Change visualization for collective

controls-core/src/commonMain/kotlin/space/kscience/controls/peer/PeerConnection.kt

@@ -21,7 +21,7 @@ public interface PeerConnection {
         address: String,
         contentId: String,
         requestMeta: Meta = Meta.EMPTY,
-    ): Envelope
+    ): Envelope?
 
     /**
      * Send an [envelope] to a device on a given [address]

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

@@ -81,12 +81,12 @@ class CollectiveDeviceConstructor(
 
     val position = registerAsProperty(
         CollectiveDevice.position,
-        position.sample(configuration.reportInterval.milliseconds)
+        position.debounce(configuration.reportInterval.milliseconds)
     )
 
     val velocity = registerAsProperty(
         CollectiveDevice.velocity,
-        velocity.sample(configuration.reportInterval.milliseconds)
+        velocity.debounce(configuration.reportInterval.milliseconds)
     )
 
     private val _visibleNeighbors: MutableDeviceState<Collection<CollectiveDeviceId>> = stateOf(emptyList())

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

@@ -2,27 +2,28 @@ package space.kscience.controls.demo.collective
 
 import kotlinx.coroutines.FlowPreview
 import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.debounce
 import kotlinx.coroutines.flow.sample
 import space.kscience.controls.constructor.DeviceState
 import space.kscience.controls.constructor.MutableDeviceState
 import kotlin.time.Duration
 
 @OptIn(FlowPreview::class)
-class SampleDeviceState<T>(
+class DebounceDeviceState<T>(
     val origin: DeviceState<T>,
     val interval: Duration,
 ) : DeviceState<T> {
     override val value: T by origin::value
-    override val valueFlow: Flow<T> get() = origin.valueFlow.sample(interval)
+    override val valueFlow: Flow<T> get() = origin.valueFlow.debounce(interval)
 
     override fun toString(): String = "DebounceDeviceState($value, interval=$interval)"
 }
 
 
-fun <T> DeviceState<T>.sample(interval: Duration) = SampleDeviceState(this, interval)
+fun <T> DeviceState<T>.debounce(interval: Duration) = DebounceDeviceState(this, interval)
 
 @OptIn(FlowPreview::class)
-class MutableSampleDeviceState<T>(
+class MutableDebounceDeviceState<T>(
     val origin: MutableDeviceState<T>,
     val interval: Duration,
 ) : MutableDeviceState<T> {
@@ -32,4 +33,4 @@ class MutableSampleDeviceState<T>(
     override fun toString(): String = "DebounceDeviceState($value, interval=$interval)"
 }
 
-fun <T> MutableDeviceState<T>.sample(interval: Duration) = MutableSampleDeviceState(this, interval)
+fun <T> MutableDeviceState<T>.debounce(interval: Duration) = MutableDebounceDeviceState(this, interval)

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

@@ -4,16 +4,20 @@ import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.Job
 import kotlinx.coroutines.launch
+import kotlinx.serialization.json.Json
+import space.kscience.controls.api.DeviceMessage
 import space.kscience.controls.client.launchMagixService
 import space.kscience.controls.constructor.ModelConstructor
 import space.kscience.controls.constructor.MutableDeviceState
 import space.kscience.controls.constructor.onTimer
 import space.kscience.controls.manager.DeviceManager
 import space.kscience.controls.manager.install
+import space.kscience.controls.manager.respondMessage
 import space.kscience.controls.peer.PeerConnection
 import space.kscience.dataforge.context.Context
 import space.kscience.dataforge.context.request
 import space.kscience.dataforge.io.Envelope
+import space.kscience.dataforge.io.toByteArray
 import space.kscience.dataforge.meta.Meta
 import space.kscience.dataforge.names.parseAsName
 import space.kscience.magix.api.MagixEndpoint
@@ -40,13 +44,17 @@ internal fun VirtualDeviceState(
     MutableDeviceState(GmcVelocity.zero)
 )
 
+private val json = Json {
+    ignoreUnknownKeys = true
+    prettyPrint = true
+}
 
 internal class DeviceCollectiveModel(
     context: Context,
     val deviceStates: Collection<CollectiveDeviceState>,
     val visibilityRange: Distance = 0.5.kilometers,
     val radioRange: Distance = 5.kilometers,
-) : ModelConstructor(context), PeerConnection {
+) : ModelConstructor(context) {
 
