Fixed part of motionMaster
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parent
44514cd477
commit
a9592d0372
@ -100,6 +100,7 @@ public abstract class AbstractAsynchronousPort(
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* Send a data packet via the port
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*/
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override suspend fun send(data: ByteArray) {
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check(isOpen){"The port is not opened"}
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outgoing.send(data)
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}
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@ -45,20 +45,22 @@ fun ColumnScope.piMotionMasterAxis(
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axisName: String,
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axis: PiMotionMasterDevice.Axis,
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) {
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var min by remember { mutableStateOf(0f) }
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var max by remember { mutableStateOf(1f) }
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var targetPosition by remember { mutableStateOf(0f) }
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val position: Double by axis.composeState(PiMotionMasterDevice.Axis.position, 0.0)
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val scope = rememberCoroutineScope()
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LaunchedEffect(axis) {
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min = axis.read(PiMotionMasterDevice.Axis.minPosition).toFloat()
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max = axis.read(PiMotionMasterDevice.Axis.maxPosition).toFloat()
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targetPosition = axis.read(PiMotionMasterDevice.Axis.position).toFloat()
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}
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Row {
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Text(axisName)
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var min by remember { mutableStateOf(0f) }
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var max by remember { mutableStateOf(0f) }
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var targetPosition by remember { mutableStateOf(0f) }
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val position: Double by axis.composeState(PiMotionMasterDevice.Axis.position, 0.0)
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val scope = rememberCoroutineScope()
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LaunchedEffect(axis) {
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min = axis.read(PiMotionMasterDevice.Axis.minPosition).toFloat()
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max = axis.read(PiMotionMasterDevice.Axis.maxPosition).toFloat()
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targetPosition = axis.read(PiMotionMasterDevice.Axis.position).toFloat()
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}
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Column {
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Slider(
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@ -70,10 +72,10 @@ fun ColumnScope.piMotionMasterAxis(
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Slider(
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value = targetPosition,
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onValueChange = { newPosition ->
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targetPosition = newPosition
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scope.launch {
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axis.move(newPosition.toDouble())
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}
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targetPosition = newPosition
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},
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valueRange = min..max
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)
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@ -158,13 +160,13 @@ fun PiMotionMasterApp(device: PiMotionMasterDevice) {
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if (!connected) {
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device.launch {
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device.connect(host, port)
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axes = device.axes
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}
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axes = device.axes
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} else {
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device.launch {
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device.disconnect()
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axes = null
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}
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axes = null
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}
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},
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modifier = Modifier.fillMaxWidth()
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@ -165,12 +165,12 @@ class PiMotionMasterDevice(
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}
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//Update port
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//address = portSpec.node
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port = portFactory(portSpec, context)
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propertyChanged(connected, true)
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port = portFactory(portSpec, context).apply { open() }
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// connector.open()
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//Initialize axes
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val idn = read(identity)
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failIfError { "Can't connect to $portSpec. Error code: $it" }
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propertyChanged(connected, true)
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logger.info { "Connected to $idn on $portSpec" }
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val ids = request("SAI?").map { it.trim() }
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if (ids != axes.keys.toList()) {
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@ -8,6 +8,8 @@ import io.ktor.util.InternalAPI
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import io.ktor.util.moveToByteArray
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import io.ktor.utils.io.writeAvailable
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import kotlinx.coroutines.*
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import kotlinx.coroutines.flow.launchIn
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import kotlinx.coroutines.flow.onEach
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import space.kscience.dataforge.context.Context
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import space.kscience.dataforge.context.Global
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@ -28,13 +30,12 @@ fun Context.launchPiDebugServer(port: Int, axes: List<String>): Job = launch(exc
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val input = socket.openReadChannel()
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val output = socket.openWriteChannel()
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val sendJob = launch {
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virtualDevice.subscribe().collect {
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//println("Sending: ${it.decodeToString()}")
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output.writeAvailable(it)
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output.flush()
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}
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}
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val sendJob = virtualDevice.subscribe().onEach {
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//println("Sending: ${it.decodeToString()}")
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output.writeAvailable(it)
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output.flush()
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}.launchIn(this)
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try {
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while (isActive) {
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