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