     /**
      * Propagate movement
@@ -70,32 +78,39 @@ internal class DeviceCollectiveModel(
         return allCurves.filterValues { it.distance in 0.kilometers..visibilityRange }
     }
 
+    inner class RadioPeerConnection(private val peerState: CollectiveDeviceState) : PeerConnection {
+        override suspend fun receive(address: String, contentId: String, requestMeta: Meta): Envelope? = null
+
+        override suspend fun send(address: String, envelope: Envelope, requestMeta: Meta) {
+            devices.filter { it.value.configuration.radioFrequency == address }.filter {
+                GeoEllipsoid.WGS84.curveBetween(peerState.position.value, it.value.position.value).distance < radioRange
+            }.forEach { (id, target) ->
+                check(envelope.data != null) { "Envelope data is empty" }
+                val message = json.decodeFromString(
+                    DeviceMessage.serializer(),
+                    envelope.data?.toByteArray()?.decodeToString() ?: ""
+                )
+                target.respondMessage(id.parseAsName(), message)
+            }
+        }
+    }
+
     val devices = deviceStates.associate {
         val device = CollectiveDeviceConstructor(
             context = context,
             configuration = it.configuration,
             position = it.position,
             velocity = it.velocity,
-            peerConnection = this,
+            peerConnection = RadioPeerConnection(it),
         ) {
             locateVisible(it.id)
         }
-        //start movement program
-        device.moveInCircles()
         it.id to device
     }
 
     val roster = deviceStates.associate { it.id to it.configuration }
 
-    override suspend fun receive(address: String, contentId: String, requestMeta: Meta): Envelope {
-        TODO("Not yet implemented")
-    }
 
-    override suspend fun send(address: String, envelope: Envelope, requestMeta: Meta) {
-//        devices.values.filter { it.configuration.radioFrequency == address }.forEach { device ->
-//            ```
-//        }
-    }
 }
 
 internal fun CoroutineScope.launchCollectiveMagixServer(

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

@@ -1,10 +1,8 @@
 package space.kscience.controls.demo.collective
 
-import kotlinx.coroutines.Job
+import kotlinx.coroutines.*
-import kotlinx.coroutines.delay
+import space.kscience.controls.client.DeviceClient
-import kotlinx.coroutines.isActive
+import space.kscience.controls.client.write
-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
@@ -49,7 +47,7 @@ internal fun generateModel(
     return model
 }
 
-fun CollectiveDevice.moveInCircles(): Job = launch {
+fun DeviceClient.moveInCircles(scope: CoroutineScope = this): Job = scope.launch {
     var bearing = Random.nextDouble(-PI, PI).radians
     write(CollectiveDevice.velocity, GmcVelocity(bearing, deviceVelocity))
     while (isActive) {

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

@@ -7,6 +7,7 @@ import androidx.compose.foundation.layout.Column
 import androidx.compose.foundation.layout.Row
 import androidx.compose.foundation.layout.fillMaxWidth
 import androidx.compose.foundation.layout.padding
+import androidx.compose.material.Button
 import androidx.compose.material.Card
 import androidx.compose.material.Checkbox
 import androidx.compose.material.Text
@@ -18,19 +19,16 @@ import androidx.compose.ui.Modifier
 import androidx.compose.ui.graphics.Color
 import androidx.compose.ui.res.painterResource
 import androidx.compose.ui.text.font.FontWeight
-import androidx.compose.ui.unit.DpSize
 import androidx.compose.ui.unit.dp
 import androidx.compose.ui.unit.sp
 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.CompletableDeferred
+import kotlinx.coroutines.*
-import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.flow.launchIn
 import kotlinx.coroutines.flow.onEach
-import kotlinx.coroutines.launch
+import kotlinx.coroutines.flow.sample
-import kotlinx.coroutines.withContext
 import org.jetbrains.compose.splitpane.ExperimentalSplitPaneApi
 import org.jetbrains.compose.splitpane.HorizontalSplitPane
 import org.jetbrains.compose.splitpane.rememberSplitPaneState
@@ -51,6 +49,7 @@ import space.kscience.maps.coordinates.Gmc
 import space.kscience.maps.coordinates.meters
 import space.kscience.maps.features.*
 import java.nio.file.Path
+import kotlin.time.Duration.Companion.milliseconds
 import kotlin.time.Duration.Companion.seconds
 
