From 4c93b5c9b3feda0321fe95d54266821b6df7b0c7 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 23 Aug 2023 16:37:35 +0300
Subject: [PATCH 001/125] Update readme
---
README.md | 8 +++++---
build.gradle.kts | 1 +
2 files changed, 6 insertions(+), 3 deletions(-)
diff --git a/README.md b/README.md
index d5b40c3..5518d1f 100644
--- a/README.md
+++ b/README.md
@@ -1,12 +1,14 @@
[](https://confluence.jetbrains.com/display/ALL/JetBrains+on+GitHub)
-# Controls.kt
+[](https://zenodo.org/badge/latestdoi/240888288)
-Controls.kt (former DataForge-control) is a data acquisition framework (work in progress). It is based on DataForge, a software framework for automated data processing.
+# Controls-kt
+
+Controls-kt (former DataForge-control) is a data acquisition framework (work in progress). It is based on DataForge, a software framework for automated data processing.
This repository contains a prototype of API and simple implementation
of a slow control system, including a demo.
-Controls.kt uses some concepts and modules of DataForge,
+Controls-kt uses some concepts and modules of DataForge,
such as `Meta` (tree-like value structure).
To learn more about DataForge, please consult the following URLs:
diff --git a/build.gradle.kts b/build.gradle.kts
index df7c664..8dfafdc 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -32,6 +32,7 @@ ksciencePublish {
"https://maven.pkg.jetbrains.space/spc/p/sci/maven"
}
)
+ sonatype("https://oss.sonatype.org")
}
readme.readmeTemplate = file("docs/templates/README-TEMPLATE.md")
\ No newline at end of file
From 0f610a5e198e9f3f263f38915236454aec6709c8 Mon Sep 17 00:00:00 2001
From: darksnake <altavir@gmail.com>
Date: Thu, 24 Aug 2023 16:25:17 +0300
Subject: [PATCH 002/125] Fix mass demo plot
---
.../space/kscience/controls/demo/MassDevice.kt | 12 +++++-------
magix/magix-zmq/build.gradle.kts | 2 +-
2 files changed, 6 insertions(+), 8 deletions(-)
diff --git a/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt b/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt
index 5c89c26..040d288 100644
--- a/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt
+++ b/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt
@@ -23,10 +23,7 @@ import space.kscience.magix.rsocket.rSocketWithTcp
import space.kscience.magix.rsocket.rSocketWithWebSockets
import space.kscience.magix.server.RSocketMagixFlowPlugin
import space.kscience.magix.server.startMagixServer
-import space.kscience.plotly.Plotly
-import space.kscience.plotly.bar
-import space.kscience.plotly.layout
-import space.kscience.plotly.plot
+import space.kscience.plotly.*
import space.kscience.plotly.server.PlotlyUpdateMode
import space.kscience.plotly.server.serve
import space.kscience.plotly.server.show
@@ -88,9 +85,10 @@ suspend fun main() {
updateMode = PlotlyUpdateMode.PUSH
updateInterval = 1000
page { container ->
- plot(renderer = container) {
+ plot(renderer = container, config = PlotlyConfig { saveAsSvg() }) {
layout {
- title = "Latest event"
+// title = "Latest event"
+
xaxis.title = "Device number"
yaxis.title = "Maximum latency in ms"
}
@@ -119,7 +117,7 @@ suspend fun main() {
latest.clear()
max.clear()
x.numbers = sorted.keys
- y.numbers = sorted.values.map { it.inWholeMilliseconds / 1000.0 + 0.0001 }
+ y.numbers = sorted.values.map { it.inWholeMicroseconds / 1000.0 + 0.0001 }
}
}
}
diff --git a/magix/magix-zmq/build.gradle.kts b/magix/magix-zmq/build.gradle.kts
index cf4ee9b..20cc246 100644
--- a/magix/magix-zmq/build.gradle.kts
+++ b/magix/magix-zmq/build.gradle.kts
@@ -12,7 +12,7 @@ description = """
dependencies {
api(projects.magix.magixApi)
api("org.slf4j:slf4j-api:2.0.6")
- api("org.zeromq:jeromq:0.5.2")
+ api("org.zeromq:jeromq:0.5.3")
}
readme {
From cc36ef805bdb91aee6f2a9c42acccb41c27f271a Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 4 Sep 2023 14:56:18 +0300
Subject: [PATCH 003/125] update version
---
build.gradle.kts | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index 8dfafdc..60e263d 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -13,7 +13,7 @@ val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
- version = "0.2.0"
+ version = "0.2.1-dev-1"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
From 036bef1adb4daa3053f0e5a4d1f3e64d445e60b8 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sat, 16 Sep 2023 15:54:36 +0300
Subject: [PATCH 004/125] fix dataforge version
---
build.gradle.kts | 2 +-
controls-pi/build.gradle.kts | 8 +++++---
gradle/wrapper/gradle-wrapper.properties | 2 +-
3 files changed, 7 insertions(+), 5 deletions(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index 60e263d..b18f0a2 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -6,7 +6,7 @@ plugins {
id("space.kscience.gradle.project")
}
-val dataforgeVersion: String by extra("0.6.2-dev-3")
+val dataforgeVersion: String by extra("0.6.2")
val ktorVersion: String by extra(space.kscience.gradle.KScienceVersions.ktorVersion)
val rsocketVersion by extra("0.15.4")
val xodusVersion by extra("2.0.1")
diff --git a/controls-pi/build.gradle.kts b/controls-pi/build.gradle.kts
index a763396..cf7bfbe 100644
--- a/controls-pi/build.gradle.kts
+++ b/controls-pi/build.gradle.kts
@@ -7,10 +7,12 @@ description = """
Utils to work with controls-kt on Raspberry pi
""".trimIndent()
+val pi4jVerstion = "2.3.0"
+
dependencies{
api(project(":controls-core"))
api("com.pi4j:pi4j-ktx:2.4.0") // Kotlin DSL
- api("com.pi4j:pi4j-core:2.3.0")
- api("com.pi4j:pi4j-plugin-raspberrypi:2.3.0")
- api("com.pi4j:pi4j-plugin-pigpio:2.3.0")
+ api("com.pi4j:pi4j-core:$pi4jVerstion")
+ api("com.pi4j:pi4j-plugin-raspberrypi:$pi4jVerstion")
+ api("com.pi4j:pi4j-plugin-pigpio:$pi4jVerstion")
}
\ No newline at end of file
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index fae0804..db9a6b8 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.1.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.3-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
From bc5037b256c5df6250f18c03e2ae7d2e7cd3f594 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sat, 16 Sep 2023 16:09:47 +0300
Subject: [PATCH 005/125] fix dataforge version
---
build.gradle.kts | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index b18f0a2..619948b 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -13,7 +13,7 @@ val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
- version = "0.2.1-dev-1"
+ version = "0.2.1"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
From 8b6a6abd9245e07d53402f724ff6f9f6f7c47f09 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 18 Sep 2023 09:00:04 +0300
Subject: [PATCH 006/125] Update to PiPlugin logic
---
build.gradle.kts | 2 +-
.../space/kscience/controls/pi/PiPlugin.kt | 24 +++++++++++++++++++
.../kscience/controls/pi/PiSerialPort.kt | 23 +++++++++++-------
docs/templates/README-TEMPLATE.md | 2 ++
4 files changed, 42 insertions(+), 9 deletions(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index 619948b..d188449 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -13,7 +13,7 @@ val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
- version = "0.2.1"
+ version = "0.2.2-dev-1"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
diff --git a/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiPlugin.kt b/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiPlugin.kt
index 547a142..20d4c80 100644
--- a/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiPlugin.kt
+++ b/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiPlugin.kt
@@ -1,22 +1,46 @@
package space.kscience.controls.pi
+import com.pi4j.Pi4J
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.controls.ports.PortFactory
import space.kscience.controls.ports.Ports
import space.kscience.dataforge.context.AbstractPlugin
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.dataforge.names.parseAsName
+import com.pi4j.context.Context as PiContext
public class PiPlugin : AbstractPlugin() {
public val ports: Ports by require(Ports)
+ public val devices: DeviceManager by require(DeviceManager)
override val tag: PluginTag get() = Companion.tag
+ public val piContext: PiContext by lazy { createPiContext(context, meta) }
+
+ override fun content(target: String): Map<Name, Any> = when (target) {
+ PortFactory.TYPE -> mapOf(
+ PiSerialPort.type.parseAsName() to PiSerialPort,
+ )
+
+ else -> super.content(target)
+ }
+
+ override fun detach() {
+ piContext.shutdown()
+ super.detach()
+ }
+
public companion object : PluginFactory<PiPlugin> {
override val tag: PluginTag = PluginTag("controls.ports.pi", group = PluginTag.DATAFORGE_GROUP)
override fun build(context: Context, meta: Meta): PiPlugin = PiPlugin()
+ public fun createPiContext(context: Context, meta: Meta): PiContext = Pi4J.newAutoContext()
+
}
}
\ No newline at end of file
diff --git a/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiSerialPort.kt b/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiSerialPort.kt
index 4924b8d..6b9662d 100644
--- a/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiSerialPort.kt
+++ b/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiSerialPort.kt
@@ -1,6 +1,5 @@
package space.kscience.controls.pi
-import com.pi4j.Pi4J
import com.pi4j.io.serial.Baud
import com.pi4j.io.serial.Serial
import com.pi4j.io.serial.SerialConfigBuilder
@@ -13,20 +12,25 @@ import space.kscience.controls.ports.toArray
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.error
import space.kscience.dataforge.context.logger
+import space.kscience.dataforge.context.request
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.enum
import space.kscience.dataforge.meta.get
import space.kscience.dataforge.meta.string
import java.nio.ByteBuffer
import kotlin.coroutines.CoroutineContext
+import com.pi4j.context.Context as PiContext
public class PiSerialPort(
context: Context,
coroutineContext: CoroutineContext = context.coroutineContext,
- public val serialBuilder: () -> Serial,
+ public val serialBuilder: PiContext.() -> Serial,
) : AbstractPort(context, coroutineContext) {
- private val serial: Serial by lazy { serialBuilder() }
+ private val serial: Serial by lazy {
+ val pi = context.request(PiPlugin)
+ pi.piContext.serialBuilder()
+ }
private val listenerJob = this.scope.launch(Dispatchers.IO) {
@@ -57,15 +61,18 @@ public class PiSerialPort(
public companion object : PortFactory {
override val type: String get() = "pi"
- public fun open(context: Context, device: String, block: SerialConfigBuilder.() -> Unit): PiSerialPort =
- PiSerialPort(context) {
- Pi4J.newAutoContext().serial(device, block)
- }
+ public fun open(
+ context: Context,
+ device: String,
+ block: SerialConfigBuilder.() -> Unit,
+ ): PiSerialPort = PiSerialPort(context) {
+ serial(device, block)
+ }
override fun build(context: Context, meta: Meta): Port = PiSerialPort(context) {
val device: String = meta["device"].string ?: error("Device name not defined")
val baudRate: Baud = meta["baudRate"].enum<Baud>() ?: Baud._9600
- Pi4J.newAutoContext().serial(device) {
+ serial(device) {
baud8N1(baudRate)
}
}
diff --git a/docs/templates/README-TEMPLATE.md b/docs/templates/README-TEMPLATE.md
index 11e0905..ef2cb74 100644
--- a/docs/templates/README-TEMPLATE.md
+++ b/docs/templates/README-TEMPLATE.md
@@ -1,5 +1,7 @@
[](https://confluence.jetbrains.com/display/ALL/JetBrains+on+GitHub)
+[](https://maven.sciprog.center/)
+
# Controls.kt
Controls.kt (former DataForge-control) is a data acquisition framework (work in progress). It is based on DataForge, a software framework for automated data processing.
From aef94767c5b6689868fb897318a484a9f7c8c539 Mon Sep 17 00:00:00 2001
From: darksnake <altavir@gmail.com>
Date: Mon, 18 Sep 2023 13:38:45 +0300
Subject: [PATCH 007/125] Fix all-things demo
---
build.gradle.kts | 1 +
demo/all-things/build.gradle.kts | 4 +++-
2 files changed, 4 insertions(+), 1 deletion(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index d188449..aa9f9fb 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -7,6 +7,7 @@ plugins {
}
val dataforgeVersion: String by extra("0.6.2")
+val visionforgeVersion by extra("0.3.0-dev-10")
val ktorVersion: String by extra(space.kscience.gradle.KScienceVersions.ktorVersion)
val rsocketVersion by extra("0.15.4")
val xodusVersion by extra("2.0.1")
diff --git a/demo/all-things/build.gradle.kts b/demo/all-things/build.gradle.kts
index 05d7395..bb6d5ec 100644
--- a/demo/all-things/build.gradle.kts
+++ b/demo/all-things/build.gradle.kts
@@ -12,6 +12,7 @@ repositories {
val ktorVersion: String by rootProject.extra
val rsocketVersion: String by rootProject.extra
+val visionforgeVersion: String by rootProject.extra
dependencies {
implementation(projects.controlsCore)
@@ -24,7 +25,8 @@ dependencies {
implementation("io.ktor:ktor-client-cio:$ktorVersion")
implementation("no.tornado:tornadofx:1.7.20")
- implementation("space.kscience:plotlykt-server:0.5.3")
+ implementation("space.kscience:plotlykt-server:0.6.0")
+ implementation("space.kscience:visionforge-plotly:$visionforgeVersion")
// implementation("com.github.Ricky12Awesome:json-schema-serialization:0.6.6")
implementation(spclibs.logback.classic)
}
From a51510606f2c5681a34d9137535e302f539a0b21 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 24 Sep 2023 13:02:52 +0300
Subject: [PATCH 008/125] add customizeable scopes to property listeners
---
.../commonMain/kotlin/space/kscience/controls/api/Device.kt | 4 ++--
.../space/kscience/controls/spec/DevicePropertySpec.kt | 6 ++++--
.../kotlin/space/kscience/controls/modbus/ModbusDevice.kt | 4 ----
3 files changed, 6 insertions(+), 8 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
index 4fc6365..8a19e68 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
@@ -124,5 +124,5 @@ public fun Device.getAllProperties(): Meta = Meta {
/**
* Subscribe on property changes for the whole device
*/
-public fun Device.onPropertyChange(callback: suspend PropertyChangedMessage.() -> Unit): Job =
- messageFlow.filterIsInstance<PropertyChangedMessage>().onEach(callback).launchIn(this)
+public fun Device.onPropertyChange(scope: CoroutineScope = this, callback: suspend PropertyChangedMessage.() -> Unit): Job =
+ messageFlow.filterIsInstance<PropertyChangedMessage>().onEach(callback).launchIn(scope)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
index cf8c741..7f3aa06 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
@@ -115,6 +115,7 @@ public fun <D : Device, T> D.propertyFlow(spec: DevicePropertySpec<D, T>): Flow<
*/
public fun <D : Device, T> D.onPropertyChange(
spec: DevicePropertySpec<D, T>,
+ scope: CoroutineScope = this,
callback: suspend PropertyChangedMessage.(T) -> Unit,
): Job = messageFlow
.filterIsInstance<PropertyChangedMessage>()
@@ -124,15 +125,16 @@ public fun <D : Device, T> D.onPropertyChange(
if (newValue != null) {
change.callback(newValue)
}
- }.launchIn(this)
+ }.launchIn(scope)
/**
* Call [callback] on initial property value and each value change
*/
public fun <D : Device, T> D.useProperty(
spec: DevicePropertySpec<D, T>,
+ scope: CoroutineScope = this,
callback: suspend (T) -> Unit,
-): Job = launch {
+): Job = scope.launch {
callback(read(spec))
messageFlow
.filterIsInstance<PropertyChangedMessage>()
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
index ea4330c..3522f15 100644
--- a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
+++ b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
@@ -183,10 +183,6 @@ public fun ModbusDevice.writeHoldingRegisters(address: Int, buffer: ByteBuffer):
return writeHoldingRegisters(address, array)
}
-public fun ModbusDevice.writeShortRegister(address: Int, value: Short) {
- master.writeSingleRegister(address, SimpleInputRegister(value.toInt()))
-}
-
public fun ModbusDevice.modbusRegister(
address: Int,
): ReadWriteProperty<ModbusDevice, Short> = object : ReadWriteProperty<ModbusDevice, Short> {
From a337daee9319ab2de541dbe9caa0f9ba0e64be76 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 24 Sep 2023 13:21:01 +0300
Subject: [PATCH 009/125] Add read-after-write for DeviceBase property writers
---
.../kscience/controls/spec/DeviceBase.kt | 21 ++++++++++++-------
.../kscience/controls/spec/DeviceSpec.kt | 2 +-
.../sciprog/devices/mks/MksPdr900Device.kt | 14 ++++++-------
.../pimotionmaster/PiMotionMasterDevice.kt | 4 ++--
4 files changed, 23 insertions(+), 18 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index 56f5aa9..dc43637 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -87,7 +87,7 @@ public abstract class DeviceBase<D : Device>(
/**
* Update logical property state and notify listeners
*/
- protected suspend fun updateLogical(propertyName: String, value: Meta?) {
+ protected suspend fun propertyChanged(propertyName: String, value: Meta?) {
if (value != logicalState[propertyName]) {
stateLock.withLock {
logicalState[propertyName] = value
@@ -99,10 +99,10 @@ public abstract class DeviceBase<D : Device>(
}
/**
- * Update logical state using given [spec] and its convertor
+ * Notify the device that a property with [spec] value is changed
*/
- public suspend fun <T> updateLogical(spec: DevicePropertySpec<D, T>, value: T) {
- updateLogical(spec.name, spec.converter.objectToMeta(value))
+ protected suspend fun <T> propertyChanged(spec: DevicePropertySpec<D, T>, value: T) {
+ propertyChanged(spec.name, spec.converter.objectToMeta(value))
}
/**
@@ -112,7 +112,7 @@ public abstract class DeviceBase<D : Device>(
override suspend fun readProperty(propertyName: String): Meta {
val spec = properties[propertyName] ?: error("Property with name $propertyName not found")
val meta = spec.readMeta(self) ?: error("Failed to read property $propertyName")
- updateLogical(propertyName, meta)
+ propertyChanged(propertyName, meta)
return meta
}
@@ -122,7 +122,7 @@ public abstract class DeviceBase<D : Device>(
public suspend fun readPropertyOrNull(propertyName: String): Meta? {
val spec = properties[propertyName] ?: return null
val meta = spec.readMeta(self) ?: return null
- updateLogical(propertyName, meta)
+ propertyChanged(propertyName, meta)
return meta
}
@@ -137,13 +137,18 @@ public abstract class DeviceBase<D : Device>(
override suspend fun writeProperty(propertyName: String, value: Meta): Unit {
when (val property = properties[propertyName]) {
null -> {
- //If there is a physical property with a given name, invalidate logical property and write physical one
- updateLogical(propertyName, value)
+ //If there are no physical properties with given name, write a logical one.
+ propertyChanged(propertyName, value)
}
is WritableDevicePropertySpec -> {
+ //if there is a writeable property with a given name, invalidate logical and write physical
invalidate(propertyName)
property.writeMeta(self, value)
+ // perform read after writing if the writer did not set the value
+ if (logicalState[propertyName] == null) {
+ readPropertyOrNull(propertyName)
+ }
}
else -> {
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
index d05bf30..17c3ecb 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
@@ -22,7 +22,7 @@ public val MetaConverter.Companion.unit: MetaConverter<Unit> get() = UnitMetaCon
@OptIn(InternalDeviceAPI::class)
public abstract class DeviceSpec<D : Device> {
- //initializing meta property for everyone
+ //initializing the metadata property for everyone
private val _properties = hashMapOf<String, DevicePropertySpec<D, *>>(
DeviceMetaPropertySpec.name to DeviceMetaPropertySpec
)
diff --git a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
index 949ced9..7771709 100644
--- a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
+++ b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
@@ -49,16 +49,16 @@ class MksPdr900Device(context: Context, meta: Meta) : DeviceBySpec<MksPdr900Devi
if (powerOnValue) {
val ans = talk("FP!ON")
if (ans == "ON") {
- updateLogical(powerOn, true)
+ propertyChanged(powerOn, true)
} else {
- updateLogical(error, "Failed to set power state")
+ propertyChanged(error, "Failed to set power state")
}
} else {
val ans = talk("FP!OFF")
if (ans == "OFF") {
- updateLogical(powerOn, false)
+ propertyChanged(powerOn, false)
} else {
- updateLogical(error, "Failed to set power state")
+ propertyChanged(error, "Failed to set power state")
}
}
}
@@ -68,13 +68,13 @@ class MksPdr900Device(context: Context, meta: Meta) : DeviceBySpec<MksPdr900Devi
invalidate(error)
return if (answer.isNullOrEmpty()) {
// updateState(PortSensor.CONNECTED_STATE, false)
- updateLogical(error, "No connection")
+ propertyChanged(error, "No connection")
null
} else {
val res = answer.toDouble()
if (res <= 0) {
- updateLogical(powerOn, false)
- updateLogical(error, "No power")
+ propertyChanged(powerOn, false)
+ propertyChanged(error, "No power")
null
} else {
res
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
index 4eff6c4..54573e4 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
@@ -172,7 +172,7 @@ class PiMotionMasterDevice(
//Update port
//address = portSpec.node
port = portFactory(portSpec, context)
- updateLogical(connected, true)
+ propertyChanged(connected, true)
// connector.open()
//Initialize axes
val idn = read(identity)
@@ -196,7 +196,7 @@ class PiMotionMasterDevice(
it.close()
}
port = null
- updateLogical(connected, false)
+ propertyChanged(connected, false)
}
From 34e7dd2c6d12b1c82a714dd3d3d5eedbe8d206d5 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 24 Sep 2023 13:29:15 +0300
Subject: [PATCH 010/125] Add read-after-write for DeviceBase property writers
---
CHANGELOG.md | 30 ++++++++++++-------
.../kscience/controls/spec/DeviceBase.kt | 3 +-
demo/all-things/build.gradle.kts | 2 +-
3 files changed, 23 insertions(+), 12 deletions(-)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index d6f9d13..93d9645 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,26 @@
## Unreleased
+### Added
+
+### Changed
+
+### Deprecated
+
+### Removed
+
+### Fixed
+
+### Security
+
+## 0.2.2-dev-1 - 2023-09-24
+
+### Changed
+- updating logical state in `DeviceBase` is now protected and called `propertyChanged()`
+- `DeviceBase` tries to read property after write if the writer does not set the value.
+
+## 0.2.1 - 2023-09-24
+
### Added
- Core interfaces for building a device server
- Magix service for binding controls devices (both as RPC client and server)
@@ -20,13 +40,3 @@
- A magix event loop implementation in Kotlin. Includes HTTP/SSE and RSocket routes.
- Magix history database API
- ZMQ client endpoint for Magix
-
-### Changed
-
-### Deprecated
-
-### Removed
-
-### Fixed
-
-### Security
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index dc43637..82a4d4f 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -147,7 +147,8 @@ public abstract class DeviceBase<D : Device>(
property.writeMeta(self, value)
// perform read after writing if the writer did not set the value
if (logicalState[propertyName] == null) {
- readPropertyOrNull(propertyName)
+ val meta = property.readMeta(self)
+ propertyChanged(propertyName, meta)
}
}
diff --git a/demo/all-things/build.gradle.kts b/demo/all-things/build.gradle.kts
index 05d7395..33b654e 100644
--- a/demo/all-things/build.gradle.kts
+++ b/demo/all-things/build.gradle.kts
@@ -24,7 +24,7 @@ dependencies {
implementation("io.ktor:ktor-client-cio:$ktorVersion")
implementation("no.tornado:tornadofx:1.7.20")
- implementation("space.kscience:plotlykt-server:0.5.3")
+ implementation("space.kscience:plotlykt-server:0.6.0")
// implementation("com.github.Ricky12Awesome:json-schema-serialization:0.6.6")
implementation(spclibs.logback.classic)
}
From efe9a2e842f0c26193f43bac0ac3f4e3d7779231 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 2 Oct 2023 21:24:01 +0300
Subject: [PATCH 011/125] Fixex in modbus and write-protection for same meta
---
CHANGELOG.md | 2 +
build.gradle.kts | 2 +-
.../kscience/controls/spec/DeviceBase.kt | 17 ++++-
.../controls/modbus/DeviceProcessImage.kt | 69 +++++++++++++------
.../kscience/controls/modbus/ModbusDevice.kt | 2 +-
5 files changed, 65 insertions(+), 27 deletions(-)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 93d9645..b7673a4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,8 @@
### Removed
### Fixed
+- Property writing does not trigger change if logical state already is the same as value to be set.
+- Modbus-slave triggers only once for multi-register write.
### Security
diff --git a/build.gradle.kts b/build.gradle.kts
index d188449..c851997 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -13,7 +13,7 @@ val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
- version = "0.2.2-dev-1"
+ version = "0.2.2-dev-2"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index 82a4d4f..2a6773e 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -7,18 +7,24 @@ import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import space.kscience.controls.api.*
import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.debug
import space.kscience.dataforge.context.error
import space.kscience.dataforge.context.logger
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.misc.DFExperimental
import kotlin.coroutines.CoroutineContext
-
+/**
+ * Write a meta [item] to [device]
+ */
@OptIn(InternalDeviceAPI::class)
private suspend fun <D : Device, T> WritableDevicePropertySpec<D, T>.writeMeta(device: D, item: Meta) {
write(device, converter.metaToObject(item) ?: error("Meta $item could not be read with $converter"))
}
+/**
+ * Read Meta item from the [device]
+ */
@OptIn(InternalDeviceAPI::class)
private suspend fun <D : Device, T> DevicePropertySpec<D, T>.readMeta(device: D): Meta? =
read(device)?.let(converter::objectToMeta)
@@ -135,9 +141,14 @@ public abstract class DeviceBase<D : Device>(
}
override suspend fun writeProperty(propertyName: String, value: Meta): Unit {
+ //bypass property setting if it already has that value
+ if (logicalState[propertyName] == value) {
+ logger.debug { "Skipping setting $propertyName to $value because value is already set" }
+ return
+ }
when (val property = properties[propertyName]) {
null -> {
- //If there are no physical properties with given name, write a logical one.
+ //If there are no registered physical properties with given name, write a logical one.
propertyChanged(propertyName, value)
}
@@ -145,7 +156,7 @@ public abstract class DeviceBase<D : Device>(
//if there is a writeable property with a given name, invalidate logical and write physical
invalidate(propertyName)
property.writeMeta(self, value)
- // perform read after writing if the writer did not set the value
+ // perform read after writing if the writer did not set the value and the value is still in invalid state
if (logicalState[propertyName] == null) {
val meta = property.readMeta(self)
propertyChanged(propertyName, meta)
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
index 2f56a8a..32adfb3 100644
--- a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
+++ b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
@@ -1,9 +1,9 @@
package space.kscience.controls.modbus
import com.ghgande.j2mod.modbus.procimg.*
-import io.ktor.utils.io.core.buildPacket
-import io.ktor.utils.io.core.readByteBuffer
-import io.ktor.utils.io.core.writeShort
+import io.ktor.utils.io.core.*
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
import space.kscience.controls.api.Device
import space.kscience.controls.spec.DevicePropertySpec
@@ -118,22 +118,48 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
}
}
+ /**
+ * Trigger [block] if one of register changes.
+ */
+ private fun List<ObservableRegister>.onChange(block: (ByteReadPacket) -> Unit) {
+ var ready = false
+
+ forEach { register ->
+ register.addObserver { _, _ ->
+ ready = true
+ }
+ }
+
+ device.launch {
+ val builder = BytePacketBuilder()
+ while (isActive) {
+ delay(1)
+ if (ready) {
+ val packet = builder.apply {
+ forEach { value ->
+ writeShort(value.toShort())
+ }
+ }.build()
+ block(packet)
+ ready = false
+ }
+ }
+ }
+ }
+
public fun <T> bind(key: ModbusRegistryKey.HoldingRange<T>, propertySpec: WritableDevicePropertySpec<D, T>) {
val registers = List(key.count) {
ObservableRegister()
}
+
registers.forEachIndexed { index, register ->
- register.addObserver { _, _ ->
- val packet = buildPacket {
- registers.forEach { value ->
- writeShort(value.toShort())
- }
- }
- device[propertySpec] = key.format.readObject(packet)
- }
image.addRegister(key.address + index, register)
}
+ registers.onChange { packet ->
+ device[propertySpec] = key.format.readObject(packet)
+ }
+
device.useProperty(propertySpec) { value ->
val packet = buildPacket {
key.format.writeObject(this, value)
@@ -182,20 +208,17 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
val registers = List(key.count) {
ObservableRegister()
}
+
registers.forEachIndexed { index, register ->
- register.addObserver { _, _ ->
- val packet = buildPacket {
- registers.forEach { value ->
- writeShort(value.toShort())
- }
- }
- device.launch {
- device.action(key.format.readObject(packet))
- }
- }
image.addRegister(key.address + index, register)
}
+ registers.onChange { packet ->
+ device.launch {
+ device.action(key.format.readObject(packet))
+ }
+ }
+
return registers
}
@@ -205,11 +228,13 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
* Bind the device to Modbus slave (server) image.
*/
public fun <D : Device> D.bindProcessImage(
+ unitId: Int = 0,
openOnBind: Boolean = true,
binding: DeviceProcessImageBuilder<D>.() -> Unit,
): ProcessImage {
- val image = SimpleProcessImage()
+ val image = SimpleProcessImage(unitId)
DeviceProcessImageBuilder(this, image).apply(binding)
+ image.setLocked(true)
if (openOnBind) {
launch {
open()
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
index 3522f15..2f9e923 100644
--- a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
+++ b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
@@ -61,7 +61,7 @@ public interface ModbusDevice : Device {
}
public operator fun <T> ModbusRegistryKey.HoldingRange<T>.getValue(thisRef: Any?, property: KProperty<*>): T {
- val packet = readInputRegistersToPacket(address, count)
+ val packet = readHoldingRegistersToPacket(address, count)
return format.readObject(packet)
}
From 2cc0a5bcbca0cd43f77e7bd93242ad805bdd72e5 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 2 Oct 2023 22:12:11 +0300
Subject: [PATCH 012/125] Fixex in modbus and write-protection for same meta
---
.../space/kscience/controls/spec/DeviceBase.kt | 14 +++++---------
1 file changed, 5 insertions(+), 9 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index 2a6773e..5e07880 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -1,14 +1,16 @@
package space.kscience.controls.spec
-import kotlinx.coroutines.*
+import kotlinx.coroutines.CoroutineName
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.SupervisorJob
import kotlinx.coroutines.flow.MutableSharedFlow
import kotlinx.coroutines.flow.SharedFlow
+import kotlinx.coroutines.newCoroutineContext
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import space.kscience.controls.api.*
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.debug
-import space.kscience.dataforge.context.error
import space.kscience.dataforge.context.logger
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.misc.DFExperimental
@@ -65,13 +67,7 @@ public abstract class DeviceBase<D : Device>(
get() = actions.values.map { it.descriptor }
override val coroutineContext: CoroutineContext by lazy {
- context.newCoroutineContext(
- SupervisorJob(context.coroutineContext[Job]) +
- CoroutineName("Device $this") +
- CoroutineExceptionHandler { _, throwable ->
- logger.error(throwable) { "Exception in device $this job" }
- }
- )
+ context.newCoroutineContext(SupervisorJob(context.coroutineContext[Job]) + CoroutineName("Device $this"))
}
From 01606af30799d719472b7cc91125a73afccc890c Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Thu, 5 Oct 2023 07:43:49 +0300
Subject: [PATCH 013/125] clientId -> unitId
---
.../kscience/controls/modbus/ModbusDevice.kt | 34 +++++++++----------
.../controls/modbus/ModbusDeviceBySpec.kt | 2 +-
.../controls/modbus/ModbusRegistryMap.kt | 2 +-
3 files changed, 19 insertions(+), 19 deletions(-)
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
index 2f9e923..7297616 100644
--- a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
+++ b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
@@ -21,9 +21,9 @@ import kotlin.reflect.KProperty
public interface ModbusDevice : Device {
/**
- * Client id for this specific device
+ * Unit id for this specific device
*/
- public val clientId: Int
+ public val unitId: Int
/**
* The modubus master connector
@@ -82,35 +82,35 @@ public interface ModbusDevice : Device {
* Read multiple sequential modbus coils (bit-values)
*/
public fun ModbusDevice.readCoils(address: Int, count: Int): BitVector =
- master.readCoils(clientId, address, count)
+ master.readCoils(unitId, address, count)
public fun ModbusDevice.readCoil(address: Int): Boolean =
- master.readCoils(clientId, address, 1).getBit(0)
+ master.readCoils(unitId, address, 1).getBit(0)
public fun ModbusDevice.writeCoils(address: Int, values: BooleanArray) {
val bitVector = BitVector(values.size)
values.forEachIndexed { index, value ->
bitVector.setBit(index, value)
}
- master.writeMultipleCoils(clientId, address, bitVector)
+ master.writeMultipleCoils(unitId, address, bitVector)
}
public fun ModbusDevice.writeCoil(address: Int, value: Boolean) {
- master.writeCoil(clientId, address, value)
+ master.writeCoil(unitId, address, value)
}
public fun ModbusDevice.writeCoil(key: ModbusRegistryKey.Coil, value: Boolean) {
- master.writeCoil(clientId, key.address, value)
+ master.writeCoil(unitId, key.address, value)
}
public fun ModbusDevice.readInputDiscretes(address: Int, count: Int): BitVector =
- master.readInputDiscretes(clientId, address, count)
+ master.readInputDiscretes(unitId, address, count)
public fun ModbusDevice.readInputDiscrete(address: Int): Boolean =
- master.readInputDiscretes(clientId, address, 1).getBit(0)
+ master.readInputDiscretes(unitId, address, 1).getBit(0)
public fun ModbusDevice.readInputRegisters(address: Int, count: Int): List<InputRegister> =
- master.readInputRegisters(clientId, address, count).toList()
+ master.readInputRegisters(unitId, address, count).toList()
private fun Array<out InputRegister>.toBuffer(): ByteBuffer {
val buffer: ByteBuffer = ByteBuffer.allocate(size * 2)
@@ -129,10 +129,10 @@ private fun Array<out InputRegister>.toPacket(): ByteReadPacket = buildPacket {
}
public fun ModbusDevice.readInputRegistersToBuffer(address: Int, count: Int): ByteBuffer =
- master.readInputRegisters(clientId, address, count).toBuffer()
+ master.readInputRegisters(unitId, address, count).toBuffer()
public fun ModbusDevice.readInputRegistersToPacket(address: Int, count: Int): ByteReadPacket =
- master.readInputRegisters(clientId, address, count).toPacket()
+ master.readInputRegisters(unitId, address, count).toPacket()
public fun ModbusDevice.readDoubleInput(address: Int): Double =
readInputRegistersToBuffer(address, Double.SIZE_BYTES).getDouble()
@@ -141,7 +141,7 @@ public fun ModbusDevice.readInputRegister(address: Int): Short =
readInputRegisters(address, 1).first().toShort()
public fun ModbusDevice.readHoldingRegisters(address: Int, count: Int): List<Register> =
- master.readMultipleRegisters(clientId, address, count).toList()
+ master.readMultipleRegisters(unitId, address, count).toList()
/**
* Read a number of registers to a [ByteBuffer]
@@ -149,10 +149,10 @@ public fun ModbusDevice.readHoldingRegisters(address: Int, count: Int): List<Reg
* @param count number of 2-bytes registers to read. Buffer size is 2*[count]
*/
public fun ModbusDevice.readHoldingRegistersToBuffer(address: Int, count: Int): ByteBuffer =
- master.readMultipleRegisters(clientId, address, count).toBuffer()
+ master.readMultipleRegisters(unitId, address, count).toBuffer()
public fun ModbusDevice.readHoldingRegistersToPacket(address: Int, count: Int): ByteReadPacket =
- master.readMultipleRegisters(clientId, address, count).toPacket()
+ master.readMultipleRegisters(unitId, address, count).toPacket()
public fun ModbusDevice.readDoubleRegister(address: Int): Double =
readHoldingRegistersToBuffer(address, Double.SIZE_BYTES).getDouble()
@@ -162,14 +162,14 @@ public fun ModbusDevice.readHoldingRegister(address: Int): Short =
public fun ModbusDevice.writeHoldingRegisters(address: Int, values: ShortArray): Int =
master.writeMultipleRegisters(
- clientId,
+ unitId,
address,
Array<Register>(values.size) { SimpleInputRegister(values[it].toInt()) }
)
public fun ModbusDevice.writeHoldingRegister(address: Int, value: Short): Int =
master.writeSingleRegister(
- clientId,
+ unitId,
address,
SimpleInputRegister(value.toInt())
)
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
index 916187f..48f48a4 100644
--- a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
+++ b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
@@ -15,7 +15,7 @@ import space.kscience.dataforge.names.NameToken
public open class ModbusDeviceBySpec<D: Device>(
context: Context,
spec: DeviceSpec<D>,
- override val clientId: Int,
+ override val unitId: Int,
override val master: AbstractModbusMaster,
private val disposeMasterOnClose: Boolean = true,
meta: Meta = Meta.EMPTY,
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt
index a6fc894..6e3c1da 100644
--- a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt
+++ b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt
@@ -152,7 +152,7 @@ public abstract class ModbusRegistryMap {
val rangeString = if (key.count == 1) {
key.address.toString()
} else {
- "${key.address} - ${key.address + key.count}"
+ "${key.address} - ${key.address + key.count - 1}"
}
to.appendLine("${typeString}\t$rangeString\t$description")
}
From f1b63c3951c5da04a4e4ee7c836702dbc1086c02 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sat, 7 Oct 2023 18:34:44 +0300
Subject: [PATCH 014/125] Add buffer to device messages
---
.../kotlin/space/kscience/controls/spec/DeviceBase.kt | 10 ++++++++--
1 file changed, 8 insertions(+), 2 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index 5e07880..38aa20a 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -3,6 +3,7 @@ package space.kscience.controls.spec
import kotlinx.coroutines.CoroutineName
import kotlinx.coroutines.Job
import kotlinx.coroutines.SupervisorJob
+import kotlinx.coroutines.channels.BufferOverflow
import kotlinx.coroutines.flow.MutableSharedFlow
import kotlinx.coroutines.flow.SharedFlow
import kotlinx.coroutines.newCoroutineContext
@@ -13,6 +14,8 @@ import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.debug
import space.kscience.dataforge.context.logger
import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.get
+import space.kscience.dataforge.meta.int
import space.kscience.dataforge.misc.DFExperimental
import kotlin.coroutines.CoroutineContext
@@ -47,7 +50,7 @@ private suspend fun <D : Device, I, O> DeviceActionSpec<D, I, O>.executeWithMeta
*/
public abstract class DeviceBase<D : Device>(
final override val context: Context,
- override val meta: Meta = Meta.EMPTY,
+ final override val meta: Meta = Meta.EMPTY,
) : Device {
/**
@@ -76,7 +79,10 @@ public abstract class DeviceBase<D : Device>(
*/
private val logicalState: HashMap<String, Meta?> = HashMap()
- private val sharedMessageFlow: MutableSharedFlow<DeviceMessage> = MutableSharedFlow()
+ private val sharedMessageFlow: MutableSharedFlow<DeviceMessage> = MutableSharedFlow(
+ replay = meta["message.buffer"].int ?: 1000,
+ onBufferOverflow = BufferOverflow.DROP_OLDEST
+ )
public override val messageFlow: SharedFlow<DeviceMessage> get() = sharedMessageFlow
From 290010fc8c2b71f789f8aa990080b8502b7325d8 Mon Sep 17 00:00:00 2001
From: darksnake <altavir@gmail.com>
Date: Thu, 19 Oct 2023 16:38:50 +0300
Subject: [PATCH 015/125] Add writeable flag to mutable properties
---
.../kotlin/space/kscience/controls/spec/DeviceSpec.kt | 5 +++--
.../kotlin/space/kscience/controls/demo/demoDeviceServer.kt | 6 +++---
2 files changed, 6 insertions(+), 5 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
index 17c3ecb..0376635 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
@@ -12,7 +12,7 @@ import kotlin.reflect.KMutableProperty1
import kotlin.reflect.KProperty
import kotlin.reflect.KProperty1
-public object UnitMetaConverter: MetaConverter<Unit>{
+public object UnitMetaConverter : MetaConverter<Unit> {
override fun metaToObject(meta: Meta): Unit = Unit
override fun objectToMeta(obj: Unit): Meta = Meta.EMPTY
@@ -127,7 +127,8 @@ public abstract class DeviceSpec<D : Device> {
PropertyDelegateProvider { _: DeviceSpec<D>, property: KProperty<*> ->
val propertyName = name ?: property.name
val deviceProperty = object : WritableDevicePropertySpec<D, T> {
- override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName).apply(descriptorBuilder)
+ override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName, writable = true)
+ .apply(descriptorBuilder)
override val converter: MetaConverter<T> = converter
override suspend fun read(device: D): T? = withContext(device.coroutineContext) { device.read() }
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/demoDeviceServer.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/demoDeviceServer.kt
index fda8ead..5ff1287 100644
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/demoDeviceServer.kt
+++ b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/demoDeviceServer.kt
@@ -57,15 +57,15 @@ fun CoroutineScope.startDemoDeviceServer(magixEndpoint: MagixEndpoint): Applicat
//share subscription to a parse message only once
val subscription = magixEndpoint.subscribe(DeviceManager.magixFormat).shareIn(this, SharingStarted.Lazily)
- val sinFlow = subscription.mapNotNull { (_, payload) ->
+ val sinFlow = subscription.mapNotNull { (_, payload) ->
(payload as? PropertyChangedMessage)?.takeIf { it.property == DemoDevice.sin.name }
}.map { it.value }
- val cosFlow = subscription.mapNotNull { (_, payload) ->
+ val cosFlow = subscription.mapNotNull { (_, payload) ->
(payload as? PropertyChangedMessage)?.takeIf { it.property == DemoDevice.cos.name }
}.map { it.value }
- val sinCosFlow = subscription.mapNotNull { (_, payload) ->
+ val sinCosFlow = subscription.mapNotNull { (_, payload) ->
(payload as? PropertyChangedMessage)?.takeIf { it.property == DemoDevice.coordinates.name }
}.map { it.value }
From 7f71d0c9e998eab4c27873071c9668a31cd74e50 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Fri, 20 Oct 2023 10:14:14 +0300
Subject: [PATCH 016/125] modbus registry to json rendering
---
build.gradle.kts | 14 +-
.../space/kscience/controls/ports/phrases.kt | 5 +
controls-modbus/build.gradle.kts | 2 +-
.../controls/modbus/ModbusRegistryMap.kt | 129 +++++++++++++-----
gradle.properties | 2 +-
5 files changed, 107 insertions(+), 45 deletions(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index f88ec4b..347a66e 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -1,4 +1,3 @@
-import space.kscience.gradle.isInDevelopment
import space.kscience.gradle.useApache2Licence
import space.kscience.gradle.useSPCTeam
@@ -14,25 +13,18 @@ val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
- version = "0.2.2-dev-2"
+ version = "0.2.2-dev-3"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
}
ksciencePublish {
- pom("https://github.com/SciProgCentre/controls.kt") {
+ pom("https://github.com/SciProgCentre/controls-kt") {
useApache2Licence()
useSPCTeam()
}
- github("controls.kt", "SciProgCentre")
- space(
- if (isInDevelopment) {
- "https://maven.pkg.jetbrains.space/spc/p/sci/dev"
- } else {
- "https://maven.pkg.jetbrains.space/spc/p/sci/maven"
- }
- )
+ repository("spc","https://maven.sciprog.center/kscience")
sonatype("https://oss.sonatype.org")
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
index 1214d01..02a0058 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
@@ -5,6 +5,7 @@ import io.ktor.utils.io.core.readBytes
import io.ktor.utils.io.core.reset
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.map
+import kotlinx.coroutines.flow.onCompletion
import kotlinx.coroutines.flow.transform
/**
@@ -16,6 +17,10 @@ public fun Flow<ByteArray>.withDelimiter(delimiter: ByteArray): Flow<ByteArray>
val output = BytePacketBuilder()
var matcherPosition = 0
+ onCompletion {
+ output.close()
+ }
+
return transform { chunk ->
chunk.forEach { byte ->
output.writeByte(byte)
diff --git a/controls-modbus/build.gradle.kts b/controls-modbus/build.gradle.kts
index aee64d5..1ec39d6 100644
--- a/controls-modbus/build.gradle.kts
+++ b/controls-modbus/build.gradle.kts
@@ -12,7 +12,7 @@ description = """
dependencies {
api(projects.controlsCore)
- api("com.ghgande:j2mod:3.1.1")
+ api("com.ghgande:j2mod:3.2.0")
}
readme{
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt
index 6e3c1da..1d81d1b 100644
--- a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt
+++ b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt
@@ -1,8 +1,15 @@
package space.kscience.controls.modbus
+import kotlinx.serialization.json.JsonArray
+import kotlinx.serialization.json.buildJsonArray
+import kotlinx.serialization.json.buildJsonObject
+import kotlinx.serialization.json.put
import space.kscience.dataforge.io.IOFormat
+/**
+ * Modbus registry key
+ */
public sealed class ModbusRegistryKey {
public abstract val address: Int
public open val count: Int = 1
@@ -25,6 +32,9 @@ public sealed class ModbusRegistryKey {
override fun toString(): String = "InputRegister(address=$address)"
}
+ /**
+ * A range of read-only register encoding a single value
+ */
public class InputRange<T>(
address: Int,
override val count: Int,
@@ -36,10 +46,16 @@ public sealed class ModbusRegistryKey {
}
+ /**
+ * A single read-write register
+ */
public open class HoldingRegister(override val address: Int) : ModbusRegistryKey() {
override fun toString(): String = "HoldingRegister(address=$address)"
}
+ /**
+ * A range of read-write registers encoding a single value
+ */
public class HoldingRange<T>(
address: Int,
override val count: Int,
@@ -52,6 +68,9 @@ public sealed class ModbusRegistryKey {
}
}
+/**
+ * A base class for modbus registers
+ */
public abstract class ModbusRegistryMap {
private val _entries: MutableMap<ModbusRegistryKey, String> = mutableMapOf<ModbusRegistryKey, String>()
@@ -63,36 +82,56 @@ public abstract class ModbusRegistryMap {
return key
}
+ /**
+ * Register a [ModbusRegistryKey.Coil] key and return it
+ */
protected fun coil(address: Int, description: String = ""): ModbusRegistryKey.Coil =
register(ModbusRegistryKey.Coil(address), description)
+ /**
+ * Register a [ModbusRegistryKey.DiscreteInput] key and return it
+ */
protected fun discrete(address: Int, description: String = ""): ModbusRegistryKey.DiscreteInput =
register(ModbusRegistryKey.DiscreteInput(address), description)
+ /**
+ * Register a [ModbusRegistryKey.InputRegister] key and return it
+ */
protected fun input(address: Int, description: String = ""): ModbusRegistryKey.InputRegister =
register(ModbusRegistryKey.InputRegister(address), description)
+ /**
+ * Register a [ModbusRegistryKey.InputRange] key and return it
+ */
protected fun <T> input(
address: Int,
count: Int,
reader: IOFormat<T>,
description: String = "",
- ): ModbusRegistryKey.InputRange<T> =
- register(ModbusRegistryKey.InputRange(address, count, reader), description)
+ ): ModbusRegistryKey.InputRange<T> = register(ModbusRegistryKey.InputRange(address, count, reader), description)
+ /**
+ * Register a [ModbusRegistryKey.HoldingRegister] key and return it
+ */
protected fun register(address: Int, description: String = ""): ModbusRegistryKey.HoldingRegister =
register(ModbusRegistryKey.HoldingRegister(address), description)
+ /**
+ * Register a [ModbusRegistryKey.HoldingRange] key and return it
+ */
protected fun <T> register(
address: Int,
count: Int,
format: IOFormat<T>,
description: String = "",
- ): ModbusRegistryKey.HoldingRange<T> =
- register(ModbusRegistryKey.HoldingRange(address, count, format), description)
+ ): ModbusRegistryKey.HoldingRange<T> = register(ModbusRegistryKey.HoldingRange(address, count, format), description)
public companion object {
+
+ /**
+ * Validate the register map. Throw an error if the map is invalid
+ */
public fun validate(map: ModbusRegistryMap) {
var lastCoil: ModbusRegistryKey.Coil? = null
var lastDiscreteInput: ModbusRegistryKey.DiscreteInput? = null
@@ -127,36 +166,62 @@ public abstract class ModbusRegistryMap {
}
}
- private val ModbusRegistryKey.sectionNumber
- get() = when (this) {
- is ModbusRegistryKey.Coil -> 1
- is ModbusRegistryKey.DiscreteInput -> 2
- is ModbusRegistryKey.HoldingRegister -> 4
- is ModbusRegistryKey.InputRegister -> 3
- }
+ }
+}
- public fun print(map: ModbusRegistryMap, to: Appendable = System.out) {
- validate(map)
- map.entries.entries
- .sortedWith(
- Comparator.comparingInt<Map.Entry<ModbusRegistryKey, String>?> { it.key.sectionNumber }
- .thenComparingInt { it.key.address }
- )
- .forEach { (key, description) ->
- val typeString = when (key) {
- is ModbusRegistryKey.Coil -> "Coil"
- is ModbusRegistryKey.DiscreteInput -> "Discrete"
- is ModbusRegistryKey.HoldingRegister -> "Register"
- is ModbusRegistryKey.InputRegister -> "Input"
- }
- val rangeString = if (key.count == 1) {
- key.address.toString()
- } else {
- "${key.address} - ${key.address + key.count - 1}"
- }
- to.appendLine("${typeString}\t$rangeString\t$description")
- }
+private val ModbusRegistryKey.sectionNumber
+ get() = when (this) {
+ is ModbusRegistryKey.Coil -> 1
+ is ModbusRegistryKey.DiscreteInput -> 2
+ is ModbusRegistryKey.HoldingRegister -> 4
+ is ModbusRegistryKey.InputRegister -> 3
+ }
+
+public fun ModbusRegistryMap.print(to: Appendable = System.out) {
+ ModbusRegistryMap.validate(this)
+ entries.entries
+ .sortedWith(
+ Comparator.comparingInt<Map.Entry<ModbusRegistryKey, String>?> { it.key.sectionNumber }
+ .thenComparingInt { it.key.address }
+ )
+ .forEach { (key, description) ->
+ val typeString = when (key) {
+ is ModbusRegistryKey.Coil -> "Coil"
+ is ModbusRegistryKey.DiscreteInput -> "Discrete"
+ is ModbusRegistryKey.HoldingRegister -> "Register"
+ is ModbusRegistryKey.InputRegister -> "Input"
+ }
+ val rangeString = if (key.count == 1) {
+ key.address.toString()
+ } else {
+ "${key.address} - ${key.address + key.count - 1}"
+ }
+ to.appendLine("${typeString}\t$rangeString\t$description")
}
+}
+
+public fun ModbusRegistryMap.toJson(): JsonArray = buildJsonArray {
+ ModbusRegistryMap.validate(this@toJson)
+ entries.forEach { (key, description) ->
+
+ val entry = buildJsonObject {
+ put(
+ "type",
+ when (key) {
+ is ModbusRegistryKey.Coil -> "Coil"
+ is ModbusRegistryKey.DiscreteInput -> "Discrete"
+ is ModbusRegistryKey.HoldingRegister -> "Register"
+ is ModbusRegistryKey.InputRegister -> "Input"
+ }
+ )
+ put("address", key.address)
+ if (key.count > 1) {
+ put("count", key.count)
+ }
+ put("description", description)
+ }
+
+ add(entry)
}
}
diff --git a/gradle.properties b/gradle.properties
index 5b956f1..c7e0d88 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -10,4 +10,4 @@ publishing.sonatype=false
org.gradle.configureondemand=true
org.gradle.jvmargs=-Xmx4096m
-toolsVersion=0.14.10-kotlin-1.9.0
\ No newline at end of file
+toolsVersion=0.15.0-kotlin-1.9.20-RC
\ No newline at end of file
From 1619fdadf23e033b049d7ad3b724f8acffa012bb Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 25 Oct 2023 22:31:36 +0300
Subject: [PATCH 017/125] Refactoring. Developing composer
---
build.gradle.kts | 2 +-
controls-constructor/build.gradle.kts | 20 +++
.../kscience/controls/constructor/Drive.kt | 51 ++++++
.../controls/constructor/LimitSwitch.kt | 31 ++++
.../controls/constructor/PidRegulator.kt | 146 ++++++++++++++++++
.../space/kscience/controls/api/Device.kt | 18 ++-
.../kscience/controls/api/DeviceMessage.kt | 8 +-
.../kscience/controls/api/descriptors.kt | 4 +-
.../controls/manager/DeviceManager.kt | 2 +-
.../kscience/controls/spec/DeviceBase.kt | 58 +++++--
.../kscience/controls/spec/DeviceBySpec.kt | 7 +-
.../controls/spec/DevicePropertySpec.kt | 4 +-
.../kscience/controls/spec/DeviceSpec.kt | 8 +-
.../kscience/controls/spec/DeviceTree.kt | 36 +++++
.../controls/modbus/DeviceProcessImage.kt | 2 +-
.../controls/modbus/ModbusDeviceBySpec.kt | 6 +-
.../opcua/client/OpcUaDeviceBySpec.kt | 3 +-
.../controls/opcua/server/DeviceNameSpace.kt | 4 +-
.../controls/opcua/client/OpcUaClientTest.kt | 7 +-
.../controls/demo/DemoControllerView.kt | 2 +-
.../kscience/controls/demo/DemoDevice.kt | 2 +-
.../controls/demo/car/MagixVirtualCar.kt | 9 +-
.../kscience/controls/demo/car/VirtualCar.kt | 3 +-
.../controls/demo/car/VirtualCarController.kt | 4 +-
.../pimotionmaster/PiMotionMasterDevice.kt | 24 +--
gradle.properties | 2 +-
settings.gradle.kts | 1 +
27 files changed, 388 insertions(+), 76 deletions(-)
create mode 100644 controls-constructor/build.gradle.kts
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
create mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceTree.kt
diff --git a/build.gradle.kts b/build.gradle.kts
index 347a66e..4ca88d6 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -13,7 +13,7 @@ val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
- version = "0.2.2-dev-3"
+ version = "0.3.0-dev-1"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
diff --git a/controls-constructor/build.gradle.kts b/controls-constructor/build.gradle.kts
new file mode 100644
index 0000000..5815444
--- /dev/null
+++ b/controls-constructor/build.gradle.kts
@@ -0,0 +1,20 @@
+plugins {
+ id("space.kscience.gradle.mpp")
+ `maven-publish`
+}
+
+description = """
+ A low-code constructor foe composite devices simulation
+""".trimIndent()
+
+kscience{
+ jvm()
+ js()
+ dependencies {
+ api(projects.controlsCore)
+ }
+}
+
+readme{
+ maturity = space.kscience.gradle.Maturity.PROTOTYPE
+}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
new file mode 100644
index 0000000..ede628a
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
@@ -0,0 +1,51 @@
+package center.sciprog.controls.devices.misc
+
+import kotlinx.coroutines.Job
+import space.kscience.controls.api.Device
+import space.kscience.controls.spec.DeviceBySpec
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.DeviceSpec
+import space.kscience.controls.spec.doubleProperty
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.transformations.MetaConverter
+
+
+/**
+ * A single axis drive
+ */
+public interface Drive : Device {
+ /**
+ * Get or set target value
+ */
+ public var target: Double
+
+ /**
+ * Current position value
+ */
+ public val position: Double
+
+ public companion object : DeviceSpec<Drive>() {
+ public val target: DevicePropertySpec<Drive, Double> by property(MetaConverter.double, Drive::target)
+
+ public val position: DevicePropertySpec<Drive, Double> by doubleProperty { position }
+ }
+}
+
+/**
+ * Virtual [Drive] with speed limit
+ */
+public class VirtualDrive(
+ context: Context,
+ value: Double,
+ private val speed: Double,
+) : DeviceBySpec<Drive>(Drive, context), Drive {
+
+ private var moveJob: Job? = null
+
+ override var position: Double = value
+ private set
+
+ override var target: Double = value
+
+
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
new file mode 100644
index 0000000..6e82064
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
@@ -0,0 +1,31 @@
+package center.sciprog.controls.devices.misc
+
+import space.kscience.controls.api.Device
+import space.kscience.controls.spec.DeviceBySpec
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.DeviceSpec
+import space.kscience.controls.spec.booleanProperty
+import space.kscience.dataforge.context.Context
+
+
+/**
+ * A limit switch device
+ */
+public interface LimitSwitch : Device {
+
+ public val locked: Boolean
+
+ public companion object : DeviceSpec<LimitSwitch>() {
+ public val locked: DevicePropertySpec<LimitSwitch, Boolean> by booleanProperty { locked }
+ }
+}
+
+/**
+ * Virtual [LimitSwitch]
+ */
+public class VirtualLimitSwitch(
+ context: Context,
+ private val lockedFunction: () -> Boolean,
+) : DeviceBySpec<LimitSwitch>(LimitSwitch, context), LimitSwitch {
+ override val locked: Boolean get() = lockedFunction()
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
new file mode 100644
index 0000000..8dbe6ba
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
@@ -0,0 +1,146 @@
+package center.sciprog.controls.devices.misc
+
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.sync.Mutex
+import kotlinx.coroutines.sync.withLock
+import kotlinx.datetime.Clock
+import kotlinx.datetime.Instant
+import space.kscience.controls.api.Device
+import space.kscience.controls.spec.DeviceBySpec
+import space.kscience.controls.spec.DeviceSpec
+import space.kscience.controls.spec.doubleProperty
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.Factory
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.double
+import space.kscience.dataforge.meta.get
+import space.kscience.dataforge.meta.transformations.MetaConverter
+import kotlin.math.pow
+import kotlin.time.Duration
+import kotlin.time.Duration.Companion.milliseconds
+import kotlin.time.DurationUnit
+
+
+interface PidRegulator : Device {
+ /**
+ * Proportional coefficient
+ */
+ val kp: Double
+
+ /**
+ * Integral coefficient
+ */
+ val ki: Double
+
+ /**
+ * Differential coefficient
+ */
+ val kd: Double
+
+ /**
+ * The target value for PID
+ */
+ var target: Double
+
+ /**
+ * Read current value
+ */
+ suspend fun read(): Double
+
+ companion object : DeviceSpec<PidRegulator>() {
+ val target by property(MetaConverter.double, PidRegulator::target)
+ val value by doubleProperty { read() }
+ }
+}
+
+/**
+ *
+ */
+class VirtualPid(
+ context: Context,
+ override val kp: Double,
+ override val ki: Double,
+ override val kd: Double,
+ val mass: Double,
+ override var target: Double = 0.0,
+ private val dt: Duration = 0.5.milliseconds,
+ private val clock: Clock = Clock.System,
+) : DeviceBySpec<PidRegulator>(PidRegulator, context), PidRegulator {
+
+ private val mutex = Mutex()
+
+
+ private var lastTime: Instant = clock.now()
+ private var lastValue: Double = target
+
+ private var value: Double = target
+ private var velocity: Double = 0.0
+ private var acceleration: Double = 0.0
+ private var integral: Double = 0.0
+
+
+ private var updateJob: Job? = null
+
+ override suspend fun onStart() {
+ updateJob = launch {
+ while (isActive) {
+ delay(dt)
+ mutex.withLock {
+ val realTime = clock.now()
+ val delta = target - value
+ val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
+ integral += delta * dtSeconds
+ val derivative = (value - lastValue) / dtSeconds
+
+ //set last time and value to new values
+ lastTime = realTime
+ lastValue = value
+
+ // compute new value based on velocity and acceleration from the previous step
+ value += velocity * dtSeconds + acceleration * dtSeconds.pow(2) / 2
+
+ // compute new velocity based on acceleration on the previous step
+ velocity += acceleration * dtSeconds
+
+ //compute force for the next step based on current values
+ acceleration = (kp * delta + ki * integral + kd * derivative) / mass
+
+
+ check(value.isFinite() && velocity.isFinite()) {
+ "Value $value is not finite"
+ }
+ }
+ }
+ }
+ }
+
+ override fun onStop() {
+ updateJob?.cancel()
+ super<PidRegulator>.stop()
+ }
+
+ override suspend fun read(): Double = value
+
+ suspend fun readVelocity(): Double = velocity
+
+ suspend fun readAcceleration(): Double = acceleration
+
+ suspend fun write(newTarget: Double) = mutex.withLock {
+ require(newTarget.isFinite()) { "Value $newTarget is not valid" }
+ target = newTarget
+ }
+
+ companion object : Factory<Device> {
+ override fun build(context: Context, meta: Meta) = VirtualPid(
+ context,
+ meta["kp"].double ?: error("Kp is not defined"),
+ meta["ki"].double ?: error("Ki is not defined"),
+ meta["kd"].double ?: error("Kd is not defined"),
+ meta["m"].double ?: error("Mass is not defined"),
+ )
+
+ }
+}
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
index 8a19e68..dad1d90 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
@@ -20,8 +20,19 @@ import space.kscience.dataforge.names.Name
* A lifecycle state of a device
*/
public enum class DeviceLifecycleState{
+ /**
+ * Device is initializing
+ */
INIT,
+
+ /**
+ * The Device is initialized and running
+ */
OPEN,
+
+ /**
+ * The Device is closed
+ */
CLOSED
}
@@ -31,13 +42,14 @@ public enum class DeviceLifecycleState{
* When canceled, cancels all running processes.
*/
@Type(DEVICE_TARGET)
-public interface Device : AutoCloseable, ContextAware, CoroutineScope {
+public interface Device : ContextAware, CoroutineScope {
/**
* Initial configuration meta for the device
*/
public val meta: Meta get() = Meta.EMPTY
+
/**
* List of supported property descriptors
*/
@@ -87,12 +99,12 @@ public interface Device : AutoCloseable, ContextAware, CoroutineScope {
/**
* Initialize the device. This function suspends until the device is finished initialization
*/
- public suspend fun open(): Unit = Unit
+ public suspend fun start(): Unit = Unit
/**
* Close and terminate the device. This function does not wait for the device to be closed.
*/
- override fun close() {
+ public fun stop() {
logger.info { "Device $this is closed" }
cancel("The device is closed")
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
index 45d7f0b..c59e4c3 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
@@ -25,7 +25,7 @@ public sealed class DeviceMessage {
public abstract val time: Instant?
/**
- * Update the source device name for composition. If the original name is null, resulting name is also null.
+ * Update the source device name for composition. If the original name is null, the resulting name is also null.
*/
public abstract fun changeSource(block: (Name) -> Name): DeviceMessage
@@ -203,12 +203,12 @@ public data class EmptyDeviceMessage(
public data class DeviceLogMessage(
val message: String,
val data: Meta? = null,
- override val sourceDevice: Name? = null,
+ override val sourceDevice: Name = Name.EMPTY,
override val targetDevice: Name? = null,
override val comment: String? = null,
@EncodeDefault override val time: Instant? = Clock.System.now(),
) : DeviceMessage() {
- override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = sourceDevice?.let(block))
+ override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = block(sourceDevice))
}
/**
@@ -220,7 +220,7 @@ public data class DeviceErrorMessage(
public val errorMessage: String?,
public val errorType: String? = null,
public val errorStackTrace: String? = null,
- override val sourceDevice: Name,
+ override val sourceDevice: Name = Name.EMPTY,
override val targetDevice: Name? = null,
override val comment: String? = null,
@EncodeDefault override val time: Instant? = Clock.System.now(),
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/descriptors.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/descriptors.kt
index 8e1705b..6f7d27c 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/descriptors.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/descriptors.kt
@@ -12,10 +12,10 @@ import space.kscience.dataforge.meta.descriptors.MetaDescriptorBuilder
@Serializable
public class PropertyDescriptor(
public val name: String,
- public var info: String? = null,
+ public var description: String? = null,
public var metaDescriptor: MetaDescriptor = MetaDescriptor(),
public var readable: Boolean = true,
- public var writable: Boolean = false
+ public var mutable: Boolean = false
)
public fun PropertyDescriptor.metaDescriptor(block: MetaDescriptorBuilder.()->Unit){
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt
index cc043c7..be59b4c 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt
@@ -40,7 +40,7 @@ public class DeviceManager : AbstractPlugin(), DeviceHub {
public fun <D : Device> DeviceManager.install(name: String, device: D): D {
registerDevice(NameToken(name), device)
device.launch {
- device.open()
+ device.start()
}
return device
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index 38aa20a..b1544e0 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -1,12 +1,9 @@
package space.kscience.controls.spec
-import kotlinx.coroutines.CoroutineName
-import kotlinx.coroutines.Job
-import kotlinx.coroutines.SupervisorJob
+import kotlinx.coroutines.*
import kotlinx.coroutines.channels.BufferOverflow
import kotlinx.coroutines.flow.MutableSharedFlow
import kotlinx.coroutines.flow.SharedFlow
-import kotlinx.coroutines.newCoroutineContext
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import space.kscience.controls.api.*
@@ -69,8 +66,28 @@ public abstract class DeviceBase<D : Device>(
override val actionDescriptors: Collection<ActionDescriptor>
get() = actions.values.map { it.descriptor }
+
+ private val sharedMessageFlow: MutableSharedFlow<DeviceMessage> = MutableSharedFlow(
+ replay = meta["message.buffer"].int ?: 1000,
+ onBufferOverflow = BufferOverflow.DROP_OLDEST
+ )
+
override val coroutineContext: CoroutineContext by lazy {
- context.newCoroutineContext(SupervisorJob(context.coroutineContext[Job]) + CoroutineName("Device $this"))
+ context.newCoroutineContext(
+ SupervisorJob(context.coroutineContext[Job]) +
+ CoroutineName("Device $this") +
+ CoroutineExceptionHandler { _, throwable ->
+ launch {
+ sharedMessageFlow.emit(
+ DeviceErrorMessage(
+ errorMessage = throwable.message,
+ errorType = throwable::class.simpleName,
+ errorStackTrace = throwable.stackTraceToString()
+ )
+ )
+ }
+ }
+ )
}
@@ -79,11 +96,6 @@ public abstract class DeviceBase<D : Device>(
*/
private val logicalState: HashMap<String, Meta?> = HashMap()
- private val sharedMessageFlow: MutableSharedFlow<DeviceMessage> = MutableSharedFlow(
- replay = meta["message.buffer"].int ?: 1000,
- onBufferOverflow = BufferOverflow.DROP_OLDEST
- )
-
public override val messageFlow: SharedFlow<DeviceMessage> get() = sharedMessageFlow
@Suppress("UNCHECKED_CAST")
@@ -180,18 +192,30 @@ public abstract class DeviceBase<D : Device>(
override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.INIT
protected set
- @OptIn(DFExperimental::class)
- override suspend fun open() {
- super.open()
- lifecycleState = DeviceLifecycleState.OPEN
+ protected open suspend fun onStart() {
+
}
@OptIn(DFExperimental::class)
- override fun close() {
- lifecycleState = DeviceLifecycleState.CLOSED
- super.close()
+ final override suspend fun start() {
+ super.start()
+ lifecycleState = DeviceLifecycleState.INIT
+ onStart()
+ lifecycleState = DeviceLifecycleState.OPEN
}
+ protected open fun onStop() {
+
+ }
+
+ @OptIn(DFExperimental::class)
+ final override fun stop() {
+ onStop()
+ lifecycleState = DeviceLifecycleState.CLOSED
+ super.stop()
+ }
+
+
abstract override fun toString(): String
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBySpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBySpec.kt
index 9309224..31f4c09 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBySpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBySpec.kt
@@ -16,15 +16,14 @@ public open class DeviceBySpec<D : Device>(
override val properties: Map<String, DevicePropertySpec<D, *>> get() = spec.properties
override val actions: Map<String, DeviceActionSpec<D, *, *>> get() = spec.actions
- override suspend fun open(): Unit = with(spec) {
- super.open()
+ override suspend fun onStart(): Unit = with(spec) {
self.onOpen()
}
- override fun close(): Unit = with(spec) {
+ override fun onStop(): Unit = with(spec){
self.onClose()
- super.close()
}
+
override fun toString(): String = "Device(spec=$spec)"
}
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
index 7f3aa06..c42a23e 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
@@ -20,7 +20,7 @@ public annotation class InternalDeviceAPI
/**
* Specification for a device read-only property
*/
-public interface DevicePropertySpec<in D : Device, T> {
+public interface DevicePropertySpec<in D, T> {
/**
* Property descriptor
*/
@@ -53,7 +53,7 @@ public interface WritableDevicePropertySpec<in D : Device, T> : DevicePropertySp
}
-public interface DeviceActionSpec<in D : Device, I, O> {
+public interface DeviceActionSpec<in D, I, O> {
/**
* Action descriptor
*/
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
index 0376635..14966ca 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
@@ -53,7 +53,7 @@ public abstract class DeviceSpec<D : Device> {
val deviceProperty = object : DevicePropertySpec<D, T> {
override val descriptor: PropertyDescriptor = PropertyDescriptor(property.name).apply {
//TODO add type from converter
- writable = true
+ mutable = true
}.apply(descriptorBuilder)
override val converter: MetaConverter<T> = converter
@@ -78,7 +78,7 @@ public abstract class DeviceSpec<D : Device> {
override val descriptor: PropertyDescriptor = PropertyDescriptor(property.name).apply {
//TODO add the type from converter
- writable = true
+ mutable = true
}.apply(descriptorBuilder)
override val converter: MetaConverter<T> = converter
@@ -127,7 +127,7 @@ public abstract class DeviceSpec<D : Device> {
PropertyDelegateProvider { _: DeviceSpec<D>, property: KProperty<*> ->
val propertyName = name ?: property.name
val deviceProperty = object : WritableDevicePropertySpec<D, T> {
- override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName, writable = true)
+ override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName, mutable = true)
.apply(descriptorBuilder)
override val converter: MetaConverter<T> = converter
@@ -224,7 +224,7 @@ public fun <T, D : DeviceBase<D>> DeviceSpec<D>.logicalProperty(
val propertyName = name ?: property.name
override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName).apply {
//TODO add type from converter
- writable = true
+ mutable = true
}.apply(descriptorBuilder)
override val converter: MetaConverter<T> = converter
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceTree.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceTree.kt
new file mode 100644
index 0000000..f100af6
--- /dev/null
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceTree.kt
@@ -0,0 +1,36 @@
+package space.kscience.controls.spec
+
+import space.kscience.controls.api.Device
+import space.kscience.controls.api.DeviceHub
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.dataforge.context.Factory
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.get
+import space.kscience.dataforge.names.NameToken
+import kotlin.collections.Map
+import kotlin.collections.component1
+import kotlin.collections.component2
+import kotlin.collections.mapValues
+import kotlin.collections.mutableMapOf
+import kotlin.collections.set
+
+
+public class DeviceTree(
+ public val deviceManager: DeviceManager,
+ public val meta: Meta,
+ builder: Builder,
+) : DeviceHub {
+ public class Builder(public val manager: DeviceManager) {
+ internal val childrenFactories = mutableMapOf<NameToken, Factory<Device>>()
+
+ public fun <D : Device> device(name: String, factory: Factory<Device>) {
+ childrenFactories[NameToken.parse(name)] = factory
+ }
+ }
+
+ override val devices: Map<NameToken, Device> = builder.childrenFactories.mapValues { (token, factory) ->
+ val devicesMeta = meta["devices"]
+ factory.build(deviceManager.context, devicesMeta?.get(token) ?: Meta.EMPTY)
+ }
+
+}
\ No newline at end of file
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
index 32adfb3..b4fae90 100644
--- a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
+++ b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
@@ -237,7 +237,7 @@ public fun <D : Device> D.bindProcessImage(
image.setLocked(true)
if (openOnBind) {
launch {
- open()
+ start()
}
}
return image
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
index 48f48a4..995e0df 100644
--- a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
+++ b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
@@ -20,16 +20,14 @@ public open class ModbusDeviceBySpec<D: Device>(
private val disposeMasterOnClose: Boolean = true,
meta: Meta = Meta.EMPTY,
) : ModbusDevice, DeviceBySpec<D>(spec, context, meta){
- override suspend fun open() {
+ override suspend fun onStart() {
master.connect()
- super<DeviceBySpec>.open()
}
- override fun close() {
+ override fun onStop() {
if(disposeMasterOnClose){
master.disconnect()
}
- super<ModbusDevice>.close()
}
}
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDeviceBySpec.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDeviceBySpec.kt
index eb9b688..188760e 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDeviceBySpec.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDeviceBySpec.kt
@@ -63,8 +63,7 @@ public open class OpcUaDeviceBySpec<D : Device>(
}
}
- override fun close() {
+ override fun onStop() {
client.disconnect()
- super<DeviceBySpec>.close()
}
}
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
index 010c2c0..a05a81d 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
@@ -73,11 +73,11 @@ public class DeviceNameSpace(
//for now, use DF paths as ids
nodeId = newNodeId("${deviceName.tokens.joinToString("/")}/$propertyName")
when {
- descriptor.readable && descriptor.writable -> {
+ descriptor.readable && descriptor.mutable -> {
setAccessLevel(AccessLevel.READ_WRITE)
setUserAccessLevel(AccessLevel.READ_WRITE)
}
- descriptor.writable -> {
+ descriptor.mutable -> {
setAccessLevel(AccessLevel.WRITE_ONLY)
setUserAccessLevel(AccessLevel.WRITE_ONLY)
}
diff --git a/controls-opcua/src/test/kotlin/space/kscience/controls/opcua/client/OpcUaClientTest.kt b/controls-opcua/src/test/kotlin/space/kscience/controls/opcua/client/OpcUaClientTest.kt
index eedafe7..8537449 100644
--- a/controls-opcua/src/test/kotlin/space/kscience/controls/opcua/client/OpcUaClientTest.kt
+++ b/controls-opcua/src/test/kotlin/space/kscience/controls/opcua/client/OpcUaClientTest.kt
@@ -40,9 +40,10 @@ class OpcUaClientTest {
@Test
@Ignore
fun testReadDouble() = runTest {
- DemoOpcUaDevice.build().use{
- println(it.read(DemoOpcUaDevice.randomDouble))
- }
+ val device = DemoOpcUaDevice.build()
+ device.start()
+ println(device.read(DemoOpcUaDevice.randomDouble))
+ device.stop()
}
}
\ No newline at end of file
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
index 94815fa..8edd90e 100644
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
+++ b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
@@ -78,7 +78,7 @@ class DemoController : Controller(), ContextAware {
logger.info { "Visualization server stopped" }
magixServer?.stop(1000, 5000)
logger.info { "Magix server stopped" }
- device?.close()
+ device?.stop()
logger.info { "Device server stopped" }
context.close()
}
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
index dd65b78..4f902c0 100644
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
+++ b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
@@ -44,7 +44,7 @@ class DemoDevice(context: Context, meta: Meta) : DeviceBySpec<IDemoDevice>(Compa
metaDescriptor {
type(ValueType.NUMBER)
}
- info = "Real to virtual time scale"
+ description = "Real to virtual time scale"
}
val sinScale by mutableProperty(MetaConverter.double, IDemoDevice::sinScaleState)
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/MagixVirtualCar.kt b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/MagixVirtualCar.kt
index 03c781b..2c5d65a 100644
--- a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/MagixVirtualCar.kt
+++ b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/MagixVirtualCar.kt
@@ -14,7 +14,6 @@ import space.kscience.dataforge.names.Name
import space.kscience.magix.api.MagixEndpoint
import space.kscience.magix.api.subscribe
import space.kscience.magix.rsocket.rSocketWithWebSockets
-import kotlin.time.ExperimentalTime
class MagixVirtualCar(context: Context, meta: Meta) : VirtualCar(context, meta) {
@@ -31,17 +30,13 @@ class MagixVirtualCar(context: Context, meta: Meta) : VirtualCar(context, meta)
}
- @OptIn(ExperimentalTime::class)
- override suspend fun open() {
- super.open()
+ override suspend fun onStart() {
val magixEndpoint = MagixEndpoint.rSocketWithWebSockets(
meta["magixServerHost"].string ?: "localhost",
)
- launch {
- magixEndpoint.launchMagixVirtualCarUpdate()
- }
+ magixEndpoint.launchMagixVirtualCarUpdate()
}
companion object : Factory<MagixVirtualCar> {
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
index 1f1dc69..2ba0fdb 100644
--- a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
+++ b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
@@ -100,8 +100,7 @@ open class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(I
}
@OptIn(ExperimentalTime::class)
- override suspend fun open() {
- super<DeviceBySpec>.open()
+ override suspend fun onStart() {
//initializing the clock
timeState = Clock.System.now()
//starting regular updates
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt
index 7a170ac..3a63003 100644
--- a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt
+++ b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt
@@ -71,9 +71,9 @@ class VirtualCarController : Controller(), ContextAware {
logger.info { "Shutting down..." }
magixServer?.stop(1000, 5000)
logger.info { "Magix server stopped" }
- magixVirtualCar?.close()
+ magixVirtualCar?.stop()
logger.info { "Magix virtual car server stopped" }
- virtualCar?.close()
+ virtualCar?.stop()
logger.info { "Virtual car server stopped" }
context.close()
}
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
index 54573e4..18e5838 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
@@ -138,7 +138,7 @@ class PiMotionMasterDevice(
override fun build(context: Context, meta: Meta): PiMotionMasterDevice = PiMotionMasterDevice(context)
val connected by booleanProperty(descriptorBuilder = {
- info = "True if the connection address is defined and the device is initialized"
+ description = "True if the connection address is defined and the device is initialized"
}) {
port != null
}
@@ -201,7 +201,7 @@ class PiMotionMasterDevice(
val timeout by mutableProperty(MetaConverter.duration, PiMotionMasterDevice::timeoutValue) {
- info = "Timeout"
+ description = "Timeout"
}
}
@@ -267,7 +267,7 @@ class PiMotionMasterDevice(
)
val enabled by axisBooleanProperty("EAX") {
- info = "Motor enable state."
+ description = "Motor enable state."
}
val halt by unitAction {
@@ -275,20 +275,20 @@ class PiMotionMasterDevice(
}
val targetPosition by axisNumberProperty("MOV") {
- info = """
+ description = """
Sets a new absolute target position for the specified axis.
Servo mode must be switched on for the commanded axis prior to using this command (closed-loop operation).
""".trimIndent()
}
val onTarget by booleanProperty({
- info = "Queries the on-target state of the specified axis."
+ description = "Queries the on-target state of the specified axis."
}) {
readAxisBoolean("ONT?")
}
val reference by booleanProperty({
- info = "Get Referencing Result"
+ description = "Get Referencing Result"
}) {
readAxisBoolean("FRF?")
}
@@ -298,36 +298,36 @@ class PiMotionMasterDevice(
}
val minPosition by doubleProperty({
- info = "Minimal position value for the axis"
+ description = "Minimal position value for the axis"
}) {
mm.requestAndParse("TMN?", axisId)[axisId]?.toDoubleOrNull()
?: error("Malformed `TMN?` response. Should include float value for $axisId")
}
val maxPosition by doubleProperty({
- info = "Maximal position value for the axis"
+ description = "Maximal position value for the axis"
}) {
mm.requestAndParse("TMX?", axisId)[axisId]?.toDoubleOrNull()
?: error("Malformed `TMX?` response. Should include float value for $axisId")
}
val position by doubleProperty({
- info = "The current axis position."
+ description = "The current axis position."
}) {
mm.requestAndParse("POS?", axisId)[axisId]?.toDoubleOrNull()
?: error("Malformed `POS?` response. Should include float value for $axisId")
}
val openLoopTarget by axisNumberProperty("OMA") {
- info = "Position for open-loop operation."
+ description = "Position for open-loop operation."
}
val closedLoop by axisBooleanProperty("SVO") {
- info = "Servo closed loop mode"
+ description = "Servo closed loop mode"
}
val velocity by axisNumberProperty("VEL") {
- info = "Velocity value for closed-loop operation"
+ description = "Velocity value for closed-loop operation"
}
val move by action(MetaConverter.meta, MetaConverter.unit) {
diff --git a/gradle.properties b/gradle.properties
index c7e0d88..62d03f6 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -10,4 +10,4 @@ publishing.sonatype=false
org.gradle.configureondemand=true
org.gradle.jvmargs=-Xmx4096m
-toolsVersion=0.15.0-kotlin-1.9.20-RC
\ No newline at end of file
+toolsVersion=0.15.0-kotlin-1.9.20-RC2
\ No newline at end of file
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 20ac44e..0f53909 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -50,6 +50,7 @@ include(
// ":controls-mongo",
":controls-storage",
":controls-storage:controls-xodus",
+ ":controls-constructor",
":magix",
":magix:magix-api",
":magix:magix-server",
From 4f028ccee803207ce1db009062ea11a9a6e4bb3e Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Fri, 27 Oct 2023 10:57:46 +0300
Subject: [PATCH 018/125] Lifecycle change
---
.../controls/constructor/PidRegulator.kt | 237 +++++++++++-------
.../constructor/{Drive.kt => Regulator.kt} | 14 +-
.../space/kscience/controls/api/Device.kt | 16 +-
.../kscience/controls/spec/DeviceBase.kt | 16 +-
.../kscience/controls/client/DeviceClient.kt | 2 +-
5 files changed, 171 insertions(+), 114 deletions(-)
rename controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/{Drive.kt => Regulator.kt} (65%)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
index 8dbe6ba..cd38c93 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
@@ -8,110 +8,56 @@ import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import kotlinx.datetime.Clock
import kotlinx.datetime.Instant
-import space.kscience.controls.api.Device
+import space.kscience.controls.api.DeviceLifecycleState
import space.kscience.controls.spec.DeviceBySpec
-import space.kscience.controls.spec.DeviceSpec
-import space.kscience.controls.spec.doubleProperty
-import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.context.Factory
-import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.double
-import space.kscience.dataforge.meta.get
-import space.kscience.dataforge.meta.transformations.MetaConverter
-import kotlin.math.pow
import kotlin.time.Duration
import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.DurationUnit
-
-interface PidRegulator : Device {
- /**
- * Proportional coefficient
- */
- val kp: Double
-
- /**
- * Integral coefficient
- */
- val ki: Double
-
- /**
- * Differential coefficient
- */
- val kd: Double
-
- /**
- * The target value for PID
- */
- var target: Double
-
- /**
- * Read current value
- */
- suspend fun read(): Double
-
- companion object : DeviceSpec<PidRegulator>() {
- val target by property(MetaConverter.double, PidRegulator::target)
- val value by doubleProperty { read() }
- }
-}
-
/**
- *
+ * PID controller on top of a [Regulator]
*/
-class VirtualPid(
- context: Context,
- override val kp: Double,
- override val ki: Double,
- override val kd: Double,
- val mass: Double,
- override var target: Double = 0.0,
+public class PidRegulator(
+ public val regulator: Regulator,
+ public val kp: Double,
+ public val ki: Double,
+ public val kd: Double,
private val dt: Duration = 0.5.milliseconds,
private val clock: Clock = Clock.System,
-) : DeviceBySpec<PidRegulator>(PidRegulator, context), PidRegulator {
-
- private val mutex = Mutex()
+) : DeviceBySpec<Regulator>(Regulator, regulator.context), Regulator {
+ override var target: Double = regulator.target
private var lastTime: Instant = clock.now()
- private var lastValue: Double = target
+ private var lastRegulatorTarget: Double = target
- private var value: Double = target
- private var velocity: Double = 0.0
- private var acceleration: Double = 0.0
private var integral: Double = 0.0
private var updateJob: Job? = null
+ private val mutex = Mutex()
+
override suspend fun onStart() {
+ if(regulator.lifecycleState == DeviceLifecycleState.STOPPED){
+ regulator.start()
+ }
+ regulator.start()
updateJob = launch {
while (isActive) {
delay(dt)
mutex.withLock {
val realTime = clock.now()
- val delta = target - value
+ val delta = target - position
val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
integral += delta * dtSeconds
- val derivative = (value - lastValue) / dtSeconds
+ val derivative = (regulator.target - lastRegulatorTarget) / dtSeconds
//set last time and value to new values
lastTime = realTime
- lastValue = value
+ lastRegulatorTarget = regulator.target
- // compute new value based on velocity and acceleration from the previous step
- value += velocity * dtSeconds + acceleration * dtSeconds.pow(2) / 2
-
- // compute new velocity based on acceleration on the previous step
- velocity += acceleration * dtSeconds
-
- //compute force for the next step based on current values
- acceleration = (kp * delta + ki * integral + kd * derivative) / mass
-
-
- check(value.isFinite() && velocity.isFinite()) {
- "Value $value is not finite"
- }
+ regulator.target = regulator.position + kp * delta + ki * integral + kd * derivative
}
}
}
@@ -119,28 +65,131 @@ class VirtualPid(
override fun onStop() {
updateJob?.cancel()
- super<PidRegulator>.stop()
}
- override suspend fun read(): Double = value
+ override val position: Double get() = regulator.position
- suspend fun readVelocity(): Double = velocity
+}
- suspend fun readAcceleration(): Double = acceleration
- suspend fun write(newTarget: Double) = mutex.withLock {
- require(newTarget.isFinite()) { "Value $newTarget is not valid" }
- target = newTarget
- }
-
- companion object : Factory<Device> {
- override fun build(context: Context, meta: Meta) = VirtualPid(
- context,
- meta["kp"].double ?: error("Kp is not defined"),
- meta["ki"].double ?: error("Ki is not defined"),
- meta["kd"].double ?: error("Kd is not defined"),
- meta["m"].double ?: error("Mass is not defined"),
- )
-
- }
-}
\ No newline at end of file
+//
+//interface PidRegulator : Device {
+// /**
+// * Proportional coefficient
+// */
+// val kp: Double
+//
+// /**
+// * Integral coefficient
+// */
+// val ki: Double
+//
+// /**
+// * Differential coefficient
+// */
+// val kd: Double
+//
+// /**
+// * The target value for PID
+// */
+// var target: Double
+//
+// /**
+// * Read current value
+// */
+// suspend fun read(): Double
+//
+// companion object : DeviceSpec<PidRegulator>() {
+// val target by property(MetaConverter.double, PidRegulator::target)
+// val value by doubleProperty { read() }
+// }
+//}
+//
+///**
+// *
+// */
+//class VirtualPid(
+// context: Context,
+// override val kp: Double,
+// override val ki: Double,
+// override val kd: Double,
+// val mass: Double,
+// override var target: Double = 0.0,
+// private val dt: Duration = 0.5.milliseconds,
+// private val clock: Clock = Clock.System,
+//) : DeviceBySpec<PidRegulator>(PidRegulator, context), PidRegulator {
+//
+// private val mutex = Mutex()
+//
+//
+// private var lastTime: Instant = clock.now()
+// private var lastValue: Double = target
+//
+// private var value: Double = target
+// private var velocity: Double = 0.0
+// private var acceleration: Double = 0.0
+// private var integral: Double = 0.0
+//
+//
+// private var updateJob: Job? = null
+//
+// override suspend fun onStart() {
+// updateJob = launch {
+// while (isActive) {
+// delay(dt)
+// mutex.withLock {
+// val realTime = clock.now()
+// val delta = target - value
+// val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
+// integral += delta * dtSeconds
+// val derivative = (value - lastValue) / dtSeconds
+//
+// //set last time and value to new values
+// lastTime = realTime
+// lastValue = value
+//
+// // compute new value based on velocity and acceleration from the previous step
+// value += velocity * dtSeconds + acceleration * dtSeconds.pow(2) / 2
+//
+// // compute new velocity based on acceleration on the previous step
+// velocity += acceleration * dtSeconds
+//
+// //compute force for the next step based on current values
+// acceleration = (kp * delta + ki * integral + kd * derivative) / mass
+//
+//
+// check(value.isFinite() && velocity.isFinite()) {
+// "Value $value is not finite"
+// }
+// }
+// }
+// }
+// }
+//
+// override fun onStop() {
+// updateJob?.cancel()
+// super<PidRegulator>.stop()
+// }
+//
+// override suspend fun read(): Double = value
+//
+// suspend fun readVelocity(): Double = velocity
+//
+// suspend fun readAcceleration(): Double = acceleration
+//
+// suspend fun write(newTarget: Double) = mutex.withLock {
+// require(newTarget.isFinite()) { "Value $newTarget is not valid" }
+// target = newTarget
+// }
+//
+// companion object : Factory<Device> {
+// override fun build(context: Context, meta: Meta) = VirtualPid(
+// context,
+// meta["kp"].double ?: error("Kp is not defined"),
+// meta["ki"].double ?: error("Ki is not defined"),
+// meta["kd"].double ?: error("Kd is not defined"),
+// meta["m"].double ?: error("Mass is not defined"),
+// )
+//
+// }
+//}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
similarity index 65%
rename from controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
rename to controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
index ede628a..2db263d 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
@@ -13,7 +13,7 @@ import space.kscience.dataforge.meta.transformations.MetaConverter
/**
* A single axis drive
*/
-public interface Drive : Device {
+public interface Regulator : Device {
/**
* Get or set target value
*/
@@ -24,21 +24,21 @@ public interface Drive : Device {
*/
public val position: Double
- public companion object : DeviceSpec<Drive>() {
- public val target: DevicePropertySpec<Drive, Double> by property(MetaConverter.double, Drive::target)
+ public companion object : DeviceSpec<Regulator>() {
+ public val target: DevicePropertySpec<Regulator, Double> by property(MetaConverter.double, Regulator::target)
- public val position: DevicePropertySpec<Drive, Double> by doubleProperty { position }
+ public val position: DevicePropertySpec<Regulator, Double> by doubleProperty { position }
}
}
/**
- * Virtual [Drive] with speed limit
+ * Virtual [Regulator] with speed limit
*/
-public class VirtualDrive(
+public class VirtualRegulator(
context: Context,
value: Double,
private val speed: Double,
-) : DeviceBySpec<Drive>(Drive, context), Drive {
+) : DeviceBySpec<Regulator>(Regulator, context), Regulator {
private var moveJob: Job? = null
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
index dad1d90..a0268c2 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
@@ -19,21 +19,22 @@ import space.kscience.dataforge.names.Name
/**
* A lifecycle state of a device
*/
-public enum class DeviceLifecycleState{
+public enum class DeviceLifecycleState {
+
/**
* Device is initializing
- */
- INIT,
+ */
+ STARTING,
/**
* The Device is initialized and running
*/
- OPEN,
+ STARTED,
/**
* The Device is closed
*/
- CLOSED
+ STOPPED
}
/**
@@ -136,5 +137,8 @@ public fun Device.getAllProperties(): Meta = Meta {
/**
* Subscribe on property changes for the whole device
*/
-public fun Device.onPropertyChange(scope: CoroutineScope = this, callback: suspend PropertyChangedMessage.() -> Unit): Job =
+public fun Device.onPropertyChange(
+ scope: CoroutineScope = this,
+ callback: suspend PropertyChangedMessage.() -> Unit,
+): Job =
messageFlow.filterIsInstance<PropertyChangedMessage>().onEach(callback).launchIn(scope)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index b1544e0..3b6bce0 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -189,7 +189,7 @@ public abstract class DeviceBase<D : Device>(
}
@DFExperimental
- override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.INIT
+ override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
protected set
protected open suspend fun onStart() {
@@ -198,10 +198,14 @@ public abstract class DeviceBase<D : Device>(
@OptIn(DFExperimental::class)
final override suspend fun start() {
- super.start()
- lifecycleState = DeviceLifecycleState.INIT
- onStart()
- lifecycleState = DeviceLifecycleState.OPEN
+ if(lifecycleState == DeviceLifecycleState.STOPPED) {
+ super.start()
+ lifecycleState = DeviceLifecycleState.STARTING
+ onStart()
+ lifecycleState = DeviceLifecycleState.STARTED
+ } else {
+ logger.debug { "Device $this is already started" }
+ }
}
protected open fun onStop() {
@@ -211,7 +215,7 @@ public abstract class DeviceBase<D : Device>(
@OptIn(DFExperimental::class)
final override fun stop() {
onStop()
- lifecycleState = DeviceLifecycleState.CLOSED
+ lifecycleState = DeviceLifecycleState.STOPPED
super.stop()
}
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
index 64e8a9e..2fcecff 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
@@ -99,7 +99,7 @@ public class DeviceClient(
}
@DFExperimental
- override val lifecycleState: DeviceLifecycleState = DeviceLifecycleState.OPEN
+ override val lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STARTED
}
/**
From 1fcdbdc9f4f174c8075b149f6b85c0e094c635de Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sat, 28 Oct 2023 14:18:00 +0300
Subject: [PATCH 019/125] Update constructor
---
CHANGELOG.md | 2 +
controls-constructor/build.gradle.kts | 2 +-
.../controls/constructor/DeviceState.kt | 25 +++
.../controls/constructor}/DeviceTree.kt | 5 +-
.../kscience/controls/constructor/Drive.kt | 91 +++++++++++
.../controls/constructor/LimitSwitch.kt | 2 +-
.../controls/constructor/PidRegulator.kt | 153 ++----------------
.../controls/constructor/Regulator.kt | 26 +--
.../space/kscience/controls/api/Device.kt | 12 +-
.../kscience/controls/api/DeviceMessage.kt | 17 +-
.../controls/manager/respondMessage.kt | 3 +-
.../kscience/controls/spec/DeviceBase.kt | 13 +-
controls-vision/build.gradle.kts | 20 +++
settings.gradle.kts | 1 +
14 files changed, 196 insertions(+), 176 deletions(-)
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
rename {controls-core/src/commonMain/kotlin/space/kscience/controls/spec => controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor}/DeviceTree.kt (88%)
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
create mode 100644 controls-vision/build.gradle.kts
diff --git a/CHANGELOG.md b/CHANGELOG.md
index b7673a4..4f3b5a9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -3,6 +3,8 @@
## Unreleased
### Added
+- Device lifecycle message
+- Low-code constructor
### Changed
diff --git a/controls-constructor/build.gradle.kts b/controls-constructor/build.gradle.kts
index 5815444..e62dd8e 100644
--- a/controls-constructor/build.gradle.kts
+++ b/controls-constructor/build.gradle.kts
@@ -4,7 +4,7 @@ plugins {
}
description = """
- A low-code constructor foe composite devices simulation
+ A low-code constructor for composite devices simulation
""".trimIndent()
kscience{
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
new file mode 100644
index 0000000..2e6461f
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -0,0 +1,25 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.flow.Flow
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.transformations.MetaConverter
+
+/**
+ * An observable state of a device
+ */
+public interface DeviceState<T> {
+ public val converter: MetaConverter<T>
+ public val value: T
+
+ public val valueFlow: Flow<T>
+
+ public val metaFlow: Flow<Meta>
+}
+
+
+/**
+ * A mutable state of a device
+ */
+public interface MutableDeviceState<T> : DeviceState<T>{
+ override var value: T
+}
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceTree.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceTree.kt
similarity index 88%
rename from controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceTree.kt
rename to controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceTree.kt
index f100af6..8d971bb 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceTree.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceTree.kt
@@ -1,4 +1,4 @@
-package space.kscience.controls.spec
+package space.kscience.controls.constructor
import space.kscience.controls.api.Device
import space.kscience.controls.api.DeviceHub
@@ -7,11 +7,8 @@ import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.get
import space.kscience.dataforge.names.NameToken
-import kotlin.collections.Map
import kotlin.collections.component1
import kotlin.collections.component2
-import kotlin.collections.mapValues
-import kotlin.collections.mutableMapOf
import kotlin.collections.set
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
new file mode 100644
index 0000000..6ac5a07
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
@@ -0,0 +1,91 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import kotlinx.datetime.Clock
+import space.kscience.controls.api.Device
+import space.kscience.controls.spec.DeviceBySpec
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.DeviceSpec
+import space.kscience.controls.spec.doubleProperty
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.double
+import space.kscience.dataforge.meta.get
+import space.kscience.dataforge.meta.transformations.MetaConverter
+import kotlin.math.pow
+import kotlin.time.Duration.Companion.milliseconds
+import kotlin.time.DurationUnit
+
+/**
+ * A classic drive regulated by force with encoder
+ */
+public interface Drive : Device {
+ /**
+ * Get or set drive force or momentum
+ */
+ public var force: Double
+
+ /**
+ * Current position value
+ */
+ public val position: Double
+
+ public companion object : DeviceSpec<Drive>() {
+ public val force: DevicePropertySpec<Drive, Double> by Drive.property(
+ MetaConverter.double,
+ Drive::force
+ )
+
+ public val position: DevicePropertySpec<Drive, Double> by doubleProperty { position }
+ }
+}
+
+/**
+ * A virtual drive
+ */
+public class VirtualDrive(
+ context: Context,
+ private val mass: Double,
+ position: Double,
+) : Drive, DeviceBySpec<Drive>(Drive, context) {
+
+ private val dt = meta["time.step"].double?.milliseconds ?: 5.milliseconds
+ private val clock = Clock.System
+
+ override var force: Double = 0.0
+
+ override var position: Double = position
+ private set
+
+ public var velocity: Double = 0.0
+ private set
+
+ private var updateJob: Job? = null
+
+ override suspend fun onStart() {
+ updateJob = launch {
+ var lastTime = clock.now()
+ while (isActive) {
+ delay(dt)
+ val realTime = clock.now()
+ val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
+
+ //set last time and value to new values
+ lastTime = realTime
+
+ // compute new value based on velocity and acceleration from the previous step
+ position += velocity * dtSeconds + force/mass * dtSeconds.pow(2) / 2
+
+ // compute new velocity based on acceleration on the previous step
+ velocity += force/mass * dtSeconds
+ }
+ }
+ }
+
+ override fun onStop() {
+ updateJob?.cancel()
+ }
+}
+
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
index 6e82064..dd0dfed 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
@@ -1,4 +1,4 @@
-package center.sciprog.controls.devices.misc
+package space.kscience.controls.constructor
import space.kscience.controls.api.Device
import space.kscience.controls.spec.DeviceBySpec
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
index cd38c93..4a4d0f3 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
@@ -1,4 +1,4 @@
-package center.sciprog.controls.devices.misc
+package space.kscience.controls.constructor
import kotlinx.coroutines.Job
import kotlinx.coroutines.delay
@@ -8,28 +8,27 @@ import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import kotlinx.datetime.Clock
import kotlinx.datetime.Instant
-import space.kscience.controls.api.DeviceLifecycleState
import space.kscience.controls.spec.DeviceBySpec
import kotlin.time.Duration
import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.DurationUnit
/**
- * PID controller on top of a [Regulator]
+ * A drive with PID regulator
*/
public class PidRegulator(
- public val regulator: Regulator,
+ public val drive: Drive,
public val kp: Double,
public val ki: Double,
public val kd: Double,
- private val dt: Duration = 0.5.milliseconds,
+ private val dt: Duration = 1.milliseconds,
private val clock: Clock = Clock.System,
-) : DeviceBySpec<Regulator>(Regulator, regulator.context), Regulator {
+) : DeviceBySpec<Regulator>(Regulator, drive.context), Regulator {
- override var target: Double = regulator.target
+ override var target: Double = drive.position
private var lastTime: Instant = clock.now()
- private var lastRegulatorTarget: Double = target
+ private var lastPosition: Double = target
private var integral: Double = 0.0
@@ -39,10 +38,7 @@ public class PidRegulator(
override suspend fun onStart() {
- if(regulator.lifecycleState == DeviceLifecycleState.STOPPED){
- regulator.start()
- }
- regulator.start()
+ drive.start()
updateJob = launch {
while (isActive) {
delay(dt)
@@ -51,13 +47,13 @@ public class PidRegulator(
val delta = target - position
val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
integral += delta * dtSeconds
- val derivative = (regulator.target - lastRegulatorTarget) / dtSeconds
+ val derivative = (drive.position - lastPosition) / dtSeconds
//set last time and value to new values
lastTime = realTime
- lastRegulatorTarget = regulator.target
+ lastPosition = drive.position
- regulator.target = regulator.position + kp * delta + ki * integral + kd * derivative
+ drive.force = kp * delta + ki * integral + kd * derivative
}
}
}
@@ -67,129 +63,6 @@ public class PidRegulator(
updateJob?.cancel()
}
- override val position: Double get() = regulator.position
+ override val position: Double get() = drive.position
-}
-
-
-//
-//interface PidRegulator : Device {
-// /**
-// * Proportional coefficient
-// */
-// val kp: Double
-//
-// /**
-// * Integral coefficient
-// */
-// val ki: Double
-//
-// /**
-// * Differential coefficient
-// */
-// val kd: Double
-//
-// /**
-// * The target value for PID
-// */
-// var target: Double
-//
-// /**
-// * Read current value
-// */
-// suspend fun read(): Double
-//
-// companion object : DeviceSpec<PidRegulator>() {
-// val target by property(MetaConverter.double, PidRegulator::target)
-// val value by doubleProperty { read() }
-// }
-//}
-//
-///**
-// *
-// */
-//class VirtualPid(
-// context: Context,
-// override val kp: Double,
-// override val ki: Double,
-// override val kd: Double,
-// val mass: Double,
-// override var target: Double = 0.0,
-// private val dt: Duration = 0.5.milliseconds,
-// private val clock: Clock = Clock.System,
-//) : DeviceBySpec<PidRegulator>(PidRegulator, context), PidRegulator {
-//
-// private val mutex = Mutex()
-//
-//
-// private var lastTime: Instant = clock.now()
-// private var lastValue: Double = target
-//
-// private var value: Double = target
-// private var velocity: Double = 0.0
-// private var acceleration: Double = 0.0
-// private var integral: Double = 0.0
-//
-//
-// private var updateJob: Job? = null
-//
-// override suspend fun onStart() {
-// updateJob = launch {
-// while (isActive) {
-// delay(dt)
-// mutex.withLock {
-// val realTime = clock.now()
-// val delta = target - value
-// val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
-// integral += delta * dtSeconds
-// val derivative = (value - lastValue) / dtSeconds
-//
-// //set last time and value to new values
-// lastTime = realTime
-// lastValue = value
-//
-// // compute new value based on velocity and acceleration from the previous step
-// value += velocity * dtSeconds + acceleration * dtSeconds.pow(2) / 2
-//
-// // compute new velocity based on acceleration on the previous step
-// velocity += acceleration * dtSeconds
-//
-// //compute force for the next step based on current values
-// acceleration = (kp * delta + ki * integral + kd * derivative) / mass
-//
-//
-// check(value.isFinite() && velocity.isFinite()) {
-// "Value $value is not finite"
-// }
-// }
-// }
-// }
-// }
-//
-// override fun onStop() {
-// updateJob?.cancel()
-// super<PidRegulator>.stop()
-// }
-//
-// override suspend fun read(): Double = value
-//
-// suspend fun readVelocity(): Double = velocity
-//
-// suspend fun readAcceleration(): Double = acceleration
-//
-// suspend fun write(newTarget: Double) = mutex.withLock {
-// require(newTarget.isFinite()) { "Value $newTarget is not valid" }
-// target = newTarget
-// }
-//
-// companion object : Factory<Device> {
-// override fun build(context: Context, meta: Meta) = VirtualPid(
-// context,
-// meta["kp"].double ?: error("Kp is not defined"),
-// meta["ki"].double ?: error("Ki is not defined"),
-// meta["kd"].double ?: error("Kd is not defined"),
-// meta["m"].double ?: error("Mass is not defined"),
-// )
-//
-// }
-//}
\ No newline at end of file
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
index 2db263d..fa43b57 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
@@ -1,17 +1,14 @@
-package center.sciprog.controls.devices.misc
+package space.kscience.controls.constructor
-import kotlinx.coroutines.Job
import space.kscience.controls.api.Device
-import space.kscience.controls.spec.DeviceBySpec
import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.DeviceSpec
import space.kscience.controls.spec.doubleProperty
-import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.transformations.MetaConverter
/**
- * A single axis drive
+ * A regulator with target value and current position
*/
public interface Regulator : Device {
/**
@@ -29,23 +26,4 @@ public interface Regulator : Device {
public val position: DevicePropertySpec<Regulator, Double> by doubleProperty { position }
}
-}
-
-/**
- * Virtual [Regulator] with speed limit
- */
-public class VirtualRegulator(
- context: Context,
- value: Double,
- private val speed: Double,
-) : DeviceBySpec<Regulator>(Regulator, context), Regulator {
-
- private var moveJob: Job? = null
-
- override var position: Double = value
- private set
-
- override var target: Double = value
-
-
}
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
index a0268c2..872a5e6 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
@@ -7,6 +7,7 @@ import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.filterIsInstance
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
+import kotlinx.serialization.Serializable
import space.kscience.controls.api.Device.Companion.DEVICE_TARGET
import space.kscience.dataforge.context.ContextAware
import space.kscience.dataforge.context.info
@@ -19,6 +20,7 @@ import space.kscience.dataforge.names.Name
/**
* A lifecycle state of a device
*/
+@Serializable
public enum class DeviceLifecycleState {
/**
@@ -34,7 +36,12 @@ public enum class DeviceLifecycleState {
/**
* The Device is closed
*/
- STOPPED
+ STOPPED,
+
+ /**
+ * The device encountered irrecoverable error
+ */
+ ERROR
}
/**
@@ -98,7 +105,8 @@ public interface Device : ContextAware, CoroutineScope {
public suspend fun execute(actionName: String, argument: Meta? = null): Meta?
/**
- * Initialize the device. This function suspends until the device is finished initialization
+ * Initialize the device. This function suspends until the device is finished initialization.
+ * Does nothing if the device is started or is starting
*/
public suspend fun start(): Unit = Unit
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
index c59e4c3..32df1bb 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
@@ -1,4 +1,4 @@
-@file:OptIn(ExperimentalSerializationApi::class)
+@file:OptIn(ExperimentalSerializationApi::class, ExperimentalSerializationApi::class)
package space.kscience.controls.api
@@ -228,6 +228,21 @@ public data class DeviceErrorMessage(
override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = block(sourceDevice))
}
+/**
+ * Device [Device.lifecycleState] is changed
+ */
+@Serializable
+@SerialName("lifecycle")
+public data class DeviceLifeCycleMessage(
+ val state: DeviceLifecycleState,
+ override val sourceDevice: Name = Name.EMPTY,
+ override val targetDevice: Name? = null,
+ override val comment: String? = null,
+ @EncodeDefault override val time: Instant? = Clock.System.now(),
+) : DeviceMessage() {
+ override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = block(sourceDevice))
+}
+
public fun DeviceMessage.toMeta(): Meta = Json.encodeToJsonElement(this).toMeta()
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
index 13d072c..d3abc03 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
@@ -64,6 +64,7 @@ public suspend fun Device.respondMessage(deviceTarget: Name, request: DeviceMess
is DeviceErrorMessage,
is EmptyDeviceMessage,
is DeviceLogMessage,
+ is DeviceLifeCycleMessage,
-> null
}
} catch (ex: Exception) {
@@ -87,7 +88,7 @@ public suspend fun DeviceHub.respondHubMessage(request: DeviceMessage): DeviceMe
* Collect all messages from given [DeviceHub], applying proper relative names.
*/
public fun DeviceHub.hubMessageFlow(scope: CoroutineScope): Flow<DeviceMessage> {
-
+
//TODO could we avoid using downstream scope?
val outbox = MutableSharedFlow<DeviceMessage>()
if (this is Device) {
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index 3b6bce0..da730f8 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -190,7 +190,16 @@ public abstract class DeviceBase<D : Device>(
@DFExperimental
override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
- protected set
+ protected set(value) {
+ if (field != value) {
+ launch {
+ sharedMessageFlow.emit(
+ DeviceLifeCycleMessage(value)
+ )
+ }
+ }
+ field = value
+ }
protected open suspend fun onStart() {
@@ -198,7 +207,7 @@ public abstract class DeviceBase<D : Device>(
@OptIn(DFExperimental::class)
final override suspend fun start() {
- if(lifecycleState == DeviceLifecycleState.STOPPED) {
+ if (lifecycleState == DeviceLifecycleState.STOPPED) {
super.start()
lifecycleState = DeviceLifecycleState.STARTING
onStart()
diff --git a/controls-vision/build.gradle.kts b/controls-vision/build.gradle.kts
new file mode 100644
index 0000000..0b3e9f1
--- /dev/null
+++ b/controls-vision/build.gradle.kts
@@ -0,0 +1,20 @@
+plugins {
+ id("space.kscience.gradle.mpp")
+ `maven-publish`
+}
+
+description = """
+ Dashboard and visualization extensions for devices
+""".trimIndent()
+
+kscience{
+ jvm()
+ js()
+ dependencies {
+ api(projects.controlsCore)
+ }
+}
+
+readme{
+ maturity = space.kscience.gradle.Maturity.PROTOTYPE
+}
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 0f53909..ee40d35 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -51,6 +51,7 @@ include(
":controls-storage",
":controls-storage:controls-xodus",
":controls-constructor",
+ ":controls-vision",
":magix",
":magix:magix-api",
":magix:magix-server",
From 1414cf5a2f074a941999a2f5989bc0551a413f32 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 30 Oct 2023 21:35:46 +0300
Subject: [PATCH 020/125] implement constructor
---
CHANGELOG.md | 1 +
.../controls/constructor/DeviceGroup.kt | 258 ++++++++++++++++++
.../controls/constructor/DeviceState.kt | 108 +++++++-
.../controls/constructor/DeviceTree.kt | 33 ---
.../kscience/controls/constructor/Drive.kt | 27 +-
.../controls/constructor/LimitSwitch.kt | 10 +-
.../controls/constructor/PidRegulator.kt | 31 ++-
.../controls/constructor/Regulator.kt | 3 +-
.../controls/constructor/customState.kt | 41 +++
.../space/kscience/controls/api/Device.kt | 52 ++--
.../kscience/controls/api/DeviceMessage.kt | 2 +-
.../kscience/controls/manager/ClockManager.kt | 25 ++
.../controls/manager/respondMessage.kt | 10 +-
.../kscience/controls/spec/DeviceBase.kt | 10 +-
.../controls/spec/DevicePropertySpec.kt | 18 +-
.../kscience/controls/spec/DeviceSpec.kt | 14 +-
.../controls/spec/propertySpecDelegates.kt | 10 +-
.../kscience/controls/client/DeviceClient.kt | 2 +-
.../kscience/controls/client/tangoMagix.kt | 6 +-
.../controls/modbus/DeviceProcessImage.kt | 19 +-
.../controls/opcua/server/DeviceNameSpace.kt | 15 +-
controls-vision/build.gradle.kts | 13 +-
.../controls/vision/plotExtensions.kt | 56 ++++
.../kscience/controls/demo/car/VirtualCar.kt | 8 +-
demo/constructor/build.gradle.kts | 20 ++
.../src/jsMain/kotlin/constructorJs.kt | 6 +
demo/constructor/src/jvmMain/kotlin/Main.kt | 103 +++++++
.../src/jvmMain/resources/logback.xml | 11 +
.../sciprog/devices/mks/MksPdr900Device.kt | 2 +-
.../pimotionmaster/fxDeviceProperties.kt | 4 +-
settings.gradle.kts | 3 +-
31 files changed, 770 insertions(+), 151 deletions(-)
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
delete mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceTree.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
create mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
create mode 100644 controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt
create mode 100644 demo/constructor/build.gradle.kts
create mode 100644 demo/constructor/src/jsMain/kotlin/constructorJs.kt
create mode 100644 demo/constructor/src/jvmMain/kotlin/Main.kt
create mode 100644 demo/constructor/src/jvmMain/resources/logback.xml
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4f3b5a9..4083a94 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,7 @@
- Low-code constructor
### Changed
+- Property caching moved from core `Device` to the `CachingDevice`
### Deprecated
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
new file mode 100644
index 0000000..f7bf494
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -0,0 +1,258 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.*
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.MutableSharedFlow
+import space.kscience.controls.api.*
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.controls.manager.install
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.Factory
+import space.kscience.dataforge.meta.Laminate
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.MutableMeta
+import space.kscience.dataforge.meta.get
+import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.misc.DFExperimental
+import space.kscience.dataforge.names.*
+import kotlin.collections.set
+import kotlin.coroutines.CoroutineContext
+
+
+/**
+ * A mutable group of devices and properties to be used for lightweight design and simulations.
