DeviceSpec properties no explicitly pass property name to getters and setters

CHANGELOG.md

@@ -8,6 +8,7 @@
 
 ### Changed
 - Property caching moved from core `Device` to the `CachingDevice`
+- `DeviceSpec` properties no explicitly pass property name to getters and setters.
 
 ### Deprecated
 

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt

@@ -1,10 +1,7 @@
 package space.kscience.controls.constructor
 
 import space.kscience.controls.api.Device
-import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.*
-import space.kscience.controls.spec.DeviceSpec
-import space.kscience.controls.spec.MutableDevicePropertySpec
-import space.kscience.controls.spec.doubleProperty
 import space.kscience.dataforge.meta.transformations.MetaConverter
 
 

controls-core/src/commonMain/kotlin/space/kscience/controls/api/descriptors.kt

@@ -27,6 +27,6 @@ public fun PropertyDescriptor.metaDescriptor(block: MetaDescriptorBuilder.()->Un
  */
 @Serializable
 public class ActionDescriptor(public val name: String) {
-    public var info: String? = null
+    public var description: String? = null
 }
 

controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt

@@ -44,64 +44,11 @@ public abstract class DeviceSpec<D : Device> {
         return deviceProperty
     }
 
-    public fun <T> property(
+    public inline fun <reified T> property(
         converter: MetaConverter<T>,
-        readOnlyProperty: KProperty1<D, T>,
+        crossinline descriptorBuilder: PropertyDescriptor.() -> Unit = {},
-        descriptorBuilder: PropertyDescriptor.() -> Unit = {},
-    ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<Any?, DevicePropertySpec<D, T>>> =
-        PropertyDelegateProvider { _, property ->
-            val deviceProperty = object : DevicePropertySpec<D, T> {
-                override val descriptor: PropertyDescriptor = PropertyDescriptor(property.name).apply {
-                    //TODO add type from converter
-                    mutable = true
-                }.apply(descriptorBuilder)
-
-                override val converter: MetaConverter<T> = converter
-
-                override suspend fun read(device: D): T = withContext(device.coroutineContext) {
-                    readOnlyProperty.get(device)
-                }
-            }
-            registerProperty(deviceProperty)
-            ReadOnlyProperty { _, _ ->
-                deviceProperty
-            }
-        }
-
-    public fun <T> mutableProperty(
-        converter: MetaConverter<T>,
-        readWriteProperty: KMutableProperty1<D, T>,
-        descriptorBuilder: PropertyDescriptor.() -> Unit = {},
-    ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<Any?, MutableDevicePropertySpec<D, T>>> =
-        PropertyDelegateProvider { _, property ->
-            val deviceProperty = object : MutableDevicePropertySpec<D, T> {
-
-                override val descriptor: PropertyDescriptor = PropertyDescriptor(property.name).apply {
-                    //TODO add the type from converter
-                    mutable = true
-                }.apply(descriptorBuilder)
-
-                override val converter: MetaConverter<T> = converter
-
-                override suspend fun read(device: D): T = withContext(device.coroutineContext) {
-                    readWriteProperty.get(device)
-                }
-
-                override suspend fun write(device: D, value: T): Unit = withContext(device.coroutineContext) {
-                    readWriteProperty.set(device, value)
-                }
-            }
-            registerProperty(deviceProperty)
-            ReadOnlyProperty { _, _ ->
-                deviceProperty
-            }
-        }
-
-    public fun <T> property(
-        converter: MetaConverter<T>,
-        descriptorBuilder: PropertyDescriptor.() -> Unit = {},
         name: String? = null,
-        read: suspend D.() -> T?,
+        crossinline read: suspend D.(propertyName: String) -> T?,
     ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, T>>> =
         PropertyDelegateProvider { _: DeviceSpec<D>, property ->
             val propertyName = name ?: property.name
@@ -109,7 +56,7 @@ public abstract class DeviceSpec<D : Device> {
                 override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName).apply(descriptorBuilder)
                 override val converter: MetaConverter<T> = converter
 
-                override suspend fun read(device: D): T? = withContext(device.coroutineContext) { device.read() }
+                override suspend fun read(device: D): T? = withContext(device.coroutineContext) { device.read(propertyName) }
             }
             registerProperty(deviceProperty)
             ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, T>> { _, _ ->
@@ -117,27 +64,30 @@ public abstract class DeviceSpec<D : Device> {
             }
         }
 
