Fix step drive demo

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

@@ -32,12 +32,12 @@ public abstract class DeviceConstructor(
         _constructorElements.remove(constructorElement)
     }
 
-    override fun <T, S: DeviceState<T>> registerAsProperty(
+    override fun <T, S: DeviceState<T>> registerProperty(
         converter: MetaConverter<T>,
         descriptor: PropertyDescriptor,
         state: S,
     ): S {
-        val res = super.registerAsProperty(converter, descriptor, state)
+        val res = super.registerProperty(converter, descriptor, state)
         registerElement(PropertyConstructorElement(this, descriptor.name, state))
         return res
     }
@@ -84,7 +84,7 @@ public fun <T, S : DeviceState<T>> DeviceConstructor.property(
     PropertyDelegateProvider { _: DeviceConstructor, property ->
         val name = nameOverride ?: property.name
         val descriptor = PropertyDescriptor(name).apply(descriptorBuilder)
-        registerAsProperty(converter, descriptor, state)
+        registerProperty(converter, descriptor, state)
         ReadOnlyProperty { _: DeviceConstructor, _ ->
             state
         }
@@ -145,6 +145,6 @@ public fun <T, S : DeviceState<T>> DeviceConstructor.registerAsProperty(
     spec: DevicePropertySpec<*, T>,
     state: S,
 ): S {
-    registerAsProperty(spec.converter, spec.descriptor, state)
+    registerProperty(spec.converter, spec.descriptor, state)
     return state
 }

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

@@ -42,10 +42,15 @@ public open class DeviceGroup(
         }
     }
 
-    private class Action(
+    private class Action<T, R>(
-        val invoke: suspend (Meta?) -> Meta?,
+        val inputConverter: MetaConverter<T>,
+        val outputConverter: MetaConverter<R>,
         val descriptor: ActionDescriptor,
-    )
+        val action: suspend (T) -> R,
+    ) {
+        suspend operator fun invoke(argument: Meta?): Meta? = argument?.let { inputConverter.readOrNull(it) }
+            ?.let { action(it)?.let { outputConverter.convert(it) } }
+    }
 
 
     private val sharedMessageFlow = MutableSharedFlow<DeviceMessage>()
@@ -93,7 +98,7 @@ public open class DeviceGroup(
     /**
      * Register a new property based on [DeviceState]. Properties could be modified dynamically
      */
-    public open fun <T, S : DeviceState<T>> registerAsProperty(
+    public open fun <T, S : DeviceState<T>> registerProperty(
         converter: MetaConverter<T>,
         descriptor: PropertyDescriptor,
         state: S,
@@ -112,7 +117,26 @@ public open class DeviceGroup(
         return state
     }
 
-    private val actions: MutableMap<Name, Action> = hashMapOf()
+    private val actions: MutableMap<Name, Action<*, *>> = hashMapOf()
+
+    public fun <T, R> registerAction(
+        inputConverter: MetaConverter<T>,
+        outputConverter: MetaConverter<R>,
+        descriptor: ActionDescriptor,
+        action: suspend (T) -> R,
+    ): suspend (T) -> R {
+        val name = descriptor.name.parseAsName()
+        require(actions[name] == null) { "Can't add action with name $name. It already exists." }
+        actions[name] = Action(
+            inputConverter = inputConverter,
+            outputConverter = outputConverter,
+            descriptor = descriptor,
+            action = action
+        )
+        return {
+            action(it)
+        }
+    }
 
     override val propertyDescriptors: Collection<PropertyDescriptor>
         get() = properties.values.map { it.descriptor }
@@ -137,8 +161,8 @@ public open class DeviceGroup(
 
 
     override suspend fun execute(actionName: String, argument: Meta?): Meta? {
-        val action = actions[actionName] ?: error("Action with name $actionName not found")
+        val action: Action<*, *> = actions[actionName] ?: error("Action with name $actionName not found")
-        return action.invoke(argument)
+        return action(argument)
     }
 