+ */
+public class DeviceGroup(
+ public val deviceManager: DeviceManager,
+ override val meta: Meta,
+) : DeviceHub, CachingDevice {
+
+ internal class Property(
+ val state: DeviceState<out Any>,
+ val descriptor: PropertyDescriptor,
+ )
+
+ internal class Action(
+ val invoke: suspend (Meta?) -> Meta?,
+ val descriptor: ActionDescriptor,
+ )
+
+
+ override val context: Context get() = deviceManager.context
+
+ override val coroutineContext: CoroutineContext by lazy {
+ context.newCoroutineContext(
+ SupervisorJob(context.coroutineContext[Job]) +
+ CoroutineName("Device $this") +
+ CoroutineExceptionHandler { _, throwable ->
+ launch {
+ sharedMessageFlow.emit(
+ DeviceErrorMessage(
+ errorMessage = throwable.message,
+ errorType = throwable::class.simpleName,
+ errorStackTrace = throwable.stackTraceToString()
+ )
+ )
+ }
+ }
+ )
+ }
+
+ private val _devices = hashMapOf<NameToken, Device>()
+
+ override val devices: Map<NameToken, Device> = _devices
+
+ public fun <D : Device> device(token: NameToken, device: D): D {
+ check(_devices[token] == null) { "A child device with name $token already exists" }
+ _devices[token] = device
+ return device
+ }
+
+ private val properties: MutableMap<Name, Property> = hashMapOf()
+
+ public fun property(descriptor: PropertyDescriptor, state: DeviceState<out Any>) {
+ val name = descriptor.name.parseAsName()
+ require(properties[name] == null) { "Can't add property with name $name. It already exists." }
+ properties[name] = Property(state, descriptor)
+ }
+
+ private val actions: MutableMap<Name, Action> = hashMapOf()
+
+ override val propertyDescriptors: Collection<PropertyDescriptor>
+ get() = properties.values.map { it.descriptor }
+
+ override val actionDescriptors: Collection<ActionDescriptor>
+ get() = actions.values.map { it.descriptor }
+
+ override suspend fun readProperty(propertyName: String): Meta =
+ properties[propertyName.parseAsName()]?.state?.valueAsMeta
+ ?: error("Property with name $propertyName not found")
+
+ override fun getProperty(propertyName: String): Meta? = properties[propertyName.parseAsName()]?.state?.valueAsMeta
+
+ override suspend fun invalidate(propertyName: String) {
+ //does nothing for this implementation
+ }
+
+ override suspend fun writeProperty(propertyName: String, value: Meta) {
+ val property = (properties[propertyName.parseAsName()]?.state as? MutableDeviceState)
+ ?: error("Property with name $propertyName not found")
+ property.valueAsMeta = value
+ }
+
+ private val sharedMessageFlow = MutableSharedFlow<DeviceMessage>()
+
+ override val messageFlow: Flow<DeviceMessage>
+ get() = sharedMessageFlow
+
+ override suspend fun execute(actionName: String, argument: Meta?): Meta? {
+ val action = actions[actionName] ?: error("Action with name $actionName not found")
+ return action.invoke(argument)
+ }
+
+ @DFExperimental
+ override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
+ private set(value) {
+ if (field != value) {
+ launch {
+ sharedMessageFlow.emit(
+ DeviceLifeCycleMessage(value)
+ )
+ }
+ }
+ field = value
+ }
+
+
+ @OptIn(DFExperimental::class)
+ override suspend fun start() {
+ lifecycleState = DeviceLifecycleState.STARTING
+ super.start()
+ devices.values.forEach {
+ it.start()
+ }
+ lifecycleState = DeviceLifecycleState.STARTED
+ }
+
+ @OptIn(DFExperimental::class)
+ override fun stop() {
+ devices.values.forEach {
+ it.stop()
+ }
+ super.stop()
+ lifecycleState = DeviceLifecycleState.STOPPED
+ }
+
+ public companion object {
+
+ }
+}
+
+public fun DeviceManager.deviceGroup(
+ name: String = "@group",
+ meta: Meta = Meta.EMPTY,
+ block: DeviceGroup.() -> Unit,
+): DeviceGroup {
+ val group = DeviceGroup(this, meta).apply(block)
+ install(name, group)
+ return group
+}
+
+private fun DeviceGroup.getOrCreateGroup(name: Name): DeviceGroup {
+ return when (name.length) {
+ 0 -> this
+ 1 -> {
+ val token = name.first()
+ when (val d = devices[token]) {
+ null -> device(
+ token,
+ DeviceGroup(deviceManager, meta[token] ?: Meta.EMPTY)
+ )
+
+ else -> (d as? DeviceGroup) ?: error("Device $name is not a DeviceGroup")
+ }
+ }
+
+ else -> getOrCreateGroup(name.first().asName()).getOrCreateGroup(name.cutFirst())
+ }
+}
+
+/**
+ * Register a device at given [name] path
+ */
+public fun <D : Device> DeviceGroup.device(name: Name, device: D): D {
+ return when (name.length) {
+ 0 -> error("Can't use empty name for a child device")
+ 1 -> device(name.first(), device)
+ else -> getOrCreateGroup(name.cutLast()).device(name.tokens.last(), device)
+ }
+}
+
+public fun <D: Device> DeviceGroup.device(name: String, device: D): D = device(name.parseAsName(), device)
+
+/**
+ * Add a device creating intermediate groups if necessary. If device with given [name] already exists, throws an error.
+ */
+public fun DeviceGroup.device(name: Name, factory: Factory<Device>, deviceMeta: Meta? = null): Device {
+ val newDevice = factory.build(deviceManager.context, Laminate(deviceMeta, meta[name]))
+ device(name, newDevice)
+ return newDevice
+}
+
+public fun DeviceGroup.device(
+ name: String,
+ factory: Factory<Device>,
+ metaBuilder: (MutableMeta.() -> Unit)? = null,
+): Device = device(name.parseAsName(), factory, metaBuilder?.let { Meta(it) })
+
+/**
+ * Create or edit a group with a given [name].
+ */
+public fun DeviceGroup.deviceGroup(name: Name, block: DeviceGroup.() -> Unit): DeviceGroup =
+ getOrCreateGroup(name).apply(block)
+
+public fun DeviceGroup.deviceGroup(name: String, block: DeviceGroup.() -> Unit): DeviceGroup =
+ deviceGroup(name.parseAsName(), block)
+
+public fun <T : Any> DeviceGroup.property(
+ name: String,
+ state: DeviceState<T>,
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+): DeviceState<T> {
+ property(
+ PropertyDescriptor(name).apply(descriptorBuilder),
+ state
+ )
+ return state
+}
+
+public fun <T : Any> DeviceGroup.mutableProperty(
+ name: String,
+ state: MutableDeviceState<T>,
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+): MutableDeviceState<T> {
+ property(
+ PropertyDescriptor(name).apply(descriptorBuilder),
+ state
+ )
+ return state
+}
+
+public fun <T : Any> DeviceGroup.virtualProperty(
+ name: String,
+ initialValue: T,
+ converter: MetaConverter<T>,
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+): MutableDeviceState<T> {
+ val state = VirtualDeviceState<T>(converter, initialValue)
+ return mutableProperty(name, state, descriptorBuilder)
+}
+
+/**
+ * Create a virtual [MutableDeviceState], but do not register it to a device
+ */
+@Suppress("UnusedReceiverParameter")
+public fun <T : Any> DeviceGroup.standAloneProperty(
+ initialValue: T,
+ converter: MetaConverter<T>,
+): MutableDeviceState<T> = VirtualDeviceState<T>(converter, initialValue)
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index 2e6461f..783752a 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -1,6 +1,12 @@
package space.kscience.controls.constructor
-import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.launch
+import space.kscience.controls.api.Device
+import space.kscience.controls.api.PropertyChangedMessage
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.MutableDevicePropertySpec
+import space.kscience.controls.spec.name
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.transformations.MetaConverter
@@ -12,14 +18,106 @@ public interface DeviceState<T> {
public val value: T
public val valueFlow: Flow<T>
-
- public val metaFlow: Flow<Meta>
}
+public val <T> DeviceState<T>.metaFlow: Flow<Meta> get() = valueFlow.map(converter::objectToMeta)
+
+public val <T> DeviceState<T>.valueAsMeta: Meta get() = converter.objectToMeta(value)
+
/**
* A mutable state of a device
*/
-public interface MutableDeviceState<T> : DeviceState<T>{
+public interface MutableDeviceState<T> : DeviceState<T> {
override var value: T
-}
\ No newline at end of file
+}
+
+public var <T : Any> MutableDeviceState<T>.valueAsMeta: Meta
+ get() = converter.objectToMeta(value)
+ set(arg) {
+ value = converter.metaToObject(arg) ?: error("Conversion for meta $arg to property type with $converter failed")
+ }
+
+/**
+ * A [MutableDeviceState] that does not correspond to a physical state
+ */
+public class VirtualDeviceState<T>(
+ override val converter: MetaConverter<T>,
+ initialValue: T,
+) : MutableDeviceState<T> {
+ private val flow = MutableStateFlow(initialValue)
+ override val valueFlow: Flow<T> get() = flow
+
+ override var value: T by flow::value
+}
+
+private open class BoundDeviceState<T>(
+ override val converter: MetaConverter<T>,
+ val device: Device,
+ val propertyName: String,
+ private val initialValue: T,
+) : DeviceState<T> {
+
+ override val valueFlow: StateFlow<T> = device.messageFlow.filterIsInstance<PropertyChangedMessage>().filter {
+ it.property == propertyName
+ }.mapNotNull {
+ converter.metaToObject(it.value)
+ }.stateIn(device.context, SharingStarted.Eagerly, initialValue)
+
+ override val value: T get() = valueFlow.value
+}
+
+/**
+ * Bind a read-only [DeviceState] to a [Device] property
+ */
+public suspend fun <T> Device.bindStateToProperty(
+ propertyName: String,
+ metaConverter: MetaConverter<T>,
+): DeviceState<T> {
+ val initialValue = metaConverter.metaToObject(readProperty(propertyName)) ?: error("Conversion of property failed")
+ return BoundDeviceState(metaConverter, this, propertyName, initialValue)
+}
+
+public suspend fun <D : Device, T> D.bindStateToProperty(
+ propertySpec: DevicePropertySpec<D, T>,
+): DeviceState<T> = bindStateToProperty(propertySpec.name, propertySpec.converter)
+
+public fun <T, R> DeviceState<T>.map(
+ converter: MetaConverter<R>, mapper: (T) -> R,
+): DeviceState<R> = object : DeviceState<R> {
+ override val converter: MetaConverter<R> = converter
+ override val value: R
+ get() = mapper(this@map.value)
+
+ override val valueFlow: Flow<R> = this@map.valueFlow.map(mapper)
+}
+
+private class MutableBoundDeviceState<T>(
+ converter: MetaConverter<T>,
+ device: Device,
+ propertyName: String,
+ initialValue: T,
+) : BoundDeviceState<T>(converter, device, propertyName, initialValue), MutableDeviceState<T> {
+
+ override var value: T
+ get() = valueFlow.value
+ set(newValue) {
+ device.launch {
+ device.writeProperty(propertyName, converter.objectToMeta(newValue))
+ }
+ }
+}
+
+public suspend fun <T> Device.bindMutableStateToProperty(
+ propertyName: String,
+ metaConverter: MetaConverter<T>,
+): MutableDeviceState<T> {
+ val initialValue = metaConverter.metaToObject(readProperty(propertyName)) ?: error("Conversion of property failed")
+ return MutableBoundDeviceState(metaConverter, this, propertyName, initialValue)
+}
+
+public suspend fun <D : Device, T> D.bindMutableStateToProperty(
+ propertySpec: MutableDevicePropertySpec<D, T>,
+): MutableDeviceState<T> = bindMutableStateToProperty(propertySpec.name, propertySpec.converter)
+
+
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceTree.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceTree.kt
deleted file mode 100644
index 8d971bb..0000000
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceTree.kt
+++ /dev/null
@@ -1,33 +0,0 @@
-package space.kscience.controls.constructor
-
-import space.kscience.controls.api.Device
-import space.kscience.controls.api.DeviceHub
-import space.kscience.controls.manager.DeviceManager
-import space.kscience.dataforge.context.Factory
-import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.get
-import space.kscience.dataforge.names.NameToken
-import kotlin.collections.component1
-import kotlin.collections.component2
-import kotlin.collections.set
-
-
-public class DeviceTree(
- public val deviceManager: DeviceManager,
- public val meta: Meta,
- builder: Builder,
-) : DeviceHub {
- public class Builder(public val manager: DeviceManager) {
- internal val childrenFactories = mutableMapOf<NameToken, Factory<Device>>()
-
- public fun <D : Device> device(name: String, factory: Factory<Device>) {
- childrenFactories[NameToken.parse(name)] = factory
- }
- }
-
- override val devices: Map<NameToken, Device> = builder.childrenFactories.mapValues { (token, factory) ->
- val devicesMeta = meta["devices"]
- factory.build(deviceManager.context, devicesMeta?.get(token) ?: Meta.EMPTY)
- }
-
-}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
index 6ac5a07..8111ff6 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
@@ -4,12 +4,9 @@ import kotlinx.coroutines.Job
import kotlinx.coroutines.delay
import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
-import kotlinx.datetime.Clock
import space.kscience.controls.api.Device
-import space.kscience.controls.spec.DeviceBySpec
-import space.kscience.controls.spec.DevicePropertySpec
-import space.kscience.controls.spec.DeviceSpec
-import space.kscience.controls.spec.doubleProperty
+import space.kscience.controls.manager.clock
+import space.kscience.controls.spec.*
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.double
import space.kscience.dataforge.meta.get
@@ -33,7 +30,7 @@ public interface Drive : Device {
public val position: Double
public companion object : DeviceSpec<Drive>() {
- public val force: DevicePropertySpec<Drive, Double> by Drive.property(
+ public val force: MutableDevicePropertySpec<Drive, Double> by Drive.mutableProperty(
MetaConverter.double,
Drive::force
)
@@ -48,16 +45,15 @@ public interface Drive : Device {
public class VirtualDrive(
context: Context,
private val mass: Double,
- position: Double,
+ public val positionState: MutableDeviceState<Double>,
) : Drive, DeviceBySpec<Drive>(Drive, context) {
private val dt = meta["time.step"].double?.milliseconds ?: 5.milliseconds
- private val clock = Clock.System
+ private val clock = context.clock
override var force: Double = 0.0
- override var position: Double = position
- private set
+ override val position: Double get() = positionState.value
public var velocity: Double = 0.0
private set
@@ -76,10 +72,10 @@ public class VirtualDrive(
lastTime = realTime
// compute new value based on velocity and acceleration from the previous step
- position += velocity * dtSeconds + force/mass * dtSeconds.pow(2) / 2
+ positionState.value += velocity * dtSeconds + force / mass * dtSeconds.pow(2) / 2
// compute new velocity based on acceleration on the previous step
- velocity += force/mass * dtSeconds
+ velocity += force / mass * dtSeconds
}
}
}
@@ -89,3 +85,10 @@ public class VirtualDrive(
}
}
+public suspend fun Drive.stateOfForce(): MutableDeviceState<Double> = bindMutableStateToProperty(Drive.force)
+
+public fun DeviceGroup.virtualDrive(
+ name: String,
+ mass: Double,
+ positionState: MutableDeviceState<Double>,
+): VirtualDrive = device(name, VirtualDrive(context, mass, positionState))
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
index dd0dfed..f692e00 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
@@ -6,6 +6,7 @@ import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.DeviceSpec
import space.kscience.controls.spec.booleanProperty
import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.names.parseAsName
/**
@@ -25,7 +26,10 @@ public interface LimitSwitch : Device {
*/
public class VirtualLimitSwitch(
context: Context,
- private val lockedFunction: () -> Boolean,
+ public val lockedState: DeviceState<Boolean>,
) : DeviceBySpec<LimitSwitch>(LimitSwitch, context), LimitSwitch {
- override val locked: Boolean get() = lockedFunction()
-}
\ No newline at end of file
+ override val locked: Boolean get() = lockedState.value
+}
+
+public fun DeviceGroup.virtualLimitSwitch(name: String, lockedState: DeviceState<Boolean>): VirtualLimitSwitch =
+ device(name.parseAsName(), VirtualLimitSwitch(context, lockedState))
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
index 4a4d0f3..e8e2ec3 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
@@ -6,25 +6,33 @@ import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
-import kotlinx.datetime.Clock
import kotlinx.datetime.Instant
+import space.kscience.controls.manager.clock
import space.kscience.controls.spec.DeviceBySpec
import kotlin.time.Duration
import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.DurationUnit
+/**
+ * Pid regulator parameters
+ */
+public data class PidParameters(
+ public val kp: Double,
+ public val ki: Double,
+ public val kd: Double,
+ public val timeStep: Duration = 1.milliseconds,
+)
+
/**
* A drive with PID regulator
*/
public class PidRegulator(
public val drive: Drive,
- public val kp: Double,
- public val ki: Double,
- public val kd: Double,
- private val dt: Duration = 1.milliseconds,
- private val clock: Clock = Clock.System,
+ public val pidParameters: PidParameters,
) : DeviceBySpec<Regulator>(Regulator, drive.context), Regulator {
+ private val clock = drive.context.clock
+
override var target: Double = drive.position
private var lastTime: Instant = clock.now()
@@ -41,7 +49,7 @@ public class PidRegulator(
drive.start()
updateJob = launch {
while (isActive) {
- delay(dt)
+ delay(pidParameters.timeStep)
mutex.withLock {
val realTime = clock.now()
val delta = target - position
@@ -53,7 +61,7 @@ public class PidRegulator(
lastTime = realTime
lastPosition = drive.position
- drive.force = kp * delta + ki * integral + kd * derivative
+ drive.force = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative
}
}
}
@@ -64,5 +72,10 @@ public class PidRegulator(
}
override val position: Double get() = drive.position
+}
-}
\ No newline at end of file
+public fun DeviceGroup.pid(
+ name: String,
+ drive: Drive,
+ pidParameters: PidParameters,
+): PidRegulator = device(name, PidRegulator(drive, pidParameters))
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
index fa43b57..71cb3b0 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
@@ -3,6 +3,7 @@ package space.kscience.controls.constructor
import space.kscience.controls.api.Device
import space.kscience.controls.spec.DevicePropertySpec
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
@@ -22,7 +23,7 @@ public interface Regulator : Device {
public val position: Double
public companion object : DeviceSpec<Regulator>() {
- public val target: DevicePropertySpec<Regulator, Double> by property(MetaConverter.double, Regulator::target)
+ public val target: MutableDevicePropertySpec<Regulator, Double> by mutableProperty(MetaConverter.double, Regulator::target)
public val position: DevicePropertySpec<Regulator, Double> by doubleProperty { position }
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
new file mode 100644
index 0000000..e6a29a5
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
@@ -0,0 +1,41 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.flow.MutableStateFlow
+import kotlinx.coroutines.flow.StateFlow
+import space.kscience.dataforge.meta.transformations.MetaConverter
+
+
+/**
+ * A state describing a [Double] value in the [range]
+ */
+public class DoubleRangeState(
+ initialValue: Double,
+ public val range: ClosedFloatingPointRange<Double>,
+) : MutableDeviceState<Double> {
+
+ init {
+ require(initialValue in range) { "Initial value should be in range" }
+ }
+
+ override val converter: MetaConverter<Double> = MetaConverter.double
+
+ private val _valueFlow = MutableStateFlow(initialValue)
+
+ override var value: Double
+ get() = _valueFlow.value
+ set(newValue) {
+ _valueFlow.value = newValue.coerceIn(range)
+ }
+
+ override val valueFlow: StateFlow<Double> get() = _valueFlow
+
+ /**
+ * A state showing that the range is on its lower boundary
+ */
+ public val atStartState: DeviceState<Boolean> = map(MetaConverter.boolean) { it == range.start }
+
+ /**
+ * A state showing that the range is on its higher boundary
+ */
+ public val atEndState: DeviceState<Boolean> = map(MetaConverter.boolean) { it == range.endInclusive }
+}
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
index 872a5e6..f967c89 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
@@ -3,10 +3,7 @@ package space.kscience.controls.api
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Job
import kotlinx.coroutines.cancel
-import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.filterIsInstance
-import kotlinx.coroutines.flow.launchIn
-import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.flow.*
import kotlinx.serialization.Serializable
import space.kscience.controls.api.Device.Companion.DEVICE_TARGET
import space.kscience.dataforge.context.ContextAware
@@ -74,18 +71,6 @@ public interface Device : ContextAware, CoroutineScope {
*/
public suspend fun readProperty(propertyName: String): Meta
- /**
- * Get the logical state of property or return null if it is invalid
- */
- public fun getProperty(propertyName: String): Meta?
-
- /**
- * Invalidate property (set logical state to invalid)
- *
- * This message is suspended to provide lock-free local property changes (they require coroutine context).
- */
- public suspend fun invalidate(propertyName: String)
-
/**
* Set property [value] for a property with name [propertyName].
* In rare cases could suspend if the [Device] supports command queue, and it is full at the moment.
@@ -126,17 +111,38 @@ public interface Device : ContextAware, CoroutineScope {
}
}
+/**
+ * Device that caches properties values
+ */
+public interface CachingDevice : Device {
+
+ /**
+ * Immediately (without waiting) get the cached (logical) state of property or return null if it is invalid
+ */
+ public fun getProperty(propertyName: String): Meta?
+
+ /**
+ * Invalidate property (set logical state to invalid).
+ *
+ * This message is suspended to provide lock-free local property changes (they require coroutine context).
+ */
+ public suspend fun invalidate(propertyName: String)
+}
+
/**
* Get the logical state of property or suspend to read the physical value.
*/
-public suspend fun Device.getOrReadProperty(propertyName: String): Meta =
+public suspend fun Device.requestProperty(propertyName: String): Meta = if (this is CachingDevice) {
getProperty(propertyName) ?: readProperty(propertyName)
+} else {
+ readProperty(propertyName)
+}
/**
* Get a snapshot of the device logical state
*
*/
-public fun Device.getAllProperties(): Meta = Meta {
+public fun CachingDevice.getAllProperties(): Meta = Meta {
for (descriptor in propertyDescriptors) {
setMeta(Name.parse(descriptor.name), getProperty(descriptor.name))
}
@@ -148,5 +154,11 @@ public fun Device.getAllProperties(): Meta = Meta {
public fun Device.onPropertyChange(
scope: CoroutineScope = this,
callback: suspend PropertyChangedMessage.() -> Unit,
-): Job =
- messageFlow.filterIsInstance<PropertyChangedMessage>().onEach(callback).launchIn(scope)
+): Job = messageFlow.filterIsInstance<PropertyChangedMessage>().onEach(callback).launchIn(scope)
+
+/**
+ * A [Flow] of property change messages for specific property.
+ */
+public fun Device.propertyMessageFlow(propertyName: String): Flow<PropertyChangedMessage> = messageFlow
+ .filterIsInstance<PropertyChangedMessage>()
+ .filter { it.property == propertyName }
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
index 32df1bb..b3436e9 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
@@ -71,7 +71,7 @@ public data class PropertyChangedMessage(
@SerialName("property.set")
public data class PropertySetMessage(
public val property: String,
- public val value: Meta?,
+ public val value: Meta,
override val sourceDevice: Name? = null,
override val targetDevice: Name,
override val comment: String? = null,
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
new file mode 100644
index 0000000..ca69b91
--- /dev/null
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
@@ -0,0 +1,25 @@
+package space.kscience.controls.manager
+
+import kotlinx.datetime.Clock
+import space.kscience.dataforge.context.AbstractPlugin
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.PluginFactory
+import space.kscience.dataforge.context.PluginTag
+import space.kscience.dataforge.meta.Meta
+
+public class ClockManager : AbstractPlugin() {
+ override val tag: PluginTag get() = DeviceManager.tag
+
+ public val clock: Clock by lazy {
+ //TODO add clock customization
+ Clock.System
+ }
+
+ public companion object : PluginFactory<ClockManager> {
+ override val tag: PluginTag = PluginTag("clock", group = PluginTag.DATAFORGE_GROUP)
+
+ override fun build(context: Context, meta: Meta): ClockManager = ClockManager()
+ }
+}
+
+public val Context.clock: Clock get() = plugins[ClockManager]?.clock ?: Clock.System
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
index d3abc03..4d319af 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
@@ -17,21 +17,17 @@ public suspend fun Device.respondMessage(deviceTarget: Name, request: DeviceMess
is PropertyGetMessage -> {
PropertyChangedMessage(
property = request.property,
- value = getOrReadProperty(request.property),
+ value = requestProperty(request.property),
sourceDevice = deviceTarget,
targetDevice = request.sourceDevice
)
}
is PropertySetMessage -> {
- if (request.value == null) {
- invalidate(request.property)
- } else {
- writeProperty(request.property, request.value)
- }
+ writeProperty(request.property, request.value)
PropertyChangedMessage(
property = request.property,
- value = getOrReadProperty(request.property),
+ value = requestProperty(request.property),
sourceDevice = deviceTarget,
targetDevice = request.sourceDevice
)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index da730f8..43574cf 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -20,7 +20,7 @@ import kotlin.coroutines.CoroutineContext
* Write a meta [item] to [device]
*/
@OptIn(InternalDeviceAPI::class)
-private suspend fun <D : Device, T> WritableDevicePropertySpec<D, T>.writeMeta(device: D, item: Meta) {
+private suspend fun <D : Device, T> MutableDevicePropertySpec<D, T>.writeMeta(device: D, item: Meta) {
write(device, converter.metaToObject(item) ?: error("Meta $item could not be read with $converter"))
}
@@ -48,7 +48,7 @@ private suspend fun <D : Device, I, O> DeviceActionSpec<D, I, O>.executeWithMeta
public abstract class DeviceBase<D : Device>(
final override val context: Context,
final override val meta: Meta = Meta.EMPTY,
-) : Device {
+) : CachingDevice {
/**
* Collection of property specifications
@@ -166,7 +166,7 @@ public abstract class DeviceBase<D : Device>(
propertyChanged(propertyName, value)
}
- is WritableDevicePropertySpec -> {
+ is MutableDevicePropertySpec -> {
//if there is a writeable property with a given name, invalidate logical and write physical
invalidate(propertyName)
property.writeMeta(self, value)
@@ -189,8 +189,8 @@ public abstract class DeviceBase<D : Device>(
}
@DFExperimental
- override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
- protected set(value) {
+ final override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
+ private set(value) {
if (field != value) {
launch {
sharedMessageFlow.emit(
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
index c42a23e..cb511ea 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
@@ -4,10 +4,7 @@ import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Job
import kotlinx.coroutines.flow.*
import kotlinx.coroutines.launch
-import space.kscience.controls.api.ActionDescriptor
-import space.kscience.controls.api.Device
-import space.kscience.controls.api.PropertyChangedMessage
-import space.kscience.controls.api.PropertyDescriptor
+import space.kscience.controls.api.*
import space.kscience.dataforge.meta.transformations.MetaConverter
@@ -44,7 +41,7 @@ public interface DevicePropertySpec<in D, T> {
public val DevicePropertySpec<*, *>.name: String get() = descriptor.name
-public interface WritableDevicePropertySpec<in D : Device, T> : DevicePropertySpec<D, T> {
+public interface MutableDevicePropertySpec<in D : Device, T> : DevicePropertySpec<D, T> {
/**
* Write physical value to a device
*/
@@ -84,21 +81,20 @@ public suspend fun <T, D : Device> D.read(propertySpec: DevicePropertySpec<D, T>
public suspend fun <T, D : DeviceBase<D>> D.readOrNull(propertySpec: DevicePropertySpec<D, T>): T? =
readPropertyOrNull(propertySpec.name)?.let(propertySpec.converter::metaToObject)
-
-public operator fun <T, D : Device> D.get(propertySpec: DevicePropertySpec<D, T>): T? =
- getProperty(propertySpec.name)?.let(propertySpec.converter::metaToObject)
+public suspend fun <T, D : Device> D.request(propertySpec: DevicePropertySpec<D, T>): T? =
+ propertySpec.converter.metaToObject(requestProperty(propertySpec.name))
/**
* Write typed property state and invalidate logical state
*/
-public suspend fun <T, D : Device> D.write(propertySpec: WritableDevicePropertySpec<D, T>, value: T) {
+public suspend fun <T, D : Device> D.write(propertySpec: MutableDevicePropertySpec<D, T>, value: T) {
writeProperty(propertySpec.name, propertySpec.converter.objectToMeta(value))
}
/**
* Fire and forget variant of property writing. Actual write is performed asynchronously on a [Device] scope
*/
-public operator fun <T, D : Device> D.set(propertySpec: WritableDevicePropertySpec<D, T>, value: T): Job = launch {
+public fun <T, D : Device> D.writeAsync(propertySpec: MutableDevicePropertySpec<D, T>, value: T): Job = launch {
write(propertySpec, value)
}
@@ -151,7 +147,7 @@ public fun <D : Device, T> D.useProperty(
/**
* Reset the logical state of a property
*/
-public suspend fun <D : Device> D.invalidate(propertySpec: DevicePropertySpec<D, *>) {
+public suspend fun <D : CachingDevice> D.invalidate(propertySpec: DevicePropertySpec<D, *>) {
invalidate(propertySpec.name)
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
index 14966ca..55122d9 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
@@ -72,9 +72,9 @@ public abstract class DeviceSpec<D : Device> {
converter: MetaConverter<T>,
readWriteProperty: KMutableProperty1<D, T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
- ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<Any?, WritableDevicePropertySpec<D, T>>> =
+ ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<Any?, MutableDevicePropertySpec<D, T>>> =
PropertyDelegateProvider { _, property ->
- val deviceProperty = object : WritableDevicePropertySpec<D, T> {
+ val deviceProperty = object : MutableDevicePropertySpec<D, T> {
override val descriptor: PropertyDescriptor = PropertyDescriptor(property.name).apply {
//TODO add the type from converter
@@ -123,10 +123,10 @@ public abstract class DeviceSpec<D : Device> {
name: String? = null,
read: suspend D.() -> T?,
write: suspend D.(T) -> Unit,
- ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, WritableDevicePropertySpec<D, T>>> =
+ ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, T>>> =
PropertyDelegateProvider { _: DeviceSpec<D>, property: KProperty<*> ->
val propertyName = name ?: property.name
- val deviceProperty = object : WritableDevicePropertySpec<D, T> {
+ val deviceProperty = object : MutableDevicePropertySpec<D, T> {
override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName, mutable = true)
.apply(descriptorBuilder)
override val converter: MetaConverter<T> = converter
@@ -138,7 +138,7 @@ public abstract class DeviceSpec<D : Device> {
}
}
_properties[propertyName] = deviceProperty
- ReadOnlyProperty<DeviceSpec<D>, WritableDevicePropertySpec<D, T>> { _, _ ->
+ ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, T>> { _, _ ->
deviceProperty
}
}
@@ -218,9 +218,9 @@ public fun <T, D : DeviceBase<D>> DeviceSpec<D>.logicalProperty(
converter: MetaConverter<T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
name: String? = null,
-): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<Any?, WritableDevicePropertySpec<D, T>>> =
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<Any?, MutableDevicePropertySpec<D, T>>> =
PropertyDelegateProvider { _, property ->
- val deviceProperty = object : WritableDevicePropertySpec<D, T> {
+ val deviceProperty = object : MutableDevicePropertySpec<D, T> {
val propertyName = name ?: property.name
override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName).apply {
//TODO add type from converter
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
index ff89662..70ef94a 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
@@ -97,7 +97,7 @@ public fun <D : Device> DeviceSpec<D>.booleanProperty(
name: String? = null,
read: suspend D.() -> Boolean?,
write: suspend D.(Boolean) -> Unit
-): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, WritableDevicePropertySpec<D, Boolean>>> =
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, Boolean>>> =
mutableProperty(
MetaConverter.boolean,
{
@@ -117,7 +117,7 @@ public fun <D : Device> DeviceSpec<D>.numberProperty(
name: String? = null,
read: suspend D.() -> Number,
write: suspend D.(Number) -> Unit
-): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, WritableDevicePropertySpec<D, Number>>> =
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, Number>>> =
mutableProperty(MetaConverter.number, numberDescriptor(descriptorBuilder), name, read, write)
public fun <D : Device> DeviceSpec<D>.doubleProperty(
@@ -125,7 +125,7 @@ public fun <D : Device> DeviceSpec<D>.doubleProperty(
name: String? = null,
read: suspend D.() -> Double,
write: suspend D.(Double) -> Unit
-): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, WritableDevicePropertySpec<D, Double>>> =
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, Double>>> =
mutableProperty(MetaConverter.double, numberDescriptor(descriptorBuilder), name, read, write)
public fun <D : Device> DeviceSpec<D>.stringProperty(
@@ -133,7 +133,7 @@ public fun <D : Device> DeviceSpec<D>.stringProperty(
name: String? = null,
read: suspend D.() -> String,
write: suspend D.(String) -> Unit
-): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, WritableDevicePropertySpec<D, String>>> =
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, String>>> =
mutableProperty(MetaConverter.string, descriptorBuilder, name, read, write)
public fun <D : Device> DeviceSpec<D>.metaProperty(
@@ -141,5 +141,5 @@ public fun <D : Device> DeviceSpec<D>.metaProperty(
name: String? = null,
read: suspend D.() -> Meta,
write: suspend D.(Meta) -> Unit
-): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, WritableDevicePropertySpec<D, Meta>>> =
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, Meta>>> =
mutableProperty(MetaConverter.meta, descriptorBuilder, name, read, write)
\ No newline at end of file
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
index 2fcecff..474f86a 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
@@ -26,7 +26,7 @@ public class DeviceClient(
private val deviceName: Name,
incomingFlow: Flow<DeviceMessage>,
private val send: suspend (DeviceMessage) -> Unit,
-) : Device {
+) : CachingDevice {
@OptIn(kotlinx.coroutines.ExperimentalCoroutinesApi::class)
override val coroutineContext: CoroutineContext = newCoroutineContext(context.coroutineContext)
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/tangoMagix.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/tangoMagix.kt
index d0bdda4..9c30f8c 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/tangoMagix.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/tangoMagix.kt
@@ -6,7 +6,7 @@ import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.launch
import kotlinx.serialization.Serializable
import space.kscience.controls.api.get
-import space.kscience.controls.api.getOrReadProperty
+import space.kscience.controls.api.requestProperty
import space.kscience.controls.manager.DeviceManager
import space.kscience.dataforge.context.error
import space.kscience.dataforge.context.logger
@@ -91,7 +91,7 @@ public fun DeviceManager.launchTangoMagix(
val device = get(payload.device)
when (payload.action) {
TangoAction.read -> {
- val value = device.getOrReadProperty(payload.name)
+ val value = device.requestProperty(payload.name)
respond(request, payload) { requestPayload ->
requestPayload.copy(
value = value,
@@ -104,7 +104,7 @@ public fun DeviceManager.launchTangoMagix(
device.writeProperty(payload.name, value)
}
//wait for value to be written and return final state
- val value = device.getOrReadProperty(payload.name)
+ val value = device.requestProperty(payload.name)
respond(request, payload) { requestPayload ->
requestPayload.copy(
value = value,
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
index b4fae90..8f4a2b4 100644
--- a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
+++ b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
@@ -6,10 +6,7 @@ import kotlinx.coroutines.delay
import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
import space.kscience.controls.api.Device
-import space.kscience.controls.spec.DevicePropertySpec
-import space.kscience.controls.spec.WritableDevicePropertySpec
-import space.kscience.controls.spec.set
-import space.kscience.controls.spec.useProperty
+import space.kscience.controls.spec.*
public class DeviceProcessImageBuilder<D : Device> internal constructor(
@@ -29,10 +26,10 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
public fun bind(
key: ModbusRegistryKey.Coil,
- propertySpec: WritableDevicePropertySpec<D, Boolean>,
+ propertySpec: MutableDevicePropertySpec<D, Boolean>,
): ObservableDigitalOut = bind(key) { coil ->
coil.addObserver { _, _ ->
- device[propertySpec] = coil.isSet
+ device.writeAsync(propertySpec, coil.isSet)
}
device.useProperty(propertySpec) { value ->
coil.set(value)
@@ -89,10 +86,10 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
public fun bind(
key: ModbusRegistryKey.HoldingRegister,
- propertySpec: WritableDevicePropertySpec<D, Short>,
+ propertySpec: MutableDevicePropertySpec<D, Short>,
): ObservableRegister = bind(key) { register ->
register.addObserver { _, _ ->
- device[propertySpec] = register.toShort()
+ device.writeAsync(propertySpec, register.toShort())
}
device.useProperty(propertySpec) { value ->
register.setValue(value)
@@ -121,7 +118,7 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
/**
* Trigger [block] if one of register changes.
*/
- private fun List<ObservableRegister>.onChange(block: (ByteReadPacket) -> Unit) {
+ private fun List<ObservableRegister>.onChange(block: suspend (ByteReadPacket) -> Unit) {
var ready = false
forEach { register ->
@@ -147,7 +144,7 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
}
}
- public fun <T> bind(key: ModbusRegistryKey.HoldingRange<T>, propertySpec: WritableDevicePropertySpec<D, T>) {
+ public fun <T> bind(key: ModbusRegistryKey.HoldingRange<T>, propertySpec: MutableDevicePropertySpec<D, T>) {
val registers = List(key.count) {
ObservableRegister()
}
@@ -157,7 +154,7 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
}
registers.onChange { packet ->
- device[propertySpec] = key.format.readObject(packet)
+ device.write(propertySpec, key.format.readObject(packet))
}
device.useProperty(propertySpec) { value ->
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
index a05a81d..05fc3c6 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
@@ -19,10 +19,7 @@ import org.eclipse.milo.opcua.stack.core.AttributeId
import org.eclipse.milo.opcua.stack.core.Identifiers
import org.eclipse.milo.opcua.stack.core.types.builtin.DateTime
import org.eclipse.milo.opcua.stack.core.types.builtin.LocalizedText
-import space.kscience.controls.api.Device
-import space.kscience.controls.api.DeviceHub
-import space.kscience.controls.api.PropertyDescriptor
-import space.kscience.controls.api.onPropertyChange
+import space.kscience.controls.api.*
import space.kscience.controls.manager.DeviceManager
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.MetaSerializer
@@ -31,7 +28,7 @@ import space.kscience.dataforge.names.Name
import space.kscience.dataforge.names.plus
-public operator fun Device.get(propertyDescriptor: PropertyDescriptor): Meta? = getProperty(propertyDescriptor.name)
+public operator fun CachingDevice.get(propertyDescriptor: PropertyDescriptor): Meta? = getProperty(propertyDescriptor.name)
public suspend fun Device.read(propertyDescriptor: PropertyDescriptor): Meta = readProperty(propertyDescriptor.name)
@@ -106,9 +103,11 @@ public class DeviceNameSpace(
setTypeDefinition(Identifiers.BaseDataVariableType)
}.build()
-
- device[descriptor]?.toOpc(sourceTime = null, serverTime = null)?.let {
- node.value = it
+ // Update initial value, but only if it is cached
+ if(device is CachingDevice) {
+ device[descriptor]?.toOpc(sourceTime = null, serverTime = null)?.let {
+ node.value = it
+ }
}
/**
diff --git a/controls-vision/build.gradle.kts b/controls-vision/build.gradle.kts
index 0b3e9f1..e1401d9 100644
--- a/controls-vision/build.gradle.kts
+++ b/controls-vision/build.gradle.kts
@@ -7,14 +7,23 @@ description = """
Dashboard and visualization extensions for devices
""".trimIndent()
-kscience{
+val visionforgeVersion = "0.3.0-dev-10"
+
+kscience {
jvm()
js()
dependencies {
api(projects.controlsCore)
+ api(projects.controlsConstructor)
+ api("space.kscience:visionforge-plotly:$visionforgeVersion")
+ api("space.kscience:visionforge-markdown:$visionforgeVersion")
+ }
+
+ jvmMain{
+ api("space.kscience:visionforge-server:$visionforgeVersion")
}
}
-readme{
+readme {
maturity = space.kscience.gradle.Maturity.PROTOTYPE
}
diff --git a/controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt
new file mode 100644
index 0000000..392930c
--- /dev/null
+++ b/controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt
@@ -0,0 +1,56 @@
+package space.kscience.controls.vision
+
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
+import kotlinx.datetime.Clock
+import space.kscience.controls.api.Device
+import space.kscience.controls.api.propertyMessageFlow
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.manager.clock
+import space.kscience.dataforge.meta.ListValue
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.Null
+import space.kscience.dataforge.meta.Value
+import space.kscience.plotly.Plot
+import space.kscience.plotly.models.Scatter
+import space.kscience.plotly.models.TraceValues
+import space.kscience.plotly.scatter
+
+private var TraceValues.values: List<Value>
+ get() = value?.list ?: emptyList()
+ set(newValues) {
+ value = ListValue(newValues)
+ }
+
+/**
+ * Add a trace that shows a [Device] property change over time. Show only latest [pointsNumber] .
+ * @return a [Job] that handles the listener
+ */
+public fun Plot.plotDeviceProperty(
+ device: Device,
+ propertyName: String,
+ extractValue: Meta.() -> Value = { value ?: Null },
+ pointsNumber: Int = 400,
+ coroutineScope: CoroutineScope = device,
+ configuration: Scatter.() -> Unit = {},
+): Job = scatter(configuration).run {
+ val clock = device.context.clock
+ device.propertyMessageFlow(propertyName).onEach { message ->
+ x.strings = (x.strings + (message.time ?: clock.now()).toString()).takeLast(pointsNumber)
+ y.values = (y.values + message.value.extractValue()).takeLast(pointsNumber)
+ }.launchIn(coroutineScope)
+}
+
+public fun Plot.plotDeviceState(
+ scope: CoroutineScope,
+ state: DeviceState<out Number>,
+ pointsNumber: Int = 400,
+ configuration: Scatter.() -> Unit = {},
+): Job = scatter(configuration).run {
+ state.valueFlow.onEach {
+ x.strings = (x.strings + Clock.System.now().toString()).takeLast(pointsNumber)
+ y.numbers = (y.numbers + it).takeLast(pointsNumber)
+ }.launchIn(scope)
+}
\ No newline at end of file
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
index 2ba0fdb..8ccb8a4 100644
--- a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
+++ b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
@@ -4,8 +4,8 @@ package space.kscience.controls.demo.car
import kotlinx.coroutines.delay
import kotlinx.coroutines.launch
-import kotlinx.datetime.Clock
import kotlinx.datetime.Instant
+import space.kscience.controls.manager.clock
import space.kscience.controls.spec.DeviceBySpec
import space.kscience.controls.spec.doRecurring
import space.kscience.controls.spec.read
@@ -41,6 +41,8 @@ data class Vector2D(var x: Double = 0.0, var y: Double = 0.0) : MetaRepr {
}
open class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(IVirtualCar, context, meta), IVirtualCar {
+ private val clock = context.clock
+
private val timeScale = 1e-3
private val mass by meta.double(1000.0) // mass in kilograms
@@ -57,7 +59,7 @@ open class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(I
private var timeState: Instant? = null
- private fun update(newTime: Instant = Clock.System.now()) {
+ private fun update(newTime: Instant = clock.now()) {
//initialize time if it is not initialized
if (timeState == null) {
timeState = newTime
@@ -102,7 +104,7 @@ open class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(I
@OptIn(ExperimentalTime::class)
override suspend fun onStart() {
//initializing the clock
- timeState = Clock.System.now()
+ timeState = clock.now()
//starting regular updates
doRecurring(100.milliseconds) {
update()
diff --git a/demo/constructor/build.gradle.kts b/demo/constructor/build.gradle.kts
new file mode 100644
index 0000000..031c3a0
--- /dev/null
+++ b/demo/constructor/build.gradle.kts
@@ -0,0 +1,20 @@
+plugins {
+ id("space.kscience.gradle.mpp")
+ application
+}
+
+kscience {
+ fullStack("js/constructor.js")
+ useKtor()
+ dependencies {
+ api(projects.controlsVision)
+ }
+ jvmMain {
+ implementation("io.ktor:ktor-server-cio")
+ implementation(spclibs.logback.classic)
+ }
+}
+
+application {
+ mainClass.set("space.kscience.controls.demo.constructor.MainKt")
+}
\ No newline at end of file
diff --git a/demo/constructor/src/jsMain/kotlin/constructorJs.kt b/demo/constructor/src/jsMain/kotlin/constructorJs.kt
new file mode 100644
index 0000000..27bbc28
--- /dev/null
+++ b/demo/constructor/src/jsMain/kotlin/constructorJs.kt
@@ -0,0 +1,6 @@
+import space.kscience.visionforge.plotly.PlotlyPlugin
+import space.kscience.visionforge.runVisionClient
+
+public fun main(): Unit = runVisionClient {
+ plugin(PlotlyPlugin)
+}
\ No newline at end of file
diff --git a/demo/constructor/src/jvmMain/kotlin/Main.kt b/demo/constructor/src/jvmMain/kotlin/Main.kt
new file mode 100644
index 0000000..fdba90c
--- /dev/null
+++ b/demo/constructor/src/jvmMain/kotlin/Main.kt
@@ -0,0 +1,103 @@
+package space.kscience.controls.demo.constructor
+
+import io.ktor.server.cio.CIO
+import io.ktor.server.engine.embeddedServer
+import io.ktor.server.http.content.staticResources
+import io.ktor.server.routing.routing
+import space.kscience.controls.api.get
+import space.kscience.controls.constructor.*
+import space.kscience.controls.manager.ClockManager
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.controls.manager.clock
+import space.kscience.controls.spec.doRecurring
+import space.kscience.controls.spec.name
+import space.kscience.controls.spec.write
+import space.kscience.controls.vision.plotDeviceProperty
+import space.kscience.controls.vision.plotDeviceState
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.request
+import space.kscience.visionforge.VisionManager
+import space.kscience.visionforge.html.VisionPage
+import space.kscience.visionforge.plotly.PlotlyPlugin
+import space.kscience.visionforge.plotly.plotly
+import space.kscience.visionforge.server.close
+import space.kscience.visionforge.server.openInBrowser
+import space.kscience.visionforge.server.visionPage
+import kotlin.math.PI
+import kotlin.math.sin
+import kotlin.time.Duration.Companion.milliseconds
+import kotlin.time.Duration.Companion.seconds
+import kotlin.time.DurationUnit
+
+@Suppress("ExtractKtorModule")
+public fun main() {
+ val context = Context {
+ plugin(DeviceManager)
+ plugin(PlotlyPlugin)
+ plugin(ClockManager)
+ }
+
+ val deviceManager = context.request(DeviceManager)
+ val visionManager = context.request(VisionManager)
+
+ val state = DoubleRangeState(0.0, -100.0..100.0)
+
+ val pidParameters = PidParameters(
+ kp = 2.5,
+ ki = 0.0,
+ kd = -0.1,
+ timeStep = 0.005.seconds
+ )
+
+ val device = deviceManager.deviceGroup {
+ val drive = virtualDrive("drive", 0.005, state)
+ val pid = pid("pid", drive, pidParameters)
+ virtualLimitSwitch("start", state.atStartState)
+ virtualLimitSwitch("end", state.atEndState)
+
+ val clock = context.clock
+ val clockStart = clock.now()
+
+ doRecurring(10.milliseconds) {
+ val timeFromStart = clock.now() - clockStart
+ val t = timeFromStart.toDouble(DurationUnit.SECONDS)
+ val freq = 0.1
+ val target = 5 * sin(2.0 * PI * freq * t) +
+ sin(2 * PI * 21 * freq * t + 0.1 * (timeFromStart / pidParameters.timeStep))
+ pid.write(Regulator.target, target)
+ }
+ }
+
+ val server = embeddedServer(CIO, port = 7777) {
+ routing {
+ staticResources("", null, null)
+ }
+
+ visionPage(
+ visionManager,
+ VisionPage.scriptHeader("js/constructor.js")
+ ) {
+ vision {
+ plotly {
+ plotDeviceState(this@embeddedServer, state){
+ name = "value"
+ }
+ plotDeviceProperty(device["pid"], Regulator.target.name){
+ name = "target"
+ }
+ }
+ }
+ }
+
+ }.start(false)
+
+ server.openInBrowser()
+
+
+ println("Enter 'exit' to close server")
+ while (readlnOrNull() != "exit") {
+ //
+ }
+
+ server.close()
+}
\ No newline at end of file
diff --git a/demo/constructor/src/jvmMain/resources/logback.xml b/demo/constructor/src/jvmMain/resources/logback.xml
new file mode 100644
index 0000000..3865b14
--- /dev/null
+++ b/demo/constructor/src/jvmMain/resources/logback.xml
@@ -0,0 +1,11 @@
+<configuration>
+ <appender name="STDOUT" class="ch.qos.logback.core.ConsoleAppender">
+ <encoder>
+ <pattern>%d{HH:mm:ss.SSS} [%thread] %-5level %logger{36} - %msg%n</pattern>
+ </encoder>
+ </appender>
+
+ <root level="INFO">
+ <appender-ref ref="STDOUT"/>
+ </root>
+</configuration>
\ No newline at end of file
diff --git a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
index 7771709..df54bfa 100644
--- a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
+++ b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
@@ -94,7 +94,7 @@ class MksPdr900Device(context: Context, meta: Meta) : DeviceBySpec<MksPdr900Devi
val channel by logicalProperty(MetaConverter.int)
val value by doubleProperty(read = {
- readChannelData(get(channel) ?: DEFAULT_CHANNEL)
+ readChannelData(request(channel) ?: DEFAULT_CHANNEL)
})
val error by logicalProperty(MetaConverter.string)
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/fxDeviceProperties.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/fxDeviceProperties.kt
index 0328631..adef540 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/fxDeviceProperties.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/fxDeviceProperties.kt
@@ -32,7 +32,7 @@ fun <D : Device, T : Any> D.fxProperty(
}
}
-fun <D : Device, T : Any> D.fxProperty(spec: WritableDevicePropertySpec<D, T>): Property<T> =
+fun <D : Device, T : Any> D.fxProperty(spec: MutableDevicePropertySpec<D, T>): Property<T> =
object : ObjectPropertyBase<T>() {
override fun getBean(): Any = this
override fun getName(): String = spec.name
@@ -51,7 +51,7 @@ fun <D : Device, T : Any> D.fxProperty(spec: WritableDevicePropertySpec<D, T>):
onChange { newValue ->
if (newValue != null) {
- set(spec, newValue)
+ writeAsync(spec, newValue)
}
}
}
diff --git a/settings.gradle.kts b/settings.gradle.kts
index ee40d35..453519f 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -69,5 +69,6 @@ include(
":demo:car",
":demo:motors",
":demo:echo",
- ":demo:mks-pdr900"
+ ":demo:mks-pdr900",
+ ":demo:constructor"
)
From 984e7f12ef4ad6e0a4fe8e4a4cfb77ae8bcacadc Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 30 Oct 2023 21:47:41 +0300
Subject: [PATCH 021/125] Add JVM application for constructor demo
---
.../space/kscience/controls/vision/plotExtensions.kt | 9 +++++----
demo/constructor/build.gradle.kts | 2 +-
demo/constructor/src/jvmMain/kotlin/{Main.kt => main.kt} | 2 +-
3 files changed, 7 insertions(+), 6 deletions(-)
rename demo/constructor/src/jvmMain/kotlin/{Main.kt => main.kt} (97%)
diff --git a/controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt
index 392930c..958a9ff 100644
--- a/controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt
+++ b/controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt
@@ -4,11 +4,11 @@ import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Job
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
-import kotlinx.datetime.Clock
import space.kscience.controls.api.Device
import space.kscience.controls.api.propertyMessageFlow
import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.manager.clock
+import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.ListValue
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.Null
@@ -44,13 +44,14 @@ public fun Plot.plotDeviceProperty(
}
public fun Plot.plotDeviceState(
- scope: CoroutineScope,
+ context: Context,
state: DeviceState<out Number>,
pointsNumber: Int = 400,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
+ val clock = context.clock
state.valueFlow.onEach {
- x.strings = (x.strings + Clock.System.now().toString()).takeLast(pointsNumber)
+ x.strings = (x.strings + clock.now().toString()).takeLast(pointsNumber)
y.numbers = (y.numbers + it).takeLast(pointsNumber)
- }.launchIn(scope)
+ }.launchIn(context)
}
\ No newline at end of file
diff --git a/demo/constructor/build.gradle.kts b/demo/constructor/build.gradle.kts
index 031c3a0..897b9af 100644
--- a/demo/constructor/build.gradle.kts
+++ b/demo/constructor/build.gradle.kts
@@ -4,7 +4,7 @@ plugins {
}
kscience {
- fullStack("js/constructor.js")
+ fullStack("js/constructor.js", jvmConfig = {withJava()})
useKtor()
dependencies {
api(projects.controlsVision)
diff --git a/demo/constructor/src/jvmMain/kotlin/Main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
similarity index 97%
rename from demo/constructor/src/jvmMain/kotlin/Main.kt
rename to demo/constructor/src/jvmMain/kotlin/main.kt
index fdba90c..76d4b51 100644
--- a/demo/constructor/src/jvmMain/kotlin/Main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -79,7 +79,7 @@ public fun main() {
) {
vision {
plotly {
- plotDeviceState(this@embeddedServer, state){
+ plotDeviceState(context, state){
name = "value"
}
plotDeviceProperty(device["pid"], Regulator.target.name){
From 811477a6367dae6aa39755fd0be9df3c48c86164 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 30 Oct 2023 22:51:17 +0300
Subject: [PATCH 022/125] add limit readers
---
.../kscience/controls/constructor/Drive.kt | 1 +
.../controls/constructor/LimitSwitch.kt | 9 +++++
.../controls/constructor/PidRegulator.kt | 1 +
.../controls/constructor/customState.kt | 4 +--
.../controls/vision/plotExtensions.kt | 25 ++++++++++----
demo/constructor/src/jvmMain/kotlin/main.kt | 34 ++++++++++++++++---
6 files changed, 61 insertions(+), 13 deletions(-)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
index 8111ff6..e7c3d39 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
@@ -73,6 +73,7 @@ public class VirtualDrive(
// compute new value based on velocity and acceleration from the previous step
positionState.value += velocity * dtSeconds + force / mass * dtSeconds.pow(2) / 2
+ propertyChanged(Drive.position, positionState.value)
// compute new velocity based on acceleration on the previous step
velocity += force / mass * dtSeconds
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
index f692e00..3db6512 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
@@ -1,5 +1,7 @@
package space.kscience.controls.constructor
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
import space.kscience.controls.api.Device
import space.kscience.controls.spec.DeviceBySpec
import space.kscience.controls.spec.DevicePropertySpec
@@ -28,6 +30,13 @@ public class VirtualLimitSwitch(
context: Context,
public val lockedState: DeviceState<Boolean>,
) : DeviceBySpec<LimitSwitch>(LimitSwitch, context), LimitSwitch {
+
+ init {
+ lockedState.valueFlow.onEach {
+ propertyChanged(LimitSwitch.locked, it)
+ }.launchIn(this)
+ }
+
override val locked: Boolean get() = lockedState.value
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
index e8e2ec3..9268d02 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
@@ -62,6 +62,7 @@ public class PidRegulator(
lastPosition = drive.position
drive.force = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative
+ propertyChanged(Regulator.position, drive.position)
}
}
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
index e6a29a5..e745875 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
@@ -32,10 +32,10 @@ public class DoubleRangeState(
/**
* A state showing that the range is on its lower boundary
*/
- public val atStartState: DeviceState<Boolean> = map(MetaConverter.boolean) { it == range.start }
+ public val atStartState: DeviceState<Boolean> = map(MetaConverter.boolean) { it <= range.start }
/**
* A state showing that the range is on its higher boundary
*/
- public val atEndState: DeviceState<Boolean> = map(MetaConverter.boolean) { it == range.endInclusive }
+ public val atEndState: DeviceState<Boolean> = map(MetaConverter.boolean) { it >= range.endInclusive }
}
\ No newline at end of file
diff --git a/controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt
index 958a9ff..14899d8 100644
--- a/controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt
+++ b/controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt
@@ -9,11 +9,10 @@ import space.kscience.controls.api.propertyMessageFlow
import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.manager.clock
import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.meta.ListValue
-import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.Null
-import space.kscience.dataforge.meta.Value
+import space.kscience.dataforge.meta.*
import space.kscience.plotly.Plot
+import space.kscience.plotly.bar
+import space.kscience.plotly.models.Bar
import space.kscience.plotly.models.Scatter
import space.kscience.plotly.models.TraceValues
import space.kscience.plotly.scatter
@@ -33,7 +32,7 @@ public fun Plot.plotDeviceProperty(
propertyName: String,
extractValue: Meta.() -> Value = { value ?: Null },
pointsNumber: Int = 400,
- coroutineScope: CoroutineScope = device,
+ coroutineScope: CoroutineScope = device.context,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
val clock = device.context.clock
@@ -43,7 +42,8 @@ public fun Plot.plotDeviceProperty(
}.launchIn(coroutineScope)
}
-public fun Plot.plotDeviceState(
+
+public fun Plot.plotNumberState(
context: Context,
state: DeviceState<out Number>,
pointsNumber: Int = 400,
@@ -54,4 +54,17 @@ public fun Plot.plotDeviceState(
x.strings = (x.strings + clock.now().toString()).takeLast(pointsNumber)
y.numbers = (y.numbers + it).takeLast(pointsNumber)
}.launchIn(context)
+}
+
+public fun Plot.plotBooleanState(
+ context: Context,
+ state: DeviceState<Boolean>,
+ pointsNumber: Int = 400,
+ configuration: Bar.() -> Unit = {},
+): Job = bar(configuration).run {
+ val clock = context.clock
+ state.valueFlow.onEach {
+ x.strings = (x.strings + clock.now().toString()).takeLast(pointsNumber)
+ y.values = (y.values + it.asValue()).takeLast(pointsNumber)
+ }.launchIn(context)
}
\ No newline at end of file
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 76d4b51..1df0f33 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -13,9 +13,10 @@ import space.kscience.controls.spec.doRecurring
import space.kscience.controls.spec.name
import space.kscience.controls.spec.write
import space.kscience.controls.vision.plotDeviceProperty
-import space.kscience.controls.vision.plotDeviceState
+import space.kscience.controls.vision.plotNumberState
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.request
+import space.kscience.plotly.models.ScatterMode
import space.kscience.visionforge.VisionManager
import space.kscience.visionforge.html.VisionPage
import space.kscience.visionforge.plotly.PlotlyPlugin
@@ -40,7 +41,7 @@ public fun main() {
val deviceManager = context.request(DeviceManager)
val visionManager = context.request(VisionManager)
- val state = DoubleRangeState(0.0, -100.0..100.0)
+ val state = DoubleRangeState(0.0, -5.0..5.0)
val pidParameters = PidParameters(
kp = 2.5,
@@ -79,14 +80,37 @@ public fun main() {
) {
vision {
plotly {
- plotDeviceState(context, state){
- name = "value"
+ plotNumberState(context, state) {
+ name = "real position"
}
- plotDeviceProperty(device["pid"], Regulator.target.name){
+ plotDeviceProperty(device["pid"], Regulator.position.name) {
+ name = "read position"
+ }
+
+ plotDeviceProperty(device["pid"], Regulator.target.name) {
name = "target"
}
}
}
+
+ vision {
+ plotly {
+// plotBooleanState(context, state.atStartState) {
+// name = "start"
+// }
+// plotBooleanState(context, state.atEndState) {
+// name = "end"
+// }
+ plotDeviceProperty(device["start"], LimitSwitch.locked.name) {
+ name = "start measured"
+ mode = ScatterMode.markers
+ }
+ plotDeviceProperty(device["end"], LimitSwitch.locked.name) {
+ name = "end measured"
+ mode = ScatterMode.markers
+ }
+ }
+ }
}
}.start(false)
From 2698cee80b1de7f0bb2bbf8c48782c8061695b8c Mon Sep 17 00:00:00 2001
From: darksnake <altavir@gmail.com>
Date: Thu, 2 Nov 2023 15:36:10 +0300
Subject: [PATCH 023/125] Remove automatic reads from virtual drive and pid
---
.../kotlin/space/kscience/controls/constructor/Drive.kt | 3 +--
.../kotlin/space/kscience/controls/constructor/PidRegulator.kt | 1 -
demo/constructor/src/jvmMain/kotlin/main.kt | 2 ++
3 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
index e7c3d39..f87d0e3 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
@@ -48,7 +48,7 @@ public class VirtualDrive(
public val positionState: MutableDeviceState<Double>,
) : Drive, DeviceBySpec<Drive>(Drive, context) {
- private val dt = meta["time.step"].double?.milliseconds ?: 5.milliseconds
+ private val dt = meta["time.step"].double?.milliseconds ?: 1.milliseconds
private val clock = context.clock
override var force: Double = 0.0
@@ -73,7 +73,6 @@ public class VirtualDrive(
// compute new value based on velocity and acceleration from the previous step
positionState.value += velocity * dtSeconds + force / mass * dtSeconds.pow(2) / 2
- propertyChanged(Drive.position, positionState.value)
// compute new velocity based on acceleration on the previous step
velocity += force / mass * dtSeconds
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
index 9268d02..e8e2ec3 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
@@ -62,7 +62,6 @@ public class PidRegulator(
lastPosition = drive.position
drive.force = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative
- propertyChanged(Regulator.position, drive.position)
}
}
}
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 1df0f33..2996da2 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -11,6 +11,7 @@ import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.clock
import space.kscience.controls.spec.doRecurring
import space.kscience.controls.spec.name
+import space.kscience.controls.spec.read
import space.kscience.controls.spec.write
import space.kscience.controls.vision.plotDeviceProperty
import space.kscience.controls.vision.plotNumberState
@@ -66,6 +67,7 @@ public fun main() {
val target = 5 * sin(2.0 * PI * freq * t) +
sin(2 * PI * 21 * freq * t + 0.1 * (timeFromStart / pidParameters.timeStep))
pid.write(Regulator.target, target)
+ pid.read(Regulator.position)
}
}
From 0e963a7b136b487b1192469aea1bd4e4ab3b4f93 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 5 Nov 2023 09:47:58 +0300
Subject: [PATCH 024/125] Simplify UI management in constructor
---
.../controls/constructor/DeviceGroup.kt | 7 ++
controls-vision/build.gradle.kts | 3 +
.../kscience/controls/vision/dashboard.kt | 61 ++++++++++++++
demo/constructor/build.gradle.kts | 1 +
demo/constructor/src/jvmMain/kotlin/main.kt | 80 ++++++-------------
5 files changed, 95 insertions(+), 57 deletions(-)
create mode 100644 controls-vision/src/jvmMain/kotlin/space/kscience/controls/vision/dashboard.kt
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
index f7bf494..b39d7b6 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -8,6 +8,7 @@ import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.install
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
+import space.kscience.dataforge.context.request
import space.kscience.dataforge.meta.Laminate
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.MutableMeta
@@ -158,6 +159,12 @@ public fun DeviceManager.deviceGroup(
return group
}
+public fun Context.deviceGroup(
+ name: String = "@group",
+ meta: Meta = Meta.EMPTY,
+ block: DeviceGroup.() -> Unit,
+): DeviceGroup = request(DeviceManager).deviceGroup(name, meta, block)
+
private fun DeviceGroup.getOrCreateGroup(name: Name): DeviceGroup {
return when (name.length) {
0 -> this
diff --git a/controls-vision/build.gradle.kts b/controls-vision/build.gradle.kts
index e1401d9..335bde2 100644
--- a/controls-vision/build.gradle.kts
+++ b/controls-vision/build.gradle.kts
@@ -12,6 +12,8 @@ val visionforgeVersion = "0.3.0-dev-10"
kscience {
jvm()
js()
+ useKtor()
+ useContextReceivers()
dependencies {
api(projects.controlsCore)
api(projects.controlsConstructor)
@@ -21,6 +23,7 @@ kscience {
jvmMain{
api("space.kscience:visionforge-server:$visionforgeVersion")
+ api("io.ktor:ktor-server-cio")
}
}
diff --git a/controls-vision/src/jvmMain/kotlin/space/kscience/controls/vision/dashboard.kt b/controls-vision/src/jvmMain/kotlin/space/kscience/controls/vision/dashboard.kt
new file mode 100644
index 0000000..2597e48
--- /dev/null
+++ b/controls-vision/src/jvmMain/kotlin/space/kscience/controls/vision/dashboard.kt
@@ -0,0 +1,61 @@
+package space.kscience.controls.vision
+
+import io.ktor.server.cio.CIO
+import io.ktor.server.engine.ApplicationEngine
+import io.ktor.server.engine.embeddedServer
+import io.ktor.server.http.content.staticResources
+import io.ktor.server.routing.Routing
+import io.ktor.server.routing.routing
+import kotlinx.html.TagConsumer
+import space.kscience.dataforge.context.Context
+import space.kscience.plotly.Plot
+import space.kscience.plotly.PlotlyConfig
+import space.kscience.visionforge.html.HtmlVisionFragment
+import space.kscience.visionforge.html.VisionPage
+import space.kscience.visionforge.html.VisionTagConsumer
+import space.kscience.visionforge.plotly.plotly
+import space.kscience.visionforge.server.VisionRoute
+import space.kscience.visionforge.server.close
+import space.kscience.visionforge.server.openInBrowser
+import space.kscience.visionforge.server.visionPage
+import space.kscience.visionforge.visionManager
+
+public fun Context.showDashboard(
+ port: Int = 7777,
+ routes: Routing.() -> Unit = {},
+ configurationBuilder: VisionRoute.() -> Unit = {},
+ visionFragment: HtmlVisionFragment,
+): ApplicationEngine = embeddedServer(CIO, port = port) {
+ routing {
+ staticResources("", null, null)
+ routes()
+ }
+
+ visionPage(
+ visionManager,
+ VisionPage.scriptHeader("js/constructor.js"),
+ configurationBuilder = configurationBuilder,
+ visionFragment = visionFragment
+ )
+}.also {
+ it.start(false)
+ it.openInBrowser()
+
+
+ println("Enter 'exit' to close server")
+ while (readlnOrNull() != "exit") {
+ //
+ }
+
+ it.close()
+}
+
+context(VisionTagConsumer<*>)
+public fun TagConsumer<*>.plot(
+ config: PlotlyConfig = PlotlyConfig(),
+ block: Plot.() -> Unit,
+) {
+ vision {
+ plotly(config, block)
+ }
+}
diff --git a/demo/constructor/build.gradle.kts b/demo/constructor/build.gradle.kts
index 897b9af..daa4381 100644
--- a/demo/constructor/build.gradle.kts
+++ b/demo/constructor/build.gradle.kts
@@ -6,6 +6,7 @@ plugins {
kscience {
fullStack("js/constructor.js", jvmConfig = {withJava()})
useKtor()
+ useContextReceivers()
dependencies {
api(projects.controlsVision)
}
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 1df0f33..8fc1dac 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -1,9 +1,5 @@
package space.kscience.controls.demo.constructor
-import io.ktor.server.cio.CIO
-import io.ktor.server.engine.embeddedServer
-import io.ktor.server.http.content.staticResources
-import io.ktor.server.routing.routing
import space.kscience.controls.api.get
import space.kscience.controls.constructor.*
import space.kscience.controls.manager.ClockManager
@@ -12,18 +8,13 @@ import space.kscience.controls.manager.clock
import space.kscience.controls.spec.doRecurring
import space.kscience.controls.spec.name
import space.kscience.controls.spec.write
+import space.kscience.controls.vision.plot
import space.kscience.controls.vision.plotDeviceProperty
import space.kscience.controls.vision.plotNumberState
+import space.kscience.controls.vision.showDashboard
import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.context.request
import space.kscience.plotly.models.ScatterMode
-import space.kscience.visionforge.VisionManager
-import space.kscience.visionforge.html.VisionPage
import space.kscience.visionforge.plotly.PlotlyPlugin
-import space.kscience.visionforge.plotly.plotly
-import space.kscience.visionforge.server.close
-import space.kscience.visionforge.server.openInBrowser
-import space.kscience.visionforge.server.visionPage
import kotlin.math.PI
import kotlin.math.sin
import kotlin.time.Duration.Companion.milliseconds
@@ -38,9 +29,6 @@ public fun main() {
plugin(ClockManager)
}
- val deviceManager = context.request(DeviceManager)
- val visionManager = context.request(VisionManager)
-
val state = DoubleRangeState(0.0, -5.0..5.0)
val pidParameters = PidParameters(
@@ -50,7 +38,7 @@ public fun main() {
timeStep = 0.005.seconds
)
- val device = deviceManager.deviceGroup {
+ val device = context.deviceGroup {
val drive = virtualDrive("drive", 0.005, state)
val pid = pid("pid", drive, pidParameters)
virtualLimitSwitch("start", state.atStartState)
@@ -69,59 +57,37 @@ public fun main() {
}
}
- val server = embeddedServer(CIO, port = 7777) {
- routing {
- staticResources("", null, null)
- }
- visionPage(
- visionManager,
- VisionPage.scriptHeader("js/constructor.js")
- ) {
- vision {
- plotly {
- plotNumberState(context, state) {
- name = "real position"
- }
- plotDeviceProperty(device["pid"], Regulator.position.name) {
- name = "read position"
- }
-
- plotDeviceProperty(device["pid"], Regulator.target.name) {
- name = "target"
- }
- }
+ context.showDashboard {
+ plot {
+ plotNumberState(context, state) {
+ name = "real position"
+ }
+ plotDeviceProperty(device["pid"], Regulator.position.name) {
+ name = "read position"
}
- vision {
- plotly {
+ plotDeviceProperty(device["pid"], Regulator.target.name) {
+ name = "target"
+ }
+ }
+
+ plot {
// plotBooleanState(context, state.atStartState) {
// name = "start"
// }
// plotBooleanState(context, state.atEndState) {
// name = "end"
// }
- plotDeviceProperty(device["start"], LimitSwitch.locked.name) {
- name = "start measured"
- mode = ScatterMode.markers
- }
- plotDeviceProperty(device["end"], LimitSwitch.locked.name) {
- name = "end measured"
- mode = ScatterMode.markers
- }
- }
+ plotDeviceProperty(device["start"], LimitSwitch.locked.name) {
+ name = "start measured"
+ mode = ScatterMode.markers
+ }
+ plotDeviceProperty(device["end"], LimitSwitch.locked.name) {
+ name = "end measured"
+ mode = ScatterMode.markers
}
}
- }.start(false)
-
- server.openInBrowser()
-
-
- println("Enter 'exit' to close server")
- while (readlnOrNull() != "exit") {
- //
}
-
- server.close()
}
\ No newline at end of file
From 78b18ebda63d0bba12183d96bed3a575c75062b0 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 5 Nov 2023 10:18:26 +0300
Subject: [PATCH 025/125] Move server to controls-vision
---
controls-vision/build.gradle.kts | 4 ++--
.../{space/kscience/controls/vision => }/plotExtensions.kt | 0
.../src/jsMain/kotlin/client.kt | 5 +++++
.../{space/kscience/controls/vision => }/dashboard.kt | 2 +-
demo/constructor/build.gradle.kts | 4 +++-
demo/constructor/src/jvmMain/kotlin/main.kt | 7 -------
6 files changed, 11 insertions(+), 11 deletions(-)
rename controls-vision/src/commonMain/kotlin/{space/kscience/controls/vision => }/plotExtensions.kt (100%)
rename demo/constructor/src/jsMain/kotlin/constructorJs.kt => controls-vision/src/jsMain/kotlin/client.kt (53%)
rename controls-vision/src/jvmMain/kotlin/{space/kscience/controls/vision => }/dashboard.kt (96%)
diff --git a/controls-vision/build.gradle.kts b/controls-vision/build.gradle.kts
index 335bde2..3659986 100644
--- a/controls-vision/build.gradle.kts
+++ b/controls-vision/build.gradle.kts
@@ -10,8 +10,7 @@ description = """
val visionforgeVersion = "0.3.0-dev-10"
kscience {
- jvm()
- js()
+ fullStack("js/controls-vision.js", development = true)
useKtor()
useContextReceivers()
dependencies {
@@ -19,6 +18,7 @@ kscience {
api(projects.controlsConstructor)
api("space.kscience:visionforge-plotly:$visionforgeVersion")
api("space.kscience:visionforge-markdown:$visionforgeVersion")
+ api("space.kscience:visionforge-tables:$visionforgeVersion")
}
jvmMain{
diff --git a/controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
similarity index 100%
rename from controls-vision/src/commonMain/kotlin/space/kscience/controls/vision/plotExtensions.kt
rename to controls-vision/src/commonMain/kotlin/plotExtensions.kt
diff --git a/demo/constructor/src/jsMain/kotlin/constructorJs.kt b/controls-vision/src/jsMain/kotlin/client.kt
similarity index 53%
rename from demo/constructor/src/jsMain/kotlin/constructorJs.kt
rename to controls-vision/src/jsMain/kotlin/client.kt
index 27bbc28..a835f9a 100644
--- a/demo/constructor/src/jsMain/kotlin/constructorJs.kt
+++ b/controls-vision/src/jsMain/kotlin/client.kt
@@ -1,6 +1,11 @@
+package space.kscience.controls.vision
+
+import space.kscience.visionforge.markup.MarkupPlugin
import space.kscience.visionforge.plotly.PlotlyPlugin
import space.kscience.visionforge.runVisionClient
public fun main(): Unit = runVisionClient {
plugin(PlotlyPlugin)
+ plugin(MarkupPlugin)
+// plugin(TableVisionJsPlugin)
}
\ No newline at end of file
diff --git a/controls-vision/src/jvmMain/kotlin/space/kscience/controls/vision/dashboard.kt b/controls-vision/src/jvmMain/kotlin/dashboard.kt
similarity index 96%
rename from controls-vision/src/jvmMain/kotlin/space/kscience/controls/vision/dashboard.kt
rename to controls-vision/src/jvmMain/kotlin/dashboard.kt
index 2597e48..29c4740 100644
--- a/controls-vision/src/jvmMain/kotlin/space/kscience/controls/vision/dashboard.kt
+++ b/controls-vision/src/jvmMain/kotlin/dashboard.kt
@@ -33,7 +33,7 @@ public fun Context.showDashboard(
visionPage(
visionManager,
- VisionPage.scriptHeader("js/constructor.js"),
+ VisionPage.scriptHeader("js/controls-vision.js"),
configurationBuilder = configurationBuilder,
visionFragment = visionFragment
)
diff --git a/demo/constructor/build.gradle.kts b/demo/constructor/build.gradle.kts
index daa4381..dec09b7 100644
--- a/demo/constructor/build.gradle.kts
+++ b/demo/constructor/build.gradle.kts
@@ -4,7 +4,9 @@ plugins {
}
kscience {
- fullStack("js/constructor.js", jvmConfig = {withJava()})
+ jvm{
+ withJava()
+ }
useKtor()
useContextReceivers()
dependencies {
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 8fc1dac..7a88b7f 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -21,7 +21,6 @@ import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.Duration.Companion.seconds
import kotlin.time.DurationUnit
-@Suppress("ExtractKtorModule")
public fun main() {
val context = Context {
plugin(DeviceManager)
@@ -73,12 +72,6 @@ public fun main() {
}
plot {
-// plotBooleanState(context, state.atStartState) {
-// name = "start"
-// }
-// plotBooleanState(context, state.atEndState) {
-// name = "end"
-// }
plotDeviceProperty(device["start"], LimitSwitch.locked.name) {
name = "start measured"
mode = ScatterMode.markers
From 0443fdc3c04a8ae02fea6c103f8b243460224219 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 6 Nov 2023 11:39:56 +0300
Subject: [PATCH 026/125] Add fixed age plots for properties and states.
---
.../kscience/controls/misc/ValueWithTime.kt | 69 ++++++++++
.../space/kscience/controls/misc/timeIO.kt | 40 ++++++
.../space/kscience/controls/misc/timeMeta.kt | 18 ---
.../controls/opcua/client/MetaBsdParser.kt | 2 +-
.../src/commonMain/kotlin/plotExtensions.kt | 123 +++++++++++++++---
demo/constructor/src/jvmMain/kotlin/main.kt | 13 +-
6 files changed, 222 insertions(+), 43 deletions(-)
create mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/misc/ValueWithTime.kt
create mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/misc/timeIO.kt
delete mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/misc/timeMeta.kt
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/ValueWithTime.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/ValueWithTime.kt
new file mode 100644
index 0000000..ce651e4
--- /dev/null
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/ValueWithTime.kt
@@ -0,0 +1,69 @@
+package space.kscience.controls.misc
+
+import io.ktor.utils.io.core.Input
+import io.ktor.utils.io.core.Output
+import kotlinx.datetime.Instant
+import space.kscience.dataforge.io.IOFormat
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.get
+import space.kscience.dataforge.meta.transformations.MetaConverter
+import kotlin.reflect.KType
+import kotlin.reflect.typeOf
+
+/**
+ * A value coupled to a time it was obtained at
+ */
+public data class ValueWithTime<T>(val value: T, val time: Instant) {
+ public companion object {
+ /**
+ * Create a [ValueWithTime] format for given value value [IOFormat]
+ */
+ public fun <T> ioFormat(
+ valueFormat: IOFormat<T>,
+ ): IOFormat<ValueWithTime<T>> = ValueWithTimeIOFormat(valueFormat)
+
+ /**
+ * Create a [MetaConverter] with time for given value [MetaConverter]
+ */
+ public fun <T> metaConverter(
+ valueConverter: MetaConverter<T>,
+ ): MetaConverter<ValueWithTime<T>> = ValueWithTimeMetaConverter(valueConverter)
+
+
+ public const val META_TIME_KEY: String = "time"
+ public const val META_VALUE_KEY: String = "value"
+ }
+}
+
+private class ValueWithTimeIOFormat<T>(val valueFormat: IOFormat<T>) : IOFormat<ValueWithTime<T>> {
+ override val type: KType get() = typeOf<ValueWithTime<T>>()
+
+ override fun readObject(input: Input): ValueWithTime<T> {
+ val timestamp = InstantIOFormat.readObject(input)
+ val value = valueFormat.readObject(input)
+ return ValueWithTime(value, timestamp)
+ }
+
+ override fun writeObject(output: Output, obj: ValueWithTime<T>) {
+ InstantIOFormat.writeObject(output, obj.time)
+ valueFormat.writeObject(output, obj.value)
+ }
+
+}
+
+private class ValueWithTimeMetaConverter<T>(
+ val valueConverter: MetaConverter<T>,
+) : MetaConverter<ValueWithTime<T>> {
+ override fun metaToObject(
+ meta: Meta,
+ ): ValueWithTime<T>? = valueConverter.metaToObject(meta[ValueWithTime.META_VALUE_KEY] ?: Meta.EMPTY)?.let {
+ ValueWithTime(it, meta[ValueWithTime.META_TIME_KEY]?.instant ?: Instant.DISTANT_PAST)
+ }
+
+ override fun objectToMeta(obj: ValueWithTime<T>): Meta = Meta {
+ ValueWithTime.META_TIME_KEY put obj.time.toMeta()
+ ValueWithTime.META_VALUE_KEY put valueConverter.objectToMeta(obj.value)
+ }
+}
+
+public fun <T : Any> MetaConverter<T>.withTime(): MetaConverter<ValueWithTime<T>> = ValueWithTimeMetaConverter(this)
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/timeIO.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/timeIO.kt
new file mode 100644
index 0000000..aef7401
--- /dev/null
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/timeIO.kt
@@ -0,0 +1,40 @@
+package space.kscience.controls.misc
+
+import io.ktor.utils.io.core.*
+import kotlinx.datetime.Instant
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.io.IOFormat
+import space.kscience.dataforge.io.IOFormatFactory
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.string
+import space.kscience.dataforge.names.Name
+import space.kscience.dataforge.names.asName
+import kotlin.reflect.KType
+import kotlin.reflect.typeOf
+
+
+/**
+ * An [IOFormat] for [Instant]
+ */
+public object InstantIOFormat : IOFormat<Instant>, IOFormatFactory<Instant> {
+ override fun build(context: Context, meta: Meta): IOFormat<Instant> = this
+
+ override val name: Name = "instant".asName()
+
+ override val type: KType get() = typeOf<Instant>()
+
+ override fun writeObject(output: Output, obj: Instant) {
+ output.writeLong(obj.epochSeconds)
+ output.writeInt(obj.nanosecondsOfSecond)
+ }
+
+ override fun readObject(input: Input): Instant {
+ val seconds = input.readLong()
+ val nanoseconds = input.readInt()
+ return Instant.fromEpochSeconds(seconds, nanoseconds)
+ }
+}
+
+public fun Instant.toMeta(): Meta = Meta(toString())
+
+public val Meta.instant: Instant? get() = value?.string?.let { Instant.parse(it) }
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/timeMeta.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/timeMeta.kt
deleted file mode 100644
index 11683d9..0000000
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/timeMeta.kt
+++ /dev/null
@@ -1,18 +0,0 @@
-package space.kscience.controls.misc
-
-import kotlinx.datetime.Instant
-import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.get
-import space.kscience.dataforge.meta.long
-
-// TODO move to core
-
-public fun Instant.toMeta(): Meta = Meta {
- "seconds" put epochSeconds
- "nanos" put nanosecondsOfSecond
-}
-
-public fun Meta.instant(): Instant = value?.long?.let { Instant.fromEpochMilliseconds(it) } ?: Instant.fromEpochSeconds(
- get("seconds")?.long ?: 0L,
- get("nanos")?.long ?: 0L,
-)
\ No newline at end of file
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt
index 574343e..0442e31 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt
@@ -147,7 +147,7 @@ internal class MetaStructureCodec(
"Float" -> member.value?.numberOrNull?.toFloat()
"Double" -> member.value?.numberOrNull?.toDouble()
"String" -> member.string
- "DateTime" -> DateTime(member.instant().toJavaInstant())
+ "DateTime" -> DateTime(member.instant.toJavaInstant())
"Guid" -> member.string?.let { UUID.fromString(it) }
"ByteString" -> member.value?.list?.let { list ->
ByteString(list.map { it.number.toByte() }.toByteArray())
diff --git a/controls-vision/src/commonMain/kotlin/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
index 14899d8..ce85483 100644
--- a/controls-vision/src/commonMain/kotlin/plotExtensions.kt
+++ b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
@@ -4,18 +4,27 @@ import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Job
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.flow.transform
+import kotlinx.coroutines.sync.Mutex
+import kotlinx.coroutines.sync.withLock
+import kotlinx.datetime.Clock
+import kotlinx.datetime.Instant
import space.kscience.controls.api.Device
import space.kscience.controls.api.propertyMessageFlow
import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.manager.clock
+import space.kscience.controls.misc.ValueWithTime
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.*
import space.kscience.plotly.Plot
import space.kscience.plotly.bar
import space.kscience.plotly.models.Bar
import space.kscience.plotly.models.Scatter
+import space.kscience.plotly.models.Trace
import space.kscience.plotly.models.TraceValues
import space.kscience.plotly.scatter
+import kotlin.time.Duration
+import kotlin.time.Duration.Companion.hours
private var TraceValues.values: List<Value>
get() = value?.list ?: emptyList()
@@ -23,48 +32,126 @@ private var TraceValues.values: List<Value>
value = ListValue(newValues)
}
+
+private var TraceValues.times: List<Instant>
+ get() = value?.list?.map { Instant.parse(it.string) } ?: emptyList()
+ set(newValues) {
+ value = ListValue(newValues.map { it.toString().asValue() })
+ }
+
+
+private class TimeData(private var points: MutableList<ValueWithTime<Value>> = mutableListOf()) {
+ private val mutex = Mutex()
+
+ suspend fun append(time: Instant, value: Value) = mutex.withLock {
+ points.add(ValueWithTime(value, time))
+ }
+
+ suspend fun trim(maxAge: Duration, maxPoints: Int = 800, minPoints: Int = 400) {
+ require(maxPoints > 2)
+ require(minPoints > 0)
+ require(maxPoints > minPoints)
+ val now = Clock.System.now()
+ // filter old points
+ points.removeAll { now - it.time > maxAge }
+
+ if (points.size > maxPoints) {
+ val durationBetweenPoints = maxAge / minPoints
+ val markedForRemoval = buildList<ValueWithTime<Value>> {
+ var lastTime: Instant? = null
+ points.forEach { point ->
+ if (lastTime?.let { point.time - it < durationBetweenPoints } == true) {
+ add(point)
+ } else {
+ lastTime = point.time
+ }
+ }
+ }
+ points.removeAll(markedForRemoval)
+ }
+ }
+
+ suspend fun fillPlot(x: TraceValues, y: TraceValues) = mutex.withLock {
+ x.strings = points.map { it.time.toString() }
+ y.values = points.map { it.value }
+ }
+}
+
/**
- * Add a trace that shows a [Device] property change over time. Show only latest [pointsNumber] .
+ * Add a trace that shows a [Device] property change over time. Show only latest [maxPoints] .
* @return a [Job] that handles the listener
*/
public fun Plot.plotDeviceProperty(
device: Device,
propertyName: String,
extractValue: Meta.() -> Value = { value ?: Null },
- pointsNumber: Int = 400,
+ maxAge: Duration = 1.hours,
+ maxPoints: Int = 800,
+ minPoints: Int = 400,
coroutineScope: CoroutineScope = device.context,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
val clock = device.context.clock
- device.propertyMessageFlow(propertyName).onEach { message ->
- x.strings = (x.strings + (message.time ?: clock.now()).toString()).takeLast(pointsNumber)
- y.values = (y.values + message.value.extractValue()).takeLast(pointsNumber)
+ val data = TimeData()
+ device.propertyMessageFlow(propertyName).transform {
+ data.append(it.time ?: clock.now(), it.value.extractValue())
+ data.trim(maxAge, maxPoints, minPoints)
+ emit(data)
+ }.onEach {
+ it.fillPlot(x, y)
}.launchIn(coroutineScope)
}
+private fun <T> Trace.updateFromState(
+ context: Context,
+ state: DeviceState<T>,
+ extractValue: T.() -> Value = { state.converter.objectToMeta(this).value ?: space.kscience.dataforge.meta.Null },
+ maxAge: Duration = 1.hours,
+ maxPoints: Int = 800,
+ minPoints: Int = 400,
+): Job{
+ val clock = context.clock
+ val data = TimeData()
+ return state.valueFlow.transform<T, TimeData> {
+ data.append(clock.now(), it.extractValue())
+ data.trim(maxAge, maxPoints, minPoints)
+ }.onEach {
+ it.fillPlot(x, y)
+ }.launchIn(context)
+}
+
+public fun <T> Plot.plotDeviceState(
+ context: Context,
+ state: DeviceState<T>,
+ extractValue: T.() -> Value = { state.converter.objectToMeta(this).value ?: Null },
+ maxAge: Duration = 1.hours,
+ maxPoints: Int = 800,
+ minPoints: Int = 400,
+ configuration: Scatter.() -> Unit = {},
+): Job = scatter(configuration).run {
+ updateFromState(context, state, extractValue, maxAge, maxPoints, minPoints)
+}
+
public fun Plot.plotNumberState(
context: Context,
state: DeviceState<out Number>,
- pointsNumber: Int = 400,
+ maxAge: Duration = 1.hours,
+ maxPoints: Int = 800,
+ minPoints: Int = 400,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
- val clock = context.clock
- state.valueFlow.onEach {
- x.strings = (x.strings + clock.now().toString()).takeLast(pointsNumber)
- y.numbers = (y.numbers + it).takeLast(pointsNumber)
- }.launchIn(context)
+ updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints)
}
+
public fun Plot.plotBooleanState(
context: Context,
state: DeviceState<Boolean>,
- pointsNumber: Int = 400,
+ maxAge: Duration = 1.hours,
+ maxPoints: Int = 800,
+ minPoints: Int = 400,
configuration: Bar.() -> Unit = {},
-): Job = bar(configuration).run {
- val clock = context.clock
- state.valueFlow.onEach {
- x.strings = (x.strings + clock.now().toString()).takeLast(pointsNumber)
- y.values = (y.values + it.asValue()).takeLast(pointsNumber)
- }.launchIn(context)
+): Job = bar(configuration).run {
+ updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints)
}
\ No newline at end of file
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 7a88b7f..079499d 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -51,32 +51,33 @@ public fun main() {
val t = timeFromStart.toDouble(DurationUnit.SECONDS)
val freq = 0.1
val target = 5 * sin(2.0 * PI * freq * t) +
- sin(2 * PI * 21 * freq * t + 0.1 * (timeFromStart / pidParameters.timeStep))
+ sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / pidParameters.timeStep))
pid.write(Regulator.target, target)
}
}
+ val maxAge = 10.seconds
context.showDashboard {
plot {
- plotNumberState(context, state) {
+ plotNumberState(context, state, maxAge = maxAge) {
name = "real position"
}
- plotDeviceProperty(device["pid"], Regulator.position.name) {
+ plotDeviceProperty(device["pid"], Regulator.position.name, maxAge = maxAge) {
name = "read position"
}
- plotDeviceProperty(device["pid"], Regulator.target.name) {
+ plotDeviceProperty(device["pid"], Regulator.target.name, maxAge = maxAge) {
name = "target"
}
}
plot {
- plotDeviceProperty(device["start"], LimitSwitch.locked.name) {
+ plotDeviceProperty(device["start"], LimitSwitch.locked.name, maxAge = maxAge) {
name = "start measured"
mode = ScatterMode.markers
}
- plotDeviceProperty(device["end"], LimitSwitch.locked.name) {
+ plotDeviceProperty(device["end"], LimitSwitch.locked.name, maxAge = maxAge) {
name = "end measured"
mode = ScatterMode.markers
}
From 825f1a4d049a0d6b4198a500137a58e41c95dc2c Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 6 Nov 2023 16:46:16 +0300
Subject: [PATCH 027/125] Add DeviceConstructor
---
.../controls/constructor/DeviceConstructor.kt | 126 ++++++++++++++++++
.../controls/constructor/DeviceGroup.kt | 124 ++++++++++-------
.../controls/constructor/DeviceState.kt | 62 ++++++++-
.../kscience/controls/constructor/Drive.kt | 16 ++-
.../controls/constructor/LimitSwitch.kt | 10 +-
.../controls/constructor/PidRegulator.kt | 2 +-
.../controls/constructor/customState.kt | 8 +-
.../controls/opcua/client/MetaBsdParser.kt | 2 +-
controls-vision/build.gradle.kts | 4 +-
demo/constructor/src/jvmMain/kotlin/main.kt | 8 +-
gradle/wrapper/gradle-wrapper.properties | 2 +-
11 files changed, 297 insertions(+), 67 deletions(-)
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
new file mode 100644
index 0000000..54ebc4e
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -0,0 +1,126 @@
+package space.kscience.controls.constructor
+
+import space.kscience.controls.api.Device
+import space.kscience.controls.api.PropertyDescriptor
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.dataforge.context.Factory
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.names.Name
+import space.kscience.dataforge.names.asName
+import kotlin.properties.PropertyDelegateProvider
+import kotlin.properties.ReadOnlyProperty
+import kotlin.properties.ReadWriteProperty
+import kotlin.reflect.KProperty
+import kotlin.time.Duration
+
+/**
+ * A base for strongly typed device constructor blocks. Has additional delegates for type-safe devices
+ */
+public abstract class DeviceConstructor(
+ deviceManager: DeviceManager,
+ meta: Meta,
+) : DeviceGroup(deviceManager, meta) {
+
+ /**
+ * Register a device, provided by a given [factory] and
+ */
+ public fun <D : Device> device(
+ factory: Factory<D>,
+ meta: Meta? = null,
+ nameOverride: Name? = null,
+ metaLocation: Name? = null,
+ ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, D>> =
+ PropertyDelegateProvider { _: DeviceConstructor, property: KProperty<*> ->
+ val name = nameOverride ?: property.name.asName()
+ val device = registerDevice(name, factory, meta, metaLocation ?: name)
+ ReadOnlyProperty { _: DeviceConstructor, _ ->
+ device
+ }
+ }
+
+ public fun <D : Device> device(
+ device: D,
+ nameOverride: Name? = null,
+ ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, D>> =
+ PropertyDelegateProvider { _: DeviceConstructor, property: KProperty<*> ->
+ val name = nameOverride ?: property.name.asName()
+ registerDevice(name, device)
+ ReadOnlyProperty { _: DeviceConstructor, _ ->
+ device
+ }
+ }
+
+
+ /**
+ * Register a property and provide a direct reader for it
+ */
+ public fun <T : Any> property(
+ state: DeviceState<T>,
+ nameOverride: String? = null,
+ descriptorBuilder: PropertyDescriptor.() -> Unit,
+ ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, T>> =
+ PropertyDelegateProvider { _: DeviceConstructor, property ->
+ val name = nameOverride ?: property.name
+ val descriptor = PropertyDescriptor(name).apply(descriptorBuilder)
+ registerProperty(descriptor, state)
+ ReadOnlyProperty { _: DeviceConstructor, _ ->
+ state.value
+ }
+ }
+
+ /**
+ * Register external state as a property
+ */
+ public fun <T : Any> property(
+ metaConverter: MetaConverter<T>,
+ reader: suspend () -> T,
+ readInterval: Duration,
+ initialState: T,
+ nameOverride: String? = null,
+ descriptorBuilder: PropertyDescriptor.() -> Unit,
+ ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, T>> = property(
+ DeviceState.external(this, metaConverter, readInterval, initialState, reader),
+ nameOverride, descriptorBuilder
+ )
+
+
+ /**
+ * Register a mutable property and provide a direct reader for it
+ */
+ public fun <T : Any> mutableProperty(
+ state: MutableDeviceState<T>,
+ nameOverride: String? = null,
+ descriptorBuilder: PropertyDescriptor.() -> Unit,
+ ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, T>> =
+ PropertyDelegateProvider { _: DeviceConstructor, property ->
+ val name = nameOverride ?: property.name
+ val descriptor = PropertyDescriptor(name).apply(descriptorBuilder)
+ registerProperty(descriptor, state)
+ object : ReadWriteProperty<DeviceConstructor, T> {
+ override fun getValue(thisRef: DeviceConstructor, property: KProperty<*>): T = state.value
+
+ override fun setValue(thisRef: DeviceConstructor, property: KProperty<*>, value: T) {
+ state.value = value
+ }
+
+ }
+ }
+
+ /**
+ * Register external state as a property
+ */
+ public fun <T : Any> mutableProperty(
+ metaConverter: MetaConverter<T>,
+ reader: suspend () -> T,
+ writer: suspend (T) -> Unit,
+ readInterval: Duration,
+ initialState: T,
+ nameOverride: String? = null,
+ descriptorBuilder: PropertyDescriptor.() -> Unit,
+ ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, T>> = mutableProperty(
+ DeviceState.external(this, metaConverter, readInterval, initialState, reader, writer),
+ nameOverride,
+ descriptorBuilder
+ )
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
index b39d7b6..936dd04 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -4,6 +4,7 @@ import kotlinx.coroutines.*
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.MutableSharedFlow
import space.kscience.controls.api.*
+import space.kscience.controls.api.DeviceLifecycleState.*
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.install
import space.kscience.dataforge.context.Context
@@ -23,7 +24,7 @@ import kotlin.coroutines.CoroutineContext
/**
* A mutable group of devices and properties to be used for lightweight design and simulations.
*/
-public class DeviceGroup(
+public open class DeviceGroup(
public val deviceManager: DeviceManager,
override val meta: Meta,
) : DeviceHub, CachingDevice {
@@ -63,15 +64,28 @@ public class DeviceGroup(
override val devices: Map<NameToken, Device> = _devices
- public fun <D : Device> device(token: NameToken, device: D): D {
- check(_devices[token] == null) { "A child device with name $token already exists" }
+ /**
+ * Register and initialize (synchronize child's lifecycle state with group state) a new device in this group
+ */
+ @OptIn(DFExperimental::class)
+ public fun <D : Device> registerDevice(token: NameToken, device: D): D {
+ require(_devices[token] == null) { "A child device with name $token already exists" }
+ //start or stop the child if needed
+ when (lifecycleState) {
+ STARTING, STARTED -> launch { device.start() }
+ STOPPED -> device.stop()
+ ERROR -> {}
+ }
_devices[token] = device
return device
}
private val properties: MutableMap<Name, Property> = hashMapOf()
- public fun property(descriptor: PropertyDescriptor, state: DeviceState<out Any>) {
+ /**
+ * Register a new property based on [DeviceState]. Properties could be modified dynamically
+ */
+ public fun registerProperty(descriptor: PropertyDescriptor, state: DeviceState<out Any>) {
val name = descriptor.name.parseAsName()
require(properties[name] == null) { "Can't add property with name $name. It already exists." }
properties[name] = Property(state, descriptor)
@@ -112,8 +126,8 @@ public class DeviceGroup(
}
@DFExperimental
- override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
- private set(value) {
+ override var lifecycleState: DeviceLifecycleState = STOPPED
+ protected set(value) {
if (field != value) {
launch {
sharedMessageFlow.emit(
@@ -127,12 +141,12 @@ public class DeviceGroup(
@OptIn(DFExperimental::class)
override suspend fun start() {
- lifecycleState = DeviceLifecycleState.STARTING
+ lifecycleState = STARTING
super.start()
devices.values.forEach {
it.start()
}
- lifecycleState = DeviceLifecycleState.STARTED
+ lifecycleState = STARTED
}
@OptIn(DFExperimental::class)
@@ -141,7 +155,7 @@ public class DeviceGroup(
it.stop()
}
super.stop()
- lifecycleState = DeviceLifecycleState.STOPPED
+ lifecycleState = STOPPED
}
public companion object {
@@ -149,7 +163,7 @@ public class DeviceGroup(
}
}
-public fun DeviceManager.deviceGroup(
+public fun DeviceManager.registerDeviceGroup(
name: String = "@group",
meta: Meta = Meta.EMPTY,
block: DeviceGroup.() -> Unit,
@@ -159,11 +173,11 @@ public fun DeviceManager.deviceGroup(
return group
}
-public fun Context.deviceGroup(
+public fun Context.registerDeviceGroup(
name: String = "@group",
meta: Meta = Meta.EMPTY,
block: DeviceGroup.() -> Unit,
-): DeviceGroup = request(DeviceManager).deviceGroup(name, meta, block)
+): DeviceGroup = request(DeviceManager).registerDeviceGroup(name, meta, block)
private fun DeviceGroup.getOrCreateGroup(name: Name): DeviceGroup {
return when (name.length) {
@@ -171,7 +185,7 @@ private fun DeviceGroup.getOrCreateGroup(name: Name): DeviceGroup {
1 -> {
val token = name.first()
when (val d = devices[token]) {
- null -> device(
+ null -> registerDevice(
token,
DeviceGroup(deviceManager, meta[token] ?: Meta.EMPTY)
)
@@ -187,79 +201,99 @@ private fun DeviceGroup.getOrCreateGroup(name: Name): DeviceGroup {
/**
* Register a device at given [name] path
*/
-public fun <D : Device> DeviceGroup.device(name: Name, device: D): D {
+public fun <D : Device> DeviceGroup.registerDevice(name: Name, device: D): D {
return when (name.length) {
0 -> error("Can't use empty name for a child device")
- 1 -> device(name.first(), device)
- else -> getOrCreateGroup(name.cutLast()).device(name.tokens.last(), device)
+ 1 -> registerDevice(name.first(), device)
+ else -> getOrCreateGroup(name.cutLast()).registerDevice(name.tokens.last(), device)
}
}
-public fun <D: Device> DeviceGroup.device(name: String, device: D): D = device(name.parseAsName(), device)
+public fun <D : Device> DeviceGroup.registerDevice(name: String, device: D): D = registerDevice(name.parseAsName(), device)
/**
* Add a device creating intermediate groups if necessary. If device with given [name] already exists, throws an error.
+ * @param name the name of the device in the group
+ * @param factory a factory used to create a device
+ * @param deviceMeta meta override for this specific device
+ * @param metaLocation location of the template meta in parent group meta
*/
-public fun DeviceGroup.device(name: Name, factory: Factory<Device>, deviceMeta: Meta? = null): Device {
- val newDevice = factory.build(deviceManager.context, Laminate(deviceMeta, meta[name]))
- device(name, newDevice)
+public fun <D : Device> DeviceGroup.registerDevice(
+ name: Name,
+ factory: Factory<D>,
+ deviceMeta: Meta? = null,
+ metaLocation: Name = name,
+): D {
+ val newDevice = factory.build(deviceManager.context, Laminate(deviceMeta, meta[metaLocation]))
+ registerDevice(name, newDevice)
return newDevice
}
-public fun DeviceGroup.device(
+public fun <D : Device> DeviceGroup.registerDevice(
name: String,
- factory: Factory<Device>,
+ factory: Factory<D>,
+ metaLocation: Name = name.parseAsName(),
metaBuilder: (MutableMeta.() -> Unit)? = null,
-): Device = device(name.parseAsName(), factory, metaBuilder?.let { Meta(it) })
+): D = registerDevice(name.parseAsName(), factory, metaBuilder?.let { Meta(it) }, metaLocation)
/**
* Create or edit a group with a given [name].
*/
-public fun DeviceGroup.deviceGroup(name: Name, block: DeviceGroup.() -> Unit): DeviceGroup =
+public fun DeviceGroup.registerDeviceGroup(name: Name, block: DeviceGroup.() -> Unit): DeviceGroup =
getOrCreateGroup(name).apply(block)
-public fun DeviceGroup.deviceGroup(name: String, block: DeviceGroup.() -> Unit): DeviceGroup =
- deviceGroup(name.parseAsName(), block)
+public fun DeviceGroup.registerDeviceGroup(name: String, block: DeviceGroup.() -> Unit): DeviceGroup =
+ registerDeviceGroup(name.parseAsName(), block)
-public fun <T : Any> DeviceGroup.property(
+/**
+ * Register read-only property based on [state]
+ */
+public fun <T : Any> DeviceGroup.registerProperty(
name: String,
state: DeviceState<T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
-): DeviceState<T> {
- property(
+) {
+ registerProperty(
PropertyDescriptor(name).apply(descriptorBuilder),
state
)
- return state
}
-public fun <T : Any> DeviceGroup.mutableProperty(
+/**
+ * Register a mutable property based on mutable [state]
+ */
+public fun <T : Any> DeviceGroup.registerMutableProperty(
name: String,
state: MutableDeviceState<T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
-): MutableDeviceState<T> {
- property(
+) {
+ registerProperty(
PropertyDescriptor(name).apply(descriptorBuilder),
state
)
- return state
}
-public fun <T : Any> DeviceGroup.virtualProperty(
- name: String,
- initialValue: T,
- converter: MetaConverter<T>,
- descriptorBuilder: PropertyDescriptor.() -> Unit = {},
-): MutableDeviceState<T> {
- val state = VirtualDeviceState<T>(converter, initialValue)
- return mutableProperty(name, state, descriptorBuilder)
-}
/**
* Create a virtual [MutableDeviceState], but do not register it to a device
*/
@Suppress("UnusedReceiverParameter")
-public fun <T : Any> DeviceGroup.standAloneProperty(
+public fun <T : Any> DeviceGroup.state(
+ converter: MetaConverter<T>,
+ initialValue: T,
+): MutableDeviceState<T> = VirtualDeviceState<T>(converter, initialValue)
+
+/**
+ * Create a new virtual mutable state and a property based on it.
+ * @return the mutable state used in property
+ */
+public fun <T : Any> DeviceGroup.registerVirtualProperty(
+ name: String,
initialValue: T,
converter: MetaConverter<T>,
-): MutableDeviceState<T> = VirtualDeviceState<T>(converter, initialValue)
\ No newline at end of file
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+): MutableDeviceState<T> {
+ val state = state(converter, initialValue)
+ registerMutableProperty(name, state, descriptorBuilder)
+ return state
+}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index 783752a..6e841f8 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -1,5 +1,7 @@
package space.kscience.controls.constructor
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.*
import kotlinx.coroutines.launch
import space.kscience.controls.api.Device
@@ -9,6 +11,7 @@ import space.kscience.controls.spec.MutableDevicePropertySpec
import space.kscience.controls.spec.name
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.transformations.MetaConverter
+import kotlin.time.Duration
/**
* An observable state of a device
@@ -18,6 +21,8 @@ public interface DeviceState<T> {
public val value: T
public val valueFlow: Flow<T>
+
+ public companion object
}
public val <T> DeviceState<T>.metaFlow: Flow<Meta> get() = valueFlow.map(converter::objectToMeta)
@@ -55,7 +60,7 @@ private open class BoundDeviceState<T>(
override val converter: MetaConverter<T>,
val device: Device,
val propertyName: String,
- private val initialValue: T,
+ initialValue: T,
) : DeviceState<T> {
override val valueFlow: StateFlow<T> = device.messageFlow.filterIsInstance<PropertyChangedMessage>().filter {
@@ -121,3 +126,58 @@ public suspend fun <D : Device, T> D.bindMutableStateToProperty(
): MutableDeviceState<T> = bindMutableStateToProperty(propertySpec.name, propertySpec.converter)
+private open class ExternalState<T>(
+ val scope: CoroutineScope,
+ override val converter: MetaConverter<T>,
+ val readInterval: Duration,
+ initialValue: T,
+ val reader: suspend () -> T,
+) : DeviceState<T> {
+
+ protected val flow: StateFlow<T> = flow {
+ while (true) {
+ delay(readInterval)
+ emit(reader())
+ }
+ }.stateIn(scope, SharingStarted.Eagerly, initialValue)
+
+ override val value: T get() = flow.value
+ override val valueFlow: Flow<T> get() = flow
+}
+
+/**
+ * Create a [DeviceState] which is constructed by periodically reading external value
+ */
+public fun <T> DeviceState.Companion.external(
+ scope: CoroutineScope,
+ converter: MetaConverter<T>,
+ readInterval: Duration,
+ initialValue: T,
+ reader: suspend () -> T,
+): DeviceState<T> = ExternalState(scope, converter, readInterval, initialValue, reader)
+
+private class MutableExternalState<T>(
+ scope: CoroutineScope,
+ converter: MetaConverter<T>,
+ readInterval: Duration,
+ initialValue: T,
+ reader: suspend () -> T,
+ val writer: suspend (T) -> Unit,
+) : ExternalState<T>(scope, converter, readInterval, initialValue, reader), MutableDeviceState<T> {
+ override var value: T
+ get() = super.value
+ set(value) {
+ scope.launch {
+ writer(value)
+ }
+ }
+}
+
+public fun <T> DeviceState.Companion.external(
+ scope: CoroutineScope,
+ converter: MetaConverter<T>,
+ readInterval: Duration,
+ initialValue: T,
+ reader: suspend () -> T,
+ writer: suspend (T) -> Unit,
+): MutableDeviceState<T> = MutableExternalState(scope, converter, readInterval, initialValue, reader, writer)
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
index e7c3d39..d8802eb 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
@@ -8,6 +8,7 @@ import space.kscience.controls.api.Device
import space.kscience.controls.manager.clock
import space.kscience.controls.spec.*
import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.meta.double
import space.kscience.dataforge.meta.get
import space.kscience.dataforge.meta.transformations.MetaConverter
@@ -84,12 +85,15 @@ public class VirtualDrive(
override fun onStop() {
updateJob?.cancel()
}
+
+ public companion object {
+ public fun factory(
+ mass: Double,
+ positionState: MutableDeviceState<Double>,
+ ): Factory<Drive> = Factory { context, _ ->
+ VirtualDrive(context, mass, positionState)
+ }
+ }
}
public suspend fun Drive.stateOfForce(): MutableDeviceState<Double> = bindMutableStateToProperty(Drive.force)
-
-public fun DeviceGroup.virtualDrive(
- name: String,
- mass: Double,
- positionState: MutableDeviceState<Double>,
-): VirtualDrive = device(name, VirtualDrive(context, mass, positionState))
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
index 3db6512..977930d 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
@@ -8,7 +8,7 @@ import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.DeviceSpec
import space.kscience.controls.spec.booleanProperty
import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.names.parseAsName
+import space.kscience.dataforge.context.Factory
/**
@@ -20,6 +20,9 @@ public interface LimitSwitch : Device {
public companion object : DeviceSpec<LimitSwitch>() {
public val locked: DevicePropertySpec<LimitSwitch, Boolean> by booleanProperty { locked }
+ public fun factory(lockedState: DeviceState<Boolean>): Factory<LimitSwitch> = Factory { context, _ ->
+ VirtualLimitSwitch(context, lockedState)
+ }
}
}
@@ -38,7 +41,4 @@ public class VirtualLimitSwitch(
}
override val locked: Boolean get() = lockedState.value
-}
-
-public fun DeviceGroup.virtualLimitSwitch(name: String, lockedState: DeviceState<Boolean>): VirtualLimitSwitch =
- device(name.parseAsName(), VirtualLimitSwitch(context, lockedState))
\ No newline at end of file
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
index 9268d02..e6f9df1 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
@@ -79,4 +79,4 @@ public fun DeviceGroup.pid(
name: String,
drive: Drive,
pidParameters: PidParameters,
-): PidRegulator = device(name, PidRegulator(drive, pidParameters))
\ No newline at end of file
+): PidRegulator = registerDevice(name, PidRegulator(drive, pidParameters))
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
index e745875..6e95ccd 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
@@ -38,4 +38,10 @@ public class DoubleRangeState(
* A state showing that the range is on its higher boundary
*/
public val atEndState: DeviceState<Boolean> = map(MetaConverter.boolean) { it >= range.endInclusive }
-}
\ No newline at end of file
+}
+
+@Suppress("UnusedReceiverParameter")
+public fun DeviceGroup.rangeState(
+ initialValue: Double,
+ range: ClosedFloatingPointRange<Double>,
+): DoubleRangeState = DoubleRangeState(initialValue, range)
\ No newline at end of file
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt
index 0442e31..b760184 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt
@@ -147,7 +147,7 @@ internal class MetaStructureCodec(
"Float" -> member.value?.numberOrNull?.toFloat()
"Double" -> member.value?.numberOrNull?.toDouble()
"String" -> member.string
- "DateTime" -> DateTime(member.instant.toJavaInstant())
+ "DateTime" -> member.instant?.toJavaInstant()?.let { DateTime(it) }
"Guid" -> member.string?.let { UUID.fromString(it) }
"ByteString" -> member.value?.list?.let { list ->
ByteString(list.map { it.number.toByte() }.toByteArray())
diff --git a/controls-vision/build.gradle.kts b/controls-vision/build.gradle.kts
index 3659986..a69329a 100644
--- a/controls-vision/build.gradle.kts
+++ b/controls-vision/build.gradle.kts
@@ -10,7 +10,7 @@ description = """
val visionforgeVersion = "0.3.0-dev-10"
kscience {
- fullStack("js/controls-vision.js", development = true)
+ fullStack("js/controls-vision.js")
useKtor()
useContextReceivers()
dependencies {
@@ -29,4 +29,4 @@ kscience {
readme {
maturity = space.kscience.gradle.Maturity.PROTOTYPE
-}
+}
\ No newline at end of file
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 079499d..59881e5 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -37,11 +37,11 @@ public fun main() {
timeStep = 0.005.seconds
)
- val device = context.deviceGroup {
- val drive = virtualDrive("drive", 0.005, state)
+ val device = context.registerDeviceGroup {
+ val drive = VirtualDrive(context, 0.005, state)
val pid = pid("pid", drive, pidParameters)
- virtualLimitSwitch("start", state.atStartState)
- virtualLimitSwitch("end", state.atEndState)
+ registerDevice("start", LimitSwitch.factory(state.atStartState))
+ registerDevice("end", LimitSwitch.factory(state.atEndState))
val clock = context.clock
val clockStart = clock.now()
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index db9a6b8..e411586 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
From 53fc240c759daa9791463af03a7422d907c4e19b Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Tue, 7 Nov 2023 08:46:56 +0300
Subject: [PATCH 028/125] Test device constructor
---
.../controls/constructor/DeviceConstructor.kt | 16 ++--
.../controls/constructor/DeviceGroup.kt | 82 +++++++++++--------
.../controls/constructor/DeviceState.kt | 25 ++++--
.../kscience/controls/constructor/Drive.kt | 2 +-
.../controls/constructor/PidRegulator.kt | 2 +-
.../kscience/controls/spec/DeviceBase.kt | 28 +++----
demo/constructor/build.gradle.kts | 6 +-
demo/constructor/src/jvmMain/kotlin/main.kt | 46 +++++++----
8 files changed, 123 insertions(+), 84 deletions(-)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
index 54ebc4e..01d9087 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -33,7 +33,7 @@ public abstract class DeviceConstructor(
): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, D>> =
PropertyDelegateProvider { _: DeviceConstructor, property: KProperty<*> ->
val name = nameOverride ?: property.name.asName()
- val device = registerDevice(name, factory, meta, metaLocation ?: name)
+ val device = install(name, factory, meta, metaLocation ?: name)
ReadOnlyProperty { _: DeviceConstructor, _ ->
device
}
@@ -45,7 +45,7 @@ public abstract class DeviceConstructor(
): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, D>> =
PropertyDelegateProvider { _: DeviceConstructor, property: KProperty<*> ->
val name = nameOverride ?: property.name.asName()
- registerDevice(name, device)
+ install(name, device)
ReadOnlyProperty { _: DeviceConstructor, _ ->
device
}
@@ -58,7 +58,7 @@ public abstract class DeviceConstructor(
public fun <T : Any> property(
state: DeviceState<T>,
nameOverride: String? = null,
- descriptorBuilder: PropertyDescriptor.() -> Unit,
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, T>> =
PropertyDelegateProvider { _: DeviceConstructor, property ->
val name = nameOverride ?: property.name
@@ -78,7 +78,7 @@ public abstract class DeviceConstructor(
readInterval: Duration,
initialState: T,
nameOverride: String? = null,
- descriptorBuilder: PropertyDescriptor.() -> Unit,
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, T>> = property(
DeviceState.external(this, metaConverter, readInterval, initialState, reader),
nameOverride, descriptorBuilder
@@ -91,8 +91,8 @@ public abstract class DeviceConstructor(
public fun <T : Any> mutableProperty(
state: MutableDeviceState<T>,
nameOverride: String? = null,
- descriptorBuilder: PropertyDescriptor.() -> Unit,
- ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, T>> =
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ ): PropertyDelegateProvider<DeviceConstructor, ReadWriteProperty<DeviceConstructor, T>> =
PropertyDelegateProvider { _: DeviceConstructor, property ->
val name = nameOverride ?: property.name
val descriptor = PropertyDescriptor(name).apply(descriptorBuilder)
@@ -117,8 +117,8 @@ public abstract class DeviceConstructor(
readInterval: Duration,
initialState: T,
nameOverride: String? = null,
- descriptorBuilder: PropertyDescriptor.() -> Unit,
- ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, T>> = mutableProperty(
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ ): PropertyDelegateProvider<DeviceConstructor, ReadWriteProperty<DeviceConstructor, T>> = mutableProperty(
DeviceState.external(this, metaConverter, readInterval, initialState, reader, writer),
nameOverride,
descriptorBuilder
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
index 936dd04..68f8301 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -3,6 +3,8 @@ package space.kscience.controls.constructor
import kotlinx.coroutines.*
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.MutableSharedFlow
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
import space.kscience.controls.api.*
import space.kscience.controls.api.DeviceLifecycleState.*
import space.kscience.controls.manager.DeviceManager
@@ -40,25 +42,30 @@ public open class DeviceGroup(
)
- override val context: Context get() = deviceManager.context
+ override final val context: Context get() = deviceManager.context
- override val coroutineContext: CoroutineContext by lazy {
- context.newCoroutineContext(
- SupervisorJob(context.coroutineContext[Job]) +
- CoroutineName("Device $this") +
- CoroutineExceptionHandler { _, throwable ->
- launch {
- sharedMessageFlow.emit(
- DeviceErrorMessage(
- errorMessage = throwable.message,
- errorType = throwable::class.simpleName,
- errorStackTrace = throwable.stackTraceToString()
- )
+
+ private val sharedMessageFlow = MutableSharedFlow<DeviceMessage>()
+
+ override val messageFlow: Flow<DeviceMessage>
+ get() = sharedMessageFlow
+
+ override val coroutineContext: CoroutineContext = context.newCoroutineContext(
+ SupervisorJob(context.coroutineContext[Job]) +
+ CoroutineName("Device $this") +
+ CoroutineExceptionHandler { _, throwable ->
+ context.launch {
+ sharedMessageFlow.emit(
+ DeviceErrorMessage(
+ errorMessage = throwable.message,
+ errorType = throwable::class.simpleName,
+ errorStackTrace = throwable.stackTraceToString()
)
- }
+ )
}
- )
- }
+ }
+ )
+
private val _devices = hashMapOf<NameToken, Device>()
@@ -68,14 +75,10 @@ public open class DeviceGroup(
* Register and initialize (synchronize child's lifecycle state with group state) a new device in this group
*/
@OptIn(DFExperimental::class)
- public fun <D : Device> registerDevice(token: NameToken, device: D): D {
+ public fun <D : Device> install(token: NameToken, device: D): D {
require(_devices[token] == null) { "A child device with name $token already exists" }
- //start or stop the child if needed
- when (lifecycleState) {
- STARTING, STARTED -> launch { device.start() }
- STOPPED -> device.stop()
- ERROR -> {}
- }
+ //start the child device if needed
+ if(lifecycleState == STARTED || lifecycleState == STARTING) launch { device.start() }
_devices[token] = device
return device
}
@@ -89,6 +92,14 @@ public open class DeviceGroup(
val name = descriptor.name.parseAsName()
require(properties[name] == null) { "Can't add property with name $name. It already exists." }
properties[name] = Property(state, descriptor)
+ state.metaFlow.onEach {
+ sharedMessageFlow.emit(
+ PropertyChangedMessage(
+ descriptor.name,
+ it
+ )
+ )
+ }.launchIn(this)
}
private val actions: MutableMap<Name, Action> = hashMapOf()
@@ -115,10 +126,6 @@ public open class DeviceGroup(
property.valueAsMeta = value
}
- private val sharedMessageFlow = MutableSharedFlow<DeviceMessage>()
-
- override val messageFlow: Flow<DeviceMessage>
- get() = sharedMessageFlow
override suspend fun execute(actionName: String, argument: Meta?): Meta? {
val action = actions[actionName] ?: error("Action with name $actionName not found")
@@ -185,7 +192,7 @@ private fun DeviceGroup.getOrCreateGroup(name: Name): DeviceGroup {
1 -> {
val token = name.first()
when (val d = devices[token]) {
- null -> registerDevice(
+ null -> install(
token,
DeviceGroup(deviceManager, meta[token] ?: Meta.EMPTY)
)
@@ -201,15 +208,18 @@ private fun DeviceGroup.getOrCreateGroup(name: Name): DeviceGroup {
/**
* Register a device at given [name] path
*/
-public fun <D : Device> DeviceGroup.registerDevice(name: Name, device: D): D {
+public fun <D : Device> DeviceGroup.install(name: Name, device: D): D {
return when (name.length) {
0 -> error("Can't use empty name for a child device")
- 1 -> registerDevice(name.first(), device)
- else -> getOrCreateGroup(name.cutLast()).registerDevice(name.tokens.last(), device)
+ 1 -> install(name.first(), device)
+ else -> getOrCreateGroup(name.cutLast()).install(name.tokens.last(), device)
}
}
-public fun <D : Device> DeviceGroup.registerDevice(name: String, device: D): D = registerDevice(name.parseAsName(), device)
+public fun <D : Device> DeviceGroup.install(name: String, device: D): D =
+ install(name.parseAsName(), device)
+
+public fun <D : Device> Context.install(name: String, device: D): D = request(DeviceManager).install(name, device)
/**
* Add a device creating intermediate groups if necessary. If device with given [name] already exists, throws an error.