-    public fun <T> mutableProperty(
+    public inline fun <reified T> mutableProperty(
         converter: MetaConverter<T>,
-        descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+        crossinline descriptorBuilder: PropertyDescriptor.() -> Unit = {},
         name: String? = null,
-        read: suspend D.() -> T?,
+        crossinline read: suspend D.(propertyName: String) -> T?,
-        write: suspend D.(T) -> Unit,
+        crossinline write: suspend D.(propertyName: String, value: T) -> Unit,
     ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, T>>> =
         PropertyDelegateProvider { _: DeviceSpec<D>, property: KProperty<*> ->
             val propertyName = name ?: property.name
             val deviceProperty = object : MutableDevicePropertySpec<D, T> {
-                override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName, mutable = true)
+                override val descriptor: PropertyDescriptor = PropertyDescriptor(
-                    .apply(descriptorBuilder)
+                    propertyName,
+                    mutable = true
+                ).apply(descriptorBuilder)
                 override val converter: MetaConverter<T> = converter
 
-                override suspend fun read(device: D): T? = withContext(device.coroutineContext) { device.read() }
+                override suspend fun read(device: D): T? =
+                    withContext(device.coroutineContext) { device.read(propertyName) }
 
                 override suspend fun write(device: D, value: T): Unit = withContext(device.coroutineContext) {
-                    device.write(value)
+                    device.write(propertyName, value)
                 }
             }
-            _properties[propertyName] = deviceProperty
+            registerProperty(deviceProperty)
             ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, T>> { _, _ ->
                 deviceProperty
             }
@@ -209,33 +159,42 @@ public abstract class DeviceSpec<D : Device> {
         }
 }
 
+public inline fun <reified T, D : Device> DeviceSpec<D>.property(
+    converter: MetaConverter<T>,
+    readOnlyProperty: KProperty1<D, T>,
+    crossinline descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, T>>> = property(
+    converter,
+    descriptorBuilder,
+    name = readOnlyProperty.name,
+    read = { readOnlyProperty.get(this) }
+)
+
+public inline fun <reified T, D : Device> DeviceSpec<D>.mutableProperty(
+    converter: MetaConverter<T>,
+    readWriteProperty: KMutableProperty1<D, T>,
+    crossinline descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, T>>> =
+    mutableProperty(
+        converter,
+        descriptorBuilder,
+        readWriteProperty.name,
+        read = { _ -> readWriteProperty.get(this) },
+        write = { _, value: T -> readWriteProperty.set(this, value) }
+    )
 
 /**
- * Register a mutable logical property for a device
+ * Register a mutable logical property (without a corresponding physical state) for a device
  */
-@OptIn(InternalDeviceAPI::class)
+public inline fun <reified T, D : DeviceBase<D>> DeviceSpec<D>.logicalProperty(
-public fun <T, D : DeviceBase<D>> DeviceSpec<D>.logicalProperty(
     converter: MetaConverter<T>,
-    descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+    crossinline descriptorBuilder: PropertyDescriptor.() -> Unit = {},
     name: String? = null,
-): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<Any?, MutableDevicePropertySpec<D, T>>> =
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, T>>> =
-    PropertyDelegateProvider { _, property ->
+    mutableProperty(
-        val deviceProperty = object : MutableDevicePropertySpec<D, T> {
+        converter,
-            val propertyName = name ?: property.name
+        descriptorBuilder,
-            override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName).apply {
+        name,
-                //TODO add type from converter
+        read = { propertyName -> getProperty(propertyName)?.let(converter::metaToObject) },
-                mutable = true
+        write = { propertyName, value -> writeProperty(propertyName, converter.objectToMeta(value)) }
-            }.apply(descriptorBuilder)
+    )
-
-            override val converter: MetaConverter<T> = converter
-
-            override suspend fun read(device: D): T? = device.getProperty(propertyName)?.let(converter::metaToObject)
-
-            override suspend fun write(device: D, value: T): Unit =
-                device.writeProperty(propertyName, converter.objectToMeta(value))
-        }
-        registerProperty(deviceProperty)
-        ReadOnlyProperty { _, _ ->
-            deviceProperty
-        }
-    }

controls-core/src/commonMain/kotlin/space/kscience/controls/spec/deviceExtensions.kt

