From b1d9d8e8badb8a0e7722255c0f3632323aa49767 Mon Sep 17 00:00:00 2001
From: Atos1337 <victor.samoilov.2002@mail.ru>
Date: Wed, 20 Oct 2021 16:59:30 +0300
Subject: [PATCH] Add location property in virtual car

---
 .../controls/demo/virtual_car/VirtualCar.kt   | 20 +++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCar.kt b/demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCar.kt
index c8a8fc8..b886d6b 100644
--- a/demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCar.kt
+++ b/demo/src/main/kotlin/ru/mipt/npm/controls/demo/virtual_car/VirtualCar.kt
@@ -18,6 +18,13 @@ class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) {
         return this._speedState
     }
 
+    private var _locationState: Pair<Double, Double> = Pair(0.0, 0.0)
+    private val locationState: Pair<Double, Double>
+    get() {
+        updateSpeedLocationTime()
+        return this._locationState
+    }
+
     private var accelerationState: Pair<Double, Double> = Pair(0.0, 0.0)
     set(value) {
         updateSpeedLocationTime()
@@ -28,6 +35,7 @@ class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) {
 
     private fun updateSpeedLocationTime() {
         val previousSpeed = this._speedState
+        val previousLocation = this._locationState
         val currentAcceleration = this.accelerationState
         val now = Instant.now().toEpochMilli().toDouble()
         val timeDifference = now - this.timeState
@@ -36,6 +44,14 @@ class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) {
             previousSpeed.first + timeDifference * currentAcceleration.first * 1e-3,
             previousSpeed.second + timeDifference * currentAcceleration.second * 1e-3
         )
+        val locationDifference = Pair(
+            timeDifference * 1e-3 * (previousSpeed.first + currentAcceleration.first * timeDifference * 1e-3 / 2),
+            timeDifference * 1e-3 * (previousSpeed.second + currentAcceleration.second * timeDifference * 1e-3 / 2)
+        )
+        this._locationState = Pair(
+            previousLocation.first + locationDifference.first,
+            previousLocation.second + locationDifference.second
+        )
     }
 
     object DoublePairMetaConverter : MetaConverter<Pair<Double, Double>> {
@@ -53,6 +69,8 @@ class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) {
     companion object : DeviceSpec<VirtualCar>(::VirtualCar) {
         val speed by property(DoublePairMetaConverter) { this.speedState }
 
+        val location by property(DoublePairMetaConverter) { this.locationState }
+
         val acceleration by property(DoublePairMetaConverter, VirtualCar::accelerationState)
 
         val carProperties by metaProperty {
@@ -60,6 +78,7 @@ class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) {
                 val time = Instant.now()
                 "time" put time.toEpochMilli()
                 "speed" put DoublePairMetaConverter.objectToMeta(read(speed))
+                "location" put DoublePairMetaConverter.objectToMeta(read(location))
                 "acceleration" put DoublePairMetaConverter.objectToMeta(read(acceleration))
             }
         }
@@ -69,6 +88,7 @@ class VirtualCar : DeviceBySpec<VirtualCar>(VirtualCar) {
             launch {
                 speed.read()
                 acceleration.read()
+                location.read()
             }
             doRecurring(Duration.seconds(1)){
                 carProperties.read()