Fix PID demo

.gitignore

@@ -1,6 +1,7 @@
 # Created by .ignore support plugin (hsz.mobi)
 .idea/
 .gradle
+.kotlin
 
 *.iws
 *.iml

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt

@@ -24,7 +24,7 @@ public class Inertia<U : UnitsOfMeasurement, V : UnitsOfMeasurement>(
 
     private var currentForce = force.value
 
-    private val movement = onTimer { prev, next ->
+    private val movement = onTimer(DefaultTimer.REALTIME) { prev, next ->
         val dtSeconds = (next - prev).toDouble(DurationUnit.SECONDS)
 
         // compute new value based on velocity and acceleration from the previous step

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Leadscrew.kt

@@ -7,22 +7,25 @@ import space.kscience.controls.constructor.units.*
 import space.kscience.dataforge.context.Context
 import kotlin.math.PI
 
-public class ScrewDrive(
+/**
+ * https://en.wikipedia.org/wiki/Leadscrew
+ */
+public class Leadscrew(
     context: Context,
     public val leverage: NumericalValue<Meters>,
 ) : ModelConstructor(context) {
 
     public fun torqueToForce(
-        stateOfMomentum: DeviceState<NumericalValue<NewtonsMeters>>,
+        stateOfTorque: DeviceState<NumericalValue<NewtonsMeters>>,
-    ): DeviceState<NumericalValue<Newtons>> = DeviceState.map(stateOfMomentum) { momentum ->
+    ): DeviceState<NumericalValue<Newtons>> = DeviceState.map(stateOfTorque) { torque ->
-        NumericalValue(momentum.value / leverage.value )
+        NumericalValue(torque.value / leverage.value )
     }
 
     public fun degreesToMeters(
         stateOfAngle: DeviceState<NumericalValue<Degrees>>,
         offset: NumericalValue<Meters> = NumericalValue(0),
     ): DeviceState<NumericalValue<Meters>> = DeviceState.map(stateOfAngle) { degrees ->
-        offset + NumericalValue(degrees.value * 2 * PI / 360 *leverage.value )
+        offset + NumericalValue(degrees.value * 2 * PI / 360 * leverage.value )
     }
 
 }

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

@@ -3,12 +3,20 @@ 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.Context
 import space.kscience.dataforge.context.PluginFactory
+import space.kscience.dataforge.context.PluginTag
+import space.kscience.dataforge.meta.Meta
 import space.kscience.visionforge.Vision
 import space.kscience.visionforge.VisionPlugin
 
 public expect class ControlVisionPlugin: VisionPlugin{
-    public companion object: PluginFactory<ControlVisionPlugin>
+    override val tag: PluginTag
+    override val visionSerializersModule: SerializersModule
+    public companion object: PluginFactory<ControlVisionPlugin>{
+        override val tag: PluginTag
+        override fun build(context: Context, meta: Meta): ControlVisionPlugin
+    }
 }
 
 internal val controlsVisionSerializersModule = SerializersModule {

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

@@ -158,7 +158,7 @@ public fun <T> Plot.plotDeviceState(
 
 public fun Plot.plotNumberState(
     context: Context,
-    state: DeviceState<out Number>,
+    state: DeviceState<Number>,
     maxAge: Duration = defaultMaxAge,
     maxPoints: Int = defaultMaxPoints,
     minPoints: Int = defaultMinPoints,

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

@@ -43,9 +43,9 @@ private val sliderRenderer = ElementVisionRenderer<SliderVision> { name, vision:
 
 
 public actual class ControlVisionPlugin : VisionPlugin() {
-    override val tag: PluginTag get() = Companion.tag
+    actual override val tag: PluginTag get() = Companion.tag
 
-    override val visionSerializersModule: SerializersModule get() = controlsVisionSerializersModule
+    actual override val visionSerializersModule: SerializersModule get() = controlsVisionSerializersModule
 
     override fun content(target: String): Map<Name, Any> = when (target) {
         ElementVisionRenderer.TYPE -> mapOf(
@@ -57,9 +57,9 @@ public actual class ControlVisionPlugin : VisionPlugin() {
     }
 
     public actual companion object : PluginFactory<ControlVisionPlugin> {
-        override val tag: PluginTag = PluginTag("controls.vision")
+        actual override val tag: PluginTag = PluginTag("controls.vision")
 
-        override fun build(context: Context, meta: Meta): ControlVisionPlugin = ControlVisionPlugin()
+        actual override fun build(context: Context, meta: Meta): ControlVisionPlugin = ControlVisionPlugin()
 
     }
 }

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

@@ -8,14 +8,14 @@ import space.kscience.dataforge.meta.Meta
 import space.kscience.visionforge.VisionPlugin
 
 public actual class ControlVisionPlugin : VisionPlugin() {
-    override val tag: PluginTag get() = Companion.tag
+    actual override val tag: PluginTag get() = Companion.tag
 