@@ -12,7 +12,7 @@ import kotlin.time.Duration
 /**
  * Perform a recurring asynchronous read action and return a flow of results.
  * The flow is lazy, so action is not performed unless flow is consumed.
- * The flow uses called context. In order to call it on device context, use `flowOn(coroutineContext)`.
+ * The flow uses caller context. To call it on device context, use `flowOn(coroutineContext)`.
  *
  * The flow is canceled when the device scope is canceled
  */

controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt

@@ -14,7 +14,7 @@ import kotlin.properties.ReadOnlyProperty
 public fun <D : Device> DeviceSpec<D>.booleanProperty(
     descriptorBuilder: PropertyDescriptor.() -> Unit = {},
     name: String? = null,
-    read: suspend D.() -> Boolean?
+    read: suspend D.(propertyName: String) -> Boolean?
 ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, Boolean>>> = property(
     MetaConverter.boolean,
     {
@@ -37,9 +37,9 @@ private inline fun numberDescriptor(
 }
 
 public fun <D : Device> DeviceSpec<D>.numberProperty(
-    name: String? = null,
     descriptorBuilder: PropertyDescriptor.() -> Unit = {},
-    read: suspend D.() -> Number?
+    name: String? = null,
+    read: suspend D.(propertyName: String) -> Number?
 ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, Number>>> = property(
     MetaConverter.number,
     numberDescriptor(descriptorBuilder),
@@ -50,7 +50,7 @@ public fun <D : Device> DeviceSpec<D>.numberProperty(
 public fun <D : Device> DeviceSpec<D>.doubleProperty(
     descriptorBuilder: PropertyDescriptor.() -> Unit = {},
     name: String? = null,
-    read: suspend D.() -> Double?
+    read: suspend D.(propertyName: String) -> Double?
 ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, Double>>> = property(
     MetaConverter.double,
     numberDescriptor(descriptorBuilder),
@@ -61,7 +61,7 @@ public fun <D : Device> DeviceSpec<D>.doubleProperty(
 public fun <D : Device> DeviceSpec<D>.stringProperty(
     descriptorBuilder: PropertyDescriptor.() -> Unit = {},
     name: String? = null,
-    read: suspend D.() -> String?
+    read: suspend D.(propertyName: String) -> String?
 ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, String>>> = property(
     MetaConverter.string,
     {
@@ -77,7 +77,7 @@ public fun <D : Device> DeviceSpec<D>.stringProperty(
 public fun <D : Device> DeviceSpec<D>.metaProperty(
     descriptorBuilder: PropertyDescriptor.() -> Unit = {},
     name: String? = null,
-    read: suspend D.() -> Meta?
+    read: suspend D.(propertyName: String) -> Meta?
 ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, Meta>>> = property(
     MetaConverter.meta,
     {
@@ -95,8 +95,8 @@ public fun <D : Device> DeviceSpec<D>.metaProperty(
 public fun <D : Device> DeviceSpec<D>.booleanProperty(
     descriptorBuilder: PropertyDescriptor.() -> Unit = {},
     name: String? = null,
-    read: suspend D.() -> Boolean?,
+    read: suspend D.(propertyName: String) -> Boolean?,
-    write: suspend D.(Boolean) -> Unit
+    write: suspend D.(propertyName: String, value: Boolean) -> Unit
 ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, Boolean>>> =
     mutableProperty(
         MetaConverter.boolean,
@@ -115,31 +115,31 @@ public fun <D : Device> DeviceSpec<D>.booleanProperty(
 public fun <D : Device> DeviceSpec<D>.numberProperty(
     descriptorBuilder: PropertyDescriptor.() -> Unit = {},
     name: String? = null,
-    read: suspend D.() -> Number,
+    read: suspend D.(propertyName: String) -> Number,
-    write: suspend D.(Number) -> Unit
+    write: suspend D.(propertyName: String, value: Number) -> Unit
 ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, Number>>> =
     mutableProperty(MetaConverter.number, numberDescriptor(descriptorBuilder), name, read, write)
 
 public fun <D : Device> DeviceSpec<D>.doubleProperty(
     descriptorBuilder: PropertyDescriptor.() -> Unit = {},
     name: String? = null,
-    read: suspend D.() -> Double,
+    read: suspend D.(propertyName: String) -> Double,
-    write: suspend D.(Double) -> Unit
+    write: suspend D.(propertyName: String, value: Double) -> Unit
 ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, Double>>> =
     mutableProperty(MetaConverter.double, numberDescriptor(descriptorBuilder), name, read, write)
 
