Fixed part of motionMaster

controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt

@@ -100,6 +100,7 @@ public abstract class AbstractAsynchronousPort(
      * Send a data packet via the port
      */
     override suspend fun send(data: ByteArray) {
+        check(isOpen){"The port is not opened"}
         outgoing.send(data)
     }
 

demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt

@@ -45,20 +45,22 @@ fun ColumnScope.piMotionMasterAxis(
     axisName: String,
     axis: PiMotionMasterDevice.Axis,
 ) {
+    var min by remember { mutableStateOf(0f) }
+    var max by remember { mutableStateOf(1f) }
+    var targetPosition by remember { mutableStateOf(0f) }
+    val position: Double by axis.composeState(PiMotionMasterDevice.Axis.position, 0.0)
+
+    val scope = rememberCoroutineScope()
+
+    LaunchedEffect(axis) {
+        min = axis.read(PiMotionMasterDevice.Axis.minPosition).toFloat()
+        max = axis.read(PiMotionMasterDevice.Axis.maxPosition).toFloat()
+        targetPosition = axis.read(PiMotionMasterDevice.Axis.position).toFloat()
+    }
+
+
     Row {
         Text(axisName)
-        var min by remember { mutableStateOf(0f) }
-        var max by remember { mutableStateOf(0f) }
-        var targetPosition by remember { mutableStateOf(0f) }
-        val position: Double by axis.composeState(PiMotionMasterDevice.Axis.position, 0.0)
-
-        val scope = rememberCoroutineScope()
-
-        LaunchedEffect(axis) {
-            min = axis.read(PiMotionMasterDevice.Axis.minPosition).toFloat()
-            max = axis.read(PiMotionMasterDevice.Axis.maxPosition).toFloat()
-            targetPosition = axis.read(PiMotionMasterDevice.Axis.position).toFloat()
-        }
 
         Column {
             Slider(
@@ -70,10 +72,10 @@ fun ColumnScope.piMotionMasterAxis(
             Slider(
                 value = targetPosition,
                 onValueChange = { newPosition ->
+                    targetPosition = newPosition
                     scope.launch {
                         axis.move(newPosition.toDouble())
                     }
-                    targetPosition = newPosition
                 },
                 valueRange = min..max
             )
@@ -158,13 +160,13 @@ fun PiMotionMasterApp(device: PiMotionMasterDevice) {
                         if (!connected) {
                             device.launch {
                                 device.connect(host, port)
+                                axes = device.axes
                             }
-                            axes = device.axes
                         } else {
                             device.launch {
                                 device.disconnect()
+                                axes = null
                             }
-                            axes = null
                         }
                     },
                     modifier = Modifier.fillMaxWidth()

demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt

@@ -165,12 +165,12 @@ class PiMotionMasterDevice(
             }
             //Update port
             //address = portSpec.node
-            port = portFactory(portSpec, context)
+            port = portFactory(portSpec, context).apply { open() }
-            propertyChanged(connected, true)
 //        connector.open()
             //Initialize axes
             val idn = read(identity)
             failIfError { "Can't connect to $portSpec. Error code: $it" }
+            propertyChanged(connected, true)
             logger.info { "Connected to $idn on $portSpec" }
             val ids = request("SAI?").map { it.trim() }
             if (ids != axes.keys.toList()) {

demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt

@@ -8,6 +8,8 @@ import io.ktor.util.InternalAPI
 import io.ktor.util.moveToByteArray
 import io.ktor.utils.io.writeAvailable
 import kotlinx.coroutines.*
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
 import space.kscience.dataforge.context.Context
 import space.kscience.dataforge.context.Global
 
@@ -28,13 +30,12 @@ fun Context.launchPiDebugServer(port: Int, axes: List<String>): Job = launch(exc
                 val input = socket.openReadChannel()
                 val output = socket.openWriteChannel()
 
-                val sendJob = launch {
+                val sendJob = virtualDevice.subscribe().onEach {
-                    virtualDevice.subscribe().collect {
+                    //println("Sending: ${it.decodeToString()}")
-                        //println("Sending: ${it.decodeToString()}")
+                    output.writeAvailable(it)
-                        output.writeAvailable(it)
+                    output.flush()
-                        output.flush()
+                }.launchIn(this)
-                    }
+
-                }
 
                 try {
                     while (isActive) {