-    override val visionSerializersModule: SerializersModule get() = controlsVisionSerializersModule
+    actual override val visionSerializersModule: SerializersModule get() = controlsVisionSerializersModule
 
     public actual companion object : PluginFactory<ControlVisionPlugin> {
-        override val tag: PluginTag = PluginTag("controls.vision")
+        actual override val tag: PluginTag = PluginTag("controls.vision")
 
-        override fun build(context: Context, meta: Meta): ControlVisionPlugin = ControlVisionPlugin()
+        actual override fun build(context: Context, meta: Meta): ControlVisionPlugin = ControlVisionPlugin()
 
     }
 }

controls-visualisation-compose/build.gradle.kts

@@ -2,7 +2,8 @@ import org.jetbrains.compose.ExperimentalComposeLibrary
 
 plugins {
     id("space.kscience.gradle.mpp")
-    alias(spclibs.plugins.compose)
+    alias(spclibs.plugins.compose.compiler)
+    alias(spclibs.plugins.compose.jb)
     `maven-publish`
 }
 

controls-visualisation-compose/src/commonMain/kotlin/NumberTextField.kt

@@ -2,8 +2,8 @@ package space.kscience.controls.compose
 
 import androidx.compose.foundation.layout.Row
 import androidx.compose.material.icons.Icons
-import androidx.compose.material.icons.filled.KeyboardArrowLeft
+import androidx.compose.material.icons.automirrored.filled.KeyboardArrowLeft
-import androidx.compose.material.icons.filled.KeyboardArrowRight
+import androidx.compose.material.icons.automirrored.filled.KeyboardArrowRight
 import androidx.compose.material3.*
 import androidx.compose.runtime.*
 import androidx.compose.ui.Alignment
@@ -30,7 +30,7 @@ public fun NumberTextField(
     Row (verticalAlignment = Alignment.CenterVertically, modifier = modifier) {
         step.takeIf { it > 0.0 }?.let {
             IconButton({ onValueChange(value.toDouble() - step) }, enabled = enabled) {
-                Icon(Icons.Default.KeyboardArrowLeft, "decrease value")
+                Icon(Icons.AutoMirrored.Filled.KeyboardArrowLeft, "decrease value")
             }
         }
         TextField(
@@ -52,7 +52,7 @@ public fun NumberTextField(
         )
         step.takeIf { it > 0.0 }?.let {
             IconButton({ onValueChange(value.toDouble() + step) }, enabled = enabled) {
-                Icon(Icons.Default.KeyboardArrowRight, "increase value")
+                Icon(Icons.AutoMirrored.Filled.KeyboardArrowRight, "increase value")
             }
         }
     }

demo/all-things/build.gradle.kts

@@ -1,6 +1,7 @@
 plugins {
     kotlin("jvm")
-    alias(spclibs.plugins.compose)
+    alias(spclibs.plugins.compose.compiler)
+    alias(spclibs.plugins.compose.jb)
 }
 
 

demo/constructor/build.gradle.kts

@@ -3,7 +3,8 @@ import org.jetbrains.kotlin.gradle.dsl.ExplicitApiMode
 
 plugins {
     id("space.kscience.gradle.mpp")
-    alias(spclibs.plugins.compose)
+    alias(spclibs.plugins.compose.compiler)
+    alias(spclibs.plugins.compose.jb)
 }
 
 kscience {

demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt

@@ -85,7 +85,7 @@ private class BodyOnSprings(
 }
 
 fun main() = application {
-    val initialState = XYZ<Meters>(0, 0.4, 0)
+    val initialState = XYZ<Meters>(0.05, 0.4, 0)
 
     Window(title = "Ball on springs", onCloseRequest = ::exitApplication) {
         window.minimumSize = Dimension(400, 400)

demo/constructor/src/jvmMain/kotlin/PidDemo.kt

@@ -32,10 +32,10 @@ import space.kscience.controls.constructor.devices.Drive
 import space.kscience.controls.constructor.devices.LimitSwitch
 import space.kscience.controls.constructor.devices.LinearDrive
 import space.kscience.controls.constructor.models.Inertia
+import space.kscience.controls.constructor.models.Leadscrew
 import space.kscience.controls.constructor.models.MutableRangeState
 import space.kscience.controls.constructor.models.PidParameters
-import space.kscience.controls.constructor.models.ScrewDrive
+import space.kscience.controls.constructor.onTimer
-import space.kscience.controls.constructor.timer
 import space.kscience.controls.constructor.units.Kilograms
 import space.kscience.controls.constructor.units.Meters
 import space.kscience.controls.constructor.units.NumericalValue
@@ -56,13 +56,13 @@ import kotlin.time.DurationUnit
 class Modulator(
     context: Context,
     target: MutableDeviceState<NumericalValue<Meters>>,
-    var freq: Double = 0.1,
     var timeStep: Duration = 5.milliseconds,
+    var freq: Double = 0.1,
 ) : DeviceConstructor(context) {
     private val clockStart = clock.now()
 