     final override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
@@ -176,7 +200,7 @@ public open class DeviceGroup(
 }
 
 public fun <T> DeviceGroup.registerAsProperty(propertySpec: DevicePropertySpec<*, T>, state: DeviceState<T>) {
-    registerAsProperty(propertySpec.converter, propertySpec.descriptor, state)
+    registerProperty(propertySpec.converter, propertySpec.descriptor, state)
 }
 
 public fun DeviceManager.registerDeviceGroup(
@@ -253,7 +277,7 @@ public fun <T : Any> DeviceGroup.registerAsProperty(
     state: DeviceState<T>,
     descriptorBuilder: PropertyDescriptor.() -> Unit = {},
 ) {
-    registerAsProperty(
+    registerProperty(
         converter,
         PropertyDescriptor(name).apply(descriptorBuilder),
         state
@@ -269,7 +293,7 @@ public fun <T : Any> DeviceGroup.registerMutableProperty(
     state: MutableDeviceState<T>,
     descriptorBuilder: PropertyDescriptor.() -> Unit = {},
 ) {
-    registerAsProperty(
+    registerProperty(
         converter,
         PropertyDescriptor(name).apply(descriptorBuilder),
         state

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

@@ -74,7 +74,7 @@ public fun <T, R> DeviceState.Companion.map(
 
 public fun <T, R> DeviceState<T>.map(mapper: (T) -> R): DeviceStateWithDependencies<R> = DeviceState.map(this, mapper)
 
-public fun DeviceState<out NumericalValue<out UnitsOfMeasurement>>.values(): DeviceState<Double> = object : DeviceState<Double> {
+public fun DeviceState<NumericalValue<out UnitsOfMeasurement>>.values(): DeviceState<Double> = object : DeviceState<Double> {
     override val value: Double
         get() = this@values.value.value
 

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt

@@ -1,6 +1,5 @@
 package space.kscience.controls.constructor.devices
 
-import kotlinx.coroutines.launch
 import space.kscience.controls.constructor.*
 import space.kscience.controls.constructor.units.Degrees
 import space.kscience.controls.constructor.units.NumericalValue
@@ -16,38 +15,36 @@ import kotlin.time.DurationUnit
 /**
  * A step drive
  *
- * @param speed ticks per second
+ * @param ticksPerSecond ticks per second
  * @param target target ticks state
  * @param writeTicks a hardware callback
  */
 public class StepDrive(
     context: Context,
-    speed: MutableDeviceState<Double>,
+    ticksPerSecond: MutableDeviceState<Double>,
     target: MutableDeviceState<Int> = MutableDeviceState(0),
-    private val writeTicks: suspend (ticks: Int, speed: Double) -> Unit,
+    private val writeTicks: suspend (ticks: Int, speed: Double) -> Unit = { _, _ -> },
 ) : DeviceConstructor(context) {
 
     public val target: MutableDeviceState<Int> by property(MetaConverter.int, target)
 
-    public val speed: MutableDeviceState<Double> by property(MetaConverter.double, speed)
+    public val speed: MutableDeviceState<Double> by property(MetaConverter.double, ticksPerSecond)
 
     private val positionState = stateOf(target.value)
 
     public val position: DeviceState<Int> by property(MetaConverter.int, positionState)
 
-    private val ticker = onTimer { prev, next ->
+    private val ticker = onTimer(reads = setOf(target, position), writes = setOf(position)) { prev, next ->
-        val tickSpeed = speed.value
+        val tickSpeed = ticksPerSecond.value
         val timeDelta = (next - prev).toDouble(DurationUnit.SECONDS)
         val ticksDelta: Int = target.value - position.value
         val steps: Int = when {
             ticksDelta > 0 -> min(ticksDelta, (timeDelta * tickSpeed).roundToInt())
-            ticksDelta < 0 -> max(ticksDelta, (timeDelta * tickSpeed).roundToInt())
+            ticksDelta < 0 -> max(ticksDelta, -(timeDelta * tickSpeed).roundToInt())
             else -> return@onTimer
         }
-        launch {
+        writeTicks(steps, tickSpeed)
-            writeTicks(steps, tickSpeed)
+        positionState.value += steps
-            positionState.value += steps
-        }
     }
 }
 
