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Implement MagixVirtualCar

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This commit is contained in:
Atos1337 2021-11-04 15:52:49 +03:00
parent 289ff6ffd0
commit dcd496660c
4 changed files with 70 additions and 6 deletions
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1
demo/car/build.gradle.kts
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@ -20,6 +20,7 @@ dependencies {
implementation(projects.magix.magixRsocket)
implementation(projects.controlsMagixClient)
implementation("io.ktor:ktor-client-cio:$ktorVersion")
implementation("org.jetbrains.kotlinx:kotlinx-datetime:0.3.1")
implementation("no.tornado:tornadofx:1.7.20")
implementation("space.kscience:plotlykt-server:0.5.0-dev-1")

58
demo/car/src/main/kotlin/ru/mipt/npm/controls/demo/car/MagixVirtualCar.kt Normal file
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@ -0,0 +1,58 @@
package ru.mipt.npm.controls.demo.car
import kotlinx.coroutines.flow.collect
import kotlinx.coroutines.launch
import ru.mipt.npm.controls.api.DeviceMessage
import ru.mipt.npm.controls.api.PropertyChangedMessage
import ru.mipt.npm.controls.spec.DeviceBySpec
import ru.mipt.npm.controls.spec.doRecurring
import ru.mipt.npm.magix.api.MagixEndpoint
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.names.Name
import kotlin.time.Duration
import kotlin.time.ExperimentalTime
class MagixVirtualCar(private val magixEndpoint: MagixEndpoint<DeviceMessage>, context: Context, meta: Meta)
: DeviceBySpec<MagixVirtualCar>(IVirtualCar, context, meta), IVirtualCar {
override var speedState: Vector2D = Vector2D()
override var locationState: Vector2D = Vector2D()
override var accelerationState: Vector2D = Vector2D()
private suspend fun MagixEndpoint<DeviceMessage>.startMagixVirtualCarUpdate() {
launch {
subscribe().collect { magix ->
(magix.payload as? PropertyChangedMessage)?.let { message ->
if (message.sourceDevice == Name.parse("virtual-car")) {
when (message.property) {
"speed" -> speedState = Vector2D.metaToObject(message.value)
"location" -> locationState = Vector2D.metaToObject(message.value)
"acceleration" -> accelerationState = Vector2D.metaToObject(message.value)
}
}
}
}
}
}
@OptIn(ExperimentalTime::class)
override suspend fun open() {
super<DeviceBySpec>.open()
launch {
magixEndpoint.startMagixVirtualCarUpdate()
}
//starting regular updates
doRecurring(Duration.milliseconds(100)) {
IVirtualCar.speed.read()
IVirtualCar.location.read()
IVirtualCar.acceleration.read()
}
}
}
class MagixVirtualCarFactory(private val magixEndpoint: MagixEndpoint<DeviceMessage>) : Factory<MagixVirtualCar> {
override fun invoke(meta: Meta, context: Context): MagixVirtualCar = MagixVirtualCar(magixEndpoint, context, meta)
}

16
demo/car/src/main/kotlin/ru/mipt/npm/controls/demo/car/VirtualCarController.kt
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@ -14,13 +14,15 @@ import ru.mipt.npm.controls.controllers.install
import ru.mipt.npm.controls.demo.car.IVirtualCar.Companion.acceleration
import ru.mipt.npm.magix.api.MagixEndpoint
import ru.mipt.npm.magix.rsocket.rSocketWithTcp
import ru.mipt.npm.magix.rsocket.rSocketWithWebSockets
import ru.mipt.npm.magix.server.startMagixServer
import space.kscience.dataforge.context.*
import tornadofx.*
class VirtualCarController : Controller(), ContextAware {
var device: VirtualCar? = null
var virtualCar: VirtualCar? = null
var magixVirtualCar: MagixVirtualCar? = null
var magixServer: ApplicationEngine? = null
override val context = Context("demoDevice") {
@ -31,9 +33,11 @@ class VirtualCarController : Controller(), ContextAware {
fun init() {
context.launch {
device = deviceManager.install("virtual-car", VirtualCar)
virtualCar = deviceManager.install("virtual-car", VirtualCar)
//starting magix event loop
magixServer = startMagixServer(enableRawRSocket = true, enableZmq = true)
val magixEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost", DeviceMessage.serializer())
magixVirtualCar = deviceManager.install("magix-virtual-car", MagixVirtualCarFactory(magixEndpoint))
//Launch device client and connect it to the server
val deviceEndpoint = MagixEndpoint.rSocketWithTcp("localhost", DeviceMessage.serializer())
deviceManager.connectToMagix(deviceEndpoint)
@ -44,8 +48,10 @@ class VirtualCarController : Controller(), ContextAware {
logger.info { "Shutting down..." }
magixServer?.stop(1000, 5000)
logger.info { "Magix server stopped" }
device?.close()
logger.info { "Device server stopped" }
magixVirtualCar?.close()
logger.info { "Magix virtual car server stopped" }
virtualCar?.close()
logger.info { "Virtual car server stopped" }
context.close()
}
}
@ -78,7 +84,7 @@ class VirtualCarControllerView : View(title = " Virtual car controller remote")
button("Submit") {
useMaxWidth = true
action {
controller.device?.run {
controller.virtualCar?.run {
launch {
acceleration.write(Vector2D(accelerationXProperty.get(),
accelerationYProperty.get()))

1
magix/magix-api/src/commonMain/kotlin/ru/mipt/npm/magix/api/MagixMessageFilter.kt
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@ -24,7 +24,6 @@ public fun <T> Flow<MagixMessage<T>>.filter(filter: MagixMessageFilter): Flow<Ma
}
return filter { message ->
filter.format?.contains(message.format) ?: true
&& filter.origin?.contains(message.origin) ?: true
&& filter.origin?.contains(message.origin) ?: true
&& filter.target?.contains(message.target) ?: true
}