@@ -218,23 +228,23 @@ public fun <D : Device> DeviceGroup.registerDevice(name: String, device: D): D =
* @param deviceMeta meta override for this specific device
* @param metaLocation location of the template meta in parent group meta
*/
-public fun <D : Device> DeviceGroup.registerDevice(
+public fun <D : Device> DeviceGroup.install(
name: Name,
factory: Factory<D>,
deviceMeta: Meta? = null,
metaLocation: Name = name,
): D {
val newDevice = factory.build(deviceManager.context, Laminate(deviceMeta, meta[metaLocation]))
- registerDevice(name, newDevice)
+ install(name, newDevice)
return newDevice
}
-public fun <D : Device> DeviceGroup.registerDevice(
+public fun <D : Device> DeviceGroup.install(
name: String,
factory: Factory<D>,
metaLocation: Name = name.parseAsName(),
metaBuilder: (MutableMeta.() -> Unit)? = null,
-): D = registerDevice(name.parseAsName(), factory, metaBuilder?.let { Meta(it) }, metaLocation)
+): D = install(name.parseAsName(), factory, metaBuilder?.let { Meta(it) }, metaLocation)
/**
* Create or edit a group with a given [name].
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index 6e841f8..ed7027a 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -75,7 +75,7 @@ private open class BoundDeviceState<T>(
/**
* Bind a read-only [DeviceState] to a [Device] property
*/
-public suspend fun <T> Device.bindStateToProperty(
+public suspend fun <T> Device.propertyAsState(
propertyName: String,
metaConverter: MetaConverter<T>,
): DeviceState<T> {
@@ -83,9 +83,9 @@ public suspend fun <T> Device.bindStateToProperty(
return BoundDeviceState(metaConverter, this, propertyName, initialValue)
}
-public suspend fun <D : Device, T> D.bindStateToProperty(
+public suspend fun <D : Device, T> D.propertyAsState(
propertySpec: DevicePropertySpec<D, T>,
-): DeviceState<T> = bindStateToProperty(propertySpec.name, propertySpec.converter)
+): DeviceState<T> = propertyAsState(propertySpec.name, propertySpec.converter)
public fun <T, R> DeviceState<T>.map(
converter: MetaConverter<R>, mapper: (T) -> R,
@@ -113,17 +113,28 @@ private class MutableBoundDeviceState<T>(
}
}
-public suspend fun <T> Device.bindMutableStateToProperty(
+public fun <T> Device.mutablePropertyAsState(
+ propertyName: String,
+ metaConverter: MetaConverter<T>,
+ initialValue: T,
+): MutableDeviceState<T> = MutableBoundDeviceState(metaConverter, this, propertyName, initialValue)
+
+public suspend fun <T> Device.mutablePropertyAsState(
propertyName: String,
metaConverter: MetaConverter<T>,
): MutableDeviceState<T> {
val initialValue = metaConverter.metaToObject(readProperty(propertyName)) ?: error("Conversion of property failed")
- return MutableBoundDeviceState(metaConverter, this, propertyName, initialValue)
+ return mutablePropertyAsState(propertyName, metaConverter, initialValue)
}
-public suspend fun <D : Device, T> D.bindMutableStateToProperty(
+public suspend fun <D : Device, T> D.mutablePropertyAsState(
propertySpec: MutableDevicePropertySpec<D, T>,
-): MutableDeviceState<T> = bindMutableStateToProperty(propertySpec.name, propertySpec.converter)
+): MutableDeviceState<T> = mutablePropertyAsState(propertySpec.name, propertySpec.converter)
+
+public fun <D : Device, T> D.mutablePropertyAsState(
+ propertySpec: MutableDevicePropertySpec<D, T>,
+ initialValue: T,
+): MutableDeviceState<T> = mutablePropertyAsState(propertySpec.name, propertySpec.converter, initialValue)
private open class ExternalState<T>(
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
index d8802eb..9366971 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
@@ -96,4 +96,4 @@ public class VirtualDrive(
}
}
-public suspend fun Drive.stateOfForce(): MutableDeviceState<Double> = bindMutableStateToProperty(Drive.force)
+public suspend fun Drive.stateOfForce(): MutableDeviceState<Double> = mutablePropertyAsState(Drive.force)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
index e6f9df1..9fc6e18 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
@@ -79,4 +79,4 @@ public fun DeviceGroup.pid(
name: String,
drive: Drive,
pidParameters: PidParameters,
-): PidRegulator = registerDevice(name, PidRegulator(drive, pidParameters))
\ No newline at end of file
+): PidRegulator = install(name, PidRegulator(drive, pidParameters))
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index 43574cf..846815c 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -72,23 +72,21 @@ public abstract class DeviceBase<D : Device>(
onBufferOverflow = BufferOverflow.DROP_OLDEST
)
- override val coroutineContext: CoroutineContext by lazy {
- context.newCoroutineContext(
- SupervisorJob(context.coroutineContext[Job]) +
- CoroutineName("Device $this") +
- CoroutineExceptionHandler { _, throwable ->
- launch {
- sharedMessageFlow.emit(
- DeviceErrorMessage(
- errorMessage = throwable.message,
- errorType = throwable::class.simpleName,
- errorStackTrace = throwable.stackTraceToString()
- )
+ override val coroutineContext: CoroutineContext = context.newCoroutineContext(
+ SupervisorJob(context.coroutineContext[Job]) +
+ CoroutineName("Device $this") +
+ CoroutineExceptionHandler { _, throwable ->
+ launch {
+ sharedMessageFlow.emit(
+ DeviceErrorMessage(
+ errorMessage = throwable.message,
+ errorType = throwable::class.simpleName,
+ errorStackTrace = throwable.stackTraceToString()
)
- }
+ )
}
- )
- }
+ }
+ )
/**
diff --git a/demo/constructor/build.gradle.kts b/demo/constructor/build.gradle.kts
index dec09b7..06cb285 100644
--- a/demo/constructor/build.gradle.kts
+++ b/demo/constructor/build.gradle.kts
@@ -1,3 +1,5 @@
+import org.jetbrains.kotlin.gradle.dsl.ExplicitApiMode
+
plugins {
id("space.kscience.gradle.mpp")
application
@@ -20,4 +22,6 @@ kscience {
application {
mainClass.set("space.kscience.controls.demo.constructor.MainKt")
-}
\ No newline at end of file
+}
+
+kotlin.explicitApi = ExplicitApiMode.Disabled
\ No newline at end of file
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 59881e5..385ccfc 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -1,18 +1,18 @@
package space.kscience.controls.demo.constructor
-import space.kscience.controls.api.get
import space.kscience.controls.constructor.*
import space.kscience.controls.manager.ClockManager
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.clock
import space.kscience.controls.spec.doRecurring
import space.kscience.controls.spec.name
-import space.kscience.controls.spec.write
import space.kscience.controls.vision.plot
import space.kscience.controls.vision.plotDeviceProperty
import space.kscience.controls.vision.plotNumberState
import space.kscience.controls.vision.showDashboard
import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.request
+import space.kscience.dataforge.meta.Meta
import space.kscience.plotly.models.ScatterMode
import space.kscience.visionforge.plotly.PlotlyPlugin
import kotlin.math.PI
@@ -21,6 +21,27 @@ import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.Duration.Companion.seconds
import kotlin.time.DurationUnit
+
+class LinearDrive(
+ context: Context,
+ state: DoubleRangeState,
+ mass: Double,
+ pidParameters: PidParameters,
+ meta: Meta = Meta.EMPTY,
+) : DeviceConstructor(context.request(DeviceManager), meta) {
+
+ val drive by device(VirtualDrive.factory(mass, state))
+ val pid by device(PidRegulator(drive, pidParameters))
+
+ val start by device(LimitSwitch.factory(state.atStartState))
+ val end by device(LimitSwitch.factory(state.atEndState))
+
+
+ val position by property(state)
+ var target by mutableProperty(pid.mutablePropertyAsState(Regulator.target, 0.0))
+}
+
+
public fun main() {
val context = Context {
plugin(DeviceManager)
@@ -37,25 +58,20 @@ public fun main() {
timeStep = 0.005.seconds
)
- val device = context.registerDeviceGroup {
- val drive = VirtualDrive(context, 0.005, state)
- val pid = pid("pid", drive, pidParameters)
- registerDevice("start", LimitSwitch.factory(state.atStartState))
- registerDevice("end", LimitSwitch.factory(state.atEndState))
-
+ val device = context.install("device", LinearDrive(context, state, 0.005, pidParameters)).apply {
val clock = context.clock
val clockStart = clock.now()
-
doRecurring(10.milliseconds) {
val timeFromStart = clock.now() - clockStart
val t = timeFromStart.toDouble(DurationUnit.SECONDS)
val freq = 0.1
- val target = 5 * sin(2.0 * PI * freq * t) +
+
+ target = 5 * sin(2.0 * PI * freq * t) +
sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / pidParameters.timeStep))
- pid.write(Regulator.target, target)
}
}
+
val maxAge = 10.seconds
context.showDashboard {
@@ -63,21 +79,21 @@ public fun main() {
plotNumberState(context, state, maxAge = maxAge) {
name = "real position"
}
- plotDeviceProperty(device["pid"], Regulator.position.name, maxAge = maxAge) {
+ plotDeviceProperty(device.pid, Regulator.position.name, maxAge = maxAge) {
name = "read position"
}
- plotDeviceProperty(device["pid"], Regulator.target.name, maxAge = maxAge) {
+ plotDeviceProperty(device.pid, Regulator.target.name, maxAge = maxAge) {
name = "target"
}
}
plot {
- plotDeviceProperty(device["start"], LimitSwitch.locked.name, maxAge = maxAge) {
+ plotDeviceProperty(device.start, LimitSwitch.locked.name, maxAge = maxAge) {
name = "start measured"
mode = ScatterMode.markers
}
- plotDeviceProperty(device["end"], LimitSwitch.locked.name, maxAge = maxAge) {
+ plotDeviceProperty(device.end, LimitSwitch.locked.name, maxAge = maxAge) {
name = "end measured"
mode = ScatterMode.markers
}
From 0f687c3c51ab48375c279cf7e7c431dc08a8214c Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 8 Nov 2023 11:52:57 +0300
Subject: [PATCH 029/125] Update jupyter integration
---
build.gradle.kts | 2 +-
controls-jupyter/build.gradle.kts | 19 ++
.../src/jsMain/kotlin/commonJupyter.kt | 14 ++
.../src/jvmMain/kotlin/ControlsJupyter.kt | 71 ++++++++
controls-server/build.gradle.kts | 26 +--
.../controls/server/deviceWebServer.kt | 0
.../kscience/controls/server/responses.kt | 0
controls-vision/build.gradle.kts | 2 +-
demo/constructor/src/jvmMain/kotlin/main.kt | 2 +-
demo/notebooks/constructor.ipynb | 162 ++++++++++++++++++
gradle.properties | 5 +-
settings.gradle.kts | 1 +
12 files changed, 286 insertions(+), 18 deletions(-)
create mode 100644 controls-jupyter/build.gradle.kts
create mode 100644 controls-jupyter/src/jsMain/kotlin/commonJupyter.kt
create mode 100644 controls-jupyter/src/jvmMain/kotlin/ControlsJupyter.kt
rename controls-server/src/{main => jvmMain}/kotlin/space/kscience/controls/server/deviceWebServer.kt (100%)
rename controls-server/src/{main => jvmMain}/kotlin/space/kscience/controls/server/responses.kt (100%)
create mode 100644 demo/notebooks/constructor.ipynb
diff --git a/build.gradle.kts b/build.gradle.kts
index 4ca88d6..a135960 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -6,7 +6,7 @@ plugins {
}
val dataforgeVersion: String by extra("0.6.2")
-val visionforgeVersion by extra("0.3.0-dev-10")
+val visionforgeVersion by extra("0.3.0-dev-14")
val ktorVersion: String by extra(space.kscience.gradle.KScienceVersions.ktorVersion)
val rsocketVersion by extra("0.15.4")
val xodusVersion by extra("2.0.1")
diff --git a/controls-jupyter/build.gradle.kts b/controls-jupyter/build.gradle.kts
new file mode 100644
index 0000000..3191720
--- /dev/null
+++ b/controls-jupyter/build.gradle.kts
@@ -0,0 +1,19 @@
+plugins {
+ id("space.kscience.gradle.mpp")
+}
+
+val visionforgeVersion: String by rootProject.extra
+
+kscience {
+ fullStack("js/controls-jupyter.js")
+ useKtor()
+ useContextReceivers()
+ jupyterLibrary()
+ dependencies {
+ implementation(projects.controlsVision)
+ implementation("space.kscience:visionforge-jupyter:$visionforgeVersion")
+ }
+ jvmMain {
+ implementation(spclibs.logback.classic)
+ }
+}
\ No newline at end of file
diff --git a/controls-jupyter/src/jsMain/kotlin/commonJupyter.kt b/controls-jupyter/src/jsMain/kotlin/commonJupyter.kt
new file mode 100644
index 0000000..41711d7
--- /dev/null
+++ b/controls-jupyter/src/jsMain/kotlin/commonJupyter.kt
@@ -0,0 +1,14 @@
+import space.kscience.visionforge.jupyter.VFNotebookClient
+import space.kscience.visionforge.markup.MarkupPlugin
+import space.kscience.visionforge.plotly.PlotlyPlugin
+import space.kscience.visionforge.runVisionClient
+
+public fun main(): Unit = runVisionClient {
+// plugin(DeviceManager)
+// plugin(ClockManager)
+ plugin(PlotlyPlugin)
+ plugin(MarkupPlugin)
+// plugin(TableVisionJsPlugin)
+ plugin(VFNotebookClient)
+}
+
diff --git a/controls-jupyter/src/jvmMain/kotlin/ControlsJupyter.kt b/controls-jupyter/src/jvmMain/kotlin/ControlsJupyter.kt
new file mode 100644
index 0000000..2e05e5d
--- /dev/null
+++ b/controls-jupyter/src/jvmMain/kotlin/ControlsJupyter.kt
@@ -0,0 +1,71 @@
+import org.jetbrains.kotlinx.jupyter.api.declare
+import org.jetbrains.kotlinx.jupyter.api.libraries.resources
+import space.kscience.controls.manager.ClockManager
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.misc.DFExperimental
+import space.kscience.plotly.Plot
+import space.kscience.tables.Table
+import space.kscience.visionforge.jupyter.VisionForge
+import space.kscience.visionforge.jupyter.VisionForgeIntegration
+import space.kscience.visionforge.markup.MarkupPlugin
+import space.kscience.visionforge.plotly.PlotlyPlugin
+import space.kscience.visionforge.plotly.asVision
+import space.kscience.visionforge.tables.toVision
+import space.kscience.visionforge.visionManager
+
+
+@OptIn(DFExperimental::class)
+public class ControlsJupyter : VisionForgeIntegration(CONTEXT.visionManager) {
+
+ override fun Builder.afterLoaded(vf: VisionForge) {
+
+ resources {
+ js("controls-jupyter") {
+ classPath("js/controls-jupyter.js")
+ }
+ }
+
+ onLoaded {
+ declare("context" to CONTEXT)
+ }
+
+ import(
+ "kotlin.time.*",
+ "kotlin.time.Duration.Companion.milliseconds",
+ "kotlin.time.Duration.Companion.seconds",
+ "space.kscience.tables.*",
+ "space.kscience.dataforge.meta.*",
+ "space.kscience.dataforge.context.*",
+ "space.kscience.plotly.*",
+ "space.kscience.plotly.models.*",
+ "space.kscience.visionforge.plotly.*",
+ "space.kscience.controls.manager.*",
+ "space.kscience.controls.constructor.*",
+ "space.kscience.controls.vision.*",
+ "space.kscience.controls.spec.*"
+ )
+
+ render<Table<*>> { table ->
+ vf.produceHtml {
+ vision { table.toVision() }
+ }
+ }
+
+ render<Plot> { plot ->
+ vf.produceHtml {
+ vision { plot.asVision() }
+ }
+ }
+ }
+
+ public companion object {
+ private val CONTEXT: Context = Context("controls-jupyter") {
+ plugin(DeviceManager)
+ plugin(ClockManager)
+ plugin(PlotlyPlugin)
+// plugin(TableVisionPlugin)
+ plugin(MarkupPlugin)
+ }
+ }
+}
diff --git a/controls-server/build.gradle.kts b/controls-server/build.gradle.kts
index 43a9d61..f6a293f 100644
--- a/controls-server/build.gradle.kts
+++ b/controls-server/build.gradle.kts
@@ -1,7 +1,7 @@
import space.kscience.gradle.Maturity
plugins {
- id("space.kscience.gradle.jvm")
+ id("space.kscience.gradle.mpp")
`maven-publish`
}
@@ -12,16 +12,20 @@ description = """
val dataforgeVersion: String by rootProject.extra
val ktorVersion: String by rootProject.extra
-dependencies {
- implementation(projects.controlsCore)
- implementation(projects.controlsPortsKtor)
- implementation(projects.magix.magixServer)
- implementation("io.ktor:ktor-server-cio:$ktorVersion")
- implementation("io.ktor:ktor-server-websockets:$ktorVersion")
- implementation("io.ktor:ktor-server-content-negotiation:$ktorVersion")
- implementation("io.ktor:ktor-serialization-kotlinx-json:$ktorVersion")
- implementation("io.ktor:ktor-server-html-builder:$ktorVersion")
- implementation("io.ktor:ktor-server-status-pages:$ktorVersion")
+
+kscience {
+ jvm()
+ dependencies {
+ implementation(projects.controlsCore)
+ implementation(projects.controlsPortsKtor)
+ implementation(projects.magix.magixServer)
+ implementation("io.ktor:ktor-server-cio:$ktorVersion")
+ implementation("io.ktor:ktor-server-websockets:$ktorVersion")
+ implementation("io.ktor:ktor-server-content-negotiation:$ktorVersion")
+ implementation("io.ktor:ktor-serialization-kotlinx-json:$ktorVersion")
+ implementation("io.ktor:ktor-server-html-builder:$ktorVersion")
+ implementation("io.ktor:ktor-server-status-pages:$ktorVersion")
+ }
}
readme{
diff --git a/controls-server/src/main/kotlin/space/kscience/controls/server/deviceWebServer.kt b/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt
similarity index 100%
rename from controls-server/src/main/kotlin/space/kscience/controls/server/deviceWebServer.kt
rename to controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt
diff --git a/controls-server/src/main/kotlin/space/kscience/controls/server/responses.kt b/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/responses.kt
similarity index 100%
rename from controls-server/src/main/kotlin/space/kscience/controls/server/responses.kt
rename to controls-server/src/jvmMain/kotlin/space/kscience/controls/server/responses.kt
diff --git a/controls-vision/build.gradle.kts b/controls-vision/build.gradle.kts
index a69329a..89080a0 100644
--- a/controls-vision/build.gradle.kts
+++ b/controls-vision/build.gradle.kts
@@ -7,7 +7,7 @@ description = """
Dashboard and visualization extensions for devices
""".trimIndent()
-val visionforgeVersion = "0.3.0-dev-10"
+val visionforgeVersion: String by rootProject.extra
kscience {
fullStack("js/controls-vision.js")
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 385ccfc..4ddf8e6 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -42,7 +42,7 @@ class LinearDrive(
}
-public fun main() {
+fun main() {
val context = Context {
plugin(DeviceManager)
plugin(PlotlyPlugin)
diff --git a/demo/notebooks/constructor.ipynb b/demo/notebooks/constructor.ipynb
new file mode 100644
index 0000000..ec09359
--- /dev/null
+++ b/demo/notebooks/constructor.ipynb
@@ -0,0 +1,162 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "USE(ControlsJupyter())"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "outputs": [],
+ "source": [
+ "class LinearDrive(\n",
+ " context: Context,\n",
+ " state: DoubleRangeState,\n",
+ " mass: Double,\n",
+ " pidParameters: PidParameters,\n",
+ " meta: Meta = Meta.EMPTY,\n",
+ ") : DeviceConstructor(context.request(DeviceManager), meta) {\n",
+ "\n",
+ " val drive by device(VirtualDrive.factory(mass, state))\n",
+ " val pid by device(PidRegulator(drive, pidParameters))\n",
+ "\n",
+ " val start by device(LimitSwitch.factory(state.atStartState))\n",
+ " val end by device(LimitSwitch.factory(state.atEndState))\n",
+ "\n",
+ "\n",
+ " val position by property(state)\n",
+ " var target by mutableProperty(pid.mutablePropertyAsState(Regulator.target, 0.0))\n",
+ "}\n"
+ ],
+ "metadata": {
+ "collapsed": false
+ }
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "outputs": [],
+ "source": [
+ "import kotlin.time.Duration.Companion.milliseconds\n",
+ "import kotlin.time.Duration.Companion.seconds\n",
+ "\n",
+ "val state = DoubleRangeState(0.0, -5.0..5.0)\n",
+ "\n",
+ "val pidParameters = PidParameters(\n",
+ " kp = 2.5,\n",
+ " ki = 0.0,\n",
+ " kd = -0.1,\n",
+ " timeStep = 0.005.seconds\n",
+ ")\n",
+ "\n",
+ "val device = context.install(\"device\", LinearDrive(context, state, 0.005, pidParameters)).apply {\n",
+ " val clock = context.clock\n",
+ " val clockStart = clock.now()\n",
+ " doRecurring(10.milliseconds) {\n",
+ " val timeFromStart = clock.now() - clockStart\n",
+ " val t = timeFromStart.toDouble(DurationUnit.SECONDS)\n",
+ " val freq = 0.1\n",
+ "\n",
+ " target = 5 * sin(2.0 * PI * freq * t) +\n",
+ " sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / pidParameters.timeStep))\n",
+ " }\n",
+ "}"
+ ],
+ "metadata": {
+ "collapsed": false
+ }
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "outputs": [],
+ "source": [
+ "val maxAge = 10.seconds\n",
+ "\n",
+ "\n",
+ "VisionForge.fragment {\n",
+ " vision {\n",
+ " plotly {\n",
+ " plotNumberState(context, state, maxAge = maxAge) {\n",
+ " name = \"real position\"\n",
+ " }\n",
+ " plotDeviceProperty(device.pid, Regulator.position.name, maxAge = maxAge) {\n",
+ " name = \"read position\"\n",
+ " }\n",
+ "\n",
+ " plotDeviceProperty(device.pid, Regulator.target.name, maxAge = maxAge) {\n",
+ " name = \"target\"\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " vision {\n",
+ " plotly {\n",
+ " plotDeviceProperty(device.start, LimitSwitch.locked.name, maxAge = maxAge) {\n",
+ " name = \"start measured\"\n",
+ " mode = ScatterMode.markers\n",
+ " }\n",
+ " plotDeviceProperty(device.end, LimitSwitch.locked.name, maxAge = maxAge) {\n",
+ " name = \"end measured\"\n",
+ " mode = ScatterMode.markers\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}"
+ ],
+ "metadata": {
+ "collapsed": false
+ }
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "outputs": [],
+ "source": [
+ "device.stop()"
+ ],
+ "metadata": {
+ "collapsed": false
+ }
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "outputs": [],
+ "source": [],
+ "metadata": {
+ "collapsed": false
+ }
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Kotlin",
+ "language": "kotlin",
+ "name": "kotlin"
+ },
+ "language_info": {
+ "name": "kotlin",
+ "version": "1.9.0",
+ "mimetype": "text/x-kotlin",
+ "file_extension": ".kt",
+ "pygments_lexer": "kotlin",
+ "codemirror_mode": "text/x-kotlin",
+ "nbconvert_exporter": ""
+ },
+ "ktnbPluginMetadata": {
+ "projectDependencies": [
+ "controls-kt.controls-jupyter.jvmMain"
+ ]
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 0
+}
diff --git a/gradle.properties b/gradle.properties
index 62d03f6..ea080f4 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -4,10 +4,7 @@ kotlin.native.ignoreDisabledTargets=true
org.gradle.parallel=true
-publishing.github=false
-publishing.sonatype=false
-
org.gradle.configureondemand=true
org.gradle.jvmargs=-Xmx4096m
-toolsVersion=0.15.0-kotlin-1.9.20-RC2
\ No newline at end of file
+toolsVersion=0.15.0-kotlin-1.9.20
\ No newline at end of file
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 453519f..7de4241 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -52,6 +52,7 @@ include(
":controls-storage:controls-xodus",
":controls-constructor",
":controls-vision",
+ ":controls-jupyter",
":magix",
":magix:magix-api",
":magix:magix-server",
From 4e17c9051c54a009683f51d04033c5ae2aae9815 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 8 Nov 2023 15:31:12 +0300
Subject: [PATCH 030/125] Update jupyter integration
---
demo/notebooks/constructor.ipynb | 18 ++++++++++++++++--
1 file changed, 16 insertions(+), 2 deletions(-)
diff --git a/demo/notebooks/constructor.ipynb b/demo/notebooks/constructor.ipynb
index ec09359..c670638 100644
--- a/demo/notebooks/constructor.ipynb
+++ b/demo/notebooks/constructor.ipynb
@@ -56,7 +56,19 @@
" timeStep = 0.005.seconds\n",
")\n",
"\n",
- "val device = context.install(\"device\", LinearDrive(context, state, 0.005, pidParameters)).apply {\n",
+ "val device = context.install(\"device\", LinearDrive(context, state, 0.005, pidParameters))"
+ ],
+ "metadata": {
+ "collapsed": false
+ }
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "outputs": [],
+ "source": [
+ "\n",
+ "val job = device.run {\n",
" val clock = context.clock\n",
" val clockStart = clock.now()\n",
" doRecurring(10.milliseconds) {\n",
@@ -120,7 +132,9 @@
"execution_count": null,
"outputs": [],
"source": [
- "device.stop()"
+ "import kotlinx.coroutines.cancel\n",
+ "\n",
+ "job.cancel()"
],
"metadata": {
"collapsed": false
From fe98a836f89648dd3a1b8c114f3ea8c2626d8466 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 8 Nov 2023 21:01:42 +0300
Subject: [PATCH 031/125] Update jupyter integration
---
build.gradle.kts | 2 +-
controls-jupyter/build.gradle.kts | 3 ++-
.../src/jvmMain/kotlin/ControlsJupyter.kt | 16 ++++++++--------
controls-vision/build.gradle.kts | 3 ++-
4 files changed, 13 insertions(+), 11 deletions(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index a135960..2b3f6b3 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -13,7 +13,7 @@ val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
- version = "0.3.0-dev-1"
+ version = "0.3.0-dev-2"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
diff --git a/controls-jupyter/build.gradle.kts b/controls-jupyter/build.gradle.kts
index 3191720..c8486bd 100644
--- a/controls-jupyter/build.gradle.kts
+++ b/controls-jupyter/build.gradle.kts
@@ -1,5 +1,6 @@
plugins {
id("space.kscience.gradle.mpp")
+ `maven-publish`
}
val visionforgeVersion: String by rootProject.extra
@@ -8,7 +9,7 @@ kscience {
fullStack("js/controls-jupyter.js")
useKtor()
useContextReceivers()
- jupyterLibrary()
+ jupyterLibrary("space.kscience.controls.jupyter.ControlsJupyter")
dependencies {
implementation(projects.controlsVision)
implementation("space.kscience:visionforge-jupyter:$visionforgeVersion")
diff --git a/controls-jupyter/src/jvmMain/kotlin/ControlsJupyter.kt b/controls-jupyter/src/jvmMain/kotlin/ControlsJupyter.kt
index 2e05e5d..ec4bcee 100644
--- a/controls-jupyter/src/jvmMain/kotlin/ControlsJupyter.kt
+++ b/controls-jupyter/src/jvmMain/kotlin/ControlsJupyter.kt
@@ -1,3 +1,5 @@
+package space.kscience.controls.jupyter
+
import org.jetbrains.kotlinx.jupyter.api.declare
import org.jetbrains.kotlinx.jupyter.api.libraries.resources
import space.kscience.controls.manager.ClockManager
@@ -5,13 +7,11 @@ import space.kscience.controls.manager.DeviceManager
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.misc.DFExperimental
import space.kscience.plotly.Plot
-import space.kscience.tables.Table
import space.kscience.visionforge.jupyter.VisionForge
import space.kscience.visionforge.jupyter.VisionForgeIntegration
import space.kscience.visionforge.markup.MarkupPlugin
import space.kscience.visionforge.plotly.PlotlyPlugin
import space.kscience.visionforge.plotly.asVision
-import space.kscience.visionforge.tables.toVision
import space.kscience.visionforge.visionManager
@@ -34,7 +34,7 @@ public class ControlsJupyter : VisionForgeIntegration(CONTEXT.visionManager) {
"kotlin.time.*",
"kotlin.time.Duration.Companion.milliseconds",
"kotlin.time.Duration.Companion.seconds",
- "space.kscience.tables.*",
+// "space.kscience.tables.*",
"space.kscience.dataforge.meta.*",
"space.kscience.dataforge.context.*",
"space.kscience.plotly.*",
@@ -46,11 +46,11 @@ public class ControlsJupyter : VisionForgeIntegration(CONTEXT.visionManager) {
"space.kscience.controls.spec.*"
)
- render<Table<*>> { table ->
- vf.produceHtml {
- vision { table.toVision() }
- }
- }
+// render<Table<*>> { table ->
+// vf.produceHtml {
+// vision { table.toVision() }
+// }
+// }
render<Plot> { plot ->
vf.produceHtml {
diff --git a/controls-vision/build.gradle.kts b/controls-vision/build.gradle.kts
index 89080a0..9395b92 100644
--- a/controls-vision/build.gradle.kts
+++ b/controls-vision/build.gradle.kts
@@ -18,7 +18,8 @@ kscience {
api(projects.controlsConstructor)
api("space.kscience:visionforge-plotly:$visionforgeVersion")
api("space.kscience:visionforge-markdown:$visionforgeVersion")
- api("space.kscience:visionforge-tables:$visionforgeVersion")
+// api("space.kscience:tables-kt:0.2.1")
+// api("space.kscience:visionforge-tables:$visionforgeVersion")
}
jvmMain{
From 74301afb42fe3046ee0de2ae8d05cdfe25c3b187 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 8 Nov 2023 22:28:26 +0300
Subject: [PATCH 032/125] Return notifications about pid and drive updates.
Introduce debounce
---
.../kscience/controls/constructor/Drive.kt | 1 +
.../controls/constructor/PidRegulator.kt | 1 +
.../src/commonMain/kotlin/plotExtensions.kt | 24 +++--
demo/notebooks/constructor.ipynb | 91 +++++++++++--------
4 files changed, 74 insertions(+), 43 deletions(-)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
index 0cf4ce0..c2391c8 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
@@ -74,6 +74,7 @@ public class VirtualDrive(
// compute new value based on velocity and acceleration from the previous step
positionState.value += velocity * dtSeconds + force / mass * dtSeconds.pow(2) / 2
+ propertyChanged(Drive.position, positionState.value)
// compute new velocity based on acceleration on the previous step
velocity += force / mass * dtSeconds
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
index 860af60..9fc6e18 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
@@ -62,6 +62,7 @@ public class PidRegulator(
lastPosition = drive.position
drive.force = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative
+ propertyChanged(Regulator.position, drive.position)
}
}
}
diff --git a/controls-vision/src/commonMain/kotlin/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
index ce85483..40f746b 100644
--- a/controls-vision/src/commonMain/kotlin/plotExtensions.kt
+++ b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
@@ -1,7 +1,11 @@
+@file:OptIn(FlowPreview::class)
+
package space.kscience.controls.vision
import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.FlowPreview
import kotlinx.coroutines.Job
+import kotlinx.coroutines.flow.debounce
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.flow.transform
@@ -25,6 +29,7 @@ import space.kscience.plotly.models.TraceValues
import space.kscience.plotly.scatter
import kotlin.time.Duration
import kotlin.time.Duration.Companion.hours
+import kotlin.time.Duration.Companion.milliseconds
private var TraceValues.values: List<Value>
get() = value?.list ?: emptyList()
@@ -88,12 +93,13 @@ public fun Plot.plotDeviceProperty(
maxAge: Duration = 1.hours,
maxPoints: Int = 800,
minPoints: Int = 400,
+ debounceDuration: Duration = 10.milliseconds,
coroutineScope: CoroutineScope = device.context,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
val clock = device.context.clock
val data = TimeData()
- device.propertyMessageFlow(propertyName).transform {
+ device.propertyMessageFlow(propertyName).debounce(debounceDuration).transform {
data.append(it.time ?: clock.now(), it.value.extractValue())
data.trim(maxAge, maxPoints, minPoints)
emit(data)
@@ -109,10 +115,11 @@ private fun <T> Trace.updateFromState(
maxAge: Duration = 1.hours,
maxPoints: Int = 800,
minPoints: Int = 400,
-): Job{
+ debounceDuration: Duration = 10.milliseconds,
+): Job {
val clock = context.clock
val data = TimeData()
- return state.valueFlow.transform<T, TimeData> {
+ return state.valueFlow.debounce(debounceDuration).transform<T, TimeData> {
data.append(clock.now(), it.extractValue())
data.trim(maxAge, maxPoints, minPoints)
}.onEach {
@@ -127,9 +134,10 @@ public fun <T> Plot.plotDeviceState(
maxAge: Duration = 1.hours,
maxPoints: Int = 800,
minPoints: Int = 400,
+ debounceDuration: Duration = 10.milliseconds,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
- updateFromState(context, state, extractValue, maxAge, maxPoints, minPoints)
+ updateFromState(context, state, extractValue, maxAge, maxPoints, minPoints, debounceDuration)
}
@@ -139,9 +147,10 @@ public fun Plot.plotNumberState(
maxAge: Duration = 1.hours,
maxPoints: Int = 800,
minPoints: Int = 400,
+ debounceDuration: Duration = 10.milliseconds,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
- updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints)
+ updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints, debounceDuration)
}
@@ -151,7 +160,8 @@ public fun Plot.plotBooleanState(
maxAge: Duration = 1.hours,
maxPoints: Int = 800,
minPoints: Int = 400,
+ debounceDuration: Duration = 10.milliseconds,
configuration: Bar.() -> Unit = {},
-): Job = bar(configuration).run {
- updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints)
+): Job = bar(configuration).run {
+ updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints, debounceDuration)
}
\ No newline at end of file
diff --git a/demo/notebooks/constructor.ipynb b/demo/notebooks/constructor.ipynb
index c670638..3b4d73e 100644
--- a/demo/notebooks/constructor.ipynb
+++ b/demo/notebooks/constructor.ipynb
@@ -3,17 +3,28 @@
{
"cell_type": "code",
"execution_count": null,
- "metadata": {
- "collapsed": true
- },
+ "metadata": {},
"outputs": [],
"source": [
- "USE(ControlsJupyter())"
+ "//import space.kscience.controls.jupyter.ControlsJupyter\n",
+ "\n",
+ "//USE(ControlsJupyter())\n",
+ "USE{\n",
+ " repositories{\n",
+ " maven(\"https://repo.kotlin.link\")\n",
+ " }\n",
+ " dependencies{\n",
+ " implementation(\"space.kscience:controls-jupyter-jvm:0.3.0-dev-2\")\n",
+ " }\n",
+ "}"
]
},
{
"cell_type": "code",
"execution_count": null,
+ "metadata": {
+ "collapsed": false
+ },
"outputs": [],
"source": [
"class LinearDrive(\n",
@@ -34,14 +45,14 @@
" val position by property(state)\n",
" var target by mutableProperty(pid.mutablePropertyAsState(Regulator.target, 0.0))\n",
"}\n"
- ],
- "metadata": {
- "collapsed": false
- }
+ ]
},
{
"cell_type": "code",
"execution_count": null,
+ "metadata": {
+ "collapsed": false
+ },
"outputs": [],
"source": [
"import kotlin.time.Duration.Companion.milliseconds\n",
@@ -57,14 +68,14 @@
")\n",
"\n",
"val device = context.install(\"device\", LinearDrive(context, state, 0.005, pidParameters))"
- ],
- "metadata": {
- "collapsed": false
- }
+ ]
},
{
"cell_type": "code",
"execution_count": null,
+ "metadata": {
+ "collapsed": false
+ },
"outputs": [],
"source": [
"\n",
@@ -80,14 +91,14 @@
" sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / pidParameters.timeStep))\n",
" }\n",
"}"
- ],
- "metadata": {
- "collapsed": false
- }
+ ]
},
{
"cell_type": "code",
"execution_count": null,
+ "metadata": {
+ "collapsed": false
+ },
"outputs": [],
"source": [
"val maxAge = 10.seconds\n",
@@ -96,16 +107,18 @@
"VisionForge.fragment {\n",
" vision {\n",
" plotly {\n",
+ " \n",
+ " plotDeviceProperty(device.pid, Regulator.target.name, maxAge = maxAge) {\n",
+ " name = \"target\"\n",
+ " }\n",
+ " \n",
" plotNumberState(context, state, maxAge = maxAge) {\n",
" name = \"real position\"\n",
" }\n",
+ " \n",
" plotDeviceProperty(device.pid, Regulator.position.name, maxAge = maxAge) {\n",
" name = \"read position\"\n",
" }\n",
- "\n",
- " plotDeviceProperty(device.pid, Regulator.target.name, maxAge = maxAge) {\n",
- " name = \"target\"\n",
- " }\n",
" }\n",
" }\n",
"\n",
@@ -122,23 +135,29 @@
" }\n",
" }\n",
"}"
- ],
- "metadata": {
- "collapsed": false
- }
+ ]
},
{
"cell_type": "code",
"execution_count": null,
+ "metadata": {
+ "collapsed": false
+ },
"outputs": [],
"source": [
"import kotlinx.coroutines.cancel\n",
"\n",
"job.cancel()"
- ],
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
"metadata": {
"collapsed": false
- }
+ },
+ "outputs": [],
+ "source": []
},
{
"cell_type": "code",
@@ -156,21 +175,21 @@
"language": "kotlin",
"name": "kotlin"
},
- "language_info": {
- "name": "kotlin",
- "version": "1.9.0",
- "mimetype": "text/x-kotlin",
- "file_extension": ".kt",
- "pygments_lexer": "kotlin",
- "codemirror_mode": "text/x-kotlin",
- "nbconvert_exporter": ""
- },
"ktnbPluginMetadata": {
"projectDependencies": [
"controls-kt.controls-jupyter.jvmMain"
]
+ },
+ "language_info": {
+ "codemirror_mode": "text/x-kotlin",
+ "file_extension": ".kt",
+ "mimetype": "text/x-kotlin",
+ "name": "kotlin",
+ "nbconvert_exporter": "",
+ "pygments_lexer": "kotlin",
+ "version": "1.8.20"
}
},
"nbformat": 4,
- "nbformat_minor": 0
+ "nbformat_minor": 4
}
From fb8ee59f148e1312ae4bbf06718d1465b391755b Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 8 Nov 2023 22:33:49 +0300
Subject: [PATCH 033/125] replace debounce by sample
---
.../src/commonMain/kotlin/plotExtensions.kt | 22 +++++++++----------
1 file changed, 11 insertions(+), 11 deletions(-)
diff --git a/controls-vision/src/commonMain/kotlin/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
index 40f746b..3640ee9 100644
--- a/controls-vision/src/commonMain/kotlin/plotExtensions.kt
+++ b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
@@ -5,9 +5,9 @@ package space.kscience.controls.vision
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.FlowPreview
import kotlinx.coroutines.Job
-import kotlinx.coroutines.flow.debounce
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.flow.sample
import kotlinx.coroutines.flow.transform
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
@@ -93,13 +93,13 @@ public fun Plot.plotDeviceProperty(
maxAge: Duration = 1.hours,
maxPoints: Int = 800,
minPoints: Int = 400,
- debounceDuration: Duration = 10.milliseconds,
+ sampling: Duration = 10.milliseconds,
coroutineScope: CoroutineScope = device.context,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
val clock = device.context.clock
val data = TimeData()
- device.propertyMessageFlow(propertyName).debounce(debounceDuration).transform {
+ device.propertyMessageFlow(propertyName).sample(sampling).transform {
data.append(it.time ?: clock.now(), it.value.extractValue())
data.trim(maxAge, maxPoints, minPoints)
emit(data)
@@ -115,11 +115,11 @@ private fun <T> Trace.updateFromState(
maxAge: Duration = 1.hours,
maxPoints: Int = 800,
minPoints: Int = 400,
- debounceDuration: Duration = 10.milliseconds,
+ sampling: Duration = 10.milliseconds,
): Job {
val clock = context.clock
val data = TimeData()
- return state.valueFlow.debounce(debounceDuration).transform<T, TimeData> {
+ return state.valueFlow.sample(sampling).transform<T, TimeData> {
data.append(clock.now(), it.extractValue())
data.trim(maxAge, maxPoints, minPoints)
}.onEach {
@@ -134,10 +134,10 @@ public fun <T> Plot.plotDeviceState(
maxAge: Duration = 1.hours,
maxPoints: Int = 800,
minPoints: Int = 400,
- debounceDuration: Duration = 10.milliseconds,
+ sampling: Duration = 10.milliseconds,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
- updateFromState(context, state, extractValue, maxAge, maxPoints, minPoints, debounceDuration)
+ updateFromState(context, state, extractValue, maxAge, maxPoints, minPoints, sampling)
}
@@ -147,10 +147,10 @@ public fun Plot.plotNumberState(
maxAge: Duration = 1.hours,
maxPoints: Int = 800,
minPoints: Int = 400,
- debounceDuration: Duration = 10.milliseconds,
+ sampling: Duration = 10.milliseconds,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
- updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints, debounceDuration)
+ updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints, sampling)
}
@@ -160,8 +160,8 @@ public fun Plot.plotBooleanState(
maxAge: Duration = 1.hours,
maxPoints: Int = 800,
minPoints: Int = 400,
- debounceDuration: Duration = 10.milliseconds,
+ sampling: Duration = 10.milliseconds,
configuration: Bar.() -> Unit = {},
): Job = bar(configuration).run {
- updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints, debounceDuration)
+ updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints, sampling)
}
\ No newline at end of file
From afee2f0a02bdd97bf82c8e48d2050825c6608f1a Mon Sep 17 00:00:00 2001
From: darksnake <altavir@gmail.com>
Date: Fri, 17 Nov 2023 12:22:06 +0300
Subject: [PATCH 034/125] minor update to constructor
---
demo/constructor/src/jvmMain/kotlin/main.kt | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 4ddf8e6..16a6283 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -1,11 +1,15 @@
package space.kscience.controls.demo.constructor
+import kotlinx.coroutines.delay
+import space.kscience.controls.api.get
import space.kscience.controls.constructor.*
import space.kscience.controls.manager.ClockManager
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.clock
import space.kscience.controls.spec.doRecurring
import space.kscience.controls.spec.name
+import space.kscience.controls.spec.read
+import space.kscience.controls.spec.write
import space.kscience.controls.vision.plot
import space.kscience.controls.vision.plotDeviceProperty
import space.kscience.controls.vision.plotNumberState
@@ -100,4 +104,15 @@ fun main() {
}
}
+}
+
+suspend fun DeviceGroup.findEnd(): Double{
+ val regulator = get("pid") as Regulator
+ val limitEnd = get("end") as LimitSwitch
+
+ while(!limitEnd.read(LimitSwitch.locked)){
+ delay(10.milliseconds)
+ regulator.write(Regulator.target, regulator.read(Regulator.position) + 0.1)
+ }
+ return regulator.read(Regulator.position)
}
\ No newline at end of file
From b539c2046a8237acab772d65080485a2a26c8077 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sat, 18 Nov 2023 14:49:23 +0300
Subject: [PATCH 035/125] `DeviceSpec` properties no explicitly pass property
name to getters and setters
---
CHANGELOG.md | 1 +
.../controls/constructor/Regulator.kt | 5 +-
.../kscience/controls/api/descriptors.kt | 2 +-
.../kscience/controls/spec/DeviceSpec.kt | 141 +++++++-----------
.../controls/spec/deviceExtensions.kt | 2 +-
.../controls/spec/propertySpecDelegates.kt | 32 ++--
.../controls/spec/propertyReflection.kt | 8 +
.../controls/opcua/client/OpcUaClientTest.kt | 4 +-
.../commonMain/kotlin/ControlVisionPlugin.kt | 19 +++
.../src/commonMain/kotlin/IndicatorVision.kt | 20 +++
.../jsMain/kotlin/ControlsVisionPlugin.js.kt | 33 ++++
.../kotlin/ControlsVisionPlugin.jvm.kt | 21 +++
.../kscience/controls/demo/DemoDevice.kt | 6 +-
.../kscience/controls/demo/car/IVirtualCar.kt | 2 +
.../sciprog/devices/mks/MksPdr900Device.kt | 2 +-
.../pimotionmaster/PiMotionMasterDevice.kt | 12 +-
16 files changed, 185 insertions(+), 125 deletions(-)
create mode 100644 controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/propertyReflection.kt
create mode 100644 controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt
create mode 100644 controls-vision/src/commonMain/kotlin/IndicatorVision.kt
create mode 100644 controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
create mode 100644 controls-vision/src/jvmMain/kotlin/ControlsVisionPlugin.jvm.kt
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4083a94..abf5789 100644
--- a/CHANGELOG.md
+++ b/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
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
index 71cb3b0..7495d33 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
+++ b/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.DeviceSpec
-import space.kscience.controls.spec.MutableDevicePropertySpec
-import space.kscience.controls.spec.doubleProperty
+import space.kscience.controls.spec.*
import space.kscience.dataforge.meta.transformations.MetaConverter
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/descriptors.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/descriptors.kt
index 6f7d27c..2adb89a 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/descriptors.kt
+++ b/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
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
index 55122d9..b5813b7 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
+++ b/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>,
- 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 = {},
+ crossinline 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?,
- write: suspend D.(T) -> Unit,
+ crossinline read: suspend D.(propertyName: String) -> T?,
+ 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)
- .apply(descriptorBuilder)
+ override val descriptor: PropertyDescriptor = PropertyDescriptor(
+ 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 fun <T, D : DeviceBase<D>> DeviceSpec<D>.logicalProperty(
+public inline fun <reified 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 { _, property ->
- val deviceProperty = object : MutableDevicePropertySpec<D, T> {
- val propertyName = name ?: property.name
- override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName).apply {
- //TODO add type from converter
- mutable = true
- }.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
- }
- }
\ No newline at end of file
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, T>>> =
+ mutableProperty(
+ converter,
+ descriptorBuilder,
+ name,
+ read = { propertyName -> getProperty(propertyName)?.let(converter::metaToObject) },
+ write = { propertyName, value -> writeProperty(propertyName, converter.objectToMeta(value)) }
+ )
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/deviceExtensions.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/deviceExtensions.kt
index af42f60..fefb65e 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/deviceExtensions.kt
+++ b/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
*/
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
index 70ef94a..8314838 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
+++ b/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?,
- write: suspend D.(Boolean) -> Unit
+ read: suspend D.(propertyName: String) -> Boolean?,
+ 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,
- write: suspend D.(Number) -> Unit
+ read: suspend D.(propertyName: String) -> Number,
+ 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,
- write: suspend D.(Double) -> Unit
+ read: suspend D.(propertyName: String) -> Double,
+ 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,
- write: suspend D.(String) -> Unit
+ read: suspend D.(propertyName: String) -> String,
+ 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,
- write: suspend D.(Meta) -> Unit
+ read: suspend D.(propertyName: String) -> Meta,
+ write: suspend D.(propertyName: String, value: Meta) -> Unit
): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, Meta>>> =
mutableProperty(MetaConverter.meta, descriptorBuilder, name, read, write)
\ No newline at end of file
diff --git a/controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/propertyReflection.kt b/controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/propertyReflection.kt
new file mode 100644
index 0000000..1d4cb56
--- /dev/null
+++ b/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
+}
\ No newline at end of file
diff --git a/controls-opcua/src/test/kotlin/space/kscience/controls/opcua/client/OpcUaClientTest.kt b/controls-opcua/src/test/kotlin/space/kscience/controls/opcua/client/OpcUaClientTest.kt
index 8537449..33aa8fb 100644
--- a/controls-opcua/src/test/kotlin/space/kscience/controls/opcua/client/OpcUaClientTest.kt
+++ b/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() }
}
@@ -42,7 +42,7 @@ class OpcUaClientTest {
fun testReadDouble() = runTest {
val device = DemoOpcUaDevice.build()
device.start()
- println(device.read(DemoOpcUaDevice.randomDouble))
+ println(device.read(DemoOpcUaDevice.randomDouble))
device.stop()
}
diff --git a/controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt b/controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt
new file mode 100644
index 0000000..d587250
--- /dev/null
+++ b/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())
+ }
+}
\ No newline at end of file
diff --git a/controls-vision/src/commonMain/kotlin/IndicatorVision.kt b/controls-vision/src/commonMain/kotlin/IndicatorVision.kt
new file mode 100644
index 0000000..9ec2319
--- /dev/null
+++ b/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{
+//
+//}
\ No newline at end of file
diff --git a/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt b/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
new file mode 100644
index 0000000..0d928ac
--- /dev/null
+++ b/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()
+
+ }
+}
\ No newline at end of file
diff --git a/controls-vision/src/jvmMain/kotlin/ControlsVisionPlugin.jvm.kt b/controls-vision/src/jvmMain/kotlin/ControlsVisionPlugin.jvm.kt
new file mode 100644
index 0000000..55074ae
--- /dev/null
+++ b/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()
+
+ }
+}
\ No newline at end of file
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
index 4f902c0..eaa1bff 100644
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
+++ b/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 cos by doubleProperty(read = IDemoDevice::cosValue)
+ val sin by doubleProperty { sinValue() }
+ val cos by doubleProperty { cosValue() }
val coordinates by metaProperty(
descriptorBuilder = {
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/IVirtualCar.kt b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/IVirtualCar.kt
index 3bb8c79..c61041b 100644
--- a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/IVirtualCar.kt
+++ b/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
diff --git a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
index df54bfa..cb8030c 100644
--- a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
+++ b/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)
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
index 18e5838..dde2750 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
+++ b/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 = {
- writeAxisBoolean(command, it)
+ write = { _, value ->
+ 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()
},
From 0c647cff306ab732e49378a1b16e152b270a15a5 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sat, 18 Nov 2023 15:39:56 +0300
Subject: [PATCH 036/125] `DeviceSpec` properties no explicitly pass property
name to getters and setters
---
.../kscience/controls/spec/DeviceSpec.kt | 115 ++++++------------
.../controls/spec/propertySpecDelegates.kt | 49 ++++++++
2 files changed, 87 insertions(+), 77 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
index b5813b7..19e5ab2 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
@@ -8,9 +8,7 @@ import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.transformations.MetaConverter
import kotlin.properties.PropertyDelegateProvider
import kotlin.properties.ReadOnlyProperty
-import kotlin.reflect.KMutableProperty1
import kotlin.reflect.KProperty
-import kotlin.reflect.KProperty1
public object UnitMetaConverter : MetaConverter<Unit> {
override fun metaToObject(meta: Meta): Unit = Unit
@@ -44,11 +42,11 @@ public abstract class DeviceSpec<D : Device> {
return deviceProperty
}
- public inline fun <reified T> property(
+ public fun <T> property(
converter: MetaConverter<T>,
- crossinline descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
name: String? = null,
- crossinline read: suspend D.(propertyName: String) -> T?,
+ read: suspend D.(propertyName: String) -> T?,
): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, T>>> =
PropertyDelegateProvider { _: DeviceSpec<D>, property ->
val propertyName = name ?: property.name
@@ -56,7 +54,8 @@ 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(propertyName) }
+ override suspend fun read(device: D): T? =
+ withContext(device.coroutineContext) { device.read(propertyName) }
}
registerProperty(deviceProperty)
ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, T>> { _, _ ->
@@ -64,12 +63,12 @@ public abstract class DeviceSpec<D : Device> {
}
}
- public inline fun <reified T> mutableProperty(
+ public fun <T> mutableProperty(
converter: MetaConverter<T>,
- crossinline descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
name: String? = null,
- crossinline read: suspend D.(propertyName: String) -> T?,
- crossinline write: suspend D.(propertyName: String, value: T) -> Unit,
+ read: suspend D.(propertyName: String) -> T?,
+ 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
@@ -106,7 +105,7 @@ public abstract class DeviceSpec<D : Device> {
name: String? = null,
execute: suspend D.(I) -> O,
): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DeviceActionSpec<D, I, O>>> =
- PropertyDelegateProvider { _: DeviceSpec<D>, property ->
+ PropertyDelegateProvider { _: DeviceSpec<D>, property: KProperty<*> ->
val actionName = name ?: property.name
val deviceAction = object : DeviceActionSpec<D, I, O> {
override val descriptor: ActionDescriptor = ActionDescriptor(actionName).apply(descriptorBuilder)
@@ -124,77 +123,39 @@ public abstract class DeviceSpec<D : Device> {
}
}
- /**
- * An action that takes [Meta] and returns [Meta]. No conversions are done
- */
- public fun metaAction(
- descriptorBuilder: ActionDescriptor.() -> Unit = {},
- name: String? = null,
- execute: suspend D.(Meta) -> Meta,
- ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DeviceActionSpec<D, Meta, Meta>>> =
- action(
- MetaConverter.Companion.meta,
- MetaConverter.Companion.meta,
- descriptorBuilder,
- name
- ) {
- execute(it)
- }
-
- /**
- * An action that takes no parameters and returns no values
- */
- public fun unitAction(
- descriptorBuilder: ActionDescriptor.() -> Unit = {},
- name: String? = null,
- execute: suspend D.() -> Unit,
- ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DeviceActionSpec<D, Unit, Unit>>> =
- action(
- MetaConverter.Companion.unit,
- MetaConverter.Companion.unit,
- descriptorBuilder,
- name
- ) {
- execute()
- }
}
-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,
+/**
+ * An action that takes no parameters and returns no values
+ */
+public fun <D : Device> DeviceSpec<D>.unitAction(
+ descriptorBuilder: ActionDescriptor.() -> Unit = {},
+ name: String? = null,
+ execute: suspend D.() -> Unit,
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DeviceActionSpec<D, Unit, Unit>>> =
+ action(
+ MetaConverter.Companion.unit,
+ MetaConverter.Companion.unit,
descriptorBuilder,
- readWriteProperty.name,
- read = { _ -> readWriteProperty.get(this) },
- write = { _, value: T -> readWriteProperty.set(this, value) }
- )
+ name
+ ) {
+ execute()
+ }
/**
- * Register a mutable logical property (without a corresponding physical state) for a device
+ * An action that takes [Meta] and returns [Meta]. No conversions are done
*/
-public inline fun <reified T, D : DeviceBase<D>> DeviceSpec<D>.logicalProperty(
- converter: MetaConverter<T>,
- crossinline descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+public fun <D : Device> DeviceSpec<D>.metaAction(
+ descriptorBuilder: ActionDescriptor.() -> Unit = {},
name: String? = null,
-): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, T>>> =
- mutableProperty(
- converter,
+ execute: suspend D.(Meta) -> Meta,
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DeviceActionSpec<D, Meta, Meta>>> =
+ action(
+ MetaConverter.Companion.meta,
+ MetaConverter.Companion.meta,
descriptorBuilder,
- name,
- read = { propertyName -> getProperty(propertyName)?.let(converter::metaToObject) },
- write = { propertyName, value -> writeProperty(propertyName, converter.objectToMeta(value)) }
- )
\ No newline at end of file
+ name
+ ) {
+ execute(it)
+ }
+
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
index 8314838..6f599a8 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
@@ -8,6 +8,55 @@ import space.kscience.dataforge.meta.ValueType
import space.kscience.dataforge.meta.transformations.MetaConverter
import kotlin.properties.PropertyDelegateProvider
import kotlin.properties.ReadOnlyProperty
+import kotlin.reflect.KMutableProperty1
+import kotlin.reflect.KProperty1
+
+/**
+ * A read-only device property that delegates reading to a device [KProperty1]
+ */
+public fun <T, D : Device> DeviceSpec<D>.property(
+ converter: MetaConverter<T>,
+ readOnlyProperty: KProperty1<D, T>,
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, T>>> = property(
+ converter,
+ descriptorBuilder,
+ name = readOnlyProperty.name,
+ read = { readOnlyProperty.get(this) }
+)
+
+/**
+ * Mutable property that delegates reading and writing to a device [KMutableProperty1]
+ */
+public fun <T, D : Device> DeviceSpec<D>.mutableProperty(
+ converter: MetaConverter<T>,
+ readWriteProperty: KMutableProperty1<D, T>,
+ 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 (without a corresponding physical state) for a device
+ */
+public fun <T, D : DeviceBase<D>> DeviceSpec<D>.logicalProperty(
+ converter: MetaConverter<T>,
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ name: String? = null,
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, T>>> =
+ mutableProperty(
+ converter,
+ descriptorBuilder,
+ name,
+ read = { propertyName -> getProperty(propertyName)?.let(converter::metaToObject) },
+ write = { propertyName, value -> writeProperty(propertyName, converter.objectToMeta(value)) }
+ )
+
//read only delegates
From 07cc41c645692f1004ba293498f9768482150cd4 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sat, 18 Nov 2023 19:02:56 +0300
Subject: [PATCH 037/125] Automatic description generation for spec properties
(JVM only)
---
CHANGELOG.md | 1 +
.../space/kscience/controls/spec/DeviceSpec.kt | 17 ++++++++++++++---
.../space/kscience/controls/spec/fromSpec.kt | 12 ++++++++++++
.../kscience/controls/spec/fromSpec.js.kt | 9 +++++++++
.../kscience/controls/spec/fromSpec.jvm.kt | 18 ++++++++++++++++++
.../controls/spec/propertyReflection.kt | 8 --------
.../kscience/controls/spec/fromSpec.native.kt | 9 +++++++++
7 files changed, 63 insertions(+), 11 deletions(-)
create mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/spec/fromSpec.kt
create mode 100644 controls-core/src/jsMain/kotlin/space/kscience/controls/spec/fromSpec.js.kt
create mode 100644 controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/fromSpec.jvm.kt
delete mode 100644 controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/propertyReflection.kt
create mode 100644 controls-core/src/nativeMain/kotlin/space/kscience/controls/spec/fromSpec.native.kt
diff --git a/CHANGELOG.md b/CHANGELOG.md
index abf5789..b4de4b7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,7 @@
### Added
- Device lifecycle message
- Low-code constructor
+- Automatic description generation for spec properties (JVM only)
### Changed
- Property caching moved from core `Device` to the `CachingDevice`
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
index 19e5ab2..cd0d7cc 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
@@ -51,7 +51,12 @@ public abstract class DeviceSpec<D : Device> {
PropertyDelegateProvider { _: DeviceSpec<D>, property ->
val propertyName = name ?: property.name
val deviceProperty = object : DevicePropertySpec<D, T> {
- override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName).apply(descriptorBuilder)
+
+ override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName).apply {
+ fromSpec(property)
+ descriptorBuilder()
+ }
+
override val converter: MetaConverter<T> = converter
override suspend fun read(device: D): T? =
@@ -76,7 +81,10 @@ public abstract class DeviceSpec<D : Device> {
override val descriptor: PropertyDescriptor = PropertyDescriptor(
propertyName,
mutable = true
- ).apply(descriptorBuilder)
+ ).apply {
+ fromSpec(property)
+ descriptorBuilder()
+ }
override val converter: MetaConverter<T> = converter
override suspend fun read(device: D): T? =
@@ -108,7 +116,10 @@ public abstract class DeviceSpec<D : Device> {
PropertyDelegateProvider { _: DeviceSpec<D>, property: KProperty<*> ->
val actionName = name ?: property.name
val deviceAction = object : DeviceActionSpec<D, I, O> {
- override val descriptor: ActionDescriptor = ActionDescriptor(actionName).apply(descriptorBuilder)
+ override val descriptor: ActionDescriptor = ActionDescriptor(actionName).apply {
+ fromSpec(property)
+ descriptorBuilder()
+ }
override val inputConverter: MetaConverter<I> = inputConverter
override val outputConverter: MetaConverter<O> = outputConverter
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/fromSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/fromSpec.kt
new file mode 100644
index 0000000..000458e
--- /dev/null
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/fromSpec.kt
@@ -0,0 +1,12 @@
+package space.kscience.controls.spec
+
+import space.kscience.controls.api.ActionDescriptor
+import space.kscience.controls.api.PropertyDescriptor
+import kotlin.reflect.KProperty
+
+@Target(AnnotationTarget.CLASS, AnnotationTarget.PROPERTY, AnnotationTarget.FIELD)
+public annotation class Description(val content: String)
+
+internal expect fun PropertyDescriptor.fromSpec(property: KProperty<*>)
+
+internal expect fun ActionDescriptor.fromSpec(property: KProperty<*>)
\ No newline at end of file
diff --git a/controls-core/src/jsMain/kotlin/space/kscience/controls/spec/fromSpec.js.kt b/controls-core/src/jsMain/kotlin/space/kscience/controls/spec/fromSpec.js.kt
new file mode 100644
index 0000000..cd77248
--- /dev/null
+++ b/controls-core/src/jsMain/kotlin/space/kscience/controls/spec/fromSpec.js.kt
@@ -0,0 +1,9 @@
+package space.kscience.controls.spec
+
+import space.kscience.controls.api.ActionDescriptor
+import space.kscience.controls.api.PropertyDescriptor
+import kotlin.reflect.KProperty
+
+internal actual fun PropertyDescriptor.fromSpec(property: KProperty<*>){}
+
+internal actual fun ActionDescriptor.fromSpec(property: KProperty<*>){}
\ No newline at end of file
diff --git a/controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/fromSpec.jvm.kt b/controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/fromSpec.jvm.kt
new file mode 100644
index 0000000..7ae572f
--- /dev/null
+++ b/controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/fromSpec.jvm.kt
@@ -0,0 +1,18 @@
+package space.kscience.controls.spec
+
+import space.kscience.controls.api.ActionDescriptor
+import space.kscience.controls.api.PropertyDescriptor
+import kotlin.reflect.KProperty
+import kotlin.reflect.full.findAnnotation
+
+internal actual fun PropertyDescriptor.fromSpec(property: KProperty<*>) {
+ property.findAnnotation<Description>()?.let {
+ description = it.content
+ }
+}
+
+internal actual fun ActionDescriptor.fromSpec(property: KProperty<*>){
+ property.findAnnotation<Description>()?.let {
+ description = it.content
+ }
+}
\ No newline at end of file
diff --git a/controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/propertyReflection.kt b/controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/propertyReflection.kt
deleted file mode 100644
index 1d4cb56..0000000
--- a/controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/propertyReflection.kt
+++ /dev/null
@@ -1,8 +0,0 @@
-package space.kscience.controls.spec
-
-import space.kscience.controls.api.PropertyDescriptor
-import kotlin.reflect.KProperty
-
-internal fun PropertyDescriptor.fromSpec(property: KProperty<*>){
- property.annotations
-}
\ No newline at end of file
diff --git a/controls-core/src/nativeMain/kotlin/space/kscience/controls/spec/fromSpec.native.kt b/controls-core/src/nativeMain/kotlin/space/kscience/controls/spec/fromSpec.native.kt
new file mode 100644
index 0000000..1d1ccc4
--- /dev/null
+++ b/controls-core/src/nativeMain/kotlin/space/kscience/controls/spec/fromSpec.native.kt
@@ -0,0 +1,9 @@
+package space.kscience.controls.spec
+
+import space.kscience.controls.api.ActionDescriptor
+import space.kscience.controls.api.PropertyDescriptor
+import kotlin.reflect.KProperty
+
+internal actual fun PropertyDescriptor.fromSpec(property: KProperty<*>) {}
+
+internal actual fun ActionDescriptor.fromSpec(property: KProperty<*>){}
\ No newline at end of file
From 81d6b672cfcd8bf223ea73c5866ca0cb722685bf Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 22 Nov 2023 21:55:13 +0300
Subject: [PATCH 038/125] Add compose controls to pid simulator
---
.../controls/constructor/PidRegulator.kt | 22 ++-
demo/constructor/build.gradle.kts | 34 ++++-
demo/constructor/src/jvmMain/kotlin/main.kt | 139 ++++++++++++++----
3 files changed, 154 insertions(+), 41 deletions(-)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
index 9fc6e18..d782e05 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
@@ -16,12 +16,22 @@ import kotlin.time.DurationUnit
/**
* Pid regulator parameters
*/
-public data class PidParameters(
- public val kp: Double,
- public val ki: Double,
- public val kd: Double,
- public val timeStep: Duration = 1.milliseconds,
-)
+public interface PidParameters {
+ public val kp: Double
+ public val ki: Double
+ public val kd: Double
+ public val timeStep: Duration
+}
+
+private data class PidParametersImpl(
+ override val kp: Double,
+ override val ki: Double,
+ override val kd: Double,
+ override val timeStep: Duration,
+) : PidParameters
+
+public fun PidParameters(kp: Double, ki: Double, kd: Double, timeStep: Duration = 1.milliseconds): PidParameters =
+ PidParametersImpl(kp, ki, kd, timeStep)
/**
* A drive with PID regulator
diff --git a/demo/constructor/build.gradle.kts b/demo/constructor/build.gradle.kts
index 06cb285..9026247 100644
--- a/demo/constructor/build.gradle.kts
+++ b/demo/constructor/build.gradle.kts
@@ -1,12 +1,13 @@
+import org.jetbrains.compose.desktop.application.dsl.TargetFormat
import org.jetbrains.kotlin.gradle.dsl.ExplicitApiMode
plugins {
id("space.kscience.gradle.mpp")
- application
+ id("org.jetbrains.compose") version "1.5.10"
}
kscience {
- jvm{
+ jvm {
withJava()
}
useKtor()
@@ -20,8 +21,31 @@ kscience {
}
}
-application {
- mainClass.set("space.kscience.controls.demo.constructor.MainKt")
+kotlin {
+ sourceSets {
+ jvmMain {
+ dependencies {
+ implementation(compose.desktop.currentOs)
+ }
+ }
+ }
}
-kotlin.explicitApi = ExplicitApiMode.Disabled
\ No newline at end of file
+//application {
+// mainClass.set("space.kscience.controls.demo.constructor.MainKt")
+//}
+
+kotlin.explicitApi = ExplicitApiMode.Disabled
+
+
+compose.desktop {
+ application {
+ mainClass = "space.kscience.controls.demo.constructor.MainKt"
+
+ nativeDistributions {
+ targetFormats(TargetFormat.Exe)
+ packageName = "PidConstructor"
+ packageVersion = "1.0.0"
+ }
+ }
+}
\ No newline at end of file
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 16a6283..636bd82 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -1,15 +1,26 @@
package space.kscience.controls.demo.constructor
-import kotlinx.coroutines.delay
-import space.kscience.controls.api.get
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.Row
+import androidx.compose.foundation.layout.padding
+import androidx.compose.foundation.layout.width
+import androidx.compose.material.*
+import androidx.compose.runtime.getValue
+import androidx.compose.runtime.mutableStateOf
+import androidx.compose.runtime.remember
+import androidx.compose.runtime.setValue
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.unit.dp
+import androidx.compose.ui.window.Window
+import androidx.compose.ui.window.application
+import kotlinx.coroutines.launch
import space.kscience.controls.constructor.*
import space.kscience.controls.manager.ClockManager
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.clock
import space.kscience.controls.spec.doRecurring
import space.kscience.controls.spec.name
-import space.kscience.controls.spec.read
-import space.kscience.controls.spec.write
import space.kscience.controls.vision.plot
import space.kscience.controls.vision.plotDeviceProperty
import space.kscience.controls.vision.plotNumberState
@@ -21,6 +32,7 @@ import space.kscience.plotly.models.ScatterMode
import space.kscience.visionforge.plotly.PlotlyPlugin
import kotlin.math.PI
import kotlin.math.sin
+import kotlin.time.Duration
import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.Duration.Companion.seconds
import kotlin.time.DurationUnit
@@ -46,23 +58,15 @@ class LinearDrive(
}
-fun main() {
- val context = Context {
- plugin(DeviceManager)
- plugin(PlotlyPlugin)
- plugin(ClockManager)
- }
-
- val state = DoubleRangeState(0.0, -5.0..5.0)
-
- val pidParameters = PidParameters(
- kp = 2.5,
- ki = 0.0,
- kd = -0.1,
- timeStep = 0.005.seconds
- )
-
- val device = context.install("device", LinearDrive(context, state, 0.005, pidParameters)).apply {
+private fun Context.launchPidDevice(
+ state: DoubleRangeState,
+ pidParameters: PidParameters,
+ mass: Double,
+) = launch {
+ val device = install(
+ "device",
+ LinearDrive(this@launchPidDevice, state, mass, pidParameters)
+ ).apply {
val clock = context.clock
val clockStart = clock.now()
doRecurring(10.milliseconds) {
@@ -78,7 +82,7 @@ fun main() {
val maxAge = 10.seconds
- context.showDashboard {
+ showDashboard {
plot {
plotNumberState(context, state, maxAge = maxAge) {
name = "real position"
@@ -106,13 +110,88 @@ fun main() {
}
}
-suspend fun DeviceGroup.findEnd(): Double{
- val regulator = get("pid") as Regulator
- val limitEnd = get("end") as LimitSwitch
-
- while(!limitEnd.read(LimitSwitch.locked)){
- delay(10.milliseconds)
- regulator.write(Regulator.target, regulator.read(Regulator.position) + 0.1)
+fun main() = application {
+ val context = Context {
+ plugin(DeviceManager)
+ plugin(PlotlyPlugin)
+ plugin(ClockManager)
+ }
+
+ class MutablePidParameters(
+ kp: Double,
+ ki: Double,
+ kd: Double,
+ timeStep: Duration,
+ ) : PidParameters {
+ override var kp by mutableStateOf(kp)
+ override var ki by mutableStateOf(ki)
+ override var kd by mutableStateOf(kd)
+ override var timeStep by mutableStateOf(timeStep)
+ }
+
+ val pidParameters = remember {
+ MutablePidParameters(
+ kp = 2.5,
+ ki = 0.0,
+ kd = -0.1,
+ timeStep = 0.005.seconds
+ )
+ }
+
+ context.launchPidDevice(
+ DoubleRangeState(0.0, -6.0..6.0),
+ pidParameters,
+ mass = 0.05
+ )
+
+ Window(onCloseRequest = ::exitApplication) {
+ MaterialTheme {
+ Column {
+ Row {
+ Text("kp:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
+ TextField(pidParameters.kp.toString(),{pidParameters.kp = it.toDouble()}, enabled = false)
+ Slider(
+ pidParameters.kp.toFloat(),
+ { pidParameters.kp = it.toDouble()},
+ valueRange = 0f..10f,
+ steps = 100
+ )
+ }
+ Row {
+ Text("ki:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
+ TextField(pidParameters.ki.toString(),{pidParameters.ki = it.toDouble()}, enabled = false)
+
+ Slider(
+ pidParameters.ki.toFloat(),
+ { pidParameters.ki = it.toDouble()},
+ valueRange = -5f..5f,
+ steps = 100
+ )
+ }
+ Row {
+ Text("kd:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
+ TextField(pidParameters.kd.toString(),{pidParameters.kd = it.toDouble()}, enabled = false)
+
+ Slider(
+ pidParameters.kd.toFloat(),
+ { pidParameters.kd = it.toDouble()},
+ valueRange = -5f..5f,
+ steps = 100
+ )
+ }
+ Row {
+ Button({
+ pidParameters.run {
+ kp = 2.5
+ ki = 0.0
+ kd = -0.1
+ timeStep = 0.005.seconds
+ }
+ }){
+ Text("Reset")
+ }
+ }
+ }
+ }
}
- return regulator.read(Regulator.position)
}
\ No newline at end of file
From 827eb6e4c1f036f04c29c941e41ace5356199421 Mon Sep 17 00:00:00 2001
From: darksnake <altavir@gmail.com>
Date: Thu, 23 Nov 2023 16:52:07 +0300
Subject: [PATCH 039/125] minor update to constructor
---
demo/constructor/src/jvmMain/kotlin/main.kt | 62 ++++++++++++++++-----
1 file changed, 47 insertions(+), 15 deletions(-)
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 636bd82..3054399 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -123,10 +123,10 @@ fun main() = application {
kd: Double,
timeStep: Duration,
) : PidParameters {
- override var kp by mutableStateOf(kp)
- override var ki by mutableStateOf(ki)
- override var kd by mutableStateOf(kd)
- override var timeStep by mutableStateOf(timeStep)
+ override var kp by mutableStateOf(kp)
+ override var ki by mutableStateOf(ki)
+ override var kd by mutableStateOf(kd)
+ override var timeStep by mutableStateOf(timeStep)
}
val pidParameters = remember {
@@ -144,38 +144,70 @@ fun main() = application {
mass = 0.05
)
- Window(onCloseRequest = ::exitApplication) {
+ Window(title = "Pid regulator simulator", onCloseRequest = ::exitApplication) {
MaterialTheme {
Column {
Row {
Text("kp:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
- TextField(pidParameters.kp.toString(),{pidParameters.kp = it.toDouble()}, enabled = false)
+ TextField(
+ String.format("%.2f",pidParameters.kp),
+ { pidParameters.kp = it.toDouble() },
+ Modifier.width(100.dp),
+ enabled = false
+ )
Slider(
pidParameters.kp.toFloat(),
- { pidParameters.kp = it.toDouble()},
- valueRange = 0f..10f,
+ { pidParameters.kp = it.toDouble() },
+ valueRange = 0f..20f,
steps = 100
)
}
Row {
Text("ki:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
- TextField(pidParameters.ki.toString(),{pidParameters.ki = it.toDouble()}, enabled = false)
+ TextField(
+ String.format("%.2f",pidParameters.ki),
+ { pidParameters.ki = it.toDouble() },
+ Modifier.width(100.dp),
+ enabled = false
+ )
Slider(
pidParameters.ki.toFloat(),
- { pidParameters.ki = it.toDouble()},
- valueRange = -5f..5f,
+ { pidParameters.ki = it.toDouble() },
+ valueRange = -10f..10f,
steps = 100
)
}
Row {
Text("kd:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
- TextField(pidParameters.kd.toString(),{pidParameters.kd = it.toDouble()}, enabled = false)
+ TextField(
+ String.format("%.2f",pidParameters.kd),
+ { pidParameters.kd = it.toDouble() },
+ Modifier.width(100.dp),
+ enabled = false
+ )
Slider(
pidParameters.kd.toFloat(),
- { pidParameters.kd = it.toDouble()},
- valueRange = -5f..5f,
+ { pidParameters.kd = it.toDouble() },
+ valueRange = -10f..10f,
+ steps = 100
+ )
+ }
+
+ Row {
+ Text("dt:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
+ TextField(
+ pidParameters.timeStep.toString(DurationUnit.MILLISECONDS),
+ { pidParameters.timeStep = it.toDouble().milliseconds },
+ Modifier.width(100.dp),
+ enabled = false
+ )
+
+ Slider(
+ pidParameters.timeStep.toDouble(DurationUnit.MILLISECONDS).toFloat(),
+ { pidParameters.timeStep = it.toDouble().milliseconds },
+ valueRange = 0f..100f,
steps = 100
)
}
@@ -187,7 +219,7 @@ fun main() = application {
kd = -0.1
timeStep = 0.005.seconds
}
- }){
+ }) {
Text("Reset")
}
}
From cf129b6242ac53395a972dd5e9a859d64e186c13 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Tue, 12 Dec 2023 09:59:52 +0300
Subject: [PATCH 040/125] Migrate to DF 0.7
---
build.gradle.kts | 6 ++---
.../space/kscience/controls/api/Device.kt | 8 +++----
.../space/kscience/controls/api/Socket.kt | 3 +--
.../kscience/controls/misc/ValueWithTime.kt | 22 +++++++++++--------
.../space/kscience/controls/misc/timeIO.kt | 16 ++++++++------
.../space/kscience/controls/ports/Port.kt | 5 +++--
.../space/kscience/controls/ports/phrases.kt | 6 ++---
.../kscience/controls/spec/DeviceSpec.kt | 7 +++++-
.../space/kscience/controls/spec/misc.kt | 6 ++++-
.../controls/spec/propertySpecDelegates.kt | 10 ++++-----
demo/constructor/build.gradle.kts | 2 +-
gradle.properties | 2 +-
magix/README.md | 4 ++++
13 files changed, 57 insertions(+), 40 deletions(-)
create mode 100644 magix/README.md
diff --git a/build.gradle.kts b/build.gradle.kts
index 2b3f6b3..fd2f3d8 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -5,15 +5,15 @@ plugins {
id("space.kscience.gradle.project")
}
-val dataforgeVersion: String by extra("0.6.2")
-val visionforgeVersion by extra("0.3.0-dev-14")
+val dataforgeVersion: String by extra("0.7.1")
+val visionforgeVersion by extra("0.3.0-RC")
val ktorVersion: String by extra(space.kscience.gradle.KScienceVersions.ktorVersion)
val rsocketVersion by extra("0.15.4")
val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
- version = "0.3.0-dev-2"
+ version = "0.3.0-dev-3"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
index f967c89..4b78f24 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
@@ -11,8 +11,8 @@ import space.kscience.dataforge.context.info
import space.kscience.dataforge.context.logger
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.misc.DFExperimental
-import space.kscience.dataforge.misc.Type
-import space.kscience.dataforge.names.Name
+import space.kscience.dataforge.misc.DfType
+import space.kscience.dataforge.names.parseAsName
/**
* A lifecycle state of a device
@@ -46,7 +46,7 @@ public enum class DeviceLifecycleState {
* [Device] is a supervisor scope encompassing all operations on a device.
* When canceled, cancels all running processes.
*/
-@Type(DEVICE_TARGET)
+@DfType(DEVICE_TARGET)
public interface Device : ContextAware, CoroutineScope {
/**
@@ -144,7 +144,7 @@ public suspend fun Device.requestProperty(propertyName: String): Meta = if (this
*/
public fun CachingDevice.getAllProperties(): Meta = Meta {
for (descriptor in propertyDescriptors) {
- setMeta(Name.parse(descriptor.name), getProperty(descriptor.name))
+ set(descriptor.name.parseAsName(), getProperty(descriptor.name))
}
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Socket.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Socket.kt
index 02598ba..700db2c 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Socket.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Socket.kt
@@ -1,6 +1,5 @@
package space.kscience.controls.api
-import io.ktor.utils.io.core.Closeable
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Job
import kotlinx.coroutines.flow.Flow
@@ -9,7 +8,7 @@ import kotlinx.coroutines.launch
/**
* A generic bidirectional sender/receiver object
*/
-public interface Socket<T> : Closeable {
+public interface Socket<T> : AutoCloseable {
/**
* Send an object to the socket
*/
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/ValueWithTime.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/ValueWithTime.kt
index ce651e4..0bf07d3 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/ValueWithTime.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/ValueWithTime.kt
@@ -1,8 +1,8 @@
package space.kscience.controls.misc
-import io.ktor.utils.io.core.Input
-import io.ktor.utils.io.core.Output
import kotlinx.datetime.Instant
+import kotlinx.io.Sink
+import kotlinx.io.Source
import space.kscience.dataforge.io.IOFormat
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.get
@@ -38,15 +38,16 @@ public data class ValueWithTime<T>(val value: T, val time: Instant) {
private class ValueWithTimeIOFormat<T>(val valueFormat: IOFormat<T>) : IOFormat<ValueWithTime<T>> {
override val type: KType get() = typeOf<ValueWithTime<T>>()
- override fun readObject(input: Input): ValueWithTime<T> {
- val timestamp = InstantIOFormat.readObject(input)
- val value = valueFormat.readObject(input)
+
+ override fun readFrom(source: Source): ValueWithTime<T> {
+ val timestamp = InstantIOFormat.readFrom(source)
+ val value = valueFormat.readFrom(source)
return ValueWithTime(value, timestamp)
}
- override fun writeObject(output: Output, obj: ValueWithTime<T>) {
- InstantIOFormat.writeObject(output, obj.time)
- valueFormat.writeObject(output, obj.value)
+ override fun writeTo(sink: Sink, obj: ValueWithTime<T>) {
+ InstantIOFormat.writeTo(sink, obj.time)
+ valueFormat.writeTo(sink, obj.value)
}
}
@@ -54,7 +55,10 @@ private class ValueWithTimeIOFormat<T>(val valueFormat: IOFormat<T>) : IOFormat<
private class ValueWithTimeMetaConverter<T>(
val valueConverter: MetaConverter<T>,
) : MetaConverter<ValueWithTime<T>> {
- override fun metaToObject(
+
+ override val type: KType = typeOf<ValueWithTime<T>>()
+
+ override fun metaToObjectOrNull(
meta: Meta,
): ValueWithTime<T>? = valueConverter.metaToObject(meta[ValueWithTime.META_VALUE_KEY] ?: Meta.EMPTY)?.let {
ValueWithTime(it, meta[ValueWithTime.META_TIME_KEY]?.instant ?: Instant.DISTANT_PAST)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/timeIO.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/timeIO.kt
index aef7401..8686c67 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/timeIO.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/timeIO.kt
@@ -1,7 +1,9 @@
package space.kscience.controls.misc
-import io.ktor.utils.io.core.*
+
import kotlinx.datetime.Instant
+import kotlinx.io.Sink
+import kotlinx.io.Source
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.io.IOFormat
import space.kscience.dataforge.io.IOFormatFactory
@@ -23,14 +25,14 @@ public object InstantIOFormat : IOFormat<Instant>, IOFormatFactory<Instant> {
override val type: KType get() = typeOf<Instant>()
- override fun writeObject(output: Output, obj: Instant) {
- output.writeLong(obj.epochSeconds)
- output.writeInt(obj.nanosecondsOfSecond)
+ override fun writeTo(sink: Sink, obj: Instant) {
+ sink.writeLong(obj.epochSeconds)
+ sink.writeInt(obj.nanosecondsOfSecond)
}
- override fun readObject(input: Input): Instant {
- val seconds = input.readLong()
- val nanoseconds = input.readInt()
+ override fun readFrom(source: Source): Instant {
+ val seconds = source.readLong()
+ val nanoseconds = source.readInt()
return Instant.fromEpochSeconds(seconds, nanoseconds)
}
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt
index 1f07251..83044ec 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt
@@ -6,7 +6,8 @@ import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.receiveAsFlow
import space.kscience.controls.api.Socket
import space.kscience.dataforge.context.*
-import space.kscience.dataforge.misc.Type
+import space.kscience.dataforge.misc.DfType
+
import kotlin.coroutines.CoroutineContext
/**
@@ -17,7 +18,7 @@ public interface Port : ContextAware, Socket<ByteArray>
/**
* A specialized factory for [Port]
*/
-@Type(PortFactory.TYPE)
+@DfType(PortFactory.TYPE)
public interface PortFactory : Factory<Port> {
public val type: String
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
index 02a0058..0f2b9bd 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
@@ -1,12 +1,10 @@
package space.kscience.controls.ports
-import io.ktor.utils.io.core.BytePacketBuilder
-import io.ktor.utils.io.core.readBytes
-import io.ktor.utils.io.core.reset
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.map
import kotlinx.coroutines.flow.onCompletion
import kotlinx.coroutines.flow.transform
+import kotlinx.io.Buffer
/**
* Transform byte fragments into complete phrases using given delimiter. Not thread safe.
@@ -14,7 +12,7 @@ import kotlinx.coroutines.flow.transform
public fun Flow<ByteArray>.withDelimiter(delimiter: ByteArray): Flow<ByteArray> {
require(delimiter.isNotEmpty()) { "Delimiter must not be empty" }
- val output = BytePacketBuilder()
+ val output = Buffer()
var matcherPosition = 0
onCompletion {
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
index cd0d7cc..4091921 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
@@ -9,9 +9,14 @@ import space.kscience.dataforge.meta.transformations.MetaConverter
import kotlin.properties.PropertyDelegateProvider
import kotlin.properties.ReadOnlyProperty
import kotlin.reflect.KProperty
+import kotlin.reflect.KType
+import kotlin.reflect.typeOf
public object UnitMetaConverter : MetaConverter<Unit> {
- override fun metaToObject(meta: Meta): Unit = Unit
+
+ override val type: KType = typeOf<Unit>()
+
+ override fun metaToObjectOrNull(meta: Meta): Unit = Unit
override fun objectToMeta(obj: Unit): Meta = Meta.EMPTY
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/misc.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/misc.kt
index e264212..ee14237 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/misc.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/misc.kt
@@ -2,6 +2,8 @@ package space.kscience.controls.spec
import space.kscience.dataforge.meta.*
import space.kscience.dataforge.meta.transformations.MetaConverter
+import kotlin.reflect.KType
+import kotlin.reflect.typeOf
import kotlin.time.Duration
import kotlin.time.DurationUnit
import kotlin.time.toDuration
@@ -10,7 +12,9 @@ public fun Double.asMeta(): Meta = Meta(asValue())
//TODO to be moved to DF
public object DurationConverter : MetaConverter<Duration> {
- override fun metaToObject(meta: Meta): Duration = meta.value?.double?.toDuration(DurationUnit.SECONDS)
+ override val type: KType = typeOf<Duration>()
+
+ override fun metaToObjectOrNull(meta: Meta): Duration = meta.value?.double?.toDuration(DurationUnit.SECONDS)
?: run {
val unit: DurationUnit = meta["unit"].enum<DurationUnit>() ?: DurationUnit.SECONDS
val value = meta[Meta.VALUE_KEY].double ?: error("No value present for Duration")
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
index 6f599a8..231891c 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
@@ -68,7 +68,7 @@ public fun <D : Device> DeviceSpec<D>.booleanProperty(
MetaConverter.boolean,
{
metaDescriptor {
- type(ValueType.BOOLEAN)
+ valueType(ValueType.BOOLEAN)
}
descriptorBuilder()
},
@@ -80,7 +80,7 @@ private inline fun numberDescriptor(
crossinline descriptorBuilder: PropertyDescriptor.() -> Unit = {}
): PropertyDescriptor.() -> Unit = {
metaDescriptor {
- type(ValueType.NUMBER)
+ valueType(ValueType.NUMBER)
}
descriptorBuilder()
}
@@ -115,7 +115,7 @@ public fun <D : Device> DeviceSpec<D>.stringProperty(
MetaConverter.string,
{
metaDescriptor {
- type(ValueType.STRING)
+ valueType(ValueType.STRING)
}
descriptorBuilder()
},
@@ -131,7 +131,7 @@ public fun <D : Device> DeviceSpec<D>.metaProperty(
MetaConverter.meta,
{
metaDescriptor {
- type(ValueType.STRING)
+ valueType(ValueType.STRING)
}
descriptorBuilder()
},
@@ -151,7 +151,7 @@ public fun <D : Device> DeviceSpec<D>.booleanProperty(
MetaConverter.boolean,
{
metaDescriptor {
- type(ValueType.BOOLEAN)
+ valueType(ValueType.BOOLEAN)
}
descriptorBuilder()
},
diff --git a/demo/constructor/build.gradle.kts b/demo/constructor/build.gradle.kts
index 9026247..470533f 100644
--- a/demo/constructor/build.gradle.kts
+++ b/demo/constructor/build.gradle.kts
@@ -3,7 +3,7 @@ import org.jetbrains.kotlin.gradle.dsl.ExplicitApiMode
plugins {
id("space.kscience.gradle.mpp")
- id("org.jetbrains.compose") version "1.5.10"
+ id("org.jetbrains.compose") version "1.5.11"
}
kscience {
diff --git a/gradle.properties b/gradle.properties
index ea080f4..717cec4 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -7,4 +7,4 @@ org.gradle.parallel=true
org.gradle.configureondemand=true
org.gradle.jvmargs=-Xmx4096m
-toolsVersion=0.15.0-kotlin-1.9.20
\ No newline at end of file
+toolsVersion=0.15.2-kotlin-1.9.21
\ No newline at end of file
diff --git a/magix/README.md b/magix/README.md
new file mode 100644
index 0000000..de1d7a3
--- /dev/null
+++ b/magix/README.md
@@ -0,0 +1,4 @@
+# Module magix
+
+
+
From fb03fcc982b92be102a8047137aa41ea1d11c12b Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 13 Dec 2023 12:29:06 +0300
Subject: [PATCH 041/125] Finish migration to kotlinx-io
---
.../controls/constructor/DeviceState.kt | 2 +-
controls-core/build.gradle.kts | 6 +++-
.../space/kscience/controls/ports/Port.kt | 3 +-
.../kscience/controls/ports/ioExtensions.kt | 5 +++
.../space/kscience/controls/ports/phrases.kt | 6 ++--
.../kscience/controls/ports/ChannelPort.kt | 18 +++++-----
.../kscience/controls/ports/PortIOTest.kt | 35 +++++++++++++++----
.../controls/modbus/DeviceProcessImage.kt | 30 ++++++++--------
.../kscience/controls/modbus/ModbusDevice.kt | 30 +++++++++-------
.../controls/opcua/client/MetaBsdParser.kt | 2 +-
.../controls/opcua/client/OpcUaDevice.kt | 2 +-
.../jsMain/kotlin/ControlsVisionPlugin.js.kt | 3 +-
.../kscience/controls/demo/DemoDevice.kt | 2 +-
.../kscience/controls/demo/car/VirtualCar.kt | 10 ++++--
.../mks/NullableStringMetaConverter.kt | 10 ------
magix/magix-api/build.gradle.kts | 4 +++
16 files changed, 104 insertions(+), 64 deletions(-)
create mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/ports/ioExtensions.kt
delete mode 100644 demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/NullableStringMetaConverter.kt
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index ed7027a..a9cff51 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -40,7 +40,7 @@ public interface MutableDeviceState<T> : DeviceState<T> {
public var <T : Any> MutableDeviceState<T>.valueAsMeta: Meta
get() = converter.objectToMeta(value)
set(arg) {
- value = converter.metaToObject(arg) ?: error("Conversion for meta $arg to property type with $converter failed")
+ value = converter.metaToObject(arg)
}
/**
diff --git a/controls-core/build.gradle.kts b/controls-core/build.gradle.kts
index bbe32eb..859b067 100644
--- a/controls-core/build.gradle.kts
+++ b/controls-core/build.gradle.kts
@@ -20,10 +20,14 @@ kscience {
json()
}
useContextReceivers()
- dependencies {
+ commonMain {
api("space.kscience:dataforge-io:$dataforgeVersion")
api(spclibs.kotlinx.datetime)
}
+
+ jvmTest{
+ implementation(spclibs.logback.classic)
+ }
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt
index 83044ec..b17de92 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt
@@ -38,7 +38,7 @@ public abstract class AbstractPort(
protected val scope: CoroutineScope = CoroutineScope(coroutineContext + SupervisorJob(coroutineContext[Job]))
private val outgoing = Channel<ByteArray>(100)
- private val incoming = Channel<ByteArray>(Channel.CONFLATED)
+ private val incoming = Channel<ByteArray>(100)
init {
scope.coroutineContext[Job]?.invokeOnCompletion {
@@ -88,7 +88,6 @@ public abstract class AbstractPort(
override fun close() {
outgoing.close()
incoming.close()
- sendJob.cancel()
scope.cancel()
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/ioExtensions.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/ioExtensions.kt
new file mode 100644
index 0000000..dbe7256
--- /dev/null
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/ioExtensions.kt
@@ -0,0 +1,5 @@
+package space.kscience.controls.ports
+
+import space.kscience.dataforge.io.Binary
+
+public fun Binary.readShort(position: Int): Short = read(position) { readShort() }
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
index 0f2b9bd..732e5d4 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
@@ -5,6 +5,7 @@ import kotlinx.coroutines.flow.map
import kotlinx.coroutines.flow.onCompletion
import kotlinx.coroutines.flow.transform
import kotlinx.io.Buffer
+import kotlinx.io.readByteArray
/**
* Transform byte fragments into complete phrases using given delimiter. Not thread safe.
@@ -27,9 +28,8 @@ public fun Flow<ByteArray>.withDelimiter(delimiter: ByteArray): Flow<ByteArray>
matcherPosition++
if (matcherPosition == delimiter.size) {
//full match achieved, sending result
- val bytes = output.build()
- emit(bytes.readBytes())
- output.reset()
+ emit(output.readByteArray())
+ output.clear()
matcherPosition = 0
}
} else if (matcherPosition > 0) {
diff --git a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
index d7983f2..1e187b6 100644
--- a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
+++ b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
@@ -8,6 +8,7 @@ import space.kscience.dataforge.context.logger
import space.kscience.dataforge.meta.*
import java.net.InetSocketAddress
import java.nio.ByteBuffer
+import java.nio.channels.AsynchronousCloseException
import java.nio.channels.ByteChannel
import java.nio.channels.DatagramChannel
import java.nio.channels.SocketChannel
@@ -30,7 +31,7 @@ public class ChannelPort(
channelBuilder: suspend () -> ByteChannel,
) : AbstractPort(context, coroutineContext), AutoCloseable {
- private val futureChannel: Deferred<ByteChannel> = this.scope.async(Dispatchers.IO) {
+ private val futureChannel: Deferred<ByteChannel> = scope.async(Dispatchers.IO) {
channelBuilder()
}
@@ -39,10 +40,10 @@ public class ChannelPort(
*/
public val startJob: Job get() = futureChannel
- private val listenerJob = this.scope.launch(Dispatchers.IO) {
+ private val listenerJob = scope.launch(Dispatchers.IO) {
val channel = futureChannel.await()
val buffer = ByteBuffer.allocate(1024)
- while (isActive) {
+ while (isActive && channel.isOpen) {
try {
val num = channel.read(buffer)
if (num > 0) {
@@ -50,8 +51,12 @@ public class ChannelPort(
}
if (num < 0) cancel("The input channel is exhausted")
} catch (ex: Exception) {
- logger.error(ex) { "Channel read error" }
- delay(1000)
+ if(ex is AsynchronousCloseException){
+ logger.info { "Channel closed" }
+ } else {
+ logger.error(ex) { "Channel read error, retrying in 1 second" }
+ delay(1000)
+ }
}
}
}
@@ -62,11 +67,8 @@ public class ChannelPort(
@OptIn(ExperimentalCoroutinesApi::class)
override fun close() {
- listenerJob.cancel()
if (futureChannel.isCompleted) {
futureChannel.getCompleted().close()
- } else {
- futureChannel.cancel()
}
super.close()
}
diff --git a/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/PortIOTest.kt b/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/PortIOTest.kt
index bdf6891..3f92500 100644
--- a/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/PortIOTest.kt
+++ b/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/PortIOTest.kt
@@ -1,25 +1,46 @@
package space.kscience.controls.ports
-import kotlinx.coroutines.flow.flowOf
-import kotlinx.coroutines.flow.map
-import kotlinx.coroutines.flow.toList
+import kotlinx.coroutines.flow.*
import kotlinx.coroutines.runBlocking
+import kotlinx.coroutines.test.runTest
import org.junit.jupiter.api.Test
+import space.kscience.dataforge.context.Global
import kotlin.test.assertEquals
-internal class PortIOTest{
+internal class PortIOTest {
@Test
- fun testDelimiteredByteArrayFlow(){
- val flow = flowOf("bb?b","ddd?",":defgb?:ddf","34fb?:--").map { it.encodeToByteArray() }
+ fun testDelimiteredByteArrayFlow() {
+ val flow = flowOf("bb?b", "ddd?", ":defgb?:ddf", "34fb?:--").map { it.encodeToByteArray() }
val chunked = flow.withDelimiter("?:".encodeToByteArray())
runBlocking {
val result = chunked.toList()
assertEquals(3, result.size)
- assertEquals("bb?bddd?:",result[0].decodeToString())
+ assertEquals("bb?bddd?:", result[0].decodeToString())
assertEquals("defgb?:", result[1].decodeToString())
assertEquals("ddf34fb?:", result[2].decodeToString())
}
}
+
+ @Test
+ fun testUdpCommunication() = runTest {
+ val receiver = UdpPort.open(Global, "localhost", 8811, localPort = 8812)
+ val sender = UdpPort.open(Global, "localhost", 8812, localPort = 8811)
+
+ repeat(10) {
+ sender.send("Line number $it\n")
+ }
+
+ val res = receiver
+ .receiving()
+ .onEach { println("ARRAY: ${it.decodeToString()}") }
+ .withStringDelimiter("\n")
+ .onEach { println("LINE: $it") }
+ .take(10).toList()
+
+ assertEquals("Line number 3", res[3].trim())
+ receiver.close()
+ sender.close()
+ }
}
\ No newline at end of file
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
index 8f4a2b4..3b3f91b 100644
--- a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
+++ b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
@@ -1,12 +1,14 @@
package space.kscience.controls.modbus
import com.ghgande.j2mod.modbus.procimg.*
-import io.ktor.utils.io.core.*
import kotlinx.coroutines.delay
import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
+import kotlinx.io.Buffer
import space.kscience.controls.api.Device
+import space.kscience.controls.ports.readShort
import space.kscience.controls.spec.*
+import space.kscience.dataforge.io.Binary
public class DeviceProcessImageBuilder<D : Device> internal constructor(
@@ -106,11 +108,11 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
}
device.useProperty(propertySpec) { value ->
- val packet = buildPacket {
- key.format.writeObject(this, value)
- }.readByteBuffer()
+ val binary = Binary {
+ key.format.writeTo(this, value)
+ }
registers.forEachIndexed { index, register ->
- register.setValue(packet.getShort(index * 2))
+ register.setValue(binary.readShort(index * 2))
}
}
}
@@ -118,7 +120,7 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
/**
* Trigger [block] if one of register changes.
*/
- private fun List<ObservableRegister>.onChange(block: suspend (ByteReadPacket) -> Unit) {
+ private fun List<ObservableRegister>.onChange(block: suspend (Buffer) -> Unit) {
var ready = false
forEach { register ->
@@ -128,7 +130,7 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
}
device.launch {
- val builder = BytePacketBuilder()
+ val builder = Buffer()
while (isActive) {
delay(1)
if (ready) {
@@ -136,7 +138,7 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
forEach { value ->
writeShort(value.toShort())
}
- }.build()
+ }
block(packet)
ready = false
}
@@ -154,15 +156,15 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
}
registers.onChange { packet ->
- device.write(propertySpec, key.format.readObject(packet))
+ device.write(propertySpec, key.format.readFrom(packet))
}
device.useProperty(propertySpec) { value ->
- val packet = buildPacket {
- key.format.writeObject(this, value)
- }.readByteBuffer()
+ val binary = Binary {
+ key.format.writeTo(this, value)
+ }
registers.forEachIndexed { index, observableRegister ->
- observableRegister.setValue(packet.getShort(index * 2))
+ observableRegister.setValue(binary.readShort(index * 2))
}
}
}
@@ -212,7 +214,7 @@ public class DeviceProcessImageBuilder<D : Device> internal constructor(
registers.onChange { packet ->
device.launch {
- device.action(key.format.readObject(packet))
+ device.action(key.format.readFrom(packet))
}
}
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
index 7297616..2585302 100644
--- a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
+++ b/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
@@ -5,11 +5,10 @@ import com.ghgande.j2mod.modbus.procimg.InputRegister
import com.ghgande.j2mod.modbus.procimg.Register
import com.ghgande.j2mod.modbus.procimg.SimpleInputRegister
import com.ghgande.j2mod.modbus.util.BitVector
-import io.ktor.utils.io.core.ByteReadPacket
-import io.ktor.utils.io.core.buildPacket
-import io.ktor.utils.io.core.readByteBuffer
-import io.ktor.utils.io.core.writeShort
+import kotlinx.io.Buffer
import space.kscience.controls.api.Device
+import space.kscience.dataforge.io.Buffer
+import space.kscience.dataforge.io.ByteArray
import java.nio.ByteBuffer
import kotlin.properties.ReadWriteProperty
import kotlin.reflect.KProperty
@@ -45,7 +44,7 @@ public interface ModbusDevice : Device {
public operator fun <T> ModbusRegistryKey.InputRange<T>.getValue(thisRef: Any?, property: KProperty<*>): T {
val packet = readInputRegistersToPacket(address, count)
- return format.readObject(packet)
+ return format.readFrom(packet)
}
@@ -62,7 +61,7 @@ public interface ModbusDevice : Device {
public operator fun <T> ModbusRegistryKey.HoldingRange<T>.getValue(thisRef: Any?, property: KProperty<*>): T {
val packet = readHoldingRegistersToPacket(address, count)
- return format.readObject(packet)
+ return format.readFrom(packet)
}
public operator fun <T> ModbusRegistryKey.HoldingRange<T>.setValue(
@@ -70,9 +69,9 @@ public interface ModbusDevice : Device {
property: KProperty<*>,
value: T,
) {
- val buffer = buildPacket {
- format.writeObject(this, value)
- }.readByteBuffer()
+ val buffer = ByteArray {
+ format.writeTo(this, value)
+ }
writeHoldingRegisters(address, buffer)
}
@@ -122,7 +121,7 @@ private fun Array<out InputRegister>.toBuffer(): ByteBuffer {
return buffer
}
-private fun Array<out InputRegister>.toPacket(): ByteReadPacket = buildPacket {
+private fun Array<out InputRegister>.toPacket(): Buffer = Buffer {
forEach { value ->
writeShort(value.toShort())
}
@@ -131,7 +130,7 @@ private fun Array<out InputRegister>.toPacket(): ByteReadPacket = buildPacket {
public fun ModbusDevice.readInputRegistersToBuffer(address: Int, count: Int): ByteBuffer =
master.readInputRegisters(unitId, address, count).toBuffer()
-public fun ModbusDevice.readInputRegistersToPacket(address: Int, count: Int): ByteReadPacket =
+public fun ModbusDevice.readInputRegistersToPacket(address: Int, count: Int): Buffer =
master.readInputRegisters(unitId, address, count).toPacket()
public fun ModbusDevice.readDoubleInput(address: Int): Double =
@@ -151,7 +150,7 @@ public fun ModbusDevice.readHoldingRegisters(address: Int, count: Int): List<Reg
public fun ModbusDevice.readHoldingRegistersToBuffer(address: Int, count: Int): ByteBuffer =
master.readMultipleRegisters(unitId, address, count).toBuffer()
-public fun ModbusDevice.readHoldingRegistersToPacket(address: Int, count: Int): ByteReadPacket =
+public fun ModbusDevice.readHoldingRegistersToPacket(address: Int, count: Int): Buffer =
master.readMultipleRegisters(unitId, address, count).toPacket()
public fun ModbusDevice.readDoubleRegister(address: Int): Double =
@@ -183,6 +182,13 @@ public fun ModbusDevice.writeHoldingRegisters(address: Int, buffer: ByteBuffer):
return writeHoldingRegisters(address, array)
}
+public fun ModbusDevice.writeHoldingRegisters(address: Int, byteArray: ByteArray): Int {
+ val buffer = ByteBuffer.wrap(byteArray)
+ val array: ShortArray = ShortArray(buffer.limit().floorDiv(2)) { buffer.getShort(it * 2) }
+
+ return writeHoldingRegisters(address, array)
+}
+
public fun ModbusDevice.modbusRegister(
address: Int,
): ReadWriteProperty<ModbusDevice, Short> = object : ReadWriteProperty<ModbusDevice, Short> {
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt
index b760184..27330bb 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt
@@ -107,7 +107,7 @@ internal class MetaStructureCodec(
override fun createStructure(name: String, members: LinkedHashMap<String, Meta>): Meta = Meta {
members.forEach { (property: String, value: Meta?) ->
- setMeta(Name.parse(property), value)
+ set(Name.parse(property), value)
}
}
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDevice.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDevice.kt
index dd83e58..51e6032 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDevice.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDevice.kt
@@ -43,7 +43,7 @@ public suspend inline fun <reified T: Any> OpcUaDevice.readOpcWithTime(
else -> error("Incompatible OPC property value $content")
}
- val res: T = converter.metaToObject(meta) ?: error("Meta $meta could not be converted to ${T::class}")
+ val res: T = converter.metaToObject(meta)
return res to time
}
diff --git a/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt b/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
index 0d928ac..b34cc44 100644
--- a/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
+++ b/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
@@ -9,6 +9,7 @@ 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.VisionClient
import space.kscience.visionforge.VisionPlugin
public actual class ControlVisionPlugin : VisionPlugin(), ElementVisionRenderer {
@@ -20,7 +21,7 @@ public actual class ControlVisionPlugin : VisionPlugin(), ElementVisionRenderer
TODO("Not yet implemented")
}
- override fun render(element: Element, name: Name, vision: Vision, meta: Meta) {
+ override fun render(element: Element, client: VisionClient, name: Name, vision: Vision, meta: Meta) {
TODO("Not yet implemented")
}
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
index eaa1bff..067792c 100644
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
+++ b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
@@ -42,7 +42,7 @@ class DemoDevice(context: Context, meta: Meta) : DeviceBySpec<IDemoDevice>(Compa
// register virtual properties based on actual object state
val timeScale by mutableProperty(MetaConverter.double, IDemoDevice::timeScaleState) {
metaDescriptor {
- type(ValueType.NUMBER)
+ valueType(ValueType.NUMBER)
}
description = "Real to virtual time scale"
}
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
index 8ccb8a4..05bb2f0 100644
--- a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
+++ b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
@@ -17,6 +17,8 @@ import space.kscience.dataforge.meta.double
import space.kscience.dataforge.meta.get
import space.kscience.dataforge.meta.transformations.MetaConverter
import kotlin.math.pow
+import kotlin.reflect.KType
+import kotlin.reflect.typeOf
import kotlin.time.Duration
import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.ExperimentalTime
@@ -28,7 +30,10 @@ data class Vector2D(var x: Double = 0.0, var y: Double = 0.0) : MetaRepr {
operator fun div(arg: Double): Vector2D = Vector2D(x / arg, y / arg)
companion object CoordinatesMetaConverter : MetaConverter<Vector2D> {
- override fun metaToObject(meta: Meta): Vector2D = Vector2D(
+
+ override val type: KType = typeOf<Vector2D>()
+
+ override fun metaToObjectOrNull(meta: Meta): Vector2D = Vector2D(
meta["x"].double ?: 0.0,
meta["y"].double ?: 0.0
)
@@ -40,7 +45,8 @@ data class Vector2D(var x: Double = 0.0, var y: Double = 0.0) : MetaRepr {
}
}
-open class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(IVirtualCar, context, meta), IVirtualCar {
+open class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(IVirtualCar, context, meta),
+ IVirtualCar {
private val clock = context.clock
private val timeScale = 1e-3
diff --git a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/NullableStringMetaConverter.kt b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/NullableStringMetaConverter.kt
deleted file mode 100644
index 40c20ed..0000000
--- a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/NullableStringMetaConverter.kt
+++ /dev/null
@@ -1,10 +0,0 @@
-package center.sciprog.devices.mks
-
-import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.string
-import space.kscience.dataforge.meta.transformations.MetaConverter
-
-object NullableStringMetaConverter : MetaConverter<String?> {
- override fun metaToObject(meta: Meta): String? = meta.string
- override fun objectToMeta(obj: String?): Meta = Meta {}
-}
\ No newline at end of file
diff --git a/magix/magix-api/build.gradle.kts b/magix/magix-api/build.gradle.kts
index 159989d..68151c3 100644
--- a/magix/magix-api/build.gradle.kts
+++ b/magix/magix-api/build.gradle.kts
@@ -17,6 +17,10 @@ kscience {
useSerialization{
json()
}
+
+ commonMain{
+ implementation(spclibs.atomicfu)
+ }
}
readme{
From 606c2cf5b14401648eef6d36a44711d1ddbec8bc Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 13 Dec 2023 14:50:56 +0300
Subject: [PATCH 042/125] Finish migration to kotlinx-io
---
.../jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
index 1e187b6..ec50d47 100644
--- a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
+++ b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
@@ -52,7 +52,7 @@ public class ChannelPort(
if (num < 0) cancel("The input channel is exhausted")
} catch (ex: Exception) {
if(ex is AsynchronousCloseException){
- logger.info { "Channel closed" }
+ logger.info { "Channel $channel closed" }
} else {
logger.error(ex) { "Channel read error, retrying in 1 second" }
delay(1000)
From a12cf440e8a7bd686f2ae69d6f526f3863c61d09 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 13 Dec 2023 20:20:03 +0300
Subject: [PATCH 043/125] Finish migration to kotlinx-io
---
build.gradle.kts | 2 +-
.../space/kscience/controls/ports/ChannelPort.kt | 6 +++---
.../space/kscience/controls/ports/PortIOTest.kt | 16 ++++++++++------
3 files changed, 14 insertions(+), 10 deletions(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index fd2f3d8..d6ab9cf 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -13,7 +13,7 @@ val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
- version = "0.3.0-dev-3"
+ version = "0.3.0-dev-4"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
diff --git a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
index ec50d47..f450607 100644
--- a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
+++ b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
@@ -51,7 +51,7 @@ public class ChannelPort(
}
if (num < 0) cancel("The input channel is exhausted")
} catch (ex: Exception) {
- if(ex is AsynchronousCloseException){
+ if (ex is AsynchronousCloseException) {
logger.info { "Channel $channel closed" }
} else {
logger.error(ex) { "Channel read error, retrying in 1 second" }
@@ -108,7 +108,7 @@ public object UdpPort : PortFactory {
/**
* Connect a datagram channel to a remote host/port. If [localPort] is provided, it is used to bind local port for receiving messages.