@@ -55,7 +52,9 @@ public class StepDrive(
  * Compute a state using given tick-to-angle transformation
  */
 public fun StepDrive.angle(
-    zero: NumericalValue<Degrees>,
     step: NumericalValue<Degrees>,
-): DeviceState<NumericalValue<Degrees>> = position.map { zero + it * step }
+    zero: NumericalValue<Degrees> = NumericalValue(0),
+): DeviceState<NumericalValue<Degrees>> = position.map {
+    zero + it.toDouble() * step
+}
 

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

@@ -10,7 +10,7 @@ private class StateFlowAsState<T>(
     override var value: T by flow::value
     override val valueFlow: Flow<T> get() = flow
 
-    override fun toString(): String = "FlowAsState()"
+    override fun toString(): String = "FlowAsState($value)"
 }
 
 /**

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

@@ -23,7 +23,7 @@ private class VirtualDeviceState<T>(
             callback(value)
         }
 
-    override fun toString(): String = "VirtualDeviceState()"
+    override fun toString(): String = "VirtualDeviceState($value)"
 }
 
 

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/RangeState.kt

@@ -16,7 +16,9 @@ public open class RangeState<T : Comparable<T>>(
     public val range: ClosedRange<T>,
 ) : DeviceState<T> {
 
-    override val valueFlow: Flow<T> get() = input.valueFlow.map { it.coerceIn(range) }
+    override val valueFlow: Flow<T> get() = input.valueFlow.map {
+        it.coerceIn(range)
+    }
 
     override val value: T get() = input.value.coerceIn(range)
 
@@ -59,10 +61,10 @@ public fun <U : UnitsOfMeasurement> MutableRangeState(
 
 
 public fun <T : Comparable<T>> DeviceState<T>.coerceIn(
-    range: ClosedFloatingPointRange<T>,
+    range: ClosedRange<T>,
 ): RangeState<T> = RangeState(this, range)
 
 
 public fun <T : Comparable<T>> MutableDeviceState<T>.coerceIn(
-    range: ClosedFloatingPointRange<T>,
+    range: ClosedRange<T>,
 ): MutableRangeState<T> = MutableRangeState(this, range)

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt

@@ -3,20 +3,26 @@ package space.kscience.controls.constructor.models
 import space.kscience.controls.constructor.DeviceState
 import space.kscience.controls.constructor.ModelConstructor
 import space.kscience.controls.constructor.map
-import space.kscience.controls.constructor.units.Meters
+import space.kscience.controls.constructor.units.*
-import space.kscience.controls.constructor.units.Newtons
-import space.kscience.controls.constructor.units.NewtonsMeters
-import space.kscience.controls.constructor.units.NumericalValue
 import space.kscience.dataforge.context.Context
+import kotlin.math.PI
 
 public class ScrewDrive(
     context: Context,
     public val leverage: NumericalValue<Meters>,
 ) : ModelConstructor(context) {
+
     public fun transformForce(
         stateOfForce: DeviceState<NumericalValue<NewtonsMeters>>,
     ): DeviceState<NumericalValue<Newtons>> = DeviceState.map(stateOfForce) {
-        NumericalValue(it.value * leverage.value)
+        NumericalValue(it.value * leverage.value/2/ PI)
+    }
+
+    public fun transformOffset(
+        stateOfAngle: DeviceState<NumericalValue<Degrees>>,
+        offset: NumericalValue<Meters> = NumericalValue(0),
+    ): DeviceState<NumericalValue<Meters>> = DeviceState.map(stateOfAngle) {
+        offset + NumericalValue(it.value * leverage.value/2/ PI)
     }
 