 
@@ -92,7 +91,8 @@ fun App() {
 
             collectiveModel.roster.forEach { (id, config) ->
                 scope.launch {
-                    devices[id] = magixClient.remoteDevice(parentContext, "listener", id, id.parseAsName())
+                    val deviceClient = magixClient.remoteDevice(parentContext, "listener", id, id.parseAsName())
+                    devices[id] = deviceClient
                 }
             }
         }
@@ -111,6 +111,8 @@ fun App() {
 
     var showOnlyVisible by remember { mutableStateOf(false) }
 
+    var movementProgram: Job? by remember { mutableStateOf(null) }
+
     HorizontalSplitPane(
         splitPaneState = rememberSplitPaneState(0.9f)
     ) {
@@ -126,9 +128,28 @@ fun App() {
             ) {
                 collectiveModel.deviceStates.forEach { device ->
                     circle(device.position.value, id = device.id + ".position").color(Color.Red)
-                    device.position.valueFlow.onEach {
+                    device.position.valueFlow.sample(50.milliseconds).onEach {
-                        circle(device.position.value, id = device.id + ".position", size = 3.dp)
+                        val activeDevice = selectedDeviceId?.let { devices[it] }
-                            .color(Color.Red)
+                        val color = if (selectedDeviceId == device.id) {
+                            Color.Magenta
+                        } else if (
+                            showOnlyVisible &&
+                            activeDevice != null &&
+                            device.id in activeDevice.request(CollectiveDevice.visibleNeighbors)
+                        ) {
+                            Color.Cyan
+                        } else {
+                            Color.Red
+                        }
+
+                        circle(
+                            device.position.value,
+                            id = device.id + ".position",
+                            size = if (selectedDeviceId == device.id) 6.dp else 3.dp
+                        )
+                            .color(color)
+                            .modifyAttribute(ZAttribute, 10f)
+                            .modifyAttribute(AlphaAttribute, if (selectedDeviceId == device.id) 1f else 0.5f)
                             .modifyAttribute(AlphaAttribute, 0.5f) // does not work right now
                     }.launchIn(scope)
                 }
@@ -139,24 +160,11 @@ fun App() {
                         if (deviceMessage is PropertyChangedMessage && deviceMessage.property == "position") {
                             val id = magixMessage.sourceEndpoint
                             val position = gmcMetaConverter.read(deviceMessage.value)
-                            val activeDevice = selectedDeviceId?.let { devices[it] }
 
-                            if (
-                                activeDevice == null ||
-                                id == selectedDeviceId ||
-                                !showOnlyVisible ||
-                                id in activeDevice.request(CollectiveDevice.visibleNeighbors)
-                            ) {
                             rectangle(
                                 position,
                                 id = id,
-                                    size = if (selectedDeviceId == id) DpSize(10.dp, 10.dp) else DpSize(5.dp, 5.dp)
+                            ).color(Color.Blue).onClick { selectedDeviceId = id }
-                                ).color(if (selectedDeviceId == id) Color.Magenta else Color.Blue)
-                                    .modifyAttribute(AlphaAttribute, if (selectedDeviceId == id) 1f else 0.5f)
-                                    .onClick { selectedDeviceId = id }
-                            } else {
-                                removeFeature(id)
-                            }
                         }
                     }.launchIn(scope)
 
@@ -168,6 +176,34 @@ fun App() {
             Column(
                 modifier = Modifier.verticalScroll(rememberScrollState())
             ) {
+                Button(
+                    onClick = {
+                        if (movementProgram == null) {
+                            //start movement program
+                            movementProgram = parentContext.launch {
+                                devices.values.forEach { device ->
+                                    device.moveInCircles(this)
+                                }
+                            }
+                        } else {
+                            movementProgram?.cancel()
+                            parentContext.launch {
+                                devices.values.forEach { device ->
+                                    device.write(CollectiveDevice.velocity, GmcVelocity.zero)
+                                }
+                            }
+                            movementProgram = null
+                        }
+                    },
+                    modifier = Modifier.fillMaxWidth()
+                ) {
+                    if (movementProgram == null) {
+                        Text("Move")
+                    } else {
+                        Text("Stop")
+                    }
+                }
+
                 collectiveModel.roster.forEach { (id, _) ->
                     Card(
                         elevation = 16.dp,