*/
- public fun open(
+ public fun openChannel(
context: Context,
remoteHost: String,
remotePort: Int,
@@ -130,6 +130,6 @@ public object UdpPort : PortFactory {
val remotePort by meta.number { error("Remote port is not specified") }
val localHost: String? by meta.string()
val localPort: Int? by meta.int()
- return open(context, remoteHost, remotePort.toInt(), localPort, localHost ?: "localhost")
+ return openChannel(context, remoteHost, remotePort.toInt(), localPort, localHost ?: "localhost")
}
}
\ No newline at end of file
diff --git a/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/PortIOTest.kt b/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/PortIOTest.kt
index 3f92500..daa6173 100644
--- a/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/PortIOTest.kt
+++ b/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/PortIOTest.kt
@@ -1,6 +1,10 @@
package space.kscience.controls.ports
-import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.flow.flowOf
+import kotlinx.coroutines.flow.map
+import kotlinx.coroutines.flow.take
+import kotlinx.coroutines.flow.toList
import kotlinx.coroutines.runBlocking
import kotlinx.coroutines.test.runTest
import org.junit.jupiter.api.Test
@@ -25,19 +29,19 @@ internal class PortIOTest {
@Test
fun testUdpCommunication() = runTest {
- val receiver = UdpPort.open(Global, "localhost", 8811, localPort = 8812)
- val sender = UdpPort.open(Global, "localhost", 8812, localPort = 8811)
+ val receiver = UdpPort.openChannel(Global, "localhost", 8811, localPort = 8812)
+ val sender = UdpPort.openChannel(Global, "localhost", 8812, localPort = 8811)
+ delay(30)
repeat(10) {
sender.send("Line number $it\n")
}
val res = receiver
.receiving()
- .onEach { println("ARRAY: ${it.decodeToString()}") }
.withStringDelimiter("\n")
- .onEach { println("LINE: $it") }
- .take(10).toList()
+ .take(10)
+ .toList()
assertEquals("Line number 3", res[3].trim())
receiver.close()
From 701ea8cf57928f58c2c8bc9276b7fe80b5b73474 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Fri, 15 Dec 2023 16:55:56 +0300
Subject: [PATCH 044/125] Minor fixes to port implementations
---
.../kscience/controls/ports/UdpSocketPort.kt | 55 +++++++++++++++++++
.../kscience/controls/ports/KtorTcpPort.kt | 7 ++-
.../kscience/controls/ports/KtorUdpPort.kt | 30 +++++-----
controls-serial/build.gradle.kts | 2 +-
.../controls/serial/JSerialCommPort.kt | 2 +-
5 files changed, 79 insertions(+), 17 deletions(-)
create mode 100644 controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/UdpSocketPort.kt
diff --git a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/UdpSocketPort.kt b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/UdpSocketPort.kt
new file mode 100644
index 0000000..27bb0d8
--- /dev/null
+++ b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/UdpSocketPort.kt
@@ -0,0 +1,55 @@
+package space.kscience.controls.ports
+
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
+import space.kscience.dataforge.context.Context
+import java.net.DatagramPacket
+import java.net.DatagramSocket
+import kotlin.coroutines.CoroutineContext
+
+/**
+ * A port based on [DatagramSocket] for cases, where [ChannelPort] does not work for some reason
+ */
+public class UdpSocketPort(
+ override val context: Context,
+ private val socket: DatagramSocket,
+ coroutineContext: CoroutineContext = context.coroutineContext,
+) : AbstractPort(context, coroutineContext) {
+
+ private val listenerJob = context.launch(Dispatchers.IO) {
+ while (isActive) {
+ val buf = ByteArray(socket.receiveBufferSize)
+
+ val packet = DatagramPacket(
+ buf,
+ buf.size,
+ )
+ socket.receive(packet)
+
+ val bytes = packet.data.copyOfRange(
+ packet.offset,
+ packet.offset + packet.length
+ )
+ receive(bytes)
+ }
+ }
+
+ override fun close() {
+ listenerJob.cancel()
+ }
+
+ override fun isOpen(): Boolean = listenerJob.isActive
+
+
+ override suspend fun write(data: ByteArray): Unit = withContext(Dispatchers.IO) {
+ val packet = DatagramPacket(
+ data,
+ data.size,
+ socket.remoteSocketAddress
+ )
+ socket.send(packet)
+ }
+
+}
\ No newline at end of file
diff --git a/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorTcpPort.kt b/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorTcpPort.kt
index 7f906d3..a7a698e 100644
--- a/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorTcpPort.kt
+++ b/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorTcpPort.kt
@@ -1,6 +1,7 @@
package space.kscience.controls.ports
import io.ktor.network.selector.ActorSelectorManager
+import io.ktor.network.sockets.SocketOptions
import io.ktor.network.sockets.aSocket
import io.ktor.network.sockets.openReadChannel
import io.ktor.network.sockets.openWriteChannel
@@ -23,12 +24,13 @@ public class KtorTcpPort internal constructor(
public val host: String,
public val port: Int,
coroutineContext: CoroutineContext = context.coroutineContext,
+ socketOptions: SocketOptions.TCPClientSocketOptions.() -> Unit = {}
) : AbstractPort(context, coroutineContext), Closeable {
override fun toString(): String = "port[tcp:$host:$port]"
private val futureSocket = scope.async {
- aSocket(ActorSelectorManager(Dispatchers.IO)).tcp().connect(host, port)
+ aSocket(ActorSelectorManager(Dispatchers.IO)).tcp().connect(host, port, socketOptions)
}
private val writeChannel = scope.async {
@@ -64,8 +66,9 @@ public class KtorTcpPort internal constructor(
host: String,
port: Int,
coroutineContext: CoroutineContext = context.coroutineContext,
+ socketOptions: SocketOptions.TCPClientSocketOptions.() -> Unit = {}
): KtorTcpPort {
- return KtorTcpPort(context, host, port, coroutineContext)
+ return KtorTcpPort(context, host, port, coroutineContext, socketOptions)
}
override fun build(context: Context, meta: Meta): Port {
diff --git a/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorUdpPort.kt b/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorUdpPort.kt
index 8b8446c..1f30914 100644
--- a/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorUdpPort.kt
+++ b/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorUdpPort.kt
@@ -1,17 +1,12 @@
package space.kscience.controls.ports
import io.ktor.network.selector.ActorSelectorManager
-import io.ktor.network.sockets.InetSocketAddress
-import io.ktor.network.sockets.aSocket
-import io.ktor.network.sockets.openReadChannel
-import io.ktor.network.sockets.openWriteChannel
+import io.ktor.network.sockets.*
+import io.ktor.utils.io.ByteWriteChannel
import io.ktor.utils.io.consumeEachBufferRange
import io.ktor.utils.io.core.Closeable
import io.ktor.utils.io.writeAvailable
-import kotlinx.coroutines.Dispatchers
-import kotlinx.coroutines.async
-import kotlinx.coroutines.isActive
-import kotlinx.coroutines.launch
+import kotlinx.coroutines.*
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.int
@@ -26,6 +21,7 @@ public class KtorUdpPort internal constructor(
public val localPort: Int? = null,
public val localHost: String = "localhost",
coroutineContext: CoroutineContext = context.coroutineContext,
+ socketOptions: SocketOptions.UDPSocketOptions.() -> Unit = {}
) : AbstractPort(context, coroutineContext), Closeable {
override fun toString(): String = "port[udp:$remoteHost:$remotePort]"
@@ -33,11 +29,12 @@ public class KtorUdpPort internal constructor(
private val futureSocket = scope.async {
aSocket(ActorSelectorManager(Dispatchers.IO)).udp().connect(
remoteAddress = InetSocketAddress(remoteHost, remotePort),
- localAddress = localPort?.let { InetSocketAddress(localHost, localPort) }
+ localAddress = localPort?.let { InetSocketAddress(localHost, localPort) },
+ configure = socketOptions
)
}
- private val writeChannel = scope.async {
+ private val writeChannel: Deferred<ByteWriteChannel> = scope.async {
futureSocket.await().openWriteChannel(true)
}
@@ -72,9 +69,16 @@ public class KtorUdpPort internal constructor(
localPort: Int? = null,
localHost: String = "localhost",
coroutineContext: CoroutineContext = context.coroutineContext,
- ): KtorUdpPort {
- return KtorUdpPort(context, remoteHost, remotePort, localPort, localHost, coroutineContext)
- }
+ socketOptions: SocketOptions.UDPSocketOptions.() -> Unit = {}
+ ): KtorUdpPort = KtorUdpPort(
+ context = context,
+ remoteHost = remoteHost,
+ remotePort = remotePort,
+ localPort = localPort,
+ localHost = localHost,
+ coroutineContext = coroutineContext,
+ socketOptions = socketOptions
+ )
override fun build(context: Context, meta: Meta): Port {
val remoteHost by meta.string { error("Remote host is not specified") }
diff --git a/controls-serial/build.gradle.kts b/controls-serial/build.gradle.kts
index a9afc41..aa950e1 100644
--- a/controls-serial/build.gradle.kts
+++ b/controls-serial/build.gradle.kts
@@ -9,7 +9,7 @@ description = "Implementation of direct serial port communication with JSerialCo
dependencies{
api(project(":controls-core"))
- implementation("com.fazecast:jSerialComm:2.10.3")
+ implementation("com.fazecast:jSerialComm:2.10.4")
}
readme{
diff --git a/controls-serial/src/main/kotlin/space/kscience/controls/serial/JSerialCommPort.kt b/controls-serial/src/main/kotlin/space/kscience/controls/serial/JSerialCommPort.kt
index 3e0601c..8a2caab 100644
--- a/controls-serial/src/main/kotlin/space/kscience/controls/serial/JSerialCommPort.kt
+++ b/controls-serial/src/main/kotlin/space/kscience/controls/serial/JSerialCommPort.kt
@@ -28,7 +28,7 @@ public class JSerialCommPort(
override fun getListeningEvents(): Int = SerialPort.LISTENING_EVENT_DATA_AVAILABLE
override fun serialEvent(event: SerialPortEvent) {
- if (event.eventType == SerialPort.LISTENING_EVENT_DATA_AVAILABLE) {
+ if (event.eventType == SerialPort.LISTENING_EVENT_DATA_AVAILABLE && event.receivedData != null) {
scope.launch { receive(event.receivedData) }
}
}
From bec075328b3075ea4ac5c27282d0972e52580e23 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Fri, 22 Dec 2023 09:28:39 +0300
Subject: [PATCH 045/125] Make constructor device use context instead of device
manager
---
build.gradle.kts | 2 +-
.../controls/constructor/DeviceConstructor.kt | 6 +-
.../controls/constructor/DeviceGroup.kt | 11 ++--
.../space/kscience/controls/ports/phrases.kt | 2 +
.../controls/spec/DevicePropertySpec.kt | 2 +-
.../src/commonMain/kotlin/plotExtensions.kt | 66 ++++++++++++-------
demo/constructor/src/jvmMain/kotlin/main.kt | 3 +-
7 files changed, 55 insertions(+), 37 deletions(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index d6ab9cf..6c169fe 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -13,7 +13,7 @@ val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
- version = "0.3.0-dev-4"
+ version = "0.3.0-dev-5"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
index 01d9087..1eb3b91 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -2,7 +2,7 @@ package space.kscience.controls.constructor
import space.kscience.controls.api.Device
import space.kscience.controls.api.PropertyDescriptor
-import space.kscience.controls.manager.DeviceManager
+import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.transformations.MetaConverter
@@ -18,9 +18,9 @@ import kotlin.time.Duration
* A base for strongly typed device constructor blocks. Has additional delegates for type-safe devices
*/
public abstract class DeviceConstructor(
- deviceManager: DeviceManager,
+ context: Context,
meta: Meta,
-) : DeviceGroup(deviceManager, meta) {
+) : DeviceGroup(context, meta) {
/**
* Register a device, provided by a given [factory] and
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
index 68f8301..cea9d71 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -27,7 +27,7 @@ import kotlin.coroutines.CoroutineContext
* A mutable group of devices and properties to be used for lightweight design and simulations.
*/
public open class DeviceGroup(
- public val deviceManager: DeviceManager,
+ final override val context: Context,
override val meta: Meta,
) : DeviceHub, CachingDevice {
@@ -42,9 +42,6 @@ public open class DeviceGroup(
)
- override final val context: Context get() = deviceManager.context
-
-
private val sharedMessageFlow = MutableSharedFlow<DeviceMessage>()
override val messageFlow: Flow<DeviceMessage>
@@ -175,7 +172,7 @@ public fun DeviceManager.registerDeviceGroup(
meta: Meta = Meta.EMPTY,
block: DeviceGroup.() -> Unit,
): DeviceGroup {
- val group = DeviceGroup(this, meta).apply(block)
+ val group = DeviceGroup(context, meta).apply(block)
install(name, group)
return group
}
@@ -194,7 +191,7 @@ private fun DeviceGroup.getOrCreateGroup(name: Name): DeviceGroup {
when (val d = devices[token]) {
null -> install(
token,
- DeviceGroup(deviceManager, meta[token] ?: Meta.EMPTY)
+ DeviceGroup(context, meta[token] ?: Meta.EMPTY)
)
else -> (d as? DeviceGroup) ?: error("Device $name is not a DeviceGroup")
@@ -234,7 +231,7 @@ public fun <D : Device> DeviceGroup.install(
deviceMeta: Meta? = null,
metaLocation: Name = name,
): D {
- val newDevice = factory.build(deviceManager.context, Laminate(deviceMeta, meta[metaLocation]))
+ val newDevice = factory.build(context, Laminate(deviceMeta, meta[metaLocation]))
install(name, newDevice)
return newDevice
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
index 732e5d4..b86591f 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
@@ -9,6 +9,8 @@ import kotlinx.io.readByteArray
/**
* Transform byte fragments into complete phrases using given delimiter. Not thread safe.
+ *
+ * TODO add type wrapper for phrases
*/
public fun Flow<ByteArray>.withDelimiter(delimiter: ByteArray): Flow<ByteArray> {
require(delimiter.isNotEmpty()) { "Delimiter must not be empty" }
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
index cb511ea..8e0d6de 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
@@ -81,7 +81,7 @@ public suspend fun <T, D : Device> D.read(propertySpec: DevicePropertySpec<D, T>
public suspend fun <T, D : DeviceBase<D>> D.readOrNull(propertySpec: DevicePropertySpec<D, T>): T? =
readPropertyOrNull(propertySpec.name)?.let(propertySpec.converter::metaToObject)
-public suspend fun <T, D : Device> D.request(propertySpec: DevicePropertySpec<D, T>): T? =
+public suspend fun <T, D : Device> D.request(propertySpec: DevicePropertySpec<D, T>): T =
propertySpec.converter.metaToObject(requestProperty(propertySpec.name))
/**
diff --git a/controls-vision/src/commonMain/kotlin/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
index 3640ee9..8c7b02f 100644
--- a/controls-vision/src/commonMain/kotlin/plotExtensions.kt
+++ b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
@@ -18,6 +18,8 @@ import space.kscience.controls.api.propertyMessageFlow
import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.manager.clock
import space.kscience.controls.misc.ValueWithTime
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.name
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.*
import space.kscience.plotly.Plot
@@ -28,8 +30,8 @@ import space.kscience.plotly.models.Trace
import space.kscience.plotly.models.TraceValues
import space.kscience.plotly.scatter
import kotlin.time.Duration
-import kotlin.time.Duration.Companion.hours
-import kotlin.time.Duration.Companion.milliseconds
+import kotlin.time.Duration.Companion.minutes
+import kotlin.time.Duration.Companion.seconds
private var TraceValues.values: List<Value>
get() = value?.list ?: emptyList()
@@ -82,6 +84,11 @@ private class TimeData(private var points: MutableList<ValueWithTime<Value>> = m
}
}
+private val defaultMaxAge get() = 10.minutes
+private val defaultMaxPoints get() = 800
+private val defaultMinPoints get() = 400
+private val defaultSampling get() = 1.seconds
+
/**
* Add a trace that shows a [Device] property change over time. Show only latest [maxPoints] .
* @return a [Job] that handles the listener
@@ -90,10 +97,10 @@ public fun Plot.plotDeviceProperty(
device: Device,
propertyName: String,
extractValue: Meta.() -> Value = { value ?: Null },
- maxAge: Duration = 1.hours,
- maxPoints: Int = 800,
- minPoints: Int = 400,
- sampling: Duration = 10.milliseconds,
+ maxAge: Duration = defaultMaxAge,
+ maxPoints: Int = defaultMaxPoints,
+ minPoints: Int = defaultMinPoints,
+ sampling: Duration = defaultSampling,
coroutineScope: CoroutineScope = device.context,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
@@ -108,14 +115,27 @@ public fun Plot.plotDeviceProperty(
}.launchIn(coroutineScope)
}
+public fun Plot.plotDeviceProperty(
+ device: Device,
+ property: DevicePropertySpec<*, Number>,
+ maxAge: Duration = defaultMaxAge,
+ maxPoints: Int = defaultMaxPoints,
+ minPoints: Int = defaultMinPoints,
+ sampling: Duration = defaultSampling,
+ coroutineScope: CoroutineScope = device.context,
+ configuration: Scatter.() -> Unit = {},
+): Job = plotDeviceProperty(
+ device, property.name, { value ?: Null }, maxAge, maxPoints, minPoints, sampling, coroutineScope, configuration
+)
+
private fun <T> Trace.updateFromState(
context: Context,
state: DeviceState<T>,
- extractValue: T.() -> Value = { state.converter.objectToMeta(this).value ?: space.kscience.dataforge.meta.Null },
- maxAge: Duration = 1.hours,
- maxPoints: Int = 800,
- minPoints: Int = 400,
- sampling: Duration = 10.milliseconds,
+ extractValue: T.() -> Value,
+ maxAge: Duration,
+ maxPoints: Int,
+ minPoints: Int,
+ sampling: Duration,
): Job {
val clock = context.clock
val data = TimeData()
@@ -131,10 +151,10 @@ public fun <T> Plot.plotDeviceState(
context: Context,
state: DeviceState<T>,
extractValue: T.() -> Value = { state.converter.objectToMeta(this).value ?: Null },
- maxAge: Duration = 1.hours,
- maxPoints: Int = 800,
- minPoints: Int = 400,
- sampling: Duration = 10.milliseconds,
+ maxAge: Duration = defaultMaxAge,
+ maxPoints: Int = defaultMaxPoints,
+ minPoints: Int = defaultMinPoints,
+ sampling: Duration = defaultSampling,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
updateFromState(context, state, extractValue, maxAge, maxPoints, minPoints, sampling)
@@ -144,10 +164,10 @@ public fun <T> Plot.plotDeviceState(
public fun Plot.plotNumberState(
context: Context,
state: DeviceState<out Number>,
- maxAge: Duration = 1.hours,
- maxPoints: Int = 800,
- minPoints: Int = 400,
- sampling: Duration = 10.milliseconds,
+ maxAge: Duration = defaultMaxAge,
+ maxPoints: Int = defaultMaxPoints,
+ minPoints: Int = defaultMinPoints,
+ sampling: Duration = defaultSampling,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints, sampling)
@@ -157,10 +177,10 @@ public fun Plot.plotNumberState(
public fun Plot.plotBooleanState(
context: Context,
state: DeviceState<Boolean>,
- maxAge: Duration = 1.hours,
- maxPoints: Int = 800,
- minPoints: Int = 400,
- sampling: Duration = 10.milliseconds,
+ maxAge: Duration = defaultMaxAge,
+ maxPoints: Int = defaultMaxPoints,
+ minPoints: Int = defaultMinPoints,
+ sampling: Duration = defaultSampling,
configuration: Bar.() -> Unit = {},
): Job = bar(configuration).run {
updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints, sampling)
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 3054399..5cbef67 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -26,7 +26,6 @@ import space.kscience.controls.vision.plotDeviceProperty
import space.kscience.controls.vision.plotNumberState
import space.kscience.controls.vision.showDashboard
import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.context.request
import space.kscience.dataforge.meta.Meta
import space.kscience.plotly.models.ScatterMode
import space.kscience.visionforge.plotly.PlotlyPlugin
@@ -44,7 +43,7 @@ class LinearDrive(
mass: Double,
pidParameters: PidParameters,
meta: Meta = Meta.EMPTY,
-) : DeviceConstructor(context.request(DeviceManager), meta) {
+) : DeviceConstructor(context, meta) {
val drive by device(VirtualDrive.factory(mass, state))
val pid by device(PidRegulator(drive, pidParameters))
From 34f9108ef7901afa7c7ef0eabdba8fd2ae429f5e Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 25 Dec 2023 19:09:40 +0300
Subject: [PATCH 046/125] New builders for devices
---
build.gradle.kts | 4 +--
.../controls/constructor/DeviceConstructor.kt | 28 +++++++++++----
.../controls/constructor/DeviceGroup.kt | 20 +++++------
.../controls/constructor/DeviceState.kt | 36 +++++++++++++++++--
.../space/kscience/controls/api/Device.kt | 7 ++++
.../controls/manager/DeviceManager.kt | 3 ++
6 files changed, 76 insertions(+), 22 deletions(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index 6c169fe..aebfc4f 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -6,14 +6,14 @@ plugins {
}
val dataforgeVersion: String by extra("0.7.1")
-val visionforgeVersion by extra("0.3.0-RC")
+val visionforgeVersion by extra("0.3.1")
val ktorVersion: String by extra(space.kscience.gradle.KScienceVersions.ktorVersion)
val rsocketVersion by extra("0.15.4")
val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
- version = "0.3.0-dev-5"
+ version = "0.3.0-dev-6"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
index 1eb3b91..5dbbe13 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -57,8 +57,8 @@ public abstract class DeviceConstructor(
*/
public fun <T : Any> property(
state: DeviceState<T>,
- nameOverride: String? = null,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ nameOverride: String? = null,
): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, T>> =
PropertyDelegateProvider { _: DeviceConstructor, property ->
val name = nameOverride ?: property.name
@@ -77,11 +77,12 @@ public abstract class DeviceConstructor(
reader: suspend () -> T,
readInterval: Duration,
initialState: T,
- nameOverride: String? = null,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ nameOverride: String? = null,
): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, T>> = property(
DeviceState.external(this, metaConverter, readInterval, initialState, reader),
- nameOverride, descriptorBuilder
+ descriptorBuilder,
+ nameOverride,
)
@@ -90,8 +91,8 @@ public abstract class DeviceConstructor(
*/
public fun <T : Any> mutableProperty(
state: MutableDeviceState<T>,
- nameOverride: String? = null,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ nameOverride: String? = null,
): PropertyDelegateProvider<DeviceConstructor, ReadWriteProperty<DeviceConstructor, T>> =
PropertyDelegateProvider { _: DeviceConstructor, property ->
val name = nameOverride ?: property.name
@@ -116,11 +117,26 @@ public abstract class DeviceConstructor(
writer: suspend (T) -> Unit,
readInterval: Duration,
initialState: T,
- nameOverride: String? = null,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ nameOverride: String? = null,
): PropertyDelegateProvider<DeviceConstructor, ReadWriteProperty<DeviceConstructor, T>> = mutableProperty(
DeviceState.external(this, metaConverter, readInterval, initialState, reader, writer),
+ descriptorBuilder,
+ nameOverride,
+ )
+
+ /**
+ * Create and register a virtual property with optional [callback]
+ */
+ public fun <T : Any> state(
+ metaConverter: MetaConverter<T>,
+ initialState: T,
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ nameOverride: String? = null,
+ callback: (T) -> Unit = {},
+ ): PropertyDelegateProvider<DeviceConstructor, ReadWriteProperty<DeviceConstructor, T>> = mutableProperty(
+ DeviceState.virtual(metaConverter, initialState, callback),
+ descriptorBuilder,
nameOverride,
- descriptorBuilder
)
}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
index cea9d71..26b5896 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -47,9 +47,10 @@ public open class DeviceGroup(
override val messageFlow: Flow<DeviceMessage>
get() = sharedMessageFlow
+ @OptIn(ExperimentalCoroutinesApi::class)
override val coroutineContext: CoroutineContext = context.newCoroutineContext(
SupervisorJob(context.coroutineContext[Job]) +
- CoroutineName("Device $this") +
+ CoroutineName("Device $id") +
CoroutineExceptionHandler { _, throwable ->
context.launch {
sharedMessageFlow.emit(
@@ -75,7 +76,7 @@ public open class DeviceGroup(
public fun <D : Device> install(token: NameToken, device: D): D {
require(_devices[token] == null) { "A child device with name $token already exists" }
//start the child device if needed
- if(lifecycleState == STARTED || lifecycleState == STARTING) launch { device.start() }
+ if (lifecycleState == STARTED || lifecycleState == STARTING) launch { device.start() }
_devices[token] = device
return device
}
@@ -216,6 +217,9 @@ public fun <D : Device> DeviceGroup.install(name: Name, device: D): D {
public fun <D : Device> DeviceGroup.install(name: String, device: D): D =
install(name.parseAsName(), device)
+public fun <D : Device> DeviceGroup.install(device: D): D =
+ install(device.id, device)
+
public fun <D : Device> Context.install(name: String, device: D): D = request(DeviceManager).install(name, device)
/**
@@ -281,15 +285,6 @@ public fun <T : Any> DeviceGroup.registerMutableProperty(
}
-/**
- * Create a virtual [MutableDeviceState], but do not register it to a device
- */
-@Suppress("UnusedReceiverParameter")
-public fun <T : Any> DeviceGroup.state(
- converter: MetaConverter<T>,
- initialValue: T,
-): MutableDeviceState<T> = VirtualDeviceState<T>(converter, initialValue)
-
/**
* Create a new virtual mutable state and a property based on it.
* @return the mutable state used in property
@@ -299,8 +294,9 @@ public fun <T : Any> DeviceGroup.registerVirtualProperty(
initialValue: T,
converter: MetaConverter<T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ callback: (T) -> Unit = {},
): MutableDeviceState<T> {
- val state = state(converter, initialValue)
+ val state = DeviceState.virtual<T>(converter, initialValue, callback)
registerMutableProperty(name, state, descriptorBuilder)
return state
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index a9cff51..672b0a6 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -45,17 +45,49 @@ public var <T : Any> MutableDeviceState<T>.valueAsMeta: Meta
/**
* A [MutableDeviceState] that does not correspond to a physical state
+ *
+ * @param callback a synchronous callback that could be used without a scope
*/
-public class VirtualDeviceState<T>(
+private class VirtualDeviceState<T>(
override val converter: MetaConverter<T>,
initialValue: T,
+ private val callback: (T) -> Unit = {},
) : MutableDeviceState<T> {
private val flow = MutableStateFlow(initialValue)
override val valueFlow: Flow<T> get() = flow
- override var value: T by flow::value
+ override var value: T
+ get() = flow.value
+ set(value) {
+ flow.value = value
+ callback(value)
+ }
}
+
+/**
+ * A [MutableDeviceState] that does not correspond to a physical state
+ *
+ * @param callback a synchronous callback that could be used without a scope
+ */
+public fun <T> DeviceState.Companion.virtual(
+ converter: MetaConverter<T>,
+ initialValue: T,
+ callback: (T) -> Unit = {},
+): MutableDeviceState<T> = VirtualDeviceState(converter, initialValue, callback)
+
+private class StateFlowAsState<T>(
+ override val converter: MetaConverter<T>,
+ val flow: MutableStateFlow<T>,
+) : MutableDeviceState<T> {
+ override var value: T by flow::value
+ override val valueFlow: Flow<T> get() = flow
+}
+
+public fun <T> MutableStateFlow<T>.asDeviceState(converter: MetaConverter<T>): DeviceState<T> =
+ StateFlowAsState(converter, this)
+
+
private open class BoundDeviceState<T>(
override val converter: MetaConverter<T>,
val device: Device,
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
index 4b78f24..89040c0 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
@@ -10,6 +10,8 @@ import space.kscience.dataforge.context.ContextAware
import space.kscience.dataforge.context.info
import space.kscience.dataforge.context.logger
import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.get
+import space.kscience.dataforge.meta.string
import space.kscience.dataforge.misc.DFExperimental
import space.kscience.dataforge.misc.DfType
import space.kscience.dataforge.names.parseAsName
@@ -111,6 +113,11 @@ public interface Device : ContextAware, CoroutineScope {
}
}
+/**
+ * Inner id of a device. Not necessary corresponds to the name in the parent container
+ */
+public val Device.id: String get() = meta["id"].string?: "device[${hashCode().toString(16)}]"
+
/**
* Device that caches properties values
*/
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt
index be59b4c..c8c7ffc 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt
@@ -4,6 +4,7 @@ import kotlinx.coroutines.launch
import space.kscience.controls.api.Device
import space.kscience.controls.api.DeviceHub
import space.kscience.controls.api.getOrNull
+import space.kscience.controls.api.id
import space.kscience.dataforge.context.*
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.MutableMeta
@@ -45,6 +46,8 @@ public fun <D : Device> DeviceManager.install(name: String, device: D): D {
return device
}
+public fun <D : Device> DeviceManager.install(device: D): D = install(device.id, device)
+
/**
* Register and start a device built by [factory] with current [Context] and [meta].
From aa52b4b92791054debc07d900808c80a756ca534 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Thu, 28 Dec 2023 21:09:23 +0300
Subject: [PATCH 047/125] hub returns list of messages.
---
CHANGELOG.md | 1 +
.../space/kscience/controls/api/DeviceHub.kt | 34 +++++++++++--------
.../kscience/controls/api/DeviceMessage.kt | 2 +-
.../controls/manager/respondMessage.kt | 19 +++++++----
.../kscience/controls/client/controlsMagix.kt | 4 +--
.../controls/server/deviceWebServer.kt | 16 ++++-----
.../kscience/controls/server/responses.kt | 5 +--
demo/all-things/build.gradle.kts | 2 +-
.../kscience/controls/demo/DemoDevice.kt | 11 +++++-
9 files changed, 59 insertions(+), 35 deletions(-)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index b4de4b7..93b9611 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,6 +10,7 @@
### Changed
- Property caching moved from core `Device` to the `CachingDevice`
- `DeviceSpec` properties no explicitly pass property name to getters and setters.
+- `DeviceHub.respondHubMessage` now returns a list of messages to allow querying multiple devices. Device server also returns an array.
### Deprecated
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
index 8bd7452..72b0dc3 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
@@ -14,22 +14,27 @@ public interface DeviceHub : Provider {
override val defaultChainTarget: String get() = Device.DEVICE_TARGET
- override fun content(target: String): Map<Name, Any> = if (target == Device.DEVICE_TARGET) {
- buildMap {
- fun putAll(prefix: Name, hub: DeviceHub) {
- hub.devices.forEach {
- put(prefix + it.key, it.value)
- }
- }
-
- devices.forEach {
- val name = it.key.asName()
- put(name, it.value)
- (it.value as? DeviceHub)?.let { hub ->
- putAll(name, hub)
- }
+ /**
+ * List all devices, including sub-devices
+ */
+ public fun buildDeviceTree(): Map<Name, Device> = buildMap {
+ fun putAll(prefix: Name, hub: DeviceHub) {
+ hub.devices.forEach {
+ put(prefix + it.key, it.value)
}
}
+
+ devices.forEach {
+ val name = it.key.asName()
+ put(name, it.value)
+ (it.value as? DeviceHub)?.let { hub ->
+ putAll(name, hub)
+ }
+ }
+ }
+
+ override fun content(target: String): Map<Name, Any> = if (target == Device.DEVICE_TARGET) {
+ buildDeviceTree()
} else {
emptyMap()
}
@@ -37,6 +42,7 @@ public interface DeviceHub : Provider {
public companion object
}
+
public operator fun DeviceHub.get(nameToken: NameToken): Device =
devices[nameToken] ?: error("Device with name $nameToken not found in $this")
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
index b3436e9..4cd91b0 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
@@ -103,7 +103,7 @@ public data class PropertyGetMessage(
@SerialName("description.get")
public data class GetDescriptionMessage(
override val sourceDevice: Name? = null,
- override val targetDevice: Name,
+ override val targetDevice: Name? = null,
override val comment: String? = null,
@EncodeDefault override val time: Instant? = Clock.System.now(),
) : DeviceMessage() {
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
index 4d319af..f8a641f 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
@@ -68,15 +68,22 @@ public suspend fun Device.respondMessage(deviceTarget: Name, request: DeviceMess
}
/**
- * Process incoming [DeviceMessage], using hub naming to evaluate target.
+ * Process incoming [DeviceMessage], using hub naming to find target.
+ * If the `targetDevice` is `null`, then message is sent to each device in this hub
*/
-public suspend fun DeviceHub.respondHubMessage(request: DeviceMessage): DeviceMessage? {
+public suspend fun DeviceHub.respondHubMessage(request: DeviceMessage): List<DeviceMessage> {
return try {
- val targetName = request.targetDevice ?: return null
- val device = getOrNull(targetName) ?: error("The device with name $targetName not found in $this")
- device.respondMessage(targetName, request)
+ val targetName = request.targetDevice
+ if(targetName == null) {
+ buildDeviceTree().mapNotNull {
+ it.value.respondMessage(it.key, request)
+ }
+ } else {
+ val device = getOrNull(targetName) ?: error("The device with name $targetName not found in $this")
+ listOfNotNull(device.respondMessage(targetName, request))
+ }
} catch (ex: Exception) {
- DeviceMessage.error(ex, sourceDevice = Name.EMPTY, targetDevice = request.sourceDevice)
+ listOf(DeviceMessage.error(ex, sourceDevice = Name.EMPTY, targetDevice = request.sourceDevice))
}
}
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
index ed69bff..5e7f4fb 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
@@ -39,10 +39,10 @@ public fun DeviceManager.launchMagixService(
): Job = context.launch {
endpoint.subscribe(controlsMagixFormat, targetFilter = listOf(endpointID)).onEach { (request, payload) ->
val responsePayload = respondHubMessage(payload)
- if (responsePayload != null) {
+ responsePayload.forEach {
endpoint.send(
format = controlsMagixFormat,
- payload = responsePayload,
+ payload = it,
source = endpointID,
target = request.sourceEndpoint,
id = generateId(request),
diff --git a/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt b/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt
index ba63583..04bb46d 100644
--- a/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt
+++ b/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt
@@ -157,8 +157,8 @@ public fun Application.deviceManagerModule(
val body = call.receiveText()
val request: DeviceMessage = MagixEndpoint.magixJson.decodeFromString(DeviceMessage.serializer(), body)
val response = manager.respondHubMessage(request)
- if (response != null) {
- call.respondMessage(response)
+ if (response.isNotEmpty()) {
+ call.respondMessages(response)
} else {
call.respondText("No response")
}
@@ -177,9 +177,9 @@ public fun Application.deviceManagerModule(
property = property,
)
- val response = manager.respondHubMessage(request)
- if (response != null) {
- call.respondMessage(response)
+ val responses = manager.respondHubMessage(request)
+ if (responses.isNotEmpty()) {
+ call.respondMessages(responses)
} else {
call.respond(HttpStatusCode.InternalServerError)
}
@@ -197,9 +197,9 @@ public fun Application.deviceManagerModule(
value = json.toMeta()
)
- val response = manager.respondHubMessage(request)
- if (response != null) {
- call.respondMessage(response)
+ val responses = manager.respondHubMessage(request)
+ if (responses.isNotEmpty()) {
+ call.respondMessages(responses)
} else {
call.respond(HttpStatusCode.InternalServerError)
}
diff --git a/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/responses.kt b/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/responses.kt
index 93d11c4..ffe489f 100644
--- a/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/responses.kt
+++ b/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/responses.kt
@@ -5,6 +5,7 @@ import io.ktor.server.application.ApplicationCall
import io.ktor.server.response.respondText
import kotlinx.serialization.json.JsonObjectBuilder
import kotlinx.serialization.json.buildJsonObject
+import kotlinx.serialization.serializer
import space.kscience.controls.api.DeviceMessage
import space.kscience.magix.api.MagixEndpoint
@@ -25,7 +26,7 @@ internal suspend fun ApplicationCall.respondJson(builder: JsonObjectBuilder.() -
respondText(json.toString(), contentType = ContentType.Application.Json)
}
-internal suspend fun ApplicationCall.respondMessage(message: DeviceMessage): Unit = respondText(
- MagixEndpoint.magixJson.encodeToString(DeviceMessage.serializer(), message),
+internal suspend fun ApplicationCall.respondMessages(messages: List<DeviceMessage>): Unit = respondText(
+ MagixEndpoint.magixJson.encodeToString(serializer<List<DeviceMessage>>(), messages),
contentType = ContentType.Application.Json
)
\ No newline at end of file
diff --git a/demo/all-things/build.gradle.kts b/demo/all-things/build.gradle.kts
index 33b654e..6888d35 100644
--- a/demo/all-things/build.gradle.kts
+++ b/demo/all-things/build.gradle.kts
@@ -24,7 +24,7 @@ dependencies {
implementation("io.ktor:ktor-client-cio:$ktorVersion")
implementation("no.tornado:tornadofx:1.7.20")
- implementation("space.kscience:plotlykt-server:0.6.0")
+ implementation("space.kscience:plotlykt-server:0.6.1")
// implementation("com.github.Ricky12Awesome:json-schema-serialization:0.6.6")
implementation(spclibs.logback.classic)
}
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
index 067792c..657d275 100644
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
+++ b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
@@ -47,7 +47,12 @@ class DemoDevice(context: Context, meta: Meta) : DeviceBySpec<IDemoDevice>(Compa
description = "Real to virtual time scale"
}
- val sinScale by mutableProperty(MetaConverter.double, IDemoDevice::sinScaleState)
+ val sinScale by mutableProperty(MetaConverter.double, IDemoDevice::sinScaleState){
+ description = "The scale of sin plot"
+ metaDescriptor {
+ valueType(ValueType.NUMBER)
+ }
+ }
val cosScale by mutableProperty(MetaConverter.double, IDemoDevice::cosScaleState)
val sin by doubleProperty { sinValue() }
@@ -74,6 +79,10 @@ class DemoDevice(context: Context, meta: Meta) : DeviceBySpec<IDemoDevice>(Compa
write(cosScale, 1.0)
}
+ val setSinScale by action(MetaConverter.double, MetaConverter.unit){ value: Double ->
+ write(sinScale, value)
+ }
+
override suspend fun IDemoDevice.onOpen() {
launch {
read(sinScale)
From 7579ddfad4ed2605551793d070c01c0345a6ab33 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Thu, 28 Dec 2023 22:40:58 +0300
Subject: [PATCH 048/125] Quick fix for OPC us server
---
.../controls/opcua/client/MetaBsdParser.kt | 18 +++--
.../controls/opcua/server/DeviceNameSpace.kt | 79 ++++++++++---------
2 files changed, 53 insertions(+), 44 deletions(-)
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt
index 27330bb..48aa6dc 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/MetaBsdParser.kt
@@ -56,6 +56,7 @@ internal class MetaEnumCodec : OpcUaBinaryDataTypeCodec<Number> {
internal fun opcToMeta(value: Any?): Meta = when (value) {
null -> Meta(Null)
+ is Variant -> opcToMeta(value.value)
is Meta -> value
is Value -> Meta(value)
is Number -> when (value) {
@@ -79,12 +80,17 @@ internal fun opcToMeta(value: Any?): Meta = when (value) {
"text" put value.text?.asValue()
}
is DataValue -> Meta {
- "value" put opcToMeta(value.value) // need SerializationContext to do that properly
- value.statusCode?.value?.let { "status" put Meta(it.asValue()) }
- value.sourceTime?.javaInstant?.let { "sourceTime" put it.toKotlinInstant().toMeta() }
- value.sourcePicoseconds?.let { "sourcePicoseconds" put Meta(it.asValue()) }
- value.serverTime?.javaInstant?.let { "serverTime" put it.toKotlinInstant().toMeta() }
- value.serverPicoseconds?.let { "serverPicoseconds" put Meta(it.asValue()) }
+ val variant= opcToMeta(value.value)
+ update(variant)// need SerializationContext to do that properly
+ //TODO remove after DF 0.7.2
+ this.value = variant.value
+ "@opc" put {
+ value.statusCode?.value?.let { "status" put Meta(it.asValue()) }
+ value.sourceTime?.javaInstant?.let { "sourceTime" put it.toKotlinInstant().toMeta() }
+ value.sourcePicoseconds?.let { "sourcePicoseconds" put Meta(it.asValue()) }
+ value.serverTime?.javaInstant?.let { "serverTime" put it.toKotlinInstant().toMeta() }
+ value.serverPicoseconds?.let { "serverPicoseconds" put Meta(it.asValue()) }
+ }
}
is ByteString -> Meta(value.bytesOrEmpty().asValue())
is XmlElement -> Meta(value.fragment?.asValue() ?: Null)
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
index 05fc3c6..057eb2e 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
@@ -2,7 +2,6 @@ package space.kscience.controls.opcua.server
import kotlinx.coroutines.launch
import kotlinx.datetime.toJavaInstant
-import kotlinx.serialization.json.Json
import org.eclipse.milo.opcua.sdk.core.AccessLevel
import org.eclipse.milo.opcua.sdk.core.Reference
import org.eclipse.milo.opcua.sdk.server.Lifecycle
@@ -21,14 +20,15 @@ import org.eclipse.milo.opcua.stack.core.types.builtin.DateTime
import org.eclipse.milo.opcua.stack.core.types.builtin.LocalizedText
import space.kscience.controls.api.*
import space.kscience.controls.manager.DeviceManager
+import space.kscience.controls.opcua.client.opcToMeta
import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.MetaSerializer
import space.kscience.dataforge.meta.ValueType
import space.kscience.dataforge.names.Name
import space.kscience.dataforge.names.plus
-public operator fun CachingDevice.get(propertyDescriptor: PropertyDescriptor): Meta? = getProperty(propertyDescriptor.name)
+public operator fun CachingDevice.get(propertyDescriptor: PropertyDescriptor): Meta? =
+ getProperty(propertyDescriptor.name)
public suspend fun Device.read(propertyDescriptor: PropertyDescriptor): Meta = readProperty(propertyDescriptor.name)
@@ -38,29 +38,11 @@ https://github.com/eclipse/milo/blob/master/milo-examples/server-examples/src/ma
public class DeviceNameSpace(
server: OpcUaServer,
- public val deviceManager: DeviceManager
+ public val deviceManager: DeviceManager,
) : ManagedNamespaceWithLifecycle(server, NAMESPACE_URI) {
private val subscription = SubscriptionModel(server, this)
- init {
- lifecycleManager.addLifecycle(subscription)
-
- lifecycleManager.addStartupTask {
- nodeContext.registerHub(deviceManager, Name.EMPTY)
- }
-
- lifecycleManager.addLifecycle(object : Lifecycle {
- override fun startup() {
- server.addressSpaceManager.register(this@DeviceNameSpace)
- }
-
- override fun shutdown() {
- server.addressSpaceManager.unregister(this@DeviceNameSpace)
- }
- })
- }
-
private fun UaFolderNode.registerDeviceNodes(deviceName: Name, device: Device) {
val nodes = device.propertyDescriptors.associate { descriptor ->
val propertyName = descriptor.name
@@ -74,14 +56,17 @@ public class DeviceNameSpace(
setAccessLevel(AccessLevel.READ_WRITE)
setUserAccessLevel(AccessLevel.READ_WRITE)
}
+
descriptor.mutable -> {
setAccessLevel(AccessLevel.WRITE_ONLY)
setUserAccessLevel(AccessLevel.WRITE_ONLY)
}
+
descriptor.readable -> {
setAccessLevel(AccessLevel.READ_ONLY)
setUserAccessLevel(AccessLevel.READ_ONLY)
}
+
else -> {
setAccessLevel(AccessLevel.NONE)
setUserAccessLevel(AccessLevel.NONE)
@@ -104,26 +89,23 @@ public class DeviceNameSpace(
}.build()
// Update initial value, but only if it is cached
- if(device is CachingDevice) {
+ if (device is CachingDevice) {
device[descriptor]?.toOpc(sourceTime = null, serverTime = null)?.let {
node.value = it
}
}
- /**
- * Subscribe to node value changes
- */
- node.addAttributeObserver { _: UaNode, attributeId: AttributeId, value: Any ->
- if (attributeId == AttributeId.Value) {
- val meta: Meta = when (value) {
- is Meta -> value
- is Boolean -> Meta(value)
- is Number -> Meta(value)
- is String -> Json.decodeFromString(MetaSerializer, value)
- else -> return@addAttributeObserver //TODO("other types not implemented")
- }
- deviceManager.context.launch {
- device.writeProperty(propertyName, meta)
+ if (descriptor.mutable) {
+
+ /**
+ * Subscribe to node value changes
+ */
+ node.addAttributeObserver { _: UaNode, attributeId: AttributeId, value: Any? ->
+ if (attributeId == AttributeId.Value) {
+ val meta: Meta = opcToMeta(value)
+ deviceManager.context.launch {
+ device.writeProperty(propertyName, meta)
+ }
}
}
}
@@ -137,7 +119,10 @@ public class DeviceNameSpace(
device.onPropertyChange {
nodes[property]?.let { node ->
val sourceTime = time?.let { DateTime(it.toJavaInstant()) }
- node.value = value.toOpc(sourceTime = sourceTime)
+ val newValue = value.toOpc(sourceTime = sourceTime)
+ if (node.value.value != newValue.value) {
+ node.value = newValue
+ }
}
}
//recursively add sub-devices
@@ -168,6 +153,24 @@ public class DeviceNameSpace(
}
}
+ init {
+ lifecycleManager.addLifecycle(subscription)
+
+ lifecycleManager.addStartupTask {
+ nodeContext.registerHub(deviceManager, Name.EMPTY)
+ }
+
+ lifecycleManager.addLifecycle(object : Lifecycle {
+ override fun startup() {
+ server.addressSpaceManager.register(this@DeviceNameSpace)
+ }
+
+ override fun shutdown() {
+ server.addressSpaceManager.unregister(this@DeviceNameSpace)
+ }
+ })
+ }
+
override fun onDataItemsCreated(dataItems: List<DataItem?>?) {
subscription.onDataItemsCreated(dataItems)
}
From fa2414ef473feaa33402e13c68b6d89f949757c8 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Fri, 2 Feb 2024 16:04:41 +0300
Subject: [PATCH 049/125] Add demo for device message listening
---
.../kscience/controls/api/DeviceMessage.kt | 2 +-
.../controls/demo/DemoControllerView.kt | 21 +++++++++++++++++++
2 files changed, 22 insertions(+), 1 deletion(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
index 4cd91b0..406cfca 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
@@ -1,4 +1,4 @@
-@file:OptIn(ExperimentalSerializationApi::class, ExperimentalSerializationApi::class)
+@file:OptIn(ExperimentalSerializationApi::class)
package space.kscience.controls.api
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
index 8edd90e..2d2086b 100644
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
+++ b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
@@ -5,10 +5,17 @@ import javafx.scene.Parent
import javafx.scene.control.Slider
import javafx.scene.layout.Priority
import javafx.stage.Stage
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.launch
+import kotlinx.serialization.json.Json
import org.eclipse.milo.opcua.sdk.server.OpcUaServer
import org.eclipse.milo.opcua.stack.core.types.builtin.LocalizedText
+import space.kscience.controls.api.DeviceMessage
+import space.kscience.controls.api.GetDescriptionMessage
+import space.kscience.controls.api.PropertyChangedMessage
import space.kscience.controls.client.launchMagixService
+import space.kscience.controls.client.magixFormat
import space.kscience.controls.demo.DemoDevice.Companion.cosScale
import space.kscience.controls.demo.DemoDevice.Companion.sinScale
import space.kscience.controls.demo.DemoDevice.Companion.timeScale
@@ -20,6 +27,8 @@ import space.kscience.controls.opcua.server.serveDevices
import space.kscience.controls.spec.write
import space.kscience.dataforge.context.*
import space.kscience.magix.api.MagixEndpoint
+import space.kscience.magix.api.send
+import space.kscience.magix.api.subscribe
import space.kscience.magix.rsocket.rSocketWithTcp
import space.kscience.magix.rsocket.rSocketWithWebSockets
import space.kscience.magix.server.RSocketMagixFlowPlugin
@@ -49,6 +58,7 @@ class DemoController : Controller(), ContextAware {
private val deviceManager = context.request(DeviceManager)
+
fun init() {
context.launch {
device = deviceManager.install("demo", DemoDevice)
@@ -67,6 +77,17 @@ class DemoController : Controller(), ContextAware {
//serve devices as OPC-UA namespace
opcUaServer.startup()
opcUaServer.serveDevices(deviceManager)
+
+
+ val listenerEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+ listenerEndpoint.subscribe(DeviceManager.magixFormat).onEach { (_, deviceMessage)->
+ // print all messages that are not property change message
+ if(deviceMessage !is PropertyChangedMessage){
+ println(">> ${Json.encodeToString(DeviceMessage.serializer(), deviceMessage)}")
+ }
+ }.launchIn(this)
+ listenerEndpoint.send(DeviceManager.magixFormat, GetDescriptionMessage(), "listener", "controls-kt")
+
}
}
From b1121d61cb9e8832ed3e2cb25a23424182c620ee Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 5 Feb 2024 14:08:15 +0300
Subject: [PATCH 050/125] Allow controls magix endpoint to receive broadcast.
---
.../kscience/controls/client/controlsMagix.kt | 4 ++-
.../space/kscience/magix/api/MagixFormat.kt | 2 +-
.../kscience/magix/api/MagixMessageFilter.kt | 2 +-
.../magix/storage/xodus/XodusMagixStorage.kt | 28 ++++++++++---------
4 files changed, 20 insertions(+), 16 deletions(-)
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
index 5e7f4fb..2257c74 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
@@ -32,12 +32,14 @@ internal fun generateId(request: MagixMessage): String = if (request.id != null)
/**
* Communicate with server in [Magix format](https://github.com/waltz-controls/rfc/tree/master/1)
+ *
+ * Accepts messages with target that equals [endpointID] or null (broadcast messages)
*/
public fun DeviceManager.launchMagixService(
endpoint: MagixEndpoint,
endpointID: String = controlsMagixFormat.defaultFormat,
): Job = context.launch {
- endpoint.subscribe(controlsMagixFormat, targetFilter = listOf(endpointID)).onEach { (request, payload) ->
+ endpoint.subscribe(controlsMagixFormat, targetFilter = listOf(endpointID, null)).onEach { (request, payload) ->
val responsePayload = respondHubMessage(payload)
responsePayload.forEach {
endpoint.send(
diff --git a/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixFormat.kt b/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixFormat.kt
index 115fcff..42d55b7 100644
--- a/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixFormat.kt
+++ b/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixFormat.kt
@@ -26,7 +26,7 @@ public data class MagixFormat<T>(
public fun <T> MagixEndpoint.subscribe(
format: MagixFormat<T>,
originFilter: Collection<String>? = null,
- targetFilter: Collection<String>? = null,
+ targetFilter: Collection<String?>? = null,
): Flow<Pair<MagixMessage, T>> = subscribe(
MagixMessageFilter(format = format.formats, source = originFilter, target = targetFilter)
).map {
diff --git a/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixMessageFilter.kt b/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixMessageFilter.kt
index 4bd4746..72c7f7f 100644
--- a/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixMessageFilter.kt
+++ b/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixMessageFilter.kt
@@ -11,7 +11,7 @@ import kotlinx.serialization.Serializable
public data class MagixMessageFilter(
val format: Collection<String>? = null,
val source: Collection<String>? = null,
- val target: Collection<String>? = null,
+ val target: Collection<String?>? = null,
) {
public fun accepts(message: MagixMessage): Boolean =
diff --git a/magix/magix-storage/magix-storage-xodus/src/main/kotlin/space/kscience/magix/storage/xodus/XodusMagixStorage.kt b/magix/magix-storage/magix-storage-xodus/src/main/kotlin/space/kscience/magix/storage/xodus/XodusMagixStorage.kt
index 4a3efa3..8d0d852 100644
--- a/magix/magix-storage/magix-storage-xodus/src/main/kotlin/space/kscience/magix/storage/xodus/XodusMagixStorage.kt
+++ b/magix/magix-storage/magix-storage-xodus/src/main/kotlin/space/kscience/magix/storage/xodus/XodusMagixStorage.kt
@@ -39,9 +39,8 @@ public class XodusMagixHistory(private val store: PersistentEntityStore) : Write
setBlobString(MagixMessage::payload.name, magixJson.encodeToString(message.payload))
- message.targetEndpoint?.let {
- setProperty(MagixMessage::targetEndpoint.name, it)
- }
+ setProperty(MagixMessage::targetEndpoint.name, (message.targetEndpoint ?: ""))
+
message.id?.let {
setProperty(MagixMessage::id.name, it)
}
@@ -68,14 +67,14 @@ public class XodusMagixHistory(private val store: PersistentEntityStore) : Write
): Unit = store.executeInReadonlyTransaction { transaction ->
val all = transaction.getAll(XodusMagixStorage.MAGIC_MESSAGE_ENTITY_TYPE)
- fun StoreTransaction.findAllIn(
+ fun findAllIn(
entityType: String,
field: String,
- values: Collection<String>?,
+ values: Collection<String?>?,
): EntityIterable? {
var union: EntityIterable? = null
values?.forEach {
- val filter = transaction.find(entityType, field, it)
+ val filter = transaction.find(entityType, field, it ?: "")
union = union?.union(filter) ?: filter
}
return union
@@ -84,21 +83,24 @@ public class XodusMagixHistory(private val store: PersistentEntityStore) : Write
// filter by magix filter
val filteredByMagix: EntityIterable = magixFilter?.let { mf ->
var res = all
- transaction.findAllIn(XodusMagixStorage.MAGIC_MESSAGE_ENTITY_TYPE, MagixMessage::format.name, mf.format)
- ?.let {
- res = res.intersect(it)
- }
- transaction.findAllIn(
+ findAllIn(
+ XodusMagixStorage.MAGIC_MESSAGE_ENTITY_TYPE,
+ MagixMessage::format.name,
+ mf.format
+ )?.let {
+ res = res.intersect(it)
+ }
+ findAllIn(
XodusMagixStorage.MAGIC_MESSAGE_ENTITY_TYPE,
MagixMessage::sourceEndpoint.name,
mf.source
)?.let {
res = res.intersect(it)
}
- transaction.findAllIn(
+ findAllIn(
XodusMagixStorage.MAGIC_MESSAGE_ENTITY_TYPE,
MagixMessage::targetEndpoint.name,
- mf.target
+ mf.target?.filterNotNull()
)?.let {
res = res.intersect(it)
}
From 8bd9bcc6a6a310fd765c4ad592f947597c538b8c Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Thu, 15 Feb 2024 21:04:59 +0300
Subject: [PATCH 051/125] Fix bizzare NPE in context generation for
DeviceClient. Add test for remote client
---
controls-magix/build.gradle.kts | 1 +
.../kscience/controls/client/DeviceClient.kt | 6 +-
.../controls/client/RemoteDeviceConnect.kt | 87 +++++++++++++++++++
3 files changed, 91 insertions(+), 3 deletions(-)
create mode 100644 controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
diff --git a/controls-magix/build.gradle.kts b/controls-magix/build.gradle.kts
index 0296b8c..3a819bf 100644
--- a/controls-magix/build.gradle.kts
+++ b/controls-magix/build.gradle.kts
@@ -12,6 +12,7 @@ description = """
kscience {
jvm()
js()
+ useCoroutines("1.8.0")
useSerialization {
json()
}
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
index 474f86a..924fad9 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
@@ -1,8 +1,8 @@
package space.kscience.controls.client
import com.benasher44.uuid.uuid4
+import kotlinx.coroutines.Job
import kotlinx.coroutines.flow.*
-import kotlinx.coroutines.newCoroutineContext
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import space.kscience.controls.api.*
@@ -28,8 +28,8 @@ public class DeviceClient(
private val send: suspend (DeviceMessage) -> Unit,
) : CachingDevice {
- @OptIn(kotlinx.coroutines.ExperimentalCoroutinesApi::class)
- override val coroutineContext: CoroutineContext = newCoroutineContext(context.coroutineContext)
+
+ override val coroutineContext: CoroutineContext = context.coroutineContext + Job(context.coroutineContext[Job])
private val mutex = Mutex()
diff --git a/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
new file mode 100644
index 0000000..f0f65fa
--- /dev/null
+++ b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
@@ -0,0 +1,87 @@
+package space.kscience.controls.client
+
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.map
+import kotlinx.coroutines.test.runTest
+import kotlinx.serialization.json.Json
+import space.kscience.controls.api.Device
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.controls.manager.install
+import space.kscience.controls.manager.respondMessage
+import space.kscience.controls.spec.*
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.Factory
+import space.kscience.dataforge.context.request
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.get
+import space.kscience.dataforge.meta.int
+import space.kscience.dataforge.names.Name
+import space.kscience.magix.api.MagixEndpoint
+import space.kscience.magix.api.MagixMessage
+import space.kscience.magix.api.MagixMessageFilter
+import kotlin.random.Random
+import kotlin.test.Test
+import kotlin.test.assertContains
+import kotlin.time.Duration.Companion.milliseconds
+
+
+public suspend fun <T> Device.readUnsafe(propertySpec: DevicePropertySpec<*, T>): T =
+ propertySpec.converter.metaToObject(readProperty(propertySpec.name)) ?: error("Property read result is not valid")
+
+internal class RemoteDeviceConnect {
+
+ class TestDevice(context: Context, meta: Meta) : DeviceBySpec<TestDevice>(TestDevice, context, meta) {
+ private val rng = Random(meta["seed"].int ?: 0)
+
+ private val randomValue get() = rng.nextDouble()
+
+ companion object : DeviceSpec<TestDevice>(), Factory<TestDevice> {
+
+ override fun build(context: Context, meta: Meta): TestDevice = TestDevice(context, meta)
+
+ val value by doubleProperty { randomValue }
+
+ override suspend fun TestDevice.onOpen() {
+ doRecurring((meta["delay"].int ?: 10).milliseconds) {
+ read(value)
+ }
+ }
+ }
+ }
+
+ @Test
+ fun wrapper() = runTest {
+ val context = Context {
+ plugin(DeviceManager)
+ }
+
+ val device = context.request(DeviceManager).install("test", TestDevice)
+
+ val virtualMagixEndpoint = object : MagixEndpoint {
+
+
+ override fun subscribe(filter: MagixMessageFilter): Flow<MagixMessage> = device.messageFlow.map {
+ MagixMessage(
+ format = DeviceManager.magixFormat.defaultFormat,
+ payload = MagixEndpoint.magixJson.encodeToJsonElement(DeviceManager.magixFormat.serializer, it),
+ sourceEndpoint = "test",
+ )
+ }
+
+ override suspend fun broadcast(message: MagixMessage) {
+ device.respondMessage(
+ Name.EMPTY,
+ Json.decodeFromJsonElement(DeviceManager.magixFormat.serializer, message.payload)
+ )
+ }
+
+ override fun close() {
+ //
+ }
+ }
+
+ val remoteDevice = virtualMagixEndpoint.remoteDevice(context, "test", Name.EMPTY)
+
+ assertContains(0.0..1.0, remoteDevice.readUnsafe(TestDevice.value))
+ }
+}
\ No newline at end of file
From 231f1bc858a8823c76a3f7109e4c4df90a77870c Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 19 Feb 2024 14:27:36 +0300
Subject: [PATCH 052/125] Add special unsafe calls for DeviceClient to mirror
safe device
---
.../controls/client/clientPropertyAccess.kt | 79 +++++++++++++++++++
.../controls/client/RemoteDeviceConnect.kt | 6 +-
2 files changed, 80 insertions(+), 5 deletions(-)
create mode 100644 controls-magix/src/commonMain/kotlin/space/kscience/controls/client/clientPropertyAccess.kt
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/clientPropertyAccess.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/clientPropertyAccess.kt
new file mode 100644
index 0000000..22b0413
--- /dev/null
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/clientPropertyAccess.kt
@@ -0,0 +1,79 @@
+package space.kscience.controls.client
+
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.launch
+import space.kscience.controls.api.PropertyChangedMessage
+import space.kscience.controls.api.requestProperty
+import space.kscience.controls.spec.DeviceActionSpec
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.MutableDevicePropertySpec
+import space.kscience.controls.spec.name
+import space.kscience.dataforge.meta.Meta
+
+
+/**
+ * An accessor that allows DeviceClient to connect to any property without type checks
+ */
+public suspend fun <T> DeviceClient.read(propertySpec: DevicePropertySpec<*, T>): T =
+ propertySpec.converter.metaToObject(readProperty(propertySpec.name)) ?: error("Property read result is not valid")
+
+
+public suspend fun <T> DeviceClient.request(propertySpec: DevicePropertySpec<*, T>): T =
+ propertySpec.converter.metaToObject(requestProperty(propertySpec.name))
+
+public suspend fun <T> DeviceClient.write(propertySpec: MutableDevicePropertySpec<*, T>, value: T) {
+ writeProperty(propertySpec.name, propertySpec.converter.objectToMeta(value))
+}
+
+public fun <T> DeviceClient.writeAsync(propertySpec: MutableDevicePropertySpec<*, T>, value: T): Job = launch {
+ write(propertySpec, value)
+}
+
+public fun <T> DeviceClient.propertyFlow(spec: DevicePropertySpec<*, T>): Flow<T> = messageFlow
+ .filterIsInstance<PropertyChangedMessage>()
+ .filter { it.property == spec.name }
+ .mapNotNull { spec.converter.metaToObject(it.value) }
+
+public fun <T> DeviceClient.onPropertyChange(
+ spec: DevicePropertySpec<*, T>,
+ scope: CoroutineScope = this,
+ callback: suspend PropertyChangedMessage.(T) -> Unit,
+): Job = messageFlow
+ .filterIsInstance<PropertyChangedMessage>()
+ .filter { it.property == spec.name }
+ .onEach { change ->
+ val newValue = spec.converter.metaToObject(change.value)
+ if (newValue != null) {
+ change.callback(newValue)
+ }
+ }.launchIn(scope)
+
+public fun <T> DeviceClient.useProperty(
+ spec: DevicePropertySpec<*, T>,
+ scope: CoroutineScope = this,
+ callback: suspend (T) -> Unit,
+): Job = scope.launch {
+ callback(read(spec))
+ messageFlow
+ .filterIsInstance<PropertyChangedMessage>()
+ .filter { it.property == spec.name }
+ .collect { change ->
+ val newValue = spec.converter.metaToObject(change.value)
+ if (newValue != null) {
+ callback(newValue)
+ }
+ }
+}
+
+public suspend fun <I, O> DeviceClient.execute(actionSpec: DeviceActionSpec<*, I, O>, input: I): O {
+ val inputMeta = actionSpec.inputConverter.objectToMeta(input)
+ val res = execute(actionSpec.name, inputMeta)
+ return actionSpec.outputConverter.metaToObject(res ?: Meta.EMPTY)
+}
+
+public suspend fun <O> DeviceClient.execute(actionSpec: DeviceActionSpec<*, Unit, O>): O {
+ val res = execute(actionSpec.name, Meta.EMPTY)
+ return actionSpec.outputConverter.metaToObject(res ?: Meta.EMPTY)
+}
\ No newline at end of file
diff --git a/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
index f0f65fa..d55dce1 100644
--- a/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
+++ b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
@@ -4,7 +4,6 @@ import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.map
import kotlinx.coroutines.test.runTest
import kotlinx.serialization.json.Json
-import space.kscience.controls.api.Device
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.install
import space.kscience.controls.manager.respondMessage
@@ -25,9 +24,6 @@ import kotlin.test.assertContains
import kotlin.time.Duration.Companion.milliseconds
-public suspend fun <T> Device.readUnsafe(propertySpec: DevicePropertySpec<*, T>): T =
- propertySpec.converter.metaToObject(readProperty(propertySpec.name)) ?: error("Property read result is not valid")
-
internal class RemoteDeviceConnect {
class TestDevice(context: Context, meta: Meta) : DeviceBySpec<TestDevice>(TestDevice, context, meta) {
@@ -82,6 +78,6 @@ internal class RemoteDeviceConnect {
val remoteDevice = virtualMagixEndpoint.remoteDevice(context, "test", Name.EMPTY)
- assertContains(0.0..1.0, remoteDevice.readUnsafe(TestDevice.value))
+ assertContains(0.0..1.0, remoteDevice.read(TestDevice.value))
}
}
\ No newline at end of file
From 57e9df140b72cfb156ff9d252fe1a9f61ac540e2 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 19 Feb 2024 15:10:51 +0300
Subject: [PATCH 053/125] Add utilities to work with remote devices
---
.../kscience/controls/client/DeviceClient.kt | 73 ++++++++++++++++++-
1 file changed, 69 insertions(+), 4 deletions(-)
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
index 924fad9..31dbd89 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
@@ -7,6 +7,8 @@ import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import space.kscience.controls.api.*
import space.kscience.controls.manager.DeviceManager
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.name
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.misc.DFExperimental
@@ -106,12 +108,75 @@ public class DeviceClient(
* Connect to a remote device via this endpoint.
*
* @param context a [Context] to run device in
- * @param endpointName the name of endpoint in Magix to connect to
+ * @param sourceEndpointName the name of this endpoint
+ * @param targetEndpointName the name of endpoint in Magix to connect to
* @param deviceName the name of device within endpoint
*/
-public fun MagixEndpoint.remoteDevice(context: Context, endpointName: String, deviceName: Name): DeviceClient {
- val subscription = subscribe(DeviceManager.magixFormat, originFilter = listOf(endpointName)).map { it.second }
+public fun MagixEndpoint.remoteDevice(
+ context: Context,
+ sourceEndpointName: String,
+ targetEndpointName: String,
+ deviceName: Name,
+): DeviceClient {
+ val subscription = subscribe(DeviceManager.magixFormat, originFilter = listOf(targetEndpointName)).map { it.second }
return DeviceClient(context, deviceName, subscription) {
- send(DeviceManager.magixFormat, it, endpointName, id = stringUID())
+ send(
+ format = DeviceManager.magixFormat,
+ payload = it,
+ source = sourceEndpointName,
+ target = targetEndpointName,
+ id = stringUID()
+ )
}
+}
+
+/**
+ * Subscribe on specific property of a device without creating a device
+ */
+public fun <T> MagixEndpoint.controlsPropertyFlow(
+ endpointName: String,
+ deviceName: Name,
+ propertySpec: DevicePropertySpec<*, T>,
+): Flow<T> {
+ val subscription = subscribe(DeviceManager.magixFormat, originFilter = listOf(endpointName)).map { it.second }
+
+ return subscription.filterIsInstance<PropertyChangedMessage>()
+ .filter { message ->
+ message.sourceDevice == deviceName && message.property == propertySpec.name
+ }.map {
+ propertySpec.converter.metaToObject(it.value)
+ }
+}
+
+public suspend fun <T> MagixEndpoint.sendControlsPropertyChange(
+ sourceEndpointName: String,
+ targetEndpointName: String,
+ deviceName: Name,
+ propertySpec: DevicePropertySpec<*, T>,
+ value: T,
+) {
+ val message = PropertySetMessage(
+ property = propertySpec.name,
+ value = propertySpec.converter.objectToMeta(value),
+ targetDevice = deviceName
+ )
+ send(DeviceManager.magixFormat, message, source = sourceEndpointName, target = targetEndpointName)
+}
+
+/**
+ * Subscribe on property change messages together with property values
+ */
+public fun <T> MagixEndpoint.controlsPropertyMessageFlow(
+ endpointName: String,
+ deviceName: Name,
+ propertySpec: DevicePropertySpec<*, T>,
+): Flow<Pair<PropertyChangedMessage, T>> {
+ val subscription = subscribe(DeviceManager.magixFormat, originFilter = listOf(endpointName)).map { it.second }
+
+ return subscription.filterIsInstance<PropertyChangedMessage>()
+ .filter { message ->
+ message.sourceDevice == deviceName && message.property == propertySpec.name
+ }.map {
+ it to propertySpec.converter.metaToObject(it.value)
+ }
}
\ No newline at end of file
From 9edf3b13efaf238a60bdc54de31a3d2acd63ac49 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Tue, 27 Feb 2024 10:31:35 +0300
Subject: [PATCH 054/125] Remove unnecessary scope in hub message flow
---
CHANGELOG.md | 1 +
.../controls/manager/respondMessage.kt | 37 +++++++------------
.../controls/storage/storageCommon.kt | 2 +-
3 files changed, 16 insertions(+), 24 deletions(-)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 93b9611..8183d79 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,7 @@
### Fixed
- Property writing does not trigger change if logical state already is the same as value to be set.
- Modbus-slave triggers only once for multi-register write.
+- Removed unnecessary scope in hub messageFlow
### Security
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
index f8a641f..3a0ac7b 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
@@ -1,10 +1,9 @@
package space.kscience.controls.manager
-import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.MutableSharedFlow
-import kotlinx.coroutines.flow.launchIn
-import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.flow.emptyFlow
+import kotlinx.coroutines.flow.map
+import kotlinx.coroutines.flow.merge
import space.kscience.controls.api.*
import space.kscience.dataforge.names.Name
import space.kscience.dataforge.names.plus
@@ -74,7 +73,7 @@ public suspend fun Device.respondMessage(deviceTarget: Name, request: DeviceMess
public suspend fun DeviceHub.respondHubMessage(request: DeviceMessage): List<DeviceMessage> {
return try {
val targetName = request.targetDevice
- if(targetName == null) {
+ if (targetName == null) {
buildDeviceTree().mapNotNull {
it.value.respondMessage(it.key, request)
}
@@ -90,27 +89,19 @@ public suspend fun DeviceHub.respondHubMessage(request: DeviceMessage): List<Dev
/**
* Collect all messages from given [DeviceHub], applying proper relative names.
*/
-public fun DeviceHub.hubMessageFlow(scope: CoroutineScope): Flow<DeviceMessage> {
+public fun DeviceHub.hubMessageFlow(): Flow<DeviceMessage> {
- //TODO could we avoid using downstream scope?
- val outbox = MutableSharedFlow<DeviceMessage>()
- if (this is Device) {
- messageFlow.onEach {
- outbox.emit(it)
- }.launchIn(scope)
- }
- //TODO maybe better create map of all devices to limit copying
- devices.forEach { (token, childDevice) ->
- val flow = if (childDevice is DeviceHub) {
- childDevice.hubMessageFlow(scope)
+ val deviceMessageFlow = if (this is Device) messageFlow else emptyFlow()
+
+ val childrenFlows = devices.map { (token, childDevice) ->
+ if (childDevice is DeviceHub) {
+ childDevice.hubMessageFlow()
} else {
childDevice.messageFlow
+ }.map { deviceMessage ->
+ deviceMessage.changeSource { token + it }
}
- flow.onEach { deviceMessage ->
- outbox.emit(
- deviceMessage.changeSource { token + it }
- )
- }.launchIn(scope)
}
- return outbox
+
+ return merge(deviceMessageFlow, *childrenFlows.toTypedArray())
}
\ No newline at end of file
diff --git a/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/storageCommon.kt b/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/storageCommon.kt
index 2a453cf..f0bf1f2 100644
--- a/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/storageCommon.kt
+++ b/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/storageCommon.kt
@@ -12,7 +12,7 @@ import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.context.debug
import space.kscience.dataforge.context.logger
-//TODO replace by plugin?
+
public fun DeviceManager.storage(
factory: Factory<DeviceMessageStorage>,
): DeviceMessageStorage = factory.build(context, meta)
From cfd9eb053ca5b6f22237e4a592bf485010e0d80d Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 4 Mar 2024 11:11:56 +0300
Subject: [PATCH 055/125] Make DeviceMessage time mandatory
---
.../kscience/controls/api/DeviceMessage.kt | 26 +++++++++----------
.../kscience/controls/client/controlsMagix.kt | 2 +-
.../controls/client/RemoteDeviceConnect.kt | 4 +--
.../controls/opcua/server/DeviceNameSpace.kt | 2 +-
.../xodus/XodusDeviceMessageStorage.kt | 5 +---
.../controls/storage/storageCommon.kt | 2 +-
.../src/commonMain/kotlin/plotExtensions.kt | 3 +--
.../kscience/controls/demo/MassDevice.kt | 4 +--
8 files changed, 22 insertions(+), 26 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
index 406cfca..dda89de 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
@@ -22,7 +22,7 @@ public sealed class DeviceMessage {
public abstract val sourceDevice: Name?
public abstract val targetDevice: Name?
public abstract val comment: String?
- public abstract val time: Instant?
+ public abstract val time: Instant
/**
* Update the source device name for composition. If the original name is null, the resulting name is also null.
@@ -59,7 +59,7 @@ public data class PropertyChangedMessage(
override val sourceDevice: Name = Name.EMPTY,
override val targetDevice: Name? = null,
override val comment: String? = null,
- @EncodeDefault override val time: Instant? = Clock.System.now(),
+ @EncodeDefault override val time: Instant = Clock.System.now(),
) : DeviceMessage() {
override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = block(sourceDevice))
}
@@ -75,7 +75,7 @@ public data class PropertySetMessage(
override val sourceDevice: Name? = null,
override val targetDevice: Name,
override val comment: String? = null,
- @EncodeDefault override val time: Instant? = Clock.System.now(),
+ @EncodeDefault override val time: Instant = Clock.System.now(),
) : DeviceMessage() {
override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = sourceDevice?.let(block))
}
@@ -91,7 +91,7 @@ public data class PropertyGetMessage(
override val sourceDevice: Name? = null,
override val targetDevice: Name,
override val comment: String? = null,
- @EncodeDefault override val time: Instant? = Clock.System.now(),
+ @EncodeDefault override val time: Instant = Clock.System.now(),
) : DeviceMessage() {
override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = sourceDevice?.let(block))
}
@@ -105,7 +105,7 @@ public data class GetDescriptionMessage(
override val sourceDevice: Name? = null,
override val targetDevice: Name? = null,
override val comment: String? = null,
- @EncodeDefault override val time: Instant? = Clock.System.now(),
+ @EncodeDefault override val time: Instant = Clock.System.now(),
) : DeviceMessage() {
override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = sourceDevice?.let(block))
}
@@ -122,7 +122,7 @@ public data class DescriptionMessage(
override val sourceDevice: Name,
override val targetDevice: Name? = null,
override val comment: String? = null,
- @EncodeDefault override val time: Instant? = Clock.System.now(),
+ @EncodeDefault override val time: Instant = Clock.System.now(),
) : DeviceMessage() {
override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = block(sourceDevice))
}
@@ -141,7 +141,7 @@ public data class ActionExecuteMessage(
override val sourceDevice: Name? = null,
override val targetDevice: Name,
override val comment: String? = null,
- @EncodeDefault override val time: Instant? = Clock.System.now(),
+ @EncodeDefault override val time: Instant = Clock.System.now(),
) : DeviceMessage() {
override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = sourceDevice?.let(block))
}
@@ -160,7 +160,7 @@ public data class ActionResultMessage(
override val sourceDevice: Name,
override val targetDevice: Name? = null,
override val comment: String? = null,
- @EncodeDefault override val time: Instant? = Clock.System.now(),
+ @EncodeDefault override val time: Instant = Clock.System.now(),
) : DeviceMessage() {
override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = block(sourceDevice))
}
@@ -175,7 +175,7 @@ public data class BinaryNotificationMessage(
override val sourceDevice: Name,
override val targetDevice: Name? = null,
override val comment: String? = null,
- @EncodeDefault override val time: Instant? = Clock.System.now(),
+ @EncodeDefault override val time: Instant = Clock.System.now(),
) : DeviceMessage() {
override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = block(sourceDevice))
}
@@ -190,7 +190,7 @@ public data class EmptyDeviceMessage(
override val sourceDevice: Name? = null,
override val targetDevice: Name? = null,
override val comment: String? = null,
- @EncodeDefault override val time: Instant? = Clock.System.now(),
+ @EncodeDefault override val time: Instant = Clock.System.now(),
) : DeviceMessage() {
override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = sourceDevice?.let(block))
}
@@ -206,7 +206,7 @@ public data class DeviceLogMessage(
override val sourceDevice: Name = Name.EMPTY,
override val targetDevice: Name? = null,
override val comment: String? = null,
- @EncodeDefault override val time: Instant? = Clock.System.now(),
+ @EncodeDefault override val time: Instant = Clock.System.now(),
) : DeviceMessage() {
override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = block(sourceDevice))
}
@@ -223,7 +223,7 @@ public data class DeviceErrorMessage(
override val sourceDevice: Name = Name.EMPTY,
override val targetDevice: Name? = null,
override val comment: String? = null,
- @EncodeDefault override val time: Instant? = Clock.System.now(),
+ @EncodeDefault override val time: Instant = Clock.System.now(),
) : DeviceMessage() {
override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = block(sourceDevice))
}
@@ -238,7 +238,7 @@ public data class DeviceLifeCycleMessage(
override val sourceDevice: Name = Name.EMPTY,
override val targetDevice: Name? = null,
override val comment: String? = null,
- @EncodeDefault override val time: Instant? = Clock.System.now(),
+ @EncodeDefault override val time: Instant = Clock.System.now(),
) : DeviceMessage() {
override fun changeSource(block: (Name) -> Name): DeviceMessage = copy(sourceDevice = block(sourceDevice))
}
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
index 2257c74..8aa4383 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
@@ -55,7 +55,7 @@ public fun DeviceManager.launchMagixService(
logger.error(error) { "Error while responding to message: ${error.message}" }
}.launchIn(this)
- hubMessageFlow(this).onEach { payload ->
+ hubMessageFlow().onEach { payload ->
endpoint.send(
format = controlsMagixFormat,
payload = payload,
diff --git a/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
index d55dce1..1478899 100644
--- a/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
+++ b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
@@ -60,7 +60,7 @@ internal class RemoteDeviceConnect {
MagixMessage(
format = DeviceManager.magixFormat.defaultFormat,
payload = MagixEndpoint.magixJson.encodeToJsonElement(DeviceManager.magixFormat.serializer, it),
- sourceEndpoint = "test",
+ sourceEndpoint = "source",
)
}
@@ -76,7 +76,7 @@ internal class RemoteDeviceConnect {
}
}
- val remoteDevice = virtualMagixEndpoint.remoteDevice(context, "test", Name.EMPTY)
+ val remoteDevice = virtualMagixEndpoint.remoteDevice(context, "source", "target", Name.EMPTY)
assertContains(0.0..1.0, remoteDevice.read(TestDevice.value))
}
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
index 057eb2e..e108b21 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
@@ -118,7 +118,7 @@ public class DeviceNameSpace(
//Subscribe on properties updates
device.onPropertyChange {
nodes[property]?.let { node ->
- val sourceTime = time?.let { DateTime(it.toJavaInstant()) }
+ val sourceTime = DateTime(time.toJavaInstant())
val newValue = value.toOpc(sourceTime = sourceTime)
if (node.value.value != newValue.value) {
node.value = newValue
diff --git a/controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt b/controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt
index e5d2e4a..e1b5a8d 100644
--- a/controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt
+++ b/controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt
@@ -19,7 +19,6 @@ import space.kscience.dataforge.context.request
import space.kscience.dataforge.io.IOPlugin
import space.kscience.dataforge.io.workDirectory
import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.get
import space.kscience.dataforge.meta.string
import space.kscience.dataforge.misc.DFExperimental
import space.kscience.dataforge.names.Name
@@ -39,9 +38,7 @@ internal fun StoreTransaction.writeMessage(message: DeviceMessage): Unit {
message.targetDevice?.let {
entity.setProperty(DeviceMessage::targetDevice.name, it.toString())
}
- message.time?.let {
- entity.setProperty(DeviceMessage::targetDevice.name, it.toString())
- }
+ entity.setProperty(DeviceMessage::targetDevice.name, message.time.toString())
entity.setBlobString("json", Json.encodeToString(json))
}
diff --git a/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/storageCommon.kt b/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/storageCommon.kt
index f0bf1f2..04b633a 100644
--- a/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/storageCommon.kt
+++ b/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/storageCommon.kt
@@ -31,7 +31,7 @@ public fun DeviceManager.storeMessages(
val storage = factory.build(context, meta)
logger.debug { "Message storage with meta = $meta created" }
- return hubMessageFlow(context).filter(filterCondition).onEach { message ->
+ return hubMessageFlow().filter(filterCondition).onEach { message ->
storage.write(message)
}.onCompletion {
storage.close()
diff --git a/controls-vision/src/commonMain/kotlin/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
index 8c7b02f..fde716b 100644
--- a/controls-vision/src/commonMain/kotlin/plotExtensions.kt
+++ b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
@@ -104,10 +104,9 @@ public fun Plot.plotDeviceProperty(
coroutineScope: CoroutineScope = device.context,
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
- val clock = device.context.clock
val data = TimeData()
device.propertyMessageFlow(propertyName).sample(sampling).transform {
- data.append(it.time ?: clock.now(), it.value.extractValue())
+ data.append(it.time, it.value.extractValue())
data.trim(maxAge, maxPoints, minPoints)
emit(data)
}.onEach {
diff --git a/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt b/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt
index 040d288..22d7e1c 100644
--- a/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt
+++ b/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt
@@ -103,8 +103,8 @@ suspend fun main() {
monitorEndpoint.subscribe(DeviceManager.magixFormat).onEach { (magixMessage, payload) ->
mutex.withLock {
- val delay = Clock.System.now() - payload.time!!
- latest[magixMessage.sourceEndpoint] = Clock.System.now() - payload.time!!
+ val delay = Clock.System.now() - payload.time
+ latest[magixMessage.sourceEndpoint] = Clock.System.now() - payload.time
max[magixMessage.sourceEndpoint] =
maxOf(delay, max[magixMessage.sourceEndpoint] ?: ZERO)
}
From 28ec2bc8b8135072ddb154abbaf17325f667cc41 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 4 Mar 2024 11:12:16 +0300
Subject: [PATCH 056/125] Add PropertyHistory API
---
.../kscience/controls/misc/PropertyHistory.kt | 66 +++++++++++++++++++
1 file changed, 66 insertions(+)
create mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/misc/PropertyHistory.kt
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/PropertyHistory.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/PropertyHistory.kt
new file mode 100644
index 0000000..5b58321
--- /dev/null
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/PropertyHistory.kt
@@ -0,0 +1,66 @@
+package space.kscience.controls.misc
+
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.flow.*
+import kotlinx.datetime.Clock
+import kotlinx.datetime.Instant
+import space.kscience.controls.api.Device
+import space.kscience.controls.api.DeviceMessage
+import space.kscience.controls.api.PropertyChangedMessage
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.name
+import space.kscience.dataforge.meta.transformations.MetaConverter
+
+/**
+ * An interface for device property history.
+ */
+public interface PropertyHistory<T> {
+ /**
+ * Flow property values filtered by a time range. The implementation could flow it as a chunk or provide paging.
+ * So the resulting flow is allowed to suspend.
+ *
+ * If [until] is in the future, the resulting flow is potentially unlimited.
+ * Theoretically, it could be also unlimited if the event source keeps producing new event with timestamp in a given range.
+ */
+ public fun flowHistory(
+ from: Instant = Instant.DISTANT_PAST,
+ until: Instant = Clock.System.now(),
+ ): Flow<ValueWithTime<T>>
+}
+
+/**
+ * An in-memory property values history collector
+ */
+public class CollectedPropertyHistory<T>(
+ public val scope: CoroutineScope,
+ eventFlow: Flow<DeviceMessage>,
+ public val propertyName: String,
+ public val converter: MetaConverter<T>,
+ maxSize: Int = 1000,
+) : PropertyHistory<T> {
+
+ private val store: SharedFlow<ValueWithTime<T>> = eventFlow
+ .filterIsInstance<PropertyChangedMessage>()
+ .filter { it.property == propertyName }
+ .map { ValueWithTime(converter.metaToObject(it.value), it.time) }
+ .shareIn(scope, started = SharingStarted.Eagerly, replay = maxSize)
+
+ override fun flowHistory(from: Instant, until: Instant): Flow<ValueWithTime<T>> =
+ store.filter { it.time in from..until }
+}
+
+/**
+ * Collect and store in memory device property changes for a given property
+ */
+public fun <T> Device.collectPropertyHistory(
+ scope: CoroutineScope = this,
+ propertyName: String,
+ converter: MetaConverter<T>,
+ maxSize: Int = 1000,
+): PropertyHistory<T> = CollectedPropertyHistory(scope, messageFlow, propertyName, converter, maxSize)
+
+public fun <D : Device, T> D.collectPropertyHistory(
+ scope: CoroutineScope = this,
+ spec: DevicePropertySpec<D, T>,
+ maxSize: Int = 1000,
+): PropertyHistory<T> = collectPropertyHistory(scope, spec.name, spec.converter, maxSize)
\ No newline at end of file
From dbacdbc7cff379b573d538c279aa422cec5f235c Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 4 Mar 2024 12:47:40 +0300
Subject: [PATCH 057/125] Replace event controls-storage with async api
---
.../xodus/XodusDeviceMessageStorage.kt | 33 +++++++------------
.../controls/storage/DeviceMessageStorage.kt | 30 +++++++++++++++--
.../controls/storage/propertyHistory.kt | 20 +++++++++++
.../controls/storage/storageCommon.kt | 22 -------------
4 files changed, 58 insertions(+), 47 deletions(-)
create mode 100644 controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/propertyHistory.kt
diff --git a/controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt b/controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt
index e1b5a8d..35c9b89 100644
--- a/controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt
+++ b/controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt
@@ -4,9 +4,11 @@ import jetbrains.exodus.entitystore.Entity
import jetbrains.exodus.entitystore.PersistentEntityStore
import jetbrains.exodus.entitystore.PersistentEntityStores
import jetbrains.exodus.entitystore.StoreTransaction
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.asFlow
+import kotlinx.coroutines.flow.filter
+import kotlinx.coroutines.flow.map
import kotlinx.datetime.Instant
-import kotlinx.serialization.ExperimentalSerializationApi
-import kotlinx.serialization.descriptors.serialDescriptor
import kotlinx.serialization.encodeToString
import kotlinx.serialization.json.Json
import kotlinx.serialization.json.jsonObject
@@ -65,12 +67,12 @@ public class XodusDeviceMessageStorage(
}
}
- override suspend fun readAll(): List<DeviceMessage> = entityStore.computeInReadonlyTransaction { transaction ->
+ override fun readAll(): Flow<DeviceMessage> = entityStore.computeInReadonlyTransaction { transaction ->
transaction.sort(
DEVICE_MESSAGE_ENTITY_TYPE,
DeviceMessage::time.name,
true
- ).map {
+ ).asFlow().map {
Json.decodeFromString(
DeviceMessage.serializer(),
it.getBlobString("json") ?: error("No json content found")
@@ -78,17 +80,17 @@ public class XodusDeviceMessageStorage(
}
}
- override suspend fun read(
+ override fun read(
eventType: String,
range: ClosedRange<Instant>?,
sourceDevice: Name?,
targetDevice: Name?,
- ): List<DeviceMessage> = entityStore.computeInReadonlyTransaction { transaction ->
+ ): Flow<DeviceMessage> = entityStore.computeInReadonlyTransaction { transaction ->
transaction.find(
DEVICE_MESSAGE_ENTITY_TYPE,
"type",
eventType
- ).asSequence().filter {
+ ).asFlow().filter {
it.timeInRange(range) &&
it.propertyMatchesName(DeviceMessage::sourceDevice.name, sourceDevice) &&
it.propertyMatchesName(DeviceMessage::targetDevice.name, targetDevice)
@@ -97,7 +99,7 @@ public class XodusDeviceMessageStorage(
DeviceMessage.serializer(),
it.getBlobString("json") ?: error("No json content found")
)
- }.sortedBy { it.time }.toList()
+ }
}
override fun close() {
@@ -120,17 +122,4 @@ public class XodusDeviceMessageStorage(
return XodusDeviceMessageStorage(entityStore)
}
}
-}
-
-/**
- * Query all messages of given type
- */
-@OptIn(ExperimentalSerializationApi::class)
-public suspend inline fun <reified T : DeviceMessage> XodusDeviceMessageStorage.query(
- range: ClosedRange<Instant>? = null,
- sourceDevice: Name? = null,
- targetDevice: Name? = null,
-): List<T> = read(serialDescriptor<T>().serialName, range, sourceDevice, targetDevice).map {
- //Check that all types are correct
- it as T
-}
+}
\ No newline at end of file
diff --git a/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/DeviceMessageStorage.kt b/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/DeviceMessageStorage.kt
index 87f4b74..b9cc84f 100644
--- a/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/DeviceMessageStorage.kt
+++ b/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/DeviceMessageStorage.kt
@@ -1,6 +1,10 @@
package space.kscience.controls.storage
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.map
import kotlinx.datetime.Instant
+import kotlinx.serialization.ExperimentalSerializationApi
+import kotlinx.serialization.descriptors.serialDescriptor
import space.kscience.controls.api.DeviceMessage
import space.kscience.dataforge.names.Name
@@ -10,14 +14,34 @@ import space.kscience.dataforge.names.Name
public interface DeviceMessageStorage {
public suspend fun write(event: DeviceMessage)
- public suspend fun readAll(): List<DeviceMessage>
+ /**
+ * Return all messages in a storage as a flow
+ */
+ public fun readAll(): Flow<DeviceMessage>
- public suspend fun read(
+ /**
+ * Flow messages with given [eventType] and filters by [range], [sourceDevice] and [targetDevice].
+ * Null in filters means that there is not filtering for this field.
+ */
+ public fun read(
eventType: String,
range: ClosedRange<Instant>? = null,
sourceDevice: Name? = null,
targetDevice: Name? = null,
- ): List<DeviceMessage>
+ ): Flow<DeviceMessage>
public fun close()
+}
+
+/**
+ * Query all messages of given type
+ */
+@OptIn(ExperimentalSerializationApi::class)
+public inline fun <reified T : DeviceMessage> DeviceMessageStorage.read(
+ range: ClosedRange<Instant>? = null,
+ sourceDevice: Name? = null,
+ targetDevice: Name? = null,
+): Flow<T> = read(serialDescriptor<T>().serialName, range, sourceDevice, targetDevice).map {
+ //Check that all types are correct
+ it as T
}
\ No newline at end of file
diff --git a/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/propertyHistory.kt b/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/propertyHistory.kt
new file mode 100644
index 0000000..0ca30cc
--- /dev/null
+++ b/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/propertyHistory.kt
@@ -0,0 +1,20 @@
+package space.kscience.controls.storage
+
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.filter
+import kotlinx.coroutines.flow.map
+import kotlinx.datetime.Instant
+import space.kscience.controls.api.PropertyChangedMessage
+import space.kscience.controls.misc.PropertyHistory
+import space.kscience.controls.misc.ValueWithTime
+import space.kscience.dataforge.meta.transformations.MetaConverter
+
+public fun <T> DeviceMessageStorage.propertyHistory(
+ propertyName: String,
+ converter: MetaConverter<T>,
+): PropertyHistory<T> = object : PropertyHistory<T> {
+ override fun flowHistory(from: Instant, until: Instant): Flow<ValueWithTime<T>> =
+ read<PropertyChangedMessage>(from..until)
+ .filter { it.property == propertyName }
+ .map { ValueWithTime(converter.metaToObject(it.value), it.time) }
+}
\ No newline at end of file
diff --git a/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/storageCommon.kt b/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/storageCommon.kt
index 04b633a..ed96efc 100644
--- a/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/storageCommon.kt
+++ b/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/storageCommon.kt
@@ -39,26 +39,4 @@ public fun DeviceManager.storeMessages(
}.launchIn(context)
}
-///**
-// * @return the list of deviceMessages that describes changes of specified property of specified device sorted by time
-// * @param sourceDeviceName a name of device, history of which property we want to get
-// * @param propertyName a name of property, history of which we want to get
-// * @param factory a factory that produce mongo clients
-// */
-//public suspend fun getPropertyHistory(
-// sourceDeviceName: String,
-// propertyName: String,
-// factory: Factory<EventStorage>,
-// meta: Meta = Meta.EMPTY,
-//): List<PropertyChangedMessage> {
-// return factory(meta).use {
-// it.getPropertyHistory(sourceDeviceName, propertyName)
-// }
-//}
-//
-//
-//public enum class StorageKind {
-// DEVICE_HUB,
-// MAGIX_SERVER
-//}
From 2a700a5a2ab452c4fc8fa92a0d91f527ae633c18 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 4 Mar 2024 15:24:27 +0300
Subject: [PATCH 058/125] Migrate to DataForge 0.8.0
---
build.gradle.kts | 4 ++--
.../controls/constructor/DeviceConstructor.kt | 2 +-
.../controls/constructor/DeviceGroup.kt | 6 +-----
.../controls/constructor/DeviceState.kt | 18 ++++++++---------
.../kscience/controls/constructor/Drive.kt | 2 +-
.../controls/constructor/Regulator.kt | 2 +-
.../controls/constructor/customState.kt | 2 +-
.../space/kscience/controls/api/Device.kt | 2 +-
.../controls/manager/respondMessage.kt | 4 ++--
.../kscience/controls/misc/PropertyHistory.kt | 4 ++--
.../kscience/controls/misc/ValueWithTime.kt | 20 ++++++++-----------
.../kscience/controls/spec/DeviceBase.kt | 10 +++++-----
.../controls/spec/DeviceMetaPropertySpec.kt | 4 ++--
.../controls/spec/DevicePropertySpec.kt | 18 ++++++++---------
.../kscience/controls/spec/DeviceSpec.kt | 10 +++-------
.../space/kscience/controls/spec/misc.kt | 13 ++++--------
.../controls/spec/propertySpecDelegates.kt | 6 +++---
.../src/jsMain/kotlin/commonJupyter.kt | 2 +-
.../kscience/controls/client/DeviceClient.kt | 6 +++---
.../controls/client/clientPropertyAccess.kt | 20 +++++++++----------
.../kscience/controls/client/tangoMagix.kt | 6 +++---
.../controls/opcua/client/OpcUaDevice.kt | 8 ++++----
.../opcua/client/OpcUaDeviceBySpec.kt | 2 +-
.../controls/opcua/client/OpcUaClientTest.kt | 2 +-
.../xodus/XodusDeviceMessageStorage.kt | 10 ++++------
.../src/test/kotlin/PropertyHistoryTest.kt | 5 +++--
.../controls/storage/propertyHistory.kt | 4 ++--
.../src/commonMain/kotlin/plotExtensions.kt | 2 +-
.../jsMain/kotlin/ControlsVisionPlugin.js.kt | 5 ++---
controls-vision/src/jsMain/kotlin/client.kt | 2 +-
demo/all-things/build.gradle.kts | 2 +-
.../kscience/controls/demo/DemoDevice.kt | 2 +-
.../controls/demo/car/MagixVirtualCar.kt | 2 +-
.../kscience/controls/demo/car/VirtualCar.kt | 20 ++++++-------------
.../sciprog/devices/mks/MksPdr900Device.kt | 4 ++--
.../pimotionmaster/PiMotionMasterDevice.kt | 6 +-----
36 files changed, 103 insertions(+), 134 deletions(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index aebfc4f..b0b93d5 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -5,8 +5,8 @@ plugins {
id("space.kscience.gradle.project")
}
-val dataforgeVersion: String by extra("0.7.1")
-val visionforgeVersion by extra("0.3.1")
+val dataforgeVersion: String by extra("0.8.0")
+val visionforgeVersion by extra("0.4.0")
val ktorVersion: String by extra(space.kscience.gradle.KScienceVersions.ktorVersion)
val rsocketVersion by extra("0.15.4")
val xodusVersion by extra("2.0.1")
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
index 5dbbe13..5c11f27 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -5,7 +5,7 @@ import space.kscience.controls.api.PropertyDescriptor
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.meta.MetaConverter
import space.kscience.dataforge.names.Name
import space.kscience.dataforge.names.asName
import kotlin.properties.PropertyDelegateProvider
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
index 26b5896..6cdb784 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -12,11 +12,7 @@ import space.kscience.controls.manager.install
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.context.request
-import space.kscience.dataforge.meta.Laminate
-import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.MutableMeta
-import space.kscience.dataforge.meta.get
-import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.meta.*
import space.kscience.dataforge.misc.DFExperimental
import space.kscience.dataforge.names.*
import kotlin.collections.set
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index 672b0a6..1828edd 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -10,7 +10,7 @@ import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.MutableDevicePropertySpec
import space.kscience.controls.spec.name
import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.meta.MetaConverter
import kotlin.time.Duration
/**
@@ -25,9 +25,9 @@ public interface DeviceState<T> {
public companion object
}
-public val <T> DeviceState<T>.metaFlow: Flow<Meta> get() = valueFlow.map(converter::objectToMeta)
+public val <T> DeviceState<T>.metaFlow: Flow<Meta> get() = valueFlow.map(converter::convert)
-public val <T> DeviceState<T>.valueAsMeta: Meta get() = converter.objectToMeta(value)
+public val <T> DeviceState<T>.valueAsMeta: Meta get() = converter.convert(value)
/**
@@ -38,9 +38,9 @@ public interface MutableDeviceState<T> : DeviceState<T> {
}
public var <T : Any> MutableDeviceState<T>.valueAsMeta: Meta
- get() = converter.objectToMeta(value)
+ get() = converter.convert(value)
set(arg) {
- value = converter.metaToObject(arg)
+ value = converter.read(arg)
}
/**
@@ -98,7 +98,7 @@ private open class BoundDeviceState<T>(
override val valueFlow: StateFlow<T> = device.messageFlow.filterIsInstance<PropertyChangedMessage>().filter {
it.property == propertyName
}.mapNotNull {
- converter.metaToObject(it.value)
+ converter.read(it.value)
}.stateIn(device.context, SharingStarted.Eagerly, initialValue)
override val value: T get() = valueFlow.value
@@ -111,7 +111,7 @@ public suspend fun <T> Device.propertyAsState(
propertyName: String,
metaConverter: MetaConverter<T>,
): DeviceState<T> {
- val initialValue = metaConverter.metaToObject(readProperty(propertyName)) ?: error("Conversion of property failed")
+ val initialValue = metaConverter.readOrNull(readProperty(propertyName)) ?: error("Conversion of property failed")
return BoundDeviceState(metaConverter, this, propertyName, initialValue)
}
@@ -140,7 +140,7 @@ private class MutableBoundDeviceState<T>(
get() = valueFlow.value
set(newValue) {
device.launch {
- device.writeProperty(propertyName, converter.objectToMeta(newValue))
+ device.writeProperty(propertyName, converter.convert(newValue))
}
}
}
@@ -155,7 +155,7 @@ public suspend fun <T> Device.mutablePropertyAsState(
propertyName: String,
metaConverter: MetaConverter<T>,
): MutableDeviceState<T> {
- val initialValue = metaConverter.metaToObject(readProperty(propertyName)) ?: error("Conversion of property failed")
+ val initialValue = metaConverter.readOrNull(readProperty(propertyName)) ?: error("Conversion of property failed")
return mutablePropertyAsState(propertyName, metaConverter, initialValue)
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
index c2391c8..8301622 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
@@ -9,9 +9,9 @@ import space.kscience.controls.manager.clock
import space.kscience.controls.spec.*
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
+import space.kscience.dataforge.meta.MetaConverter
import space.kscience.dataforge.meta.double
import space.kscience.dataforge.meta.get
-import space.kscience.dataforge.meta.transformations.MetaConverter
import kotlin.math.pow
import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.DurationUnit
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
index 7495d33..cbe6967 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
@@ -2,7 +2,7 @@ package space.kscience.controls.constructor
import space.kscience.controls.api.Device
import space.kscience.controls.spec.*
-import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.meta.MetaConverter
/**
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
index 6e95ccd..100f755 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
@@ -2,7 +2,7 @@ package space.kscience.controls.constructor
import kotlinx.coroutines.flow.MutableStateFlow
import kotlinx.coroutines.flow.StateFlow
-import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.meta.MetaConverter
/**
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
index 89040c0..3226422 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
@@ -139,7 +139,7 @@ public interface CachingDevice : Device {
/**
* Get the logical state of property or suspend to read the physical value.
*/
-public suspend fun Device.requestProperty(propertyName: String): Meta = if (this is CachingDevice) {
+public suspend fun Device.getOrReadProperty(propertyName: String): Meta = if (this is CachingDevice) {
getProperty(propertyName) ?: readProperty(propertyName)
} else {
readProperty(propertyName)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
index 3a0ac7b..fc6fb5d 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
@@ -16,7 +16,7 @@ public suspend fun Device.respondMessage(deviceTarget: Name, request: DeviceMess
is PropertyGetMessage -> {
PropertyChangedMessage(
property = request.property,
- value = requestProperty(request.property),
+ value = getOrReadProperty(request.property),
sourceDevice = deviceTarget,
targetDevice = request.sourceDevice
)
@@ -26,7 +26,7 @@ public suspend fun Device.respondMessage(deviceTarget: Name, request: DeviceMess
writeProperty(request.property, request.value)
PropertyChangedMessage(
property = request.property,
- value = requestProperty(request.property),
+ value = getOrReadProperty(request.property),
sourceDevice = deviceTarget,
targetDevice = request.sourceDevice
)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/PropertyHistory.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/PropertyHistory.kt
index 5b58321..96bd8d5 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/PropertyHistory.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/PropertyHistory.kt
@@ -9,7 +9,7 @@ import space.kscience.controls.api.DeviceMessage
import space.kscience.controls.api.PropertyChangedMessage
import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.name
-import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.meta.MetaConverter
/**
* An interface for device property history.
@@ -42,7 +42,7 @@ public class CollectedPropertyHistory<T>(
private val store: SharedFlow<ValueWithTime<T>> = eventFlow
.filterIsInstance<PropertyChangedMessage>()
.filter { it.property == propertyName }
- .map { ValueWithTime(converter.metaToObject(it.value), it.time) }
+ .map { ValueWithTime(converter.read(it.value), it.time) }
.shareIn(scope, started = SharingStarted.Eagerly, replay = maxSize)
override fun flowHistory(from: Instant, until: Instant): Flow<ValueWithTime<T>> =
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/ValueWithTime.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/ValueWithTime.kt
index 0bf07d3..f25c4f4 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/ValueWithTime.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/ValueWithTime.kt
@@ -5,10 +5,8 @@ import kotlinx.io.Sink
import kotlinx.io.Source
import space.kscience.dataforge.io.IOFormat
import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.MetaConverter
import space.kscience.dataforge.meta.get
-import space.kscience.dataforge.meta.transformations.MetaConverter
-import kotlin.reflect.KType
-import kotlin.reflect.typeOf
/**
* A value coupled to a time it was obtained at
@@ -36,8 +34,6 @@ public data class ValueWithTime<T>(val value: T, val time: Instant) {
}
private class ValueWithTimeIOFormat<T>(val valueFormat: IOFormat<T>) : IOFormat<ValueWithTime<T>> {
- override val type: KType get() = typeOf<ValueWithTime<T>>()
-
override fun readFrom(source: Source): ValueWithTime<T> {
val timestamp = InstantIOFormat.readFrom(source)
@@ -56,18 +52,18 @@ private class ValueWithTimeMetaConverter<T>(
val valueConverter: MetaConverter<T>,
) : MetaConverter<ValueWithTime<T>> {
- override val type: KType = typeOf<ValueWithTime<T>>()
- override fun metaToObjectOrNull(
- meta: Meta,
- ): ValueWithTime<T>? = valueConverter.metaToObject(meta[ValueWithTime.META_VALUE_KEY] ?: Meta.EMPTY)?.let {
- ValueWithTime(it, meta[ValueWithTime.META_TIME_KEY]?.instant ?: Instant.DISTANT_PAST)
+ override fun readOrNull(
+ source: Meta,
+ ): ValueWithTime<T>? = valueConverter.read(source[ValueWithTime.META_VALUE_KEY] ?: Meta.EMPTY)?.let {
+ ValueWithTime(it, source[ValueWithTime.META_TIME_KEY]?.instant ?: Instant.DISTANT_PAST)
}
- override fun objectToMeta(obj: ValueWithTime<T>): Meta = Meta {
+ override fun convert(obj: ValueWithTime<T>): Meta = Meta {
ValueWithTime.META_TIME_KEY put obj.time.toMeta()
- ValueWithTime.META_VALUE_KEY put valueConverter.objectToMeta(obj.value)
+ ValueWithTime.META_VALUE_KEY put valueConverter.convert(obj.value)
}
}
+
public fun <T : Any> MetaConverter<T>.withTime(): MetaConverter<ValueWithTime<T>> = ValueWithTimeMetaConverter(this)
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index 846815c..dcb48b4 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -21,7 +21,7 @@ import kotlin.coroutines.CoroutineContext
*/
@OptIn(InternalDeviceAPI::class)
private suspend fun <D : Device, T> MutableDevicePropertySpec<D, T>.writeMeta(device: D, item: Meta) {
- write(device, converter.metaToObject(item) ?: error("Meta $item could not be read with $converter"))
+ write(device, converter.readOrNull(item) ?: error("Meta $item could not be read with $converter"))
}
/**
@@ -29,16 +29,16 @@ private suspend fun <D : Device, T> MutableDevicePropertySpec<D, T>.writeMeta(de
*/
@OptIn(InternalDeviceAPI::class)
private suspend fun <D : Device, T> DevicePropertySpec<D, T>.readMeta(device: D): Meta? =
- read(device)?.let(converter::objectToMeta)
+ read(device)?.let(converter::convert)
private suspend fun <D : Device, I, O> DeviceActionSpec<D, I, O>.executeWithMeta(
device: D,
item: Meta,
): Meta? {
- val arg: I = inputConverter.metaToObject(item) ?: error("Failed to convert $item with $inputConverter")
+ val arg: I = inputConverter.readOrNull(item) ?: error("Failed to convert $item with $inputConverter")
val res = execute(device, arg)
- return res?.let { outputConverter.objectToMeta(res) }
+ return res?.let { outputConverter.convert(res) }
}
@@ -120,7 +120,7 @@ public abstract class DeviceBase<D : Device>(
* Notify the device that a property with [spec] value is changed
*/
protected suspend fun <T> propertyChanged(spec: DevicePropertySpec<D, T>, value: T) {
- propertyChanged(spec.name, spec.converter.objectToMeta(value))
+ propertyChanged(spec.name, spec.converter.convert(value))
}
/**
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceMetaPropertySpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceMetaPropertySpec.kt
index 809d940..c5fe8b5 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceMetaPropertySpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceMetaPropertySpec.kt
@@ -3,9 +3,9 @@ package space.kscience.controls.spec
import space.kscience.controls.api.Device
import space.kscience.controls.api.PropertyDescriptor
import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.meta.MetaConverter
-internal object DeviceMetaPropertySpec: DevicePropertySpec<Device,Meta> {
+internal object DeviceMetaPropertySpec : DevicePropertySpec<Device, Meta> {
override val descriptor: PropertyDescriptor = PropertyDescriptor("@meta")
override val converter: MetaConverter<Meta> = MetaConverter.meta
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
index 8e0d6de..edf9f93 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DevicePropertySpec.kt
@@ -5,7 +5,7 @@ import kotlinx.coroutines.Job
import kotlinx.coroutines.flow.*
import kotlinx.coroutines.launch
import space.kscience.controls.api.*
-import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.meta.MetaConverter
/**
@@ -72,23 +72,23 @@ public interface DeviceActionSpec<in D, I, O> {
public val DeviceActionSpec<*, *, *>.name: String get() = descriptor.name
public suspend fun <T, D : Device> D.read(propertySpec: DevicePropertySpec<D, T>): T =
- propertySpec.converter.metaToObject(readProperty(propertySpec.name)) ?: error("Property read result is not valid")
+ propertySpec.converter.readOrNull(readProperty(propertySpec.name)) ?: error("Property read result is not valid")
/**
* Read typed value and update/push event if needed.
* Return null if property read is not successful or property is undefined.
*/
public suspend fun <T, D : DeviceBase<D>> D.readOrNull(propertySpec: DevicePropertySpec<D, T>): T? =
- readPropertyOrNull(propertySpec.name)?.let(propertySpec.converter::metaToObject)
+ readPropertyOrNull(propertySpec.name)?.let(propertySpec.converter::readOrNull)
-public suspend fun <T, D : Device> D.request(propertySpec: DevicePropertySpec<D, T>): T =
- propertySpec.converter.metaToObject(requestProperty(propertySpec.name))
+public suspend fun <T, D : Device> D.getOrRead(propertySpec: DevicePropertySpec<D, T>): T =
+ propertySpec.converter.read(getOrReadProperty(propertySpec.name))
/**
* Write typed property state and invalidate logical state
*/
public suspend fun <T, D : Device> D.write(propertySpec: MutableDevicePropertySpec<D, T>, value: T) {
- writeProperty(propertySpec.name, propertySpec.converter.objectToMeta(value))
+ writeProperty(propertySpec.name, propertySpec.converter.convert(value))
}
/**
@@ -104,7 +104,7 @@ public fun <T, D : Device> D.writeAsync(propertySpec: MutableDevicePropertySpec<
public fun <D : Device, T> D.propertyFlow(spec: DevicePropertySpec<D, T>): Flow<T> = messageFlow
.filterIsInstance<PropertyChangedMessage>()
.filter { it.property == spec.name }
- .mapNotNull { spec.converter.metaToObject(it.value) }
+ .mapNotNull { spec.converter.read(it.value) }
/**
* A type safe property change listener. Uses the device [CoroutineScope].