 }

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/XYPosition.kt

@@ -0,0 +1,17 @@
+package space.kscience.controls.constructor.models
+
+import space.kscience.controls.constructor.ModelConstructor
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.stateOf
+import space.kscience.controls.constructor.units.Meters
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.dataforge.context.Context
+
+public class XYPosition(
+    context: Context,
+    initialX: NumericalValue<Meters> = NumericalValue(0.0),
+    initialY: NumericalValue<Meters> = NumericalValue(0.0),
+) : ModelConstructor(context) {
+    public val x: MutableDeviceState<NumericalValue<Meters>> = stateOf(initialX)
+    public val y: MutableDeviceState<NumericalValue<Meters>> = stateOf(initialY)
+}

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

@@ -10,7 +10,7 @@ import kotlin.jvm.JvmInline
  * A value without identity coupled to units of measurements.
  */
 @JvmInline
-public value class NumericalValue<U : UnitsOfMeasurement>(public val value: Double): Comparable<NumericalValue<U>> {
+public value class NumericalValue<U : UnitsOfMeasurement>(public val value: Double) : Comparable<NumericalValue<U>> {
     override fun compareTo(other: NumericalValue<U>): Int = value.compareTo(other.value)
 
 }
@@ -43,6 +43,9 @@ public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.div(
     c: Number,
 ): NumericalValue<U> = NumericalValue(this.value / c.toDouble())
 
+public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.div(other: NumericalValue<U>): Double =
+    value / other.value
+
 
 private object NumericalValueMetaConverter : MetaConverter<NumericalValue<*>> {
     override fun convert(obj: NumericalValue<*>): Meta = Meta(obj.value)

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

@@ -23,19 +23,19 @@ import kotlin.time.Duration.Companion.milliseconds
 import kotlin.time.DurationUnit
 
 @Serializable
-data class XY(val x: Double, val y: Double) {
+private data class XY(val x: Double, val y: Double) {
     companion object {
         val ZERO = XY(0.0, 0.0)
     }
 }
 
-val XY.length: Double get() = sqrt(x.pow(2) + y.pow(2))
+private 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)
+private 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)
+private operator fun XY.times(c: Double): XY = XY(x * c, y * c)
-operator fun XY.div(c: Double): XY = XY(x / c, y / c)
+private operator fun XY.div(c: Double): XY = XY(x / c, y / c)
 
-class Spring(
+private class Spring(
     context: Context,
     val k: Double,
     val l0: Double,
@@ -70,7 +70,7 @@ class Spring(
     }
 }
 
-class MaterialPoint(
+private class MaterialPoint(
     context: Context,
     val mass: Double,
     val force: DeviceState<XY>,
@@ -94,7 +94,7 @@ class MaterialPoint(
 }
 
 
-class BodyOnSprings(
+private class BodyOnSprings(
     context: Context,
     mass: Double,
     k: Double,

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

@@ -72,7 +72,7 @@ class Modulator(
 }
 
 
-private val inertia = NumericalValue<Kilograms>(0.1)
+private val mass = NumericalValue<Kilograms>(0.1)
 
 private val leverage = NumericalValue<Meters>(0.05)
 
@@ -83,7 +83,13 @@ private val range = -6.0..6.0
 /**
  * The whole physical model is here
  */
-private fun createLinearDriveModel(context: Context, pidParameters: PidParameters): LinearDrive {
+internal fun createLinearDriveModel(
+    context: Context,
+    pidParameters: PidParameters,
+    mass: NumericalValue<Kilograms>,
+    leverage: NumericalValue<Meters>,
+    position: MutableRangeState<NumericalValue<Meters>>,
+): LinearDrive {
 