-    private val modulation = timer(10.milliseconds).onNext {
+    private val modulation = onTimer(timeStep) { _, next ->
-        val timeFromStart = clock.now() - clockStart
+        val timeFromStart = next - clockStart
         val t = timeFromStart.toDouble(DurationUnit.SECONDS)
         target.value = NumericalValue(
             5 * sin(2.0 * PI * freq * t) +
@@ -72,9 +72,9 @@ class Modulator(
 }
 
 
-private val mass = NumericalValue<Kilograms>(0.1)
+private val mass = NumericalValue<Kilograms>(1)
 
-private val leverage = NumericalValue<Meters>(0.05)
+private val leverage = NumericalValue<Meters>(1.0)
 
 private val maxAge = 10.seconds
 
@@ -95,7 +95,7 @@ internal fun createLinearDriveModel(
     val drive = Drive(context)
 
     //a screw drive to convert a rotational moment into a force
-    val screwDrive = ScrewDrive(context, leverage)
+    val leadscrew = Leadscrew(context, leverage)
 
 
     /**
@@ -107,7 +107,7 @@ internal fun createLinearDriveModel(
      */
     val inertiaModel = Inertia.linear(
         context = context,
-        force = screwDrive.torqueToForce(drive.force),
+        force = leadscrew.torqueToForce(drive.force),
         mass = mass,
         position = position
     )
@@ -130,6 +130,8 @@ private fun createModulator(linearDrive: LinearDrive): Modulator = linearDrive.c
     Modulator(linearDrive.context, linearDrive.pid.target)
 )
 
+private val startPid = PidParameters(kp = 250.0, ki = 0.0, kd = -20.0, timeStep = 20.milliseconds)
+
 @OptIn(ExperimentalSplitPaneApi::class, ExperimentalKoalaPlotApi::class)
 fun main() = application {
     val context = remember {
@@ -140,7 +142,7 @@ fun main() = application {
     }
 
     var pidParameters by remember {
-        mutableStateOf(PidParameters(kp = 900.0, ki = 20.0, kd = -50.0, timeStep = 0.005.seconds))
+        mutableStateOf(startPid)
     }
 
     val linearDrive: LinearDrive = remember {
@@ -183,14 +185,14 @@ fun main() = application {
                             NumberTextField(
                                 value = pidParameters.kp,
                                 onValueChange = { pidParameters = pidParameters.copy(kp = it.toDouble()) },
-                                formatter = { String.format("%.2f", it.toDouble()) },
+                                formatter = { String.format("%.3f", it.toDouble()) },
-                                step = 1.0,
+                                step = 0.01,
                                 modifier = Modifier.width(200.dp),
                             )
                             Slider(
                                 pidParameters.kp.toFloat(),
                                 { pidParameters = pidParameters.copy(kp = it.toDouble()) },
-                                valueRange = 0f..1000f,
+                                valueRange = 0f..100f,
                                 steps = 100
                             )
                         }
@@ -199,15 +201,15 @@ fun main() = application {
                             NumberTextField(
                                 value = pidParameters.ki,
                                 onValueChange = { pidParameters = pidParameters.copy(ki = it.toDouble()) },
-                                formatter = { String.format("%.2f", it.toDouble()) },
+                                formatter = { String.format("%.3f", it.toDouble()) },
-                                step = 0.1,
+                                step = 0.01,
                                 modifier = Modifier.width(200.dp),
                             )
 
                             Slider(
                                 pidParameters.ki.toFloat(),
                                 { pidParameters = pidParameters.copy(ki = it.toDouble()) },
-                                valueRange = -100f..100f,
+                                valueRange = -10f..10f,
                                 steps = 100
                             )
                         }
@@ -216,15 +218,15 @@ fun main() = application {
                             NumberTextField(
                                 value = pidParameters.kd,
                                 onValueChange = { pidParameters = pidParameters.copy(kd = it.toDouble()) },
-                                formatter = { String.format("%.2f", it.toDouble()) },
+                                formatter = { String.format("%.3f", it.toDouble()) },
-                                step = 0.1,
+                                step = 0.01,
                                 modifier = Modifier.width(200.dp),
                             )
 