@@ -117,7 +117,7 @@ public fun <D : Device, T> D.onPropertyChange(
.filterIsInstance<PropertyChangedMessage>()
.filter { it.property == spec.name }
.onEach { change ->
- val newValue = spec.converter.metaToObject(change.value)
+ val newValue = spec.converter.read(change.value)
if (newValue != null) {
change.callback(newValue)
}
@@ -136,7 +136,7 @@ public fun <D : Device, T> D.useProperty(
.filterIsInstance<PropertyChangedMessage>()
.filter { it.property == spec.name }
.collect { change ->
- val newValue = spec.converter.metaToObject(change.value)
+ val newValue = spec.converter.readOrNull(change.value)
if (newValue != null) {
callback(newValue)
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
index 4091921..2f90cb8 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
@@ -5,20 +5,16 @@ import space.kscience.controls.api.ActionDescriptor
import space.kscience.controls.api.Device
import space.kscience.controls.api.PropertyDescriptor
import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.meta.MetaConverter
import kotlin.properties.PropertyDelegateProvider
import kotlin.properties.ReadOnlyProperty
import kotlin.reflect.KProperty
-import kotlin.reflect.KType
-import kotlin.reflect.typeOf
public object UnitMetaConverter : MetaConverter<Unit> {
- override val type: KType = typeOf<Unit>()
+ override fun readOrNull(source: Meta): Unit = Unit
- override fun metaToObjectOrNull(meta: Meta): Unit = Unit
-
- override fun objectToMeta(obj: Unit): Meta = Meta.EMPTY
+ override fun convert(obj: Unit): Meta = Meta.EMPTY
}
public val MetaConverter.Companion.unit: MetaConverter<Unit> get() = UnitMetaConverter
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/misc.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/misc.kt
index ee14237..1fc4649 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/misc.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/misc.kt
@@ -1,9 +1,6 @@
package space.kscience.controls.spec
import space.kscience.dataforge.meta.*
-import space.kscience.dataforge.meta.transformations.MetaConverter
-import kotlin.reflect.KType
-import kotlin.reflect.typeOf
import kotlin.time.Duration
import kotlin.time.DurationUnit
import kotlin.time.toDuration
@@ -12,16 +9,14 @@ public fun Double.asMeta(): Meta = Meta(asValue())
//TODO to be moved to DF
public object DurationConverter : MetaConverter<Duration> {
- override val type: KType = typeOf<Duration>()
-
- override fun metaToObjectOrNull(meta: Meta): Duration = meta.value?.double?.toDuration(DurationUnit.SECONDS)
+ override fun readOrNull(source: Meta): Duration = source.value?.double?.toDuration(DurationUnit.SECONDS)
?: run {
- val unit: DurationUnit = meta["unit"].enum<DurationUnit>() ?: DurationUnit.SECONDS
- val value = meta[Meta.VALUE_KEY].double ?: error("No value present for Duration")
+ val unit: DurationUnit = source["unit"].enum<DurationUnit>() ?: DurationUnit.SECONDS
+ val value = source[Meta.VALUE_KEY].double ?: error("No value present for Duration")
return@run value.toDuration(unit)
}
- override fun objectToMeta(obj: Duration): Meta = obj.toDouble(DurationUnit.SECONDS).asMeta()
+ override fun convert(obj: Duration): Meta = obj.toDouble(DurationUnit.SECONDS).asMeta()
}
public val MetaConverter.Companion.duration: MetaConverter<Duration> get() = DurationConverter
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
index 231891c..8bd22b6 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
@@ -4,8 +4,8 @@ import space.kscience.controls.api.Device
import space.kscience.controls.api.PropertyDescriptor
import space.kscience.controls.api.metaDescriptor
import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.MetaConverter
import space.kscience.dataforge.meta.ValueType
-import space.kscience.dataforge.meta.transformations.MetaConverter
import kotlin.properties.PropertyDelegateProvider
import kotlin.properties.ReadOnlyProperty
import kotlin.reflect.KMutableProperty1
@@ -53,8 +53,8 @@ public fun <T, D : DeviceBase<D>> DeviceSpec<D>.logicalProperty(
converter,
descriptorBuilder,
name,
- read = { propertyName -> getProperty(propertyName)?.let(converter::metaToObject) },
- write = { propertyName, value -> writeProperty(propertyName, converter.objectToMeta(value)) }
+ read = { propertyName -> getProperty(propertyName)?.let(converter::readOrNull) },
+ write = { propertyName, value -> writeProperty(propertyName, converter.convert(value)) }
)
diff --git a/controls-jupyter/src/jsMain/kotlin/commonJupyter.kt b/controls-jupyter/src/jsMain/kotlin/commonJupyter.kt
index 41711d7..388e1ab 100644
--- a/controls-jupyter/src/jsMain/kotlin/commonJupyter.kt
+++ b/controls-jupyter/src/jsMain/kotlin/commonJupyter.kt
@@ -1,7 +1,7 @@
+import space.kscience.visionforge.html.runVisionClient
import space.kscience.visionforge.jupyter.VFNotebookClient
import space.kscience.visionforge.markup.MarkupPlugin
import space.kscience.visionforge.plotly.PlotlyPlugin
-import space.kscience.visionforge.runVisionClient
public fun main(): Unit = runVisionClient {
// plugin(DeviceManager)
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
index 31dbd89..51836b9 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
@@ -144,7 +144,7 @@ public fun <T> MagixEndpoint.controlsPropertyFlow(
.filter { message ->
message.sourceDevice == deviceName && message.property == propertySpec.name
}.map {
- propertySpec.converter.metaToObject(it.value)
+ propertySpec.converter.read(it.value)
}
}
@@ -157,7 +157,7 @@ public suspend fun <T> MagixEndpoint.sendControlsPropertyChange(
) {
val message = PropertySetMessage(
property = propertySpec.name,
- value = propertySpec.converter.objectToMeta(value),
+ value = propertySpec.converter.convert(value),
targetDevice = deviceName
)
send(DeviceManager.magixFormat, message, source = sourceEndpointName, target = targetEndpointName)
@@ -177,6 +177,6 @@ public fun <T> MagixEndpoint.controlsPropertyMessageFlow(
.filter { message ->
message.sourceDevice == deviceName && message.property == propertySpec.name
}.map {
- it to propertySpec.converter.metaToObject(it.value)
+ it to propertySpec.converter.read(it.value)
}
}
\ No newline at end of file
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/clientPropertyAccess.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/clientPropertyAccess.kt
index 22b0413..20c59e8 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/clientPropertyAccess.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/clientPropertyAccess.kt
@@ -5,7 +5,7 @@ import kotlinx.coroutines.Job
import kotlinx.coroutines.flow.*
import kotlinx.coroutines.launch
import space.kscience.controls.api.PropertyChangedMessage
-import space.kscience.controls.api.requestProperty
+import space.kscience.controls.api.getOrReadProperty
import space.kscience.controls.spec.DeviceActionSpec
import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.MutableDevicePropertySpec
@@ -17,14 +17,14 @@ import space.kscience.dataforge.meta.Meta
* An accessor that allows DeviceClient to connect to any property without type checks
*/
public suspend fun <T> DeviceClient.read(propertySpec: DevicePropertySpec<*, T>): T =
- propertySpec.converter.metaToObject(readProperty(propertySpec.name)) ?: error("Property read result is not valid")
+ propertySpec.converter.readOrNull(readProperty(propertySpec.name)) ?: error("Property read result is not valid")
public suspend fun <T> DeviceClient.request(propertySpec: DevicePropertySpec<*, T>): T =
- propertySpec.converter.metaToObject(requestProperty(propertySpec.name))
+ propertySpec.converter.read(getOrReadProperty(propertySpec.name))
public suspend fun <T> DeviceClient.write(propertySpec: MutableDevicePropertySpec<*, T>, value: T) {
- writeProperty(propertySpec.name, propertySpec.converter.objectToMeta(value))
+ writeProperty(propertySpec.name, propertySpec.converter.convert(value))
}
public fun <T> DeviceClient.writeAsync(propertySpec: MutableDevicePropertySpec<*, T>, value: T): Job = launch {
@@ -34,7 +34,7 @@ public fun <T> DeviceClient.writeAsync(propertySpec: MutableDevicePropertySpec<*
public fun <T> DeviceClient.propertyFlow(spec: DevicePropertySpec<*, T>): Flow<T> = messageFlow
.filterIsInstance<PropertyChangedMessage>()
.filter { it.property == spec.name }
- .mapNotNull { spec.converter.metaToObject(it.value) }
+ .mapNotNull { spec.converter.readOrNull(it.value) }
public fun <T> DeviceClient.onPropertyChange(
spec: DevicePropertySpec<*, T>,
@@ -44,7 +44,7 @@ public fun <T> DeviceClient.onPropertyChange(
.filterIsInstance<PropertyChangedMessage>()
.filter { it.property == spec.name }
.onEach { change ->
- val newValue = spec.converter.metaToObject(change.value)
+ val newValue = spec.converter.readOrNull(change.value)
if (newValue != null) {
change.callback(newValue)
}
@@ -60,7 +60,7 @@ public fun <T> DeviceClient.useProperty(
.filterIsInstance<PropertyChangedMessage>()
.filter { it.property == spec.name }
.collect { change ->
- val newValue = spec.converter.metaToObject(change.value)
+ val newValue = spec.converter.readOrNull(change.value)
if (newValue != null) {
callback(newValue)
}
@@ -68,12 +68,12 @@ public fun <T> DeviceClient.useProperty(
}
public suspend fun <I, O> DeviceClient.execute(actionSpec: DeviceActionSpec<*, I, O>, input: I): O {
- val inputMeta = actionSpec.inputConverter.objectToMeta(input)
+ val inputMeta = actionSpec.inputConverter.convert(input)
val res = execute(actionSpec.name, inputMeta)
- return actionSpec.outputConverter.metaToObject(res ?: Meta.EMPTY)
+ return actionSpec.outputConverter.read(res ?: Meta.EMPTY)
}
public suspend fun <O> DeviceClient.execute(actionSpec: DeviceActionSpec<*, Unit, O>): O {
val res = execute(actionSpec.name, Meta.EMPTY)
- return actionSpec.outputConverter.metaToObject(res ?: Meta.EMPTY)
+ return actionSpec.outputConverter.read(res ?: Meta.EMPTY)
}
\ No newline at end of file
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/tangoMagix.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/tangoMagix.kt
index 9c30f8c..d0bdda4 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/tangoMagix.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/tangoMagix.kt
@@ -6,7 +6,7 @@ import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.launch
import kotlinx.serialization.Serializable
import space.kscience.controls.api.get
-import space.kscience.controls.api.requestProperty
+import space.kscience.controls.api.getOrReadProperty
import space.kscience.controls.manager.DeviceManager
import space.kscience.dataforge.context.error
import space.kscience.dataforge.context.logger
@@ -91,7 +91,7 @@ public fun DeviceManager.launchTangoMagix(
val device = get(payload.device)
when (payload.action) {
TangoAction.read -> {
- val value = device.requestProperty(payload.name)
+ val value = device.getOrReadProperty(payload.name)
respond(request, payload) { requestPayload ->
requestPayload.copy(
value = value,
@@ -104,7 +104,7 @@ public fun DeviceManager.launchTangoMagix(
device.writeProperty(payload.name, value)
}
//wait for value to be written and return final state
- val value = device.requestProperty(payload.name)
+ val value = device.getOrReadProperty(payload.name)
respond(request, payload) { requestPayload ->
requestPayload.copy(
value = value,
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDevice.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDevice.kt
index 51e6032..08a84b0 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDevice.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDevice.kt
@@ -9,8 +9,8 @@ import org.eclipse.milo.opcua.stack.core.types.builtin.*
import org.eclipse.milo.opcua.stack.core.types.enumerated.TimestampsToReturn
import space.kscience.controls.api.Device
import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.MetaConverter
import space.kscience.dataforge.meta.MetaSerializer
-import space.kscience.dataforge.meta.transformations.MetaConverter
import kotlin.properties.ReadWriteProperty
import kotlin.reflect.KProperty
@@ -43,7 +43,7 @@ public suspend inline fun <reified T: Any> OpcUaDevice.readOpcWithTime(
else -> error("Incompatible OPC property value $content")
}
- val res: T = converter.metaToObject(meta)
+ val res: T = converter.read(meta)
return res to time
}
@@ -69,7 +69,7 @@ public suspend inline fun <reified T> OpcUaDevice.readOpc(
else -> error("Incompatible OPC property value $content")
}
- return converter.metaToObject(meta) ?: error("Meta $meta could not be converted to ${T::class}")
+ return converter.readOrNull(meta) ?: error("Meta $meta could not be converted to ${T::class}")
}
public suspend inline fun <reified T> OpcUaDevice.writeOpc(
@@ -77,7 +77,7 @@ public suspend inline fun <reified T> OpcUaDevice.writeOpc(
converter: MetaConverter<T>,
value: T
): StatusCode {
- val meta = converter.objectToMeta(value)
+ val meta = converter.convert(value)
return client.writeValue(nodeId, DataValue(Variant(meta))).await()
}
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDeviceBySpec.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDeviceBySpec.kt
index 188760e..7debc0e 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDeviceBySpec.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDeviceBySpec.kt
@@ -31,7 +31,7 @@ public class MiloConfiguration : Scheme() {
public var endpointUrl: String by string { error("Endpoint url is not defined") }
- public var username: MiloUsername? by specOrNull(MiloUsername)
+ public var username: MiloUsername? by schemeOrNull(MiloUsername)
public var securityPolicy: SecurityPolicy by enum(SecurityPolicy.None)
diff --git a/controls-opcua/src/test/kotlin/space/kscience/controls/opcua/client/OpcUaClientTest.kt b/controls-opcua/src/test/kotlin/space/kscience/controls/opcua/client/OpcUaClientTest.kt
index 33aa8fb..b4d63ad 100644
--- a/controls-opcua/src/test/kotlin/space/kscience/controls/opcua/client/OpcUaClientTest.kt
+++ b/controls-opcua/src/test/kotlin/space/kscience/controls/opcua/client/OpcUaClientTest.kt
@@ -7,7 +7,7 @@ import org.junit.jupiter.api.Test
import space.kscience.controls.spec.DeviceSpec
import space.kscience.controls.spec.doubleProperty
import space.kscience.controls.spec.read
-import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.meta.MetaConverter
import kotlin.test.Ignore
class OpcUaClientTest {
diff --git a/controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt b/controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt
index 35c9b89..559d2a0 100644
--- a/controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt
+++ b/controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt
@@ -6,8 +6,6 @@ import jetbrains.exodus.entitystore.PersistentEntityStores
import jetbrains.exodus.entitystore.StoreTransaction
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.asFlow
-import kotlinx.coroutines.flow.filter
-import kotlinx.coroutines.flow.map
import kotlinx.datetime.Instant
import kotlinx.serialization.encodeToString
import kotlinx.serialization.json.Json
@@ -72,13 +70,13 @@ public class XodusDeviceMessageStorage(
DEVICE_MESSAGE_ENTITY_TYPE,
DeviceMessage::time.name,
true
- ).asFlow().map {
+ ).map {
Json.decodeFromString(
DeviceMessage.serializer(),
it.getBlobString("json") ?: error("No json content found")
)
}
- }
+ }.asFlow()
override fun read(
eventType: String,
@@ -90,7 +88,7 @@ public class XodusDeviceMessageStorage(
DEVICE_MESSAGE_ENTITY_TYPE,
"type",
eventType
- ).asFlow().filter {
+ ).filter {
it.timeInRange(range) &&
it.propertyMatchesName(DeviceMessage::sourceDevice.name, sourceDevice) &&
it.propertyMatchesName(DeviceMessage::targetDevice.name, targetDevice)
@@ -100,7 +98,7 @@ public class XodusDeviceMessageStorage(
it.getBlobString("json") ?: error("No json content found")
)
}
- }
+ }.asFlow()
override fun close() {
entityStore.close()
diff --git a/controls-storage/controls-xodus/src/test/kotlin/PropertyHistoryTest.kt b/controls-storage/controls-xodus/src/test/kotlin/PropertyHistoryTest.kt
index 1724079..e7017b1 100644
--- a/controls-storage/controls-xodus/src/test/kotlin/PropertyHistoryTest.kt
+++ b/controls-storage/controls-xodus/src/test/kotlin/PropertyHistoryTest.kt
@@ -1,5 +1,6 @@
import jetbrains.exodus.entitystore.PersistentEntityStores
import kotlinx.coroutines.ExperimentalCoroutinesApi
+import kotlinx.coroutines.flow.first
import kotlinx.coroutines.test.runTest
import kotlinx.datetime.Instant
import org.junit.jupiter.api.AfterAll
@@ -7,8 +8,8 @@ import org.junit.jupiter.api.Assertions.assertEquals
import org.junit.jupiter.api.BeforeAll
import org.junit.jupiter.api.Test
import space.kscience.controls.api.PropertyChangedMessage
+import space.kscience.controls.storage.read
import space.kscience.controls.xodus.XodusDeviceMessageStorage
-import space.kscience.controls.xodus.query
import space.kscience.controls.xodus.writeMessage
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.names.Name
@@ -67,7 +68,7 @@ internal class PropertyHistoryTest {
XodusDeviceMessageStorage(entityStore).use { storage ->
assertEquals(
propertyChangedMessages[0],
- storage.query<PropertyChangedMessage>(
+ storage.read<PropertyChangedMessage>(
sourceDevice = "virtual-car".asName()
).first { it.property == "speed" }
)
diff --git a/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/propertyHistory.kt b/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/propertyHistory.kt
index 0ca30cc..b52ed2b 100644
--- a/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/propertyHistory.kt
+++ b/controls-storage/src/commonMain/kotlin/space/kscience/controls/storage/propertyHistory.kt
@@ -7,7 +7,7 @@ import kotlinx.datetime.Instant
import space.kscience.controls.api.PropertyChangedMessage
import space.kscience.controls.misc.PropertyHistory
import space.kscience.controls.misc.ValueWithTime
-import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.meta.MetaConverter
public fun <T> DeviceMessageStorage.propertyHistory(
propertyName: String,
@@ -16,5 +16,5 @@ public fun <T> DeviceMessageStorage.propertyHistory(
override fun flowHistory(from: Instant, until: Instant): Flow<ValueWithTime<T>> =
read<PropertyChangedMessage>(from..until)
.filter { it.property == propertyName }
- .map { ValueWithTime(converter.metaToObject(it.value), it.time) }
+ .map { ValueWithTime(converter.read(it.value), it.time) }
}
\ No newline at end of file
diff --git a/controls-vision/src/commonMain/kotlin/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
index fde716b..6e92165 100644
--- a/controls-vision/src/commonMain/kotlin/plotExtensions.kt
+++ b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
@@ -149,7 +149,7 @@ private fun <T> Trace.updateFromState(
public fun <T> Plot.plotDeviceState(
context: Context,
state: DeviceState<T>,
- extractValue: T.() -> Value = { state.converter.objectToMeta(this).value ?: Null },
+ extractValue: T.() -> Value = { state.converter.convert(this).value ?: Null },
maxAge: Duration = defaultMaxAge,
maxPoints: Int = defaultMaxPoints,
minPoints: Int = defaultMinPoints,
diff --git a/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt b/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
index b34cc44..017989b 100644
--- a/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
+++ b/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
@@ -7,10 +7,9 @@ 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.VisionClient
import space.kscience.visionforge.VisionPlugin
+import space.kscience.visionforge.html.ElementVisionRenderer
public actual class ControlVisionPlugin : VisionPlugin(), ElementVisionRenderer {
override val tag: PluginTag get() = Companion.tag
@@ -21,7 +20,7 @@ public actual class ControlVisionPlugin : VisionPlugin(), ElementVisionRenderer
TODO("Not yet implemented")
}
- override fun render(element: Element, client: VisionClient, name: Name, vision: Vision, meta: Meta) {
+ override fun render(element: Element, name: Name, vision: Vision, meta: Meta) {
TODO("Not yet implemented")
}
diff --git a/controls-vision/src/jsMain/kotlin/client.kt b/controls-vision/src/jsMain/kotlin/client.kt
index a835f9a..78da2e8 100644
--- a/controls-vision/src/jsMain/kotlin/client.kt
+++ b/controls-vision/src/jsMain/kotlin/client.kt
@@ -1,8 +1,8 @@
package space.kscience.controls.vision
+import space.kscience.visionforge.html.runVisionClient
import space.kscience.visionforge.markup.MarkupPlugin
import space.kscience.visionforge.plotly.PlotlyPlugin
-import space.kscience.visionforge.runVisionClient
public fun main(): Unit = runVisionClient {
plugin(PlotlyPlugin)
diff --git a/demo/all-things/build.gradle.kts b/demo/all-things/build.gradle.kts
index 6888d35..1496f67 100644
--- a/demo/all-things/build.gradle.kts
+++ b/demo/all-things/build.gradle.kts
@@ -24,7 +24,7 @@ dependencies {
implementation("io.ktor:ktor-client-cio:$ktorVersion")
implementation("no.tornado:tornadofx:1.7.20")
- implementation("space.kscience:plotlykt-server:0.6.1")
+ implementation("space.kscience:plotlykt-server:0.7.1")
// implementation("com.github.Ricky12Awesome:json-schema-serialization:0.6.6")
implementation(spclibs.logback.classic)
}
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
index 657d275..5cf1b28 100644
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
+++ b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoDevice.kt
@@ -7,9 +7,9 @@ import space.kscience.controls.spec.*
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.MetaConverter
import space.kscience.dataforge.meta.ValueType
import space.kscience.dataforge.meta.descriptors.value
-import space.kscience.dataforge.meta.transformations.MetaConverter
import java.time.Instant
import kotlin.math.cos
import kotlin.math.sin
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/MagixVirtualCar.kt b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/MagixVirtualCar.kt
index 2c5d65a..27ea243 100644
--- a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/MagixVirtualCar.kt
+++ b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/MagixVirtualCar.kt
@@ -22,7 +22,7 @@ class MagixVirtualCar(context: Context, meta: Meta) : VirtualCar(context, meta)
(payload as? PropertyChangedMessage)?.let { message ->
if (message.sourceDevice == Name.parse("virtual-car")) {
when (message.property) {
- "acceleration" -> write(IVirtualCar.acceleration, Vector2D.metaToObject(message.value))
+ "acceleration" -> write(IVirtualCar.acceleration, Vector2D.read(message.value))
}
}
}
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
index 05bb2f0..86564a5 100644
--- a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
+++ b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
@@ -11,34 +11,26 @@ import space.kscience.controls.spec.doRecurring
import space.kscience.controls.spec.read
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
-import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.MetaRepr
-import space.kscience.dataforge.meta.double
-import space.kscience.dataforge.meta.get
-import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.meta.*
import kotlin.math.pow
-import kotlin.reflect.KType
-import kotlin.reflect.typeOf
import kotlin.time.Duration
import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.ExperimentalTime
data class Vector2D(var x: Double = 0.0, var y: Double = 0.0) : MetaRepr {
- override fun toMeta(): Meta = objectToMeta(this)
+ override fun toMeta(): Meta = convert(this)
operator fun div(arg: Double): Vector2D = Vector2D(x / arg, y / arg)
companion object CoordinatesMetaConverter : MetaConverter<Vector2D> {
- override val type: KType = typeOf<Vector2D>()
-
- override fun metaToObjectOrNull(meta: Meta): Vector2D = Vector2D(
- meta["x"].double ?: 0.0,
- meta["y"].double ?: 0.0
+ override fun readOrNull(source: Meta): Vector2D = Vector2D(
+ source["x"].double ?: 0.0,
+ source["y"].double ?: 0.0
)
- override fun objectToMeta(obj: Vector2D): Meta = Meta {
+ override fun convert(obj: Vector2D): Meta = Meta {
"x" put obj.x
"y" put obj.y
}
diff --git a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
index cb8030c..1d48553 100644
--- a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
+++ b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
@@ -10,9 +10,9 @@ import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.context.request
import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.MetaConverter
import space.kscience.dataforge.meta.get
import space.kscience.dataforge.meta.int
-import space.kscience.dataforge.meta.transformations.MetaConverter
//TODO this device is not tested
@@ -94,7 +94,7 @@ class MksPdr900Device(context: Context, meta: Meta) : DeviceBySpec<MksPdr900Devi
val channel by logicalProperty(MetaConverter.int)
val value by doubleProperty(read = {
- readChannelData(request(channel) ?: DEFAULT_CHANNEL)
+ readChannelData(getOrRead(channel))
})
val error by logicalProperty(MetaConverter.string)
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
index dde2750..5d05993 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
@@ -16,11 +16,7 @@ import space.kscience.controls.api.PropertyDescriptor
import space.kscience.controls.ports.*
import space.kscience.controls.spec.*
import space.kscience.dataforge.context.*
-import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.asValue
-import space.kscience.dataforge.meta.double
-import space.kscience.dataforge.meta.get
-import space.kscience.dataforge.meta.transformations.MetaConverter
+import space.kscience.dataforge.meta.*
import space.kscience.dataforge.names.NameToken
import kotlin.collections.component1
import kotlin.collections.component2
From e8c6e90a0fc4b9d9ec255791058bea2e7fe9c765 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 4 Mar 2024 15:58:53 +0300
Subject: [PATCH 059/125] Update readme and API
---
CHANGELOG.md | 30 ++++++++++++++-----
README.md | 26 +++++++++++++---
build.gradle.kts | 2 +-
controls-core/README.md | 6 ++--
controls-jupyter/api/controls-jupyter.api | 8 +++++
controls-magix/README.md | 6 ++--
controls-modbus/README.md | 6 ++--
controls-opcua/README.md | 6 ++--
controls-pi/README.md | 6 ++--
controls-pi/api/controls-pi.api | 11 +++++--
controls-ports-ktor/README.md | 6 ++--
controls-serial/README.md | 6 ++--
controls-server/README.md | 6 ++--
controls-storage/README.md | 6 ++--
controls-storage/controls-xodus/README.md | 6 ++--
demo/all-things/api/all-things.api | 7 +++--
demo/car/api/car.api | 15 +++++-----
demo/constructor/api/constructor.api | 27 +++++++++++++++++
demo/mks-pdr900/api/mks-pdr900.api | 14 ++-------
demo/motors/api/motors.api | 14 ++++-----
magix/magix-api/README.md | 6 ++--
magix/magix-java-endpoint/README.md | 6 ++--
magix/magix-mqtt/README.md | 6 ++--
magix/magix-rabbit/README.md | 6 ++--
magix/magix-rsocket/README.md | 6 ++--
magix/magix-server/README.md | 6 ++--
magix/magix-storage/README.md | 6 ++--
.../magix-storage-xodus/README.md | 6 ++--
magix/magix-zmq/README.md | 6 ++--
29 files changed, 147 insertions(+), 121 deletions(-)
create mode 100644 controls-jupyter/api/controls-jupyter.api
create mode 100644 demo/constructor/api/constructor.api
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8183d79..30a9fee 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -3,35 +3,49 @@
## Unreleased
### Added
-- Device lifecycle message
-- Low-code constructor
-- Automatic description generation for spec properties (JVM only)
### Changed
-- Property caching moved from core `Device` to the `CachingDevice`
-- `DeviceSpec` properties no explicitly pass property name to getters and setters.
-- `DeviceHub.respondHubMessage` now returns a list of messages to allow querying multiple devices. Device server also returns an array.
### Deprecated
### Removed
### Fixed
+
+### Security
+
+## 0.3.0 - 2024-03-04
+
+### Added
+
+- Device lifecycle message
+- Low-code constructor
+- Automatic description generation for spec properties (JVM only)
+
+### Changed
+
+- Property caching moved from core `Device` to the `CachingDevice`
+- `DeviceSpec` properties no explicitly pass property name to getters and setters.
+- `DeviceHub.respondHubMessage` now returns a list of messages to allow querying multiple devices. Device server also returns an array.
+- DataForge 0.8.0
+
+### Fixed
+
- Property writing does not trigger change if logical state already is the same as value to be set.
- Modbus-slave triggers only once for multi-register write.
- Removed unnecessary scope in hub messageFlow
-### Security
-
## 0.2.2-dev-1 - 2023-09-24
### Changed
+
- updating logical state in `DeviceBase` is now protected and called `propertyChanged()`
- `DeviceBase` tries to read property after write if the writer does not set the value.
## 0.2.1 - 2023-09-24
### Added
+
- Core interfaces for building a device server
- Magix service for binding controls devices (both as RPC client and server)
- A plugin for Controls-kt device server on top of modbus-rtu/modbus-tcp protocols
diff --git a/README.md b/README.md
index 5518d1f..d6a602b 100644
--- a/README.md
+++ b/README.md
@@ -1,14 +1,14 @@
[](https://confluence.jetbrains.com/display/ALL/JetBrains+on+GitHub)
-[](https://zenodo.org/badge/latestdoi/240888288)
+[](https://maven.sciprog.center/)
-# Controls-kt
+# Controls.kt
-Controls-kt (former DataForge-control) is a data acquisition framework (work in progress). It is based on DataForge, a software framework for automated data processing.
+Controls.kt (former DataForge-control) is a data acquisition framework (work in progress). It is based on DataForge, a software framework for automated data processing.
This repository contains a prototype of API and simple implementation
of a slow control system, including a demo.
-Controls-kt uses some concepts and modules of DataForge,
+Controls.kt uses some concepts and modules of DataForge,
such as `Meta` (tree-like value structure).
To learn more about DataForge, please consult the following URLs:
@@ -44,6 +44,11 @@ Example view of a demo:
## Modules
+### [controls-constructor](controls-constructor)
+> A low-code constructor for composite devices simulation
+>
+> **Maturity**: PROTOTYPE
+
### [controls-core](controls-core)
> Core interfaces for building a device server
>
@@ -58,6 +63,10 @@ Example view of a demo:
> - [ports](controls-core/src/commonMain/kotlin/space/kscience/controls/ports) : Working with asynchronous data sending and receiving raw byte arrays
+### [controls-jupyter](controls-jupyter)
+>
+> **Maturity**: EXPERIMENTAL
+
### [controls-magix](controls-magix)
> Magix service for binding controls devices (both as RPC client and server)
>
@@ -115,6 +124,11 @@ Automatically checks consistency.
>
> **Maturity**: PROTOTYPE
+### [controls-vision](controls-vision)
+> Dashboard and visualization extensions for devices
+>
+> **Maturity**: PROTOTYPE
+
### [demo](demo)
>
> **Maturity**: EXPERIMENTAL
@@ -136,6 +150,10 @@ Automatically checks consistency.
>
> **Maturity**: EXPERIMENTAL
+### [demo/constructor](demo/constructor)
+>
+> **Maturity**: EXPERIMENTAL
+
### [demo/echo](demo/echo)
>
> **Maturity**: EXPERIMENTAL
diff --git a/build.gradle.kts b/build.gradle.kts
index b0b93d5..99946f1 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -13,7 +13,7 @@ val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
- version = "0.3.0-dev-6"
+ version = "0.3.0"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
diff --git a/controls-core/README.md b/controls-core/README.md
index b75961d..b1edbdc 100644
--- a/controls-core/README.md
+++ b/controls-core/README.md
@@ -16,18 +16,16 @@ Core interfaces for building a device server
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-core:0.2.0`.
+The Maven coordinates of this project are `space.kscience:controls-core:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:controls-core:0.2.0")
+ implementation("space.kscience:controls-core:0.3.0")
}
```
diff --git a/controls-jupyter/api/controls-jupyter.api b/controls-jupyter/api/controls-jupyter.api
new file mode 100644
index 0000000..726b523
--- /dev/null
+++ b/controls-jupyter/api/controls-jupyter.api
@@ -0,0 +1,8 @@
+public final class space/kscience/controls/jupyter/ControlsJupyter : space/kscience/visionforge/jupyter/VisionForgeIntegration {
+ public static final field Companion Lspace/kscience/controls/jupyter/ControlsJupyter$Companion;
+ public fun <init> ()V
+}
+
+public final class space/kscience/controls/jupyter/ControlsJupyter$Companion {
+}
+
diff --git a/controls-magix/README.md b/controls-magix/README.md
index 5473f02..4048990 100644
--- a/controls-magix/README.md
+++ b/controls-magix/README.md
@@ -12,18 +12,16 @@ Magix service for binding controls devices (both as RPC client and server)
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-magix:0.2.0`.
+The Maven coordinates of this project are `space.kscience:controls-magix:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:controls-magix:0.2.0")
+ implementation("space.kscience:controls-magix:0.3.0")
}
```
diff --git a/controls-modbus/README.md b/controls-modbus/README.md
index 78d515a..18c37ee 100644
--- a/controls-modbus/README.md
+++ b/controls-modbus/README.md
@@ -14,18 +14,16 @@ Automatically checks consistency.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-modbus:0.2.0`.
+The Maven coordinates of this project are `space.kscience:controls-modbus:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:controls-modbus:0.2.0")
+ implementation("space.kscience:controls-modbus:0.3.0")
}
```
diff --git a/controls-opcua/README.md b/controls-opcua/README.md
index 8cdd373..3befbb9 100644
--- a/controls-opcua/README.md
+++ b/controls-opcua/README.md
@@ -12,18 +12,16 @@ A client and server connectors for OPC-UA via Eclipse Milo
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-opcua:0.2.0`.
+The Maven coordinates of this project are `space.kscience:controls-opcua:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:controls-opcua:0.2.0")
+ implementation("space.kscience:controls-opcua:0.3.0")
}
```
diff --git a/controls-pi/README.md b/controls-pi/README.md
index cd9ee0a..6235995 100644
--- a/controls-pi/README.md
+++ b/controls-pi/README.md
@@ -6,18 +6,16 @@ Utils to work with controls-kt on Raspberry pi
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-pi:0.2.0`.
+The Maven coordinates of this project are `space.kscience:controls-pi:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:controls-pi:0.2.0")
+ implementation("space.kscience:controls-pi:0.3.0")
}
```
diff --git a/controls-pi/api/controls-pi.api b/controls-pi/api/controls-pi.api
index 2fdaf2d..34bfd53 100644
--- a/controls-pi/api/controls-pi.api
+++ b/controls-pi/api/controls-pi.api
@@ -1,6 +1,10 @@
public final class space/kscience/controls/pi/PiPlugin : space/kscience/dataforge/context/AbstractPlugin {
public static final field Companion Lspace/kscience/controls/pi/PiPlugin$Companion;
public fun <init> ()V
+ public fun content (Ljava/lang/String;)Ljava/util/Map;
+ public fun detach ()V
+ public final fun getDevices ()Lspace/kscience/controls/manager/DeviceManager;
+ public final fun getPiContext ()Lcom/pi4j/context/Context;
public final fun getPorts ()Lspace/kscience/controls/ports/Ports;
public fun getTag ()Lspace/kscience/dataforge/context/PluginTag;
}
@@ -8,15 +12,16 @@ public final class space/kscience/controls/pi/PiPlugin : space/kscience/dataforg
public final class space/kscience/controls/pi/PiPlugin$Companion : space/kscience/dataforge/context/PluginFactory {
public synthetic fun build (Lspace/kscience/dataforge/context/Context;Lspace/kscience/dataforge/meta/Meta;)Ljava/lang/Object;
public fun build (Lspace/kscience/dataforge/context/Context;Lspace/kscience/dataforge/meta/Meta;)Lspace/kscience/controls/pi/PiPlugin;
+ public final fun createPiContext (Lspace/kscience/dataforge/context/Context;Lspace/kscience/dataforge/meta/Meta;)Lcom/pi4j/context/Context;
public fun getTag ()Lspace/kscience/dataforge/context/PluginTag;
}
public final class space/kscience/controls/pi/PiSerialPort : space/kscience/controls/ports/AbstractPort {
public static final field Companion Lspace/kscience/controls/pi/PiSerialPort$Companion;
- public fun <init> (Lspace/kscience/dataforge/context/Context;Lkotlin/coroutines/CoroutineContext;Lkotlin/jvm/functions/Function0;)V
- public synthetic fun <init> (Lspace/kscience/dataforge/context/Context;Lkotlin/coroutines/CoroutineContext;Lkotlin/jvm/functions/Function0;ILkotlin/jvm/internal/DefaultConstructorMarker;)V
+ public fun <init> (Lspace/kscience/dataforge/context/Context;Lkotlin/coroutines/CoroutineContext;Lkotlin/jvm/functions/Function1;)V
+ public synthetic fun <init> (Lspace/kscience/dataforge/context/Context;Lkotlin/coroutines/CoroutineContext;Lkotlin/jvm/functions/Function1;ILkotlin/jvm/internal/DefaultConstructorMarker;)V
public fun close ()V
- public final fun getSerialBuilder ()Lkotlin/jvm/functions/Function0;
+ public final fun getSerialBuilder ()Lkotlin/jvm/functions/Function1;
}
public final class space/kscience/controls/pi/PiSerialPort$Companion : space/kscience/controls/ports/PortFactory {
diff --git a/controls-ports-ktor/README.md b/controls-ports-ktor/README.md
index 7f935f9..b703521 100644
--- a/controls-ports-ktor/README.md
+++ b/controls-ports-ktor/README.md
@@ -6,18 +6,16 @@ Implementation of byte ports on top os ktor-io asynchronous API
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-ports-ktor:0.2.0`.
+The Maven coordinates of this project are `space.kscience:controls-ports-ktor:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:controls-ports-ktor:0.2.0")
+ implementation("space.kscience:controls-ports-ktor:0.3.0")
}
```
diff --git a/controls-serial/README.md b/controls-serial/README.md
index 209055d..861b6d3 100644
--- a/controls-serial/README.md
+++ b/controls-serial/README.md
@@ -6,18 +6,16 @@ Implementation of direct serial port communication with JSerialComm
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-serial:0.2.0`.
+The Maven coordinates of this project are `space.kscience:controls-serial:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:controls-serial:0.2.0")
+ implementation("space.kscience:controls-serial:0.3.0")
}
```
diff --git a/controls-server/README.md b/controls-server/README.md
index 83408e8..86a5bf5 100644
--- a/controls-server/README.md
+++ b/controls-server/README.md
@@ -6,18 +6,16 @@ A combined Magix event loop server with web server for visualization.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-server:0.2.0`.
+The Maven coordinates of this project are `space.kscience:controls-server:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:controls-server:0.2.0")
+ implementation("space.kscience:controls-server:0.3.0")
}
```
diff --git a/controls-storage/README.md b/controls-storage/README.md
index 51cdbcb..3242de2 100644
--- a/controls-storage/README.md
+++ b/controls-storage/README.md
@@ -6,18 +6,16 @@ An API for stand-alone Controls-kt device or a hub.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-storage:0.2.0`.
+The Maven coordinates of this project are `space.kscience:controls-storage:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:controls-storage:0.2.0")
+ implementation("space.kscience:controls-storage:0.3.0")
}
```
diff --git a/controls-storage/controls-xodus/README.md b/controls-storage/controls-xodus/README.md
index 790b356..2a6c247 100644
--- a/controls-storage/controls-xodus/README.md
+++ b/controls-storage/controls-xodus/README.md
@@ -6,18 +6,16 @@ An implementation of controls-storage on top of JetBrains Xodus.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-xodus:0.2.0`.
+The Maven coordinates of this project are `space.kscience:controls-xodus:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:controls-xodus:0.2.0")
+ implementation("space.kscience:controls-xodus:0.3.0")
}
```
diff --git a/demo/all-things/api/all-things.api b/demo/all-things/api/all-things.api
index 4d283e5..1a1b140 100644
--- a/demo/all-things/api/all-things.api
+++ b/demo/all-things/api/all-things.api
@@ -47,11 +47,12 @@ public final class space/kscience/controls/demo/DemoDevice$Companion : space/ksc
public fun build (Lspace/kscience/dataforge/context/Context;Lspace/kscience/dataforge/meta/Meta;)Lspace/kscience/controls/demo/DemoDevice;
public final fun getCoordinates ()Lspace/kscience/controls/spec/DevicePropertySpec;
public final fun getCos ()Lspace/kscience/controls/spec/DevicePropertySpec;
- public final fun getCosScale ()Lspace/kscience/controls/spec/WritableDevicePropertySpec;
+ public final fun getCosScale ()Lspace/kscience/controls/spec/MutableDevicePropertySpec;
public final fun getResetScale ()Lspace/kscience/controls/spec/DeviceActionSpec;
+ public final fun getSetSinScale ()Lspace/kscience/controls/spec/DeviceActionSpec;
public final fun getSin ()Lspace/kscience/controls/spec/DevicePropertySpec;
- public final fun getSinScale ()Lspace/kscience/controls/spec/WritableDevicePropertySpec;
- public final fun getTimeScale ()Lspace/kscience/controls/spec/WritableDevicePropertySpec;
+ public final fun getSinScale ()Lspace/kscience/controls/spec/MutableDevicePropertySpec;
+ public final fun getTimeScale ()Lspace/kscience/controls/spec/MutableDevicePropertySpec;
public synthetic fun onOpen (Lspace/kscience/controls/api/Device;Lkotlin/coroutines/Continuation;)Ljava/lang/Object;
public fun onOpen (Lspace/kscience/controls/demo/IDemoDevice;Lkotlin/coroutines/Continuation;)Ljava/lang/Object;
}
diff --git a/demo/car/api/car.api b/demo/car/api/car.api
index 5b1940f..f5bda95 100644
--- a/demo/car/api/car.api
+++ b/demo/car/api/car.api
@@ -9,7 +9,7 @@ public abstract interface class space/kscience/controls/demo/car/IVirtualCar : s
}
public final class space/kscience/controls/demo/car/IVirtualCar$Companion : space/kscience/controls/spec/DeviceSpec {
- public final fun getAcceleration ()Lspace/kscience/controls/spec/WritableDevicePropertySpec;
+ public final fun getAcceleration ()Lspace/kscience/controls/spec/MutableDevicePropertySpec;
public final fun getLocation ()Lspace/kscience/controls/spec/DevicePropertySpec;
public final fun getSpeed ()Lspace/kscience/controls/spec/DevicePropertySpec;
}
@@ -17,7 +17,6 @@ public final class space/kscience/controls/demo/car/IVirtualCar$Companion : spac
public final class space/kscience/controls/demo/car/MagixVirtualCar : space/kscience/controls/demo/car/VirtualCar {
public static final field Companion Lspace/kscience/controls/demo/car/MagixVirtualCar$Companion;
public fun <init> (Lspace/kscience/dataforge/context/Context;Lspace/kscience/dataforge/meta/Meta;)V
- public fun open (Lkotlin/coroutines/Continuation;)Ljava/lang/Object;
}
public final class space/kscience/controls/demo/car/MagixVirtualCar$Companion : space/kscience/dataforge/context/Factory {
@@ -45,11 +44,11 @@ public final class space/kscience/controls/demo/car/Vector2D : space/kscience/da
public fun toString ()Ljava/lang/String;
}
-public final class space/kscience/controls/demo/car/Vector2D$CoordinatesMetaConverter : space/kscience/dataforge/meta/transformations/MetaConverter {
- public synthetic fun metaToObject (Lspace/kscience/dataforge/meta/Meta;)Ljava/lang/Object;
- public fun metaToObject (Lspace/kscience/dataforge/meta/Meta;)Lspace/kscience/controls/demo/car/Vector2D;
- public synthetic fun objectToMeta (Ljava/lang/Object;)Lspace/kscience/dataforge/meta/Meta;
- public fun objectToMeta (Lspace/kscience/controls/demo/car/Vector2D;)Lspace/kscience/dataforge/meta/Meta;
+public final class space/kscience/controls/demo/car/Vector2D$CoordinatesMetaConverter : space/kscience/dataforge/meta/MetaConverter {
+ public synthetic fun convert (Ljava/lang/Object;)Lspace/kscience/dataforge/meta/Meta;
+ public fun convert (Lspace/kscience/controls/demo/car/Vector2D;)Lspace/kscience/dataforge/meta/Meta;
+ public synthetic fun readOrNull (Lspace/kscience/dataforge/meta/Meta;)Ljava/lang/Object;
+ public fun readOrNull (Lspace/kscience/dataforge/meta/Meta;)Lspace/kscience/controls/demo/car/Vector2D;
}
public class space/kscience/controls/demo/car/VirtualCar : space/kscience/controls/spec/DeviceBySpec, space/kscience/controls/demo/car/IVirtualCar {
@@ -59,7 +58,7 @@ public class space/kscience/controls/demo/car/VirtualCar : space/kscience/contro
public fun getAccelerationState ()Lspace/kscience/controls/demo/car/Vector2D;
public fun getLocationState ()Lspace/kscience/controls/demo/car/Vector2D;
public fun getSpeedState ()Lspace/kscience/controls/demo/car/Vector2D;
- public fun open (Lkotlin/coroutines/Continuation;)Ljava/lang/Object;
+ protected fun onStart (Lkotlin/coroutines/Continuation;)Ljava/lang/Object;
public fun setAccelerationState (Lspace/kscience/controls/demo/car/Vector2D;)V
public fun setLocationState (Lspace/kscience/controls/demo/car/Vector2D;)V
public fun setSpeedState (Lspace/kscience/controls/demo/car/Vector2D;)V
diff --git a/demo/constructor/api/constructor.api b/demo/constructor/api/constructor.api
new file mode 100644
index 0000000..a6e5b7e
--- /dev/null
+++ b/demo/constructor/api/constructor.api
@@ -0,0 +1,27 @@
+public final class space/kscience/controls/demo/constructor/ComposableSingletons$MainKt {
+ public static final field INSTANCE Lspace/kscience/controls/demo/constructor/ComposableSingletons$MainKt;
+ public static field lambda-1 Lkotlin/jvm/functions/Function3;
+ public static field lambda-2 Lkotlin/jvm/functions/Function3;
+ public fun <init> ()V
+ public final fun getLambda-1$constructor ()Lkotlin/jvm/functions/Function3;
+ public final fun getLambda-2$constructor ()Lkotlin/jvm/functions/Function3;
+}
+
+public final class space/kscience/controls/demo/constructor/LinearDrive : space/kscience/controls/constructor/DeviceConstructor {
+ public static final field $stable I
+ public fun <init> (Lspace/kscience/dataforge/context/Context;Lspace/kscience/controls/constructor/DoubleRangeState;DLspace/kscience/controls/constructor/PidParameters;Lspace/kscience/dataforge/meta/Meta;)V
+ public synthetic fun <init> (Lspace/kscience/dataforge/context/Context;Lspace/kscience/controls/constructor/DoubleRangeState;DLspace/kscience/controls/constructor/PidParameters;Lspace/kscience/dataforge/meta/Meta;ILkotlin/jvm/internal/DefaultConstructorMarker;)V
+ public final fun getDrive ()Lspace/kscience/controls/constructor/Drive;
+ public final fun getEnd ()Lspace/kscience/controls/constructor/LimitSwitch;
+ public final fun getPid ()Lspace/kscience/controls/constructor/PidRegulator;
+ public final fun getPosition ()D
+ public final fun getStart ()Lspace/kscience/controls/constructor/LimitSwitch;
+ public final fun getTarget ()D
+ public final fun setTarget (D)V
+}
+
+public final class space/kscience/controls/demo/constructor/MainKt {
+ public static final fun main ()V
+ public static synthetic fun main ([Ljava/lang/String;)V
+}
+
diff --git a/demo/mks-pdr900/api/mks-pdr900.api b/demo/mks-pdr900/api/mks-pdr900.api
index a9c9ecb..35e5f3c 100644
--- a/demo/mks-pdr900/api/mks-pdr900.api
+++ b/demo/mks-pdr900/api/mks-pdr900.api
@@ -10,19 +10,11 @@ public final class center/sciprog/devices/mks/MksPdr900Device : space/kscience/c
public final class center/sciprog/devices/mks/MksPdr900Device$Companion : space/kscience/controls/spec/DeviceSpec, space/kscience/dataforge/context/Factory {
public fun build (Lspace/kscience/dataforge/context/Context;Lspace/kscience/dataforge/meta/Meta;)Lcenter/sciprog/devices/mks/MksPdr900Device;
public synthetic fun build (Lspace/kscience/dataforge/context/Context;Lspace/kscience/dataforge/meta/Meta;)Ljava/lang/Object;
- public final fun getChannel ()Lspace/kscience/controls/spec/WritableDevicePropertySpec;
- public final fun getError ()Lspace/kscience/controls/spec/WritableDevicePropertySpec;
- public final fun getPowerOn ()Lspace/kscience/controls/spec/WritableDevicePropertySpec;
+ public final fun getChannel ()Lspace/kscience/controls/spec/MutableDevicePropertySpec;
+ public final fun getError ()Lspace/kscience/controls/spec/MutableDevicePropertySpec;
+ public final fun getPowerOn ()Lspace/kscience/controls/spec/MutableDevicePropertySpec;
public final fun getValue ()Lspace/kscience/controls/spec/DevicePropertySpec;
public fun onClose (Lcenter/sciprog/devices/mks/MksPdr900Device;)V
public synthetic fun onClose (Lspace/kscience/controls/api/Device;)V
}
-public final class center/sciprog/devices/mks/NullableStringMetaConverter : space/kscience/dataforge/meta/transformations/MetaConverter {
- public static final field INSTANCE Lcenter/sciprog/devices/mks/NullableStringMetaConverter;
- public synthetic fun metaToObject (Lspace/kscience/dataforge/meta/Meta;)Ljava/lang/Object;
- public fun metaToObject (Lspace/kscience/dataforge/meta/Meta;)Ljava/lang/String;
- public synthetic fun objectToMeta (Ljava/lang/Object;)Lspace/kscience/dataforge/meta/Meta;
- public fun objectToMeta (Ljava/lang/String;)Lspace/kscience/dataforge/meta/Meta;
-}
-
diff --git a/demo/motors/api/motors.api b/demo/motors/api/motors.api
index 506d7ee..05f430a 100644
--- a/demo/motors/api/motors.api
+++ b/demo/motors/api/motors.api
@@ -1,6 +1,6 @@
public final class ru/mipt/npm/devices/pimotionmaster/FxDevicePropertiesKt {
public static final fun fxProperty (Lspace/kscience/controls/api/Device;Lspace/kscience/controls/spec/DevicePropertySpec;)Ljavafx/beans/property/ReadOnlyProperty;
- public static final fun fxProperty (Lspace/kscience/controls/api/Device;Lspace/kscience/controls/spec/WritableDevicePropertySpec;)Ljavafx/beans/property/Property;
+ public static final fun fxProperty (Lspace/kscience/controls/api/Device;Lspace/kscience/controls/spec/MutableDevicePropertySpec;)Ljavafx/beans/property/Property;
}
public final class ru/mipt/npm/devices/pimotionmaster/PiDebugServerKt {
@@ -50,19 +50,19 @@ public final class ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice$Axis
}
public final class ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice$Axis$Companion : space/kscience/controls/spec/DeviceSpec {
- public final fun getClosedLoop ()Lspace/kscience/controls/spec/WritableDevicePropertySpec;
- public final fun getEnabled ()Lspace/kscience/controls/spec/WritableDevicePropertySpec;
+ public final fun getClosedLoop ()Lspace/kscience/controls/spec/MutableDevicePropertySpec;
+ public final fun getEnabled ()Lspace/kscience/controls/spec/MutableDevicePropertySpec;
public final fun getHalt ()Lspace/kscience/controls/spec/DeviceActionSpec;
public final fun getMaxPosition ()Lspace/kscience/controls/spec/DevicePropertySpec;
public final fun getMinPosition ()Lspace/kscience/controls/spec/DevicePropertySpec;
public final fun getMove ()Lspace/kscience/controls/spec/DeviceActionSpec;
public final fun getMoveToReference ()Lspace/kscience/controls/spec/DeviceActionSpec;
public final fun getOnTarget ()Lspace/kscience/controls/spec/DevicePropertySpec;
- public final fun getOpenLoopTarget ()Lspace/kscience/controls/spec/WritableDevicePropertySpec;
+ public final fun getOpenLoopTarget ()Lspace/kscience/controls/spec/MutableDevicePropertySpec;
public final fun getPosition ()Lspace/kscience/controls/spec/DevicePropertySpec;
public final fun getReference ()Lspace/kscience/controls/spec/DevicePropertySpec;
- public final fun getTargetPosition ()Lspace/kscience/controls/spec/WritableDevicePropertySpec;
- public final fun getVelocity ()Lspace/kscience/controls/spec/WritableDevicePropertySpec;
+ public final fun getTargetPosition ()Lspace/kscience/controls/spec/MutableDevicePropertySpec;
+ public final fun getVelocity ()Lspace/kscience/controls/spec/MutableDevicePropertySpec;
}
public final class ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice$Companion : space/kscience/controls/spec/DeviceSpec, space/kscience/dataforge/context/Factory {
@@ -75,7 +75,7 @@ public final class ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice$Compa
public final fun getIdentity ()Lspace/kscience/controls/spec/DevicePropertySpec;
public final fun getInitialize ()Lspace/kscience/controls/spec/DeviceActionSpec;
public final fun getStop ()Lspace/kscience/controls/spec/DeviceActionSpec;
- public final fun getTimeout ()Lspace/kscience/controls/spec/WritableDevicePropertySpec;
+ public final fun getTimeout ()Lspace/kscience/controls/spec/MutableDevicePropertySpec;
}
public final class ru/mipt/npm/devices/pimotionmaster/PiMotionMasterView : tornadofx/View {
diff --git a/magix/magix-api/README.md b/magix/magix-api/README.md
index ee00c53..d624d84 100644
--- a/magix/magix-api/README.md
+++ b/magix/magix-api/README.md
@@ -6,18 +6,16 @@ A kotlin API for magix standard and some zero-dependency magix services
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-api:0.2.0`.
+The Maven coordinates of this project are `space.kscience:magix-api:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:magix-api:0.2.0")
+ implementation("space.kscience:magix-api:0.3.0")
}
```
diff --git a/magix/magix-java-endpoint/README.md b/magix/magix-java-endpoint/README.md
index abcaa6f..40f4c8e 100644
--- a/magix/magix-java-endpoint/README.md
+++ b/magix/magix-java-endpoint/README.md
@@ -6,18 +6,16 @@ Java API to work with magix endpoints without Kotlin
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-java-endpoint:0.2.0`.
+The Maven coordinates of this project are `space.kscience:magix-java-endpoint:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:magix-java-endpoint:0.2.0")
+ implementation("space.kscience:magix-java-endpoint:0.3.0")
}
```
diff --git a/magix/magix-mqtt/README.md b/magix/magix-mqtt/README.md
index 6c34fdc..35165a0 100644
--- a/magix/magix-mqtt/README.md
+++ b/magix/magix-mqtt/README.md
@@ -6,18 +6,16 @@ MQTT client magix endpoint
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-mqtt:0.2.0`.
+The Maven coordinates of this project are `space.kscience:magix-mqtt:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:magix-mqtt:0.2.0")
+ implementation("space.kscience:magix-mqtt:0.3.0")
}
```
diff --git a/magix/magix-rabbit/README.md b/magix/magix-rabbit/README.md
index 7fc42ad..609303d 100644
--- a/magix/magix-rabbit/README.md
+++ b/magix/magix-rabbit/README.md
@@ -6,18 +6,16 @@ RabbitMQ client magix endpoint
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-rabbit:0.2.0`.
+The Maven coordinates of this project are `space.kscience:magix-rabbit:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:magix-rabbit:0.2.0")
+ implementation("space.kscience:magix-rabbit:0.3.0")
}
```
diff --git a/magix/magix-rsocket/README.md b/magix/magix-rsocket/README.md
index 799717d..0a1b34b 100644
--- a/magix/magix-rsocket/README.md
+++ b/magix/magix-rsocket/README.md
@@ -6,18 +6,16 @@ Magix endpoint (client) based on RSocket
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-rsocket:0.2.0`.
+The Maven coordinates of this project are `space.kscience:magix-rsocket:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:magix-rsocket:0.2.0")
+ implementation("space.kscience:magix-rsocket:0.3.0")
}
```
diff --git a/magix/magix-server/README.md b/magix/magix-server/README.md
index 27d97e0..4175dcd 100644
--- a/magix/magix-server/README.md
+++ b/magix/magix-server/README.md
@@ -6,18 +6,16 @@ A magix event loop implementation in Kotlin. Includes HTTP/SSE and RSocket route
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-server:0.2.0`.
+The Maven coordinates of this project are `space.kscience:magix-server:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:magix-server:0.2.0")
+ implementation("space.kscience:magix-server:0.3.0")
}
```
diff --git a/magix/magix-storage/README.md b/magix/magix-storage/README.md
index fa367b4..db1d340 100644
--- a/magix/magix-storage/README.md
+++ b/magix/magix-storage/README.md
@@ -6,18 +6,16 @@ Magix history database API
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-storage:0.2.0`.
+The Maven coordinates of this project are `space.kscience:magix-storage:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:magix-storage:0.2.0")
+ implementation("space.kscience:magix-storage:0.3.0")
}
```
diff --git a/magix/magix-storage/magix-storage-xodus/README.md b/magix/magix-storage/magix-storage-xodus/README.md
index b3d871b..2d9e202 100644
--- a/magix/magix-storage/magix-storage-xodus/README.md
+++ b/magix/magix-storage/magix-storage-xodus/README.md
@@ -6,18 +6,16 @@
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-storage-xodus:0.2.0`.
+The Maven coordinates of this project are `space.kscience:magix-storage-xodus:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:magix-storage-xodus:0.2.0")
+ implementation("space.kscience:magix-storage-xodus:0.3.0")
}
```
diff --git a/magix/magix-zmq/README.md b/magix/magix-zmq/README.md
index 1338cce..b016e6b 100644
--- a/magix/magix-zmq/README.md
+++ b/magix/magix-zmq/README.md
@@ -6,18 +6,16 @@ ZMQ client endpoint for Magix
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-zmq:0.2.0`.
+The Maven coordinates of this project are `space.kscience:magix-zmq:0.3.0`.
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
- //uncomment to access development builds
- //maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
mavenCentral()
}
dependencies {
- implementation("space.kscience:magix-zmq:0.2.0")
+ implementation("space.kscience:magix-zmq:0.3.0")
}
```
From 2946f23a4bffd2bfd6dda6df1f618df46c4fc3d6 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 4 Mar 2024 16:02:50 +0300
Subject: [PATCH 060/125] Update readme and API
---
controls-constructor/README.md | 21 +++++++++++++++++++++
controls-jupyter/README.md | 21 +++++++++++++++++++++
controls-vision/README.md | 21 +++++++++++++++++++++
demo/constructor/README.md | 4 ++++
4 files changed, 67 insertions(+)
create mode 100644 controls-constructor/README.md
create mode 100644 controls-jupyter/README.md
create mode 100644 controls-vision/README.md
create mode 100644 demo/constructor/README.md
diff --git a/controls-constructor/README.md b/controls-constructor/README.md
new file mode 100644
index 0000000..9a8b27c
--- /dev/null
+++ b/controls-constructor/README.md
@@ -0,0 +1,21 @@
+# Module controls-constructor
+
+A low-code constructor for composite devices simulation
+
+## Usage
+
+## Artifact:
+
+The Maven coordinates of this project are `space.kscience:controls-constructor:0.3.0`.
+
+**Gradle Kotlin DSL:**
+```kotlin
+repositories {
+ maven("https://repo.kotlin.link")
+ mavenCentral()
+}
+
+dependencies {
+ implementation("space.kscience:controls-constructor:0.3.0")
+}
+```
diff --git a/controls-jupyter/README.md b/controls-jupyter/README.md
new file mode 100644
index 0000000..15d8e2d
--- /dev/null
+++ b/controls-jupyter/README.md
@@ -0,0 +1,21 @@
+# Module controls-jupyter
+
+
+
+## Usage
+
+## Artifact:
+
+The Maven coordinates of this project are `space.kscience:controls-jupyter:0.3.0`.
+
+**Gradle Kotlin DSL:**
+```kotlin
+repositories {
+ maven("https://repo.kotlin.link")
+ mavenCentral()
+}
+
+dependencies {
+ implementation("space.kscience:controls-jupyter:0.3.0")
+}
+```
diff --git a/controls-vision/README.md b/controls-vision/README.md
new file mode 100644
index 0000000..41483ce
--- /dev/null
+++ b/controls-vision/README.md
@@ -0,0 +1,21 @@
+# Module controls-vision
+
+Dashboard and visualization extensions for devices
+
+## Usage
+
+## Artifact:
+
+The Maven coordinates of this project are `space.kscience:controls-vision:0.3.0`.
+
+**Gradle Kotlin DSL:**
+```kotlin
+repositories {
+ maven("https://repo.kotlin.link")
+ mavenCentral()
+}
+
+dependencies {
+ implementation("space.kscience:controls-vision:0.3.0")
+}
+```
diff --git a/demo/constructor/README.md b/demo/constructor/README.md
new file mode 100644
index 0000000..3bd1e74
--- /dev/null
+++ b/demo/constructor/README.md
@@ -0,0 +1,4 @@
+# Module constructor
+
+
+
From 4639fdb558dc313f43d6f1b64561699e3bef0c15 Mon Sep 17 00:00:00 2001
From: InsanusMokrassar <ovsyannikov.alexey95@gmail.com>
Date: Wed, 6 Mar 2024 00:21:55 +0600
Subject: [PATCH 061/125] update gradle wrapper
---
gradle/wrapper/gradle-wrapper.properties | 2 +-
gradle/yarn.lock | 2042 ++++++++++++++++++++++
2 files changed, 2043 insertions(+), 1 deletion(-)
create mode 100644 gradle/yarn.lock
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index fae0804..17655d0 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.1.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.6-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
diff --git a/gradle/yarn.lock b/gradle/yarn.lock
new file mode 100644
index 0000000..d909f26
--- /dev/null
+++ b/gradle/yarn.lock
@@ -0,0 +1,2042 @@
+# THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
+# yarn lockfile v1
+
+
+"@colors/colors@1.5.0":
+ version "1.5.0"
+ resolved "https://registry.yarnpkg.com/@colors/colors/-/colors-1.5.0.tgz#bb504579c1cae923e6576a4f5da43d25f97bdbd9"
+ integrity sha512-ooWCrlZP11i8GImSjTHYHLkvFDP48nS4+204nGb1RiX/WXYHmJA2III9/e2DWVabCESdW7hBAEzHRqUn9OUVvQ==
+
+"@discoveryjs/json-ext@^0.5.0":
+ version "0.5.7"
+ resolved "https://registry.yarnpkg.com/@discoveryjs/json-ext/-/json-ext-0.5.7.tgz#1d572bfbbe14b7704e0ba0f39b74815b84870d70"
+ integrity sha512-dBVuXR082gk3jsFp7Rd/JI4kytwGHecnCoTtXFb7DB6CNHp4rg5k1bhg0nWdLGLnOV71lmDzGQaLMy8iPLY0pw==
+
+"@jridgewell/gen-mapping@^0.3.0":
+ version "0.3.5"
+ resolved "https://registry.yarnpkg.com/@jridgewell/gen-mapping/-/gen-mapping-0.3.5.tgz#dcce6aff74bdf6dad1a95802b69b04a2fcb1fb36"
+ integrity sha512-IzL8ZoEDIBRWEzlCcRhOaCupYyN5gdIK+Q6fbFdPDg6HqX6jpkItn7DFIpW9LQzXG6Df9sA7+OKnq0qlz/GaQg==
+ dependencies:
+ "@jridgewell/set-array" "^1.2.1"
+ "@jridgewell/sourcemap-codec" "^1.4.10"
+ "@jridgewell/trace-mapping" "^0.3.24"
+
+"@jridgewell/resolve-uri@^3.1.0":
+ version "3.1.2"
+ resolved "https://registry.yarnpkg.com/@jridgewell/resolve-uri/-/resolve-uri-3.1.2.tgz#7a0ee601f60f99a20c7c7c5ff0c80388c1189bd6"
+ integrity sha512-bRISgCIjP20/tbWSPWMEi54QVPRZExkuD9lJL+UIxUKtwVJA8wW1Trb1jMs1RFXo1CBTNZ/5hpC9QvmKWdopKw==
+
+"@jridgewell/set-array@^1.2.1":
+ version "1.2.1"
+ resolved "https://registry.yarnpkg.com/@jridgewell/set-array/-/set-array-1.2.1.tgz#558fb6472ed16a4c850b889530e6b36438c49280"
+ integrity sha512-R8gLRTZeyp03ymzP/6Lil/28tGeGEzhx1q2k703KGWRAI1VdvPIXdG70VJc2pAMw3NA6JKL5hhFu1sJX0Mnn/A==
+
+"@jridgewell/source-map@^0.3.3":
+ version "0.3.5"
+ resolved "https://registry.yarnpkg.com/@jridgewell/source-map/-/source-map-0.3.5.tgz#a3bb4d5c6825aab0d281268f47f6ad5853431e91"
+ integrity sha512-UTYAUj/wviwdsMfzoSJspJxbkH5o1snzwX0//0ENX1u/55kkZZkcTZP6u9bwKGkv+dkk9at4m1Cpt0uY80kcpQ==
+ dependencies:
+ "@jridgewell/gen-mapping" "^0.3.0"
+ "@jridgewell/trace-mapping" "^0.3.9"
+
+"@jridgewell/sourcemap-codec@^1.4.10", "@jridgewell/sourcemap-codec@^1.4.14":
+ version "1.4.15"
+ resolved "https://registry.yarnpkg.com/@jridgewell/sourcemap-codec/-/sourcemap-codec-1.4.15.tgz#d7c6e6755c78567a951e04ab52ef0fd26de59f32"
+ integrity sha512-eF2rxCRulEKXHTRiDrDy6erMYWqNw4LPdQ8UQA4huuxaQsVeRPFl2oM8oDGxMFhJUWZf9McpLtJasDDZb/Bpeg==
+
+"@jridgewell/trace-mapping@^0.3.20", "@jridgewell/trace-mapping@^0.3.24", "@jridgewell/trace-mapping@^0.3.9":
+ version "0.3.25"
+ resolved "https://registry.yarnpkg.com/@jridgewell/trace-mapping/-/trace-mapping-0.3.25.tgz#15f190e98895f3fc23276ee14bc76b675c2e50f0"
+ integrity sha512-vNk6aEwybGtawWmy/PzwnGDOjCkLWSD2wqvjGGAgOAwCGWySYXfYoxt00IJkTF+8Lb57DwOb3Aa0o9CApepiYQ==
+ dependencies:
+ "@jridgewell/resolve-uri" "^3.1.0"
+ "@jridgewell/sourcemap-codec" "^1.4.14"
+
+"@js-joda/core@3.2.0":
+ version "3.2.0"
+ resolved "https://registry.yarnpkg.com/@js-joda/core/-/core-3.2.0.tgz#3e61e21b7b2b8a6be746df1335cf91d70db2a273"
+ integrity sha512-PMqgJ0sw5B7FKb2d5bWYIoxjri+QlW/Pys7+Rw82jSH0QN3rB05jZ/VrrsUdh1w4+i2kw9JOejXGq/KhDOX7Kg==
+
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+ integrity sha512-TUE1UGoTX2Cd42j3krGYqObZbOD+xF7u28WB7tfUordytSjbWTIjK/8V0amkBfTYN4/pB/GIDlJZZ657BGG19g==
+ dependencies:
+ lodash "^4.17.15"
+
+webpack-merge@^5.7.3:
+ version "5.10.0"
+ resolved "https://registry.yarnpkg.com/webpack-merge/-/webpack-merge-5.10.0.tgz#a3ad5d773241e9c682803abf628d4cd62b8a4177"
+ integrity sha512-+4zXKdx7UnO+1jaN4l2lHVD+mFvnlZQP/6ljaJVb4SZiwIKeUnrT5l0gkT8z+n4hKpC+jpOv6O9R+gLtag7pSA==
+ dependencies:
+ clone-deep "^4.0.1"
+ flat "^5.0.2"
+ wildcard "^2.0.0"
+
+webpack-sources@^3.2.3:
+ version "3.2.3"
+ resolved "https://registry.yarnpkg.com/webpack-sources/-/webpack-sources-3.2.3.tgz#2d4daab8451fd4b240cc27055ff6a0c2ccea0cde"
+ integrity sha512-/DyMEOrDgLKKIG0fmvtz+4dUX/3Ghozwgm6iPp8KRhvn+eQf9+Q7GWxVNMk3+uCPWfdXYC4ExGBckIXdFEfH1w==
+
+webpack@5.82.0:
+ version "5.82.0"
+ resolved "https://registry.yarnpkg.com/webpack/-/webpack-5.82.0.tgz#3c0d074dec79401db026b4ba0fb23d6333f88e7d"
+ integrity sha512-iGNA2fHhnDcV1bONdUu554eZx+XeldsaeQ8T67H6KKHl2nUSwX8Zm7cmzOA46ox/X1ARxf7Bjv8wQ/HsB5fxBg==
+ dependencies:
+ "@types/eslint-scope" "^3.7.3"
+ "@types/estree" "^1.0.0"
+ "@webassemblyjs/ast" "^1.11.5"
+ "@webassemblyjs/wasm-edit" "^1.11.5"
+ "@webassemblyjs/wasm-parser" "^1.11.5"
+ acorn "^8.7.1"
+ acorn-import-assertions "^1.7.6"
+ browserslist "^4.14.5"
+ chrome-trace-event "^1.0.2"
+ enhanced-resolve "^5.13.0"
+ es-module-lexer "^1.2.1"
+ eslint-scope "5.1.1"
+ events "^3.2.0"
+ glob-to-regexp "^0.4.1"
+ graceful-fs "^4.2.9"
+ json-parse-even-better-errors "^2.3.1"
+ loader-runner "^4.2.0"
+ mime-types "^2.1.27"
+ neo-async "^2.6.2"
+ schema-utils "^3.1.2"
+ tapable "^2.1.1"
+ terser-webpack-plugin "^5.3.7"
+ watchpack "^2.4.0"
+ webpack-sources "^3.2.3"
+
+whatwg-url@^5.0.0:
+ version "5.0.0"
+ resolved "https://registry.yarnpkg.com/whatwg-url/-/whatwg-url-5.0.0.tgz#966454e8765462e37644d3626f6742ce8b70965d"
+ integrity sha512-saE57nupxk6v3HY35+jzBwYa0rKSy0XR8JSxZPwgLr7ys0IBzhGviA1/TUGJLmSVqs8pb9AnvICXEuOHLprYTw==
+ dependencies:
+ tr46 "~0.0.3"
+ webidl-conversions "^3.0.0"
+
+which@^1.2.1:
+ version "1.3.1"
+ resolved "https://registry.yarnpkg.com/which/-/which-1.3.1.tgz#a45043d54f5805316da8d62f9f50918d3da70b0a"
+ integrity sha512-HxJdYWq1MTIQbJ3nw0cqssHoTNU267KlrDuGZ1WYlxDStUtKUhOaJmh112/TZmHxxUfuJqPXSOm7tDyas0OSIQ==
+ dependencies:
+ isexe "^2.0.0"
+
+which@^2.0.1:
+ version "2.0.2"
+ resolved "https://registry.yarnpkg.com/which/-/which-2.0.2.tgz#7c6a8dd0a636a0327e10b59c9286eee93f3f51b1"
+ integrity sha512-BLI3Tl1TW3Pvl70l3yq3Y64i+awpwXqsGBYWkkqMtnbXgrMD+yj7rhW0kuEDxzJaYXGjEW5ogapKNMEKNMjibA==
+ dependencies:
+ isexe "^2.0.0"
+
+wildcard@^2.0.0:
+ version "2.0.1"
+ resolved "https://registry.yarnpkg.com/wildcard/-/wildcard-2.0.1.tgz#5ab10d02487198954836b6349f74fff961e10f67"
+ integrity sha512-CC1bOL87PIWSBhDcTrdeLo6eGT7mCFtrg0uIJtqJUFyK+eJnzl8A1niH56uu7KMa5XFrtiV+AQuHO3n7DsHnLQ==
+
+workerpool@6.2.1:
+ version "6.2.1"
+ resolved "https://registry.yarnpkg.com/workerpool/-/workerpool-6.2.1.tgz#46fc150c17d826b86a008e5a4508656777e9c343"
+ integrity sha512-ILEIE97kDZvF9Wb9f6h5aXK4swSlKGUcOEGiIYb2OOu/IrDU9iwj0fD//SsA6E5ibwJxpEvhullJY4Sl4GcpAw==
+
+wrap-ansi@^7.0.0:
+ version "7.0.0"
+ resolved "https://registry.yarnpkg.com/wrap-ansi/-/wrap-ansi-7.0.0.tgz#67e145cff510a6a6984bdf1152911d69d2eb9e43"
+ integrity sha512-YVGIj2kamLSTxw6NsZjoBxfSwsn0ycdesmc4p+Q21c5zPuZ1pl+NfxVdxPtdHvmNVOQ6XSYG4AUtyt/Fi7D16Q==
+ dependencies:
+ ansi-styles "^4.0.0"
+ string-width "^4.1.0"
+ strip-ansi "^6.0.0"
+
+wrappy@1:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/wrappy/-/wrappy-1.0.2.tgz#b5243d8f3ec1aa35f1364605bc0d1036e30ab69f"
+ integrity sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ==
+
+ws@8.5.0:
+ version "8.5.0"
+ resolved "https://registry.yarnpkg.com/ws/-/ws-8.5.0.tgz#bfb4be96600757fe5382de12c670dab984a1ed4f"
+ integrity sha512-BWX0SWVgLPzYwF8lTzEy1egjhS4S4OEAHfsO8o65WOVsrnSRGaSiUaa9e0ggGlkMTtBlmOpEXiie9RUcBO86qg==
+
+ws@~8.11.0:
+ version "8.11.0"
+ resolved "https://registry.yarnpkg.com/ws/-/ws-8.11.0.tgz#6a0d36b8edfd9f96d8b25683db2f8d7de6e8e143"
+ integrity sha512-HPG3wQd9sNQoT9xHyNCXoDUa+Xw/VevmY9FoHyQ+g+rrMn4j6FB4np7Z0OhdTgjx6MgQLK7jwSy1YecU1+4Asg==
+
+y18n@^5.0.5:
+ version "5.0.8"
+ resolved "https://registry.yarnpkg.com/y18n/-/y18n-5.0.8.tgz#7f4934d0f7ca8c56f95314939ddcd2dd91ce1d55"
+ integrity sha512-0pfFzegeDWJHJIAmTLRP2DwHjdF5s7jo9tuztdQxAhINCdvS+3nGINqPd00AphqJR/0LhANUS6/+7SCb98YOfA==
+
+yargs-parser@20.2.4:
+ version "20.2.4"
+ resolved "https://registry.yarnpkg.com/yargs-parser/-/yargs-parser-20.2.4.tgz#b42890f14566796f85ae8e3a25290d205f154a54"
+ integrity sha512-WOkpgNhPTlE73h4VFAFsOnomJVaovO8VqLDzy5saChRBFQFBoMYirowyW+Q9HB4HFF4Z7VZTiG3iSzJJA29yRA==
+
+yargs-parser@^20.2.2:
+ version "20.2.9"
+ resolved "https://registry.yarnpkg.com/yargs-parser/-/yargs-parser-20.2.9.tgz#2eb7dc3b0289718fc295f362753845c41a0c94ee"
+ integrity sha512-y11nGElTIV+CT3Zv9t7VKl+Q3hTQoT9a1Qzezhhl6Rp21gJ/IVTW7Z3y9EWXhuUBC2Shnf+DX0antecpAwSP8w==
+
+yargs-unparser@2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/yargs-unparser/-/yargs-unparser-2.0.0.tgz#f131f9226911ae5d9ad38c432fe809366c2325eb"
+ integrity sha512-7pRTIA9Qc1caZ0bZ6RYRGbHJthJWuakf+WmHK0rVeLkNrrGhfoabBNdue6kdINI6r4if7ocq9aD/n7xwKOdzOA==
+ dependencies:
+ camelcase "^6.0.0"
+ decamelize "^4.0.0"
+ flat "^5.0.2"
+ is-plain-obj "^2.1.0"
+
+yargs@16.2.0, yargs@^16.1.1:
+ version "16.2.0"
+ resolved "https://registry.yarnpkg.com/yargs/-/yargs-16.2.0.tgz#1c82bf0f6b6a66eafce7ef30e376f49a12477f66"
+ integrity sha512-D1mvvtDG0L5ft/jGWkLpG1+m0eQxOfaBvTNELraWj22wSVUMWxZUvYgJYcKh6jGGIkJFhH4IZPQhR4TKpc8mBw==
+ dependencies:
+ cliui "^7.0.2"
+ escalade "^3.1.1"
+ get-caller-file "^2.0.5"
+ require-directory "^2.1.1"
+ string-width "^4.2.0"
+ y18n "^5.0.5"
+ yargs-parser "^20.2.2"
+
+yocto-queue@^0.1.0:
+ version "0.1.0"
+ resolved "https://registry.yarnpkg.com/yocto-queue/-/yocto-queue-0.1.0.tgz#0294eb3dee05028d31ee1a5fa2c556a6aaf10a1b"
+ integrity sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q==
From 4835376c0de47caa95cd6d0f362c140f1f6af7e8 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 6 Mar 2024 18:55:11 +0300
Subject: [PATCH 062/125] Add proper deviceName to in-memory property history
---
.../space/kscience/controls/misc/PropertyHistory.kt | 10 +++++++---
1 file changed, 7 insertions(+), 3 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/PropertyHistory.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/PropertyHistory.kt
index 96bd8d5..092d9bb 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/PropertyHistory.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/PropertyHistory.kt
@@ -10,6 +10,7 @@ import space.kscience.controls.api.PropertyChangedMessage
import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.name
import space.kscience.dataforge.meta.MetaConverter
+import space.kscience.dataforge.names.Name
/**
* An interface for device property history.
@@ -34,6 +35,7 @@ public interface PropertyHistory<T> {
public class CollectedPropertyHistory<T>(
public val scope: CoroutineScope,
eventFlow: Flow<DeviceMessage>,
+ public val deviceName: Name,
public val propertyName: String,
public val converter: MetaConverter<T>,
maxSize: Int = 1000,
@@ -41,7 +43,7 @@ public class CollectedPropertyHistory<T>(
private val store: SharedFlow<ValueWithTime<T>> = eventFlow
.filterIsInstance<PropertyChangedMessage>()
- .filter { it.property == propertyName }
+ .filter { it.sourceDevice == deviceName && it.property == propertyName }
.map { ValueWithTime(converter.read(it.value), it.time) }
.shareIn(scope, started = SharingStarted.Eagerly, replay = maxSize)
@@ -54,13 +56,15 @@ public class CollectedPropertyHistory<T>(
*/
public fun <T> Device.collectPropertyHistory(
scope: CoroutineScope = this,
+ deviceName: Name,
propertyName: String,
converter: MetaConverter<T>,
maxSize: Int = 1000,
-): PropertyHistory<T> = CollectedPropertyHistory(scope, messageFlow, propertyName, converter, maxSize)
+): PropertyHistory<T> = CollectedPropertyHistory(scope, messageFlow, deviceName, propertyName, converter, maxSize)
public fun <D : Device, T> D.collectPropertyHistory(
scope: CoroutineScope = this,
+ deviceName: Name,
spec: DevicePropertySpec<D, T>,
maxSize: Int = 1000,
-): PropertyHistory<T> = collectPropertyHistory(scope, spec.name, spec.converter, maxSize)
\ No newline at end of file
+): PropertyHistory<T> = collectPropertyHistory(scope, deviceName, spec.name, spec.converter, maxSize)
\ No newline at end of file
From 29af4dfb2c68c90000c282f3c346b1c6e1f2597e Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Tue, 12 Mar 2024 22:26:43 +0300
Subject: [PATCH 063/125] Add heartbeat and watchdog
---
magix/magix-utils/build.gradle.kts | 26 ++++++
.../kscience/magix/services/MagixRegistry.kt | 6 +-
.../magix/services/WatcherEndpointWrapper.kt | 82 +++++++++++++++++++
.../kscience/magix/services/converters.kt | 0
.../kscience/magix/services/magixPortal.kt | 0
settings.gradle.kts | 2 +
6 files changed, 113 insertions(+), 3 deletions(-)
create mode 100644 magix/magix-utils/build.gradle.kts
rename magix/{magix-api => magix-utils}/src/commonMain/kotlin/space/kscience/magix/services/MagixRegistry.kt (97%)
create mode 100644 magix/magix-utils/src/commonMain/kotlin/space/kscience/magix/services/WatcherEndpointWrapper.kt
rename magix/{magix-api => magix-utils}/src/commonMain/kotlin/space/kscience/magix/services/converters.kt (100%)
rename magix/{magix-api => magix-utils}/src/commonMain/kotlin/space/kscience/magix/services/magixPortal.kt (100%)
diff --git a/magix/magix-utils/build.gradle.kts b/magix/magix-utils/build.gradle.kts
new file mode 100644
index 0000000..1f0ca20
--- /dev/null
+++ b/magix/magix-utils/build.gradle.kts
@@ -0,0 +1,26 @@
+import space.kscience.gradle.Maturity
+
+plugins {
+ id("space.kscience.gradle.mpp")
+ `maven-publish`
+}
+
+description = """
+ Common utilities and services for Magix endpoints.
+""".trimIndent()
+
+val dataforgeVersion: String by rootProject.extra
+
+kscience {
+ jvm()
+ js()
+ native()
+ commonMain {
+ api(projects.magix.magixApi)
+ api("space.kscience:dataforge-meta:$dataforgeVersion")
+ }
+}
+
+readme {
+ maturity = Maturity.EXPERIMENTAL
+}
\ No newline at end of file
diff --git a/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/services/MagixRegistry.kt b/magix/magix-utils/src/commonMain/kotlin/space/kscience/magix/services/MagixRegistry.kt
similarity index 97%
rename from magix/magix-api/src/commonMain/kotlin/space/kscience/magix/services/MagixRegistry.kt
rename to magix/magix-utils/src/commonMain/kotlin/space/kscience/magix/services/MagixRegistry.kt
index 3272131..c1a9466 100644
--- a/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/services/MagixRegistry.kt
+++ b/magix/magix-utils/src/commonMain/kotlin/space/kscience/magix/services/MagixRegistry.kt
@@ -127,11 +127,11 @@ public fun CoroutineScope.launchMagixRegistry(
*
* If [registryEndpoint] field is provided, send request only to given endpoint.
*
- * @param endpointName the name of endpoint requesting a property
+ * @param sourceEndpoint the name of endpoint requesting a property
*/
public suspend fun MagixEndpoint.getProperty(
propertyName: String,
- endpointName: String,
+ sourceEndpoint: String,
user: JsonElement? = null,
registryEndpoint: String? = null,
): Flow<Pair<String, JsonElement>> = subscribe(
@@ -146,7 +146,7 @@ public suspend fun MagixEndpoint.getProperty(
send(
MagixRegistryMessage.format,
MagixRegistryRequestMessage(propertyName),
- source = endpointName,
+ source = sourceEndpoint,
target = registryEndpoint,
user = user
)
diff --git a/magix/magix-utils/src/commonMain/kotlin/space/kscience/magix/services/WatcherEndpointWrapper.kt b/magix/magix-utils/src/commonMain/kotlin/space/kscience/magix/services/WatcherEndpointWrapper.kt
new file mode 100644
index 0000000..8560c79
--- /dev/null
+++ b/magix/magix-utils/src/commonMain/kotlin/space/kscience/magix/services/WatcherEndpointWrapper.kt
@@ -0,0 +1,82 @@
+package space.kscience.magix.services
+
+import kotlinx.coroutines.*
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.collect
+import kotlinx.coroutines.flow.filter
+import kotlinx.coroutines.flow.onEach
+import kotlinx.serialization.json.JsonNull
+import kotlinx.serialization.json.JsonPrimitive
+import kotlinx.serialization.json.jsonPrimitive
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.get
+import space.kscience.dataforge.meta.string
+import space.kscience.magix.api.MagixEndpoint
+import space.kscience.magix.api.MagixMessage
+import space.kscience.magix.api.MagixMessageFilter
+import space.kscience.magix.api.send
+import kotlin.time.Duration
+import kotlin.time.Duration.Companion.seconds
+
+public class WatcherEndpointWrapper(
+ private val scope: CoroutineScope,
+ private val endpointName: String,
+ private val endpoint: MagixEndpoint,
+ private val meta: Meta,
+) : MagixEndpoint {
+
+ private val watchDogJob: Job = scope.launch {
+ val filter = MagixMessageFilter(
+ format = listOf(MAGIX_WATCHDOG_FORMAT),
+ target = listOf(null, endpointName)
+ )
+ endpoint.subscribe(filter).filter {
+ it.payload.jsonPrimitive.content == MAGIX_PING
+ }.onEach { request ->
+ endpoint.send(
+ MagixMessage(
+ MAGIX_WATCHDOG_FORMAT,
+ JsonPrimitive(MAGIX_PONG),
+ sourceEndpoint = endpointName,
+ targetEndpoint = request.sourceEndpoint,
+ parentId = request.id
+ )
+ )
+ }.collect()
+ }
+
+ private val heartBeatDelay: Duration = meta["heartbeat.period"].string?.let { Duration.parse(it) } ?: 10.seconds
+ //TODO add update from registry
+
+ private val heartBeatJob = scope.launch {
+ while (isActive){
+ delay(heartBeatDelay)
+ endpoint.send(
+ MagixMessage(
+ MAGIX_HEARTBEAT_FORMAT,
+ JsonNull, //TODO consider adding timestamp
+ endpointName
+ )
+ )
+ }
+ }
+
+ override fun subscribe(filter: MagixMessageFilter): Flow<MagixMessage> = endpoint.subscribe(filter)
+
+ override suspend fun broadcast(message: MagixMessage) {
+ endpoint.broadcast(message)
+ }
+
+ override fun close() {
+ endpoint.close()
+ watchDogJob.cancel()
+ heartBeatJob.cancel()
+ }
+
+ public companion object {
+ public const val MAGIX_WATCHDOG_FORMAT: String = "magix.watchdog"
+ public const val MAGIX_PING: String = "ping"
+ public const val MAGIX_PONG: String = "pong"
+ public const val MAGIX_HEARTBEAT_FORMAT: String = "magix.heartbeat"
+ }
+}
\ No newline at end of file
diff --git a/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/services/converters.kt b/magix/magix-utils/src/commonMain/kotlin/space/kscience/magix/services/converters.kt
similarity index 100%
rename from magix/magix-api/src/commonMain/kotlin/space/kscience/magix/services/converters.kt
rename to magix/magix-utils/src/commonMain/kotlin/space/kscience/magix/services/converters.kt
diff --git a/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/services/magixPortal.kt b/magix/magix-utils/src/commonMain/kotlin/space/kscience/magix/services/magixPortal.kt
similarity index 100%
rename from magix/magix-api/src/commonMain/kotlin/space/kscience/magix/services/magixPortal.kt
rename to magix/magix-utils/src/commonMain/kotlin/space/kscience/magix/services/magixPortal.kt
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 7de4241..01bb379 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -47,6 +47,7 @@ include(
":controls-server",
":controls-opcua",
":controls-modbus",
+ ":controls-plc4x",
// ":controls-mongo",
":controls-storage",
":controls-storage:controls-xodus",
@@ -55,6 +56,7 @@ include(
":controls-jupyter",
":magix",
":magix:magix-api",
+ ":magix:magix-utils",
":magix:magix-server",
":magix:magix-rsocket",
":magix:magix-java-endpoint",
From f28e9dc226ea1856cae1575e1b7ae636777ad3a8 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 18 Mar 2024 09:30:41 +0300
Subject: [PATCH 064/125] Update constructor api
---
build.gradle.kts | 4 +-
.../controls/constructor/DeviceConstructor.kt | 44 +++---------
.../controls/constructor/DeviceState.kt | 16 +++++
.../controls/opcua/server/DeviceNameSpace.kt | 2 +-
.../src/commonMain/kotlin/plotExtensions.kt | 69 ++++++++++++++++---
.../jsMain/kotlin/ControlsVisionPlugin.js.kt | 14 +---
demo/constructor/api/constructor.api | 2 +-
demo/constructor/build.gradle.kts | 2 +-
demo/constructor/src/jvmMain/kotlin/main.kt | 5 +-
gradle.properties | 2 +-
magix/magix-utils/build.gradle.kts | 1 +
11 files changed, 98 insertions(+), 63 deletions(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index 99946f1..eeb4bfe 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -6,14 +6,14 @@ plugins {
}
val dataforgeVersion: String by extra("0.8.0")
-val visionforgeVersion by extra("0.4.0")
+val visionforgeVersion by extra("0.4.1")
val ktorVersion: String by extra(space.kscience.gradle.KScienceVersions.ktorVersion)
val rsocketVersion by extra("0.15.4")
val xodusVersion by extra("2.0.1")
allprojects {
group = "space.kscience"
- version = "0.3.0"
+ version = "0.3.1-dev-1"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
index 5c11f27..820f6ef 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -10,7 +10,6 @@ import space.kscience.dataforge.names.Name
import space.kscience.dataforge.names.asName
import kotlin.properties.PropertyDelegateProvider
import kotlin.properties.ReadOnlyProperty
-import kotlin.properties.ReadWriteProperty
import kotlin.reflect.KProperty
import kotlin.time.Duration
@@ -55,17 +54,17 @@ public abstract class DeviceConstructor(
/**
* Register a property and provide a direct reader for it
*/
- public fun <T : Any> property(
- state: DeviceState<T>,
+ public fun <T : Any, S: DeviceState<T>> property(
+ state: S,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
nameOverride: String? = null,
- ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, T>> =
+ ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, S>> =
PropertyDelegateProvider { _: DeviceConstructor, property ->
val name = nameOverride ?: property.name
val descriptor = PropertyDescriptor(name).apply(descriptorBuilder)
registerProperty(descriptor, state)
ReadOnlyProperty { _: DeviceConstructor, _ ->
- state.value
+ state
}
}
@@ -79,37 +78,14 @@ public abstract class DeviceConstructor(
initialState: T,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
nameOverride: String? = null,
- ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, T>> = property(
+ ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, DeviceState<T>>> = property(
DeviceState.external(this, metaConverter, readInterval, initialState, reader),
descriptorBuilder,
nameOverride,
)
-
/**
- * Register a mutable property and provide a direct reader for it
- */
- public fun <T : Any> mutableProperty(
- state: MutableDeviceState<T>,
- descriptorBuilder: PropertyDescriptor.() -> Unit = {},
- nameOverride: String? = null,
- ): PropertyDelegateProvider<DeviceConstructor, ReadWriteProperty<DeviceConstructor, T>> =
- PropertyDelegateProvider { _: DeviceConstructor, property ->
- val name = nameOverride ?: property.name
- val descriptor = PropertyDescriptor(name).apply(descriptorBuilder)
- registerProperty(descriptor, state)
- object : ReadWriteProperty<DeviceConstructor, T> {
- override fun getValue(thisRef: DeviceConstructor, property: KProperty<*>): T = state.value
-
- override fun setValue(thisRef: DeviceConstructor, property: KProperty<*>, value: T) {
- state.value = value
- }
-
- }
- }
-
- /**
- * Register external state as a property
+ * Register a mutable external state as a property
*/
public fun <T : Any> mutableProperty(
metaConverter: MetaConverter<T>,
@@ -119,22 +95,22 @@ public abstract class DeviceConstructor(
initialState: T,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
nameOverride: String? = null,
- ): PropertyDelegateProvider<DeviceConstructor, ReadWriteProperty<DeviceConstructor, T>> = mutableProperty(
+ ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, MutableDeviceState<T>>> = property(
DeviceState.external(this, metaConverter, readInterval, initialState, reader, writer),
descriptorBuilder,
nameOverride,
)
/**
- * Create and register a virtual property with optional [callback]
+ * Create and register a virtual mutable property with optional [callback]
*/
- public fun <T : Any> state(
+ public fun <T : Any> virtualProperty(
metaConverter: MetaConverter<T>,
initialState: T,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
nameOverride: String? = null,
callback: (T) -> Unit = {},
- ): PropertyDelegateProvider<DeviceConstructor, ReadWriteProperty<DeviceConstructor, T>> = mutableProperty(
+ ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, MutableDeviceState<T>>> = property(
DeviceState.virtual(metaConverter, initialState, callback),
descriptorBuilder,
nameOverride,
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index 1828edd..1219210 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -1,6 +1,7 @@
package space.kscience.controls.constructor
import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Job
import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.*
import kotlinx.coroutines.launch
@@ -11,6 +12,7 @@ import space.kscience.controls.spec.MutableDevicePropertySpec
import space.kscience.controls.spec.name
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.MetaConverter
+import kotlin.reflect.KProperty
import kotlin.time.Duration
/**
@@ -29,6 +31,13 @@ public val <T> DeviceState<T>.metaFlow: Flow<Meta> get() = valueFlow.map(convert
public val <T> DeviceState<T>.valueAsMeta: Meta get() = converter.convert(value)
+public operator fun <T> DeviceState<T>.getValue(thisRef: Any?, property: KProperty<*>): T = value
+
+/**
+ * Collect values in a given [scope]
+ */
+public fun <T> DeviceState<T>.collectValuesIn(scope: CoroutineScope, block: suspend (T)->Unit): Job =
+ valueFlow.onEach(block).launchIn(scope)
/**
* A mutable state of a device
@@ -37,6 +46,10 @@ public interface MutableDeviceState<T> : DeviceState<T> {
override var value: T
}
+public operator fun <T> MutableDeviceState<T>.setValue(thisRef: Any?, property: KProperty<*>, value: T) {
+ this.value = value
+}
+
public var <T : Any> MutableDeviceState<T>.valueAsMeta: Meta
get() = converter.convert(value)
set(arg) {
@@ -216,6 +229,9 @@ private class MutableExternalState<T>(
}
}
+/**
+ * Create a [DeviceState] that regularly reads and caches an external value
+ */
public fun <T> DeviceState.Companion.external(
scope: CoroutineScope,
converter: MetaConverter<T>,
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
index e108b21..aa73890 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/server/DeviceNameSpace.kt
@@ -75,7 +75,7 @@ public class DeviceNameSpace(
browseName = newQualifiedName(propertyName)
displayName = LocalizedText.english(propertyName)
- dataType = if (descriptor.metaDescriptor.children.isNotEmpty()) {
+ dataType = if (descriptor.metaDescriptor.nodes.isNotEmpty()) {
Identifiers.String
} else when (descriptor.metaDescriptor.valueTypes?.first()) {
null, ValueType.STRING, ValueType.NULL -> Identifiers.String
diff --git a/controls-vision/src/commonMain/kotlin/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
index 6e92165..4cfa49b 100644
--- a/controls-vision/src/commonMain/kotlin/plotExtensions.kt
+++ b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
@@ -2,13 +2,8 @@
package space.kscience.controls.vision
-import kotlinx.coroutines.CoroutineScope
-import kotlinx.coroutines.FlowPreview
-import kotlinx.coroutines.Job
-import kotlinx.coroutines.flow.launchIn
-import kotlinx.coroutines.flow.onEach
-import kotlinx.coroutines.flow.sample
-import kotlinx.coroutines.flow.transform
+import kotlinx.coroutines.*
+import kotlinx.coroutines.flow.*
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import kotlinx.datetime.Clock
@@ -22,6 +17,7 @@ import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.name
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.*
+import space.kscience.dataforge.misc.DFExperimental
import space.kscience.plotly.Plot
import space.kscience.plotly.bar
import space.kscience.plotly.models.Bar
@@ -183,4 +179,61 @@ public fun Plot.plotBooleanState(
configuration: Bar.() -> Unit = {},
): Job = bar(configuration).run {
updateFromState(context, state, { asValue() }, maxAge, maxPoints, minPoints, sampling)
-}
\ No newline at end of file
+}
+
+private fun <T> Flow<T>.chunkedByPeriod(duration: Duration): Flow<List<T>> {
+ val collector: ArrayDeque<T> = ArrayDeque<T>()
+ return channelFlow {
+ coroutineScope {
+ launch {
+ while (isActive) {
+ delay(duration)
+ send(ArrayList(collector))
+ collector.clear()
+ }
+ }
+ this@chunkedByPeriod.collect {
+ collector.add(it)
+ }
+ }
+ }
+}
+
+private fun List<Instant>.averageTime(): Instant {
+ val min = min()
+ val max = max()
+ val duration = max - min
+ return min + duration / 2
+}
+
+/**
+ * Average property value by [averagingInterval]. Return [missingValue] on each sample interval if no events arrived.
+ */
+@DFExperimental
+public fun Plot.plotAveragedDeviceProperty(
+ device: Device,
+ propertyName: String,
+ missingValue: Double = 0.0,
+ extractValue: Meta.() -> Double = { value?.double ?: missingValue },
+ maxAge: Duration = defaultMaxAge,
+ maxPoints: Int = defaultMaxPoints,
+ minPoints: Int = defaultMinPoints,
+ averagingInterval: Duration = defaultSampling,
+ coroutineScope: CoroutineScope = device.context,
+ configuration: Scatter.() -> Unit = {},
+): Job = scatter(configuration).run {
+ val data = TimeData()
+ device.propertyMessageFlow(propertyName).chunkedByPeriod(averagingInterval).transform { eventList ->
+ if(eventList.isEmpty()){
+ data.append(Clock.System.now(), missingValue.asValue())
+ } else {
+ val time = eventList.map { it.time }.averageTime()
+ val value = eventList.map { extractValue(it.value) }.average()
+ data.append(time, value.asValue())
+ }
+ data.trim(maxAge, maxPoints, minPoints)
+ emit(data)
+ }.onEach {
+ it.fillPlot(x, y)
+ }.launchIn(coroutineScope)
+}
diff --git a/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt b/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
index 017989b..55074ae 100644
--- a/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
+++ b/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
@@ -1,29 +1,17 @@
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.Vision
import space.kscience.visionforge.VisionPlugin
-import space.kscience.visionforge.html.ElementVisionRenderer
-public actual class ControlVisionPlugin : VisionPlugin(), ElementVisionRenderer {
+public actual class ControlVisionPlugin : VisionPlugin() {
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")
diff --git a/demo/constructor/api/constructor.api b/demo/constructor/api/constructor.api
index a6e5b7e..7206553 100644
--- a/demo/constructor/api/constructor.api
+++ b/demo/constructor/api/constructor.api
@@ -14,7 +14,7 @@ public final class space/kscience/controls/demo/constructor/LinearDrive : space/
public final fun getDrive ()Lspace/kscience/controls/constructor/Drive;
public final fun getEnd ()Lspace/kscience/controls/constructor/LimitSwitch;
public final fun getPid ()Lspace/kscience/controls/constructor/PidRegulator;
- public final fun getPosition ()D
+ public final fun getPositionState ()Lspace/kscience/controls/constructor/DoubleRangeState;
public final fun getStart ()Lspace/kscience/controls/constructor/LimitSwitch;
public final fun getTarget ()D
public final fun setTarget (D)V
diff --git a/demo/constructor/build.gradle.kts b/demo/constructor/build.gradle.kts
index 470533f..6909639 100644
--- a/demo/constructor/build.gradle.kts
+++ b/demo/constructor/build.gradle.kts
@@ -3,7 +3,7 @@ import org.jetbrains.kotlin.gradle.dsl.ExplicitApiMode
plugins {
id("space.kscience.gradle.mpp")
- id("org.jetbrains.compose") version "1.5.11"
+ alias(spclibs.plugins.compose)
}
kscience {
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 5cbef67..26ca10a 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -52,8 +52,9 @@ class LinearDrive(
val end by device(LimitSwitch.factory(state.atEndState))
- val position by property(state)
- var target by mutableProperty(pid.mutablePropertyAsState(Regulator.target, 0.0))
+ val positionState: DoubleRangeState by property(state)
+ private val targetState: MutableDeviceState<Double> by property(pid.mutablePropertyAsState(Regulator.target, 0.0))
+ var target by targetState
}
diff --git a/gradle.properties b/gradle.properties
index 717cec4..4f937f0 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -7,4 +7,4 @@ org.gradle.parallel=true
org.gradle.configureondemand=true
org.gradle.jvmargs=-Xmx4096m
-toolsVersion=0.15.2-kotlin-1.9.21
\ No newline at end of file
+toolsVersion=0.15.2-kotlin-1.9.22
\ No newline at end of file
diff --git a/magix/magix-utils/build.gradle.kts b/magix/magix-utils/build.gradle.kts
index 1f0ca20..b22b5f0 100644
--- a/magix/magix-utils/build.gradle.kts
+++ b/magix/magix-utils/build.gradle.kts
@@ -15,6 +15,7 @@ kscience {
jvm()
js()
native()
+ useSerialization()
commonMain {
api(projects.magix.magixApi)
api("space.kscience:dataforge-meta:$dataforgeVersion")
From 53cc4dc0df86908d09091a17104310a5b25d209b Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 18 Mar 2024 09:34:14 +0300
Subject: [PATCH 065/125] PLC4x bindings
---
CHANGELOG.md | 3 +++
1 file changed, 3 insertions(+)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 30a9fee..760e00a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -3,8 +3,11 @@
## Unreleased
### Added
+- Value averaging plot extension
+- PLC4X bindings
### Changed
+- Constructor properties return `DeviceStat` in order to be able to subscribe to them
### Deprecated
From 70ab60f98c353c5952c2a3e41e12e6052a8a8be3 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 18 Mar 2024 17:15:39 +0300
Subject: [PATCH 066/125] fix plot extensions
---
.../controls/constructor/DeviceConstructor.kt | 4 ++--
.../controls/constructor/DeviceGroup.kt | 4 ++--
.../controls/constructor/DeviceState.kt | 2 +-
.../src/commonMain/kotlin/plotExtensions.kt | 20 +++++++++----------
4 files changed, 14 insertions(+), 16 deletions(-)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
index 820f6ef..63b5303 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -54,7 +54,7 @@ public abstract class DeviceConstructor(
/**
* Register a property and provide a direct reader for it
*/
- public fun <T : Any, S: DeviceState<T>> property(
+ public fun <T, S: DeviceState<T>> property(
state: S,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
nameOverride: String? = null,
@@ -104,7 +104,7 @@ public abstract class DeviceConstructor(
/**
* Create and register a virtual mutable property with optional [callback]
*/
- public fun <T : Any> virtualProperty(
+ public fun <T> virtualProperty(
metaConverter: MetaConverter<T>,
initialState: T,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
index 6cdb784..ca05c27 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -28,7 +28,7 @@ public open class DeviceGroup(
) : DeviceHub, CachingDevice {
internal class Property(
- val state: DeviceState<out Any>,
+ val state: DeviceState<*>,
val descriptor: PropertyDescriptor,
)
@@ -82,7 +82,7 @@ public open class DeviceGroup(
/**
* Register a new property based on [DeviceState]. Properties could be modified dynamically
*/
- public fun registerProperty(descriptor: PropertyDescriptor, state: DeviceState<out Any>) {
+ public fun registerProperty(descriptor: PropertyDescriptor, state: DeviceState<*>) {
val name = descriptor.name.parseAsName()
require(properties[name] == null) { "Can't add property with name $name. It already exists." }
properties[name] = Property(state, descriptor)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index 1219210..faa7b2f 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -50,7 +50,7 @@ public operator fun <T> MutableDeviceState<T>.setValue(thisRef: Any?, property:
this.value = value
}
-public var <T : Any> MutableDeviceState<T>.valueAsMeta: Meta
+public var <T> MutableDeviceState<T>.valueAsMeta: Meta
get() = converter.convert(value)
set(arg) {
value = converter.read(arg)
diff --git a/controls-vision/src/commonMain/kotlin/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
index 4cfa49b..804fe9d 100644
--- a/controls-vision/src/commonMain/kotlin/plotExtensions.kt
+++ b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
@@ -184,18 +184,16 @@ public fun Plot.plotBooleanState(
private fun <T> Flow<T>.chunkedByPeriod(duration: Duration): Flow<List<T>> {
val collector: ArrayDeque<T> = ArrayDeque<T>()
return channelFlow {
- coroutineScope {
- launch {
- while (isActive) {
- delay(duration)
- send(ArrayList(collector))
- collector.clear()
- }
- }
- this@chunkedByPeriod.collect {
- collector.add(it)
+ launch {
+ while (isActive) {
+ delay(duration)
+ send(ArrayList(collector))
+ collector.clear()
}
}
+ this@chunkedByPeriod.collect {
+ collector.add(it)
+ }
}
}
@@ -224,7 +222,7 @@ public fun Plot.plotAveragedDeviceProperty(
): Job = scatter(configuration).run {
val data = TimeData()
device.propertyMessageFlow(propertyName).chunkedByPeriod(averagingInterval).transform { eventList ->
- if(eventList.isEmpty()){
+ if (eventList.isEmpty()) {
data.append(Clock.System.now(), missingValue.asValue())
} else {
val time = eventList.map { it.time }.averageTime()
From 78dade4b4969f64c4316e36fc02e84e9969614af Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 18 Mar 2024 17:18:31 +0300
Subject: [PATCH 067/125] PLC4x bindings
---
controls-plc4x/build.gradle.kts | 24 ++++
.../kscience/controls/plc4x/Plc4XDevice.kt | 28 ++++
.../kscience/controls/plc4x/Plc4xProperty.kt | 31 +++++
.../kscience/controls/plc4x/plc4xConnector.kt | 123 ++++++++++++++++++
4 files changed, 206 insertions(+)
create mode 100644 controls-plc4x/build.gradle.kts
create mode 100644 controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4XDevice.kt
create mode 100644 controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4xProperty.kt
create mode 100644 controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/plc4xConnector.kt
diff --git a/controls-plc4x/build.gradle.kts b/controls-plc4x/build.gradle.kts
new file mode 100644
index 0000000..0836476
--- /dev/null
+++ b/controls-plc4x/build.gradle.kts
@@ -0,0 +1,24 @@
+import space.kscience.gradle.Maturity
+
+plugins {
+ id("space.kscience.gradle.mpp")
+ `maven-publish`
+}
+
+val plc4xVersion = "0.12.0"
+
+description = """
+ A plugin for Controls-kt device server on top of plc4x library
+""".trimIndent()
+
+kscience{
+ jvm()
+ jvmMain{
+ api(projects.controlsCore)
+ api("org.apache.plc4x:plc4j-spi:$plc4xVersion")
+ }
+}
+
+readme{
+ maturity = Maturity.EXPERIMENTAL
+}
\ No newline at end of file
diff --git a/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4XDevice.kt b/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4XDevice.kt
new file mode 100644
index 0000000..996d194
--- /dev/null
+++ b/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4XDevice.kt
@@ -0,0 +1,28 @@
+package space.kscience.controls.plc4x
+
+import kotlinx.coroutines.future.await
+import org.apache.plc4x.java.api.PlcConnection
+import org.apache.plc4x.java.api.messages.PlcWriteRequest
+import space.kscience.controls.api.Device
+import space.kscience.dataforge.meta.Meta
+
+public interface Plc4XDevice: Device {
+ public val connection: PlcConnection
+
+ public suspend fun read(plc4xProperty: Plc4xProperty): Meta = with(plc4xProperty){
+ val request = connection.readRequestBuilder().request().build()
+ val response = request.execute().await()
+ response.readProperty()
+ }
+
+ public suspend fun write(plc4xProperty: Plc4xProperty, value: Meta): Unit = with(plc4xProperty){
+ val request: PlcWriteRequest = connection.writeRequestBuilder().writeProperty(value).build()
+ request.execute().await()
+ }
+
+ public suspend fun subscribe(propertyName: String, plc4xProperty: Plc4xProperty): Unit = with(plc4xProperty){
+
+ }
+
+}
+
diff --git a/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4xProperty.kt b/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4xProperty.kt
new file mode 100644
index 0000000..5b16dec
--- /dev/null
+++ b/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4xProperty.kt
@@ -0,0 +1,31 @@
+package space.kscience.controls.plc4x
+
+import org.apache.plc4x.java.api.messages.PlcReadRequest
+import org.apache.plc4x.java.api.messages.PlcReadResponse
+import org.apache.plc4x.java.api.messages.PlcWriteRequest
+import org.apache.plc4x.java.api.types.PlcValueType
+import space.kscience.dataforge.meta.Meta
+
+public interface Plc4xProperty {
+
+ public fun PlcReadRequest.Builder.request(): PlcReadRequest.Builder
+
+ public fun PlcReadResponse.readProperty(): Meta
+
+ public fun PlcWriteRequest.Builder.writeProperty(meta: Meta): PlcWriteRequest.Builder
+}
+
+public class DefaultPlc4xProperty(
+ private val address: String,
+ private val plcValueType: PlcValueType,
+ private val name: String = "@default",
+) : Plc4xProperty {
+
+ override fun PlcReadRequest.Builder.request(): PlcReadRequest.Builder =
+ addTagAddress(name, address)
+ override fun PlcReadResponse.readProperty(): Meta =
+ asPlcValue.toMeta()
+
+ override fun PlcWriteRequest.Builder.writeProperty(meta: Meta): PlcWriteRequest.Builder =
+ addTagAddress(name, address, meta.toPlcValue(plcValueType))
+}
\ No newline at end of file
diff --git a/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/plc4xConnector.kt b/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/plc4xConnector.kt
new file mode 100644
index 0000000..5d0b2de
--- /dev/null
+++ b/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/plc4xConnector.kt
@@ -0,0 +1,123 @@
+package space.kscience.controls.plc4x
+
+import org.apache.plc4x.java.api.types.PlcValueType
+import org.apache.plc4x.java.api.value.PlcValue
+import org.apache.plc4x.java.spi.values.*
+import space.kscience.dataforge.meta.*
+import space.kscience.dataforge.names.asName
+import java.math.BigInteger
+
+internal fun PlcValue.toMeta(): Meta = Meta {
+ when (plcValueType) {
+ null, PlcValueType.NULL -> value = Null
+ PlcValueType.BOOL -> value = this@toMeta.boolean.asValue()
+ PlcValueType.BYTE -> this@toMeta.byte.asValue()
+ PlcValueType.WORD -> this@toMeta.short.asValue()
+ PlcValueType.DWORD -> this@toMeta.int.asValue()
+ PlcValueType.LWORD -> this@toMeta.long.asValue()
+ PlcValueType.USINT -> this@toMeta.short.asValue()
+ PlcValueType.UINT -> this@toMeta.int.asValue()
+ PlcValueType.UDINT -> this@toMeta.long.asValue()
+ PlcValueType.ULINT -> this@toMeta.bigInteger.asValue()
+ PlcValueType.SINT -> this@toMeta.byte.asValue()
+ PlcValueType.INT -> this@toMeta.short.asValue()
+ PlcValueType.DINT -> this@toMeta.int.asValue()
+ PlcValueType.LINT -> this@toMeta.long.asValue()
+ PlcValueType.REAL -> this@toMeta.float.asValue()
+ PlcValueType.LREAL -> this@toMeta.double.asValue()
+ PlcValueType.CHAR -> this@toMeta.int.asValue()
+ PlcValueType.WCHAR -> this@toMeta.short.asValue()
+ PlcValueType.STRING -> this@toMeta.string.asValue()
+ PlcValueType.WSTRING -> this@toMeta.string.asValue()
+ PlcValueType.TIME -> this@toMeta.duration.toString().asValue()
+ PlcValueType.LTIME -> this@toMeta.duration.toString().asValue()
+ PlcValueType.DATE -> this@toMeta.date.toString().asValue()
+ PlcValueType.LDATE -> this@toMeta.date.toString().asValue()
+ PlcValueType.TIME_OF_DAY -> this@toMeta.time.toString().asValue()
+ PlcValueType.LTIME_OF_DAY -> this@toMeta.time.toString().asValue()
+ PlcValueType.DATE_AND_TIME -> this@toMeta.dateTime.toString().asValue()
+ PlcValueType.DATE_AND_LTIME -> this@toMeta.dateTime.toString().asValue()
+ PlcValueType.LDATE_AND_TIME -> this@toMeta.dateTime.toString().asValue()
+ PlcValueType.Struct -> this@toMeta.struct.forEach { (name, item) ->
+ set(name, item.toMeta())
+ }
+
+ PlcValueType.List -> {
+ val listOfMeta = this@toMeta.list.map { it.toMeta() }
+ if (listOfMeta.all { it.items.isEmpty() }) {
+ value = listOfMeta.map { it.value ?: Null }.asValue()
+ } else {
+ setIndexed("@list".asName(), list.map { it.toMeta() })
+ }
+ }
+
+ PlcValueType.RAW_BYTE_ARRAY -> this@toMeta.raw.asValue()
+ }
+}
+
+private fun Value.toPlcValue(): PlcValue = when (type) {
+ ValueType.NUMBER -> when (val number = number) {
+ is Short -> PlcINT(number.toShort())
+ is Int -> PlcDINT(number.toInt())
+ is Long -> PlcLINT(number.toLong())
+ is Float -> PlcREAL(number.toFloat())
+ else -> PlcLREAL(number.toDouble())
+ }
+
+ ValueType.STRING -> PlcSTRING(string)
+ ValueType.BOOLEAN -> PlcBOOL(boolean)
+ ValueType.NULL -> PlcNull()
+ ValueType.LIST -> TODO()
+}
+
+internal fun Meta.toPlcValue(hint: PlcValueType): PlcValue = when (hint) {
+ PlcValueType.Struct -> PlcStruct(
+ items.entries.associate { (token, item) ->
+ token.toString() to item.toPlcValue(PlcValueType.Struct)
+ }
+ )
+
+ PlcValueType.NULL -> PlcNull()
+ PlcValueType.BOOL -> PlcBOOL(boolean)
+ PlcValueType.BYTE -> PlcBYTE(int)
+ PlcValueType.WORD -> PlcWORD(int)
+ PlcValueType.DWORD -> PlcDWORD(int)
+ PlcValueType.LWORD -> PlcLWORD(long)
+ PlcValueType.USINT -> PlcLWORD(short)
+ PlcValueType.UINT -> PlcUINT(int)
+ PlcValueType.UDINT -> PlcDINT(long)
+ PlcValueType.ULINT -> (number as? BigInteger)?.let { PlcULINT(it) } ?: PlcULINT(long)
+ PlcValueType.SINT -> PlcSINT(int)
+ PlcValueType.INT -> PlcINT(int)
+ PlcValueType.DINT -> PlcDINT(int)
+ PlcValueType.LINT -> PlcLINT(long)
+ PlcValueType.REAL -> PlcREAL(float)
+ PlcValueType.LREAL -> PlcLREAL(double)
+ PlcValueType.CHAR -> PlcCHAR(int)
+ PlcValueType.WCHAR -> PlcWCHAR(short)
+ PlcValueType.STRING -> PlcSTRING(string)
+ PlcValueType.WSTRING -> PlcWSTRING(string)
+ PlcValueType.TIME -> PlcTIME(string?.let { java.time.Duration.parse(it) })
+ PlcValueType.LTIME -> PlcLTIME(string?.let { java.time.Duration.parse(it) })
+ PlcValueType.DATE -> PlcDATE(string?.let { java.time.LocalDate.parse(it) })
+ PlcValueType.LDATE -> PlcLDATE(string?.let { java.time.LocalDate.parse(it) })
+ PlcValueType.TIME_OF_DAY -> PlcTIME_OF_DAY(string?.let { java.time.LocalTime.parse(it) })
+ PlcValueType.LTIME_OF_DAY -> PlcLTIME_OF_DAY(string?.let { java.time.LocalTime.parse(it) })
+ PlcValueType.DATE_AND_TIME -> PlcDATE_AND_TIME(string?.let { java.time.LocalDateTime.parse(it) })
+ PlcValueType.DATE_AND_LTIME -> PlcDATE_AND_LTIME(string?.let { java.time.LocalDateTime.parse(it) })
+ PlcValueType.LDATE_AND_TIME -> PlcLDATE_AND_TIME(string?.let { java.time.LocalDateTime.parse(it) })
+ PlcValueType.List -> PlcList().apply {
+ value?.list?.forEach { add(it.toPlcValue()) }
+ getIndexed("@list").forEach { (_, meta) ->
+ if (meta.items.isEmpty()) {
+ meta.value?.let { add(it.toPlcValue()) }
+ } else {
+ add(meta.toPlcValue(PlcValueType.Struct))
+ }
+ }
+ }
+
+ PlcValueType.RAW_BYTE_ARRAY -> PlcRawByteArray(
+ value?.list?.map { it.number.toByte() }?.toByteArray() ?: error("The meta content is not byte array")
+ )
+}
\ No newline at end of file
From 9a40d4f3404010b53b6ceacd17a346d42c98a6e0 Mon Sep 17 00:00:00 2001
From: InsanusMokrassar <ovsyannikov.alexey95@gmail.com>
Date: Wed, 20 Mar 2024 00:48:26 +0600
Subject: [PATCH 068/125] exclude ktor/rsocket/dataforge versions
---
build.gradle.kts | 5 -----
controls-core/build.gradle.kts | 2 +-
controls-magix/build.gradle.kts | 2 +-
controls-ports-ktor/build.gradle.kts | 4 +---
controls-server/build.gradle.kts | 15 ++++++---------
.../controls-xodus/build.gradle.kts | 4 +---
demo/all-things/build.gradle.kts | 5 +----
demo/car/build.gradle.kts | 5 +----
demo/echo/build.gradle.kts | 5 +----
demo/many-devices/build.gradle.kts | 5 +----
gradle/libs.versions.toml | 17 +++++++++++++++++
magix/magix-rsocket/build.gradle.kts | 9 ++++-----
magix/magix-server/build.gradle.kts | 5 ++---
.../magix-storage-xodus/build.gradle.kts | 4 +---
settings.gradle.kts | 11 +++++++++++
15 files changed, 49 insertions(+), 49 deletions(-)
create mode 100644 gradle/libs.versions.toml
diff --git a/build.gradle.kts b/build.gradle.kts
index df7c664..02dde8d 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -6,11 +6,6 @@ plugins {
id("space.kscience.gradle.project")
}
-val dataforgeVersion: String by extra("0.6.2-dev-3")
-val ktorVersion: String by extra(space.kscience.gradle.KScienceVersions.ktorVersion)
-val rsocketVersion by extra("0.15.4")
-val xodusVersion by extra("2.0.1")
-
allprojects {
group = "space.kscience"
version = "0.2.0"
diff --git a/controls-core/build.gradle.kts b/controls-core/build.gradle.kts
index bbe32eb..05bb084 100644
--- a/controls-core/build.gradle.kts
+++ b/controls-core/build.gradle.kts
@@ -21,7 +21,7 @@ kscience {
}
useContextReceivers()
dependencies {
- api("space.kscience:dataforge-io:$dataforgeVersion")
+ api(libs.dataforge.io)
api(spclibs.kotlinx.datetime)
}
}
diff --git a/controls-magix/build.gradle.kts b/controls-magix/build.gradle.kts
index 0296b8c..f0a6339 100644
--- a/controls-magix/build.gradle.kts
+++ b/controls-magix/build.gradle.kts
@@ -18,7 +18,7 @@ kscience {
dependencies {
api(projects.magix.magixApi)
api(projects.controlsCore)
- api("com.benasher44:uuid:0.8.0")
+ api(libs.uuid)
}
}
diff --git a/controls-ports-ktor/build.gradle.kts b/controls-ports-ktor/build.gradle.kts
index 4c8ad9a..1f1efda 100644
--- a/controls-ports-ktor/build.gradle.kts
+++ b/controls-ports-ktor/build.gradle.kts
@@ -9,11 +9,9 @@ description = """
Implementation of byte ports on top os ktor-io asynchronous API
""".trimIndent()
-val ktorVersion: String by rootProject.extra
-
dependencies {
api(projects.controlsCore)
- api("io.ktor:ktor-network:$ktorVersion")
+ api(spclibs.ktor.network)
}
readme{
diff --git a/controls-server/build.gradle.kts b/controls-server/build.gradle.kts
index 43a9d61..5528b63 100644
--- a/controls-server/build.gradle.kts
+++ b/controls-server/build.gradle.kts
@@ -9,19 +9,16 @@ description = """
A combined Magix event loop server with web server for visualization.