     //create a drive model with zero starting force
     val drive = Drive(context)
@@ -91,8 +97,6 @@ private fun createLinearDriveModel(context: Context, pidParameters: PidParameter
     //a screw drive to converse a rotational moment into a linear one
     val screwDrive = ScrewDrive(context, leverage)
 
-    // Create a physical position coerced in a given range
-    val position = MutableRangeState<Meters>(0.0, range)
 
     /**
      * Create an inertia model.
@@ -101,10 +105,10 @@ private fun createLinearDriveModel(context: Context, pidParameters: PidParameter
      * Force is the input parameter, position is output parameter
      *
      */
-    val inertia = Inertia.linear(
+    val inertiaModel = Inertia.linear(
         context = context,
         force = screwDrive.transformForce(drive.force),
-        mass = inertia,
+        mass = mass,
         position = position
     )
 
@@ -114,12 +118,12 @@ private fun createLinearDriveModel(context: Context, pidParameters: PidParameter
     val startLimitSwitch = LimitSwitch(context, position.atStart)
     val endLimitSwitch = LimitSwitch(context, position.atEnd)
 
-    return context.install(
+    /**
-        "linearDrive",
+     * Install the resulting device
-        LinearDrive(drive, startLimitSwitch, endLimitSwitch, position, pidParameters)
+     */
-    )
+    return LinearDrive(drive, startLimitSwitch, endLimitSwitch, position, pidParameters)
-}
 
+}
 
 private fun createModulator(linearDrive: LinearDrive): Modulator = linearDrive.context.install(
     "modulator",
@@ -140,11 +144,21 @@ fun main() = application {
     }
 
     val linearDrive: LinearDrive = remember {
-        createLinearDriveModel(context, pidParameters)
+        context.install(
+            "linearDrive",
+            createLinearDriveModel(
+                context = context,
+                pidParameters = pidParameters,
+                mass = mass,
+                leverage = leverage,
+                // Create a physical position coerced in a given range
+                position = MutableRangeState<Meters>(0.0, range)
+            )
+        )
     }
 
     val modulator = remember {
-        createModulator(linearDrive)
+        context.install("modulator", createModulator(linearDrive))
     }
 