 public fun <D : Device> DeviceSpec<D>.stringProperty(
     descriptorBuilder: PropertyDescriptor.() -> Unit = {},
     name: String? = null,
-    read: suspend D.() -> String,
+    read: suspend D.(propertyName: String) -> String,
-    write: suspend D.(String) -> Unit
+    write: suspend D.(propertyName: String, value: String) -> Unit
 ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, String>>> =
     mutableProperty(MetaConverter.string, descriptorBuilder, name, read, write)
 
 public fun <D : Device> DeviceSpec<D>.metaProperty(
     descriptorBuilder: PropertyDescriptor.() -> Unit = {},
     name: String? = null,
-    read: suspend D.() -> Meta,
+    read: suspend D.(propertyName: String) -> Meta,
-    write: suspend D.(Meta) -> Unit
+    write: suspend D.(propertyName: String, value: Meta) -> Unit
 ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, Meta>>> =
     mutableProperty(MetaConverter.meta, descriptorBuilder, name, read, write)

controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/propertyReflection.kt

@@ -0,0 +1,8 @@
+package space.kscience.controls.spec
+
+import space.kscience.controls.api.PropertyDescriptor
+import kotlin.reflect.KProperty
+
+internal fun PropertyDescriptor.fromSpec(property: KProperty<*>){
+    property.annotations
+}

controls-opcua/src/test/kotlin/space/kscience/controls/opcua/client/OpcUaClientTest.kt

@@ -29,7 +29,7 @@ class OpcUaClientTest {
                 return DemoOpcUaDevice(config)
             }
 
-            val randomDouble by doubleProperty(read = DemoOpcUaDevice::readRandomDouble)
+            val randomDouble by doubleProperty { readRandomDouble() }
 
         }
 

controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt

@@ -0,0 +1,19 @@
+package space.kscience.controls.vision
+
+import kotlinx.serialization.modules.SerializersModule
+import kotlinx.serialization.modules.polymorphic
+import kotlinx.serialization.modules.subclass
+import space.kscience.dataforge.context.PluginFactory
+import space.kscience.visionforge.Vision
+import space.kscience.visionforge.VisionPlugin
+import space.kscience.visionforge.plotly.VisionOfPlotly
+
+public expect class ControlVisionPlugin: VisionPlugin{
+    public companion object: PluginFactory<ControlVisionPlugin>
+}
+
+internal val controlsVisionSerializersModule = SerializersModule {
+    polymorphic(Vision::class) {
+        subclass(VisionOfPlotly.serializer())
+    }
+}

controls-vision/src/commonMain/kotlin/IndicatorVision.kt

@@ -0,0 +1,20 @@
+package space.kscience.controls.vision
+
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.node
+import space.kscience.visionforge.AbstractVision
+import space.kscience.visionforge.Vision
+
+/**
+ * A [Vision] that shows an indicator
+ */
+public class IndicatorVision: AbstractVision() {
+    public val value: Meta? by properties.node()
+}
+
+///**
+// * A [Vision] that allows both showing the value and changing it
+// */
+//public interface RegulatorVision: IndicatorVision{
+//
+//}

controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt

@@ -0,0 +1,33 @@
+package space.kscience.controls.vision
+
+import kotlinx.serialization.modules.SerializersModule
+import org.w3c.dom.Element
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.PluginFactory
+import space.kscience.dataforge.context.PluginTag
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.names.Name
+import space.kscience.visionforge.ElementVisionRenderer
+import space.kscience.visionforge.Vision
+import space.kscience.visionforge.VisionPlugin
+
+public actual class ControlVisionPlugin : VisionPlugin(), ElementVisionRenderer {
+    override val tag: PluginTag get() = Companion.tag
+
+    override val visionSerializersModule: SerializersModule get() = controlsVisionSerializersModule
+
+    override fun rateVision(vision: Vision): Int {
+        TODO("Not yet implemented")
+    }
+
+    override fun render(element: Element, name: Name, vision: Vision, meta: Meta) {
+        TODO("Not yet implemented")
+    }
+
+    public actual companion object : PluginFactory<ControlVisionPlugin> {
+        override val tag: PluginTag = PluginTag("controls.vision")
+
+        override fun build(context: Context, meta: Meta): ControlVisionPlugin = ControlVisionPlugin()
+
+    }
+}