""".trimIndent()
-val dataforgeVersion: String by rootProject.extra
-val ktorVersion: String by rootProject.extra
-
dependencies {
implementation(projects.controlsCore)
implementation(projects.controlsPortsKtor)
implementation(projects.magix.magixServer)
- implementation("io.ktor:ktor-server-cio:$ktorVersion")
- implementation("io.ktor:ktor-server-websockets:$ktorVersion")
- implementation("io.ktor:ktor-server-content-negotiation:$ktorVersion")
- implementation("io.ktor:ktor-serialization-kotlinx-json:$ktorVersion")
- implementation("io.ktor:ktor-server-html-builder:$ktorVersion")
- implementation("io.ktor:ktor-server-status-pages:$ktorVersion")
+ implementation(spclibs.ktor.server.cio)
+ implementation(spclibs.ktor.server.websockets)
+ implementation(spclibs.ktor.server.content.negotiation)
+ implementation(spclibs.ktor.serialization.kotlinx.json)
+ implementation(spclibs.ktor.server.html.builder)
+ implementation(spclibs.ktor.server.status.pages)
}
readme{
diff --git a/controls-storage/controls-xodus/build.gradle.kts b/controls-storage/controls-xodus/build.gradle.kts
index 329f3ce..8cebd37 100644
--- a/controls-storage/controls-xodus/build.gradle.kts
+++ b/controls-storage/controls-xodus/build.gradle.kts
@@ -3,15 +3,13 @@ plugins {
`maven-publish`
}
-val xodusVersion: String by rootProject.extra
-
description = """
An implementation of controls-storage on top of JetBrains Xodus.
""".trimIndent()
dependencies {
api(projects.controlsStorage)
- implementation("org.jetbrains.xodus:xodus-entity-store:$xodusVersion")
+ implementation(libs.xodus.entity.store)
// implementation("org.jetbrains.xodus:xodus-environment:$xodusVersion")
// implementation("org.jetbrains.xodus:xodus-vfs:$xodusVersion")
diff --git a/demo/all-things/build.gradle.kts b/demo/all-things/build.gradle.kts
index 05d7395..9670921 100644
--- a/demo/all-things/build.gradle.kts
+++ b/demo/all-things/build.gradle.kts
@@ -10,9 +10,6 @@ repositories {
maven("https://repo.kotlin.link")
}
-val ktorVersion: String by rootProject.extra
-val rsocketVersion: String by rootProject.extra
-
dependencies {
implementation(projects.controlsCore)
//implementation(projects.controlsServer)
@@ -22,7 +19,7 @@ dependencies {
implementation(projects.magix.magixZmq)
implementation(projects.controlsOpcua)
- implementation("io.ktor:ktor-client-cio:$ktorVersion")
+ implementation(spclibs.ktor.client.cio)
implementation("no.tornado:tornadofx:1.7.20")
implementation("space.kscience:plotlykt-server:0.5.3")
// implementation("com.github.Ricky12Awesome:json-schema-serialization:0.6.6")
diff --git a/demo/car/build.gradle.kts b/demo/car/build.gradle.kts
index 5d53f11..0d2de58 100644
--- a/demo/car/build.gradle.kts
+++ b/demo/car/build.gradle.kts
@@ -10,9 +10,6 @@ repositories {
maven("https://repo.kotlin.link")
}
-val ktorVersion: String by rootProject.extra
-val rsocketVersion: String by rootProject.extra
-
dependencies {
implementation(projects.controlsCore)
implementation(projects.magix.magixApi)
@@ -24,7 +21,7 @@ dependencies {
implementation(projects.magix.magixStorage.magixStorageXodus)
// implementation(projects.controlsMongo)
- implementation("io.ktor:ktor-client-cio:$ktorVersion")
+ implementation(spclibs.ktor.client.cio)
implementation("org.jetbrains.kotlinx:kotlinx-datetime:0.3.1")
implementation("no.tornado:tornadofx:1.7.20")
implementation("space.kscience:plotlykt-server:0.5.0")
diff --git a/demo/echo/build.gradle.kts b/demo/echo/build.gradle.kts
index 5563ba3..d10aee5 100644
--- a/demo/echo/build.gradle.kts
+++ b/demo/echo/build.gradle.kts
@@ -8,14 +8,11 @@ repositories {
maven("https://repo.kotlin.link")
}
-val ktorVersion: String by rootProject.extra
-val rsocketVersion: String by rootProject.extra
-
dependencies {
implementation(projects.magix.magixServer)
implementation(projects.magix.magixRsocket)
implementation(projects.magix.magixZmq)
- implementation("io.ktor:ktor-client-cio:$ktorVersion")
+ implementation(spclibs.ktor.client.cio)
implementation("ch.qos.logback:logback-classic:1.2.11")
}
diff --git a/demo/many-devices/build.gradle.kts b/demo/many-devices/build.gradle.kts
index 7248e42..250b5e7 100644
--- a/demo/many-devices/build.gradle.kts
+++ b/demo/many-devices/build.gradle.kts
@@ -9,16 +9,13 @@ repositories {
maven("https://repo.kotlin.link")
}
-val ktorVersion: String by rootProject.extra
-val rsocketVersion: String by rootProject.extra
-
dependencies {
implementation(projects.magix.magixServer)
implementation(projects.controlsMagix)
implementation(projects.magix.magixRsocket)
implementation(projects.magix.magixZmq)
- implementation("io.ktor:ktor-client-cio:$ktorVersion")
+ implementation(spclibs.ktor.client.cio)
implementation("space.kscience:plotlykt-server:0.6.0")
implementation(spclibs.logback.classic)
}
diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
new file mode 100644
index 0000000..502a400
--- /dev/null
+++ b/gradle/libs.versions.toml
@@ -0,0 +1,17 @@
+[versions]
+
+dataforge = "0.6.2-dev-3"
+rsocket = "0.15.4"
+xodus = "2.0.1"
+
+uuid = "0.8.0"
+
+[libraries]
+
+dataforge-io = { module = "space.kscience:dataforge-io", version.ref = "dataforge" }
+uuid = { module = "com.benasher44:uuid", version.ref = "uuid" }
+xodus-entity-store = { module = "org.jetbrains.xodus:xodus-entity-store", version.ref = "xodus" }
+rsocket-ktor-client = { module = "io.rsocket.kotlin:rsocket-ktor-client", version.ref = "rsocket" }
+rsocket-ktor-server = { module = "io.rsocket.kotlin:rsocket-ktor-server", version.ref = "rsocket" }
+rsocket-transport-ktor-tcp = { module = "io.rsocket.kotlin:rsocket-transport-ktor-tcp", version.ref = "rsocket" }
+
diff --git a/magix/magix-rsocket/build.gradle.kts b/magix/magix-rsocket/build.gradle.kts
index b2046bb..ca016ce 100644
--- a/magix/magix-rsocket/build.gradle.kts
+++ b/magix/magix-rsocket/build.gradle.kts
@@ -10,7 +10,6 @@ description = """
""".trimIndent()
val ktorVersion: String by rootProject.extra
-val rsocketVersion: String by rootProject.extra
kscience {
jvm()
@@ -21,11 +20,11 @@ kscience {
}
dependencies {
api(projects.magix.magixApi)
- implementation("io.ktor:ktor-client-core:$ktorVersion")
- implementation("io.rsocket.kotlin:rsocket-ktor-client:$rsocketVersion")
+ implementation(spclibs.ktor.client.core)
+ implementation(libs.rsocket.ktor.client)
}
dependencies(jvmMain) {
- implementation("io.rsocket.kotlin:rsocket-transport-ktor-tcp:$rsocketVersion")
+ implementation(libs.rsocket.transport.ktor.tcp)
}
}
@@ -33,7 +32,7 @@ kotlin {
sourceSets {
getByName("linuxX64Main") {
dependencies {
- implementation("io.rsocket.kotlin:rsocket-transport-ktor-tcp:$rsocketVersion")
+ implementation(libs.rsocket.transport.ktor.tcp)
}
}
}
diff --git a/magix/magix-server/build.gradle.kts b/magix/magix-server/build.gradle.kts
index cb63049..f00b81e 100644
--- a/magix/magix-server/build.gradle.kts
+++ b/magix/magix-server/build.gradle.kts
@@ -17,7 +17,6 @@ kscience {
}
val dataforgeVersion: String by rootProject.extra
-val rsocketVersion: String by rootProject.extra
val ktorVersion: String = space.kscience.gradle.KScienceVersions.ktorVersion
dependencies{
@@ -28,8 +27,8 @@ dependencies{
api("io.ktor:ktor-serialization-kotlinx-json:$ktorVersion")
api("io.ktor:ktor-server-html-builder:$ktorVersion")
- api("io.rsocket.kotlin:rsocket-ktor-server:$rsocketVersion")
- api("io.rsocket.kotlin:rsocket-transport-ktor-tcp:$rsocketVersion")
+ api(libs.rsocket.ktor.server)
+ api(libs.rsocket.transport.ktor.tcp)
}
readme{
diff --git a/magix/magix-storage/magix-storage-xodus/build.gradle.kts b/magix/magix-storage/magix-storage-xodus/build.gradle.kts
index ed1dc32..f50abe3 100644
--- a/magix/magix-storage/magix-storage-xodus/build.gradle.kts
+++ b/magix/magix-storage/magix-storage-xodus/build.gradle.kts
@@ -3,15 +3,13 @@ plugins {
`maven-publish`
}
-val xodusVersion: String by rootProject.extra
-
kscience {
useCoroutines()
}
dependencies {
api(projects.magix.magixStorage)
- implementation("org.jetbrains.xodus:xodus-entity-store:$xodusVersion")
+ implementation(libs.xodus.entity.store)
// implementation("org.jetbrains.xodus:dnq:2.0.0")
testImplementation(spclibs.kotlinx.coroutines.test)
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 20ac44e..626da41 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -35,6 +35,17 @@ dependencyResolutionManagement {
versionCatalogs {
create("spclibs") {
from("space.kscience:version-catalog:$toolsVersion")
+
+ library("ktor-client-core", "io.ktor", "ktor-client-core").versionRef("ktor")
+ library("ktor-client-cio", "io.ktor", "ktor-client-cio").versionRef("ktor")
+ library("ktor-network", "io.ktor", "ktor-network").versionRef("ktor")
+ library("ktor-serialization-kotlinx-json", "io.ktor", "ktor-serialization-kotlinx-json").versionRef("ktor")
+
+ library("ktor-server-cio", "io.ktor", "ktor-server-cio").versionRef("ktor")
+ library("ktor-server-websockets", "io.ktor", "ktor-server-websockets").versionRef("ktor")
+ library("ktor-server-content-negotiation", "io.ktor", "ktor-server-content-negotiation").versionRef("ktor")
+ library("ktor-server-html-builder", "io.ktor", "ktor-server-html-builder").versionRef("ktor")
+ library("ktor-server-status-pages", "io.ktor", "ktor-server-status-pages").versionRef("ktor")
}
}
}
From 89656291517dfaccff3a32a15018caad93b7da68 Mon Sep 17 00:00:00 2001
From: InsanusMokrassar <ovsyannikov.alexey95@gmail.com>
Date: Wed, 20 Mar 2024 01:08:04 +0600
Subject: [PATCH 069/125] complete dependencies extraction
---
controls-serial/build.gradle.kts | 2 +-
demo/all-things/build.gradle.kts | 4 +--
demo/car/build.gradle.kts | 14 ++++----
demo/echo/build.gradle.kts | 2 +-
demo/many-devices/build.gradle.kts | 2 +-
demo/motors/build.gradle.kts | 2 +-
gradle/libs.versions.toml | 32 +++++++++++++++++++
magix/magix-java-endpoint/build.gradle.kts | 2 +-
magix/magix-mqtt/build.gradle.kts | 2 +-
magix/magix-rabbit/build.gradle.kts | 2 +-
.../magix-storage-mongo/build.gradle.kts | 4 +--
settings.gradle.kts | 2 ++
12 files changed, 51 insertions(+), 19 deletions(-)
diff --git a/controls-serial/build.gradle.kts b/controls-serial/build.gradle.kts
index a9afc41..d44a029 100644
--- a/controls-serial/build.gradle.kts
+++ b/controls-serial/build.gradle.kts
@@ -9,7 +9,7 @@ description = "Implementation of direct serial port communication with JSerialCo
dependencies{
api(project(":controls-core"))
- implementation("com.fazecast:jSerialComm:2.10.3")
+ implementation(libs.jSerialComm)
}
readme{
diff --git a/demo/all-things/build.gradle.kts b/demo/all-things/build.gradle.kts
index 9670921..b6074ed 100644
--- a/demo/all-things/build.gradle.kts
+++ b/demo/all-things/build.gradle.kts
@@ -20,8 +20,8 @@ dependencies {
implementation(projects.controlsOpcua)
implementation(spclibs.ktor.client.cio)
- implementation("no.tornado:tornadofx:1.7.20")
- implementation("space.kscience:plotlykt-server:0.5.3")
+ implementation(libs.tornadofx)
+ implementation(libs.plotlykt.server)
// implementation("com.github.Ricky12Awesome:json-schema-serialization:0.6.6")
implementation(spclibs.logback.classic)
}
diff --git a/demo/car/build.gradle.kts b/demo/car/build.gradle.kts
index 0d2de58..b8a7fb6 100644
--- a/demo/car/build.gradle.kts
+++ b/demo/car/build.gradle.kts
@@ -22,13 +22,13 @@ dependencies {
// implementation(projects.controlsMongo)
implementation(spclibs.ktor.client.cio)
- implementation("org.jetbrains.kotlinx:kotlinx-datetime:0.3.1")
- implementation("no.tornado:tornadofx:1.7.20")
- implementation("space.kscience:plotlykt-server:0.5.0")
- implementation("ch.qos.logback:logback-classic:1.2.11")
- implementation("org.jetbrains.xodus:xodus-entity-store:1.3.232")
- implementation("org.jetbrains.xodus:xodus-environment:1.3.232")
- implementation("org.jetbrains.xodus:xodus-vfs:1.3.232")
+ implementation(spclibs.kotlinx.datetime)
+ implementation(libs.tornadofx)
+ implementation(libs.plotlykt.server)
+ implementation(libs.logback.classic)
+ implementation(libs.xodus.entity.store)
+ implementation(libs.xodus.environment)
+ implementation(libs.xodus.vfs)
// implementation("org.litote.kmongo:kmongo-coroutine-serialization:4.4.0")
}
diff --git a/demo/echo/build.gradle.kts b/demo/echo/build.gradle.kts
index d10aee5..873220e 100644
--- a/demo/echo/build.gradle.kts
+++ b/demo/echo/build.gradle.kts
@@ -14,7 +14,7 @@ dependencies {
implementation(projects.magix.magixZmq)
implementation(spclibs.ktor.client.cio)
- implementation("ch.qos.logback:logback-classic:1.2.11")
+ implementation(libs.logback.classic)
}
kotlin{
jvmToolchain(11)
diff --git a/demo/many-devices/build.gradle.kts b/demo/many-devices/build.gradle.kts
index 250b5e7..64fbfe2 100644
--- a/demo/many-devices/build.gradle.kts
+++ b/demo/many-devices/build.gradle.kts
@@ -16,7 +16,7 @@ dependencies {
implementation(projects.magix.magixZmq)
implementation(spclibs.ktor.client.cio)
- implementation("space.kscience:plotlykt-server:0.6.0")
+ implementation(libs.plotlykt.server)
implementation(spclibs.logback.classic)
}
diff --git a/demo/motors/build.gradle.kts b/demo/motors/build.gradle.kts
index 8626c72..dd64935 100644
--- a/demo/motors/build.gradle.kts
+++ b/demo/motors/build.gradle.kts
@@ -25,5 +25,5 @@ val dataforgeVersion: String by extra
dependencies {
implementation(project(":controls-ports-ktor"))
implementation(projects.controlsMagix)
- implementation("no.tornado:tornadofx:1.7.20")
+ implementation(libs.tornadofx)
}
diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
index 502a400..e39b1d9 100644
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -6,12 +6,44 @@ xodus = "2.0.1"
uuid = "0.8.0"
+fazecast = "2.10.3"
+
+tornadofx = "1.7.20"
+
+plotlykt = "0.5.3"
+
+logback = "1.2.11"
+
+hivemq = "1.3.1"
+
+rabbitmq = "5.14.2"
+
+kmongo = "4.5.1"
+
[libraries]
dataforge-io = { module = "space.kscience:dataforge-io", version.ref = "dataforge" }
+
uuid = { module = "com.benasher44:uuid", version.ref = "uuid" }
+
xodus-entity-store = { module = "org.jetbrains.xodus:xodus-entity-store", version.ref = "xodus" }
+xodus-environment = { module = "org.jetbrains.xodus:xodus-environment", version.ref = "xodus" }
+xodus-vfs = { module = "org.jetbrains.xodus:xodus-vfs", version.ref = "xodus" }
+
rsocket-ktor-client = { module = "io.rsocket.kotlin:rsocket-ktor-client", version.ref = "rsocket" }
rsocket-ktor-server = { module = "io.rsocket.kotlin:rsocket-ktor-server", version.ref = "rsocket" }
rsocket-transport-ktor-tcp = { module = "io.rsocket.kotlin:rsocket-transport-ktor-tcp", version.ref = "rsocket" }
+jSerialComm = { module = "com.fazecast:jSerialComm", version.ref = "fazecast" }
+
+tornadofx = { module = "no.tornado:tornadofx", version.ref = "tornadofx" }
+
+plotlykt-server = { module = "space.kscience:plotlykt-server", version.ref = "plotlykt" }
+
+logback-classic = { module = "ch.qos.logback:logback-classic", version.ref = "logback" }
+
+hivemq-mqtt-client = { module = "com.hivemq:hivemq-mqtt-client", version.ref = "hivemq" }
+
+rabbitmq-amqp-client = { module = "com.rabbitmq:amqp-client", version.ref = "rabbitmq" }
+
+kmongo-coroutine-serialization = { module = "org.litote.kmongo:kmongo-coroutine-serialization", version.ref = "kmongo" }
diff --git a/magix/magix-java-endpoint/build.gradle.kts b/magix/magix-java-endpoint/build.gradle.kts
index ff51835..ce20b5d 100644
--- a/magix/magix-java-endpoint/build.gradle.kts
+++ b/magix/magix-java-endpoint/build.gradle.kts
@@ -14,7 +14,7 @@ description = """
dependencies {
implementation(project(":magix:magix-rsocket"))
- implementation("org.jetbrains.kotlinx:kotlinx-coroutines-jdk9:${KScienceVersions.coroutinesVersion}")
+ implementation(spclibs.kotlinx.coroutines.jdk9)
}
//java {
diff --git a/magix/magix-mqtt/build.gradle.kts b/magix/magix-mqtt/build.gradle.kts
index e7037e6..5261a00 100644
--- a/magix/magix-mqtt/build.gradle.kts
+++ b/magix/magix-mqtt/build.gradle.kts
@@ -9,7 +9,7 @@ description = """
dependencies {
api(projects.magix.magixApi)
- implementation("com.hivemq:hivemq-mqtt-client:1.3.1")
+ implementation(libs.hivemq.mqtt.client)
implementation(spclibs.kotlinx.coroutines.jdk8)
}
diff --git a/magix/magix-rabbit/build.gradle.kts b/magix/magix-rabbit/build.gradle.kts
index 3d7bc4d..d5472a5 100644
--- a/magix/magix-rabbit/build.gradle.kts
+++ b/magix/magix-rabbit/build.gradle.kts
@@ -9,7 +9,7 @@ description = """
dependencies {
api(projects.magix.magixApi)
- implementation("com.rabbitmq:amqp-client:5.14.2")
+ implementation(libs.rabbitmq.amqp.client)
}
readme{
diff --git a/magix/magix-storage/magix-storage-mongo/build.gradle.kts b/magix/magix-storage/magix-storage-mongo/build.gradle.kts
index 51ed9f4..b72a2ec 100644
--- a/magix/magix-storage/magix-storage-mongo/build.gradle.kts
+++ b/magix/magix-storage/magix-storage-mongo/build.gradle.kts
@@ -3,11 +3,9 @@ plugins {
`maven-publish`
}
-val kmongoVersion = "4.5.1"
-
dependencies {
implementation(projects.controlsStorage)
- implementation("org.litote.kmongo:kmongo-coroutine-serialization:$kmongoVersion")
+ implementation(libs.kmongo.coroutine.serialization)
}
readme{
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 626da41..0753e55 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -36,6 +36,8 @@ dependencyResolutionManagement {
create("spclibs") {
from("space.kscience:version-catalog:$toolsVersion")
+ library("kotlinx-coroutines-jdk9", "org.jetbrains.kotlinx", "kotlinx-coroutines-jdk9").versionRef("kotlinx-coroutines")
+
library("ktor-client-core", "io.ktor", "ktor-client-core").versionRef("ktor")
library("ktor-client-cio", "io.ktor", "ktor-client-cio").versionRef("ktor")
library("ktor-network", "io.ktor", "ktor-network").versionRef("ktor")
From d91296c47d73358b3d5e0ebcb018240902168cf7 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 25 Mar 2024 15:48:23 +0300
Subject: [PATCH 070/125] Refactor load test
---
.../space/kscience/controls/ports/Port.kt | 2 +-
.../space/kscience/controls/ports/phrases.kt | 25 ++++
.../kscience/controls/client/controlsMagix.kt | 5 +-
demo/many-devices/build.gradle.kts | 2 +-
.../kscience/controls/demo/MassDevice.kt | 109 ++++++++++--------
gradle/wrapper/gradle-wrapper.properties | 2 +-
6 files changed, 91 insertions(+), 54 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt
index b17de92..9366604 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt
@@ -80,7 +80,7 @@ public abstract class AbstractPort(
/**
* Raw flow of incoming data chunks. The chunks are not guaranteed to be complete phrases.
- * In order to form phrases, some condition should be used on top of it.
+ * To form phrases, some condition should be used on top of it.
* For example [stringsDelimitedIncoming] generates phrases with fixed delimiter.
*/
override fun receiving(): Flow<ByteArray> = incoming.receiveAsFlow()
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
index b86591f..03d21f5 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
@@ -42,6 +42,31 @@ public fun Flow<ByteArray>.withDelimiter(delimiter: ByteArray): Flow<ByteArray>
}
}
+private fun Flow<ByteArray>.withFixedMessageSize(messageSize: Int): Flow<ByteArray> {
+ require(messageSize > 0) { "Message size should be positive" }
+
+ val output = Buffer()
+
+ onCompletion {
+ output.close()
+ }
+
+ return transform { chunk ->
+ val remaining: Int = (messageSize - output.size).toInt()
+ if (chunk.size >= remaining) {
+ output.write(chunk, endIndex = remaining)
+ emit(output.readByteArray())
+ output.clear()
+ //write the remaining chunk fragment
+ if(chunk.size> remaining) {
+ output.write(chunk, startIndex = remaining)
+ }
+ } else {
+ output.write(chunk)
+ }
+ }
+}
+
/**
* Transform byte fragments into utf-8 phrases using utf-8 delimiter
*/
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
index 8aa4383..915d0a0 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
@@ -12,6 +12,8 @@ import space.kscience.controls.manager.respondHubMessage
import space.kscience.dataforge.context.error
import space.kscience.dataforge.context.logger
import space.kscience.magix.api.*
+import kotlin.coroutines.CoroutineContext
+import kotlin.coroutines.EmptyCoroutineContext
internal val controlsMagixFormat: MagixFormat<DeviceMessage> = MagixFormat(
@@ -38,7 +40,8 @@ internal fun generateId(request: MagixMessage): String = if (request.id != null)
public fun DeviceManager.launchMagixService(
endpoint: MagixEndpoint,
endpointID: String = controlsMagixFormat.defaultFormat,
-): Job = context.launch {
+ coroutineContext: CoroutineContext = EmptyCoroutineContext,
+): Job = context.launch(coroutineContext) {
endpoint.subscribe(controlsMagixFormat, targetFilter = listOf(endpointID, null)).onEach { (request, payload) ->
val responsePayload = respondHubMessage(payload)
responsePayload.forEach {
diff --git a/demo/many-devices/build.gradle.kts b/demo/many-devices/build.gradle.kts
index 7248e42..f46b71f 100644
--- a/demo/many-devices/build.gradle.kts
+++ b/demo/many-devices/build.gradle.kts
@@ -19,7 +19,7 @@ dependencies {
implementation(projects.magix.magixZmq)
implementation("io.ktor:ktor-client-cio:$ktorVersion")
- implementation("space.kscience:plotlykt-server:0.6.0")
+ implementation("space.kscience:plotlykt-server:0.7.1")
implementation(spclibs.logback.classic)
}
diff --git a/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt b/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt
index 22d7e1c..5eafabf 100644
--- a/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt
+++ b/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt
@@ -1,8 +1,11 @@
package space.kscience.controls.demo
-import kotlinx.coroutines.*
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import kotlinx.datetime.Clock
@@ -19,15 +22,19 @@ import space.kscience.dataforge.meta.get
import space.kscience.dataforge.meta.int
import space.kscience.magix.api.MagixEndpoint
import space.kscience.magix.api.subscribe
-import space.kscience.magix.rsocket.rSocketWithTcp
-import space.kscience.magix.rsocket.rSocketWithWebSockets
+import space.kscience.magix.rsocket.rSocketStreamWithWebSockets
import space.kscience.magix.server.RSocketMagixFlowPlugin
import space.kscience.magix.server.startMagixServer
-import space.kscience.plotly.*
+import space.kscience.plotly.Plotly
+import space.kscience.plotly.PlotlyConfig
+import space.kscience.plotly.layout
+import space.kscience.plotly.models.Bar
+import space.kscience.plotly.plot
import space.kscience.plotly.server.PlotlyUpdateMode
import space.kscience.plotly.server.serve
import space.kscience.plotly.server.show
import space.kscince.magix.zmq.ZmqMagixFlowPlugin
+import space.kscince.magix.zmq.zmq
import kotlin.random.Random
import kotlin.time.Duration
import kotlin.time.Duration.Companion.ZERO
@@ -46,14 +53,13 @@ class MassDevice(context: Context, meta: Meta) : DeviceBySpec<MassDevice>(MassDe
val value by doubleProperty { randomValue }
override suspend fun MassDevice.onOpen() {
- doRecurring((meta["delay"].int ?: 10).milliseconds) {
+ doRecurring((meta["delay"].int ?: 5).milliseconds) {
read(value)
}
}
}
}
-@OptIn(DelicateCoroutinesApi::class)
suspend fun main() {
val context = Context("Mass")
@@ -62,28 +68,60 @@ suspend fun main() {
ZmqMagixFlowPlugin()
)
- val numDevices = 100
+ val numDevices = 50
+
repeat(numDevices) {
- context.launch(newFixedThreadPoolContext(2, "Device${it}")) {
- delay(1)
- val deviceContext = Context("Device${it}") {
- plugin(DeviceManager)
+ delay(1)
+ val deviceContext = Context("Device${it}") {
+ plugin(DeviceManager)
+ }
+
+ val deviceManager = deviceContext.request(DeviceManager)
+
+ deviceManager.install("device$it", MassDevice)
+
+ val endpointId = "device$it"
+ val deviceEndpoint = MagixEndpoint.rSocketStreamWithWebSockets("localhost")
+ deviceManager.launchMagixService(deviceEndpoint, endpointId, Dispatchers.IO)
+
+ }
+
+ val trace = Bar {
+ context.launch(Dispatchers.IO) {
+ val monitorEndpoint = MagixEndpoint.zmq("localhost")
+
+ val mutex = Mutex()
+
+ val latest = HashMap<String, Duration>()
+ val max = HashMap<String, Duration>()
+
+ monitorEndpoint.subscribe(DeviceManager.magixFormat).onEach { (magixMessage, payload) ->
+ mutex.withLock {
+ val delay = Clock.System.now() - payload.time
+ latest[magixMessage.sourceEndpoint] = Clock.System.now() - payload.time
+ max[magixMessage.sourceEndpoint] =
+ maxOf(delay, max[magixMessage.sourceEndpoint] ?: ZERO)
+ }
+ }.launchIn(this)
+
+ while (isActive) {
+ delay(200)
+ mutex.withLock {
+ val sorted = max.mapKeys { it.key.substring(6).toInt() }.toSortedMap()
+ latest.clear()
+ max.clear()
+ x.numbers = sorted.keys
+ y.numbers = sorted.values.map { it.inWholeMicroseconds / 1000.0 + 0.0001 }
+ }
}
-
- val deviceManager = deviceContext.request(DeviceManager)
-
- deviceManager.install("device$it", MassDevice)
-
- val endpointId = "device$it"
- val deviceEndpoint = MagixEndpoint.rSocketWithTcp("localhost")
- deviceManager.launchMagixService(deviceEndpoint, endpointId)
}
}
- val application = Plotly.serve(port = 9091, scope = context) {
+ val application = Plotly.serve(port = 9091) {
updateMode = PlotlyUpdateMode.PUSH
updateInterval = 1000
+
page { container ->
plot(renderer = container, config = PlotlyConfig { saveAsSvg() }) {
layout {
@@ -92,36 +130,7 @@ suspend fun main() {
xaxis.title = "Device number"
yaxis.title = "Maximum latency in ms"
}
- bar {
- launch(Dispatchers.IO) {
- val monitorEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
-
- val mutex = Mutex()
-
- val latest = HashMap<String, Duration>()
- val max = HashMap<String, Duration>()
-
- monitorEndpoint.subscribe(DeviceManager.magixFormat).onEach { (magixMessage, payload) ->
- mutex.withLock {
- val delay = Clock.System.now() - payload.time
- latest[magixMessage.sourceEndpoint] = Clock.System.now() - payload.time
- max[magixMessage.sourceEndpoint] =
- maxOf(delay, max[magixMessage.sourceEndpoint] ?: ZERO)
- }
- }.launchIn(this)
-
- while (isActive) {
- delay(200)
- mutex.withLock {
- val sorted = max.mapKeys { it.key.substring(6).toInt() }.toSortedMap()
- latest.clear()
- max.clear()
- x.numbers = sorted.keys
- y.numbers = sorted.values.map { it.inWholeMicroseconds / 1000.0 + 0.0001 }
- }
- }
- }
- }
+ traces(trace)
}
}
}
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index e411586..48c0a02 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.7-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
From 85c2910ee937dd66f3add473833d4f9ded1079a1 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 31 Mar 2024 16:13:02 +0300
Subject: [PATCH 071/125] Refactor ports
---
CHANGELOG.md | 1 +
.../controls/api/AsynchronousSocket.kt | 40 +++++
.../space/kscience/controls/api/Socket.kt | 32 ----
.../controls/ports/AsynchronousPort.kt | 125 ++++++++++++++++
.../space/kscience/controls/ports/Port.kt | 100 -------------
.../kscience/controls/ports/PortProxy.kt | 64 --------
.../space/kscience/controls/ports/Ports.kt | 31 +++-
.../controls/ports/SynchronousPort.kt | 58 ++++++--
.../space/kscience/controls/ports/phrases.kt | 4 +-
.../kscience/controls/ports/ChannelPort.kt | 138 +++++++++++-------
.../kscience/controls/ports/JvmPortsPlugin.kt | 8 +-
.../kscience/controls/ports/UdpSocketPort.kt | 44 +++---
...ortIOTest.kt => AsynchronousPortIOTest.kt} | 8 +-
.../controls/pi/AsynchronousPiPort.kt | 95 ++++++++++++
.../space/kscience/controls/pi/PiPlugin.kt | 11 +-
.../kscience/controls/pi/PiSerialPort.kt | 82 -----------
.../kscience/controls/pi/SynchronousPiPort.kt | 98 +++++++++++++
.../controls/ports/KtorPortsPlugin.kt | 2 +-
.../kscience/controls/ports/KtorTcpPort.kt | 67 ++++++---
.../kscience/controls/ports/KtorUdpPort.kt | 91 ++++++++----
.../controls/serial/AsynchronousSerialPort.kt | 134 +++++++++++++++++
.../controls/serial/JSerialCommPort.kt | 87 -----------
.../controls/serial/SerialPortPlugin.kt | 14 +-
.../controls/serial/SynchronousSerialPort.kt | 127 ++++++++++++++++
.../sciprog/devices/mks/MksPdr900Device.kt | 3 +-
.../pimotionmaster/PiMotionMasterDevice.kt | 8 +-
.../PiMotionMasterVirtualDevice.kt | 58 +++++---
.../devices/pimotionmaster/piDebugServer.kt | 2 +-
28 files changed, 990 insertions(+), 542 deletions(-)
create mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/api/AsynchronousSocket.kt
delete mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/api/Socket.kt
create mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt
delete mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt
delete mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/ports/PortProxy.kt
rename controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/{PortIOTest.kt => AsynchronousPortIOTest.kt} (85%)
create mode 100644 controls-pi/src/main/kotlin/space/kscience/controls/pi/AsynchronousPiPort.kt
delete mode 100644 controls-pi/src/main/kotlin/space/kscience/controls/pi/PiSerialPort.kt
create mode 100644 controls-pi/src/main/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt
create mode 100644 controls-serial/src/main/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt
delete mode 100644 controls-serial/src/main/kotlin/space/kscience/controls/serial/JSerialCommPort.kt
create mode 100644 controls-serial/src/main/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 760e00a..4a258d7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,7 @@
### Changed
- Constructor properties return `DeviceStat` in order to be able to subscribe to them
+- Refactored ports. Now we have `AsynchronousPort` as well as `SynchronousPort`
### Deprecated
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/AsynchronousSocket.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/AsynchronousSocket.kt
new file mode 100644
index 0000000..defefb2
--- /dev/null
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/AsynchronousSocket.kt
@@ -0,0 +1,40 @@
+package space.kscience.controls.api
+
+import kotlinx.coroutines.flow.Flow
+
+/**
+ * A generic bidirectional asynchronous sender/receiver object
+ */
+public interface AsynchronousSocket<T> : AutoCloseable {
+ /**
+ * Send an object to the socket
+ */
+ public suspend fun send(data: T)
+
+ /**
+ * Flow of objects received from socket
+ */
+ public fun subscribe(): Flow<T>
+
+ /**
+ * Start socket operation
+ */
+ public fun open()
+
+ /**
+ * Check if this socket is open
+ */
+ public val isOpen: Boolean
+}
+
+/**
+ * Connect an input to this socket.
+ * Multiple inputs could be connected to the same [AsynchronousSocket].
+ *
+ * This method suspends indefinitely, so it should be started in a separate coroutine.
+ */
+public suspend fun <T> AsynchronousSocket<T>.sendFlow(flow: Flow<T>) {
+ flow.collect { send(it) }
+}
+
+
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Socket.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Socket.kt
deleted file mode 100644
index 700db2c..0000000
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Socket.kt
+++ /dev/null
@@ -1,32 +0,0 @@
-package space.kscience.controls.api
-
-import kotlinx.coroutines.CoroutineScope
-import kotlinx.coroutines.Job
-import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.launch
-
-/**
- * A generic bidirectional sender/receiver object
- */
-public interface Socket<T> : AutoCloseable {
- /**
- * Send an object to the socket
- */
- public suspend fun send(data: T)
-
- /**
- * Flow of objects received from socket
- */
- public fun receiving(): Flow<T>
- public fun isOpen(): Boolean
-}
-
-/**
- * Connect an input to this socket using designated [scope] for it and return a handler [Job].
- * Multiple inputs could be connected to the same [Socket].
- */
-public fun <T> Socket<T>.connectInput(scope: CoroutineScope, flow: Flow<T>): Job = scope.launch {
- flow.collect { send(it) }
-}
-
-
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt
new file mode 100644
index 0000000..4462a42
--- /dev/null
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt
@@ -0,0 +1,125 @@
+package space.kscience.controls.ports
+
+import kotlinx.coroutines.*
+import kotlinx.coroutines.channels.Channel
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.flow.receiveAsFlow
+import kotlinx.io.Buffer
+import kotlinx.io.Source
+import space.kscience.controls.api.AsynchronousSocket
+import space.kscience.dataforge.context.*
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.get
+import space.kscience.dataforge.meta.int
+import space.kscience.dataforge.meta.string
+import kotlin.coroutines.CoroutineContext
+
+/**
+ * Raw [ByteArray] port
+ */
+public interface AsynchronousPort : ContextAware, AsynchronousSocket<ByteArray>
+
+/**
+ * Capture [AsynchronousPort] output as kotlinx-io [Source].
+ * [scope] controls the consummation.
+ * If the scope is canceled, the source stops producing.
+ */
+public fun AsynchronousPort.receiveAsSource(scope: CoroutineScope): Source {
+ val buffer = Buffer()
+
+ subscribe().onEach {
+ buffer.write(it)
+ }.launchIn(scope)
+
+ return buffer
+}
+
+
+/**
+ * Common abstraction for [AsynchronousPort] based on [Channel]
+ */
+public abstract class AbstractAsynchronousPort(
+ override val context: Context,
+ public val meta: Meta,
+ coroutineContext: CoroutineContext = context.coroutineContext,
+) : AsynchronousPort {
+
+
+ protected val scope: CoroutineScope by lazy {
+ CoroutineScope(
+ coroutineContext +
+ SupervisorJob(coroutineContext[Job]) +
+ CoroutineExceptionHandler { _, throwable -> logger.error(throwable) { throwable.stackTraceToString() } } +
+ CoroutineName(toString())
+ )
+ }
+
+ private val outgoing = Channel<ByteArray>(meta["outgoing.capacity"].int?:100)
+ private val incoming = Channel<ByteArray>(meta["incoming.capacity"].int?:100)
+
+ /**
+ * Internal method to synchronously send data
+ */
+ protected abstract suspend fun write(data: ByteArray)
+
+ /**
+ * Internal method to receive data synchronously
+ */
+ protected suspend fun receive(data: ByteArray) {
+ logger.debug { "$this RECEIVED: ${data.decodeToString()}" }
+ incoming.send(data)
+ }
+
+ private var sendJob: Job? = null
+
+ protected abstract fun onOpen()
+
+ final override fun open() {
+ if (!isOpen) {
+ sendJob = scope.launch {
+ for (data in outgoing) {
+ try {
+ write(data)
+ logger.debug { "${this@AbstractAsynchronousPort} SENT: ${data.decodeToString()}" }
+ } catch (ex: Exception) {
+ if (ex is CancellationException) throw ex
+ logger.error(ex) { "Error while writing data to the port" }
+ }
+ }
+ }
+ onOpen()
+ } else {
+ logger.warn { "$this already opened" }
+ }
+ }
+
+
+ /**
+ * Send a data packet via the port
+ */
+ override suspend fun send(data: ByteArray) {
+ outgoing.send(data)
+ }
+
+ /**
+ * Raw flow of incoming data chunks. The chunks are not guaranteed to be complete phrases.
+ * To form phrases, some condition should be used on top of it.
+ * For example [stringsDelimitedIncoming] generates phrases with fixed delimiter.
+ */
+ override fun subscribe(): Flow<ByteArray> = incoming.receiveAsFlow()
+
+ override fun close() {
+ outgoing.close()
+ incoming.close()
+ sendJob?.cancel()
+ }
+
+ override fun toString(): String = meta["name"].string?:"ChannelPort[${hashCode().toString(16)}]"
+}
+
+/**
+ * Send UTF-8 encoded string
+ */
+public suspend fun AsynchronousPort.send(string: String): Unit = send(string.encodeToByteArray())
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt
deleted file mode 100644
index 9366604..0000000
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Port.kt
+++ /dev/null
@@ -1,100 +0,0 @@
-package space.kscience.controls.ports
-
-import kotlinx.coroutines.*
-import kotlinx.coroutines.channels.Channel
-import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.receiveAsFlow
-import space.kscience.controls.api.Socket
-import space.kscience.dataforge.context.*
-import space.kscience.dataforge.misc.DfType
-
-import kotlin.coroutines.CoroutineContext
-
-/**
- * Raw [ByteArray] port
- */
-public interface Port : ContextAware, Socket<ByteArray>
-
-/**
- * A specialized factory for [Port]
- */
-@DfType(PortFactory.TYPE)
-public interface PortFactory : Factory<Port> {
- public val type: String
-
- public companion object {
- public const val TYPE: String = "controls.port"
- }
-}
-
-/**
- * Common abstraction for [Port] based on [Channel]
- */
-public abstract class AbstractPort(
- override val context: Context,
- coroutineContext: CoroutineContext = context.coroutineContext,
-) : Port {
-
- protected val scope: CoroutineScope = CoroutineScope(coroutineContext + SupervisorJob(coroutineContext[Job]))
-
- private val outgoing = Channel<ByteArray>(100)
- private val incoming = Channel<ByteArray>(100)
-
- init {
- scope.coroutineContext[Job]?.invokeOnCompletion {
- close()
- }
- }
-
- /**
- * Internal method to synchronously send data
- */
- protected abstract suspend fun write(data: ByteArray)
-
- /**
- * Internal method to receive data synchronously
- */
- protected suspend fun receive(data: ByteArray) {
- logger.debug { "${this@AbstractPort} RECEIVED: ${data.decodeToString()}" }
- incoming.send(data)
- }
-
- private val sendJob = scope.launch {
- for (data in outgoing) {
- try {
- write(data)
- logger.debug { "${this@AbstractPort} SENT: ${data.decodeToString()}" }
- } catch (ex: Exception) {
- if (ex is CancellationException) throw ex
- logger.error(ex) { "Error while writing data to the port" }
- }
- }
- }
-
- /**
- * Send a data packet via the port
- */
- override suspend fun send(data: ByteArray) {
- outgoing.send(data)
- }
-
- /**
- * Raw flow of incoming data chunks. The chunks are not guaranteed to be complete phrases.
- * To form phrases, some condition should be used on top of it.
- * For example [stringsDelimitedIncoming] generates phrases with fixed delimiter.
- */
- override fun receiving(): Flow<ByteArray> = incoming.receiveAsFlow()
-
- override fun close() {
- outgoing.close()
- incoming.close()
- scope.cancel()
- }
-
- override fun isOpen(): Boolean = scope.isActive
-}
-
-/**
- * Send UTF-8 encoded string
- */
-public suspend fun Port.send(string: String): Unit = send(string.encodeToByteArray())
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/PortProxy.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/PortProxy.kt
deleted file mode 100644
index 4e51f6f..0000000
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/PortProxy.kt
+++ /dev/null
@@ -1,64 +0,0 @@
-package space.kscience.controls.ports
-
-import kotlinx.coroutines.ExperimentalCoroutinesApi
-import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.flow
-import kotlinx.coroutines.launch
-import kotlinx.coroutines.sync.Mutex
-import kotlinx.coroutines.sync.withLock
-import space.kscience.dataforge.context.*
-
-/**
- * A port that could be closed multiple times and opens automatically on request
- */
-public class PortProxy(override val context: Context = Global, public val factory: suspend () -> Port) : Port, ContextAware {
-
- private var actualPort: Port? = null
- private val mutex: Mutex = Mutex()
-
- private suspend fun port(): Port {
- return mutex.withLock {
- if (actualPort?.isOpen() == true) {
- actualPort!!
- } else {
- factory().also {
- actualPort = it
- }
- }
- }
- }
-
- override suspend fun send(data: ByteArray) {
- port().send(data)
- }
-
- @OptIn(ExperimentalCoroutinesApi::class)
- override fun receiving(): Flow<ByteArray> = flow {
- while (true) {
- try {
- //recreate port and Flow on connection problems
- port().receiving().collect {
- emit(it)
- }
- } catch (t: Throwable) {
- logger.warn{"Port read failed: ${t.message}. Reconnecting."}
- mutex.withLock {
- actualPort?.close()
- actualPort = null
- }
- }
- }
- }
-
- // open by default
- override fun isOpen(): Boolean = true
-
- override fun close() {
- context.launch {
- mutex.withLock {
- actualPort?.close()
- actualPort = null
- }
- }
- }
-}
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Ports.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Ports.kt
index 3d01e62..565caee 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Ports.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/Ports.kt
@@ -11,26 +11,43 @@ public class Ports : AbstractPlugin() {
override val tag: PluginTag get() = Companion.tag
- private val portFactories by lazy {
- context.gather<PortFactory>(PortFactory.TYPE)
+ private val synchronousPortFactories by lazy {
+ context.gather<Factory<SynchronousPort>>(SYNCHRONOUS_PORT_TYPE)
}
- private val portCache = mutableMapOf<Meta, Port>()
+ private val asynchronousPortFactories by lazy {
+ context.gather<Factory<AsynchronousPort>>(ASYNCHRONOUS_PORT_TYPE)
+ }
/**
- * Create a new [Port] according to specification
+ * Create a new [AsynchronousPort] according to specification
*/
- public fun buildPort(meta: Meta): Port = portCache.getOrPut(meta) {
+ public fun buildAsynchronousPort(meta: Meta): AsynchronousPort {
val type by meta.string { error("Port type is not defined") }
- val factory = portFactories.values.firstOrNull { it.type == type }
+ val factory = asynchronousPortFactories.entries
+ .firstOrNull { it.key.toString() == type }?.value
?: error("Port factory for type $type not found")
- factory.build(context, meta)
+ return factory.build(context, meta)
+ }
+
+ /**
+ * Create a [SynchronousPort] according to specification or wrap an asynchronous implementation
+ */
+ public fun buildSynchronousPort(meta: Meta): SynchronousPort {
+ val type by meta.string { error("Port type is not defined") }
+ val factory = synchronousPortFactories.entries
+ .firstOrNull { it.key.toString() == type }?.value
+ ?: return buildAsynchronousPort(meta).asSynchronousPort()
+ return factory.build(context, meta)
}
public companion object : PluginFactory<Ports> {
override val tag: PluginTag = PluginTag("controls.ports", group = PluginTag.DATAFORGE_GROUP)
+ public const val ASYNCHRONOUS_PORT_TYPE: String = "controls.asynchronousPort"
+ public const val SYNCHRONOUS_PORT_TYPE: String = "controls.synchronousPort"
+
override fun build(context: Context, meta: Meta): Ports = Ports()
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt
index 0ed4764..8d95eb0 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt
@@ -4,25 +4,65 @@ import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.first
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.ContextAware
/**
- * A port handler for synchronous (request-response) communication with a port. Only one request could be active at a time (others are suspended.
- * The handler does not guarantee exclusive access to the port so the user mush ensure that no other controller handles port at the moment.
+ * A port handler for synchronous (request-response) communication with a port.
+ * Only one request could be active at a time (others are suspended).
*/
-public class SynchronousPort(public val port: Port, private val mutex: Mutex) : Port by port {
+public interface SynchronousPort : ContextAware, AutoCloseable {
+
+ public fun open()
+
+ public val isOpen: Boolean
+
/**
- * Send a single message and wait for the flow of respond messages.
+ * Send a single message and wait for the flow of response chunks.
+ * The consumer is responsible for calling a terminal operation on the flow.
*/
- public suspend fun <R> respond(data: ByteArray, transform: suspend Flow<ByteArray>.() -> R): R = mutex.withLock {
- port.send(data)
- transform(port.receiving())
+ public suspend fun <R> respond(
+ request: ByteArray,
+ transform: suspend Flow<ByteArray>.() -> R,
+ ): R
+}
+
+private class SynchronousOverAsynchronousPort(
+ val port: AsynchronousPort,
+ val mutex: Mutex,
+) : SynchronousPort {
+
+ override val context: Context get() = port.context
+
+ override fun open() {
+ if (!port.isOpen) port.open()
+ }
+
+ override val isOpen: Boolean get() = port.isOpen
+
+ override fun close() {
+ if (port.isOpen) port.close()
+ }
+
+ override suspend fun <R> respond(
+ request: ByteArray,
+ transform: suspend Flow<ByteArray>.() -> R,
+ ): R = mutex.withLock {
+ port.send(request)
+ transform(port.subscribe())
}
}
+
/**
- * Provide a synchronous wrapper for a port
+ * Provide a synchronous wrapper for an asynchronous port.
+ * Optionally provide external [mutex] for operation synchronization.
+ *
+ * If the [AsynchronousPort] is called directly, it could violate [SynchronousPort] contract
+ * of only one request running simultaneously.
*/
-public fun Port.synchronous(mutex: Mutex = Mutex()): SynchronousPort = SynchronousPort(this, mutex)
+public fun AsynchronousPort.asSynchronousPort(mutex: Mutex = Mutex()): SynchronousPort =
+ SynchronousOverAsynchronousPort(this, mutex)
/**
* Send request and read incoming data blocks until the delimiter is encountered
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
index 03d21f5..89bee8a 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/phrases.kt
@@ -77,9 +77,9 @@ public fun Flow<ByteArray>.withStringDelimiter(delimiter: String): Flow<String>
/**
* A flow of delimited phrases
*/
-public fun Port.delimitedIncoming(delimiter: ByteArray): Flow<ByteArray> = receiving().withDelimiter(delimiter)
+public fun AsynchronousPort.delimitedIncoming(delimiter: ByteArray): Flow<ByteArray> = subscribe().withDelimiter(delimiter)
/**
* A flow of delimited phrases with string content
*/
-public fun Port.stringsDelimitedIncoming(delimiter: String): Flow<String> = receiving().withStringDelimiter(delimiter)
+public fun AsynchronousPort.stringsDelimitedIncoming(delimiter: String): Flow<String> = subscribe().withStringDelimiter(delimiter)
diff --git a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
index f450607..85c3d5c 100644
--- a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
+++ b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
@@ -1,10 +1,7 @@
package space.kscience.controls.ports
import kotlinx.coroutines.*
-import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.context.error
-import space.kscience.dataforge.context.info
-import space.kscience.dataforge.context.logger
+import space.kscience.dataforge.context.*
import space.kscience.dataforge.meta.*
import java.net.InetSocketAddress
import java.nio.ByteBuffer
@@ -14,7 +11,10 @@ import java.nio.channels.DatagramChannel
import java.nio.channels.SocketChannel
import kotlin.coroutines.CoroutineContext
-public fun ByteBuffer.toArray(limit: Int = limit()): ByteArray {
+/**
+ * Copy the contents of this buffer to an array
+ */
+public fun ByteBuffer.copyToArray(limit: Int = limit()): ByteArray {
rewind()
val response = ByteArray(limit)
get(response)
@@ -27,35 +27,40 @@ public fun ByteBuffer.toArray(limit: Int = limit()): ByteArray {
*/
public class ChannelPort(
context: Context,
+ meta: Meta,
coroutineContext: CoroutineContext = context.coroutineContext,
channelBuilder: suspend () -> ByteChannel,
-) : AbstractPort(context, coroutineContext), AutoCloseable {
-
- private val futureChannel: Deferred<ByteChannel> = scope.async(Dispatchers.IO) {
- channelBuilder()
- }
+) : AbstractAsynchronousPort(context, meta, coroutineContext), AutoCloseable {
/**
* A handler to await port connection
*/
- public val startJob: Job get() = futureChannel
+ private val futureChannel: Deferred<ByteChannel> = scope.async(Dispatchers.IO, start = CoroutineStart.LAZY) {
+ channelBuilder()
+ }
- private val listenerJob = scope.launch(Dispatchers.IO) {
- val channel = futureChannel.await()
- val buffer = ByteBuffer.allocate(1024)
- while (isActive && channel.isOpen) {
- try {
- val num = channel.read(buffer)
- if (num > 0) {
- receive(buffer.toArray(num))
- }
- if (num < 0) cancel("The input channel is exhausted")
- } catch (ex: Exception) {
- if (ex is AsynchronousCloseException) {
- logger.info { "Channel $channel closed" }
- } else {
- logger.error(ex) { "Channel read error, retrying in 1 second" }
- delay(1000)
+ private var listenerJob: Job? = null
+
+ override val isOpen: Boolean get() = listenerJob?.isActive == true
+
+ override fun onOpen() {
+ listenerJob = scope.launch(Dispatchers.IO) {
+ val channel = futureChannel.await()
+ val buffer = ByteBuffer.allocate(1024)
+ while (isActive && channel.isOpen) {
+ try {
+ val num = channel.read(buffer)
+ if (num > 0) {
+ receive(buffer.copyToArray(num))
+ }
+ if (num < 0) cancel("The input channel is exhausted")
+ } catch (ex: Exception) {
+ if (ex is AsynchronousCloseException) {
+ logger.info { "Channel $channel closed" }
+ } else {
+ logger.error(ex) { "Channel read error, retrying in 1 second" }
+ delay(1000)
+ }
}
}
}
@@ -67,6 +72,7 @@ public class ChannelPort(
@OptIn(ExperimentalCoroutinesApi::class)
override fun close() {
+ listenerJob?.cancel()
if (futureChannel.isCompleted) {
futureChannel.getCompleted().close()
}
@@ -75,61 +81,95 @@ public class ChannelPort(
}
/**
- * A [PortFactory] for TCP connections
+ * A [Factory] for TCP connections
*/
-public object TcpPort : PortFactory {
+public object TcpPort : Factory<AsynchronousPort> {
- override val type: String = "tcp"
+ public fun build(
+ context: Context,
+ host: String,
+ port: Int,
+ coroutineContext: CoroutineContext = context.coroutineContext,
+ ): ChannelPort {
+ val meta = Meta {
+ "name" put "tcp://$host:$port"
+ "type" put "tcp"
+ "host" put host
+ "port" put port
+ }
+ return ChannelPort(context, meta, coroutineContext) {
+ SocketChannel.open(InetSocketAddress(host, port))
+ }
+ }
+ /**
+ * Create and open TCP port
+ */
public fun open(
context: Context,
host: String,
port: Int,
coroutineContext: CoroutineContext = context.coroutineContext,
- ): ChannelPort = ChannelPort(context, coroutineContext) {
- SocketChannel.open(InetSocketAddress(host, port))
- }
+ ): ChannelPort = build(context, host, port, coroutineContext).apply { open() }
override fun build(context: Context, meta: Meta): ChannelPort {
val host = meta["host"].string ?: "localhost"
val port = meta["port"].int ?: error("Port value for TCP port is not defined in $meta")
- return open(context, host, port)
+ return build(context, host, port)
}
+
}
/**
- * A [PortFactory] for UDP connections
+ * A [Factory] for UDP connections
*/
-public object UdpPort : PortFactory {
+public object UdpPort : Factory<AsynchronousPort> {
- override val type: String = "udp"
+ public fun build(
+ context: Context,
+ remoteHost: String,
+ remotePort: Int,
+ localPort: Int? = null,
+ localHost: String? = null,
+ coroutineContext: CoroutineContext = context.coroutineContext,
+ ): ChannelPort {
+ val meta = Meta {
+ "name" put "udp://$remoteHost:$remotePort"
+ "type" put "udp"
+ "remoteHost" put remoteHost
+ "remotePort" put remotePort
+ localHost?.let { "localHost" put it }
+ localPort?.let { "localPort" put it }
+ }
+ return ChannelPort(context, meta, coroutineContext) {
+ DatagramChannel.open().apply {
+ //bind the channel to a local port to receive messages
+ localPort?.let { bind(InetSocketAddress(localHost ?: "localhost", it)) }
+ //connect to remote port to send messages
+ connect(InetSocketAddress(remoteHost, remotePort.toInt()))
+ context.logger.info { "Connected to UDP $remotePort on $remoteHost" }
+ }
+ }
+ }
/**
* Connect a datagram channel to a remote host/port. If [localPort] is provided, it is used to bind local port for receiving messages.
*/
- public fun openChannel(
+ public fun open(
context: Context,
remoteHost: String,
remotePort: Int,
localPort: Int? = null,
localHost: String = "localhost",
- coroutineContext: CoroutineContext = context.coroutineContext,
- ): ChannelPort = ChannelPort(context, coroutineContext) {
- DatagramChannel.open().apply {
- //bind the channel to a local port to receive messages
- localPort?.let { bind(InetSocketAddress(localHost, localPort)) }
- //connect to remote port to send messages
- connect(InetSocketAddress(remoteHost, remotePort))
- context.logger.info { "Connected to UDP $remotePort on $remoteHost" }
- }
- }
+ ): ChannelPort = build(context, remoteHost, remotePort, localPort, localHost).apply { open() }
+
override fun build(context: Context, meta: Meta): ChannelPort {
val remoteHost by meta.string { error("Remote host is not specified") }
val remotePort by meta.number { error("Remote port is not specified") }
val localHost: String? by meta.string()
val localPort: Int? by meta.int()
- return openChannel(context, remoteHost, remotePort.toInt(), localPort, localHost ?: "localhost")
+ return build(context, remoteHost, remotePort.toInt(), localPort, localHost)
}
}
\ No newline at end of file
diff --git a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/JvmPortsPlugin.kt b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/JvmPortsPlugin.kt
index d9d87e2..82e1ac0 100644
--- a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/JvmPortsPlugin.kt
+++ b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/JvmPortsPlugin.kt
@@ -6,7 +6,7 @@ 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.dataforge.names.parseAsName
+import space.kscience.dataforge.names.asName
/**
* A plugin for loading JVM nio-based ports
@@ -17,9 +17,9 @@ public class JvmPortsPlugin : AbstractPlugin() {
override val tag: PluginTag get() = Companion.tag
override fun content(target: String): Map<Name, Any> = when(target){
- PortFactory.TYPE -> mapOf(
- TcpPort.type.parseAsName() to TcpPort,
- UdpPort.type.parseAsName() to UdpPort
+ Ports.ASYNCHRONOUS_PORT_TYPE -> mapOf(
+ "tcp".asName() to TcpPort,
+ "udp".asName() to UdpPort
)
else -> emptyMap()
}
diff --git a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/UdpSocketPort.kt b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/UdpSocketPort.kt
index 27bb0d8..ae65c64 100644
--- a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/UdpSocketPort.kt
+++ b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/UdpSocketPort.kt
@@ -1,10 +1,8 @@
package space.kscience.controls.ports
-import kotlinx.coroutines.Dispatchers
-import kotlinx.coroutines.isActive
-import kotlinx.coroutines.launch
-import kotlinx.coroutines.withContext
+import kotlinx.coroutines.*
import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.Meta
import java.net.DatagramPacket
import java.net.DatagramSocket
import kotlin.coroutines.CoroutineContext
@@ -14,33 +12,39 @@ import kotlin.coroutines.CoroutineContext
*/
public class UdpSocketPort(
override val context: Context,
+ meta: Meta,
private val socket: DatagramSocket,
coroutineContext: CoroutineContext = context.coroutineContext,
-) : AbstractPort(context, coroutineContext) {
+) : AbstractAsynchronousPort(context, meta, coroutineContext) {
- private val listenerJob = context.launch(Dispatchers.IO) {
- while (isActive) {
- val buf = ByteArray(socket.receiveBufferSize)
+ private var listenerJob: Job? = null
- val packet = DatagramPacket(
- buf,
- buf.size,
- )
- socket.receive(packet)
+ override fun onOpen() {
+ listenerJob = context.launch(Dispatchers.IO) {
+ while (isActive) {
+ val buf = ByteArray(socket.receiveBufferSize)
- val bytes = packet.data.copyOfRange(
- packet.offset,
- packet.offset + packet.length
- )
- receive(bytes)
+ val packet = DatagramPacket(
+ buf,
+ buf.size,
+ )
+ socket.receive(packet)
+
+ val bytes = packet.data.copyOfRange(
+ packet.offset,
+ packet.offset + packet.length
+ )
+ receive(bytes)
+ }
}
}
override fun close() {
- listenerJob.cancel()
+ listenerJob?.cancel()
+ super.close()
}
- override fun isOpen(): Boolean = listenerJob.isActive
+ override val isOpen: Boolean get() = listenerJob?.isActive == true
override suspend fun write(data: ByteArray): Unit = withContext(Dispatchers.IO) {
diff --git a/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/PortIOTest.kt b/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/AsynchronousPortIOTest.kt
similarity index 85%
rename from controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/PortIOTest.kt
rename to controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/AsynchronousPortIOTest.kt
index daa6173..b19cfad 100644
--- a/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/PortIOTest.kt
+++ b/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/AsynchronousPortIOTest.kt
@@ -12,7 +12,7 @@ import space.kscience.dataforge.context.Global
import kotlin.test.assertEquals
-internal class PortIOTest {
+internal class AsynchronousPortIOTest {
@Test
fun testDelimiteredByteArrayFlow() {
@@ -29,8 +29,8 @@ internal class PortIOTest {
@Test
fun testUdpCommunication() = runTest {
- val receiver = UdpPort.openChannel(Global, "localhost", 8811, localPort = 8812)
- val sender = UdpPort.openChannel(Global, "localhost", 8812, localPort = 8811)
+ val receiver = UdpPort.open(Global, "localhost", 8811, localPort = 8812)
+ val sender = UdpPort.open(Global, "localhost", 8812, localPort = 8811)
delay(30)
repeat(10) {
@@ -38,7 +38,7 @@ internal class PortIOTest {
}
val res = receiver
- .receiving()
+ .subscribe()
.withStringDelimiter("\n")
.take(10)
.toList()
diff --git a/controls-pi/src/main/kotlin/space/kscience/controls/pi/AsynchronousPiPort.kt b/controls-pi/src/main/kotlin/space/kscience/controls/pi/AsynchronousPiPort.kt
new file mode 100644
index 0000000..1aee657
--- /dev/null
+++ b/controls-pi/src/main/kotlin/space/kscience/controls/pi/AsynchronousPiPort.kt
@@ -0,0 +1,95 @@
+package space.kscience.controls.pi
+
+import com.pi4j.io.serial.Baud
+import com.pi4j.io.serial.Serial
+import com.pi4j.io.serial.SerialConfigBuilder
+import com.pi4j.ktx.io.serial
+import kotlinx.coroutines.*
+import space.kscience.controls.ports.AbstractAsynchronousPort
+import space.kscience.controls.ports.AsynchronousPort
+import space.kscience.controls.ports.copyToArray
+import space.kscience.dataforge.context.*
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.enum
+import space.kscience.dataforge.meta.get
+import space.kscience.dataforge.meta.string
+import java.nio.ByteBuffer
+import kotlin.coroutines.CoroutineContext
+
+public class AsynchronousPiPort(
+ context: Context,
+ meta: Meta,
+ private val serial: Serial,
+ coroutineContext: CoroutineContext = context.coroutineContext,
+) : AbstractAsynchronousPort(context, meta, coroutineContext) {
+
+
+ private var listenerJob: Job? = null
+ override fun onOpen() {
+ serial.open()
+ listenerJob = this.scope.launch(Dispatchers.IO) {
+ val buffer = ByteBuffer.allocate(1024)
+ while (isActive) {
+ try {
+ val num = serial.read(buffer)
+ if (num > 0) {
+ receive(buffer.copyToArray(num))
+ }
+ if (num < 0) cancel("The input channel is exhausted")
+ } catch (ex: Exception) {
+ logger.error(ex) { "Channel read error" }
+ delay(1000)
+ }
+ }
+ }
+ }
+
+ override suspend fun write(data: ByteArray): Unit = withContext(Dispatchers.IO) {
+ serial.write(data)
+ }
+
+
+ override val isOpen: Boolean get() = listenerJob?.isActive == true
+
+ override fun close() {
+ listenerJob?.cancel()
+ serial.close()
+ }
+
+ public companion object : Factory<AsynchronousPort> {
+
+
+ public fun build(
+ context: Context,
+ device: String,
+ block: SerialConfigBuilder.() -> Unit,
+ ): AsynchronousPiPort {
+ val meta = Meta {
+ "name" put "pi://$device"
+ "type" put "serial"
+ }
+ val pi = context.request(PiPlugin)
+
+ val serial = pi.piContext.serial(device, block)
+ return AsynchronousPiPort(context, meta, serial)
+ }
+
+ public fun open(
+ context: Context,
+ device: String,
+ block: SerialConfigBuilder.() -> Unit,
+ ): AsynchronousPiPort = build(context, device, block).apply { open() }
+
+ override fun build(context: Context, meta: Meta): AsynchronousPort {
+ val device: String = meta["device"].string ?: error("Device name not defined")
+ val baudRate: Baud = meta["baudRate"].enum<Baud>() ?: Baud._9600
+ val pi = context.request(PiPlugin)
+ val serial = pi.piContext.serial(device) {
+ baud8N1(baudRate)
+ }
+ return AsynchronousPiPort(context, meta, serial)
+ }
+
+ }
+}
+
diff --git a/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiPlugin.kt b/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiPlugin.kt
index 20d4c80..0f2bb02 100644
--- a/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiPlugin.kt
+++ b/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiPlugin.kt
@@ -2,7 +2,6 @@ package space.kscience.controls.pi
import com.pi4j.Pi4J
import space.kscience.controls.manager.DeviceManager
-import space.kscience.controls.ports.PortFactory
import space.kscience.controls.ports.Ports
import space.kscience.dataforge.context.AbstractPlugin
import space.kscience.dataforge.context.Context
@@ -10,7 +9,7 @@ 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.dataforge.names.parseAsName
+import space.kscience.dataforge.names.asName
import com.pi4j.context.Context as PiContext
public class PiPlugin : AbstractPlugin() {
@@ -22,8 +21,11 @@ public class PiPlugin : AbstractPlugin() {
public val piContext: PiContext by lazy { createPiContext(context, meta) }
override fun content(target: String): Map<Name, Any> = when (target) {
- PortFactory.TYPE -> mapOf(
- PiSerialPort.type.parseAsName() to PiSerialPort,
+ Ports.ASYNCHRONOUS_PORT_TYPE -> mapOf(
+ "serial".asName() to AsynchronousPiPort,
+ )
+ Ports.SYNCHRONOUS_PORT_TYPE -> mapOf(
+ "serial".asName() to SynchronousPiPort,
)
else -> super.content(target)
@@ -40,6 +42,7 @@ public class PiPlugin : AbstractPlugin() {
override fun build(context: Context, meta: Meta): PiPlugin = PiPlugin()
+ @Suppress("UNUSED_PARAMETER")
public fun createPiContext(context: Context, meta: Meta): PiContext = Pi4J.newAutoContext()
}
diff --git a/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiSerialPort.kt b/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiSerialPort.kt
deleted file mode 100644
index 6b9662d..0000000
--- a/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiSerialPort.kt
+++ /dev/null
@@ -1,82 +0,0 @@
-package space.kscience.controls.pi
-
-import com.pi4j.io.serial.Baud
-import com.pi4j.io.serial.Serial
-import com.pi4j.io.serial.SerialConfigBuilder
-import com.pi4j.ktx.io.serial
-import kotlinx.coroutines.*
-import space.kscience.controls.ports.AbstractPort
-import space.kscience.controls.ports.Port
-import space.kscience.controls.ports.PortFactory
-import space.kscience.controls.ports.toArray
-import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.context.error
-import space.kscience.dataforge.context.logger
-import space.kscience.dataforge.context.request
-import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.enum
-import space.kscience.dataforge.meta.get
-import space.kscience.dataforge.meta.string
-import java.nio.ByteBuffer
-import kotlin.coroutines.CoroutineContext
-import com.pi4j.context.Context as PiContext
-
-public class PiSerialPort(
- context: Context,
- coroutineContext: CoroutineContext = context.coroutineContext,
- public val serialBuilder: PiContext.() -> Serial,
-) : AbstractPort(context, coroutineContext) {
-
- private val serial: Serial by lazy {
- val pi = context.request(PiPlugin)
- pi.piContext.serialBuilder()
- }
-
-
- private val listenerJob = this.scope.launch(Dispatchers.IO) {
- val buffer = ByteBuffer.allocate(1024)
- while (isActive) {
- try {
- val num = serial.read(buffer)
- if (num > 0) {
- receive(buffer.toArray(num))
- }
- if (num < 0) cancel("The input channel is exhausted")
- } catch (ex: Exception) {
- logger.error(ex) { "Channel read error" }
- delay(1000)
- }
- }
- }
-
- override suspend fun write(data: ByteArray): Unit = withContext(Dispatchers.IO) {
- serial.write(data)
- }
-
- override fun close() {
- listenerJob.cancel()
- serial.close()
- }
-
- public companion object : PortFactory {
- override val type: String get() = "pi"
-
- public fun open(
- context: Context,
- device: String,
- block: SerialConfigBuilder.() -> Unit,
- ): PiSerialPort = PiSerialPort(context) {
- serial(device, block)
- }
-
- override fun build(context: Context, meta: Meta): Port = PiSerialPort(context) {
- val device: String = meta["device"].string ?: error("Device name not defined")
- val baudRate: Baud = meta["baudRate"].enum<Baud>() ?: Baud._9600
- serial(device) {
- baud8N1(baudRate)
- }
- }
-
- }
-}
-
diff --git a/controls-pi/src/main/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt b/controls-pi/src/main/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt
new file mode 100644
index 0000000..acefb1f
--- /dev/null
+++ b/controls-pi/src/main/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt
@@ -0,0 +1,98 @@
+package space.kscience.controls.pi
+
+import com.pi4j.io.serial.Baud
+import com.pi4j.io.serial.Serial
+import com.pi4j.io.serial.SerialConfigBuilder
+import com.pi4j.ktx.io.serial
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.flow
+import kotlinx.coroutines.sync.Mutex
+import kotlinx.coroutines.sync.withLock
+import space.kscience.controls.ports.SynchronousPort
+import space.kscience.controls.ports.copyToArray
+import space.kscience.dataforge.context.*
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.enum
+import space.kscience.dataforge.meta.get
+import space.kscience.dataforge.meta.string
+import java.nio.ByteBuffer
+
+public class SynchronousPiPort(
+ override val context: Context,
+ public val meta: Meta,
+ private val serial: Serial,
+ private val mutex: Mutex = Mutex(),
+) : SynchronousPort {
+
+ private val pi = context.request(PiPlugin)
+ override fun open() {
+ serial.open()
+ }
+
+ override val isOpen: Boolean get() = serial.isOpen
+
+ override suspend fun <R> respond(
+ request: ByteArray,
+ transform: suspend Flow<ByteArray>.() -> R,
+ ): R = mutex.withLock {
+ serial.drain()
+ serial.write(request)
+ flow<ByteArray> {
+ val buffer = ByteBuffer.allocate(1024)
+ while (isOpen) {
+ try {
+ val num = serial.read(buffer)
+ if (num > 0) {
+ emit(buffer.copyToArray(num))
+ }
+ if (num < 0) break
+ } catch (ex: Exception) {
+ logger.error(ex) { "Channel read error" }
+ delay(1000)
+ }
+ }
+ }.transform()
+ }
+
+ override fun close() {
+ serial.close()
+ }
+
+ public companion object : Factory<SynchronousPort> {
+
+
+ public fun build(
+ context: Context,
+ device: String,
+ block: SerialConfigBuilder.() -> Unit,
+ ): SynchronousPiPort {
+ val meta = Meta {
+ "name" put "pi://$device"
+ "type" put "serial"
+ }
+ val pi = context.request(PiPlugin)
+
+ val serial = pi.piContext.serial(device, block)
+ return SynchronousPiPort(context, meta, serial)
+ }
+
+ public fun open(
+ context: Context,
+ device: String,
+ block: SerialConfigBuilder.() -> Unit,
+ ): SynchronousPiPort = build(context, device, block).apply { open() }
+
+ override fun build(context: Context, meta: Meta): SynchronousPiPort {
+ val device: String = meta["device"].string ?: error("Device name not defined")
+ val baudRate: Baud = meta["baudRate"].enum<Baud>() ?: Baud._9600
+ val pi = context.request(PiPlugin)
+ val serial = pi.piContext.serial(device) {
+ baud8N1(baudRate)
+ }
+ return SynchronousPiPort(context, meta, serial)
+ }
+
+ }
+}
+
diff --git a/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorPortsPlugin.kt b/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorPortsPlugin.kt
index 9c6dbba..6e3041c 100644
--- a/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorPortsPlugin.kt
+++ b/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorPortsPlugin.kt
@@ -13,7 +13,7 @@ public class KtorPortsPlugin : AbstractPlugin() {
override val tag: PluginTag get() = Companion.tag
override fun content(target: String): Map<Name, Any> = when (target) {
- PortFactory.TYPE -> mapOf("tcp".asName() to KtorTcpPort, "udp".asName() to KtorUdpPort)
+ Ports.ASYNCHRONOUS_PORT_TYPE -> mapOf("tcp".asName() to KtorTcpPort, "udp".asName() to KtorUdpPort)
else -> emptyMap()
}
diff --git a/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorTcpPort.kt b/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorTcpPort.kt
index a7a698e..463e922 100644
--- a/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorTcpPort.kt
+++ b/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorTcpPort.kt
@@ -8,42 +8,46 @@ import io.ktor.network.sockets.openWriteChannel
import io.ktor.utils.io.consumeEachBufferRange
import io.ktor.utils.io.core.Closeable
import io.ktor.utils.io.writeAvailable
-import kotlinx.coroutines.Dispatchers
-import kotlinx.coroutines.async
-import kotlinx.coroutines.isActive
-import kotlinx.coroutines.launch
+import kotlinx.coroutines.*
import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.get
import space.kscience.dataforge.meta.int
import space.kscience.dataforge.meta.string
+import java.nio.ByteBuffer
import kotlin.coroutines.CoroutineContext
public class KtorTcpPort internal constructor(
context: Context,
+ meta: Meta,
public val host: String,
public val port: Int,
coroutineContext: CoroutineContext = context.coroutineContext,
- socketOptions: SocketOptions.TCPClientSocketOptions.() -> Unit = {}
-) : AbstractPort(context, coroutineContext), Closeable {
+ socketOptions: SocketOptions.TCPClientSocketOptions.() -> Unit = {},
+) : AbstractAsynchronousPort(context, meta, coroutineContext), Closeable {
override fun toString(): String = "port[tcp:$host:$port]"
- private val futureSocket = scope.async {
+ private val futureSocket = scope.async(Dispatchers.IO, start = CoroutineStart.LAZY) {
aSocket(ActorSelectorManager(Dispatchers.IO)).tcp().connect(host, port, socketOptions)
}
- private val writeChannel = scope.async {
+ private val writeChannel = scope.async(Dispatchers.IO, start = CoroutineStart.LAZY) {
futureSocket.await().openWriteChannel(true)
}
- private val listenerJob = scope.launch {
- val input = futureSocket.await().openReadChannel()
- input.consumeEachBufferRange { buffer, _ ->
- val array = ByteArray(buffer.remaining())
- buffer.get(array)
- receive(array)
- isActive
+ private var listenerJob: Job? = null
+
+ override fun onOpen() {
+ listenerJob = scope.launch {
+ val input = futureSocket.await().openReadChannel()
+ input.consumeEachBufferRange { buffer: ByteBuffer, last ->
+ val array = ByteArray(buffer.remaining())
+ buffer.get(array)
+ receive(array)
+ !last && isActive
+ }
}
}
@@ -51,30 +55,45 @@ public class KtorTcpPort internal constructor(
writeChannel.await().writeAvailable(data)
}
+ override val isOpen: Boolean
+ get() = listenerJob?.isActive == true
+
override fun close() {
- listenerJob.cancel()
+ listenerJob?.cancel()
futureSocket.cancel()
super.close()
}
- public companion object : PortFactory {
+ public companion object : Factory<AsynchronousPort> {
- override val type: String = "tcp"
+ public fun build(
+ context: Context,
+ host: String,
+ port: Int,
+ coroutineContext: CoroutineContext = context.coroutineContext,
+ socketOptions: SocketOptions.TCPClientSocketOptions.() -> Unit = {},
+ ): KtorTcpPort {
+ val meta = Meta {
+ "name" put "tcp://$host:$port"
+ "type" put "tcp"
+ "host" put host
+ "port" put port
+ }
+ return KtorTcpPort(context, meta, host, port, coroutineContext, socketOptions)
+ }
public fun open(
context: Context,
host: String,
port: Int,
coroutineContext: CoroutineContext = context.coroutineContext,
- socketOptions: SocketOptions.TCPClientSocketOptions.() -> Unit = {}
- ): KtorTcpPort {
- return KtorTcpPort(context, host, port, coroutineContext, socketOptions)
- }
+ socketOptions: SocketOptions.TCPClientSocketOptions.() -> Unit = {},
+ ): KtorTcpPort = build(context, host, port, coroutineContext, socketOptions).apply { open() }
- override fun build(context: Context, meta: Meta): Port {
+ override fun build(context: Context, meta: Meta): AsynchronousPort {
val host = meta["host"].string ?: "localhost"
val port = meta["port"].int ?: error("Port value for TCP port is not defined in $meta")
- return open(context, host, port)
+ return build(context, host, port)
}
}
}
\ No newline at end of file
diff --git a/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorUdpPort.kt b/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorUdpPort.kt
index 1f30914..48096cf 100644
--- a/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorUdpPort.kt
+++ b/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorUdpPort.kt
@@ -8,6 +8,7 @@ import io.ktor.utils.io.core.Closeable
import io.ktor.utils.io.writeAvailable
import kotlinx.coroutines.*
import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.int
import space.kscience.dataforge.meta.number
@@ -16,17 +17,18 @@ import kotlin.coroutines.CoroutineContext
public class KtorUdpPort internal constructor(
context: Context,
+ meta: Meta,
public val remoteHost: String,
public val remotePort: Int,
public val localPort: Int? = null,
public val localHost: String = "localhost",
coroutineContext: CoroutineContext = context.coroutineContext,
- socketOptions: SocketOptions.UDPSocketOptions.() -> Unit = {}
-) : AbstractPort(context, coroutineContext), Closeable {
+ socketOptions: SocketOptions.UDPSocketOptions.() -> Unit = {},
+) : AbstractAsynchronousPort(context, meta, coroutineContext), Closeable {
override fun toString(): String = "port[udp:$remoteHost:$remotePort]"
- private val futureSocket = scope.async {
+ private val futureSocket = scope.async(Dispatchers.IO, start = CoroutineStart.LAZY) {
aSocket(ActorSelectorManager(Dispatchers.IO)).udp().connect(
remoteAddress = InetSocketAddress(remoteHost, remotePort),
localAddress = localPort?.let { InetSocketAddress(localHost, localPort) },
@@ -34,17 +36,21 @@ public class KtorUdpPort internal constructor(
)
}
- private val writeChannel: Deferred<ByteWriteChannel> = scope.async {
+ private val writeChannel: Deferred<ByteWriteChannel> = scope.async(Dispatchers.IO, start = CoroutineStart.LAZY) {
futureSocket.await().openWriteChannel(true)
}
- private val listenerJob = scope.launch {
- val input = futureSocket.await().openReadChannel()
- input.consumeEachBufferRange { buffer, _ ->
- val array = ByteArray(buffer.remaining())
- buffer.get(array)
- receive(array)
- isActive
+ private var listenerJob: Job? = null
+
+ override fun onOpen() {
+ listenerJob = scope.launch {
+ val input = futureSocket.await().openReadChannel()
+ input.consumeEachBufferRange { buffer, last ->
+ val array = ByteArray(buffer.remaining())
+ buffer.get(array)
+ receive(array)
+ !last && isActive
+ }
}
}
@@ -52,16 +58,49 @@ public class KtorUdpPort internal constructor(
writeChannel.await().writeAvailable(data)
}
+ override val isOpen: Boolean
+ get() = listenerJob?.isActive == true
+
override fun close() {
- listenerJob.cancel()
+ listenerJob?.cancel()
futureSocket.cancel()
super.close()
}
- public companion object : PortFactory {
+ public companion object : Factory<AsynchronousPort> {
- override val type: String = "udp"
+ public fun build(
+ context: Context,
+ remoteHost: String,
+ remotePort: Int,
+ localPort: Int? = null,
+ localHost: String? = null,
+ coroutineContext: CoroutineContext = context.coroutineContext,
+ socketOptions: SocketOptions.UDPSocketOptions.() -> Unit = {},
+ ): KtorUdpPort {
+ val meta = Meta {
+ "name" put "udp://$remoteHost:$remotePort"
+ "type" put "udp"
+ "remoteHost" put remoteHost
+ "remotePort" put remotePort
+ localHost?.let { "localHost" put it }
+ localPort?.let { "localPort" put it }
+ }
+ return KtorUdpPort(
+ context = context,
+ meta = meta,
+ remoteHost = remoteHost,
+ remotePort = remotePort,
+ localPort = localPort,
+ localHost = localHost ?: "localhost",
+ coroutineContext = coroutineContext,
+ socketOptions = socketOptions
+ )
+ }
+ /**
+ * Create and open UDP port
+ */
public fun open(
context: Context,
remoteHost: String,
@@ -69,23 +108,23 @@ public class KtorUdpPort internal constructor(
localPort: Int? = null,
localHost: String = "localhost",
coroutineContext: CoroutineContext = context.coroutineContext,
- socketOptions: SocketOptions.UDPSocketOptions.() -> Unit = {}
- ): KtorUdpPort = KtorUdpPort(
- context = context,
- remoteHost = remoteHost,
- remotePort = remotePort,
- localPort = localPort,
- localHost = localHost,
- coroutineContext = coroutineContext,
- socketOptions = socketOptions
- )
+ socketOptions: SocketOptions.UDPSocketOptions.() -> Unit = {},
+ ): KtorUdpPort = build(
+ context,
+ remoteHost,
+ remotePort,
+ localPort,
+ localHost,
+ coroutineContext,
+ socketOptions
+ ).apply { open() }
- override fun build(context: Context, meta: Meta): Port {
+ override fun build(context: Context, meta: Meta): AsynchronousPort {
val remoteHost by meta.string { error("Remote host is not specified") }
val remotePort by meta.number { error("Remote port is not specified") }
val localHost: String? by meta.string()
val localPort: Int? by meta.int()
- return open(context, remoteHost, remotePort.toInt(), localPort, localHost ?: "localhost")
+ return build(context, remoteHost, remotePort.toInt(), localPort, localHost ?: "localhost")
}
}
}
\ No newline at end of file
diff --git a/controls-serial/src/main/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt b/controls-serial/src/main/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt
new file mode 100644
index 0000000..b6e83bc
--- /dev/null
+++ b/controls-serial/src/main/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt
@@ -0,0 +1,134 @@
+package space.kscience.controls.serial
+
+import com.fazecast.jSerialComm.SerialPort
+import com.fazecast.jSerialComm.SerialPortDataListener
+import com.fazecast.jSerialComm.SerialPortEvent
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.launch
+import space.kscience.controls.ports.AbstractAsynchronousPort
+import space.kscience.controls.ports.AsynchronousPort
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.Factory
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.int
+import space.kscience.dataforge.meta.string
+import kotlin.coroutines.CoroutineContext
+
+/**
+ * A port based on JSerialComm
+ */
+public class AsynchronousSerialPort(
+ context: Context,
+ meta: Meta,
+ private val comPort: SerialPort,
+ coroutineContext: CoroutineContext = context.coroutineContext,
+) : AbstractAsynchronousPort(context, meta, coroutineContext) {
+
+ override fun toString(): String = "port[${comPort.descriptivePortName}]"
+
+ private val serialPortListener = object : SerialPortDataListener {
+ override fun getListeningEvents(): Int =
+ SerialPort.LISTENING_EVENT_DATA_RECEIVED and SerialPort.LISTENING_EVENT_DATA_AVAILABLE
+
+ override fun serialEvent(event: SerialPortEvent) {
+ when (event.eventType) {
+ SerialPort.LISTENING_EVENT_DATA_RECEIVED -> {
+ scope.launch { receive(event.receivedData) }
+ }
+
+ SerialPort.LISTENING_EVENT_DATA_AVAILABLE -> {
+ scope.launch(Dispatchers.IO) {
+ val available = comPort.bytesAvailable()
+ if (available > 0) {
+ val buffer = ByteArray(available)
+ comPort.readBytes(buffer, available)
+ receive(buffer)
+ }
+ }
+ }
+ }
+ }
+ }
+
+ override fun onOpen() {
+ comPort.openPort()
+ comPort.addDataListener(serialPortListener)
+ }
+
+ override val isOpen: Boolean get() = comPort.isOpen
+
+ override suspend fun write(data: ByteArray) {
+ comPort.writeBytes(data, data.size)
+ }
+
+ override fun close() {
+ comPort.removeDataListener()
+ if (comPort.isOpen) {
+ comPort.closePort()
+ }
+ super.close()
+ }
+
+ public companion object : Factory<AsynchronousPort> {
+
+ public fun build(
+ context: Context,
+ portName: String,
+ baudRate: Int = 9600,
+ dataBits: Int = 8,
+ stopBits: Int = SerialPort.ONE_STOP_BIT,
+ parity: Int = SerialPort.NO_PARITY,
+ coroutineContext: CoroutineContext = context.coroutineContext,
+ additionalConfig: SerialPort.() -> Unit = {},
+ ): AsynchronousSerialPort {
+ val serialPort = SerialPort.getCommPort(portName).apply {
+ setComPortParameters(baudRate, dataBits, stopBits, parity)
+ additionalConfig()
+ }
+ val meta = Meta {
+ "name" put "com://$portName"
+ "type" put "serial"
+ "baudRate" put serialPort.baudRate
+ "dataBits" put serialPort.numDataBits
+ "stopBits" put serialPort.numStopBits
+ "parity" put serialPort.parity
+ }
+ return AsynchronousSerialPort(context, meta, serialPort, coroutineContext)
+ }
+
+
+ /**
+ * Construct ComPort with given parameters
+ */
+ public fun open(
+ context: Context,
+ portName: String,
+ baudRate: Int = 9600,
+ dataBits: Int = 8,
+ stopBits: Int = SerialPort.ONE_STOP_BIT,
+ parity: Int = SerialPort.NO_PARITY,
+ coroutineContext: CoroutineContext = context.coroutineContext,
+ additionalConfig: SerialPort.() -> Unit = {},
+ ): AsynchronousSerialPort = build(
+ context = context,
+ portName = portName,
+ baudRate = baudRate,
+ dataBits = dataBits,
+ stopBits = stopBits,
+ parity = parity,
+ coroutineContext = coroutineContext,
+ additionalConfig = additionalConfig
+ ).apply { open() }
+
+
+ override fun build(context: Context, meta: Meta): AsynchronousPort {
+ val name by meta.string { error("Serial port name not defined") }
+ val baudRate by meta.int(9600)
+ val dataBits by meta.int(8)
+ val stopBits by meta.int(SerialPort.ONE_STOP_BIT)
+ val parity by meta.int(SerialPort.NO_PARITY)
+ return build(context, name, baudRate, dataBits, stopBits, parity)
+ }
+ }
+
+}
\ No newline at end of file
diff --git a/controls-serial/src/main/kotlin/space/kscience/controls/serial/JSerialCommPort.kt b/controls-serial/src/main/kotlin/space/kscience/controls/serial/JSerialCommPort.kt
deleted file mode 100644
index 8a2caab..0000000
--- a/controls-serial/src/main/kotlin/space/kscience/controls/serial/JSerialCommPort.kt
+++ /dev/null
@@ -1,87 +0,0 @@
-package space.kscience.controls.serial
-
-import com.fazecast.jSerialComm.SerialPort
-import com.fazecast.jSerialComm.SerialPortDataListener
-import com.fazecast.jSerialComm.SerialPortEvent
-import kotlinx.coroutines.launch
-import space.kscience.controls.ports.AbstractPort
-import space.kscience.controls.ports.Port
-import space.kscience.controls.ports.PortFactory
-import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.int
-import space.kscience.dataforge.meta.string
-import kotlin.coroutines.CoroutineContext
-
-/**
- * A port based on JSerialComm
- */
-public class JSerialCommPort(
- context: Context,
- private val comPort: SerialPort,
- coroutineContext: CoroutineContext = context.coroutineContext,
-) : AbstractPort(context, coroutineContext) {
-
- override fun toString(): String = "port[${comPort.descriptivePortName}]"
-
- private val serialPortListener = object : SerialPortDataListener {
- override fun getListeningEvents(): Int = SerialPort.LISTENING_EVENT_DATA_AVAILABLE
-
- override fun serialEvent(event: SerialPortEvent) {
- if (event.eventType == SerialPort.LISTENING_EVENT_DATA_AVAILABLE && event.receivedData != null) {
- scope.launch { receive(event.receivedData) }
- }
- }
- }
-
- init {
- comPort.addDataListener(serialPortListener)
- }
-
- override suspend fun write(data: ByteArray) {
- comPort.writeBytes(data, data.size)
- }
-
- override fun close() {
- comPort.removeDataListener()
- if (comPort.isOpen) {
- comPort.closePort()
- }
- super.close()
- }
-
- public companion object : PortFactory {
-
- override val type: String = "com"
-
-
- /**
- * Construct ComPort with given parameters
- */
- public fun open(
- context: Context,
- portName: String,
- baudRate: Int = 9600,
- dataBits: Int = 8,
- stopBits: Int = SerialPort.ONE_STOP_BIT,
- parity: Int = SerialPort.NO_PARITY,
- coroutineContext: CoroutineContext = context.coroutineContext,
- ): JSerialCommPort {
- val serialPort = SerialPort.getCommPort(portName).apply {
- setComPortParameters(baudRate, dataBits, stopBits, parity)
- openPort()
- }
- return JSerialCommPort(context, serialPort, coroutineContext)
- }
-
- override fun build(context: Context, meta: Meta): Port {
- val name by meta.string { error("Serial port name not defined") }
- val baudRate by meta.int(9600)
- val dataBits by meta.int(8)
- val stopBits by meta.int(SerialPort.ONE_STOP_BIT)
- val parity by meta.int(SerialPort.NO_PARITY)
- return open(context, name, baudRate, dataBits, stopBits, parity)
- }
- }
-
-}
\ No newline at end of file
diff --git a/controls-serial/src/main/kotlin/space/kscience/controls/serial/SerialPortPlugin.kt b/controls-serial/src/main/kotlin/space/kscience/controls/serial/SerialPortPlugin.kt
index ae9d4fc..f0d099f 100644
--- a/controls-serial/src/main/kotlin/space/kscience/controls/serial/SerialPortPlugin.kt
+++ b/controls-serial/src/main/kotlin/space/kscience/controls/serial/SerialPortPlugin.kt
@@ -1,19 +1,27 @@
package space.kscience.controls.serial
-import space.kscience.controls.ports.PortFactory
+import space.kscience.controls.ports.Ports
import space.kscience.dataforge.context.AbstractPlugin
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.dataforge.names.asName
public class SerialPortPlugin : AbstractPlugin() {
override val tag: PluginTag get() = Companion.tag
- override fun content(target: String): Map<Name, Any> = when(target){
- PortFactory.TYPE -> mapOf(Name.EMPTY to JSerialCommPort)
+ override fun content(target: String): Map<Name, Any> = when (target) {
+ Ports.ASYNCHRONOUS_PORT_TYPE -> mapOf(
+ "serial".asName() to AsynchronousSerialPort,
+ )
+
+ Ports.SYNCHRONOUS_PORT_TYPE -> mapOf(
+ "serial".asName() to SynchronousSerialPort,
+ )
+
else -> emptyMap()
}
diff --git a/controls-serial/src/main/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt b/controls-serial/src/main/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt
new file mode 100644
index 0000000..a67b3f3
--- /dev/null
+++ b/controls-serial/src/main/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt
@@ -0,0 +1,127 @@
+package space.kscience.controls.serial
+
+import com.fazecast.jSerialComm.SerialPort
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.flow
+import kotlinx.coroutines.sync.Mutex
+import kotlinx.coroutines.sync.withLock
+import space.kscience.controls.ports.SynchronousPort
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.Factory
+import space.kscience.dataforge.context.error
+import space.kscience.dataforge.context.logger
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.int
+import space.kscience.dataforge.meta.string
+
+/**
+ * A port based on JSerialComm
+ */
+public class SynchronousSerialPort(
+ override val context: Context,
+ public val meta: Meta,
+ private val comPort: SerialPort,
+) : SynchronousPort {
+
+ override fun toString(): String = "port[${comPort.descriptivePortName}]"
+
+
+ override fun open() {
+ if (!isOpen) {
+ comPort.openPort()
+ }
+ }
+
+ override val isOpen: Boolean get() = comPort.isOpen
+
+
+ override fun close() {
+ if (comPort.isOpen) {
+ comPort.closePort()
+ }
+ }
+
+ private val mutex = Mutex()
+
+ override suspend fun <R> respond(request: ByteArray, transform: suspend Flow<ByteArray>.() -> R): R =
+ mutex.withLock {
+ comPort.flushIOBuffers()
+ comPort.writeBytes(request, request.size)
+ flow<ByteArray> {
+ while (isOpen) {
+ try {
+ val available = comPort.bytesAvailable()
+ if (available > 0) {
+ val buffer = ByteArray(available)
+ comPort.readBytes(buffer, available)
+ emit(buffer)
+ } else if (available < 0) break
+ } catch (ex: Exception) {
+ logger.error(ex) { "Channel read error" }
+ delay(1000)
+ }
+ }
+ }.transform()
+ }
+
+ public companion object : Factory<SynchronousPort> {
+
+ public fun build(
+ context: Context,
+ portName: String,
+ baudRate: Int = 9600,
+ dataBits: Int = 8,
+ stopBits: Int = SerialPort.ONE_STOP_BIT,
+ parity: Int = SerialPort.NO_PARITY,
+ additionalConfig: SerialPort.() -> Unit = {},
+ ): SynchronousSerialPort {
+ val serialPort = SerialPort.getCommPort(portName).apply {
+ setComPortParameters(baudRate, dataBits, stopBits, parity)
+ additionalConfig()
+ }
+ val meta = Meta {
+ "name" put "com://$portName"
+ "type" put "serial"
+ "baudRate" put serialPort.baudRate
+ "dataBits" put serialPort.numDataBits
+ "stopBits" put serialPort.numStopBits
+ "parity" put serialPort.parity
+ }
+ return SynchronousSerialPort(context, meta, serialPort)
+ }
+
+
+ /**
+ * Construct ComPort with given parameters
+ */
+ public fun open(
+ context: Context,
+ portName: String,
+ baudRate: Int = 9600,
+ dataBits: Int = 8,
+ stopBits: Int = SerialPort.ONE_STOP_BIT,
+ parity: Int = SerialPort.NO_PARITY,
+ additionalConfig: SerialPort.() -> Unit = {},
+ ): SynchronousSerialPort = build(
+ context = context,
+ portName = portName,
+ baudRate = baudRate,
+ dataBits = dataBits,
+ stopBits = stopBits,
+ parity = parity,
+ additionalConfig = additionalConfig
+ ).apply { open() }
+
+
+ override fun build(context: Context, meta: Meta): SynchronousPort {
+ val name by meta.string { error("Serial port name not defined") }
+ val baudRate by meta.int(9600)
+ val dataBits by meta.int(8)
+ val stopBits by meta.int(SerialPort.ONE_STOP_BIT)
+ val parity by meta.int(SerialPort.NO_PARITY)
+ return build(context, name, baudRate, dataBits, stopBits, parity)
+ }
+ }
+
+}
\ No newline at end of file
diff --git a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
index 1d48553..b0fd562 100644
--- a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
+++ b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
@@ -4,7 +4,6 @@ import kotlinx.coroutines.withTimeoutOrNull
import space.kscience.controls.ports.Ports
import space.kscience.controls.ports.SynchronousPort
import space.kscience.controls.ports.respondStringWithDelimiter
-import space.kscience.controls.ports.synchronous
import space.kscience.controls.spec.*
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
@@ -22,7 +21,7 @@ class MksPdr900Device(context: Context, meta: Meta) : DeviceBySpec<MksPdr900Devi
private val portDelegate = lazy {
val ports = context.request(Ports)
- ports.buildPort(meta["port"] ?: error("Port is not defined in device configuration")).synchronous()
+ ports.buildSynchronousPort(meta["port"] ?: error("Port is not defined in device configuration"))
}
private val port: SynchronousPort by portDelegate
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
index 5d05993..69dfb79 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
@@ -25,10 +25,10 @@ import kotlin.time.Duration.Companion.milliseconds
class PiMotionMasterDevice(
context: Context,
- private val portFactory: PortFactory = KtorTcpPort,
+ private val portFactory: Factory<AsynchronousPort> = KtorTcpPort,
) : DeviceBySpec<PiMotionMasterDevice>(PiMotionMasterDevice, context), DeviceHub {
- private var port: Port? = null
+ private var port: AsynchronousPort? = null
//TODO make proxy work
//PortProxy { portFactory(address ?: error("The device is not connected"), context) }
@@ -83,7 +83,7 @@ class PiMotionMasterDevice(
suspend fun getErrorCode(): Int = mutex.withLock {
withTimeout(timeoutValue) {
sendCommandInternal("ERR?")
- val errorString = port?.receiving()?.withStringDelimiter("\n")?.first() ?: error("Not connected to device")
+ val errorString = port?.subscribe()?.withStringDelimiter("\n")?.first() ?: error("Not connected to device")
errorString.trim().toInt()
}
}
@@ -96,7 +96,7 @@ class PiMotionMasterDevice(
try {
withTimeout(timeoutValue) {
sendCommandInternal(command, *arguments)
- val phrases = port?.receiving()?.withStringDelimiter("\n") ?: error("Not connected to device")
+ val phrases = port?.subscribe()?.withStringDelimiter("\n") ?: error("Not connected to device")
phrases.transformWhile { line ->
emit(line)
line.endsWith(" \n")
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterVirtualDevice.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterVirtualDevice.kt
index 8efe4e9..f343d7c 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterVirtualDevice.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterVirtualDevice.kt
@@ -5,14 +5,15 @@ import kotlinx.coroutines.channels.Channel
import kotlinx.coroutines.flow.*
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
-import space.kscience.controls.api.Socket
-import space.kscience.controls.ports.AbstractPort
+import space.kscience.controls.api.AsynchronousSocket
+import space.kscience.controls.ports.AbstractAsynchronousPort
import space.kscience.controls.ports.withDelimiter
import space.kscience.dataforge.context.*
+import space.kscience.dataforge.meta.Meta
import kotlin.math.abs
import kotlin.time.Duration
-abstract class VirtualDevice(val scope: CoroutineScope) : Socket<ByteArray> {
+abstract class VirtualDevice(val scope: CoroutineScope) : AsynchronousSocket<ByteArray> {
protected abstract suspend fun evaluateRequest(request: ByteArray)
@@ -40,33 +41,42 @@ abstract class VirtualDevice(val scope: CoroutineScope) : Socket<ByteArray> {
toRespond.send(response)
}
- override fun receiving(): Flow<ByteArray> = toRespond.receiveAsFlow()
+ override fun subscribe(): Flow<ByteArray> = toRespond.receiveAsFlow()
protected fun respondInFuture(delay: Duration, response: suspend () -> ByteArray): Job = scope.launch {
delay(delay)
respond(response())
}
- override fun isOpen(): Boolean = scope.isActive
+ override val isOpen: Boolean
+ get() = scope.isActive
override fun close() = scope.cancel()
}
-class VirtualPort(private val device: VirtualDevice, context: Context) : AbstractPort(context) {
+class VirtualPort(private val device: VirtualDevice, context: Context) : AbstractAsynchronousPort(context, Meta.EMPTY) {
- private val respondJob = device.receiving().onEach {
- receive(it)
- }.catch {
- it.printStackTrace()
- }.launchIn(scope)
+ private var respondJob: Job? = null
+
+ override fun onOpen() {
+ respondJob = device.subscribe().onEach {
+ receive(it)
+ }.catch {
+ it.printStackTrace()
+ }.launchIn(scope)
+
+ }
override suspend fun write(data: ByteArray) {
device.send(data)
}
+ override val isOpen: Boolean
+ get() = respondJob?.isActive == true
+
override fun close() {
- respondJob.cancel()
+ respondJob?.cancel()
super.close()
}
}
@@ -78,7 +88,7 @@ class PiMotionMasterVirtualDevice(
scope: CoroutineScope = context,
) : VirtualDevice(scope), ContextAware {
- init {
+ override fun open() {
//add asynchronous send logic here
}
@@ -102,9 +112,11 @@ class PiMotionMasterVirtualDevice(
abs(distance) < proposedStep -> {
position = targetPosition
}
+
targetPosition > position -> {
position += proposedStep
}
+
else -> {
position -= proposedStep
}
@@ -180,8 +192,10 @@ class PiMotionMasterVirtualDevice(
when (command) {
"XXX" -> {
}
+
"IDN?", "*IDN?" -> respond("(c)2015 Physik Instrumente(PI) Karlsruhe, C-885.M1 TCP-IP Master,0,1.0.0.1")
- "VER?" -> respond("""
+ "VER?" -> respond(
+ """
2: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550039, 00.039
3: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550040, 00.039
4: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550041, 00.039
@@ -195,8 +209,11 @@ class PiMotionMasterVirtualDevice(
12: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550049, 00.039
13: (c)2017 Physik Instrumente (PI) GmbH & Co. KG, C-663.12C885, 018550051, 00.039
FW_ARM: V1.0.0.1
- """.trimIndent())
- "HLP?" -> respond("""
+ """.trimIndent()
+ )
+
+ "HLP?" -> respond(
+ """
The following commands are valid:
#4 Request Status Register
#5 Request Motion Status
@@ -235,11 +252,14 @@ class PiMotionMasterVirtualDevice(
VEL? [{<AxisID>}] Get Closed-Loop Velocity
VER? Get Versions Of Firmware And Drivers
end of help
- """.trimIndent())
+ """.trimIndent()
+ )
+
"ERR?" -> {
respond(errorCode.toString())
errorCode = 0
}
+
"SAI?" -> respond(axisState.keys.joinToString(separator = " \n"))
"CST?" -> respondForAllAxis(axisIds) { "L-220.20SG" }
"RON?" -> respondForAllAxis(axisIds) { referenceMode }
@@ -255,15 +275,19 @@ class PiMotionMasterVirtualDevice(
"SVO" -> doForEachAxis(parts) { key, value ->
axisState[key]?.servoMode = value.toInt()
}
+
"MOV" -> doForEachAxis(parts) { key, value ->
axisState[key]?.targetPosition = value.toDouble()
}
+
"VEL" -> doForEachAxis(parts) { key, value ->
axisState[key]?.velocity = value.toDouble()
}
+
"INI" -> {
logger.info { "Axes initialized!" }
}
+
else -> {
logger.warn { "Unknown command: $command in message ${String(request)}" }
errorCode = 2
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt
index 021dff5..c69b7fe 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt
@@ -29,7 +29,7 @@ fun Context.launchPiDebugServer(port: Int, axes: List<String>): Job = launch(exc
val output = socket.openWriteChannel()
val sendJob = launch {
- virtualDevice.receiving().collect {
+ virtualDevice.subscribe().collect {
//println("Sending: ${it.decodeToString()}")
output.writeAvailable(it)
output.flush()
From 58675f72f598aac1fbcdfbadfad0c61d286c5947 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 31 Mar 2024 16:33:22 +0300
Subject: [PATCH 072/125] Refactor ports
---
.../controls/ports/SynchronousPort.kt | 19 ++++++++
.../kscience/controls/pi/SynchronousPiPort.kt | 9 ++++
.../controls/serial/SynchronousSerialPort.kt | 47 ++++++++++++-------
3 files changed, 58 insertions(+), 17 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt
index 8d95eb0..49c2b06 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt
@@ -2,8 +2,11 @@ package space.kscience.controls.ports
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.first
+import kotlinx.coroutines.flow.takeWhile
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
+import kotlinx.io.Buffer
+import kotlinx.io.readByteArray
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.ContextAware
@@ -25,6 +28,22 @@ public interface SynchronousPort : ContextAware, AutoCloseable {
request: ByteArray,
transform: suspend Flow<ByteArray>.() -> R,
): R
+
+ /**
+ * Synchronously read fixed size response to a given [request]. Discard additional response bytes.
+ */
+ public suspend fun respondFixedMessageSize(
+ request: ByteArray,
+ responseSize: Int,
+ ): ByteArray = respond(request) {
+ val buffer = Buffer()
+ takeWhile {
+ buffer.size < responseSize
+ }.collect {
+ buffer.write(it)
+ }
+ buffer.readByteArray(responseSize)
+ }
}
private class SynchronousOverAsynchronousPort(
diff --git a/controls-pi/src/main/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt b/controls-pi/src/main/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt
index acefb1f..6bc590c 100644
--- a/controls-pi/src/main/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt
+++ b/controls-pi/src/main/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt
@@ -7,6 +7,7 @@ import com.pi4j.ktx.io.serial
import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.flow
+import kotlinx.coroutines.runInterruptible
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import space.kscience.controls.ports.SynchronousPort
@@ -55,6 +56,14 @@ public class SynchronousPiPort(
}.transform()
}
+ override suspend fun respondFixedMessageSize(request: ByteArray, responseSize: Int): ByteArray = mutex.withLock {
+ runInterruptible {
+ serial.drain()
+ serial.write(request)
+ serial.readNBytes(responseSize)
+ }
+ }
+
override fun close() {
serial.close()
}
diff --git a/controls-serial/src/main/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt b/controls-serial/src/main/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt
index a67b3f3..1a9b4a5 100644
--- a/controls-serial/src/main/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt
+++ b/controls-serial/src/main/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt
@@ -4,6 +4,7 @@ import com.fazecast.jSerialComm.SerialPort
import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.flow
+import kotlinx.coroutines.runInterruptible
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import space.kscience.controls.ports.SynchronousPort
@@ -44,26 +45,38 @@ public class SynchronousSerialPort(
private val mutex = Mutex()
- override suspend fun <R> respond(request: ByteArray, transform: suspend Flow<ByteArray>.() -> R): R =
- mutex.withLock {
+ override suspend fun <R> respond(
+ request: ByteArray,
+ transform: suspend Flow<ByteArray>.() -> R,
+ ): R = mutex.withLock {
+ comPort.flushIOBuffers()
+ comPort.writeBytes(request, request.size)
+ flow<ByteArray> {
+ while (isOpen) {
+ try {
+ val available = comPort.bytesAvailable()
+ if (available > 0) {
+ val buffer = ByteArray(available)
+ comPort.readBytes(buffer, available)
+ emit(buffer)
+ } else if (available < 0) break
+ } catch (ex: Exception) {
+ logger.error(ex) { "Channel read error" }
+ delay(1000)
+ }
+ }
+ }.transform()
+ }
+
+ override suspend fun respondFixedMessageSize(request: ByteArray, responseSize: Int): ByteArray = mutex.withLock {
+ runInterruptible {
comPort.flushIOBuffers()
comPort.writeBytes(request, request.size)
- flow<ByteArray> {
- while (isOpen) {
- try {
- val available = comPort.bytesAvailable()
- if (available > 0) {
- val buffer = ByteArray(available)
- comPort.readBytes(buffer, available)
- emit(buffer)
- } else if (available < 0) break
- } catch (ex: Exception) {
- logger.error(ex) { "Channel read error" }
- delay(1000)
- }
- }
- }.transform()
+ val buffer = ByteArray(responseSize)
+ comPort.readBytes(buffer, responseSize)
+ buffer
}
+ }
public companion object : Factory<SynchronousPort> {
From 977500223d206eb878b52f0ed149a2faeca96433 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 7 Apr 2024 10:07:23 +0300
Subject: [PATCH 073/125] Plc4X refactor
---
controls-plc4x/build.gradle.kts | 6 +-
.../kscience/controls/plc4x/Plc4XDevice.kt | 80 +++++++++++++++----
.../controls/plc4x/Plc4XDeviceBase.kt | 22 +++++
.../kscience/controls/plc4x/Plc4xProperty.kt | 14 +++-
demo/constructor/src/jvmMain/kotlin/main.kt | 10 +--
5 files changed, 105 insertions(+), 27 deletions(-)
create mode 100644 controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4XDeviceBase.kt
diff --git a/controls-plc4x/build.gradle.kts b/controls-plc4x/build.gradle.kts
index 0836476..e7b063c 100644
--- a/controls-plc4x/build.gradle.kts
+++ b/controls-plc4x/build.gradle.kts
@@ -11,14 +11,14 @@ description = """
A plugin for Controls-kt device server on top of plc4x library
""".trimIndent()
-kscience{
+kscience {
jvm()
- jvmMain{
+ jvmMain {
api(projects.controlsCore)
api("org.apache.plc4x:plc4j-spi:$plc4xVersion")
}
}
-readme{
+readme {
maturity = Maturity.EXPERIMENTAL
}
\ No newline at end of file
diff --git a/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4XDevice.kt b/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4XDevice.kt
index 996d194..9b08538 100644
--- a/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4XDevice.kt
+++ b/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4XDevice.kt
@@ -2,27 +2,75 @@ package space.kscience.controls.plc4x
import kotlinx.coroutines.future.await
import org.apache.plc4x.java.api.PlcConnection
+import org.apache.plc4x.java.api.messages.PlcBrowseItem
+import org.apache.plc4x.java.api.messages.PlcTagResponse
import org.apache.plc4x.java.api.messages.PlcWriteRequest
+import org.apache.plc4x.java.api.messages.PlcWriteResponse
+import org.apache.plc4x.java.api.types.PlcResponseCode
import space.kscience.controls.api.Device
import space.kscience.dataforge.meta.Meta
-public interface Plc4XDevice: Device {
- public val connection: PlcConnection
+private val PlcTagResponse.responseCodes: Map<String, PlcResponseCode>
+ get() = tagNames.associateWith { getResponseCode(it) }
- public suspend fun read(plc4xProperty: Plc4xProperty): Meta = with(plc4xProperty){
- val request = connection.readRequestBuilder().request().build()
- val response = request.execute().await()
- response.readProperty()
- }
-
- public suspend fun write(plc4xProperty: Plc4xProperty, value: Meta): Unit = with(plc4xProperty){
- val request: PlcWriteRequest = connection.writeRequestBuilder().writeProperty(value).build()
- request.execute().await()
- }
-
- public suspend fun subscribe(propertyName: String, plc4xProperty: Plc4xProperty): Unit = with(plc4xProperty){
-
- }
+private val Map<String, PlcResponseCode>.isOK get() = values.all { it == PlcResponseCode.OK }
+public class PlcException(public val codes: Map<String, PlcResponseCode>) : Exception() {
+ override val message: String
+ get() = "Plc request unsuccessful:" + codes.entries.joinToString(prefix = "\n\t", separator = "\n\t") {
+ "${it.key}: ${it.value.name}"
+ }
}
+private fun PlcTagResponse.throwOnFail() {
+ val codes = responseCodes
+ if (!codes.isOK) throw PlcException(codes)
+}
+
+
+public interface Plc4XDevice : Device {
+ public val connection: PlcConnection
+}
+
+
+/**
+ * Send ping request and suspend until it comes back
+ */
+public suspend fun Plc4XDevice.ping(): PlcResponseCode = connection.ping().await().responseCode
+
+/**
+ * Send browse request to list available tags
+ */
+public suspend fun Plc4XDevice.browse(): Map<String, MutableList<PlcBrowseItem>> {
+ require(connection.metadata.isBrowseSupported){"Browse actions are not supported on connection"}
+ val request = connection.browseRequestBuilder().build()
+ val response = request.execute().await()
+
+ return response.queryNames.associateWith { response.getValues(it) }
+}
+
+/**
+ * Send read request and suspend until it returns. Throw a [PlcException] if at least one tag read fails.
+ *
+ * @throws PlcException
+ */
+public suspend fun Plc4XDevice.read(plc4xProperty: Plc4xProperty): Meta = with(plc4xProperty) {
+ require(connection.metadata.isReadSupported) {"Read actions are not supported on connections"}
+ val request = connection.readRequestBuilder().request().build()
+ val response = request.execute().await()
+ response.throwOnFail()
+ response.readProperty()
+}
+
+
+/**
+ * Send write request and suspend until it finishes. Throw a [PlcException] if at least one tag write fails.
+ *
+ * @throws PlcException
+ */
+public suspend fun Plc4XDevice.write(plc4xProperty: Plc4xProperty, value: Meta): Unit = with(plc4xProperty) {
+ require(connection.metadata.isWriteSupported){"Write actions are not supported on connection"}
+ val request: PlcWriteRequest = connection.writeRequestBuilder().writeProperty(value).build()
+ val response: PlcWriteResponse = request.execute().await()
+ response.throwOnFail()
+}
\ No newline at end of file
diff --git a/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4XDeviceBase.kt b/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4XDeviceBase.kt
new file mode 100644
index 0000000..e25a001
--- /dev/null
+++ b/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4XDeviceBase.kt
@@ -0,0 +1,22 @@
+package space.kscience.controls.plc4x
+
+import org.apache.plc4x.java.api.PlcConnection
+import space.kscience.controls.spec.DeviceActionSpec
+import space.kscience.controls.spec.DeviceBase
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.Meta
+
+public class Plc4XDeviceBase(
+ context: Context,
+ meta: Meta,
+ override val connection: PlcConnection,
+) : Plc4XDevice, DeviceBase<Plc4XDevice>(context, meta) {
+ override val properties: Map<String, DevicePropertySpec<Plc4XDevice, *>>
+ get() = TODO("Not yet implemented")
+ override val actions: Map<String, DeviceActionSpec<Plc4XDevice, *, *>> = emptyMap()
+
+ override fun toString(): String {
+ TODO("Not yet implemented")
+ }
+}
\ No newline at end of file
diff --git a/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4xProperty.kt b/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4xProperty.kt
index 5b16dec..cfeedd2 100644
--- a/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4xProperty.kt
+++ b/controls-plc4x/src/jvmMain/kotlin/space/kscience/controls/plc4x/Plc4xProperty.kt
@@ -8,6 +8,8 @@ import space.kscience.dataforge.meta.Meta
public interface Plc4xProperty {
+ public val keys: Set<String>
+
public fun PlcReadRequest.Builder.request(): PlcReadRequest.Builder
public fun PlcReadResponse.readProperty(): Meta
@@ -15,17 +17,23 @@ public interface Plc4xProperty {
public fun PlcWriteRequest.Builder.writeProperty(meta: Meta): PlcWriteRequest.Builder
}
-public class DefaultPlc4xProperty(
+private class DefaultPlc4xProperty(
private val address: String,
private val plcValueType: PlcValueType,
private val name: String = "@default",
) : Plc4xProperty {
+ override val keys: Set<String> = setOf(name)
+
override fun PlcReadRequest.Builder.request(): PlcReadRequest.Builder =
addTagAddress(name, address)
+
override fun PlcReadResponse.readProperty(): Meta =
- asPlcValue.toMeta()
+ getPlcValue(name).toMeta()
override fun PlcWriteRequest.Builder.writeProperty(meta: Meta): PlcWriteRequest.Builder =
addTagAddress(name, address, meta.toPlcValue(plcValueType))
-}
\ No newline at end of file
+}
+
+public fun Plc4xProperty(address: String, plcValueType: PlcValueType, name: String = "@default"): Plc4xProperty =
+ DefaultPlc4xProperty(address, plcValueType, name)
\ No newline at end of file
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 26ca10a..9b06d2e 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -84,24 +84,24 @@ private fun Context.launchPidDevice(
showDashboard {
plot {
- plotNumberState(context, state, maxAge = maxAge) {
+ plotNumberState(context, state, maxAge = maxAge, sampling = 50.milliseconds) {
name = "real position"
}
- plotDeviceProperty(device.pid, Regulator.position.name, maxAge = maxAge) {
+ plotDeviceProperty(device.pid, Regulator.position.name, maxAge = maxAge, sampling = 50.milliseconds) {
name = "read position"
}
- plotDeviceProperty(device.pid, Regulator.target.name, maxAge = maxAge) {
+ plotDeviceProperty(device.pid, Regulator.target.name, maxAge = maxAge, sampling = 50.milliseconds) {
name = "target"
}
}
plot {
- plotDeviceProperty(device.start, LimitSwitch.locked.name, maxAge = maxAge) {
+ plotDeviceProperty(device.start, LimitSwitch.locked.name, maxAge = maxAge, sampling = 50.milliseconds) {
name = "start measured"
mode = ScatterMode.markers
}
- plotDeviceProperty(device.end, LimitSwitch.locked.name, maxAge = maxAge) {
+ plotDeviceProperty(device.end, LimitSwitch.locked.name, maxAge = maxAge, sampling = 50.milliseconds) {
name = "end measured"
mode = ScatterMode.markers
}
From 9eb583dfc6a832f6e855bd26d52d2ed930ccc4de Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Tue, 9 Apr 2024 15:13:41 +0300
Subject: [PATCH 074/125] Change plotAveragedDeviceProperty to show last value
on miss.
