dataforge.meta.Scheme
+import space.kscience.dataforge.meta.SchemeSpec
+import space.kscience.dataforge.misc.DFExperimental
+import space.kscience.maps.coordinates.Gmc
+import kotlin.time.Duration.Companion.milliseconds
+
+class RemoteDeviceConfiguration : Scheme() {
+    companion object : SchemeSpec<RemoteDeviceConfiguration>(::RemoteDeviceConfiguration)
+}
+
+
+interface RemoteDevice : Device {
+
+    suspend fun getPosition(): Gmc
+
+    suspend fun getVelocity(): GmcVelocity
+
+    suspend fun setVelocity(value: GmcVelocity)
+
+
+    companion object : DeviceSpec<RemoteDevice>() {
+        val position by property<Gmc>(
+            converter = MetaConverter.serializable(),
+            read = { getPosition() }
+        )
+
+        val velocity by mutableProperty<GmcVelocity>(
+            converter = MetaConverter.serializable(),
+            read = { getVelocity() },
+            write = { _, value -> setVelocity(value) }
+        )
+    }
+}
+
+
+class RemoteDeviceConstructor(
+    context: Context,
+    val configuration: RemoteDeviceConfiguration,
+    position: MutableDeviceState<Gmc>,
+    velocity: MutableDeviceState<GmcVelocity>,
+) : DeviceConstructor(context, configuration.meta), RemoteDevice {
+
+    val position = registerAsProperty(RemoteDevice.position, position.debounce(500.milliseconds))
+    val velocity = registerAsProperty(RemoteDevice.velocity, velocity)
+
+    override suspend fun getPosition(): Gmc = position.value
+
+    override suspend fun getVelocity(): GmcVelocity = velocity.value
+
+    override suspend fun setVelocity(value: GmcVelocity) {
+        velocity.value = value
+    }
+}

demo/device-collective/src/jvmMain/kotlin/debugModel.kt

@@ -0,0 +1,50 @@
+package space.kscience.controls.demo.map
+
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import space.kscience.controls.spec.write
+import space.kscience.dataforge.context.Context
+import space.kscience.kmath.geometry.degrees
+import space.kscience.kmath.geometry.radians
+import space.kscience.maps.coordinates.Gmc
+import space.kscience.maps.coordinates.kilometers
+import kotlin.math.PI
+import kotlin.random.Random
+
+private val deviceVelocity = 0.1.kilometers
+
+private val center = Gmc.ofDegrees(55.925, 37.514)
+private val radius = 0.01.degrees
+
+
+internal fun generateModel(context: Context): DeviceCollectiveModel {
+    val devices: List<RemoteDeviceState> = buildList {
+        repeat(100) {
+            add(
+                RemoteDeviceState(
+                    "device[$it]",
+                    Gmc(
+                        center.latitude + radius * Random.nextDouble(),
+                        center.longitude + radius * Random.nextDouble()
+                    )
+                )
+            )
+        }
+    }
+
+    val model = DeviceCollectiveModel(context, devices)
+
+    return model
+}
+
+fun RemoteDevice.moveInCircles(): Job = launch {
+    var bearing = Random.nextDouble(-PI, PI).radians
+    write(RemoteDevice.velocity, GmcVelocity(bearing, deviceVelocity))
+    while (isActive) {
+        delay(500)
+        bearing += 5.degrees
+        write(RemoteDevice.velocity, GmcVelocity(bearing, deviceVelocity))
+    }
+}

demo/device-collective/src/jvmMain/kotlin/main.kt

@@ -0,0 +1,91 @@
+package space.kscience.controls.demo.map
+
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.remember
+import androidx.compose.runtime.rememberCoroutineScope
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.res.painterResource
+import androidx.compose.ui.window.Window
+import androidx.compose.ui.window.application
+import io.ktor.client.HttpClient
+import io.ktor.client.engine.cio.CIO
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.controls.spec.propertyFlow
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.request
+import space.kscience.maps.compose.MapView
+import space.kscience.maps.compose.OpenStreetMapTileProvider
+import space.kscience.maps.features.ViewConfig
+import space.kscience.maps.features.circle
+import space.kscience.maps.features.color
+import space.kscience.maps.features.rectangle
+import java.nio.file.Path
+
+
+@Composable
+fun rememberDeviceManager(): DeviceManager = remember {
+    val context = Context {
+        plugin(DeviceManager)
+    }
+
+    context.request(DeviceManager)
+}
+
+
+@Composable
+fun App() {
+    val scope = rememberCoroutineScope()
+
+
+    val deviceManager = rememberDeviceManager()
+
+
+    val collectiveModel = remember {
+        generateModel(deviceManager.context)
+    }
+
+    val devices: Map<RemoteDeviceId, RemoteDevice> = remember {
+        collectiveModel.deviceStates.associate {
+            val device = RemoteDeviceConstructor(deviceManager.context, it.configuration, it.position, it.velocity)
+            device.moveInCircles()
+            it.id to device
+        }
+    }
+
+    val mapTileProvider = remember {
+        OpenStreetMapTileProvider(
+            client = HttpClient(CIO),
+            cacheDirectory = Path.of("mapCache")
+        )
+    }
+
+    MapView(
+        mapTileProvider = mapTileProvider,
+        config = ViewConfig()
+    ) {
+        collectiveModel.deviceStates.forEach { device ->
+            circle(device.position.value, id = device.id + ".position").color(Color.Red)
+            device.position.valueFlow.onEach {
+                circle(device.position.value, id = device.id + ".position").color(Color.Red)
+            }.launchIn(scope)
+        }
+
+        devices.forEach { (id, device) ->
+            device.propertyFlow(RemoteDevice.position).onEach {  position ->
+                rectangle(position, id = id).color(Color.Blue)
+            }.launchIn(scope)
+        }
+    }
+}
+
+
+fun main() = application {
+    Window(onCloseRequest = ::exitApplication, title = "Maps-kt demo", icon = painterResource("SPC-logo.png")) {
+        MaterialTheme {
+            App()
+        }
+    }
+}

demo/devices-on-map/src/jvmMain/kotlin/main.kt

@@ -1,8 +0,0 @@
-package space.kscience.controls.demo.map
-
-import androidx.compose.ui.window.application
-
-
-fun main() = application {
-
-}

gradle/libs.versions.toml

@@ -1,6 +1,6 @@
 [versions]
 
-dataforge = "0.8.0"
+dataforge = "0.9.0"
 rsocket = "0.15.4"
 xodus = "2.0.1"
 
@@ -10,7 +10,7 @@ fazecast = "2.10.3"
 
 tornadofx = "1.7.20"
 
-plotlykt = "0.7.0"
+plotlykt = "0.7.2"
 
 logback = "1.2.11"
 
@@ -29,7 +29,7 @@ pi4j-ktx = "2.4.0"
 
 plc4j = "0.12.0"
 
-visionforge = "0.4.1"
+visionforge = "0.4.2"
 
 versions = "0.51.0"
 

settings.gradle.kts

@@ -87,5 +87,5 @@ include(
     ":demo:echo",
     ":demo:mks-pdr900",
     ":demo:constructor",
-    ":demo:devices-on-map"
+    ":demo:device-collective"
 )