controls-vision/src/jvmMain/kotlin/ControlsVisionPlugin.jvm.kt

@@ -0,0 +1,21 @@
+package space.kscience.controls.vision
+
+import kotlinx.serialization.modules.SerializersModule
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.PluginFactory
+import space.kscience.dataforge.context.PluginTag
+import space.kscience.dataforge.meta.Meta
+import space.kscience.visionforge.VisionPlugin
+
+public actual class ControlVisionPlugin : VisionPlugin() {
+    override val tag: PluginTag get() = Companion.tag
+
+    override val visionSerializersModule: SerializersModule get() = controlsVisionSerializersModule
+
+    public actual companion object : PluginFactory<ControlVisionPlugin> {
+        override val tag: PluginTag = PluginTag("controls.vision")
+
+        override fun build(context: Context, meta: Meta): ControlVisionPlugin = ControlVisionPlugin()
+
+    }
+}

demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt

@@ -16,7 +16,7 @@ import kotlin.math.sin
 import kotlin.time.Duration.Companion.milliseconds
 
 
-interface IDemoDevice: Device {
+interface IDemoDevice : Device {
     var timeScaleState: Double
     var sinScaleState: Double
     var cosScaleState: Double
@@ -50,8 +50,8 @@ class DemoDevice(context: Context, meta: Meta) : DeviceBySpec<IDemoDevice>(Compa
         val sinScale by mutableProperty(MetaConverter.double, IDemoDevice::sinScaleState)
         val cosScale by mutableProperty(MetaConverter.double, IDemoDevice::cosScaleState)
 
-        val sin by doubleProperty(read = IDemoDevice::sinValue)
+        val sin by doubleProperty { sinValue() }
-        val cos by doubleProperty(read = IDemoDevice::cosValue)
+        val cos by doubleProperty { cosValue() }
 
         val coordinates by metaProperty(
             descriptorBuilder = {

demo/car/src/main/kotlin/space/kscience/controls/demo/car/IVirtualCar.kt

@@ -2,6 +2,8 @@ package space.kscience.controls.demo.car
 
 import space.kscience.controls.api.Device
 import space.kscience.controls.spec.DeviceSpec
+import space.kscience.controls.spec.mutableProperty
+import space.kscience.controls.spec.property
 
 interface IVirtualCar : Device {
     var speedState: Vector2D

demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt

@@ -89,7 +89,7 @@ class MksPdr900Device(context: Context, meta: Meta) : DeviceBySpec<MksPdr900Devi
 
         override fun build(context: Context, meta: Meta): MksPdr900Device = MksPdr900Device(context, meta)
 
-        val powerOn by booleanProperty(read = MksPdr900Device::readPowerOn, write = MksPdr900Device::writePowerOn)
+        val powerOn by booleanProperty(read = { readPowerOn() }, write = { _, value -> writePowerOn(value) })
 
         val channel by logicalProperty(MetaConverter.int)
 

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

@@ -157,13 +157,13 @@ class PiMotionMasterDevice(
         }
 
         val stop by unitAction({
-            info = "Stop all axis"
+            description = "Stop all axis"
         }) {
             send("STP")
         }
 
         val connect by action(MetaConverter.meta, MetaConverter.unit, descriptorBuilder = {
-            info = "Connect to specific port and initialize axis"
+            description = "Connect to specific port and initialize axis"
         }) { portSpec ->
             //Clear current actions if present
             if (port != null) {
@@ -189,7 +189,7 @@ class PiMotionMasterDevice(
         }
 
         val disconnect by unitAction({
-            info = "Disconnect the program from the device if it is connected"
+            description = "Disconnect the program from the device if it is connected"
         }) {
             port?.let {
                 execute(stop)
@@ -245,8 +245,8 @@ class PiMotionMasterDevice(
                 read = {
                     readAxisBoolean("$command?")
                 },
-                write = {
+                write = { _, value ->
-                    writeAxisBoolean(command, it)
+                    writeAxisBoolean(command, value)
                 },
                 descriptorBuilder = descriptorBuilder
             )
@@ -259,7 +259,7 @@ class PiMotionMasterDevice(
                     mm.requestAndParse("$command?", axisId)[axisId]?.toDoubleOrNull()
                         ?: error("Malformed $command response. Should include float value for $axisId")
                 },
-                write = { newValue ->
+                write = { _, newValue ->
                     mm.send(command, axisId, newValue.toString())
                     mm.failIfError()
                 },