---
.../src/commonMain/kotlin/plotExtensions.kt | 10 ++++++----
1 file changed, 6 insertions(+), 4 deletions(-)
diff --git a/controls-vision/src/commonMain/kotlin/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
index 804fe9d..6dfdee0 100644
--- a/controls-vision/src/commonMain/kotlin/plotExtensions.kt
+++ b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
@@ -205,14 +205,14 @@ private fun List<Instant>.averageTime(): Instant {
}
/**
- * Average property value by [averagingInterval]. Return [missingValue] on each sample interval if no events arrived.
+ * Average property value by [averagingInterval]. Return [startValue] on each sample interval if no events arrived.
*/
@DFExperimental
public fun Plot.plotAveragedDeviceProperty(
device: Device,
propertyName: String,
- missingValue: Double = 0.0,
- extractValue: Meta.() -> Double = { value?.double ?: missingValue },
+ startValue: Double = 0.0,
+ extractValue: Meta.() -> Double = { value?.double ?: startValue },
maxAge: Duration = defaultMaxAge,
maxPoints: Int = defaultMaxPoints,
minPoints: Int = defaultMinPoints,
@@ -221,13 +221,15 @@ public fun Plot.plotAveragedDeviceProperty(
configuration: Scatter.() -> Unit = {},
): Job = scatter(configuration).run {
val data = TimeData()
+ var lastValue = startValue
device.propertyMessageFlow(propertyName).chunkedByPeriod(averagingInterval).transform { eventList ->
if (eventList.isEmpty()) {
- data.append(Clock.System.now(), missingValue.asValue())
+ data.append(Clock.System.now(), lastValue.asValue())
} else {
val time = eventList.map { it.time }.averageTime()
val value = eventList.map { extractValue(it.value) }.average()
data.append(time, value.asValue())
+ lastValue = value
}
data.trim(maxAge, maxPoints, minPoints)
emit(data)
From 23bceed89da647fd461dd74aa5ca243ee6346720 Mon Sep 17 00:00:00 2001
From: InsanusMokrassar <ovsyannikov.alexey95@gmail.com>
Date: Mon, 29 Apr 2024 17:22:56 +0600
Subject: [PATCH 075/125] update dependencies
---
build.gradle.kts | 1 +
controls-modbus/build.gradle.kts | 2 +-
controls-opcua/build.gradle.kts | 8 +++-----
controls-pi/build.gradle.kts | 8 ++++----
gradle/libs.versions.toml | 26 ++++++++++++++++++++++++
gradle/wrapper/gradle-wrapper.properties | 2 +-
6 files changed, 36 insertions(+), 11 deletions(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index 02dde8d..2463418 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -4,6 +4,7 @@ import space.kscience.gradle.useSPCTeam
plugins {
id("space.kscience.gradle.project")
+ alias(libs.plugins.versions)
}
allprojects {
diff --git a/controls-modbus/build.gradle.kts b/controls-modbus/build.gradle.kts
index aee64d5..2f280b6 100644
--- a/controls-modbus/build.gradle.kts
+++ b/controls-modbus/build.gradle.kts
@@ -12,7 +12,7 @@ description = """
dependencies {
api(projects.controlsCore)
- api("com.ghgande:j2mod:3.1.1")
+ api(libs.j2mod)
}
readme{
diff --git a/controls-opcua/build.gradle.kts b/controls-opcua/build.gradle.kts
index e7e1da8..686ae62 100644
--- a/controls-opcua/build.gradle.kts
+++ b/controls-opcua/build.gradle.kts
@@ -11,15 +11,13 @@ description = """
val ktorVersion: String by rootProject.extra
-val miloVersion: String = "0.6.10"
-
dependencies {
api(projects.controlsCore)
api(spclibs.kotlinx.coroutines.jdk8)
- api("org.eclipse.milo:sdk-client:$miloVersion")
- api("org.eclipse.milo:bsd-parser:$miloVersion")
- api("org.eclipse.milo:sdk-server:$miloVersion")
+ api(libs.milo.client)
+ api(libs.milo.parser)
+ api(libs.milo.server)
testImplementation(spclibs.kotlinx.coroutines.test)
}
diff --git a/controls-pi/build.gradle.kts b/controls-pi/build.gradle.kts
index a763396..997fcf2 100644
--- a/controls-pi/build.gradle.kts
+++ b/controls-pi/build.gradle.kts
@@ -9,8 +9,8 @@ description = """
dependencies{
api(project(":controls-core"))
- api("com.pi4j:pi4j-ktx:2.4.0") // Kotlin DSL
- api("com.pi4j:pi4j-core:2.3.0")
- api("com.pi4j:pi4j-plugin-raspberrypi:2.3.0")
- api("com.pi4j:pi4j-plugin-pigpio:2.3.0")
+ api(libs.pi4j.ktx) // Kotlin DSL
+ api(libs.pi4j.core)
+ api(libs.pi4j.plugin.raspberrypi)
+ api(libs.pi4j.plugin.pigpio)
}
\ No newline at end of file
diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
index e39b1d9..da20aff 100644
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -20,6 +20,15 @@ rabbitmq = "5.14.2"
kmongo = "4.5.1"
+j2mod = "3.2.1"
+
+milo = "0.6.12"
+
+pi4j = "2.3.0"
+pi4j-ktx = "2.4.0"
+
+versions = "0.51.0"
+
[libraries]
dataforge-io = { module = "space.kscience:dataforge-io", version.ref = "dataforge" }
@@ -46,4 +55,21 @@ hivemq-mqtt-client = { module = "com.hivemq:hivemq-mqtt-client", version.ref = "
rabbitmq-amqp-client = { module = "com.rabbitmq:amqp-client", version.ref = "rabbitmq" }
+j2mod = { module = "com.ghgande:j2mod", version.ref = "j2mod" }
+
kmongo-coroutine-serialization = { module = "org.litote.kmongo:kmongo-coroutine-serialization", version.ref = "kmongo" }
+
+milo-client = { module = "org.eclipse.milo:sdk-client", version.ref = "milo" }
+milo-parser = { module = "org.eclipse.milo:bsd-parser", version.ref = "milo" }
+milo-server = { module = "org.eclipse.milo:sdk-server", version.ref = "milo" }
+
+pi4j-ktx = { module = "com.pi4j:pi4j-ktx", version.ref = "pi4j-ktx" }
+pi4j-core = { module = "com.pi4j:pi4j-core", version.ref = "pi4j" }
+pi4j-plugin-raspberrypi = { module = "com.pi4j:pi4j-plugin-raspberrypi", version.ref = "pi4j" }
+pi4j-plugin-pigpio = { module = "com.pi4j:pi4j-plugin-pigpio", version.ref = "pi4j" }
+
+# Buildscript
+
+[plugins]
+
+versions = { id = "com.github.ben-manes.versions", version.ref = "versions" }
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 17655d0..48c0a02 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.6-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.7-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
From e729cb1a794db44955d68b2ec8f676e4b65736ff Mon Sep 17 00:00:00 2001
From: InsanusMokrassar <ovsyannikov.alexey95@gmail.com>
Date: Mon, 29 Apr 2024 18:38:14 +0600
Subject: [PATCH 076/125] upfixes
---
controls-core/build.gradle.kts | 2 --
controls-jupyter/build.gradle.kts | 4 +---
controls-plc4x/build.gradle.kts | 4 +---
controls-server/build.gradle.kts | 24 ++++++++++++++----------
controls-vision/build.gradle.kts | 10 ++++------
gradle/libs.versions.toml | 14 +++++++++++++-
magix/magix-utils/build.gradle.kts | 4 +---
7 files changed, 34 insertions(+), 28 deletions(-)
diff --git a/controls-core/build.gradle.kts b/controls-core/build.gradle.kts
index 9b8c9f9..9624b35 100644
--- a/controls-core/build.gradle.kts
+++ b/controls-core/build.gradle.kts
@@ -9,8 +9,6 @@ description = """
Core interfaces for building a device server
""".trimIndent()
-val dataforgeVersion: String by rootProject.extra
-
kscience {
jvm()
js()
diff --git a/controls-jupyter/build.gradle.kts b/controls-jupyter/build.gradle.kts
index c8486bd..21a3a82 100644
--- a/controls-jupyter/build.gradle.kts
+++ b/controls-jupyter/build.gradle.kts
@@ -3,8 +3,6 @@ plugins {
`maven-publish`
}
-val visionforgeVersion: String by rootProject.extra
-
kscience {
fullStack("js/controls-jupyter.js")
useKtor()
@@ -12,7 +10,7 @@ kscience {
jupyterLibrary("space.kscience.controls.jupyter.ControlsJupyter")
dependencies {
implementation(projects.controlsVision)
- implementation("space.kscience:visionforge-jupyter:$visionforgeVersion")
+ implementation(libs.visionforge.jupiter)
}
jvmMain {
implementation(spclibs.logback.classic)
diff --git a/controls-plc4x/build.gradle.kts b/controls-plc4x/build.gradle.kts
index e7b063c..01f7f68 100644
--- a/controls-plc4x/build.gradle.kts
+++ b/controls-plc4x/build.gradle.kts
@@ -5,8 +5,6 @@ plugins {
`maven-publish`
}
-val plc4xVersion = "0.12.0"
-
description = """
A plugin for Controls-kt device server on top of plc4x library
""".trimIndent()
@@ -15,7 +13,7 @@ kscience {
jvm()
jvmMain {
api(projects.controlsCore)
- api("org.apache.plc4x:plc4j-spi:$plc4xVersion")
+ api(libs.plc4j.spi)
}
}
diff --git a/controls-server/build.gradle.kts b/controls-server/build.gradle.kts
index 3581a71..7a57d57 100644
--- a/controls-server/build.gradle.kts
+++ b/controls-server/build.gradle.kts
@@ -9,16 +9,20 @@ description = """
A combined Magix event loop server with web server for visualization.
""".trimIndent()
-dependencies {
- implementation(projects.controlsCore)
- implementation(projects.controlsPortsKtor)
- implementation(projects.magix.magixServer)
- implementation(spclibs.ktor.server.cio)
- implementation(spclibs.ktor.server.websockets)
- implementation(spclibs.ktor.server.content.negotiation)
- implementation(spclibs.ktor.serialization.kotlinx.json)
- implementation(spclibs.ktor.server.html.builder)
- implementation(spclibs.ktor.server.status.pages)
+
+kscience {
+ jvm()
+ dependencies {
+ implementation(projects.controlsCore)
+ implementation(projects.controlsPortsKtor)
+ implementation(projects.magix.magixServer)
+ implementation(spclibs.ktor.server.cio)
+ implementation(spclibs.ktor.server.websockets)
+ implementation(spclibs.ktor.server.content.negotiation)
+ implementation(spclibs.ktor.serialization.kotlinx.json)
+ implementation(spclibs.ktor.server.html.builder)
+ implementation(spclibs.ktor.server.status.pages)
+ }
}
readme{
diff --git a/controls-vision/build.gradle.kts b/controls-vision/build.gradle.kts
index 9395b92..c36cdce 100644
--- a/controls-vision/build.gradle.kts
+++ b/controls-vision/build.gradle.kts
@@ -7,8 +7,6 @@ description = """
Dashboard and visualization extensions for devices
""".trimIndent()
-val visionforgeVersion: String by rootProject.extra
-
kscience {
fullStack("js/controls-vision.js")
useKtor()
@@ -16,15 +14,15 @@ kscience {
dependencies {
api(projects.controlsCore)
api(projects.controlsConstructor)
- api("space.kscience:visionforge-plotly:$visionforgeVersion")
- api("space.kscience:visionforge-markdown:$visionforgeVersion")
+ api(libs.visionforge.plotly)
+ api(libs.visionforge.markdown)
// api("space.kscience:tables-kt:0.2.1")
// api("space.kscience:visionforge-tables:$visionforgeVersion")
}
jvmMain{
- api("space.kscience:visionforge-server:$visionforgeVersion")
- api("io.ktor:ktor-server-cio")
+ api(libs.visionforge.server)
+ api(spclibs.ktor.server.cio)
}
}
diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
index da20aff..242a120 100644
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -1,6 +1,6 @@
[versions]
-dataforge = "0.6.2-dev-3"
+dataforge = "0.8.0"
rsocket = "0.15.4"
xodus = "2.0.1"
@@ -27,11 +27,16 @@ milo = "0.6.12"
pi4j = "2.3.0"
pi4j-ktx = "2.4.0"
+plc4j = "0.12.0"
+
+visionforge = "0.4.1"
+
versions = "0.51.0"
[libraries]
dataforge-io = { module = "space.kscience:dataforge-io", version.ref = "dataforge" }
+dataforge-meta = { module = "space.kscience:dataforge-meta", version.ref = "dataforge" }
uuid = { module = "com.benasher44:uuid", version.ref = "uuid" }
@@ -68,6 +73,13 @@ pi4j-core = { module = "com.pi4j:pi4j-core", version.ref = "pi4j" }
pi4j-plugin-raspberrypi = { module = "com.pi4j:pi4j-plugin-raspberrypi", version.ref = "pi4j" }
pi4j-plugin-pigpio = { module = "com.pi4j:pi4j-plugin-pigpio", version.ref = "pi4j" }
+plc4j-spi = { module = "org.apache.plc4x:plc4j-spi", version.ref = "plc4j" }
+
+visionforge-jupiter = { module = "space.kscience:visionforge-jupyter", version.ref = "visionforge" }
+visionforge-plotly = { module = "space.kscience:visionforge-plotly", version.ref = "visionforge" }
+visionforge-markdown = { module = "space.kscience:visionforge-markdown", version.ref = "visionforge" }
+visionforge-server = { module = "space.kscience:visionforge-server", version.ref = "visionforge" }
+
# Buildscript
[plugins]
diff --git a/magix/magix-utils/build.gradle.kts b/magix/magix-utils/build.gradle.kts
index b22b5f0..9bec805 100644
--- a/magix/magix-utils/build.gradle.kts
+++ b/magix/magix-utils/build.gradle.kts
@@ -9,8 +9,6 @@ description = """
Common utilities and services for Magix endpoints.
""".trimIndent()
-val dataforgeVersion: String by rootProject.extra
-
kscience {
jvm()
js()
@@ -18,7 +16,7 @@ kscience {
useSerialization()
commonMain {
api(projects.magix.magixApi)
- api("space.kscience:dataforge-meta:$dataforgeVersion")
+ api(libs.dataforge.meta)
}
}
From f974483a41cf480e2ed366f688ac4e0326db9271 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 29 Apr 2024 18:28:14 +0300
Subject: [PATCH 077/125] Update plotly version
---
.../kotlin/space/kscience/controls/spec/DeviceBase.kt | 1 +
gradle/libs.versions.toml | 2 +-
2 files changed, 2 insertions(+), 1 deletion(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index dcb48b4..e8b9210 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -72,6 +72,7 @@ public abstract class DeviceBase<D : Device>(
onBufferOverflow = BufferOverflow.DROP_OLDEST
)
+ @OptIn(kotlinx.coroutines.ExperimentalCoroutinesApi::class)
override val coroutineContext: CoroutineContext = context.newCoroutineContext(
SupervisorJob(context.coroutineContext[Job]) +
CoroutineName("Device $this") +
diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
index 242a120..601b9d1 100644
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -10,7 +10,7 @@ fazecast = "2.10.3"
tornadofx = "1.7.20"
-plotlykt = "0.5.3"
+plotlykt = "0.7.0"
logback = "1.2.11"
From 381da970bf1e2fd7a8b288c1c2103017b5149ec8 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Fri, 10 May 2024 11:33:00 +0300
Subject: [PATCH 078/125] make device stop suspended to properly await for
lifecycle event.
Add capabilities to Constructor
---
build.gradle.kts | 2 +-
controls-constructor/build.gradle.kts | 7 +-
.../constructor/ConstructorBinding.kt | 26 ++
.../controls/constructor/DeviceConstructor.kt | 230 +++++++++++-------
.../controls/constructor/DeviceGroup.kt | 51 ++--
.../controls/constructor/DeviceState.kt | 205 +++-------------
.../controls/constructor/TimerState.kt | 41 ++++
.../controls/constructor/boundState.kt | 103 ++++++++
.../controls/constructor/customState.kt | 4 +
.../controls/constructor/externalState.kt | 70 ++++++
.../controls/constructor/flowState.kt | 23 ++
.../controls/constructor/internalState.kt | 42 ++++
.../constructor/{ => library}/Drive.kt | 8 +-
.../constructor/{ => library}/LimitSwitch.kt | 5 +-
.../constructor/{ => library}/PidRegulator.kt | 11 +-
.../constructor/{ => library}/Regulator.kt | 2 +-
.../controls/constructor/DeviceGroupTest.kt | 43 ++++
.../controls/constructor/TimerTest.kt | 22 ++
.../space/kscience/controls/api/Device.kt | 4 +-
.../kscience/controls/api/descriptors.kt | 19 +-
.../kscience/controls/manager/ClockManager.kt | 8 +-
.../controls/manager/DeviceManager.kt | 7 +-
.../kscience/controls/spec/DeviceBase.kt | 39 ++-
.../kscience/controls/spec/DeviceBySpec.kt | 2 +-
.../kscience/controls/spec/DeviceSpec.kt | 25 ++
.../kscience/controls/spec/converters.kt | 41 ++++
.../controls/spec/deviceExtensions.kt | 50 ++--
.../space/kscience/controls/spec/fromSpec.kt | 2 -
.../space/kscience/controls/spec/misc.kt | 22 --
.../kscience/controls/spec/fromSpec.jvm.kt | 5 +-
controls-modbus/build.gradle.kts | 12 +-
.../controls/modbus/DeviceProcessImage.kt | 0
.../kscience/controls/modbus/ModbusDevice.kt | 0
.../controls/modbus/ModbusDeviceBySpec.kt | 2 +-
.../controls/modbus/ModbusRegistryMap.kt | 0
.../opcua/client/OpcUaDeviceBySpec.kt | 2 +-
controls-pi/build.gradle.kts | 19 +-
.../controls/pi/AsynchronousPiPort.kt | 0
.../space/kscience/controls/pi/PiPlugin.kt | 0
.../kscience/controls/pi/SynchronousPiPort.kt | 0
controls-ports-ktor/build.gradle.kts | 11 +-
.../controls/ports/KtorPortsPlugin.kt | 0
.../kscience/controls/ports/KtorTcpPort.kt | 0
.../kscience/controls/ports/KtorUdpPort.kt | 0
controls-serial/build.gradle.kts | 11 +-
.../controls/serial/AsynchronousSerialPort.kt | 0
.../controls/serial/SerialPortPlugin.kt | 0
.../controls/serial/SynchronousSerialPort.kt | 0
.../controls-xodus/build.gradle.kts | 15 +-
.../xodus/XodusDeviceMessageStorage.kt | 0
.../kotlin/PropertyHistoryTest.kt | 0
.../controls/demo/DemoControllerView.kt | 7 +-
.../controls/demo/car/VirtualCarController.kt | 7 +-
demo/constructor/src/jvmMain/kotlin/main.kt | 18 +-
magix/magix-server/build.gradle.kts | 36 +--
.../magix/server/RSocketMagixFlowPlugin.kt | 0
.../kscience/magix/server/magixModule.kt | 0
.../space/kscience/magix/server/server.kt | 0
.../kotlin/space/kscience/magix/server/sse.kt | 0
59 files changed, 818 insertions(+), 441 deletions(-)
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorBinding.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/TimerState.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/boundState.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/externalState.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/flowState.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
rename controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/{ => library}/Drive.kt (91%)
rename controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/{ => library}/LimitSwitch.kt (83%)
rename controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/{ => library}/PidRegulator.kt (83%)
rename controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/{ => library}/Regulator.kt (92%)
create mode 100644 controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/DeviceGroupTest.kt
create mode 100644 controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/TimerTest.kt
create mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/spec/converters.kt
delete mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/spec/misc.kt
rename controls-modbus/src/{main => jvmMain}/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt (100%)
rename controls-modbus/src/{main => jvmMain}/kotlin/space/kscience/controls/modbus/ModbusDevice.kt (100%)
rename controls-modbus/src/{main => jvmMain}/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt (97%)
rename controls-modbus/src/{main => jvmMain}/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt (100%)
rename controls-pi/src/{main => jvmMain}/kotlin/space/kscience/controls/pi/AsynchronousPiPort.kt (100%)
rename controls-pi/src/{main => jvmMain}/kotlin/space/kscience/controls/pi/PiPlugin.kt (100%)
rename controls-pi/src/{main => jvmMain}/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt (100%)
rename controls-ports-ktor/src/{main => jvmMain}/kotlin/space/kscience/controls/ports/KtorPortsPlugin.kt (100%)
rename controls-ports-ktor/src/{main => jvmMain}/kotlin/space/kscience/controls/ports/KtorTcpPort.kt (100%)
rename controls-ports-ktor/src/{main => jvmMain}/kotlin/space/kscience/controls/ports/KtorUdpPort.kt (100%)
rename controls-serial/src/{main => jvmMain}/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt (100%)
rename controls-serial/src/{main => jvmMain}/kotlin/space/kscience/controls/serial/SerialPortPlugin.kt (100%)
rename controls-serial/src/{main => jvmMain}/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt (100%)
rename controls-storage/controls-xodus/src/{main => jvmMain}/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt (100%)
rename controls-storage/controls-xodus/src/{test => jvmTest}/kotlin/PropertyHistoryTest.kt (100%)
rename magix/magix-server/src/{main => jvmMain}/kotlin/space/kscience/magix/server/RSocketMagixFlowPlugin.kt (100%)
rename magix/magix-server/src/{main => jvmMain}/kotlin/space/kscience/magix/server/magixModule.kt (100%)
rename magix/magix-server/src/{main => jvmMain}/kotlin/space/kscience/magix/server/server.kt (100%)
rename magix/magix-server/src/{main => jvmMain}/kotlin/space/kscience/magix/server/sse.kt (100%)
diff --git a/build.gradle.kts b/build.gradle.kts
index 57cb978..aed37b5 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -8,7 +8,7 @@ plugins {
allprojects {
group = "space.kscience"
- version = "0.3.1-dev-1"
+ version = "0.4.0-dev-1"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
diff --git a/controls-constructor/build.gradle.kts b/controls-constructor/build.gradle.kts
index e62dd8e..e69c4d4 100644
--- a/controls-constructor/build.gradle.kts
+++ b/controls-constructor/build.gradle.kts
@@ -10,9 +10,14 @@ description = """
kscience{
jvm()
js()
- dependencies {
+ useCoroutines()
+ commonMain {
api(projects.controlsCore)
}
+
+ commonTest{
+ implementation(spclibs.logback.classic)
+ }
}
readme{
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorBinding.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorBinding.kt
new file mode 100644
index 0000000..7ad370e
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorBinding.kt
@@ -0,0 +1,26 @@
+package space.kscience.controls.constructor
+
+import space.kscience.controls.api.Device
+
+public sealed interface ConstructorBinding
+
+/**
+ * A binding that exposes device property as read-only state
+ */
+public class PropertyBinding<T>(
+ public val device: Device,
+ public val propertyName: String,
+ public val state: DeviceState<T>,
+) : ConstructorBinding
+
+/**
+ * A binding for independent state like a timer
+ */
+public class StateBinding<T>(
+ public val state: DeviceState<T>
+) : ConstructorBinding
+
+public class ActionBinding(
+ public val reads: Collection<DeviceState<*>>,
+ public val writes: Collection<DeviceState<*>>
+): ConstructorBinding
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
index 63b5303..7824e3c 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -1,9 +1,16 @@
package space.kscience.controls.constructor
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
import space.kscience.controls.api.Device
import space.kscience.controls.api.PropertyDescriptor
+import space.kscience.controls.manager.ClockManager
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.MutableDevicePropertySpec
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
+import space.kscience.dataforge.context.request
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.MetaConverter
import space.kscience.dataforge.names.Name
@@ -14,105 +21,154 @@ import kotlin.reflect.KProperty
import kotlin.time.Duration
/**
- * A base for strongly typed device constructor blocks. Has additional delegates for type-safe devices
+ * A base for strongly typed device constructor block. Has additional delegates for type-safe devices
*/
public abstract class DeviceConstructor(
context: Context,
- meta: Meta,
+ meta: Meta = Meta.EMPTY,
) : DeviceGroup(context, meta) {
+ private val _bindings: MutableList<ConstructorBinding> = mutableListOf()
+ public val bindings: List<ConstructorBinding> get() = _bindings
+
+ public fun registerBinding(binding: ConstructorBinding) {
+ _bindings.add(binding)
+ }
+
+ override fun registerProperty(descriptor: PropertyDescriptor, state: DeviceState<*>) {
+ super.registerProperty(descriptor, state)
+ registerBinding(PropertyBinding(this, descriptor.name, state))
+ }
/**
- * Register a device, provided by a given [factory] and
+ * Create and register a timer. Timer is not counted as a device property.
*/
- public fun <D : Device> device(
- factory: Factory<D>,
- meta: Meta? = null,
- nameOverride: Name? = null,
- metaLocation: Name? = null,
- ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, D>> =
- PropertyDelegateProvider { _: DeviceConstructor, property: KProperty<*> ->
- val name = nameOverride ?: property.name.asName()
- val device = install(name, factory, meta, metaLocation ?: name)
- ReadOnlyProperty { _: DeviceConstructor, _ ->
- device
- }
+ public fun timer(tick: Duration): TimerState = TimerState(context.request(ClockManager), tick)
+ .also { registerBinding(StateBinding(it)) }
+
+ /**
+ * Launch action that is performed on each [DeviceState] value change.
+ *
+ * Optionally provide [writes] - a set of states that this change affects.
+ */
+ public fun <T> DeviceState<T>.onChange(
+ vararg writes: DeviceState<*>,
+ reads: Collection<DeviceState<*>>,
+ onChange: suspend (T) -> Unit,
+ ): Job = valueFlow.onEach(onChange).launchIn(this@DeviceConstructor).also {
+ registerBinding(ActionBinding(setOf(this, *reads.toTypedArray()), setOf(*writes)))
+ }
+}
+
+/**
+ * Register a device, provided by a given [factory] and
+ */
+public fun <D : Device> DeviceConstructor.device(
+ factory: Factory<D>,
+ meta: Meta? = null,
+ nameOverride: Name? = null,
+ metaLocation: Name? = null,
+): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, D>> =
+ PropertyDelegateProvider { _: DeviceConstructor, property: KProperty<*> ->
+ val name = nameOverride ?: property.name.asName()
+ val device = install(name, factory, meta, metaLocation ?: name)
+ ReadOnlyProperty { _: DeviceConstructor, _ ->
+ device
}
+ }
- public fun <D : Device> device(
- device: D,
- nameOverride: Name? = null,
- ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, D>> =
- PropertyDelegateProvider { _: DeviceConstructor, property: KProperty<*> ->
- val name = nameOverride ?: property.name.asName()
- install(name, device)
- ReadOnlyProperty { _: DeviceConstructor, _ ->
- device
- }
+public fun <D : Device> DeviceConstructor.device(
+ device: D,
+ nameOverride: Name? = null,
+): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, D>> =
+ PropertyDelegateProvider { _: DeviceConstructor, property: KProperty<*> ->
+ val name = nameOverride ?: property.name.asName()
+ install(name, device)
+ ReadOnlyProperty { _: DeviceConstructor, _ ->
+ device
}
+ }
-
- /**
- * Register a property and provide a direct reader for it
- */
- public fun <T, S: DeviceState<T>> property(
- state: S,
- descriptorBuilder: PropertyDescriptor.() -> Unit = {},
- nameOverride: String? = null,
- ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, S>> =
- PropertyDelegateProvider { _: DeviceConstructor, property ->
- val name = nameOverride ?: property.name
- val descriptor = PropertyDescriptor(name).apply(descriptorBuilder)
- registerProperty(descriptor, state)
- ReadOnlyProperty { _: DeviceConstructor, _ ->
- state
- }
+/**
+ * Register a property and provide a direct reader for it
+ */
+public fun <T, S : DeviceState<T>> DeviceConstructor.property(
+ state: S,
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ nameOverride: String? = null,
+): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, S>> =
+ PropertyDelegateProvider { _: DeviceConstructor, property ->
+ val name = nameOverride ?: property.name
+ val descriptor = PropertyDescriptor(name).apply(descriptorBuilder)
+ registerProperty(descriptor, state)
+ ReadOnlyProperty { _: DeviceConstructor, _ ->
+ state
}
+ }
- /**
- * Register external state as a property
- */
- public fun <T : Any> property(
- metaConverter: MetaConverter<T>,
- reader: suspend () -> T,
- readInterval: Duration,
- initialState: T,
- descriptorBuilder: PropertyDescriptor.() -> Unit = {},
- nameOverride: String? = null,
- ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, DeviceState<T>>> = property(
- DeviceState.external(this, metaConverter, readInterval, initialState, reader),
- descriptorBuilder,
- nameOverride,
- )
+/**
+ * Register external state as a property
+ */
+public fun <T : Any> DeviceConstructor.property(
+ metaConverter: MetaConverter<T>,
+ reader: suspend () -> T,
+ readInterval: Duration,
+ initialState: T,
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ nameOverride: String? = null,
+): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, DeviceState<T>>> = property(
+ DeviceState.external(this, metaConverter, readInterval, initialState, reader),
+ descriptorBuilder,
+ nameOverride,
+)
- /**
- * Register a mutable external state as a property
- */
- public fun <T : Any> mutableProperty(
- metaConverter: MetaConverter<T>,
- reader: suspend () -> T,
- writer: suspend (T) -> Unit,
- readInterval: Duration,
- initialState: T,
- descriptorBuilder: PropertyDescriptor.() -> Unit = {},
- nameOverride: String? = null,
- ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, MutableDeviceState<T>>> = property(
- DeviceState.external(this, metaConverter, readInterval, initialState, reader, writer),
- descriptorBuilder,
- nameOverride,
- )
+/**
+ * Register a mutable external state as a property
+ */
+public fun <T : Any> DeviceConstructor.mutableProperty(
+ metaConverter: MetaConverter<T>,
+ reader: suspend () -> T,
+ writer: suspend (T) -> Unit,
+ readInterval: Duration,
+ initialState: T,
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ nameOverride: String? = null,
+): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, MutableDeviceState<T>>> = property(
+ DeviceState.external(this, metaConverter, readInterval, initialState, reader, writer),
+ descriptorBuilder,
+ nameOverride,
+)
- /**
- * Create and register a virtual mutable property with optional [callback]
- */
- public fun <T> virtualProperty(
- metaConverter: MetaConverter<T>,
- initialState: T,
- descriptorBuilder: PropertyDescriptor.() -> Unit = {},
- nameOverride: String? = null,
- callback: (T) -> Unit = {},
- ): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, MutableDeviceState<T>>> = property(
- DeviceState.virtual(metaConverter, initialState, callback),
- descriptorBuilder,
- nameOverride,
- )
-}
\ No newline at end of file
+/**
+ * Create and register a virtual mutable property with optional [callback]
+ */
+public fun <T> DeviceConstructor.virtualProperty(
+ metaConverter: MetaConverter<T>,
+ initialState: T,
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ nameOverride: String? = null,
+ callback: (T) -> Unit = {},
+): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, MutableDeviceState<T>>> = property(
+ DeviceState.internal(metaConverter, initialState, callback),
+ descriptorBuilder,
+ nameOverride,
+)
+
+/**
+ * Bind existing property provided by specification to this device
+ */
+public fun <T, D : Device> DeviceConstructor.deviceProperty(
+ device: D,
+ property: DevicePropertySpec<D, T>,
+ initialValue: T,
+): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, DeviceState<T>>> =
+ property(device.propertyAsState(property, initialValue))
+
+/**
+ * Bind existing property provided by specification to this device
+ */
+public fun <T, D : Device> DeviceConstructor.deviceProperty(
+ device: D,
+ property: MutableDevicePropertySpec<D, T>,
+ initialValue: T,
+): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, MutableDeviceState<T>>> =
+ property(device.mutablePropertyAsState(property, initialValue))
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
index ca05c27..6785b4b 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -9,9 +9,7 @@ import space.kscience.controls.api.*
import space.kscience.controls.api.DeviceLifecycleState.*
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.install
-import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.context.Factory
-import space.kscience.dataforge.context.request
+import space.kscience.dataforge.context.*
import space.kscience.dataforge.meta.*
import space.kscience.dataforge.misc.DFExperimental
import space.kscience.dataforge.names.*
@@ -57,6 +55,7 @@ public open class DeviceGroup(
)
)
}
+ logger.error(throwable) { "Exception in device $id" }
}
)
@@ -69,7 +68,7 @@ public open class DeviceGroup(
* Register and initialize (synchronize child's lifecycle state with group state) a new device in this group
*/
@OptIn(DFExperimental::class)
- public fun <D : Device> install(token: NameToken, device: D): D {
+ public open fun <D : Device> install(token: NameToken, device: D): D {
require(_devices[token] == null) { "A child device with name $token already exists" }
//start the child device if needed
if (lifecycleState == STARTED || lifecycleState == STARTING) launch { device.start() }
@@ -82,7 +81,7 @@ public open class DeviceGroup(
/**
* Register a new property based on [DeviceState]. Properties could be modified dynamically
*/
- public fun registerProperty(descriptor: PropertyDescriptor, state: DeviceState<*>) {
+ public open fun registerProperty(descriptor: PropertyDescriptor, state: DeviceState<*>) {
val name = descriptor.name.parseAsName()
require(properties[name] == null) { "Can't add property with name $name. It already exists." }
properties[name] = Property(state, descriptor)
@@ -126,37 +125,33 @@ public open class DeviceGroup(
return action.invoke(argument)
}
- @DFExperimental
- override var lifecycleState: DeviceLifecycleState = STOPPED
- protected set(value) {
- if (field != value) {
- launch {
- sharedMessageFlow.emit(
- DeviceLifeCycleMessage(value)
- )
- }
- }
- field = value
- }
+ final override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
+ private set
+
+
+ private suspend fun setLifecycleState(lifecycleState: DeviceLifecycleState) {
+ this.lifecycleState = lifecycleState
+ sharedMessageFlow.emit(
+ DeviceLifeCycleMessage(lifecycleState)
+ )
+ }
- @OptIn(DFExperimental::class)
override suspend fun start() {
- lifecycleState = STARTING
+ setLifecycleState(STARTING)
super.start()
devices.values.forEach {
it.start()
}
- lifecycleState = STARTED
+ setLifecycleState(STARTED)
}
- @OptIn(DFExperimental::class)
- override fun stop() {
+ override suspend fun stop() {
devices.values.forEach {
it.stop()
}
+ setLifecycleState(STOPPED)
super.stop()
- lifecycleState = STOPPED
}
public companion object {
@@ -210,13 +205,9 @@ public fun <D : Device> DeviceGroup.install(name: Name, device: D): D {
}
}
-public fun <D : Device> DeviceGroup.install(name: String, device: D): D =
- install(name.parseAsName(), device)
+public fun <D : Device> DeviceGroup.install(name: String, device: D): D = install(name.parseAsName(), device)
-public fun <D : Device> DeviceGroup.install(device: D): D =
- install(device.id, device)
-
-public fun <D : Device> Context.install(name: String, device: D): D = request(DeviceManager).install(name, device)
+public fun <D : Device> DeviceGroup.install(device: D): D = install(device.id, device)
/**
* Add a device creating intermediate groups if necessary. If device with given [name] already exists, throws an error.
@@ -292,7 +283,7 @@ public fun <T : Any> DeviceGroup.registerVirtualProperty(
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
callback: (T) -> Unit = {},
): MutableDeviceState<T> {
- val state = DeviceState.virtual<T>(converter, initialValue, callback)
+ val state = DeviceState.internal<T>(converter, initialValue, callback)
registerMutableProperty(name, state, descriptorBuilder)
return state
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index faa7b2f..9a25f00 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -2,18 +2,13 @@ package space.kscience.controls.constructor
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Job
-import kotlinx.coroutines.delay
-import kotlinx.coroutines.flow.*
-import kotlinx.coroutines.launch
-import space.kscience.controls.api.Device
-import space.kscience.controls.api.PropertyChangedMessage
-import space.kscience.controls.spec.DevicePropertySpec
-import space.kscience.controls.spec.MutableDevicePropertySpec
-import space.kscience.controls.spec.name
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.map
+import kotlinx.coroutines.flow.onEach
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.MetaConverter
import kotlin.reflect.KProperty
-import kotlin.time.Duration
/**
* An observable state of a device
@@ -24,6 +19,8 @@ public interface DeviceState<T> {
public val valueFlow: Flow<T>
+ override fun toString(): String
+
public companion object
}
@@ -36,7 +33,7 @@ public operator fun <T> DeviceState<T>.getValue(thisRef: Any?, property: KProper
/**
* Collect values in a given [scope]
*/
-public fun <T> DeviceState<T>.collectValuesIn(scope: CoroutineScope, block: suspend (T)->Unit): Job =
+public fun <T> DeviceState<T>.collectValuesIn(scope: CoroutineScope, block: suspend (T) -> Unit): Job =
valueFlow.onEach(block).launchIn(scope)
/**
@@ -57,186 +54,46 @@ public var <T> MutableDeviceState<T>.valueAsMeta: Meta
}
/**
- * A [MutableDeviceState] that does not correspond to a physical state
- *
- * @param callback a synchronous callback that could be used without a scope
+ * Device state with a value that depends on other device states
*/
-private class VirtualDeviceState<T>(
- override val converter: MetaConverter<T>,
- initialValue: T,
- private val callback: (T) -> Unit = {},
-) : MutableDeviceState<T> {
- private val flow = MutableStateFlow(initialValue)
- override val valueFlow: Flow<T> get() = flow
-
- override var value: T
- get() = flow.value
- set(value) {
- flow.value = value
- callback(value)
- }
-}
-
-
-/**
- * A [MutableDeviceState] that does not correspond to a physical state
- *
- * @param callback a synchronous callback that could be used without a scope
- */
-public fun <T> DeviceState.Companion.virtual(
- converter: MetaConverter<T>,
- initialValue: T,
- callback: (T) -> Unit = {},
-): MutableDeviceState<T> = VirtualDeviceState(converter, initialValue, callback)
-
-private class StateFlowAsState<T>(
- override val converter: MetaConverter<T>,
- val flow: MutableStateFlow<T>,
-) : MutableDeviceState<T> {
- override var value: T by flow::value
- override val valueFlow: Flow<T> get() = flow
-}
-
-public fun <T> MutableStateFlow<T>.asDeviceState(converter: MetaConverter<T>): DeviceState<T> =
- StateFlowAsState(converter, this)
-
-
-private open class BoundDeviceState<T>(
- override val converter: MetaConverter<T>,
- val device: Device,
- val propertyName: String,
- initialValue: T,
-) : DeviceState<T> {
-
- override val valueFlow: StateFlow<T> = device.messageFlow.filterIsInstance<PropertyChangedMessage>().filter {
- it.property == propertyName
- }.mapNotNull {
- converter.read(it.value)
- }.stateIn(device.context, SharingStarted.Eagerly, initialValue)
-
- override val value: T get() = valueFlow.value
+public interface DeviceStateWithDependencies<T> : DeviceState<T> {
+ public val dependencies: Collection<DeviceState<*>>
}
/**
- * Bind a read-only [DeviceState] to a [Device] property
+ * Create a new read-only [DeviceState] that mirrors receiver state by mapping the value with [mapper].
*/
-public suspend fun <T> Device.propertyAsState(
- propertyName: String,
- metaConverter: MetaConverter<T>,
-): DeviceState<T> {
- val initialValue = metaConverter.readOrNull(readProperty(propertyName)) ?: error("Conversion of property failed")
- return BoundDeviceState(metaConverter, this, propertyName, initialValue)
-}
-
-public suspend fun <D : Device, T> D.propertyAsState(
- propertySpec: DevicePropertySpec<D, T>,
-): DeviceState<T> = propertyAsState(propertySpec.name, propertySpec.converter)
-
public fun <T, R> DeviceState<T>.map(
converter: MetaConverter<R>, mapper: (T) -> R,
-): DeviceState<R> = object : DeviceState<R> {
+): DeviceStateWithDependencies<R> = object : DeviceStateWithDependencies<R> {
+ override val dependencies = listOf(this)
+
override val converter: MetaConverter<R> = converter
+
override val value: R
get() = mapper(this@map.value)
override val valueFlow: Flow<R> = this@map.valueFlow.map(mapper)
-}
-private class MutableBoundDeviceState<T>(
- converter: MetaConverter<T>,
- device: Device,
- propertyName: String,
- initialValue: T,
-) : BoundDeviceState<T>(converter, device, propertyName, initialValue), MutableDeviceState<T> {
-
- override var value: T
- get() = valueFlow.value
- set(newValue) {
- device.launch {
- device.writeProperty(propertyName, converter.convert(newValue))
- }
- }
-}
-
-public fun <T> Device.mutablePropertyAsState(
- propertyName: String,
- metaConverter: MetaConverter<T>,
- initialValue: T,
-): MutableDeviceState<T> = MutableBoundDeviceState(metaConverter, this, propertyName, initialValue)
-
-public suspend fun <T> Device.mutablePropertyAsState(
- propertyName: String,
- metaConverter: MetaConverter<T>,
-): MutableDeviceState<T> {
- val initialValue = metaConverter.readOrNull(readProperty(propertyName)) ?: error("Conversion of property failed")
- return mutablePropertyAsState(propertyName, metaConverter, initialValue)
-}
-
-public suspend fun <D : Device, T> D.mutablePropertyAsState(
- propertySpec: MutableDevicePropertySpec<D, T>,
-): MutableDeviceState<T> = mutablePropertyAsState(propertySpec.name, propertySpec.converter)
-
-public fun <D : Device, T> D.mutablePropertyAsState(
- propertySpec: MutableDevicePropertySpec<D, T>,
- initialValue: T,
-): MutableDeviceState<T> = mutablePropertyAsState(propertySpec.name, propertySpec.converter, initialValue)
-
-
-private open class ExternalState<T>(
- val scope: CoroutineScope,
- override val converter: MetaConverter<T>,
- val readInterval: Duration,
- initialValue: T,
- val reader: suspend () -> T,
-) : DeviceState<T> {
-
- protected val flow: StateFlow<T> = flow {
- while (true) {
- delay(readInterval)
- emit(reader())
- }
- }.stateIn(scope, SharingStarted.Eagerly, initialValue)
-
- override val value: T get() = flow.value
- override val valueFlow: Flow<T> get() = flow
+ override fun toString(): String = "DeviceState.map(arg=${this@map}, converter=$converter)"
}
/**
- * Create a [DeviceState] which is constructed by periodically reading external value
+ * Combine two device states into one read-only [DeviceState]. Only the latest value of each state is used.
*/
-public fun <T> DeviceState.Companion.external(
- scope: CoroutineScope,
- converter: MetaConverter<T>,
- readInterval: Duration,
- initialValue: T,
- reader: suspend () -> T,
-): DeviceState<T> = ExternalState(scope, converter, readInterval, initialValue, reader)
+public fun <T1, T2, R> combine(
+ state1: DeviceState<T1>,
+ state2: DeviceState<T2>,
+ converter: MetaConverter<R>,
+ mapper: (T1, T2) -> R,
+): DeviceStateWithDependencies<R> = object : DeviceStateWithDependencies<R> {
+ override val dependencies = listOf(state1, state2)
-private class MutableExternalState<T>(
- scope: CoroutineScope,
- converter: MetaConverter<T>,
- readInterval: Duration,
- initialValue: T,
- reader: suspend () -> T,
- val writer: suspend (T) -> Unit,
-) : ExternalState<T>(scope, converter, readInterval, initialValue, reader), MutableDeviceState<T> {
- override var value: T
- get() = super.value
- set(value) {
- scope.launch {
- writer(value)
- }
- }
+ override val converter: MetaConverter<R> = converter
+
+ override val value: R get() = mapper(state1.value, state2.value)
+
+ override val valueFlow: Flow<R> = kotlinx.coroutines.flow.combine(state1.valueFlow, state2.valueFlow, mapper)
+
+ override fun toString(): String = "DeviceState.combine(state1=$state1, state2=$state2)"
}
-
-/**
- * Create a [DeviceState] that regularly reads and caches an external value
- */
-public fun <T> DeviceState.Companion.external(
- scope: CoroutineScope,
- converter: MetaConverter<T>,
- readInterval: Duration,
- initialValue: T,
- reader: suspend () -> T,
- writer: suspend (T) -> Unit,
-): MutableDeviceState<T> = MutableExternalState(scope, converter, readInterval, initialValue, reader, writer)
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/TimerState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/TimerState.kt
new file mode 100644
index 0000000..7b10cb9
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/TimerState.kt
@@ -0,0 +1,41 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.MutableStateFlow
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import kotlinx.datetime.Instant
+import space.kscience.controls.manager.ClockManager
+import space.kscience.controls.spec.instant
+import space.kscience.dataforge.meta.MetaConverter
+import kotlin.time.Duration
+
+/**
+ * A dedicated [DeviceState] that operates with time.
+ * The state changes with [tick] interval and always shows the time of the last update.
+ *
+ * Both [tick] and current time are computed by [clockManager] enabling time manipulation.
+ *
+ * The timer runs indefinitely until the parent context is closed
+ */
+public class TimerState(
+ public val clockManager: ClockManager,
+ public val tick: Duration,
+) : DeviceState<Instant> {
+ override val converter: MetaConverter<Instant> get() = MetaConverter.instant
+
+ private val clock = MutableStateFlow(clockManager.clock.now())
+
+ private val updateJob = clockManager.context.launch {
+ while (isActive) {
+ clockManager.delay(tick)
+ clock.value = clockManager.clock.now()
+ }
+ }
+
+ override val valueFlow: Flow<Instant> get() = clock
+
+ override val value: Instant get() = clock.value
+
+ override fun toString(): String = "TimerState(tick=$tick)"
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/boundState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/boundState.kt
new file mode 100644
index 0000000..37be770
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/boundState.kt
@@ -0,0 +1,103 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.launch
+import space.kscience.controls.api.Device
+import space.kscience.controls.api.PropertyChangedMessage
+import space.kscience.controls.api.id
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.MutableDevicePropertySpec
+import space.kscience.controls.spec.name
+import space.kscience.dataforge.meta.MetaConverter
+
+
+/**
+ * A copy-free [DeviceState] bound to a device property
+ */
+private open class BoundDeviceState<T>(
+ override val converter: MetaConverter<T>,
+ val device: Device,
+ val propertyName: String,
+ initialValue: T,
+) : DeviceState<T> {
+
+ override val valueFlow: StateFlow<T> = device.messageFlow.filterIsInstance<PropertyChangedMessage>().filter {
+ it.property == propertyName
+ }.mapNotNull {
+ converter.read(it.value)
+ }.stateIn(device.context, SharingStarted.Eagerly, initialValue)
+
+ override val value: T get() = valueFlow.value
+ override fun toString(): String =
+ "BoundDeviceState(converter=$converter, device=${device.id}, propertyName='$propertyName')"
+
+
+}
+
+public fun <T> Device.propertyAsState(
+ propertyName: String,
+ metaConverter: MetaConverter<T>,
+ initialValue: T,
+): DeviceState<T> = BoundDeviceState(metaConverter, this, propertyName, initialValue)
+
+/**
+ * Bind a read-only [DeviceState] to a [Device] property
+ */
+public suspend fun <T> Device.propertyAsState(
+ propertyName: String,
+ metaConverter: MetaConverter<T>,
+): DeviceState<T> = propertyAsState(
+ propertyName,
+ metaConverter,
+ metaConverter.readOrNull(readProperty(propertyName)) ?: error("Conversion of property failed")
+)
+
+public suspend fun <D : Device, T> D.propertyAsState(
+ propertySpec: DevicePropertySpec<D, T>,
+): DeviceState<T> = propertyAsState(propertySpec.name, propertySpec.converter)
+
+public fun <D : Device, T> D.propertyAsState(
+ propertySpec: DevicePropertySpec<D, T>,
+ initialValue: T,
+): DeviceState<T> = propertyAsState(propertySpec.name, propertySpec.converter, initialValue)
+
+
+private class MutableBoundDeviceState<T>(
+ converter: MetaConverter<T>,
+ device: Device,
+ propertyName: String,
+ initialValue: T,
+) : BoundDeviceState<T>(converter, device, propertyName, initialValue), MutableDeviceState<T> {
+
+ override var value: T
+ get() = valueFlow.value
+ set(newValue) {
+ device.launch {
+ device.writeProperty(propertyName, converter.convert(newValue))
+ }
+ }
+}
+
+public fun <T> Device.mutablePropertyAsState(
+ propertyName: String,
+ metaConverter: MetaConverter<T>,
+ initialValue: T,
+): MutableDeviceState<T> = MutableBoundDeviceState(metaConverter, this, propertyName, initialValue)
+
+public suspend fun <T> Device.mutablePropertyAsState(
+ propertyName: String,
+ metaConverter: MetaConverter<T>,
+): MutableDeviceState<T> {
+ val initialValue = metaConverter.readOrNull(readProperty(propertyName)) ?: error("Conversion of property failed")
+ return mutablePropertyAsState(propertyName, metaConverter, initialValue)
+}
+
+public suspend fun <D : Device, T> D.mutablePropertyAsState(
+ propertySpec: MutableDevicePropertySpec<D, T>,
+): MutableDeviceState<T> = mutablePropertyAsState(propertySpec.name, propertySpec.converter)
+
+public fun <D : Device, T> D.mutablePropertyAsState(
+ propertySpec: MutableDevicePropertySpec<D, T>,
+ initialValue: T,
+): MutableDeviceState<T> = mutablePropertyAsState(propertySpec.name, propertySpec.converter, initialValue)
+
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
index 100f755..881bdea 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
@@ -38,6 +38,10 @@ public class DoubleRangeState(
* A state showing that the range is on its higher boundary
*/
public val atEndState: DeviceState<Boolean> = map(MetaConverter.boolean) { it >= range.endInclusive }
+
+ override fun toString(): String = "DoubleRangeState(range=$range, converter=$converter)"
+
+
}
@Suppress("UnusedReceiverParameter")
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/externalState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/externalState.kt
new file mode 100644
index 0000000..c670a23
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/externalState.kt
@@ -0,0 +1,70 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.launch
+import space.kscience.dataforge.meta.MetaConverter
+import kotlin.time.Duration
+
+
+private open class ExternalState<T>(
+ val scope: CoroutineScope,
+ override val converter: MetaConverter<T>,
+ val readInterval: Duration,
+ initialValue: T,
+ val reader: suspend () -> T,
+) : DeviceState<T> {
+
+ protected val flow: StateFlow<T> = flow {
+ while (true) {
+ delay(readInterval)
+ emit(reader())
+ }
+ }.stateIn(scope, SharingStarted.Eagerly, initialValue)
+
+ override val value: T get() = flow.value
+ override val valueFlow: Flow<T> get() = flow
+
+ override fun toString(): String = "ExternalState(converter=$converter)"
+}
+
+/**
+ * Create a [DeviceState] which is constructed by regularly reading external value
+ */
+public fun <T> DeviceState.Companion.external(
+ scope: CoroutineScope,
+ converter: MetaConverter<T>,
+ readInterval: Duration,
+ initialValue: T,
+ reader: suspend () -> T,
+): DeviceState<T> = ExternalState(scope, converter, readInterval, initialValue, reader)
+
+private class MutableExternalState<T>(
+ scope: CoroutineScope,
+ converter: MetaConverter<T>,
+ readInterval: Duration,
+ initialValue: T,
+ reader: suspend () -> T,
+ val writer: suspend (T) -> Unit,
+) : ExternalState<T>(scope, converter, readInterval, initialValue, reader), MutableDeviceState<T> {
+ override var value: T
+ get() = super.value
+ set(value) {
+ scope.launch {
+ writer(value)
+ }
+ }
+}
+
+/**
+ * Create a [MutableDeviceState] which is constructed by regularly reading external value and allows writing
+ */
+public fun <T> DeviceState.Companion.external(
+ scope: CoroutineScope,
+ converter: MetaConverter<T>,
+ readInterval: Duration,
+ initialValue: T,
+ reader: suspend () -> T,
+ writer: suspend (T) -> Unit,
+): MutableDeviceState<T> = MutableExternalState(scope, converter, readInterval, initialValue, reader, writer)
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/flowState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/flowState.kt
new file mode 100644
index 0000000..434c074
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/flowState.kt
@@ -0,0 +1,23 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.MutableStateFlow
+import space.kscience.dataforge.meta.MetaConverter
+
+
+private class StateFlowAsState<T>(
+ override val converter: MetaConverter<T>,
+ val flow: MutableStateFlow<T>,
+) : MutableDeviceState<T> {
+ override var value: T by flow::value
+ override val valueFlow: Flow<T> get() = flow
+
+ override fun toString(): String = "FlowAsState(converter=$converter)"
+}
+
+/**
+ * Create a read-only [DeviceState] that wraps [MutableStateFlow].
+ * No data copy is performed.
+ */
+public fun <T> MutableStateFlow<T>.asDeviceState(converter: MetaConverter<T>): DeviceState<T> =
+ StateFlowAsState(converter, this)
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
new file mode 100644
index 0000000..6f9d086
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
@@ -0,0 +1,42 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.MutableStateFlow
+import space.kscience.dataforge.meta.MetaConverter
+
+/**
+ * A [MutableDeviceState] that does not correspond to a physical state
+ *
+ * @param callback a synchronous callback that could be used without a scope
+ */
+private class VirtualDeviceState<T>(
+ override val converter: MetaConverter<T>,
+ initialValue: T,
+ private val callback: (T) -> Unit = {},
+) : MutableDeviceState<T> {
+ private val flow = MutableStateFlow(initialValue)
+ override val valueFlow: Flow<T> get() = flow
+
+ override var value: T
+ get() = flow.value
+ set(value) {
+ flow.value = value
+ callback(value)
+ }
+
+ override fun toString(): String = "VirtualDeviceState(converter=$converter)"
+
+
+}
+
+
+/**
+ * A [MutableDeviceState] that does not correspond to a physical state
+ *
+ * @param callback a synchronous callback that could be used without a scope
+ */
+public fun <T> DeviceState.Companion.internal(
+ converter: MetaConverter<T>,
+ initialValue: T,
+ callback: (T) -> Unit = {},
+): MutableDeviceState<T> = VirtualDeviceState(converter, initialValue, callback)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt
similarity index 91%
rename from controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
rename to controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt
index 8301622..5678b34 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt
@@ -1,10 +1,12 @@
-package space.kscience.controls.constructor
+package space.kscience.controls.constructor.library
import kotlinx.coroutines.Job
import kotlinx.coroutines.delay
import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
import space.kscience.controls.api.Device
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.mutablePropertyAsState
import space.kscience.controls.manager.clock
import space.kscience.controls.spec.*
import space.kscience.dataforge.context.Context
@@ -49,7 +51,7 @@ public class VirtualDrive(
public val positionState: MutableDeviceState<Double>,
) : Drive, DeviceBySpec<Drive>(Drive, context) {
- private val dt = meta["time.step"].double?.milliseconds ?: 1.milliseconds
+ private val dt = meta["time.step"].double?.milliseconds ?: 5.milliseconds
private val clock = context.clock
override var force: Double = 0.0
@@ -82,7 +84,7 @@ public class VirtualDrive(
}
}
- override fun onStop() {
+ override suspend fun onStop() {
updateJob?.cancel()
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
similarity index 83%
rename from controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
rename to controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
index 977930d..895cee8 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/LimitSwitch.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
@@ -1,8 +1,9 @@
-package space.kscience.controls.constructor
+package space.kscience.controls.constructor.library
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
import space.kscience.controls.api.Device
+import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.spec.DeviceBySpec
import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.DeviceSpec
@@ -20,7 +21,7 @@ public interface LimitSwitch : Device {
public companion object : DeviceSpec<LimitSwitch>() {
public val locked: DevicePropertySpec<LimitSwitch, Boolean> by booleanProperty { locked }
- public fun factory(lockedState: DeviceState<Boolean>): Factory<LimitSwitch> = Factory { context, _ ->
+ public operator fun invoke(lockedState: DeviceState<Boolean>): Factory<LimitSwitch> = Factory { context, _ ->
VirtualLimitSwitch(context, lockedState)
}
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
similarity index 83%
rename from controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
rename to controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
index d782e05..7ce2054 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
@@ -1,4 +1,4 @@
-package space.kscience.controls.constructor
+package space.kscience.controls.constructor.library
import kotlinx.coroutines.Job
import kotlinx.coroutines.delay
@@ -7,8 +7,11 @@ import kotlinx.coroutines.launch
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import kotlinx.datetime.Instant
+import space.kscience.controls.constructor.DeviceGroup
+import space.kscience.controls.constructor.install
import space.kscience.controls.manager.clock
import space.kscience.controls.spec.DeviceBySpec
+import space.kscience.controls.spec.write
import kotlin.time.Duration
import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.DurationUnit
@@ -71,15 +74,17 @@ public class PidRegulator(
lastTime = realTime
lastPosition = drive.position
- drive.force = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative
+ drive.write(Drive.force,pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative)
+ //drive.force = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative
propertyChanged(Regulator.position, drive.position)
}
}
}
}
- override fun onStop() {
+ override suspend fun onStop() {
updateJob?.cancel()
+ drive.stop()
}
override val position: Double get() = drive.position
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt
similarity index 92%
rename from controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
rename to controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt
index cbe6967..adf319b 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Regulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt
@@ -1,4 +1,4 @@
-package space.kscience.controls.constructor
+package space.kscience.controls.constructor.library
import space.kscience.controls.api.Device
import space.kscience.controls.spec.*
diff --git a/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/DeviceGroupTest.kt b/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/DeviceGroupTest.kt
new file mode 100644
index 0000000..40f00dc
--- /dev/null
+++ b/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/DeviceGroupTest.kt
@@ -0,0 +1,43 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.flow.first
+import kotlinx.coroutines.test.runTest
+import space.kscience.controls.api.Device
+import space.kscience.controls.api.DeviceLifeCycleMessage
+import space.kscience.controls.api.DeviceLifecycleState
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.controls.manager.install
+import space.kscience.controls.spec.doRecurring
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.Factory
+import space.kscience.dataforge.context.Global
+import space.kscience.dataforge.context.request
+import space.kscience.dataforge.meta.Meta
+import kotlin.test.Test
+import kotlin.time.Duration.Companion.milliseconds
+
+class DeviceGroupTest {
+
+ class TestDevice(context: Context) : DeviceConstructor(context) {
+
+ companion object : Factory<Device> {
+ override fun build(context: Context, meta: Meta): Device = TestDevice(context)
+ }
+ }
+
+ @Test
+ fun testRecurringRead() = runTest {
+ var counter = 10
+ val testDevice = Global.request(DeviceManager).install("test", TestDevice)
+ testDevice.doRecurring(1.milliseconds) {
+ counter--
+ println(counter)
+ if (counter <= 0) {
+ testDevice.stop()
+ }
+ error("Error!")
+ }
+ testDevice.messageFlow.first { it is DeviceLifeCycleMessage && it.state == DeviceLifecycleState.STOPPED }
+ println("stopped")
+ }
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/TimerTest.kt b/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/TimerTest.kt
new file mode 100644
index 0000000..323f8df
--- /dev/null
+++ b/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/TimerTest.kt
@@ -0,0 +1,22 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.flow.collect
+import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.flow.take
+import kotlinx.coroutines.test.runTest
+import space.kscience.controls.manager.ClockManager
+import space.kscience.dataforge.context.Global
+import space.kscience.dataforge.context.request
+import kotlin.test.Test
+import kotlin.time.Duration.Companion.milliseconds
+
+class TimerTest {
+
+ @Test
+ fun timer() = runTest {
+ val timer = TimerState(Global.request(ClockManager), 10.milliseconds)
+ timer.valueFlow.take(10).onEach {
+ println(it)
+ }.collect()
+ }
+}
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
index 3226422..fc68bf6 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
@@ -12,7 +12,6 @@ import space.kscience.dataforge.context.logger
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.get
import space.kscience.dataforge.meta.string
-import space.kscience.dataforge.misc.DFExperimental
import space.kscience.dataforge.misc.DfType
import space.kscience.dataforge.names.parseAsName
@@ -100,12 +99,11 @@ public interface Device : ContextAware, CoroutineScope {
/**
* Close and terminate the device. This function does not wait for the device to be closed.
*/
- public fun stop() {
+ public suspend fun stop() {
logger.info { "Device $this is closed" }
cancel("The device is closed")
}
- @DFExperimental
public val lifecycleState: DeviceLifecycleState
public companion object {
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/descriptors.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/descriptors.kt
index 2adb89a..f3ffa93 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/descriptors.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/descriptors.kt
@@ -15,18 +15,23 @@ public class PropertyDescriptor(
public var description: String? = null,
public var metaDescriptor: MetaDescriptor = MetaDescriptor(),
public var readable: Boolean = true,
- public var mutable: Boolean = false
+ public var mutable: Boolean = false,
)
-public fun PropertyDescriptor.metaDescriptor(block: MetaDescriptorBuilder.()->Unit){
- metaDescriptor = MetaDescriptor(block)
+public fun PropertyDescriptor.metaDescriptor(block: MetaDescriptorBuilder.() -> Unit) {
+ metaDescriptor = MetaDescriptor {
+ from(metaDescriptor)
+ block()
+ }
}
/**
* A descriptor for property
*/
@Serializable
-public class ActionDescriptor(public val name: String) {
- public var description: String? = null
-}
-
+public class ActionDescriptor(
+ public val name: String,
+ public var description: String? = null,
+ public var inputMetaDescriptor: MetaDescriptor = MetaDescriptor(),
+ public var outputMetaDescriptor: MetaDescriptor = MetaDescriptor()
+)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
index ca69b91..2f852e1 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
@@ -6,15 +6,21 @@ 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 kotlin.time.Duration
public class ClockManager : AbstractPlugin() {
- override val tag: PluginTag get() = DeviceManager.tag
+ override val tag: PluginTag get() = Companion.tag
public val clock: Clock by lazy {
//TODO add clock customization
Clock.System
}
+ public suspend fun delay(duration: Duration) {
+ //TODO add time compression
+ kotlinx.coroutines.delay(duration)
+ }
+
public companion object : PluginFactory<ClockManager> {
override val tag: PluginTag = PluginTag("clock", group = PluginTag.DATAFORGE_GROUP)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt
index c8c7ffc..93b0696 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt
@@ -49,6 +49,10 @@ public fun <D : Device> DeviceManager.install(name: String, device: D): D {
public fun <D : Device> DeviceManager.install(device: D): D = install(device.id, device)
+public fun <D : Device> Context.install(name: String, device: D): D = request(DeviceManager).install(name, device)
+
+public fun <D : Device> Context.install(device: D): D = request(DeviceManager).install(device.id, device)
+
/**
* Register and start a device built by [factory] with current [Context] and [meta].
*/
@@ -75,5 +79,4 @@ public inline fun <D : Device> DeviceManager.installing(
current as D
}
}
-}
-
+}
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index e8b9210..941eda9 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -9,11 +9,11 @@ import kotlinx.coroutines.sync.withLock
import space.kscience.controls.api.*
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.debug
+import space.kscience.dataforge.context.error
import space.kscience.dataforge.context.logger
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.get
import space.kscience.dataforge.meta.int
-import space.kscience.dataforge.misc.DFExperimental
import kotlin.coroutines.CoroutineContext
/**
@@ -72,10 +72,10 @@ public abstract class DeviceBase<D : Device>(
onBufferOverflow = BufferOverflow.DROP_OLDEST
)
- @OptIn(kotlinx.coroutines.ExperimentalCoroutinesApi::class)
+ @OptIn(ExperimentalCoroutinesApi::class)
override val coroutineContext: CoroutineContext = context.newCoroutineContext(
SupervisorJob(context.coroutineContext[Job]) +
- CoroutineName("Device $this") +
+ CoroutineName("Device $id") +
CoroutineExceptionHandler { _, throwable ->
launch {
sharedMessageFlow.emit(
@@ -86,6 +86,7 @@ public abstract class DeviceBase<D : Device>(
)
)
}
+ logger.error(throwable) { "Exception in device $id" }
}
)
@@ -187,43 +188,39 @@ public abstract class DeviceBase<D : Device>(
return spec.executeWithMeta(self, argument ?: Meta.EMPTY)
}
- @DFExperimental
final override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
- private set(value) {
- if (field != value) {
- launch {
- sharedMessageFlow.emit(
- DeviceLifeCycleMessage(value)
- )
- }
- }
- field = value
- }
+ private set
+
+
+ private suspend fun setLifecycleState(lifecycleState: DeviceLifecycleState) {
+ this.lifecycleState = lifecycleState
+ sharedMessageFlow.emit(
+ DeviceLifeCycleMessage(lifecycleState)
+ )
+ }
protected open suspend fun onStart() {
}
- @OptIn(DFExperimental::class)
final override suspend fun start() {
if (lifecycleState == DeviceLifecycleState.STOPPED) {
super.start()
- lifecycleState = DeviceLifecycleState.STARTING
+ setLifecycleState(DeviceLifecycleState.STARTING)
onStart()
- lifecycleState = DeviceLifecycleState.STARTED
+ setLifecycleState(DeviceLifecycleState.STARTED)
} else {
logger.debug { "Device $this is already started" }
}
}
- protected open fun onStop() {
+ protected open suspend fun onStop() {
}
- @OptIn(DFExperimental::class)
- final override fun stop() {
+ final override suspend fun stop() {
onStop()
- lifecycleState = DeviceLifecycleState.STOPPED
+ setLifecycleState(DeviceLifecycleState.STOPPED)
super.stop()
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBySpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBySpec.kt
index 31f4c09..f639fc7 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBySpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBySpec.kt
@@ -20,7 +20,7 @@ public open class DeviceBySpec<D : Device>(
self.onOpen()
}
- override fun onStop(): Unit = with(spec){
+ override suspend fun onStop(): Unit = with(spec){
self.onClose()
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
index 2f90cb8..07d831f 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
@@ -4,8 +4,10 @@ import kotlinx.coroutines.withContext
import space.kscience.controls.api.ActionDescriptor
import space.kscience.controls.api.Device
import space.kscience.controls.api.PropertyDescriptor
+import space.kscience.controls.api.metaDescriptor
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.MetaConverter
+import space.kscience.dataforge.meta.descriptors.MetaDescriptor
import kotlin.properties.PropertyDelegateProvider
import kotlin.properties.ReadOnlyProperty
import kotlin.reflect.KProperty
@@ -54,6 +56,11 @@ public abstract class DeviceSpec<D : Device> {
val deviceProperty = object : DevicePropertySpec<D, T> {
override val descriptor: PropertyDescriptor = PropertyDescriptor(propertyName).apply {
+ converter.descriptor?.let { converterDescriptor ->
+ metaDescriptor {
+ from(converterDescriptor)
+ }
+ }
fromSpec(property)
descriptorBuilder()
}
@@ -83,6 +90,11 @@ public abstract class DeviceSpec<D : Device> {
propertyName,
mutable = true
).apply {
+ converter.descriptor?.let { converterDescriptor ->
+ metaDescriptor {
+ from(converterDescriptor)
+ }
+ }
fromSpec(property)
descriptorBuilder()
}
@@ -118,6 +130,19 @@ public abstract class DeviceSpec<D : Device> {
val actionName = name ?: property.name
val deviceAction = object : DeviceActionSpec<D, I, O> {
override val descriptor: ActionDescriptor = ActionDescriptor(actionName).apply {
+ inputConverter.descriptor?.let { converterDescriptor ->
+ inputMetaDescriptor = MetaDescriptor {
+ from(converterDescriptor)
+ from(inputMetaDescriptor)
+ }
+ }
+ outputConverter.descriptor?.let { converterDescriptor ->
+ outputMetaDescriptor = MetaDescriptor {
+ from(converterDescriptor)
+ from(outputMetaDescriptor)
+ }
+ }
+
fromSpec(property)
descriptorBuilder()
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/converters.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/converters.kt
new file mode 100644
index 0000000..89a28da
--- /dev/null
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/converters.kt
@@ -0,0 +1,41 @@
+package space.kscience.controls.spec
+
+import kotlinx.datetime.Instant
+import space.kscience.dataforge.meta.*
+import kotlin.time.Duration
+import kotlin.time.DurationUnit
+import kotlin.time.toDuration
+
+public fun Double.asMeta(): Meta = Meta(asValue())
+
+/**
+ * Generate a nullable [MetaConverter] from non-nullable one
+ */
+public fun <T : Any> MetaConverter<T>.nullable(): MetaConverter<T?> = object : MetaConverter<T?> {
+ override fun convert(obj: T?): Meta = obj?.let { this@nullable.convert(it) }?: Meta(Null)
+
+ override fun readOrNull(source: Meta): T? = if(source.value == Null) null else this@nullable.readOrNull(source)
+
+}
+
+//TODO to be moved to DF
+private object DurationConverter : MetaConverter<Duration> {
+ override fun readOrNull(source: Meta): Duration = source.value?.double?.toDuration(DurationUnit.SECONDS)
+ ?: run {
+ val unit: DurationUnit = source["unit"].enum<DurationUnit>() ?: DurationUnit.SECONDS
+ val value = source[Meta.VALUE_KEY].double ?: error("No value present for Duration")
+ return@run value.toDuration(unit)
+ }
+
+ override fun convert(obj: Duration): Meta = obj.toDouble(DurationUnit.SECONDS).asMeta()
+}
+
+public val MetaConverter.Companion.duration: MetaConverter<Duration> get() = DurationConverter
+
+
+private object InstantConverter : MetaConverter<Instant> {
+ override fun readOrNull(source: Meta): Instant? = source.string?.let { Instant.parse(it) }
+ override fun convert(obj: Instant): Meta = Meta(obj.toString())
+}
+
+public val MetaConverter.Companion.instant: MetaConverter<Instant> get() = InstantConverter
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/deviceExtensions.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/deviceExtensions.kt
index fefb65e..ee47ea0 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/deviceExtensions.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/deviceExtensions.kt
@@ -1,14 +1,31 @@
package space.kscience.controls.spec
-import kotlinx.coroutines.Job
-import kotlinx.coroutines.delay
+import kotlinx.coroutines.*
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.flow
-import kotlinx.coroutines.isActive
-import kotlinx.coroutines.launch
import space.kscience.controls.api.Device
import kotlin.time.Duration
+/**
+ * Do a recurring (with a fixed delay) task on a device.
+ */
+public fun <D : Device> D.doRecurring(
+ interval: Duration,
+ debugTaskName: String? = null,
+ task: suspend D.() -> Unit,
+): Job {
+ val taskName = debugTaskName ?: "task[${task.hashCode().toString(16)}]"
+ return launch(CoroutineName(taskName)) {
+ while (isActive) {
+ delay(interval)
+ //launch in parent scope to properly evaluate exceptions
+ this@doRecurring.launch {
+ task()
+ }
+ }
+ }
+}
+
/**
* 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.
@@ -16,23 +33,12 @@ import kotlin.time.Duration
*
* The flow is canceled when the device scope is canceled
*/
-public fun <D : Device, R> D.readRecurring(interval: Duration, reader: suspend D.() -> R): Flow<R> = flow {
- while (isActive) {
- delay(interval)
- launch {
- emit(reader())
- }
- }
-}
-
-/**
- * Do a recurring (with a fixed delay) task on a device.
- */
-public fun <D : Device> D.doRecurring(interval: Duration, task: suspend D.() -> Unit): Job = launch {
- while (isActive) {
- delay(interval)
- launch {
- task()
- }
+public fun <D : Device, R> D.readRecurring(
+ interval: Duration,
+ debugTaskName: String? = null,
+ reader: suspend D.() -> R,
+): Flow<R> = flow {
+ doRecurring(interval, debugTaskName) {
+ emit(reader())
}
}
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/fromSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/fromSpec.kt
index 000458e..ad5862b 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/fromSpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/fromSpec.kt
@@ -4,8 +4,6 @@ import space.kscience.controls.api.ActionDescriptor
import space.kscience.controls.api.PropertyDescriptor
import kotlin.reflect.KProperty
-@Target(AnnotationTarget.CLASS, AnnotationTarget.PROPERTY, AnnotationTarget.FIELD)
-public annotation class Description(val content: String)
internal expect fun PropertyDescriptor.fromSpec(property: KProperty<*>)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/misc.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/misc.kt
deleted file mode 100644
index 1fc4649..0000000
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/misc.kt
+++ /dev/null
@@ -1,22 +0,0 @@
-package space.kscience.controls.spec
-
-import space.kscience.dataforge.meta.*
-import kotlin.time.Duration
-import kotlin.time.DurationUnit
-import kotlin.time.toDuration
-
-public fun Double.asMeta(): Meta = Meta(asValue())
-
-//TODO to be moved to DF
-public object DurationConverter : MetaConverter<Duration> {
- override fun readOrNull(source: Meta): Duration = source.value?.double?.toDuration(DurationUnit.SECONDS)
- ?: run {
- val unit: DurationUnit = source["unit"].enum<DurationUnit>() ?: DurationUnit.SECONDS
- val value = source[Meta.VALUE_KEY].double ?: error("No value present for Duration")
- return@run value.toDuration(unit)
- }
-
- override fun convert(obj: Duration): Meta = obj.toDouble(DurationUnit.SECONDS).asMeta()
-}
-
-public val MetaConverter.Companion.duration: MetaConverter<Duration> get() = DurationConverter
\ No newline at end of file
diff --git a/controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/fromSpec.jvm.kt b/controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/fromSpec.jvm.kt
index 7ae572f..cb64fc3 100644
--- a/controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/fromSpec.jvm.kt
+++ b/controls-core/src/jvmMain/kotlin/space/kscience/controls/spec/fromSpec.jvm.kt
@@ -2,17 +2,18 @@ package space.kscience.controls.spec
import space.kscience.controls.api.ActionDescriptor
import space.kscience.controls.api.PropertyDescriptor
+import space.kscience.dataforge.descriptors.Description
import kotlin.reflect.KProperty
import kotlin.reflect.full.findAnnotation
internal actual fun PropertyDescriptor.fromSpec(property: KProperty<*>) {
property.findAnnotation<Description>()?.let {
- description = it.content
+ description = it.value
}
}
internal actual fun ActionDescriptor.fromSpec(property: KProperty<*>){
property.findAnnotation<Description>()?.let {
- description = it.content
+ description = it.value
}
}
\ No newline at end of file
diff --git a/controls-modbus/build.gradle.kts b/controls-modbus/build.gradle.kts
index 2f280b6..8ef9ca8 100644
--- a/controls-modbus/build.gradle.kts
+++ b/controls-modbus/build.gradle.kts
@@ -1,7 +1,7 @@
import space.kscience.gradle.Maturity
plugins {
- id("space.kscience.gradle.jvm")
+ id("space.kscience.gradle.mpp")
`maven-publish`
}
@@ -9,10 +9,12 @@ description = """
A plugin for Controls-kt device server on top of modbus-rtu/modbus-tcp protocols
""".trimIndent()
-
-dependencies {
- api(projects.controlsCore)
- api(libs.j2mod)
+kscience {
+ jvm()
+ jvmMain {
+ api(projects.controlsCore)
+ api(libs.j2mod)
+ }
}
readme{
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt b/controls-modbus/src/jvmMain/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
similarity index 100%
rename from controls-modbus/src/main/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
rename to controls-modbus/src/jvmMain/kotlin/space/kscience/controls/modbus/DeviceProcessImage.kt
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt b/controls-modbus/src/jvmMain/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
similarity index 100%
rename from controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
rename to controls-modbus/src/jvmMain/kotlin/space/kscience/controls/modbus/ModbusDevice.kt
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt b/controls-modbus/src/jvmMain/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
similarity index 97%
rename from controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
rename to controls-modbus/src/jvmMain/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
index 995e0df..e0bd47a 100644
--- a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
+++ b/controls-modbus/src/jvmMain/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
@@ -24,7 +24,7 @@ public open class ModbusDeviceBySpec<D: Device>(
master.connect()
}
- override fun onStop() {
+ override suspend fun onStop() {
if(disposeMasterOnClose){
master.disconnect()
}
diff --git a/controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt b/controls-modbus/src/jvmMain/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt
similarity index 100%
rename from controls-modbus/src/main/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt
rename to controls-modbus/src/jvmMain/kotlin/space/kscience/controls/modbus/ModbusRegistryMap.kt
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDeviceBySpec.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDeviceBySpec.kt
index 7debc0e..ea85719 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDeviceBySpec.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDeviceBySpec.kt
@@ -63,7 +63,7 @@ public open class OpcUaDeviceBySpec<D : Device>(
}
}
- override fun onStop() {
+ override suspend fun onStop() {
client.disconnect()
}
}
diff --git a/controls-pi/build.gradle.kts b/controls-pi/build.gradle.kts
index 997fcf2..850173d 100644
--- a/controls-pi/build.gradle.kts
+++ b/controls-pi/build.gradle.kts
@@ -1,5 +1,5 @@
plugins {
- id("space.kscience.gradle.jvm")
+ id("space.kscience.gradle.mpp")
`maven-publish`
}
@@ -7,10 +7,15 @@ description = """
Utils to work with controls-kt on Raspberry pi
""".trimIndent()
-dependencies{
- api(project(":controls-core"))
- api(libs.pi4j.ktx) // Kotlin DSL
- api(libs.pi4j.core)
- api(libs.pi4j.plugin.raspberrypi)
- api(libs.pi4j.plugin.pigpio)
+kscience {
+ jvm()
+
+
+ jvmMain {
+ api(project(":controls-core"))
+ api(libs.pi4j.ktx) // Kotlin DSL
+ api(libs.pi4j.core)
+ api(libs.pi4j.plugin.raspberrypi)
+ api(libs.pi4j.plugin.pigpio)
+ }
}
\ No newline at end of file
diff --git a/controls-pi/src/main/kotlin/space/kscience/controls/pi/AsynchronousPiPort.kt b/controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/AsynchronousPiPort.kt
similarity index 100%
rename from controls-pi/src/main/kotlin/space/kscience/controls/pi/AsynchronousPiPort.kt
rename to controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/AsynchronousPiPort.kt
diff --git a/controls-pi/src/main/kotlin/space/kscience/controls/pi/PiPlugin.kt b/controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/PiPlugin.kt
similarity index 100%
rename from controls-pi/src/main/kotlin/space/kscience/controls/pi/PiPlugin.kt
rename to controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/PiPlugin.kt
diff --git a/controls-pi/src/main/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt b/controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt
similarity index 100%
rename from controls-pi/src/main/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt
rename to controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt
diff --git a/controls-ports-ktor/build.gradle.kts b/controls-ports-ktor/build.gradle.kts
index 1f1efda..c225097 100644
--- a/controls-ports-ktor/build.gradle.kts
+++ b/controls-ports-ktor/build.gradle.kts
@@ -1,7 +1,7 @@
import space.kscience.gradle.Maturity
plugins {
- id("space.kscience.gradle.jvm")
+ id("space.kscience.gradle.mpp")
`maven-publish`
}
@@ -9,9 +9,12 @@ description = """
Implementation of byte ports on top os ktor-io asynchronous API
""".trimIndent()
-dependencies {
- api(projects.controlsCore)
- api(spclibs.ktor.network)
+kscience {
+ jvm()
+ jvmMain {
+ api(projects.controlsCore)
+ api(spclibs.ktor.network)
+ }
}
readme{
diff --git a/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorPortsPlugin.kt b/controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorPortsPlugin.kt
similarity index 100%
rename from controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorPortsPlugin.kt
rename to controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorPortsPlugin.kt
diff --git a/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorTcpPort.kt b/controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorTcpPort.kt
similarity index 100%
rename from controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorTcpPort.kt
rename to controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorTcpPort.kt
diff --git a/controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorUdpPort.kt b/controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorUdpPort.kt
similarity index 100%
rename from controls-ports-ktor/src/main/kotlin/space/kscience/controls/ports/KtorUdpPort.kt
rename to controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorUdpPort.kt
diff --git a/controls-serial/build.gradle.kts b/controls-serial/build.gradle.kts
index d44a029..75bf017 100644
--- a/controls-serial/build.gradle.kts
+++ b/controls-serial/build.gradle.kts
@@ -1,15 +1,18 @@
import space.kscience.gradle.Maturity
plugins {
- id("space.kscience.gradle.jvm")
+ id("space.kscience.gradle.mpp")
`maven-publish`
}
description = "Implementation of direct serial port communication with JSerialComm"
-dependencies{
- api(project(":controls-core"))
- implementation(libs.jSerialComm)
+kscience {
+ jvm()
+ jvmMain {
+ api(project(":controls-core"))
+ implementation(libs.jSerialComm)
+ }
}
readme{
diff --git a/controls-serial/src/main/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt b/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt
similarity index 100%
rename from controls-serial/src/main/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt
rename to controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt
diff --git a/controls-serial/src/main/kotlin/space/kscience/controls/serial/SerialPortPlugin.kt b/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/SerialPortPlugin.kt
similarity index 100%
rename from controls-serial/src/main/kotlin/space/kscience/controls/serial/SerialPortPlugin.kt
rename to controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/SerialPortPlugin.kt
diff --git a/controls-serial/src/main/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt b/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt
similarity index 100%
rename from controls-serial/src/main/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt
rename to controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt
diff --git a/controls-storage/controls-xodus/build.gradle.kts b/controls-storage/controls-xodus/build.gradle.kts
index 8cebd37..04be46a 100644
--- a/controls-storage/controls-xodus/build.gradle.kts
+++ b/controls-storage/controls-xodus/build.gradle.kts
@@ -1,5 +1,5 @@
plugins {
- id("space.kscience.gradle.jvm")
+ id("space.kscience.gradle.mpp")
`maven-publish`
}
@@ -7,13 +7,18 @@ description = """
An implementation of controls-storage on top of JetBrains Xodus.
""".trimIndent()
-dependencies {
- api(projects.controlsStorage)
- implementation(libs.xodus.entity.store)
+kscience {
+ jvm()
+ jvmMain {
+ api(projects.controlsStorage)
+ implementation(libs.xodus.entity.store)
// implementation("org.jetbrains.xodus:xodus-environment:$xodusVersion")
// implementation("org.jetbrains.xodus:xodus-vfs:$xodusVersion")
- testImplementation(spclibs.kotlinx.coroutines.test)
+ }
+ jvmTest{
+ implementation(spclibs.kotlinx.coroutines.test)
+ }
}
readme{
diff --git a/controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt b/controls-storage/controls-xodus/src/jvmMain/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt
similarity index 100%
rename from controls-storage/controls-xodus/src/main/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt
rename to controls-storage/controls-xodus/src/jvmMain/kotlin/space/kscience/controls/xodus/XodusDeviceMessageStorage.kt
diff --git a/controls-storage/controls-xodus/src/test/kotlin/PropertyHistoryTest.kt b/controls-storage/controls-xodus/src/jvmTest/kotlin/PropertyHistoryTest.kt
similarity index 100%
rename from controls-storage/controls-xodus/src/test/kotlin/PropertyHistoryTest.kt
rename to controls-storage/controls-xodus/src/jvmTest/kotlin/PropertyHistoryTest.kt
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
index 2d2086b..f341256 100644
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
+++ b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
@@ -8,6 +8,7 @@ import javafx.stage.Stage
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.launch
+import kotlinx.coroutines.runBlocking
import kotlinx.serialization.json.Json
import org.eclipse.milo.opcua.sdk.server.OpcUaServer
import org.eclipse.milo.opcua.stack.core.types.builtin.LocalizedText
@@ -91,7 +92,7 @@ class DemoController : Controller(), ContextAware {
}
}
- fun shutdown() {
+ suspend fun shutdown() {
logger.info { "Shutting down..." }
opcUaServer.shutdown()
logger.info { "OpcUa server stopped" }
@@ -179,7 +180,9 @@ class DemoControllerApp : App(DemoControllerView::class) {
}
override fun stop() {
- controller.shutdown()
+ runBlocking {
+ controller.shutdown()
+ }
super.stop()
}
}
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt
index 3a63003..e76cfe0 100644
--- a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt
+++ b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt
@@ -8,6 +8,7 @@ import javafx.scene.layout.Priority
import javafx.stage.Stage
import kotlinx.coroutines.Job
import kotlinx.coroutines.launch
+import kotlinx.coroutines.runBlocking
import space.kscience.controls.client.launchMagixService
import space.kscience.controls.demo.car.IVirtualCar.Companion.acceleration
import space.kscience.controls.manager.DeviceManager
@@ -67,7 +68,7 @@ class VirtualCarController : Controller(), ContextAware {
}
}
- fun shutdown() {
+ suspend fun shutdown() {
logger.info { "Shutting down..." }
magixServer?.stop(1000, 5000)
logger.info { "Magix server stopped" }
@@ -137,7 +138,9 @@ class VirtualCarControllerApp : App(VirtualCarControllerView::class) {
}
override fun stop() {
- controller.shutdown()
+ runBlocking {
+ controller.shutdown()
+ }
super.stop()
}
}
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/main.kt
index 9b06d2e..e426e1b 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/main.kt
@@ -16,9 +16,11 @@ import androidx.compose.ui.window.Window
import androidx.compose.ui.window.application
import kotlinx.coroutines.launch
import space.kscience.controls.constructor.*
+import space.kscience.controls.constructor.library.*
import space.kscience.controls.manager.ClockManager
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.clock
+import space.kscience.controls.manager.install
import space.kscience.controls.spec.doRecurring
import space.kscience.controls.spec.name
import space.kscience.controls.vision.plot
@@ -48,13 +50,14 @@ class LinearDrive(
val drive by device(VirtualDrive.factory(mass, state))
val pid by device(PidRegulator(drive, pidParameters))
- val start by device(LimitSwitch.factory(state.atStartState))
- val end by device(LimitSwitch.factory(state.atEndState))
+ val start by device(LimitSwitch(state.atStartState))
+ val end by device(LimitSwitch(state.atEndState))
val positionState: DoubleRangeState by property(state)
- private val targetState: MutableDeviceState<Double> by property(pid.mutablePropertyAsState(Regulator.target, 0.0))
- var target by targetState
+
+ private val targetState: MutableDeviceState<Double> by deviceProperty(pid, Regulator.target, 0.0)
+ var target: Double by targetState
}
@@ -73,7 +76,6 @@ private fun Context.launchPidDevice(
val timeFromStart = clock.now() - clockStart
val t = timeFromStart.toDouble(DurationUnit.SECONDS)
val freq = 0.1
-
target = 5 * sin(2.0 * PI * freq * t) +
sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / pidParameters.timeStep))
}
@@ -150,7 +152,7 @@ fun main() = application {
Row {
Text("kp:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
TextField(
- String.format("%.2f",pidParameters.kp),
+ String.format("%.2f", pidParameters.kp),
{ pidParameters.kp = it.toDouble() },
Modifier.width(100.dp),
enabled = false
@@ -165,7 +167,7 @@ fun main() = application {
Row {
Text("ki:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
TextField(
- String.format("%.2f",pidParameters.ki),
+ String.format("%.2f", pidParameters.ki),
{ pidParameters.ki = it.toDouble() },
Modifier.width(100.dp),
enabled = false
@@ -181,7 +183,7 @@ fun main() = application {
Row {
Text("kd:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
TextField(
- String.format("%.2f",pidParameters.kd),
+ String.format("%.2f", pidParameters.kd),
{ pidParameters.kd = it.toDouble() },
Modifier.width(100.dp),
enabled = false
diff --git a/magix/magix-server/build.gradle.kts b/magix/magix-server/build.gradle.kts
index f00b81e..28fe492 100644
--- a/magix/magix-server/build.gradle.kts
+++ b/magix/magix-server/build.gradle.kts
@@ -1,36 +1,38 @@
import space.kscience.gradle.Maturity
plugins {
- id("space.kscience.gradle.jvm")
+ id("space.kscience.gradle.mpp")
`maven-publish`
- application
}
description = """
A magix event loop implementation in Kotlin. Includes HTTP/SSE and RSocket routes.
""".trimIndent()
-kscience {
- useSerialization{
- json()
- }
-}
-
val dataforgeVersion: String by rootProject.extra
val ktorVersion: String = space.kscience.gradle.KScienceVersions.ktorVersion
-dependencies{
- api(projects.magix.magixApi)
- api("io.ktor:ktor-server-cio:$ktorVersion")
- api("io.ktor:ktor-server-websockets:$ktorVersion")
- api("io.ktor:ktor-server-content-negotiation:$ktorVersion")
- api("io.ktor:ktor-serialization-kotlinx-json:$ktorVersion")
- api("io.ktor:ktor-server-html-builder:$ktorVersion")
+kscience {
+ jvm()
+ useSerialization{
+ json()
+ }
+
+ jvmMain{
+ api(projects.magix.magixApi)
+ api("io.ktor:ktor-server-cio:$ktorVersion")
+ api("io.ktor:ktor-server-websockets:$ktorVersion")
+ api("io.ktor:ktor-server-content-negotiation:$ktorVersion")
+ api("io.ktor:ktor-serialization-kotlinx-json:$ktorVersion")
+ api("io.ktor:ktor-server-html-builder:$ktorVersion")
+
+ api(libs.rsocket.ktor.server)
+ api(libs.rsocket.transport.ktor.tcp)
+ }
- api(libs.rsocket.ktor.server)
- api(libs.rsocket.transport.ktor.tcp)
}
+
readme{
maturity = Maturity.EXPERIMENTAL
}
\ No newline at end of file
diff --git a/magix/magix-server/src/main/kotlin/space/kscience/magix/server/RSocketMagixFlowPlugin.kt b/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/RSocketMagixFlowPlugin.kt
similarity index 100%
rename from magix/magix-server/src/main/kotlin/space/kscience/magix/server/RSocketMagixFlowPlugin.kt
rename to magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/RSocketMagixFlowPlugin.kt
diff --git a/magix/magix-server/src/main/kotlin/space/kscience/magix/server/magixModule.kt b/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/magixModule.kt
similarity index 100%
rename from magix/magix-server/src/main/kotlin/space/kscience/magix/server/magixModule.kt
rename to magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/magixModule.kt
diff --git a/magix/magix-server/src/main/kotlin/space/kscience/magix/server/server.kt b/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/server.kt
similarity index 100%
rename from magix/magix-server/src/main/kotlin/space/kscience/magix/server/server.kt
rename to magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/server.kt
diff --git a/magix/magix-server/src/main/kotlin/space/kscience/magix/server/sse.kt b/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/sse.kt
similarity index 100%
rename from magix/magix-server/src/main/kotlin/space/kscience/magix/server/sse.kt
rename to magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/sse.kt
From 24b6856f153a81ecef7ab9559707da129bb6e479 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sat, 11 May 2024 17:56:28 +0300
Subject: [PATCH 079/125] Move all-things to Compose
---
build.gradle.kts | 1 -
.../constructor/library/LimitSwitch.kt | 2 +-
demo/all-things/build.gradle.kts | 51 ++--
.../controls/demo/DemoControllerView.kt | 225 +++++++++---------
.../controls/demo/generateMessageSchema.kt | 10 -
demo/motors/build.gradle.kts | 17 +-
settings.gradle.kts | 1 -
7 files changed, 146 insertions(+), 161 deletions(-)
delete mode 100644 demo/all-things/src/main/kotlin/space/kscience/controls/demo/generateMessageSchema.kt
diff --git a/build.gradle.kts b/build.gradle.kts
index aed37b5..38d5c6a 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -3,7 +3,6 @@ import space.kscience.gradle.useSPCTeam
plugins {
id("space.kscience.gradle.project")
- alias(libs.plugins.versions)
}
allprojects {
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
index 895cee8..af6436f 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
@@ -35,7 +35,7 @@ public class VirtualLimitSwitch(
public val lockedState: DeviceState<Boolean>,
) : DeviceBySpec<LimitSwitch>(LimitSwitch, context), LimitSwitch {
- init {
+ override suspend fun onStart() {
lockedState.valueFlow.onEach {
propertyChanged(LimitSwitch.locked, it)
}.launchIn(this)
diff --git a/demo/all-things/build.gradle.kts b/demo/all-things/build.gradle.kts
index b6074ed..2abde80 100644
--- a/demo/all-things/build.gradle.kts
+++ b/demo/all-things/build.gradle.kts
@@ -1,7 +1,6 @@
plugins {
kotlin("jvm")
- id("org.openjfx.javafxplugin") version "0.0.13"
- application
+ alias(spclibs.plugins.compose)
}
@@ -20,28 +19,46 @@ dependencies {
implementation(projects.controlsOpcua)
implementation(spclibs.ktor.client.cio)
- implementation(libs.tornadofx)
implementation(libs.plotlykt.server)
// implementation("com.github.Ricky12Awesome:json-schema-serialization:0.6.6")
+
+ implementation(compose.runtime)
+ implementation(compose.desktop.currentOs)
+ implementation(compose.material3)
+// implementation("org.pushing-pixels:aurora-window:1.3.0")
+// implementation("org.pushing-pixels:aurora-component:1.3.0")
+// implementation("org.pushing-pixels:aurora-theming:1.3.0")
+
implementation(spclibs.logback.classic)
}
kotlin{
- jvmToolchain(11)
-}
-
-
-tasks.withType<org.jetbrains.kotlin.gradle.tasks.KotlinCompile>().configureEach {
- kotlinOptions {
- freeCompilerArgs = freeCompilerArgs + listOf("-Xjvm-default=all", "-Xopt-in=kotlin.RequiresOptIn")
+ jvmToolchain(17)
+ compilerOptions {
+ freeCompilerArgs.addAll("-Xjvm-default=all", "-Xopt-in=kotlin.RequiresOptIn")
}
}
-javafx {
- version = "17"
- modules("javafx.controls")
+compose{
+ desktop{
+ application{
+ mainClass = "space.kscience.controls.demo.DemoControllerViewKt"
+ }
+ }
}
-
-application {
- mainClass.set("space.kscience.controls.demo.DemoControllerViewKt")
-}
\ No newline at end of file
+//
+//
+//tasks.withType<org.jetbrains.kotlin.gradle.tasks.KotlinCompile>().configureEach {
+// kotlinOptions {
+// freeCompilerArgs = freeCompilerArgs + listOf("-Xjvm-default=all", "-Xopt-in=kotlin.RequiresOptIn")
+// }
+//}
+//
+//javafx {
+// version = "17"
+// modules("javafx.controls")
+//}
+//
+//application {
+// mainClass.set("space.kscience.controls.demo.DemoControllerViewKt")
+//}
\ No newline at end of file
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
index f341256..cc9d445 100644
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
+++ b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
@@ -1,14 +1,19 @@
package space.kscience.controls.demo
+import androidx.compose.foundation.layout.*
+import androidx.compose.material.*
+import androidx.compose.runtime.*
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.unit.dp
+import androidx.compose.ui.window.Window
+import androidx.compose.ui.window.application
+import androidx.compose.ui.window.rememberWindowState
import io.ktor.server.engine.ApplicationEngine
-import javafx.scene.Parent
-import javafx.scene.control.Slider
-import javafx.scene.layout.Priority
-import javafx.stage.Stage
+import kotlinx.coroutines.Job
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.launch
-import kotlinx.coroutines.runBlocking
import kotlinx.serialization.json.Json
import org.eclipse.milo.opcua.sdk.server.OpcUaServer
import org.eclipse.milo.opcua.stack.core.types.builtin.LocalizedText
@@ -17,9 +22,6 @@ import space.kscience.controls.api.GetDescriptionMessage
import space.kscience.controls.api.PropertyChangedMessage
import space.kscience.controls.client.launchMagixService
import space.kscience.controls.client.magixFormat
-import space.kscience.controls.demo.DemoDevice.Companion.cosScale
-import space.kscience.controls.demo.DemoDevice.Companion.sinScale
-import space.kscience.controls.demo.DemoDevice.Companion.timeScale
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.install
import space.kscience.controls.opcua.server.OpcUaServer
@@ -35,16 +37,15 @@ import space.kscience.magix.rsocket.rSocketWithWebSockets
import space.kscience.magix.server.RSocketMagixFlowPlugin
import space.kscience.magix.server.startMagixServer
import space.kscince.magix.zmq.ZmqMagixFlowPlugin
-import tornadofx.*
import java.awt.Desktop
import java.net.URI
-class DemoController : Controller(), ContextAware {
+class DemoController : ContextAware {
var device: DemoDevice? = null
var magixServer: ApplicationEngine? = null
var visualizer: ApplicationEngine? = null
- var opcUaServer: OpcUaServer = OpcUaServer {
+ val opcUaServer: OpcUaServer = OpcUaServer {
setApplicationName(LocalizedText.english("space.kscience.controls.opcua"))
endpoint {
@@ -60,39 +61,37 @@ class DemoController : Controller(), ContextAware {
private val deviceManager = context.request(DeviceManager)
- fun init() {
- context.launch {
- device = deviceManager.install("demo", DemoDevice)
- //starting magix event loop
- magixServer = startMagixServer(
- RSocketMagixFlowPlugin(), //TCP rsocket support
- ZmqMagixFlowPlugin() //ZMQ support
- )
- //Launch a device client and connect it to the server
- val deviceEndpoint = MagixEndpoint.rSocketWithTcp("localhost")
- deviceManager.launchMagixService(deviceEndpoint)
- //connect visualization to a magix endpoint
- val visualEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
- visualizer = startDemoDeviceServer(visualEndpoint)
+ fun start(): Job = context.launch {
+ device = deviceManager.install("demo", DemoDevice)
+ //starting magix event loop
+ magixServer = startMagixServer(
+ RSocketMagixFlowPlugin(), //TCP rsocket support
+ ZmqMagixFlowPlugin() //ZMQ support
+ )
+ //Launch a device client and connect it to the server
+ val deviceEndpoint = MagixEndpoint.rSocketWithTcp("localhost")
+ deviceManager.launchMagixService(deviceEndpoint)
+ //connect visualization to a magix endpoint
+ val visualEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+ visualizer = startDemoDeviceServer(visualEndpoint)
- //serve devices as OPC-UA namespace
- opcUaServer.startup()
- opcUaServer.serveDevices(deviceManager)
+ //serve devices as OPC-UA namespace
+ opcUaServer.startup()
+ opcUaServer.serveDevices(deviceManager)
- val listenerEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
- listenerEndpoint.subscribe(DeviceManager.magixFormat).onEach { (_, deviceMessage)->
- // print all messages that are not property change message
- if(deviceMessage !is PropertyChangedMessage){
- println(">> ${Json.encodeToString(DeviceMessage.serializer(), deviceMessage)}")
- }
- }.launchIn(this)
- listenerEndpoint.send(DeviceManager.magixFormat, GetDescriptionMessage(), "listener", "controls-kt")
+ val listenerEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+ listenerEndpoint.subscribe(DeviceManager.magixFormat).onEach { (_, deviceMessage) ->
+ // print all messages that are not property change message
+ if (deviceMessage !is PropertyChangedMessage) {
+ println(">> ${Json.encodeToString(DeviceMessage.serializer(), deviceMessage)}")
+ }
+ }.launchIn(this)
+ listenerEndpoint.send(DeviceManager.magixFormat, GetDescriptionMessage(), "listener", "controls-kt")
- }
}
- suspend fun shutdown() {
+ fun shutdown(): Job = context.launch {
logger.info { "Shutting down..." }
opcUaServer.shutdown()
logger.info { "OpcUa server stopped" }
@@ -102,92 +101,82 @@ class DemoController : Controller(), ContextAware {
logger.info { "Magix server stopped" }
device?.stop()
logger.info { "Device server stopped" }
- context.close()
+ }
+}
+
+@Composable
+fun DemoControls(controller: DemoController) {
+ var timeScale by remember { mutableStateOf(5000f) }
+ var xScale by remember { mutableStateOf(1f) }
+ var yScale by remember { mutableStateOf(1f) }
+
+ Surface(Modifier.padding(5.dp)) {
+ Column {
+ Row(Modifier.fillMaxWidth()) {
+ Text("Time Scale", modifier = Modifier.align(Alignment.CenterVertically).width(100.dp))
+ TextField(String.format("%.2f", timeScale),{}, enabled = false, modifier = Modifier.align(Alignment.CenterVertically).width(100.dp))
+ Slider(timeScale, onValueChange = { timeScale = it }, steps = 20, valueRange = 1000f..5000f)
+ }
+ Row(Modifier.fillMaxWidth()) {
+ Text("X scale", modifier = Modifier.align(Alignment.CenterVertically).width(100.dp))
+ TextField(String.format("%.2f", xScale),{}, enabled = false, modifier = Modifier.align(Alignment.CenterVertically).width(100.dp))
+ Slider(xScale, onValueChange = { xScale = it }, steps = 20, valueRange = 0.1f..2.0f)
+ }
+ Row(Modifier.fillMaxWidth()) {
+ Text("Y scale", modifier = Modifier.align(Alignment.CenterVertically).width(100.dp))
+ TextField(String.format("%.2f", yScale),{}, enabled = false, modifier = Modifier.align(Alignment.CenterVertically).width(100.dp))
+ Slider(yScale, onValueChange = { yScale = it }, steps = 20, valueRange = 0.1f..2.0f)
+ }
+ Row(Modifier.fillMaxWidth()) {
+ Button(
+ onClick = {
+ controller.device?.run {
+ launch {
+ write(DemoDevice.timeScale, timeScale.toDouble())
+ write(DemoDevice.sinScale, xScale.toDouble())
+ write(DemoDevice.cosScale, yScale.toDouble())
+ }
+ }
+ },
+ Modifier.fillMaxWidth()
+ ) {
+ Text("Submit")
+ }
+ }
+ Row(Modifier.fillMaxWidth()) {
+ Button(
+ onClick = {
+ controller.visualizer?.run {
+ val host = "localhost"//environment.connectors.first().host
+ val port = environment.connectors.first().port
+ val uri = URI("http", null, host, port, "/", null, null)
+ Desktop.getDesktop().browse(uri)
+ }
+ },
+ Modifier.fillMaxWidth()
+ ) {
+ Text("Show plots")
+ }
+ }
+ }
+
}
}
-class DemoControllerView : View(title = " Demo controller remote") {
- private val controller: DemoController by inject()
- private var timeScaleSlider: Slider by singleAssign()
- private var xScaleSlider: Slider by singleAssign()
- private var yScaleSlider: Slider by singleAssign()
+fun main() = application {
+ val controller = remember { DemoController().apply { start() } }
- override val root: Parent = vbox {
- hbox {
- label("Time scale")
- pane {
- hgrow = Priority.ALWAYS
- }
- timeScaleSlider = slider(1000..10000, 5000) {
- isShowTickLabels = true
- isShowTickMarks = true
- }
- }
- hbox {
- label("X scale")
- pane {
- hgrow = Priority.ALWAYS
- }
- xScaleSlider = slider(0.1..2.0, 1.0) {
- isShowTickLabels = true
- isShowTickMarks = true
- }
- }
- hbox {
- label("Y scale")
- pane {
- hgrow = Priority.ALWAYS
- }
- yScaleSlider = slider(0.1..2.0, 1.0) {
- isShowTickLabels = true
- isShowTickMarks = true
- }
- }
- button("Submit") {
- useMaxWidth = true
- action {
- controller.device?.run {
- launch {
- write(timeScale, timeScaleSlider.value)
- write(sinScale, xScaleSlider.value)
- write(cosScale, yScaleSlider.value)
- }
- }
- }
- }
- button("Show plots") {
- useMaxWidth = true
- action {
- controller.visualizer?.run {
- val host = "localhost"//environment.connectors.first().host
- val port = environment.connectors.first().port
- val uri = URI("http", null, host, port, "/", null, null)
- Desktop.getDesktop().browse(uri)
- }
- }
- }
- }
-}
-
-
-class DemoControllerApp : App(DemoControllerView::class) {
- private val controller: DemoController by inject()
-
- override fun start(stage: Stage) {
- super.start(stage)
- controller.init()
- }
-
- override fun stop() {
- runBlocking {
+ Window(
+ title = "All things control",
+ onCloseRequest = {
controller.shutdown()
+ exitApplication()
+ },
+ state = rememberWindowState(width = 400.dp, height = 300.dp)
+ ) {
+ MaterialTheme {
+ DemoControls(controller)
}
- super.stop()
}
-}
-
-
-fun main() {
- launch<DemoControllerApp>()
}
\ No newline at end of file
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/generateMessageSchema.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/generateMessageSchema.kt
deleted file mode 100644
index d50ec2c..0000000
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/generateMessageSchema.kt
+++ /dev/null
@@ -1,10 +0,0 @@
-package space.kscience.controls.demo
-
-//import com.github.ricky12awesome.jss.encodeToSchema
-//import com.github.ricky12awesome.jss.globalJson
-//import space.kscience.controls.api.DeviceMessage
-
-//fun main() {
-// val schema = globalJson.encodeToSchema(DeviceMessage.serializer(), generateDefinitions = false)
-// println(schema)
-//}
\ No newline at end of file
diff --git a/demo/motors/build.gradle.kts b/demo/motors/build.gradle.kts
index dd64935..faca2b0 100644
--- a/demo/motors/build.gradle.kts
+++ b/demo/motors/build.gradle.kts
@@ -1,19 +1,11 @@
plugins {
id("space.kscience.gradle.jvm")
- application
- id("org.openjfx.javafxplugin")
+ alias(spclibs.plugins.compose)
}
-//TODO to be moved to a separate project
-
-javafx {
- version = "17"
- modules = listOf("javafx.controls")
-}
-
-application{
- mainClass.set("ru.mipt.npm.devices.pimotionmaster.PiMotionMasterAppKt")
-}
+//application{
+// mainClass.set("ru.mipt.npm.devices.pimotionmaster.PiMotionMasterAppKt")
+//}
kotlin{
explicitApi = null
@@ -25,5 +17,4 @@ val dataforgeVersion: String by extra
dependencies {
implementation(project(":controls-ports-ktor"))
implementation(projects.controlsMagix)
- implementation(libs.tornadofx)
}
diff --git a/settings.gradle.kts b/settings.gradle.kts
index ed33e53..39adc72 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -18,7 +18,6 @@ pluginManagement {
id("space.kscience.gradle.mpp") version toolsVersion
id("space.kscience.gradle.jvm") version toolsVersion
id("space.kscience.gradle.js") version toolsVersion
- id("org.openjfx.javafxplugin") version "0.0.13"
}
}
From 44514cd47772d494aee71683a5851836ab0dbf65 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 12 May 2024 13:52:00 +0300
Subject: [PATCH 080/125] [WIP] moving from java fx to compose in examples
---
.../space/kscience/controls/api/DeviceHub.kt | 2 +-
.../controls/demo/DemoControllerView.kt | 4 +-
demo/motors/build.gradle.kts | 17 +-
.../pimotionmaster/PiMotionMasterApp.kt | 327 ++++++++++--------
.../pimotionmaster/PiMotionMasterDevice.kt | 26 +-
.../pimotionmaster/deviceProperties.kt | 15 +
.../pimotionmaster/fxDeviceProperties.kt | 58 ----
.../devices/pimotionmaster/piDebugServer.kt | 60 ++--
8 files changed, 259 insertions(+), 250 deletions(-)
create mode 100644 demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/deviceProperties.kt
delete mode 100644 demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/fxDeviceProperties.kt
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
index 72b0dc3..f6ca4ec 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
@@ -48,7 +48,7 @@ public operator fun DeviceHub.get(nameToken: NameToken): Device =
public fun DeviceHub.getOrNull(name: Name): Device? = when {
name.isEmpty() -> this as? Device
- name.length == 1 -> get(name.firstOrNull()!!)