     //bind pid parameters

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

@@ -1,2 +1,174 @@
 package space.kscience.controls.demo.constructor
 
+import androidx.compose.foundation.Canvas
+import androidx.compose.foundation.layout.fillMaxSize
+import androidx.compose.material.MaterialTheme
+import androidx.compose.runtime.*
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.geometry.Offset
+import androidx.compose.ui.geometry.Size
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.window.Window
+import androidx.compose.ui.window.application
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.device
+import space.kscience.controls.constructor.devices.StepDrive
+import space.kscience.controls.constructor.devices.angle
+import space.kscience.controls.constructor.models.RangeState
+import space.kscience.controls.constructor.models.ScrewDrive
+import space.kscience.controls.constructor.models.coerceIn
+import space.kscience.controls.constructor.units.*
+import space.kscience.controls.manager.ClockManager
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.dataforge.context.Context
+import java.awt.Dimension
+import kotlin.random.Random
+
+
+class Plotter(
+    context: Context,
+    xDrive: StepDrive,
+    yDrive: StepDrive,
+    val paint: suspend (Color) -> Unit,
+) : DeviceConstructor(context) {
+    val xDrive by device(xDrive)
+    val yDrive by device(yDrive)
+
+    public fun moveToXY(x: Int, y: Int) {
+        xDrive.target.value = x
+        yDrive.target.value = y
+    }
+
+    //TODO add calibration
+
+    // TODO add draw as action
+}
+
+suspend fun Plotter.modernArt(xRange: IntRange, yRange: IntRange) {
+    while (isActive){
+        val randomX = Random.nextInt(xRange.first, xRange.last)
+        val randomY = Random.nextInt(xRange.first, xRange.last)
+        moveToXY(randomX, randomY)
+        delay(500)
+        paint(Color(Random.nextInt()))
+    }
+}
+
+suspend fun Plotter.square(xRange: IntRange, yRange: IntRange) {
+    while (isActive) {
+        moveToXY(xRange.first, yRange.first)
+        delay(1000)
+        paint(Color.Red)
+
+        moveToXY(xRange.first, yRange.last)
+        delay(1000)
+        paint(Color.Red)
+
+        moveToXY(xRange.last, yRange.last)
+        delay(1000)
+        paint(Color.Red)
+
+        moveToXY(xRange.last, yRange.first)
+        delay(1000)
+        paint(Color.Red)
+    }
+}
+
+private val xRange = NumericalValue<Meters>(-0.5)..NumericalValue<Meters>(0.5)
+private val yRange = NumericalValue<Meters>(-0.5)..NumericalValue<Meters>(0.5)
+private val ticksPerSecond = MutableDeviceState(250.0)
+private val step = NumericalValue<Degrees>(1.2)
+
+
+private data class PlotterPoint(
+    val x: NumericalValue<Meters>,
+    val y: NumericalValue<Meters>,
+    val color: Color = Color.Black,
+)
+
+suspend fun main() = application {
+    Window(title = "Pid regulator simulator", onCloseRequest = ::exitApplication) {
+        window.minimumSize = Dimension(400, 400)
+
+        val points = remember { mutableStateListOf<PlotterPoint>() }
+        var position by remember { mutableStateOf(PlotterPoint(NumericalValue(0), NumericalValue(0))) }
+
+        LaunchedEffect(Unit) {
+            val context = Context {
+                plugin(DeviceManager)
+                plugin(ClockManager)
+            }
+
+            /* Here goes the device definition block */
+
+
+            val xScrewDrive = ScrewDrive(context, NumericalValue(0.01))
+            val xDrive = StepDrive(context, ticksPerSecond)
+            val x: RangeState<NumericalValue<Meters>> = xScrewDrive.transformOffset(xDrive.angle(step)).coerceIn(xRange)
+
+            val yScrewDrive = ScrewDrive(context, NumericalValue(0.01))
+            val yDrive = StepDrive(context, ticksPerSecond)
+            val y: RangeState<NumericalValue<Meters>> = yScrewDrive.transformOffset(yDrive.angle(step)).coerceIn(yRange)
+
+            val plotter = Plotter(context, xDrive, yDrive) { color ->
+                println("Point X: ${x.value.value}, Y: ${y.value.value}, color: $color")
+                points.add(PlotterPoint(x.value, y.value, color))
+            }
+
+
+            /* Start visualization program */
+
+            launch {
+                x.valueFlow.collect {
+                    position = position.copy(x = it)
+                }
+            }
+
+            launch {
+                y.valueFlow.collect {
+                    position = position.copy(y = it)
+                }
+            }
+
+            launch {
+                val range = -100..100
+                plotter.modernArt(range, range)
+                //plotter.square(range, range)
+            }
+        }
+
+
+        /* Here goes the visualization block */
+
+        MaterialTheme {
+            Canvas(modifier = Modifier.fillMaxSize()) {
+                fun toOffset(x: NumericalValue<Meters>, y: NumericalValue<Meters>): Offset {
+                    val canvasX = (x - xRange.start) / (xRange.endInclusive - xRange.start) * size.width
+                    val canvasY = (y - yRange.start) / (yRange.endInclusive - yRange.start) * size.height
+                    return Offset(canvasX.toFloat(), canvasY.toFloat())
+                }
+
+                val center = toOffset(position.x, position.y)
+
+
+                drawRect(
+                    Color.LightGray,
+                    topLeft = Offset(0f, center.y - 5f),
+                    size = Size(size.width, 10f)
+                )
+
+                drawCircle(Color.Black, radius = 10f, center = center)
+
+
+                points.forEach {
+                    drawCircle(it.color, radius = 2f, center = toOffset(it.x, it.y))
+                }
+            }
+        }
+    }
+
+}