                             Slider(
                                 pidParameters.kd.toFloat(),
                                 { pidParameters = pidParameters.copy(kd = it.toDouble()) },
-                                valueRange = -100f..100f,
+                                valueRange = -10f..10f,
                                 steps = 100
                             )
                         }
@@ -247,12 +249,7 @@ fun main() = application {
                         }
                         Row {
                             Button({
-                                pidParameters = PidParameters(
+                                pidParameters = startPid
-                                    kp = 2.5,
-                                    ki = 0.0,
-                                    kd = -0.1,
-                                    timeStep = 0.005.seconds
-                                )
                             }) {
                                 Text("Reset")
                             }

demo/constructor/src/jvmMain/kotlin/Plotter.kt

@@ -17,7 +17,7 @@ import kotlinx.coroutines.isActive
 import space.kscience.controls.constructor.*
 import space.kscience.controls.constructor.devices.StepDrive
 import space.kscience.controls.constructor.devices.angle
-import space.kscience.controls.constructor.models.ScrewDrive
+import space.kscience.controls.constructor.models.Leadscrew
 import space.kscience.controls.constructor.models.coerceIn
 import space.kscience.controls.constructor.units.*
 import space.kscience.controls.manager.ClockManager
@@ -99,11 +99,11 @@ private class PlotterModel(
 ) : ModelConstructor(context) {
 
     private val xDrive = StepDrive(context, ticksPerSecond)
-    private val xTransmission = ScrewDrive(context, NumericalValue(0.01))
+    private val xTransmission = Leadscrew(context, NumericalValue(0.01))
     val x = xTransmission.degreesToMeters(xDrive.angle(step)).coerceIn(xRange)
 
     private val yDrive = StepDrive(context, ticksPerSecond)
-    private val yTransmission = ScrewDrive(context, NumericalValue(0.01))
+    private val yTransmission = Leadscrew(context, NumericalValue(0.01))
     val y = yTransmission.degreesToMeters(yDrive.angle(step)).coerceIn(yRange)
 
     val xy: DeviceState<XY<Meters>> = combineState(x, y) { x, y -> XY(x, y) }
@@ -143,7 +143,7 @@ suspend fun main() = application {
 
 
             val range = -1000..1000
-//                plotter.modernArt(range, range)
+//            plotterModel.plotter.modernArt(range, range)
             plotterModel.plotter.square(range, range)
 
         }

demo/devices-on-map/build.gradle.kts

@@ -0,0 +1,41 @@
+import org.jetbrains.kotlin.gradle.dsl.ExplicitApiMode
+
+plugins {
+    id("space.kscience.gradle.mpp")
+    alias(spclibs.plugins.compose.compiler)
+    alias(spclibs.plugins.compose.jb)
+}
+
+kscience {
+    jvm()
+    useSerialization()
+    useContextReceivers()
+    commonMain {
+        implementation(projects.controlsVisualisationCompose)
+        implementation(projects.controlsConstructor)
+    }
+    jvmMain {
+//        implementation("io.ktor:ktor-server-cio")
+        implementation(spclibs.logback.classic)
+        implementation(libs.sciprog.maps.compose)
+    }
+}
+
+kotlin {
+    sourceSets {
+        jvmMain {
+            dependencies {
+                implementation(compose.desktop.currentOs)
+            }
+        }
+    }
+}
+
+kotlin.explicitApi = ExplicitApiMode.Disabled
+
+
+compose.desktop {
+    application {
+        mainClass = "space.kscience.controls.demo.map.MainKt"
+    }
+}

demo/devices-on-map/src/jvmMain/kotlin/main.kt

@@ -0,0 +1,8 @@
+package space.kscience.controls.demo.map
+
+import androidx.compose.ui.window.application
+
+
+fun main() = application {
+
+}

demo/motors/build.gradle.kts

@@ -1,6 +1,7 @@
 plugins {
     id("space.kscience.gradle.jvm")
-    alias(spclibs.plugins.compose)
+    alias(spclibs.plugins.compose.compiler)
+    alias(spclibs.plugins.compose.jb)
 }
 
 kotlin{

gradle.properties

@@ -7,4 +7,4 @@ org.gradle.parallel=true
 org.gradle.configureondemand=true
 org.gradle.jvmargs=-Xmx4096m
 
-toolsVersion=0.15.2-kotlin-1.9.22
+toolsVersion=0.15.4-kotlin-2.0.0

gradle/libs.versions.toml

@@ -81,6 +81,8 @@ visionforge-markdown = { module = "space.kscience:visionforge-markdown", version
 visionforge-server = { module = "space.kscience:visionforge-server", version.ref = "visionforge" }
 visionforge-compose-html = { module = "space.kscience:visionforge-compose-html", version.ref = "visionforge" }
 
+sciprog-maps-compose = "space.kscience:maps-kt-compose:0.3.0"
+
 # Buildscript
 
 [plugins]

settings.gradle.kts

@@ -86,5 +86,6 @@ include(
     ":demo:motors",
     ":demo:echo",
     ":demo:mks-pdr900",
-    ":demo:constructor"
+    ":demo:constructor",
+    ":demo:devices-on-map"
 )