+ name.length == 1 -> devices[name.firstOrNull()!!]
else -> (get(name.firstOrNull()!!) as? DeviceHub)?.getOrNull(name.cutFirst())
}
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
index cc9d445..ff99f32 100644
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
+++ b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
@@ -1,7 +1,7 @@
package space.kscience.controls.demo
import androidx.compose.foundation.layout.*
-import androidx.compose.material.*
+import androidx.compose.material3.*
import androidx.compose.runtime.*
import androidx.compose.ui.Alignment
import androidx.compose.ui.Modifier
@@ -173,7 +173,7 @@ fun main() = application {
controller.shutdown()
exitApplication()
},
- state = rememberWindowState(width = 400.dp, height = 300.dp)
+ state = rememberWindowState(width = 400.dp, height = 320.dp)
) {
MaterialTheme {
DemoControls(controller)
diff --git a/demo/motors/build.gradle.kts b/demo/motors/build.gradle.kts
index faca2b0..9241764 100644
--- a/demo/motors/build.gradle.kts
+++ b/demo/motors/build.gradle.kts
@@ -3,10 +3,6 @@ plugins {
alias(spclibs.plugins.compose)
}
-//application{
-// mainClass.set("ru.mipt.npm.devices.pimotionmaster.PiMotionMasterAppKt")
-//}
-
kotlin{
explicitApi = null
}
@@ -17,4 +13,17 @@ val dataforgeVersion: String by extra
dependencies {
implementation(project(":controls-ports-ktor"))
implementation(projects.controlsMagix)
+
+ implementation(compose.runtime)
+ implementation(compose.desktop.currentOs)
+ implementation(compose.material3)
+ implementation(spclibs.logback.classic)
+}
+
+compose{
+ desktop{
+ application{
+ mainClass = "ru.mipt.npm.devices.pimotionmaster.PiMotionMasterAppKt"
+ }
+ }
}
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt
index 840b1d9..0762e9f 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt
@@ -1,31 +1,193 @@
package ru.mipt.npm.devices.pimotionmaster
-import javafx.beans.property.ReadOnlyProperty
-import javafx.beans.property.SimpleIntegerProperty
-import javafx.beans.property.SimpleObjectProperty
-import javafx.beans.property.SimpleStringProperty
-import javafx.geometry.Pos
-import javafx.scene.Parent
-import javafx.scene.layout.Priority
-import javafx.scene.layout.VBox
-import kotlinx.coroutines.CoroutineScope
+
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.ColumnScope
+import androidx.compose.foundation.layout.Row
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.material.Button
+import androidx.compose.material.OutlinedTextField
+import androidx.compose.material.Slider
+import androidx.compose.material.Text
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.Scaffold
+import androidx.compose.runtime.*
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.unit.dp
+import androidx.compose.ui.window.Window
+import androidx.compose.ui.window.application
+import androidx.compose.ui.window.rememberWindowState
import kotlinx.coroutines.Job
import kotlinx.coroutines.launch
-import ru.mipt.npm.devices.pimotionmaster.PiMotionMasterDevice.Axis.Companion.maxPosition
-import ru.mipt.npm.devices.pimotionmaster.PiMotionMasterDevice.Axis.Companion.minPosition
-import ru.mipt.npm.devices.pimotionmaster.PiMotionMasterDevice.Axis.Companion.position
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.installing
import space.kscience.controls.spec.read
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.request
-import tornadofx.*
-class PiMotionMasterApp : App(PiMotionMasterView::class)
+//class PiMotionMasterApp : App(PiMotionMasterView::class)
+//
+//class PiMotionMasterController : Controller() {
+// //initialize context
+// val context = Context("piMotionMaster") {
+// plugin(DeviceManager)
+// }
+//
+// //initialize deviceManager plugin
+// val deviceManager: DeviceManager = context.request(DeviceManager)
+//
+// // install device
+// val motionMaster: PiMotionMasterDevice by deviceManager.installing(PiMotionMasterDevice)
+//}
-class PiMotionMasterController : Controller() {
- //initialize context
- val context = Context("piMotionMaster"){
+@Composable
+fun ColumnScope.piMotionMasterAxis(
+ axisName: String,
+ axis: PiMotionMasterDevice.Axis,
+) {
+ Row {
+ Text(axisName)
+ var min by remember { mutableStateOf(0f) }
+ var max by remember { mutableStateOf(0f) }
+ var targetPosition by remember { mutableStateOf(0f) }
+ val position: Double by axis.composeState(PiMotionMasterDevice.Axis.position, 0.0)
+
+ val scope = rememberCoroutineScope()
+
+ LaunchedEffect(axis) {
+ min = axis.read(PiMotionMasterDevice.Axis.minPosition).toFloat()
+ max = axis.read(PiMotionMasterDevice.Axis.maxPosition).toFloat()
+ targetPosition = axis.read(PiMotionMasterDevice.Axis.position).toFloat()
+ }
+
+ Column {
+ Slider(
+ value = position.toFloat(),
+ enabled = false,
+ onValueChange = { },
+ valueRange = min..max
+ )
+ Slider(
+ value = targetPosition,
+ onValueChange = { newPosition ->
+ scope.launch {
+ axis.move(newPosition.toDouble())
+ }
+ targetPosition = newPosition
+ },
+ valueRange = min..max
+ )
+
+ }
+ }
+}
+
+@Composable
+fun AxisPane(axes: Map<String, PiMotionMasterDevice.Axis>) {
+ Column {
+ axes.forEach { (name, axis) ->
+ this.piMotionMasterAxis(name, axis)
+ }
+ }
+}
+
+
+@Composable
+fun PiMotionMasterApp(device: PiMotionMasterDevice) {
+
+ val scope = rememberCoroutineScope()
+ val connected by device.composeState(PiMotionMasterDevice.connected, false)
+ var debugServerJob by remember { mutableStateOf<Job?>(null) }
+ var axes by remember { mutableStateOf<Map<String, PiMotionMasterDevice.Axis>?>(null) }
+ //private val axisList = FXCollections.observableArrayList<Map.Entry<String, PiMotionMasterDevice.Axis>>()
+ var host by remember { mutableStateOf("127.0.0.1") }
+ var port by remember { mutableStateOf(10024) }
+
+ Scaffold {
+ Column {
+
+
+ Text("Address:")
+ Row {
+ OutlinedTextField(
+ value = host,
+ onValueChange = { host = it },
+ label = { Text("Host") },
+ enabled = debugServerJob == null,
+ modifier = Modifier.weight(1f)
+ )
+ var portError by remember { mutableStateOf(false) }
+ OutlinedTextField(
+ value = port.toString(),
+ onValueChange = {
+ it.toIntOrNull()?.let { value ->
+ port = value
+ portError = false
+ } ?: run {
+ portError = true
+ }
+ },
+ label = { Text("Port") },
+ enabled = debugServerJob == null,
+ isError = portError,
+ modifier = Modifier.weight(1f),
+ )
+ }
+ Row {
+ Button(
+ onClick = {
+ if (debugServerJob == null) {
+ debugServerJob = device.context.launchPiDebugServer(port, listOf("1", "2", "3", "4"))
+ } else {
+ debugServerJob?.cancel()
+ debugServerJob = null
+ }
+ },
+ modifier = Modifier.fillMaxWidth()
+ ) {
+ if (debugServerJob == null) {
+ Text("Start debug server")
+ } else {
+ Text("Stop debug server")
+ }
+ }
+ }
+ Row {
+ Button(
+ onClick = {
+ if (!connected) {
+ device.launch {
+ device.connect(host, port)
+ }
+ axes = device.axes
+ } else {
+ device.launch {
+ device.disconnect()
+ }
+ axes = null
+ }
+ },
+ modifier = Modifier.fillMaxWidth()
+ ) {
+ if (!connected) {
+ Text("Connect")
+ } else {
+ Text("Disconnect")
+ }
+ }
+ }
+
+ axes?.let { axes ->
+ AxisPane(axes)
+ }
+ }
+ }
+}
+
+
+fun main() = application {
+
+ val context = Context("piMotionMaster") {
plugin(DeviceManager)
}
@@ -34,131 +196,14 @@ class PiMotionMasterController : Controller() {
// install device
val motionMaster: PiMotionMasterDevice by deviceManager.installing(PiMotionMasterDevice)
-}
-fun VBox.piMotionMasterAxis(
- axisName: String,
- axis: PiMotionMasterDevice.Axis,
- coroutineScope: CoroutineScope,
-) = hbox {
- alignment = Pos.CENTER
- label(axisName)
- coroutineScope.launch {
- with(axis) {
- val min: Double = read(minPosition)
- val max: Double = read(maxPosition)
- val positionProperty = fxProperty(position)
- val startPosition = read(position)
- runLater {
- vbox {
- hgrow = Priority.ALWAYS
- slider(min..max, startPosition) {
- minWidth = 300.0
- isShowTickLabels = true
- isShowTickMarks = true
- minorTickCount = 10
- majorTickUnit = 1.0
- valueProperty().onChange {
- coroutineScope.launch {
- axis.move(value)
- }
- }
- }
- slider(min..max) {
- isDisable = true
- valueProperty().bind(positionProperty)
- }
- }
- }
+ Window(
+ title = "Pi motion master demo",
+ onCloseRequest = { exitApplication() },
+ state = rememberWindowState(width = 400.dp, height = 300.dp)
+ ) {
+ MaterialTheme {
+ PiMotionMasterApp(motionMaster)
}
}
-}
-
-fun Parent.axisPane(axes: Map<String, PiMotionMasterDevice.Axis>, coroutineScope: CoroutineScope) {
- vbox {
- axes.forEach { (name, axis) ->
- this.piMotionMasterAxis(name, axis, coroutineScope)
- }
- }
-}
-
-
-class PiMotionMasterView : View() {
-
- private val controller: PiMotionMasterController by inject()
- val device = controller.motionMaster
-
- private val connectedProperty: ReadOnlyProperty<Boolean> = device.fxProperty(PiMotionMasterDevice.connected)
- private val debugServerJobProperty = SimpleObjectProperty<Job>()
- private val debugServerStarted = debugServerJobProperty.booleanBinding { it != null }
- //private val axisList = FXCollections.observableArrayList<Map.Entry<String, PiMotionMasterDevice.Axis>>()
-
- override val root: Parent = borderpane {
- top {
- form {
- val host = SimpleStringProperty("127.0.0.1")
- val port = SimpleIntegerProperty(10024)
- fieldset("Address:") {
- field("Host:") {
- textfield(host) {
- enableWhen(debugServerStarted.not())
- }
- }
- field("Port:") {
- textfield(port) {
- stripNonNumeric()
- }
- button {
- hgrow = Priority.ALWAYS
- textProperty().bind(debugServerStarted.stringBinding {
- if (it != true) {
- "Start debug server"
- } else {
- "Stop debug server"
- }
- })
- action {
- if (!debugServerStarted.get()) {
- debugServerJobProperty.value =
- controller.context.launchPiDebugServer(port.get(), listOf("1", "2", "3", "4"))
- } else {
- debugServerJobProperty.get().cancel()
- debugServerJobProperty.value = null
- }
- }
- }
- }
- }
-
- button {
- hgrow = Priority.ALWAYS
- textProperty().bind(connectedProperty.stringBinding {
- if (it == false) {
- "Connect"
- } else {
- "Disconnect"
- }
- })
- action {
- if (!connectedProperty.value) {
- device.connect(host.get(), port.get())
- center {
- axisPane(device.axes,controller.context)
- }
- } else {
- this@borderpane.center = null
- device.disconnect()
- }
- }
- }
-
-
- }
- }
-
- }
-}
-
-fun main() {
- launch<PiMotionMasterApp>()
}
\ No newline at end of file
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
index 69dfb79..4bde0b6 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
@@ -7,13 +7,15 @@ import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.first
import kotlinx.coroutines.flow.toList
import kotlinx.coroutines.flow.transformWhile
-import kotlinx.coroutines.runBlocking
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import kotlinx.coroutines.withTimeout
import space.kscience.controls.api.DeviceHub
import space.kscience.controls.api.PropertyDescriptor
-import space.kscience.controls.ports.*
+import space.kscience.controls.ports.AsynchronousPort
+import space.kscience.controls.ports.KtorTcpPort
+import space.kscience.controls.ports.send
+import space.kscience.controls.ports.withStringDelimiter
import space.kscience.controls.spec.*
import space.kscience.dataforge.context.*
import space.kscience.dataforge.meta.*
@@ -33,10 +35,8 @@ class PiMotionMasterDevice(
//PortProxy { portFactory(address ?: error("The device is not connected"), context) }
- fun disconnect() {
- runBlocking {
- execute(disconnect)
- }
+ suspend fun disconnect() {
+ execute(disconnect)
}
var timeoutValue: Duration = 200.milliseconds
@@ -54,13 +54,11 @@ class PiMotionMasterDevice(
if (errorCode != 0) error(message(errorCode))
}
- fun connect(host: String, port: Int) {
- runBlocking {
- execute(connect, Meta {
- "host" put host
- "port" put port
- })
- }
+ suspend fun connect(host: String, port: Int) {
+ execute(connect, Meta {
+ "host" put host
+ "port" put port
+ })
}
private val mutex = Mutex()
@@ -103,7 +101,7 @@ class PiMotionMasterDevice(
}.toList()
}
} catch (ex: Throwable) {
- logger.warn { "Error during PIMotionMaster request. Requesting error code." }
+ logger.error(ex) { "Error during PIMotionMaster request. Requesting error code." }
val errorCode = getErrorCode()
dispatchError(errorCode)
logger.warn { "Error code $errorCode" }
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/deviceProperties.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/deviceProperties.kt
new file mode 100644
index 0000000..00a4c55
--- /dev/null
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/deviceProperties.kt
@@ -0,0 +1,15 @@
+package ru.mipt.npm.devices.pimotionmaster
+
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.State
+import androidx.compose.runtime.collectAsState
+import space.kscience.controls.api.Device
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.propertyFlow
+
+
+@Composable
+fun <D : Device, T : Any> D.composeState(
+ spec: DevicePropertySpec<D, T>,
+ initialState: T,
+): State<T> = propertyFlow(spec).collectAsState(initialState)
\ No newline at end of file
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/fxDeviceProperties.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/fxDeviceProperties.kt
deleted file mode 100644
index adef540..0000000
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/fxDeviceProperties.kt
+++ /dev/null
@@ -1,58 +0,0 @@
-package ru.mipt.npm.devices.pimotionmaster
-
-import javafx.beans.property.ObjectPropertyBase
-import javafx.beans.property.Property
-import javafx.beans.property.ReadOnlyProperty
-import space.kscience.controls.api.Device
-import space.kscience.controls.spec.*
-import space.kscience.dataforge.context.info
-import space.kscience.dataforge.context.logger
-import tornadofx.*
-
-/**
- * Bind a FX property to a device property with a given [spec]
- */
-fun <D : Device, T : Any> D.fxProperty(
- spec: DevicePropertySpec<D, T>,
-): ReadOnlyProperty<T> = object : ObjectPropertyBase<T>() {
- override fun getBean(): Any = this
- override fun getName(): String = spec.name
-
- init {
- //Read incoming changes
- onPropertyChange(spec) {
- runLater {
- try {
- set(it)
- } catch (ex: Throwable) {
- logger.info { "Failed to set property $name to $it" }
- }
- }
- }
- }
-}
-
-fun <D : Device, T : Any> D.fxProperty(spec: MutableDevicePropertySpec<D, T>): Property<T> =
- object : ObjectPropertyBase<T>() {
- override fun getBean(): Any = this
- override fun getName(): String = spec.name
-
- init {
- //Read incoming changes
- onPropertyChange(spec) {
- runLater {
- try {
- set(it)
- } catch (ex: Throwable) {
- logger.info { "Failed to set property $name to $it" }
- }
- }
- }
-
- onChange { newValue ->
- if (newValue != null) {
- writeAsync(spec, newValue)
- }
- }
- }
- }
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt
index c69b7fe..2de548d 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt
@@ -18,41 +18,41 @@ val exceptionHandler = CoroutineExceptionHandler { _, throwable ->
@OptIn(InternalAPI::class)
fun Context.launchPiDebugServer(port: Int, axes: List<String>): Job = launch(exceptionHandler) {
val virtualDevice = PiMotionMasterVirtualDevice(this@launchPiDebugServer, axes)
- val server = aSocket(ActorSelectorManager(Dispatchers.IO)).tcp().bind("localhost", port)
- println("Started virtual port server at ${server.localAddress}")
+ aSocket(ActorSelectorManager(Dispatchers.IO)).tcp().bind("localhost", port).use { server ->
+ println("Started virtual port server at ${server.localAddress}")
- while (isActive) {
- val socket = server.accept()
- launch(SupervisorJob(coroutineContext[Job])) {
- println("Socket accepted: ${socket.remoteAddress}")
- val input = socket.openReadChannel()
- val output = socket.openWriteChannel()
+ while (isActive) {
+ val socket = server.accept()
+ launch(SupervisorJob(coroutineContext[Job])) {
+ println("Socket accepted: ${socket.remoteAddress}")
+ val input = socket.openReadChannel()
+ val output = socket.openWriteChannel()
- val sendJob = launch {
- virtualDevice.subscribe().collect {
- //println("Sending: ${it.decodeToString()}")
- output.writeAvailable(it)
- output.flush()
- }
- }
-
- try {
- while (isActive) {
- input.read { buffer ->
- val array = buffer.moveToByteArray()
- launch {
- virtualDevice.send(array)
- }
+ val sendJob = launch {
+ virtualDevice.subscribe().collect {
+ //println("Sending: ${it.decodeToString()}")
+ output.writeAvailable(it)
+ output.flush()
}
}
- } catch (e: Throwable) {
- e.printStackTrace()
- sendJob.cancel()
- socket.close()
- } finally {
- println("Socket closed")
- }
+ try {
+ while (isActive) {
+ input.read { buffer ->
+ val array = buffer.moveToByteArray()
+ launch {
+ virtualDevice.send(array)
+ }
+ }
+ }
+ } catch (e: Throwable) {
+ e.printStackTrace()
+ sendJob.cancel()
+ socket.close()
+ } finally {
+ println("Client socket closed")
+ }
+ }
}
}
}
From a9592d0372e07a32f9461a8493d2fb6573fca5ca Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 12 May 2024 14:14:31 +0300
Subject: [PATCH 081/125] Fixed part of motionMaster
---
.../controls/ports/AsynchronousPort.kt | 1 +
.../pimotionmaster/PiMotionMasterApp.kt | 32 ++++++++++---------
.../pimotionmaster/PiMotionMasterDevice.kt | 4 +--
.../devices/pimotionmaster/piDebugServer.kt | 15 +++++----
4 files changed, 28 insertions(+), 24 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt
index 4462a42..3f89e75 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt
@@ -100,6 +100,7 @@ public abstract class AbstractAsynchronousPort(
* Send a data packet via the port
*/
override suspend fun send(data: ByteArray) {
+ check(isOpen){"The port is not opened"}
outgoing.send(data)
}
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt
index 0762e9f..ab1c47a 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt
@@ -45,20 +45,22 @@ fun ColumnScope.piMotionMasterAxis(
axisName: String,
axis: PiMotionMasterDevice.Axis,
) {
+ var min by remember { mutableStateOf(0f) }
+ var max by remember { mutableStateOf(1f) }
+ var targetPosition by remember { mutableStateOf(0f) }
+ val position: Double by axis.composeState(PiMotionMasterDevice.Axis.position, 0.0)
+
+ val scope = rememberCoroutineScope()
+
+ LaunchedEffect(axis) {
+ min = axis.read(PiMotionMasterDevice.Axis.minPosition).toFloat()
+ max = axis.read(PiMotionMasterDevice.Axis.maxPosition).toFloat()
+ targetPosition = axis.read(PiMotionMasterDevice.Axis.position).toFloat()
+ }
+
+
Row {
Text(axisName)
- var min by remember { mutableStateOf(0f) }
- var max by remember { mutableStateOf(0f) }
- var targetPosition by remember { mutableStateOf(0f) }
- val position: Double by axis.composeState(PiMotionMasterDevice.Axis.position, 0.0)
-
- val scope = rememberCoroutineScope()
-
- LaunchedEffect(axis) {
- min = axis.read(PiMotionMasterDevice.Axis.minPosition).toFloat()
- max = axis.read(PiMotionMasterDevice.Axis.maxPosition).toFloat()
- targetPosition = axis.read(PiMotionMasterDevice.Axis.position).toFloat()
- }
Column {
Slider(
@@ -70,10 +72,10 @@ fun ColumnScope.piMotionMasterAxis(
Slider(
value = targetPosition,
onValueChange = { newPosition ->
+ targetPosition = newPosition
scope.launch {
axis.move(newPosition.toDouble())
}
- targetPosition = newPosition
},
valueRange = min..max
)
@@ -158,13 +160,13 @@ fun PiMotionMasterApp(device: PiMotionMasterDevice) {
if (!connected) {
device.launch {
device.connect(host, port)
+ axes = device.axes
}
- axes = device.axes
} else {
device.launch {
device.disconnect()
+ axes = null
}
- axes = null
}
},
modifier = Modifier.fillMaxWidth()
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
index 4bde0b6..6c271d7 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
@@ -165,12 +165,12 @@ class PiMotionMasterDevice(
}
//Update port
//address = portSpec.node
- port = portFactory(portSpec, context)
- propertyChanged(connected, true)
+ port = portFactory(portSpec, context).apply { open() }
// connector.open()
//Initialize axes
val idn = read(identity)
failIfError { "Can't connect to $portSpec. Error code: $it" }
+ propertyChanged(connected, true)
logger.info { "Connected to $idn on $portSpec" }
val ids = request("SAI?").map { it.trim() }
if (ids != axes.keys.toList()) {
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt
index 2de548d..4c2b350 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/piDebugServer.kt
@@ -8,6 +8,8 @@ import io.ktor.util.InternalAPI
import io.ktor.util.moveToByteArray
import io.ktor.utils.io.writeAvailable
import kotlinx.coroutines.*
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Global
@@ -28,13 +30,12 @@ fun Context.launchPiDebugServer(port: Int, axes: List<String>): Job = launch(exc
val input = socket.openReadChannel()
val output = socket.openWriteChannel()
- val sendJob = launch {
- virtualDevice.subscribe().collect {
- //println("Sending: ${it.decodeToString()}")
- output.writeAvailable(it)
- output.flush()
- }
- }
+ val sendJob = virtualDevice.subscribe().onEach {
+ //println("Sending: ${it.decodeToString()}")
+ output.writeAvailable(it)
+ output.flush()
+ }.launchIn(this)
+
try {
while (isActive) {
From 5921978122b501e04e6b744f7d4e7dbfdba79302 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 15 May 2024 22:49:08 +0300
Subject: [PATCH 082/125] [WIP] Refactor constructor
---
README.md | 10 ++
controls-constructor/README.md | 4 +-
.../{ConstructorBinding.kt => Binding.kt} | 17 +-
.../controls/constructor/DeviceConstructor.kt | 10 +-
.../controls/constructor/DeviceModel.kt | 12 ++
.../controls/constructor/DeviceState.kt | 16 +-
.../controls/constructor/TimerState.kt | 5 +-
.../controls/constructor/customState.kt | 20 ++-
.../controls/constructor/internalState.kt | 2 -
controls-core/README.md | 4 +-
.../kscience/controls/manager/ClockManager.kt | 90 ++++++++--
.../controls/spec/deviceExtensions.kt | 6 +-
controls-jupyter/README.md | 4 +-
controls-magix/README.md | 4 +-
controls-magix/build.gradle.kts | 3 +-
controls-modbus/README.md | 4 +-
controls-opcua/README.md | 4 +-
controls-pi/README.md | 4 +-
controls-ports-ktor/README.md | 4 +-
controls-serial/README.md | 4 +-
controls-server/README.md | 4 +-
controls-storage/README.md | 4 +-
controls-storage/controls-xodus/README.md | 4 +-
controls-vision/README.md | 6 +-
controls-vision/build.gradle.kts | 1 +
controls-vision/docs/README-TEMPLATE.md | 15 ++
.../kotlin/BooleanIndicatorVision.kt | 24 +++
.../commonMain/kotlin/ControlVisionPlugin.kt | 3 +-
.../src/commonMain/kotlin/IndicatorVision.kt | 20 ---
.../src/commonMain/kotlin/plotExtensions.kt | 2 +-
.../jsMain/kotlin/ControlsVisionPlugin.js.kt | 16 ++
.../src/jvmMain/kotlin/dashboard.kt | 47 ++++--
.../kotlin/{main.kt => LinearDrive.kt} | 155 ++++++++++--------
.../pimotionmaster/PiMotionMasterApp.kt | 2 +-
docs/templates/ARTIFACT-TEMPLATE.md | 30 ----
magix/magix-api/README.md | 4 +-
magix/magix-java-endpoint/README.md | 4 +-
magix/magix-mqtt/README.md | 4 +-
magix/magix-rabbit/README.md | 4 +-
magix/magix-rsocket/README.md | 4 +-
magix/magix-server/README.md | 4 +-
magix/magix-storage/README.md | 4 +-
.../magix-storage-xodus/README.md | 4 +-
magix/magix-zmq/README.md | 4 +-
44 files changed, 367 insertions(+), 229 deletions(-)
rename controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/{ConstructorBinding.kt => Binding.kt} (67%)
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt
create mode 100644 controls-vision/docs/README-TEMPLATE.md
create mode 100644 controls-vision/src/commonMain/kotlin/BooleanIndicatorVision.kt
delete mode 100644 controls-vision/src/commonMain/kotlin/IndicatorVision.kt
rename demo/constructor/src/jvmMain/kotlin/{main.kt => LinearDrive.kt} (74%)
delete mode 100644 docs/templates/ARTIFACT-TEMPLATE.md
diff --git a/README.md b/README.md
index d6a602b..d5baaf9 100644
--- a/README.md
+++ b/README.md
@@ -104,6 +104,11 @@ Automatically checks consistency.
>
> **Maturity**: EXPERIMENTAL
+### [controls-plc4x](controls-plc4x)
+> A plugin for Controls-kt device server on top of plc4x library
+>
+> **Maturity**: EXPERIMENTAL
+
### [controls-ports-ktor](controls-ports-ktor)
> Implementation of byte ports on top os ktor-io asynchronous API
>
@@ -209,6 +214,11 @@ Automatically checks consistency.
>
> **Maturity**: PROTOTYPE
+### [magix/magix-utils](magix/magix-utils)
+> Common utilities and services for Magix endpoints.
+>
+> **Maturity**: EXPERIMENTAL
+
### [magix/magix-zmq](magix/magix-zmq)
> ZMQ client endpoint for Magix
>
diff --git a/controls-constructor/README.md b/controls-constructor/README.md
index 9a8b27c..d388b01 100644
--- a/controls-constructor/README.md
+++ b/controls-constructor/README.md
@@ -6,7 +6,7 @@ A low-code constructor for composite devices simulation
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-constructor:0.3.0`.
+The Maven coordinates of this project are `space.kscience:controls-constructor:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-constructor:0.3.0")
+ implementation("space.kscience:controls-constructor:0.4.0-dev-1")
}
```
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorBinding.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Binding.kt
similarity index 67%
rename from controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorBinding.kt
rename to controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Binding.kt
index 7ad370e..d712d62 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorBinding.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Binding.kt
@@ -2,7 +2,10 @@ package space.kscience.controls.constructor
import space.kscience.controls.api.Device
-public sealed interface ConstructorBinding
+/**
+ * A binding that is used to describe device functionality
+ */
+public sealed interface Binding
/**
* A binding that exposes device property as read-only state
@@ -11,16 +14,22 @@ public class PropertyBinding<T>(
public val device: Device,
public val propertyName: String,
public val state: DeviceState<T>,
-) : ConstructorBinding
+) : Binding
/**
* A binding for independent state like a timer
*/
public class StateBinding<T>(
public val state: DeviceState<T>
-) : ConstructorBinding
+) : Binding
public class ActionBinding(
public val reads: Collection<DeviceState<*>>,
public val writes: Collection<DeviceState<*>>
-): ConstructorBinding
\ No newline at end of file
+): Binding
+
+
+public interface BindingsContainer{
+ public val bindings: List<Binding>
+ public fun registerBinding(binding: Binding)
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
index 7824e3c..5b6ff9f 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -26,11 +26,11 @@ import kotlin.time.Duration
public abstract class DeviceConstructor(
context: Context,
meta: Meta = Meta.EMPTY,
-) : DeviceGroup(context, meta) {
- private val _bindings: MutableList<ConstructorBinding> = mutableListOf()
- public val bindings: List<ConstructorBinding> get() = _bindings
+) : DeviceGroup(context, meta), BindingsContainer {
+ private val _bindings: MutableList<Binding> = mutableListOf()
+ override val bindings: List<Binding> get() = _bindings
- public fun registerBinding(binding: ConstructorBinding) {
+ override fun registerBinding(binding: Binding) {
_bindings.add(binding)
}
@@ -46,7 +46,7 @@ public abstract class DeviceConstructor(
.also { registerBinding(StateBinding(it)) }
/**
- * Launch action that is performed on each [DeviceState] value change.
+ * Bind an action to a [DeviceState]. [onChange] block is performed on each state change
*
* Optionally provide [writes] - a set of states that this change affects.
*/
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt
new file mode 100644
index 0000000..08913a2
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt
@@ -0,0 +1,12 @@
+package space.kscience.controls.constructor
+
+public abstract class DeviceModel : BindingsContainer {
+
+ private val _bindings: MutableList<Binding> = mutableListOf()
+
+ override val bindings: List<Binding> get() = _bindings
+
+ override fun registerBinding(binding: Binding) {
+ _bindings.add(binding)
+ }
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index 9a25f00..8a2914b 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -63,25 +63,25 @@ public interface DeviceStateWithDependencies<T> : DeviceState<T> {
/**
* Create a new read-only [DeviceState] that mirrors receiver state by mapping the value with [mapper].
*/
-public fun <T, R> DeviceState<T>.map(
+public fun <T, R> DeviceState.Companion.map(
+ state: DeviceState<T>,
converter: MetaConverter<R>, mapper: (T) -> R,
): DeviceStateWithDependencies<R> = object : DeviceStateWithDependencies<R> {
- override val dependencies = listOf(this)
+ override val dependencies = listOf(state)
override val converter: MetaConverter<R> = converter
- override val value: R
- get() = mapper(this@map.value)
+ override val value: R get() = mapper(state.value)
- override val valueFlow: Flow<R> = this@map.valueFlow.map(mapper)
+ override val valueFlow: Flow<R> = state.valueFlow.map(mapper)
- override fun toString(): String = "DeviceState.map(arg=${this@map}, converter=$converter)"
+ override fun toString(): String = "DeviceState.map(arg=${state}, converter=$converter)"
}
/**
* Combine two device states into one read-only [DeviceState]. Only the latest value of each state is used.
*/
-public fun <T1, T2, R> combine(
+public fun <T1, T2, R> DeviceState.Companion.combine(
state1: DeviceState<T1>,
state2: DeviceState<T2>,
converter: MetaConverter<R>,
@@ -96,4 +96,4 @@ public fun <T1, T2, R> combine(
override val valueFlow: Flow<R> = kotlinx.coroutines.flow.combine(state1.valueFlow, state2.valueFlow, mapper)
override fun toString(): String = "DeviceState.combine(state1=$state1, state2=$state2)"
-}
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/TimerState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/TimerState.kt
index 7b10cb9..8f36079 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/TimerState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/TimerState.kt
@@ -1,5 +1,6 @@
package space.kscience.controls.constructor
+import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.MutableStateFlow
import kotlinx.coroutines.isActive
@@ -26,9 +27,9 @@ public class TimerState(
private val clock = MutableStateFlow(clockManager.clock.now())
- private val updateJob = clockManager.context.launch {
+ private val updateJob = clockManager.context.launch(clockManager.asDispatcher()) {
while (isActive) {
- clockManager.delay(tick)
+ delay(tick)
clock.value = clockManager.clock.now()
}
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
index 881bdea..277271a 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
@@ -8,7 +8,7 @@ import space.kscience.dataforge.meta.MetaConverter
/**
* A state describing a [Double] value in the [range]
*/
-public class DoubleRangeState(
+public class DoubleInRangeState(
initialValue: Double,
public val range: ClosedFloatingPointRange<Double>,
) : MutableDeviceState<Double> {
@@ -32,20 +32,28 @@ public class DoubleRangeState(
/**
* A state showing that the range is on its lower boundary
*/
- public val atStartState: DeviceState<Boolean> = map(MetaConverter.boolean) { it <= range.start }
+ public val atStart: DeviceState<Boolean> = DeviceState.map(this, MetaConverter.boolean) {
+ it <= range.start
+ }
/**
* A state showing that the range is on its higher boundary
*/
- public val atEndState: DeviceState<Boolean> = map(MetaConverter.boolean) { it >= range.endInclusive }
+ public val atEnd: DeviceState<Boolean> = DeviceState.map(this, MetaConverter.boolean) {
+ it >= range.endInclusive
+ }
override fun toString(): String = "DoubleRangeState(range=$range, converter=$converter)"
}
-@Suppress("UnusedReceiverParameter")
-public fun DeviceGroup.rangeState(
+/**
+ * Create and register a [DoubleInRangeState]
+ */
+public fun BindingsContainer.doubleInRangeState(
initialValue: Double,
range: ClosedFloatingPointRange<Double>,
-): DoubleRangeState = DoubleRangeState(initialValue, range)
\ No newline at end of file
+): DoubleInRangeState = DoubleInRangeState(initialValue, range).also {
+ registerBinding(StateBinding(it))
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
index 6f9d086..ed2d5d1 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
@@ -25,8 +25,6 @@ private class VirtualDeviceState<T>(
}
override fun toString(): String = "VirtualDeviceState(converter=$converter)"
-
-
}
diff --git a/controls-core/README.md b/controls-core/README.md
index b1edbdc..71caf53 100644
--- a/controls-core/README.md
+++ b/controls-core/README.md
@@ -16,7 +16,7 @@ Core interfaces for building a device server
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-core:0.3.0`.
+The Maven coordinates of this project are `space.kscience:controls-core:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -26,6 +26,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-core:0.3.0")
+ implementation("space.kscience:controls-core:0.4.0-dev-1")
}
```
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
index 2f852e1..20ba47e 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
@@ -1,24 +1,80 @@
package space.kscience.controls.manager
+import kotlinx.coroutines.*
import kotlinx.datetime.Clock
-import space.kscience.dataforge.context.AbstractPlugin
-import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.context.PluginFactory
-import space.kscience.dataforge.context.PluginTag
+import kotlinx.datetime.Instant
+import space.kscience.controls.api.Device
+import space.kscience.dataforge.context.*
import space.kscience.dataforge.meta.Meta
-import kotlin.time.Duration
+import space.kscience.dataforge.meta.double
+import kotlin.coroutines.CoroutineContext
+import kotlin.math.roundToLong
+
+@OptIn(InternalCoroutinesApi::class)
+private class CompressedTimeDispatcher(
+ val dispatcher: CoroutineDispatcher,
+ val compression: Double,
+) : CoroutineDispatcher(), Delay {
+
+ @InternalCoroutinesApi
+ override fun dispatchYield(context: CoroutineContext, block: Runnable) {
+ dispatcher.dispatchYield(context, block)
+ }
+
+ override fun isDispatchNeeded(context: CoroutineContext): Boolean = dispatcher.isDispatchNeeded(context)
+
+ @ExperimentalCoroutinesApi
+ override fun limitedParallelism(parallelism: Int): CoroutineDispatcher = dispatcher.limitedParallelism(parallelism)
+
+ override fun dispatch(context: CoroutineContext, block: Runnable) {
+ dispatcher.dispatch(context, block)
+ }
+
+ private val delay = ((dispatcher as? Delay) ?: (Dispatchers.Default as Delay))
+
+ override fun scheduleResumeAfterDelay(timeMillis: Long, continuation: CancellableContinuation<Unit>) {
+ delay.scheduleResumeAfterDelay((timeMillis / compression).roundToLong(), continuation)
+ }
+
+
+ override fun invokeOnTimeout(timeMillis: Long, block: Runnable, context: CoroutineContext): DisposableHandle {
+ return delay.invokeOnTimeout((timeMillis / compression).roundToLong(), block, context)
+ }
+}
+
+private class CompressedClock(
+ val start: Instant,
+ val compression: Double,
+ val baseClock: Clock = Clock.System,
+) : Clock {
+ override fun now(): Instant {
+ val elapsed = (baseClock.now() - start)
+ return start + elapsed / compression
+ }
+}
public class ClockManager : AbstractPlugin() {
override val tag: PluginTag get() = Companion.tag
+ public val timeCompression: Double by meta.double(1.0)
+
public val clock: Clock by lazy {
- //TODO add clock customization
- Clock.System
+ if (timeCompression == 1.0) {
+ Clock.System
+ } else {
+ CompressedClock(Clock.System.now(), timeCompression)
+ }
}
- public suspend fun delay(duration: Duration) {
- //TODO add time compression
- kotlinx.coroutines.delay(duration)
+ /**
+ * Provide a [CoroutineDispatcher] with compressed time based on given [dispatcher]
+ */
+ public fun asDispatcher(
+ dispatcher: CoroutineDispatcher = Dispatchers.Default,
+ ): CoroutineDispatcher = if (timeCompression == 1.0) {
+ dispatcher
+ } else {
+ CompressedTimeDispatcher(dispatcher, timeCompression)
}
public companion object : PluginFactory<ClockManager> {
@@ -28,4 +84,16 @@ public class ClockManager : AbstractPlugin() {
}
}
-public val Context.clock: Clock get() = plugins[ClockManager]?.clock ?: Clock.System
\ No newline at end of file
+public val Context.clock: Clock get() = plugins[ClockManager]?.clock ?: Clock.System
+
+public val Device.clock: Clock get() = context.clock
+
+public fun Device.getCoroutineDispatcher(dispatcher: CoroutineDispatcher = Dispatchers.Default): CoroutineDispatcher =
+ context.plugins[ClockManager]?.asDispatcher(dispatcher) ?: dispatcher
+
+public fun ContextBuilder.withTimeCompression(compression: Double) {
+ require(compression > 0.0) { "Time compression must be greater than zero." }
+ plugin(ClockManager) {
+ "timeCompression" put compression
+ }
+}
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/deviceExtensions.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/deviceExtensions.kt
index ee47ea0..3344407 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/deviceExtensions.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/deviceExtensions.kt
@@ -4,6 +4,7 @@ import kotlinx.coroutines.*
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.flow
import space.kscience.controls.api.Device
+import space.kscience.controls.manager.getCoroutineDispatcher
import kotlin.time.Duration
/**
@@ -15,11 +16,12 @@ public fun <D : Device> D.doRecurring(
task: suspend D.() -> Unit,
): Job {
val taskName = debugTaskName ?: "task[${task.hashCode().toString(16)}]"
- return launch(CoroutineName(taskName)) {
+ val dispatcher = getCoroutineDispatcher()
+ return launch(CoroutineName(taskName) + dispatcher) {
while (isActive) {
delay(interval)
//launch in parent scope to properly evaluate exceptions
- this@doRecurring.launch {
+ this@doRecurring.launch(CoroutineName("$taskName-recurring") + dispatcher) {
task()
}
}
diff --git a/controls-jupyter/README.md b/controls-jupyter/README.md
index 15d8e2d..7d0fc4f 100644
--- a/controls-jupyter/README.md
+++ b/controls-jupyter/README.md
@@ -6,7 +6,7 @@
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-jupyter:0.3.0`.
+The Maven coordinates of this project are `space.kscience:controls-jupyter:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-jupyter:0.3.0")
+ implementation("space.kscience:controls-jupyter:0.4.0-dev-1")
}
```
diff --git a/controls-magix/README.md b/controls-magix/README.md
index 4048990..8c16ffd 100644
--- a/controls-magix/README.md
+++ b/controls-magix/README.md
@@ -12,7 +12,7 @@ Magix service for binding controls devices (both as RPC client and server)
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-magix:0.3.0`.
+The Maven coordinates of this project are `space.kscience:controls-magix:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -22,6 +22,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-magix:0.3.0")
+ implementation("space.kscience:controls-magix:0.4.0-dev-1")
}
```
diff --git a/controls-magix/build.gradle.kts b/controls-magix/build.gradle.kts
index 055ec98..040c040 100644
--- a/controls-magix/build.gradle.kts
+++ b/controls-magix/build.gradle.kts
@@ -12,7 +12,8 @@ description = """
kscience {
jvm()
js()
- useCoroutines("1.8.0")
+ native()
+ useCoroutines()
useSerialization {
json()
}
diff --git a/controls-modbus/README.md b/controls-modbus/README.md
index 18c37ee..61e4b60 100644
--- a/controls-modbus/README.md
+++ b/controls-modbus/README.md
@@ -14,7 +14,7 @@ Automatically checks consistency.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-modbus:0.3.0`.
+The Maven coordinates of this project are `space.kscience:controls-modbus:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -24,6 +24,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-modbus:0.3.0")
+ implementation("space.kscience:controls-modbus:0.4.0-dev-1")
}
```
diff --git a/controls-opcua/README.md b/controls-opcua/README.md
index 3befbb9..03dc32b 100644
--- a/controls-opcua/README.md
+++ b/controls-opcua/README.md
@@ -12,7 +12,7 @@ A client and server connectors for OPC-UA via Eclipse Milo
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-opcua:0.3.0`.
+The Maven coordinates of this project are `space.kscience:controls-opcua:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -22,6 +22,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-opcua:0.3.0")
+ implementation("space.kscience:controls-opcua:0.4.0-dev-1")
}
```
diff --git a/controls-pi/README.md b/controls-pi/README.md
index 6235995..2873ac2 100644
--- a/controls-pi/README.md
+++ b/controls-pi/README.md
@@ -6,7 +6,7 @@ Utils to work with controls-kt on Raspberry pi
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-pi:0.3.0`.
+The Maven coordinates of this project are `space.kscience:controls-pi:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-pi:0.3.0")
+ implementation("space.kscience:controls-pi:0.4.0-dev-1")
}
```
diff --git a/controls-ports-ktor/README.md b/controls-ports-ktor/README.md
index b703521..6b23d80 100644
--- a/controls-ports-ktor/README.md
+++ b/controls-ports-ktor/README.md
@@ -6,7 +6,7 @@ Implementation of byte ports on top os ktor-io asynchronous API
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-ports-ktor:0.3.0`.
+The Maven coordinates of this project are `space.kscience:controls-ports-ktor:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-ports-ktor:0.3.0")
+ implementation("space.kscience:controls-ports-ktor:0.4.0-dev-1")
}
```
diff --git a/controls-serial/README.md b/controls-serial/README.md
index 861b6d3..a961f55 100644
--- a/controls-serial/README.md
+++ b/controls-serial/README.md
@@ -6,7 +6,7 @@ Implementation of direct serial port communication with JSerialComm
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-serial:0.3.0`.
+The Maven coordinates of this project are `space.kscience:controls-serial:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-serial:0.3.0")
+ implementation("space.kscience:controls-serial:0.4.0-dev-1")
}
```
diff --git a/controls-server/README.md b/controls-server/README.md
index 86a5bf5..114f618 100644
--- a/controls-server/README.md
+++ b/controls-server/README.md
@@ -6,7 +6,7 @@ A combined Magix event loop server with web server for visualization.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-server:0.3.0`.
+The Maven coordinates of this project are `space.kscience:controls-server:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-server:0.3.0")
+ implementation("space.kscience:controls-server:0.4.0-dev-1")
}
```
diff --git a/controls-storage/README.md b/controls-storage/README.md
index 3242de2..64751e8 100644
--- a/controls-storage/README.md
+++ b/controls-storage/README.md
@@ -6,7 +6,7 @@ An API for stand-alone Controls-kt device or a hub.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-storage:0.3.0`.
+The Maven coordinates of this project are `space.kscience:controls-storage:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-storage:0.3.0")
+ implementation("space.kscience:controls-storage:0.4.0-dev-1")
}
```
diff --git a/controls-storage/controls-xodus/README.md b/controls-storage/controls-xodus/README.md
index 2a6c247..e423c3f 100644
--- a/controls-storage/controls-xodus/README.md
+++ b/controls-storage/controls-xodus/README.md
@@ -6,7 +6,7 @@ An implementation of controls-storage on top of JetBrains Xodus.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-xodus:0.3.0`.
+The Maven coordinates of this project are `space.kscience:controls-xodus:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-xodus:0.3.0")
+ implementation("space.kscience:controls-xodus:0.4.0-dev-1")
}
```
diff --git a/controls-vision/README.md b/controls-vision/README.md
index 41483ce..cbfc917 100644
--- a/controls-vision/README.md
+++ b/controls-vision/README.md
@@ -2,11 +2,13 @@
Dashboard and visualization extensions for devices
+Hello world!
+
## Usage
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-vision:0.3.0`.
+The Maven coordinates of this project are `space.kscience:controls-vision:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +18,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-vision:0.3.0")
+ implementation("space.kscience:controls-vision:0.4.0-dev-1")
}
```
diff --git a/controls-vision/build.gradle.kts b/controls-vision/build.gradle.kts
index c36cdce..5c75242 100644
--- a/controls-vision/build.gradle.kts
+++ b/controls-vision/build.gradle.kts
@@ -10,6 +10,7 @@ description = """
kscience {
fullStack("js/controls-vision.js")
useKtor()
+ useSerialization()
useContextReceivers()
dependencies {
api(projects.controlsCore)
diff --git a/controls-vision/docs/README-TEMPLATE.md b/controls-vision/docs/README-TEMPLATE.md
new file mode 100644
index 0000000..63e6d31
--- /dev/null
+++ b/controls-vision/docs/README-TEMPLATE.md
@@ -0,0 +1,15 @@
+# Module ${name}
+
+${description}
+
+<#if features?has_content>
+## Features
+
+${features}
+
+</#if>
+<#if published>
+## Usage
+
+${artifact}
+</#if>
diff --git a/controls-vision/src/commonMain/kotlin/BooleanIndicatorVision.kt b/controls-vision/src/commonMain/kotlin/BooleanIndicatorVision.kt
new file mode 100644
index 0000000..8783228
--- /dev/null
+++ b/controls-vision/src/commonMain/kotlin/BooleanIndicatorVision.kt
@@ -0,0 +1,24 @@
+package space.kscience.controls.vision
+
+import kotlinx.serialization.SerialName
+import kotlinx.serialization.Serializable
+import space.kscience.dataforge.meta.boolean
+import space.kscience.visionforge.AbstractVision
+import space.kscience.visionforge.Vision
+import space.kscience.visionforge.html.VisionOfHtml
+
+/**
+ * A [Vision] that shows an indicator
+ */
+@Serializable
+@SerialName("controls.indicator")
+public class BooleanIndicatorVision : AbstractVision(), VisionOfHtml {
+ public val isOn: Boolean by properties.boolean(false)
+}
+
+///**
+// * A [Vision] that allows both showing the value and changing it
+// */
+//public interface RegulatorVision: IndicatorVision{
+//
+//}
\ No newline at end of file
diff --git a/controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt b/controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt
index d587250..6395d53 100644
--- a/controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt
+++ b/controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt
@@ -6,7 +6,6 @@ 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>
@@ -14,6 +13,6 @@ public expect class ControlVisionPlugin: VisionPlugin{
internal val controlsVisionSerializersModule = SerializersModule {
polymorphic(Vision::class) {
- subclass(VisionOfPlotly.serializer())
+ subclass(BooleanIndicatorVision.serializer())
}
}
\ No newline at end of file
diff --git a/controls-vision/src/commonMain/kotlin/IndicatorVision.kt b/controls-vision/src/commonMain/kotlin/IndicatorVision.kt
deleted file mode 100644
index 9ec2319..0000000
--- a/controls-vision/src/commonMain/kotlin/IndicatorVision.kt
+++ /dev/null
@@ -1,20 +0,0 @@
-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{
-//
-//}
\ No newline at end of file
diff --git a/controls-vision/src/commonMain/kotlin/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
index 6dfdee0..88b870e 100644
--- a/controls-vision/src/commonMain/kotlin/plotExtensions.kt
+++ b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
@@ -1,4 +1,4 @@
-@file:OptIn(FlowPreview::class)
+@file:OptIn(FlowPreview::class, FlowPreview::class)
package space.kscience.controls.vision
diff --git a/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt b/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
index 55074ae..d08772c 100644
--- a/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
+++ b/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
@@ -5,13 +5,29 @@ 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.dataforge.names.asName
import space.kscience.visionforge.VisionPlugin
+import space.kscience.visionforge.html.ElementVisionRenderer
+
+private val indicatorRenderer = ElementVisionRenderer<BooleanIndicatorVision> { name, vision: BooleanIndicatorVision, meta ->
+
+}
+
public actual class ControlVisionPlugin : VisionPlugin() {
override val tag: PluginTag get() = Companion.tag
override val visionSerializersModule: SerializersModule get() = controlsVisionSerializersModule
+ override fun content(target: String): Map<Name, Any> = when (target) {
+ ElementVisionRenderer.TYPE -> mapOf(
+ "indicator".asName() to indicatorRenderer
+ )
+
+ else -> super.content(target)
+ }
+
public actual companion object : PluginFactory<ControlVisionPlugin> {
override val tag: PluginTag = PluginTag("controls.vision")
diff --git a/controls-vision/src/jvmMain/kotlin/dashboard.kt b/controls-vision/src/jvmMain/kotlin/dashboard.kt
index 29c4740..1b64b15 100644
--- a/controls-vision/src/jvmMain/kotlin/dashboard.kt
+++ b/controls-vision/src/jvmMain/kotlin/dashboard.kt
@@ -13,6 +13,8 @@ import space.kscience.plotly.PlotlyConfig
import space.kscience.visionforge.html.HtmlVisionFragment
import space.kscience.visionforge.html.VisionPage
import space.kscience.visionforge.html.VisionTagConsumer
+import space.kscience.visionforge.markup.MarkupPlugin
+import space.kscience.visionforge.plotly.PlotlyPlugin
import space.kscience.visionforge.plotly.plotly
import space.kscience.visionforge.server.VisionRoute
import space.kscience.visionforge.server.close
@@ -25,29 +27,38 @@ public fun Context.showDashboard(
routes: Routing.() -> Unit = {},
configurationBuilder: VisionRoute.() -> Unit = {},
visionFragment: HtmlVisionFragment,
-): ApplicationEngine = embeddedServer(CIO, port = port) {
- routing {
- staticResources("", null, null)
- routes()
+): ApplicationEngine {
+ //create a sub-context for visualization
+ val visualisationContext = buildContext {
+ plugin(PlotlyPlugin)
+ plugin(ControlVisionPlugin)
+ plugin(MarkupPlugin)
}
- visionPage(
- visionManager,
- VisionPage.scriptHeader("js/controls-vision.js"),
- configurationBuilder = configurationBuilder,
- visionFragment = visionFragment
- )
-}.also {
- it.start(false)
- it.openInBrowser()
+ return visualisationContext.embeddedServer(CIO, port = port) {
+ routing {
+ staticResources("", null, null)
+ routes()
+ }
+
+ visionPage(
+ visualisationContext.visionManager,
+ VisionPage.scriptHeader("js/controls-vision.js"),
+ configurationBuilder = configurationBuilder,
+ visionFragment = visionFragment
+ )
+ }.also {
+ it.start(false)
+ it.openInBrowser()
- println("Enter 'exit' to close server")
- while (readlnOrNull() != "exit") {
- //
+ println("Enter 'exit' to close server")
+ while (readlnOrNull() != "exit") {
+ //
+ }
+
+ it.close()
}
-
- it.close()
}
context(VisionTagConsumer<*>)
diff --git a/demo/constructor/src/jvmMain/kotlin/main.kt b/demo/constructor/src/jvmMain/kotlin/LinearDrive.kt
similarity index 74%
rename from demo/constructor/src/jvmMain/kotlin/main.kt
rename to demo/constructor/src/jvmMain/kotlin/LinearDrive.kt
index e426e1b..95df7ad 100644
--- a/demo/constructor/src/jvmMain/kotlin/main.kt
+++ b/demo/constructor/src/jvmMain/kotlin/LinearDrive.kt
@@ -14,8 +14,10 @@ import androidx.compose.ui.Modifier
import androidx.compose.ui.unit.dp
import androidx.compose.ui.window.Window
import androidx.compose.ui.window.application
-import kotlinx.coroutines.launch
-import space.kscience.controls.constructor.*
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.DoubleInRangeState
+import space.kscience.controls.constructor.device
+import space.kscience.controls.constructor.deviceProperty
import space.kscience.controls.constructor.library.*
import space.kscience.controls.manager.ClockManager
import space.kscience.controls.manager.DeviceManager
@@ -40,77 +42,41 @@ import kotlin.time.DurationUnit
class LinearDrive(
+ drive: Drive,
+ start: LimitSwitch,
+ end: LimitSwitch,
+ pidParameters: PidParameters,
+ meta: Meta = Meta.EMPTY,
+) : DeviceConstructor(drive.context, meta) {
+
+ val drive: Drive by device(drive)
+ val pid by device(PidRegulator(drive, pidParameters))
+
+ val start by device(start)
+ val end by device(end)
+
+ val position by deviceProperty(drive, Drive.position, Double.NaN)
+
+ val target by deviceProperty(pid, Regulator.target, 0.0)
+}
+
+/**
+ * A shortcut to create a virtual [LimitSwitch] from [DoubleInRangeState]
+ */
+fun LinearDrive(
context: Context,
- state: DoubleRangeState,
+ positionState: DoubleInRangeState,
mass: Double,
pidParameters: PidParameters,
meta: Meta = Meta.EMPTY,
-) : DeviceConstructor(context, meta) {
+): LinearDrive = LinearDrive(
+ drive = VirtualDrive(context, mass, positionState),
+ start = VirtualLimitSwitch(context, positionState.atStart),
+ end = VirtualLimitSwitch(context, positionState.atEnd),
+ pidParameters = pidParameters,
+ meta = meta
+)
- val drive by device(VirtualDrive.factory(mass, state))
- val pid by device(PidRegulator(drive, pidParameters))
-
- val start by device(LimitSwitch(state.atStartState))
- val end by device(LimitSwitch(state.atEndState))
-
-
- val positionState: DoubleRangeState by property(state)
-
- private val targetState: MutableDeviceState<Double> by deviceProperty(pid, Regulator.target, 0.0)
- var target: Double by targetState
-}
-
-
-private fun Context.launchPidDevice(
- state: DoubleRangeState,
- pidParameters: PidParameters,
- mass: Double,
-) = launch {
- val device = install(
- "device",
- LinearDrive(this@launchPidDevice, state, mass, pidParameters)
- ).apply {
- val clock = context.clock
- val clockStart = clock.now()
- doRecurring(10.milliseconds) {
- val timeFromStart = clock.now() - clockStart
- val t = timeFromStart.toDouble(DurationUnit.SECONDS)
- val freq = 0.1
- target = 5 * sin(2.0 * PI * freq * t) +
- sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / pidParameters.timeStep))
- }
- }
-
-
- val maxAge = 10.seconds
-
- showDashboard {
- plot {
- plotNumberState(context, state, maxAge = maxAge, sampling = 50.milliseconds) {
- name = "real position"
- }
- plotDeviceProperty(device.pid, Regulator.position.name, maxAge = maxAge, sampling = 50.milliseconds) {
- name = "read position"
- }
-
- plotDeviceProperty(device.pid, Regulator.target.name, maxAge = maxAge, sampling = 50.milliseconds) {
- name = "target"
- }
- }
-
- plot {
- plotDeviceProperty(device.start, LimitSwitch.locked.name, maxAge = maxAge, sampling = 50.milliseconds) {
- name = "start measured"
- mode = ScatterMode.markers
- }
- plotDeviceProperty(device.end, LimitSwitch.locked.name, maxAge = maxAge, sampling = 50.milliseconds) {
- name = "end measured"
- mode = ScatterMode.markers
- }
- }
-
- }
-}
fun main() = application {
val context = Context {
@@ -140,12 +106,57 @@ fun main() = application {
)
}
- context.launchPidDevice(
- DoubleRangeState(0.0, -6.0..6.0),
- pidParameters,
- mass = 0.05
+ val state = DoubleInRangeState(0.0, -6.0..6.0)
+
+ val linearDrive = context.install(
+ "linearDrive",
+ LinearDrive(context, state, 0.05, pidParameters)
)
+ val clockStart = context.clock.now()
+ linearDrive.doRecurring(10.milliseconds) {
+ val timeFromStart = clock.now() - clockStart
+ val t = timeFromStart.toDouble(DurationUnit.SECONDS)
+ val freq = 0.1
+ target.value = 5 * sin(2.0 * PI * freq * t) +
+ sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / pidParameters.timeStep))
+ }
+
+
+ val maxAge = 10.seconds
+
+ context.showDashboard {
+ plot {
+ plotNumberState(context, state, maxAge = maxAge, sampling = 50.milliseconds) {
+ name = "real position"
+ }
+ plotDeviceProperty(linearDrive.pid, Regulator.position.name, maxAge = maxAge, sampling = 50.milliseconds) {
+ name = "read position"
+ }
+
+ plotDeviceProperty(linearDrive.pid, Regulator.target.name, maxAge = maxAge, sampling = 50.milliseconds) {
+ name = "target"
+ }
+ }
+
+ plot {
+ plotDeviceProperty(
+ linearDrive.start,
+ LimitSwitch.locked.name,
+ maxAge = maxAge,
+ sampling = 50.milliseconds
+ ) {
+ name = "start measured"
+ mode = ScatterMode.markers
+ }
+ plotDeviceProperty(linearDrive.end, LimitSwitch.locked.name, maxAge = maxAge, sampling = 50.milliseconds) {
+ name = "end measured"
+ mode = ScatterMode.markers
+ }
+ }
+
+ }
+
Window(title = "Pid regulator simulator", onCloseRequest = ::exitApplication) {
MaterialTheme {
Column {
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt
index ab1c47a..b64cd2d 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterApp.kt
@@ -97,7 +97,7 @@ fun AxisPane(axes: Map<String, PiMotionMasterDevice.Axis>) {
@Composable
fun PiMotionMasterApp(device: PiMotionMasterDevice) {
- val scope = rememberCoroutineScope()
+// val scope = rememberCoroutineScope()
val connected by device.composeState(PiMotionMasterDevice.connected, false)
var debugServerJob by remember { mutableStateOf<Job?>(null) }
var axes by remember { mutableStateOf<Map<String, PiMotionMasterDevice.Axis>?>(null) }
diff --git a/docs/templates/ARTIFACT-TEMPLATE.md b/docs/templates/ARTIFACT-TEMPLATE.md
deleted file mode 100644
index a3e47e6..0000000
--- a/docs/templates/ARTIFACT-TEMPLATE.md
+++ /dev/null
@@ -1,30 +0,0 @@
-## Artifact:
-
-The Maven coordinates of this project are `${group}:${name}:${version}`.
-
-**Gradle:**
-```groovy
-repositories {
- maven { url 'https://repo.kotlin.link' }
- mavenCentral()
- // development and snapshot versions
- maven { url 'https://maven.pkg.jetbrains.space/spc/p/sci/dev' }
-}
-
-dependencies {
- implementation '${group}:${name}:${version}'
-}
-```
-**Gradle Kotlin DSL:**
-```kotlin
-repositories {
- maven("https://repo.kotlin.link")
- mavenCentral()
- // development and snapshot versions
- maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
-}
-
-dependencies {
- implementation("${group}:${name}:${version}")
-}
-```
\ No newline at end of file
diff --git a/magix/magix-api/README.md b/magix/magix-api/README.md
index d624d84..6228a7e 100644
--- a/magix/magix-api/README.md
+++ b/magix/magix-api/README.md
@@ -6,7 +6,7 @@ A kotlin API for magix standard and some zero-dependency magix services
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-api:0.3.0`.
+The Maven coordinates of this project are `space.kscience:magix-api:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-api:0.3.0")
+ implementation("space.kscience:magix-api:0.4.0-dev-1")
}
```
diff --git a/magix/magix-java-endpoint/README.md b/magix/magix-java-endpoint/README.md
index 40f4c8e..2db1d42 100644
--- a/magix/magix-java-endpoint/README.md
+++ b/magix/magix-java-endpoint/README.md
@@ -6,7 +6,7 @@ Java API to work with magix endpoints without Kotlin
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-java-endpoint:0.3.0`.
+The Maven coordinates of this project are `space.kscience:magix-java-endpoint:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-java-endpoint:0.3.0")
+ implementation("space.kscience:magix-java-endpoint:0.4.0-dev-1")
}
```
diff --git a/magix/magix-mqtt/README.md b/magix/magix-mqtt/README.md
index 35165a0..7896472 100644
--- a/magix/magix-mqtt/README.md
+++ b/magix/magix-mqtt/README.md
@@ -6,7 +6,7 @@ MQTT client magix endpoint
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-mqtt:0.3.0`.
+The Maven coordinates of this project are `space.kscience:magix-mqtt:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-mqtt:0.3.0")
+ implementation("space.kscience:magix-mqtt:0.4.0-dev-1")
}
```
diff --git a/magix/magix-rabbit/README.md b/magix/magix-rabbit/README.md
index 609303d..eee4a21 100644
--- a/magix/magix-rabbit/README.md
+++ b/magix/magix-rabbit/README.md
@@ -6,7 +6,7 @@ RabbitMQ client magix endpoint
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-rabbit:0.3.0`.
+The Maven coordinates of this project are `space.kscience:magix-rabbit:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-rabbit:0.3.0")
+ implementation("space.kscience:magix-rabbit:0.4.0-dev-1")
}
```
diff --git a/magix/magix-rsocket/README.md b/magix/magix-rsocket/README.md
index 0a1b34b..ef16b66 100644
--- a/magix/magix-rsocket/README.md
+++ b/magix/magix-rsocket/README.md
@@ -6,7 +6,7 @@ Magix endpoint (client) based on RSocket
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-rsocket:0.3.0`.
+The Maven coordinates of this project are `space.kscience:magix-rsocket:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-rsocket:0.3.0")
+ implementation("space.kscience:magix-rsocket:0.4.0-dev-1")
}
```
diff --git a/magix/magix-server/README.md b/magix/magix-server/README.md
index 4175dcd..17bdbdf 100644
--- a/magix/magix-server/README.md
+++ b/magix/magix-server/README.md
@@ -6,7 +6,7 @@ A magix event loop implementation in Kotlin. Includes HTTP/SSE and RSocket route
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-server:0.3.0`.
+The Maven coordinates of this project are `space.kscience:magix-server:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-server:0.3.0")
+ implementation("space.kscience:magix-server:0.4.0-dev-1")
}
```
diff --git a/magix/magix-storage/README.md b/magix/magix-storage/README.md
index db1d340..dbb2729 100644
--- a/magix/magix-storage/README.md
+++ b/magix/magix-storage/README.md
@@ -6,7 +6,7 @@ Magix history database API
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-storage:0.3.0`.
+The Maven coordinates of this project are `space.kscience:magix-storage:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-storage:0.3.0")
+ implementation("space.kscience:magix-storage:0.4.0-dev-1")
}
```
diff --git a/magix/magix-storage/magix-storage-xodus/README.md b/magix/magix-storage/magix-storage-xodus/README.md
index 2d9e202..90a0050 100644
--- a/magix/magix-storage/magix-storage-xodus/README.md
+++ b/magix/magix-storage/magix-storage-xodus/README.md
@@ -6,7 +6,7 @@
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-storage-xodus:0.3.0`.
+The Maven coordinates of this project are `space.kscience:magix-storage-xodus:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-storage-xodus:0.3.0")
+ implementation("space.kscience:magix-storage-xodus:0.4.0-dev-1")
}
```
diff --git a/magix/magix-zmq/README.md b/magix/magix-zmq/README.md
index b016e6b..6e924db 100644
--- a/magix/magix-zmq/README.md
+++ b/magix/magix-zmq/README.md
@@ -6,7 +6,7 @@ ZMQ client endpoint for Magix
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-zmq:0.3.0`.
+The Maven coordinates of this project are `space.kscience:magix-zmq:0.4.0-dev-1`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-zmq:0.3.0")
+ implementation("space.kscience:magix-zmq:0.4.0-dev-1")
}
```
From ee83f81a049038ce9188211a4f49d68894b20f4e Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Thu, 16 May 2024 21:22:34 +0300
Subject: [PATCH 083/125] Fix small typo in event id generation
---
.../kscience/controls/client/controlsMagix.kt | 4 +-
.../controls/demo/DemoControllerView.kt | 40 +++++++++++++++----
2 files changed, 34 insertions(+), 10 deletions(-)
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
index 915d0a0..8db9351 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
@@ -29,7 +29,7 @@ public val DeviceManager.Companion.magixFormat: MagixFormat<DeviceMessage> get()
internal fun generateId(request: MagixMessage): String = if (request.id != null) {
"${request.id}.response"
} else {
- "controls[${request.payload.hashCode().toString(16)}"
+ "controls[${request.payload.hashCode().toUInt().toString(16)}]"
}
/**
@@ -43,7 +43,7 @@ public fun DeviceManager.launchMagixService(
coroutineContext: CoroutineContext = EmptyCoroutineContext,
): Job = context.launch(coroutineContext) {
endpoint.subscribe(controlsMagixFormat, targetFilter = listOf(endpointID, null)).onEach { (request, payload) ->
- val responsePayload = respondHubMessage(payload)
+ val responsePayload: List<DeviceMessage> = respondHubMessage(payload)
responsePayload.forEach {
endpoint.send(
format = controlsMagixFormat,
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
index ff99f32..f107f56 100644
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
+++ b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
@@ -17,7 +17,6 @@ import kotlinx.coroutines.launch
import kotlinx.serialization.json.Json
import org.eclipse.milo.opcua.sdk.server.OpcUaServer
import org.eclipse.milo.opcua.stack.core.types.builtin.LocalizedText
-import space.kscience.controls.api.DeviceMessage
import space.kscience.controls.api.GetDescriptionMessage
import space.kscience.controls.api.PropertyChangedMessage
import space.kscience.controls.client.launchMagixService
@@ -30,6 +29,7 @@ import space.kscience.controls.opcua.server.serveDevices
import space.kscience.controls.spec.write
import space.kscience.dataforge.context.*
import space.kscience.magix.api.MagixEndpoint
+import space.kscience.magix.api.MagixMessage
import space.kscience.magix.api.send
import space.kscience.magix.api.subscribe
import space.kscience.magix.rsocket.rSocketWithTcp
@@ -40,6 +40,9 @@ import space.kscince.magix.zmq.ZmqMagixFlowPlugin
import java.awt.Desktop
import java.net.URI
+
+private val json = Json { prettyPrint = true }
+
class DemoController : ContextAware {
var device: DemoDevice? = null
@@ -70,7 +73,7 @@ class DemoController : ContextAware {
)
//Launch a device client and connect it to the server
val deviceEndpoint = MagixEndpoint.rSocketWithTcp("localhost")
- deviceManager.launchMagixService(deviceEndpoint)
+ deviceManager.launchMagixService(deviceEndpoint, "demoDevice")
//connect visualization to a magix endpoint
val visualEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
visualizer = startDemoDeviceServer(visualEndpoint)
@@ -81,13 +84,19 @@ class DemoController : ContextAware {
val listenerEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
- listenerEndpoint.subscribe(DeviceManager.magixFormat).onEach { (_, deviceMessage) ->
+
+ listenerEndpoint.subscribe(DeviceManager.magixFormat).onEach { (magixMessage, deviceMessage) ->
// print all messages that are not property change message
if (deviceMessage !is PropertyChangedMessage) {
- println(">> ${Json.encodeToString(DeviceMessage.serializer(), deviceMessage)}")
+ println(">> ${json.encodeToString(MagixMessage.serializer(), magixMessage)}")
}
}.launchIn(this)
- listenerEndpoint.send(DeviceManager.magixFormat, GetDescriptionMessage(), "listener", "controls-kt")
+ listenerEndpoint.send(
+ format = DeviceManager.magixFormat,
+ payload = GetDescriptionMessage(),
+ source = "listener",
+// target = "demoDevice"
+ )
}
@@ -114,17 +123,32 @@ fun DemoControls(controller: DemoController) {
Column {
Row(Modifier.fillMaxWidth()) {
Text("Time Scale", modifier = Modifier.align(Alignment.CenterVertically).width(100.dp))
- TextField(String.format("%.2f", timeScale),{}, enabled = false, modifier = Modifier.align(Alignment.CenterVertically).width(100.dp))
+ TextField(
+ String.format("%.2f", timeScale),
+ {},
+ enabled = false,
+ modifier = Modifier.align(Alignment.CenterVertically).width(100.dp)
+ )
Slider(timeScale, onValueChange = { timeScale = it }, steps = 20, valueRange = 1000f..5000f)
}
Row(Modifier.fillMaxWidth()) {
Text("X scale", modifier = Modifier.align(Alignment.CenterVertically).width(100.dp))
- TextField(String.format("%.2f", xScale),{}, enabled = false, modifier = Modifier.align(Alignment.CenterVertically).width(100.dp))
+ TextField(
+ String.format("%.2f", xScale),
+ {},
+ enabled = false,
+ modifier = Modifier.align(Alignment.CenterVertically).width(100.dp)
+ )
Slider(xScale, onValueChange = { xScale = it }, steps = 20, valueRange = 0.1f..2.0f)
}
Row(Modifier.fillMaxWidth()) {
Text("Y scale", modifier = Modifier.align(Alignment.CenterVertically).width(100.dp))
- TextField(String.format("%.2f", yScale),{}, enabled = false, modifier = Modifier.align(Alignment.CenterVertically).width(100.dp))
+ TextField(
+ String.format("%.2f", yScale),
+ {},
+ enabled = false,
+ modifier = Modifier.align(Alignment.CenterVertically).width(100.dp)
+ )
Slider(yScale, onValueChange = { yScale = it }, steps = 20, valueRange = 0.1f..2.0f)
}
Row(Modifier.fillMaxWidth()) {
From e5088ac8e466ddb6a48023c84ba79c8fbd033ef9 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Fri, 17 May 2024 23:01:20 +0300
Subject: [PATCH 084/125] Make remote device connection ask for descriptors
before start
---
.../space/kscience/controls/api/Device.kt | 2 +-
controls-magix/build.gradle.kts | 6 ++-
.../kscience/controls/client/DeviceClient.kt | 50 +++++++++++++------
.../kscience/controls/client/controlsMagix.kt | 3 +-
.../controls/client/RemoteDeviceConnect.kt | 21 +++++---
.../space/kscience/magix/api/MagixFormat.kt | 2 +-
6 files changed, 59 insertions(+), 25 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
index fc68bf6..240eaa0 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
@@ -100,8 +100,8 @@ public interface Device : ContextAware, CoroutineScope {
* Close and terminate the device. This function does not wait for the device to be closed.
*/
public suspend fun stop() {
+ coroutineContext[Job]?.cancel("The device is closed")
logger.info { "Device $this is closed" }
- cancel("The device is closed")
}
public val lifecycleState: DeviceLifecycleState
diff --git a/controls-magix/build.gradle.kts b/controls-magix/build.gradle.kts
index 040c040..ef4a3af 100644
--- a/controls-magix/build.gradle.kts
+++ b/controls-magix/build.gradle.kts
@@ -17,11 +17,15 @@ kscience {
useSerialization {
json()
}
- dependencies {
+ commonMain {
api(projects.magix.magixApi)
api(projects.controlsCore)
api(libs.uuid)
}
+
+ jvmTest{
+ implementation(spclibs.logback.classic)
+ }
}
readme {
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
index 51836b9..4285c44 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
@@ -1,8 +1,11 @@
package space.kscience.controls.client
import com.benasher44.uuid.uuid4
+import kotlinx.coroutines.CompletableDeferred
import kotlinx.coroutines.Job
+import kotlinx.coroutines.coroutineScope
import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.launch
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import space.kscience.controls.api.*
@@ -23,9 +26,11 @@ private fun stringUID() = uuid4().leastSignificantBits.toString(16)
/**
* A remote accessible device that relies on connection via Magix
*/
-public class DeviceClient(
+public class DeviceClient internal constructor(
override val context: Context,
private val deviceName: Name,
+ override val propertyDescriptors: Collection<PropertyDescriptor>,
+ override val actionDescriptors: Collection<ActionDescriptor>,
incomingFlow: Flow<DeviceMessage>,
private val send: suspend (DeviceMessage) -> Unit,
) : CachingDevice {
@@ -37,12 +42,6 @@ public class DeviceClient(
private val propertyCache = HashMap<String, Meta>()
- override var propertyDescriptors: Collection<PropertyDescriptor> = emptyList()
- private set
-
- override var actionDescriptors: Collection<ActionDescriptor> = emptyList()
- private set
-
private val flowInternal = incomingFlow.filter {
it.sourceDevice == deviceName
}.shareIn(this, started = SharingStarted.Eagerly).also {
@@ -52,11 +51,6 @@ public class DeviceClient(
propertyCache[message.property] = message.value
}
- is DescriptionMessage -> mutex.withLock {
- propertyDescriptors = message.properties
- actionDescriptors = message.actions
- }
-
else -> {
//ignore
}
@@ -112,14 +106,38 @@ public class DeviceClient(
* @param targetEndpointName the name of endpoint in Magix to connect to
* @param deviceName the name of device within endpoint
*/
-public fun MagixEndpoint.remoteDevice(
+public suspend fun MagixEndpoint.remoteDevice(
context: Context,
sourceEndpointName: String,
targetEndpointName: String,
deviceName: Name,
-): DeviceClient {
+): DeviceClient = coroutineScope{
val subscription = subscribe(DeviceManager.magixFormat, originFilter = listOf(targetEndpointName)).map { it.second }
- return DeviceClient(context, deviceName, subscription) {
+
+ val deferredDescriptorMessage = CompletableDeferred<DescriptionMessage>()
+
+ launch {
+ deferredDescriptorMessage.complete(subscription.filterIsInstance<DescriptionMessage>().first())
+ }
+
+ send(
+ format = DeviceManager.magixFormat,
+ payload = GetDescriptionMessage(targetDevice = deviceName),
+ source = sourceEndpointName,
+ target = targetEndpointName,
+ id = stringUID()
+ )
+
+
+ val descriptionMessage = deferredDescriptorMessage.await()
+
+ DeviceClient(
+ context = context,
+ deviceName = deviceName,
+ propertyDescriptors = descriptionMessage.properties,
+ actionDescriptors = descriptionMessage.actions,
+ incomingFlow = subscription
+ ) {
send(
format = DeviceManager.magixFormat,
payload = it,
@@ -130,6 +148,8 @@ public fun MagixEndpoint.remoteDevice(
}
}
+//public fun MagixEndpoint.remoteDeviceHub()
+
/**
* Subscribe on specific property of a device without creating a device
*/
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
index 8db9351..1c6f556 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
@@ -1,5 +1,6 @@
package space.kscience.controls.client
+import com.benasher44.uuid.uuid4
import kotlinx.coroutines.Job
import kotlinx.coroutines.flow.catch
import kotlinx.coroutines.flow.launchIn
@@ -29,7 +30,7 @@ public val DeviceManager.Companion.magixFormat: MagixFormat<DeviceMessage> get()
internal fun generateId(request: MagixMessage): String = if (request.id != null) {
"${request.id}.response"
} else {
- "controls[${request.payload.hashCode().toUInt().toString(16)}]"
+ uuid4().leastSignificantBits.toULong().toString(16)
}
/**
diff --git a/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
index 1478899..ff82486 100644
--- a/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
+++ b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
@@ -1,9 +1,12 @@
package space.kscience.controls.client
import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.MutableSharedFlow
import kotlinx.coroutines.flow.map
+import kotlinx.coroutines.flow.merge
import kotlinx.coroutines.test.runTest
import kotlinx.serialization.json.Json
+import space.kscience.controls.api.DeviceMessage
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.install
import space.kscience.controls.manager.respondMessage
@@ -46,7 +49,7 @@ internal class RemoteDeviceConnect {
}
@Test
- fun wrapper() = runTest {
+ fun deviceClient() = runTest {
val context = Context {
plugin(DeviceManager)
}
@@ -56,11 +59,15 @@ internal class RemoteDeviceConnect {
val virtualMagixEndpoint = object : MagixEndpoint {
- override fun subscribe(filter: MagixMessageFilter): Flow<MagixMessage> = device.messageFlow.map {
+ private val additionalMessages = MutableSharedFlow<DeviceMessage>(10)
+
+ override fun subscribe(
+ filter: MagixMessageFilter,
+ ): Flow<MagixMessage> = merge(device.messageFlow, additionalMessages).map {
MagixMessage(
format = DeviceManager.magixFormat.defaultFormat,
payload = MagixEndpoint.magixJson.encodeToJsonElement(DeviceManager.magixFormat.serializer, it),
- sourceEndpoint = "source",
+ sourceEndpoint = "device",
)
}
@@ -68,16 +75,18 @@ internal class RemoteDeviceConnect {
device.respondMessage(
Name.EMPTY,
Json.decodeFromJsonElement(DeviceManager.magixFormat.serializer, message.payload)
- )
+ )?.let {
+ additionalMessages.emit(it)
+ }
}
override fun close() {
//
}
}
-
- val remoteDevice = virtualMagixEndpoint.remoteDevice(context, "source", "target", Name.EMPTY)
+ val remoteDevice = virtualMagixEndpoint.remoteDevice(context, "client", "device", Name.EMPTY)
assertContains(0.0..1.0, remoteDevice.read(TestDevice.value))
+
}
}
\ No newline at end of file
diff --git a/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixFormat.kt b/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixFormat.kt
index 42d55b7..b0316e3 100644
--- a/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixFormat.kt
+++ b/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixFormat.kt
@@ -56,6 +56,6 @@ public suspend fun <T> MagixEndpoint.send(
parentId = parentId,
user = user
)
- broadcast(message)
+ send(message)
}
From 207064cd45fed2eab863e683a5f213f1593a8730 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 19 May 2024 10:44:34 +0300
Subject: [PATCH 085/125] Remove hierarchical device structure in Hubs
---
CHANGELOG.md | 6 +-
build.gradle.kts | 2 +-
.../controls/constructor/DeviceGroup.kt | 56 +++++-------
.../constructor/library/PidRegulator.kt | 4 +-
.../space/kscience/controls/api/DeviceHub.kt | 73 ++++++---------
.../controls/manager/DeviceManager.kt | 16 ++--
.../controls/manager/respondMessage.kt | 4 +-
.../kscience/controls/client/DeviceClient.kt | 88 +++++++++++++------
.../kscience/controls/client/tangoMagix.kt | 7 +-
.../controls/client/RemoteDeviceConnect.kt | 2 +-
.../controls/modbus/ModbusDeviceBySpec.kt | 6 +-
.../controls/server/deviceWebServer.kt | 10 +--
.../pimotionmaster/PiMotionMasterDevice.kt | 5 +-
13 files changed, 140 insertions(+), 139 deletions(-)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4a258d7..2c7ea2f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,10 +5,14 @@
### Added
- Value averaging plot extension
- PLC4X bindings
+- Shortcuts to access all Controls devices in a magix network.
+- `DeviceClient` properly evaluates lifecycle and logs
### Changed
-- Constructor properties return `DeviceStat` in order to be able to subscribe to them
+- Constructor properties return `DeviceState` in order to be able to subscribe to them
- Refactored ports. Now we have `AsynchronousPort` as well as `SynchronousPort`
+- `DeviceClient` now initializes property and action descriptors eagerly.
+- `DeviceHub` now works with `Name` instead of `NameToken`. Tree-like structure is made using `Path`. Device messages no longer have access to sub-devices.
### Deprecated
diff --git a/build.gradle.kts b/build.gradle.kts
index 38d5c6a..0f00407 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -7,7 +7,7 @@ plugins {
allprojects {
group = "space.kscience"
- version = "0.4.0-dev-1"
+ version = "0.4.0-dev-2"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
index 6785b4b..ef886dc 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -10,9 +10,14 @@ import space.kscience.controls.api.DeviceLifecycleState.*
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.install
import space.kscience.dataforge.context.*
-import space.kscience.dataforge.meta.*
+import space.kscience.dataforge.meta.Laminate
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.MetaConverter
+import space.kscience.dataforge.meta.MutableMeta
import space.kscience.dataforge.misc.DFExperimental
-import space.kscience.dataforge.names.*
+import space.kscience.dataforge.names.Name
+import space.kscience.dataforge.names.get
+import space.kscience.dataforge.names.parseAsName
import kotlin.collections.set
import kotlin.coroutines.CoroutineContext
@@ -60,15 +65,15 @@ public open class DeviceGroup(
)
- private val _devices = hashMapOf<NameToken, Device>()
+ private val _devices = hashMapOf<Name, Device>()
- override val devices: Map<NameToken, Device> = _devices
+ override val devices: Map<Name, Device> = _devices
/**
* Register and initialize (synchronize child's lifecycle state with group state) a new device in this group
*/
@OptIn(DFExperimental::class)
- public open fun <D : Device> install(token: NameToken, device: D): D {
+ public open fun <D : Device> install(token: Name, device: D): D {
require(_devices[token] == null) { "A child device with name $token already exists" }
//start the child device if needed
if (lifecycleState == STARTED || lifecycleState == STARTING) launch { device.start() }
@@ -175,35 +180,16 @@ public fun Context.registerDeviceGroup(
block: DeviceGroup.() -> Unit,
): DeviceGroup = request(DeviceManager).registerDeviceGroup(name, meta, block)
-private fun DeviceGroup.getOrCreateGroup(name: Name): DeviceGroup {
- return when (name.length) {
- 0 -> this
- 1 -> {
- val token = name.first()
- when (val d = devices[token]) {
- null -> install(
- token,
- DeviceGroup(context, meta[token] ?: Meta.EMPTY)
- )
-
- else -> (d as? DeviceGroup) ?: error("Device $name is not a DeviceGroup")
- }
- }
-
- else -> getOrCreateGroup(name.first().asName()).getOrCreateGroup(name.cutFirst())
- }
-}
-
-/**
- * Register a device at given [name] path
- */
-public fun <D : Device> DeviceGroup.install(name: Name, device: D): D {
- return when (name.length) {
- 0 -> error("Can't use empty name for a child device")
- 1 -> install(name.first(), device)
- else -> getOrCreateGroup(name.cutLast()).install(name.tokens.last(), device)
- }
-}
+///**
+// * Register a device at given [path] path
+// */
+//public fun <D : Device> DeviceGroup.install(path: Path, device: D): D {
+// return when (path.length) {
+// 0 -> error("Can't use empty path for a child device")
+// 1 -> install(path.first().name, device)
+// else -> getOrCreateGroup(path.cutLast()).install(path.tokens.last(), device)
+// }
+//}
public fun <D : Device> DeviceGroup.install(name: String, device: D): D = install(name.parseAsName(), device)
@@ -238,7 +224,7 @@ public fun <D : Device> DeviceGroup.install(
* Create or edit a group with a given [name].
*/
public fun DeviceGroup.registerDeviceGroup(name: Name, block: DeviceGroup.() -> Unit): DeviceGroup =
- getOrCreateGroup(name).apply(block)
+ install(name, DeviceGroup(context, meta).apply(block))
public fun DeviceGroup.registerDeviceGroup(name: String, block: DeviceGroup.() -> Unit): DeviceGroup =
registerDeviceGroup(name.parseAsName(), block)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
index 7ce2054..afb2cbd 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
@@ -8,10 +8,10 @@ import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import kotlinx.datetime.Instant
import space.kscience.controls.constructor.DeviceGroup
-import space.kscience.controls.constructor.install
import space.kscience.controls.manager.clock
import space.kscience.controls.spec.DeviceBySpec
import space.kscience.controls.spec.write
+import space.kscience.dataforge.names.parseAsName
import kotlin.time.Duration
import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.DurationUnit
@@ -94,4 +94,4 @@ public fun DeviceGroup.pid(
name: String,
drive: Drive,
pidParameters: PidParameters,
-): PidRegulator = install(name, PidRegulator(drive, pidParameters))
\ No newline at end of file
+): PidRegulator = install(name.parseAsName(), PidRegulator(drive, pidParameters))
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
index f6ca4ec..077585b 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
@@ -1,40 +1,24 @@
package space.kscience.controls.api
import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.names.*
+import space.kscience.dataforge.names.Name
+import space.kscience.dataforge.provider.Path
import space.kscience.dataforge.provider.Provider
+import space.kscience.dataforge.provider.asPath
+import space.kscience.dataforge.provider.plus
/**
* A hub that could locate multiple devices and redirect actions to them
*/
public interface DeviceHub : Provider {
- public val devices: Map<NameToken, Device>
+ public val devices: Map<Name, Device>
override val defaultTarget: String get() = Device.DEVICE_TARGET
override val defaultChainTarget: String get() = Device.DEVICE_TARGET
- /**
- * List all devices, including sub-devices
- */
- public fun buildDeviceTree(): Map<Name, Device> = buildMap {
- fun putAll(prefix: Name, hub: DeviceHub) {
- hub.devices.forEach {
- put(prefix + it.key, it.value)
- }
- }
-
- devices.forEach {
- val name = it.key.asName()
- put(name, it.value)
- (it.value as? DeviceHub)?.let { hub ->
- putAll(name, hub)
- }
- }
- }
-
override fun content(target: String): Map<Name, Any> = if (target == Device.DEVICE_TARGET) {
- buildDeviceTree()
+ devices
} else {
emptyMap()
}
@@ -42,38 +26,31 @@ public interface DeviceHub : Provider {
public companion object
}
+/**
+ * List all devices, including sub-devices
+ */
+public fun DeviceHub.provideAllDevices(): Map<Path, Device> = buildMap {
+ fun putAll(prefix: Path, hub: DeviceHub) {
+ hub.devices.forEach {
+ put(prefix + it.key.asPath(), it.value)
+ }
+ }
-public operator fun DeviceHub.get(nameToken: NameToken): Device =
- devices[nameToken] ?: error("Device with name $nameToken not found in $this")
-
-public fun DeviceHub.getOrNull(name: Name): Device? = when {
- name.isEmpty() -> this as? Device
- name.length == 1 -> devices[name.firstOrNull()!!]
- else -> (get(name.firstOrNull()!!) as? DeviceHub)?.getOrNull(name.cutFirst())
+ devices.forEach {
+ val name: Name = it.key
+ put(name.asPath(), it.value)
+ (it.value as? DeviceHub)?.let { hub ->
+ putAll(name.asPath(), hub)
+ }
+ }
}
-public operator fun DeviceHub.get(name: Name): Device =
- getOrNull(name) ?: error("Device with name $name not found in $this")
-
-public fun DeviceHub.getOrNull(nameString: String): Device? = getOrNull(Name.parse(nameString))
-
-public operator fun DeviceHub.get(nameString: String): Device =
- getOrNull(nameString) ?: error("Device with name $nameString not found in $this")
-
public suspend fun DeviceHub.readProperty(deviceName: Name, propertyName: String): Meta =
- this[deviceName].readProperty(propertyName)
+ (devices[deviceName] ?: error("Device with name $deviceName not found in $this")).readProperty(propertyName)
public suspend fun DeviceHub.writeProperty(deviceName: Name, propertyName: String, value: Meta) {
- this[deviceName].writeProperty(propertyName, value)
+ (devices[deviceName] ?: error("Device with name $deviceName not found in $this")).writeProperty(propertyName, value)
}
public suspend fun DeviceHub.execute(deviceName: Name, command: String, argument: Meta?): Meta? =
- this[deviceName].execute(command, argument)
-
-
-//suspend fun DeviceHub.respond(request: Envelope): EnvelopeBuilder {
-// val target = request.meta[DeviceMessage.TARGET_KEY].string ?: defaultTarget
-// val device = this[target.toName()]
-//
-// return device.respond(device, target, request)
-//}
\ No newline at end of file
+ (devices[deviceName] ?: error("Device with name $deviceName not found in $this")).execute(command, argument)
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt
index 93b0696..689cb90 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/DeviceManager.kt
@@ -3,13 +3,13 @@ package space.kscience.controls.manager
import kotlinx.coroutines.launch
import space.kscience.controls.api.Device
import space.kscience.controls.api.DeviceHub
-import space.kscience.controls.api.getOrNull
import space.kscience.controls.api.id
import space.kscience.dataforge.context.*
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.MutableMeta
import space.kscience.dataforge.names.Name
-import space.kscience.dataforge.names.NameToken
+import space.kscience.dataforge.names.get
+import space.kscience.dataforge.names.parseAsName
import kotlin.collections.set
import kotlin.properties.ReadOnlyProperty
@@ -22,11 +22,11 @@ public class DeviceManager : AbstractPlugin(), DeviceHub {
/**
* Actual list of connected devices
*/
- private val top = HashMap<NameToken, Device>()
- override val devices: Map<NameToken, Device> get() = top
+ private val _devices = HashMap<Name, Device>()
+ override val devices: Map<Name, Device> get() = _devices
- public fun registerDevice(name: NameToken, device: Device) {
- top[name] = device
+ public fun registerDevice(name: Name, device: Device) {
+ _devices[name] = device
}
override fun content(target: String): Map<Name, Any> = super<DeviceHub>.content(target)
@@ -39,7 +39,7 @@ public class DeviceManager : AbstractPlugin(), DeviceHub {
}
public fun <D : Device> DeviceManager.install(name: String, device: D): D {
- registerDevice(NameToken(name), device)
+ registerDevice(name.parseAsName(), device)
device.launch {
device.start()
}
@@ -69,7 +69,7 @@ public inline fun <D : Device> DeviceManager.installing(
val meta = Meta(builder)
return ReadOnlyProperty { _, property ->
val name = property.name
- val current = getOrNull(name)
+ val current = devices[name]
if (current == null) {
install(name, factory, meta)
} else if (current.meta != meta) {
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
index fc6fb5d..a15bcef 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
@@ -74,11 +74,11 @@ public suspend fun DeviceHub.respondHubMessage(request: DeviceMessage): List<Dev
return try {
val targetName = request.targetDevice
if (targetName == null) {
- buildDeviceTree().mapNotNull {
+ devices.mapNotNull {
it.value.respondMessage(it.key, request)
}
} else {
- val device = getOrNull(targetName) ?: error("The device with name $targetName not found in $this")
+ val device = devices[targetName] ?: error("The device with name $targetName not found in $this")
listOfNotNull(device.respondMessage(targetName, request))
}
} catch (ex: Exception) {
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
index 4285c44..9418791 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
@@ -16,6 +16,8 @@ import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.misc.DFExperimental
import space.kscience.dataforge.names.Name
+import space.kscience.dataforge.names.length
+import space.kscience.dataforge.names.startsWith
import space.kscience.magix.api.MagixEndpoint
import space.kscience.magix.api.send
import space.kscience.magix.api.subscribe
@@ -29,13 +31,19 @@ private fun stringUID() = uuid4().leastSignificantBits.toString(16)
public class DeviceClient internal constructor(
override val context: Context,
private val deviceName: Name,
- override val propertyDescriptors: Collection<PropertyDescriptor>,
- override val actionDescriptors: Collection<ActionDescriptor>,
+ propertyDescriptors: Collection<PropertyDescriptor>,
+ actionDescriptors: Collection<ActionDescriptor>,
incomingFlow: Flow<DeviceMessage>,
private val send: suspend (DeviceMessage) -> Unit,
) : CachingDevice {
+ override var actionDescriptors: Collection<ActionDescriptor> = actionDescriptors
+ internal set
+
+ override var propertyDescriptors: Collection<PropertyDescriptor> = propertyDescriptors
+ internal set
+
override val coroutineContext: CoroutineContext = context.coroutineContext + Job(context.coroutineContext[Job])
private val mutex = Mutex()
@@ -44,19 +52,17 @@ public class DeviceClient internal constructor(
private val flowInternal = incomingFlow.filter {
it.sourceDevice == deviceName
- }.shareIn(this, started = SharingStarted.Eagerly).also {
- it.onEach { message ->
- when (message) {
- is PropertyChangedMessage -> mutex.withLock {
- propertyCache[message.property] = message.value
- }
-
- else -> {
- //ignore
- }
+ }.onEach { message ->
+ when (message) {
+ is PropertyChangedMessage -> mutex.withLock {
+ propertyCache[message.property] = message.value
}
- }.launchIn(this)
- }
+
+ else -> {
+ //ignore
+ }
+ }
+ }.shareIn(this, started = SharingStarted.Eagerly)
override val messageFlow: Flow<DeviceMessage> get() = flowInternal
@@ -65,7 +71,7 @@ public class DeviceClient internal constructor(
send(
PropertyGetMessage(propertyName, targetDevice = deviceName)
)
- return flowInternal.filterIsInstance<PropertyChangedMessage>().first {
+ return messageFlow.filterIsInstance<PropertyChangedMessage>().first {
it.property == propertyName
}.value
}
@@ -89,30 +95,33 @@ public class DeviceClient internal constructor(
send(
ActionExecuteMessage(actionName, argument, id, targetDevice = deviceName)
)
- return flowInternal.filterIsInstance<ActionResultMessage>().first {
+ return messageFlow.filterIsInstance<ActionResultMessage>().first {
it.action == actionName && it.requestId == id
}.result
}
+ private val lifecycleStateFlow = messageFlow.filterIsInstance<DeviceLifeCycleMessage>()
+ .map { it.state }.stateIn(this, started = SharingStarted.Eagerly, DeviceLifecycleState.STARTED)
+
@DFExperimental
- override val lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STARTED
+ override val lifecycleState: DeviceLifecycleState get() = lifecycleStateFlow.value
}
/**
* Connect to a remote device via this endpoint.
*
* @param context a [Context] to run device in
- * @param sourceEndpointName the name of this endpoint
- * @param targetEndpointName the name of endpoint in Magix to connect to
+ * @param thisEndpoint the name of this endpoint
+ * @param deviceEndpoint the name of endpoint in Magix to connect to
* @param deviceName the name of device within endpoint
*/
public suspend fun MagixEndpoint.remoteDevice(
context: Context,
- sourceEndpointName: String,
- targetEndpointName: String,
+ thisEndpoint: String,
+ deviceEndpoint: String,
deviceName: Name,
-): DeviceClient = coroutineScope{
- val subscription = subscribe(DeviceManager.magixFormat, originFilter = listOf(targetEndpointName)).map { it.second }
+): DeviceClient = coroutineScope {
+ val subscription = subscribe(DeviceManager.magixFormat, originFilter = listOf(deviceEndpoint)).map { it.second }
val deferredDescriptorMessage = CompletableDeferred<DescriptionMessage>()
@@ -123,8 +132,8 @@ public suspend fun MagixEndpoint.remoteDevice(
send(
format = DeviceManager.magixFormat,
payload = GetDescriptionMessage(targetDevice = deviceName),
- source = sourceEndpointName,
- target = targetEndpointName,
+ source = thisEndpoint,
+ target = deviceEndpoint,
id = stringUID()
)
@@ -141,14 +150,37 @@ public suspend fun MagixEndpoint.remoteDevice(
send(
format = DeviceManager.magixFormat,
payload = it,
- source = sourceEndpointName,
- target = targetEndpointName,
+ source = thisEndpoint,
+ target = deviceEndpoint,
id = stringUID()
)
}
}
-//public fun MagixEndpoint.remoteDeviceHub()
+private class MapBasedDeviceHub(val deviceMap: Map<Name, Device>, val prefix: Name) : DeviceHub {
+ override val devices: Map<Name, Device>
+ get() = deviceMap.filterKeys { name: Name -> name == prefix || (name.startsWith(prefix) && name.length == prefix.length + 1) }
+
+}
+
+public fun MagixEndpoint.remoteDeviceHub(
+ context: Context,
+ thisEndpoint: String,
+ deviceEndpoint: String,
+): DeviceHub {
+ val devices = mutableMapOf<Name, DeviceClient>()
+ val subscription = subscribe(DeviceManager.magixFormat, originFilter = listOf(deviceEndpoint)).map { it.second }
+ subscription.filterIsInstance<DescriptionMessage>().onEach {
+
+ }.launchIn(context)
+
+
+ return object : DeviceHub {
+ override val devices: Map<Name, Device>
+ get() = TODO("Not yet implemented")
+
+ }
+}
/**
* Subscribe on specific property of a device without creating a device
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/tangoMagix.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/tangoMagix.kt
index d0bdda4..8f3e742 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/tangoMagix.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/tangoMagix.kt
@@ -5,12 +5,12 @@ import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.launch
import kotlinx.serialization.Serializable
-import space.kscience.controls.api.get
import space.kscience.controls.api.getOrReadProperty
import space.kscience.controls.manager.DeviceManager
import space.kscience.dataforge.context.error
import space.kscience.dataforge.context.logger
import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.names.get
import space.kscience.magix.api.*
public const val TANGO_MAGIX_FORMAT: String = "tango"
@@ -88,7 +88,7 @@ public fun DeviceManager.launchTangoMagix(
return context.launch {
endpoint.subscribe(tangoMagixFormat).onEach { (request, payload) ->
try {
- val device = get(payload.device)
+ val device = devices[payload.device] ?: error("Device ${payload.device} not found")
when (payload.action) {
TangoAction.read -> {
val value = device.getOrReadProperty(payload.name)
@@ -99,6 +99,7 @@ public fun DeviceManager.launchTangoMagix(
)
}
}
+
TangoAction.write -> {
payload.value?.let { value ->
device.writeProperty(payload.name, value)
@@ -112,6 +113,7 @@ public fun DeviceManager.launchTangoMagix(
)
}
}
+
TangoAction.exec -> {
val result = device.execute(payload.name, payload.argin)
respond(request, payload) { requestPayload ->
@@ -121,6 +123,7 @@ public fun DeviceManager.launchTangoMagix(
)
}
}
+
TangoAction.pipe -> TODO("Pipe not implemented")
}
} catch (ex: Exception) {
diff --git a/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
index ff82486..db80848 100644
--- a/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
+++ b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
@@ -59,7 +59,7 @@ internal class RemoteDeviceConnect {
val virtualMagixEndpoint = object : MagixEndpoint {
- private val additionalMessages = MutableSharedFlow<DeviceMessage>(10)
+ private val additionalMessages = MutableSharedFlow<DeviceMessage>(1)
override fun subscribe(
filter: MagixMessageFilter,
diff --git a/controls-modbus/src/jvmMain/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt b/controls-modbus/src/jvmMain/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
index e0bd47a..8557f9d 100644
--- a/controls-modbus/src/jvmMain/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
+++ b/controls-modbus/src/jvmMain/kotlin/space/kscience/controls/modbus/ModbusDeviceBySpec.kt
@@ -7,7 +7,7 @@ import space.kscience.controls.spec.DeviceBySpec
import space.kscience.controls.spec.DeviceSpec
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.names.NameToken
+import space.kscience.dataforge.names.Name
/**
* A variant of [DeviceBySpec] that includes Modbus RTU/TCP/UDP client
@@ -35,12 +35,12 @@ public open class ModbusDeviceBySpec<D: Device>(
public class ModbusHub(
public val context: Context,
public val masterBuilder: () -> AbstractModbusMaster,
- public val specs: Map<NameToken, Pair<Int, DeviceSpec<*>>>,
+ public val specs: Map<Name, Pair<Int, DeviceSpec<*>>>,
) : DeviceHub, AutoCloseable {
public val master: AbstractModbusMaster by lazy(masterBuilder)
- override val devices: Map<NameToken, ModbusDevice> by lazy {
+ override val devices: Map<Name, ModbusDevice> by lazy {
specs.mapValues { (_, pair) ->
ModbusDeviceBySpec(
context,
diff --git a/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt b/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt
index 04bb46d..4f37322 100644
--- a/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt
+++ b/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt
@@ -29,19 +29,18 @@ import kotlinx.serialization.json.put
import space.kscience.controls.api.DeviceMessage
import space.kscience.controls.api.PropertyGetMessage
import space.kscience.controls.api.PropertySetMessage
-import space.kscience.controls.api.getOrNull
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.respondHubMessage
import space.kscience.dataforge.meta.toMeta
import space.kscience.dataforge.names.Name
import space.kscience.dataforge.names.asName
+import space.kscience.dataforge.names.get
import space.kscience.magix.api.MagixEndpoint
import space.kscience.magix.api.MagixFlowPlugin
import space.kscience.magix.api.MagixMessage
import space.kscience.magix.server.magixModule
-
private fun Application.deviceServerModule(manager: DeviceManager) {
install(StatusPages) {
exception<IllegalArgumentException> { call, cause ->
@@ -100,10 +99,9 @@ public fun Application.deviceManagerModule(
h1 {
+"Device server dashboard"
}
- deviceNames.forEach { deviceName ->
- val device =
- manager.getOrNull(deviceName)
- ?: error("The device with name $deviceName not found in $manager")
+ deviceNames.forEach { deviceName: String ->
+ val device = manager.devices[deviceName]
+ ?: error("The device with name $deviceName not found in $manager")
div {
id = deviceName
h2 { +deviceName }
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
index 6c271d7..106b077 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
@@ -19,7 +19,8 @@ import space.kscience.controls.ports.withStringDelimiter
import space.kscience.controls.spec.*
import space.kscience.dataforge.context.*
import space.kscience.dataforge.meta.*
-import space.kscience.dataforge.names.NameToken
+import space.kscience.dataforge.names.Name
+import space.kscience.dataforge.names.parseAsName
import kotlin.collections.component1
import kotlin.collections.component2
import kotlin.time.Duration
@@ -47,7 +48,7 @@ class PiMotionMasterDevice(
var axes: Map<String, Axis> = emptyMap()
private set
- override val devices: Map<NameToken, Axis> = axes.mapKeys { (key, _) -> NameToken(key) }
+ override val devices: Map<Name, Axis> = axes.mapKeys { (key, _) -> key.parseAsName() }
private suspend fun failIfError(message: (Int) -> String = { "Failed with error code $it" }) {
val errorCode = getErrorCode()
From 4a10c3c44345b115d33612a4b3c6f44fcaa0223d Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 19 May 2024 18:50:56 +0300
Subject: [PATCH 086/125] Add test for remote hub
---
.../space/kscience/controls/api/DeviceHub.kt | 5 +
.../kscience/controls/client/DeviceClient.kt | 55 ++++++++--
.../controls/client/RemoteDeviceConnect.kt | 100 ++++++++++++------
3 files changed, 122 insertions(+), 38 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
index 077585b..e2f6331 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
@@ -26,6 +26,11 @@ public interface DeviceHub : Provider {
public companion object
}
+public fun DeviceHub(deviceMap: Map<Name, Device>): DeviceHub = object : DeviceHub {
+ override val devices: Map<Name, Device>
+ get() = deviceMap
+}
+
/**
* List all devices, including sub-devices
*/
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
index 9418791..859bce2 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
@@ -163,23 +163,64 @@ private class MapBasedDeviceHub(val deviceMap: Map<Name, Device>, val prefix: Na
}
-public fun MagixEndpoint.remoteDeviceHub(
+/**
+ * Create a dynamic [DeviceHub] from incoming messages
+ */
+public suspend fun MagixEndpoint.remoteDeviceHub(
context: Context,
thisEndpoint: String,
deviceEndpoint: String,
): DeviceHub {
val devices = mutableMapOf<Name, DeviceClient>()
val subscription = subscribe(DeviceManager.magixFormat, originFilter = listOf(deviceEndpoint)).map { it.second }
- subscription.filterIsInstance<DescriptionMessage>().onEach {
-
+ subscription.filterIsInstance<DescriptionMessage>().onEach { descriptionMessage ->
+ devices.getOrPut(descriptionMessage.sourceDevice) {
+ DeviceClient(
+ context = context,
+ deviceName = descriptionMessage.sourceDevice,
+ propertyDescriptors = descriptionMessage.properties,
+ actionDescriptors = descriptionMessage.actions,
+ incomingFlow = subscription
+ ) {
+ send(
+ format = DeviceManager.magixFormat,
+ payload = it,
+ source = thisEndpoint,
+ target = deviceEndpoint,
+ id = stringUID()
+ )
+ }
+ }.run {
+ propertyDescriptors = descriptionMessage.properties
+ }
}.launchIn(context)
- return object : DeviceHub {
- override val devices: Map<Name, Device>
- get() = TODO("Not yet implemented")
+ send(
+ format = DeviceManager.magixFormat,
+ payload = GetDescriptionMessage(targetDevice = null),
+ source = thisEndpoint,
+ target = deviceEndpoint,
+ id = stringUID()
+ )
- }
+ return DeviceHub(devices)
+}
+
+/**
+ * Request a description update for all devices on an endpoint
+ */
+public suspend fun MagixEndpoint.requestDeviceUpdate(
+ thisEndpoint: String,
+ deviceEndpoint: String,
+) {
+ send(
+ format = DeviceManager.magixFormat,
+ payload = GetDescriptionMessage(),
+ source = thisEndpoint,
+ target = deviceEndpoint,
+ id = stringUID()
+ )
}
/**
diff --git a/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
index db80848..3c707b2 100644
--- a/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
+++ b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
@@ -1,15 +1,21 @@
package space.kscience.controls.client
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.MutableSharedFlow
import kotlinx.coroutines.flow.map
import kotlinx.coroutines.flow.merge
+import kotlinx.coroutines.launch
import kotlinx.coroutines.test.runTest
+import kotlinx.coroutines.withContext
import kotlinx.serialization.json.Json
+import space.kscience.controls.api.DeviceHub
import space.kscience.controls.api.DeviceMessage
import space.kscience.controls.manager.DeviceManager
+import space.kscience.controls.manager.hubMessageFlow
import space.kscience.controls.manager.install
-import space.kscience.controls.manager.respondMessage
+import space.kscience.controls.manager.respondHubMessage
import space.kscience.controls.spec.*
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
@@ -17,15 +23,43 @@ import space.kscience.dataforge.context.request
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.get
import space.kscience.dataforge.meta.int
-import space.kscience.dataforge.names.Name
+import space.kscience.dataforge.names.asName
import space.kscience.magix.api.MagixEndpoint
import space.kscience.magix.api.MagixMessage
import space.kscience.magix.api.MagixMessageFilter
import kotlin.random.Random
import kotlin.test.Test
import kotlin.test.assertContains
+import kotlin.test.assertEquals
import kotlin.time.Duration.Companion.milliseconds
+class VirtualMagixEndpoint(val hub: DeviceHub) : MagixEndpoint {
+
+ private val additionalMessages = MutableSharedFlow<DeviceMessage>(1)
+
+ override fun subscribe(
+ filter: MagixMessageFilter,
+ ): Flow<MagixMessage> = merge(hub.hubMessageFlow(), additionalMessages).map {
+ MagixMessage(
+ format = DeviceManager.magixFormat.defaultFormat,
+ payload = MagixEndpoint.magixJson.encodeToJsonElement(DeviceManager.magixFormat.serializer, it),
+ sourceEndpoint = "device",
+ )
+ }
+
+ override suspend fun broadcast(message: MagixMessage) {
+ hub.respondHubMessage(
+ Json.decodeFromJsonElement(DeviceManager.magixFormat.serializer, message.payload)
+ ).forEach {
+ additionalMessages.emit(it)
+ }
+ }
+
+ override fun close() {
+ //
+ }
+}
+
internal class RemoteDeviceConnect {
@@ -53,40 +87,44 @@ internal class RemoteDeviceConnect {
val context = Context {
plugin(DeviceManager)
}
+ val deviceManager = context.request(DeviceManager)
- val device = context.request(DeviceManager).install("test", TestDevice)
+ deviceManager.install("test", TestDevice)
- val virtualMagixEndpoint = object : MagixEndpoint {
+ val virtualMagixEndpoint = VirtualMagixEndpoint(deviceManager)
-
- private val additionalMessages = MutableSharedFlow<DeviceMessage>(1)
-
- override fun subscribe(
- filter: MagixMessageFilter,
- ): Flow<MagixMessage> = merge(device.messageFlow, additionalMessages).map {
- MagixMessage(
- format = DeviceManager.magixFormat.defaultFormat,
- payload = MagixEndpoint.magixJson.encodeToJsonElement(DeviceManager.magixFormat.serializer, it),
- sourceEndpoint = "device",
- )
- }
-
- override suspend fun broadcast(message: MagixMessage) {
- device.respondMessage(
- Name.EMPTY,
- Json.decodeFromJsonElement(DeviceManager.magixFormat.serializer, message.payload)
- )?.let {
- additionalMessages.emit(it)
- }
- }
-
- override fun close() {
- //
- }
- }
- val remoteDevice = virtualMagixEndpoint.remoteDevice(context, "client", "device", Name.EMPTY)
+ val remoteDevice = virtualMagixEndpoint.remoteDevice(context, "client", "device", "test".asName())
assertContains(0.0..1.0, remoteDevice.read(TestDevice.value))
}
+
+ @Test
+ fun deviceHub() = runTest {
+ val context = Context {
+ plugin(DeviceManager)
+ }
+ val deviceManager = context.request(DeviceManager)
+
+ launch {
+ delay(50)
+ repeat(10) {
+ deviceManager.install("test[$it]", TestDevice)
+ }
+ }
+
+ val virtualMagixEndpoint = VirtualMagixEndpoint(deviceManager)
+
+ val remoteHub = virtualMagixEndpoint.remoteDeviceHub(context, "client", "device")
+
+ assertEquals(0, remoteHub.devices.size)
+
+ delay(60)
+ //switch context to use actual delay
+ withContext(Dispatchers.Default) {
+ virtualMagixEndpoint.requestDeviceUpdate("client", "device")
+ delay(30)
+ assertEquals(10, remoteHub.devices.size)
+ }
+ }
}
\ No newline at end of file
From a66e411848663c9c652250aa241d40c4befe19d7 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Tue, 21 May 2024 09:44:45 +0300
Subject: [PATCH 087/125] Fix Rsocket endpoint without filter. Add integration
test with loop
---
CHANGELOG.md | 1 +
build.gradle.kts | 2 +-
controls-magix/build.gradle.kts | 6 ++
.../kscience/controls/client/MagixLoopTest.kt | 60 +++++++++++++++++++
.../magix/server/RSocketMagixFlowPlugin.kt | 15 +++--
5 files changed, 77 insertions(+), 7 deletions(-)
create mode 100644 controls-magix/src/jvmTest/kotlin/space/kscience/controls/client/MagixLoopTest.kt
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2c7ea2f..5a1dad9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,7 @@
### Removed
### Fixed
+- Fix a problem with rsocket endpoint with no filter.
### Security
diff --git a/build.gradle.kts b/build.gradle.kts
index 0f00407..6423c3c 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -7,7 +7,7 @@ plugins {
allprojects {
group = "space.kscience"
- version = "0.4.0-dev-2"
+ version = "0.4.0-dev-3"
repositories{
maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
}
diff --git a/controls-magix/build.gradle.kts b/controls-magix/build.gradle.kts
index ef4a3af..ea03a7e 100644
--- a/controls-magix/build.gradle.kts
+++ b/controls-magix/build.gradle.kts
@@ -17,6 +17,7 @@ kscience {
useSerialization {
json()
}
+
commonMain {
api(projects.magix.magixApi)
api(projects.controlsCore)
@@ -25,6 +26,11 @@ kscience {
jvmTest{
implementation(spclibs.logback.classic)
+ implementation(projects.magix.magixServer)
+ implementation(projects.magix.magixRsocket)
+ implementation(spclibs.ktor.server.cio)
+ implementation(spclibs.ktor.server.websockets)
+ implementation(spclibs.ktor.client.cio)
}
}
diff --git a/controls-magix/src/jvmTest/kotlin/space/kscience/controls/client/MagixLoopTest.kt b/controls-magix/src/jvmTest/kotlin/space/kscience/controls/client/MagixLoopTest.kt
new file mode 100644
index 0000000..764dcad
--- /dev/null
+++ b/controls-magix/src/jvmTest/kotlin/space/kscience/controls/client/MagixLoopTest.kt
@@ -0,0 +1,60 @@
+package space.kscience.controls.client
+
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.test.runTest
+import kotlinx.coroutines.withContext
+import space.kscience.controls.client.RemoteDeviceConnect.TestDevice
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.controls.manager.install
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.request
+import space.kscience.magix.api.MagixEndpoint
+import space.kscience.magix.rsocket.rSocketWithWebSockets
+import space.kscience.magix.server.startMagixServer
+import kotlin.test.Test
+import kotlin.test.assertEquals
+
+class MagixLoopTest {
+
+ @Test
+ fun deviceHub() = runTest {
+ val context = Context {
+ plugin(DeviceManager)
+ }
+
+ val server = context.startMagixServer()
+
+ val deviceManager = context.request(DeviceManager)
+
+ val deviceEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+
+// deviceEndpoint.subscribe().onEach {
+// println(it)
+// }.launchIn(this)
+
+ deviceManager.launchMagixService(deviceEndpoint, "device")
+
+ launch {
+ delay(50)
+ repeat(10) {
+ deviceManager.install("test[$it]", TestDevice)
+ }
+ }
+
+ val clientEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+
+ val remoteHub = clientEndpoint.remoteDeviceHub(context, "client", "device")
+
+ assertEquals(0, remoteHub.devices.size)
+
+ delay(60)
+ //switch context to use actual delay
+ withContext(Dispatchers.Default) {
+ clientEndpoint.requestDeviceUpdate("client", "device")
+ delay(60)
+ assertEquals(10, remoteHub.devices.size)
+ }
+ }
+}
\ No newline at end of file
diff --git a/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/RSocketMagixFlowPlugin.kt b/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/RSocketMagixFlowPlugin.kt
index a00c33f..699a281 100644
--- a/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/RSocketMagixFlowPlugin.kt
+++ b/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/RSocketMagixFlowPlugin.kt
@@ -59,9 +59,12 @@ public class RSocketMagixFlowPlugin(
RSocketRequestHandler(coroutineScope.coroutineContext) {
//handler for request/stream
requestStream { request: Payload ->
- val filter = MagixEndpoint.magixJson.decodeFromString(
+ val requestText = request.data.readText()
+ val filter = if(requestText.isBlank()) {
+ MagixMessageFilter.ALL
+ } else MagixEndpoint.magixJson.decodeFromString(
MagixMessageFilter.serializer(),
- request.data.readText()
+ requestText
)
receive.filter(filter).map { message ->
@@ -89,12 +92,12 @@ public class RSocketMagixFlowPlugin(
)
}.launchIn(this)
- val filterText = request.use { it.data.readText() }
+ val filterText = request.data.readText()
- val filter = if (filterText.isNotBlank()) {
- MagixEndpoint.magixJson.decodeFromString(MagixMessageFilter.serializer(), filterText)
+ val filter = if (filterText.isBlank()) {
+ MagixMessageFilter.ALL
} else {
- MagixMessageFilter()
+ MagixEndpoint.magixJson.decodeFromString(MagixMessageFilter.serializer(), filterText)
}
receive.filter(filter).map { message ->
From 673a7c89a6e6e06a089da89c60492f559284c745 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Tue, 21 May 2024 13:31:01 +0300
Subject: [PATCH 088/125] [WIP] working on constructor
---
.../kscience/controls/constructor/Binding.kt | 35 ---------
.../controls/constructor/DeviceConstructor.kt | 24 ++----
.../controls/constructor/DeviceModel.kt | 12 +--
.../controls/constructor/StateDescriptor.kt | 74 +++++++++++++++++++
.../{customState.kt => exoticState.kt} | 4 +-
controls-vision/build.gradle.kts | 2 +-
6 files changed, 92 insertions(+), 59 deletions(-)
delete mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Binding.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/StateDescriptor.kt
rename controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/{customState.kt => exoticState.kt} (94%)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Binding.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Binding.kt
deleted file mode 100644
index d712d62..0000000
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Binding.kt
+++ /dev/null
@@ -1,35 +0,0 @@
-package space.kscience.controls.constructor
-
-import space.kscience.controls.api.Device
-
-/**
- * A binding that is used to describe device functionality
- */
-public sealed interface Binding
-
-/**
- * A binding that exposes device property as read-only state
- */
-public class PropertyBinding<T>(
- public val device: Device,
- public val propertyName: String,
- public val state: DeviceState<T>,
-) : Binding
-
-/**
- * A binding for independent state like a timer
- */
-public class StateBinding<T>(
- public val state: DeviceState<T>
-) : Binding
-
-public class ActionBinding(
- public val reads: Collection<DeviceState<*>>,
- public val writes: Collection<DeviceState<*>>
-): Binding
-
-
-public interface BindingsContainer{
- public val bindings: List<Binding>
- public fun registerBinding(binding: Binding)
-}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
index 5b6ff9f..03a1e0e 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -5,12 +5,10 @@ import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
import space.kscience.controls.api.Device
import space.kscience.controls.api.PropertyDescriptor
-import space.kscience.controls.manager.ClockManager
import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.MutableDevicePropertySpec
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
-import space.kscience.dataforge.context.request
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.MetaConverter
import space.kscience.dataforge.names.Name
@@ -26,25 +24,19 @@ import kotlin.time.Duration
public abstract class DeviceConstructor(
context: Context,
meta: Meta = Meta.EMPTY,
-) : DeviceGroup(context, meta), BindingsContainer {
- private val _bindings: MutableList<Binding> = mutableListOf()
- override val bindings: List<Binding> get() = _bindings
+) : DeviceGroup(context, meta), StateContainer {
+ private val _stateDescriptors: MutableList<StateDescriptor> = mutableListOf()
+ override val stateDescriptors: List<StateDescriptor> get() = _stateDescriptors
- override fun registerBinding(binding: Binding) {
- _bindings.add(binding)
+ override fun registerState(stateDescriptor: StateDescriptor) {
+ _stateDescriptors.add(stateDescriptor)
}
override fun registerProperty(descriptor: PropertyDescriptor, state: DeviceState<*>) {
super.registerProperty(descriptor, state)
- registerBinding(PropertyBinding(this, descriptor.name, state))
+ registerState(PropertyStateDescriptor(this, descriptor.name, state))
}
- /**
- * Create and register a timer. Timer is not counted as a device property.
- */
- public fun timer(tick: Duration): TimerState = TimerState(context.request(ClockManager), tick)
- .also { registerBinding(StateBinding(it)) }
-
/**
* Bind an action to a [DeviceState]. [onChange] block is performed on each state change
*
@@ -55,7 +47,7 @@ public abstract class DeviceConstructor(
reads: Collection<DeviceState<*>>,
onChange: suspend (T) -> Unit,
): Job = valueFlow.onEach(onChange).launchIn(this@DeviceConstructor).also {
- registerBinding(ActionBinding(setOf(this, *reads.toTypedArray()), setOf(*writes)))
+ registerState(ConnectionStateDescriptor(setOf(this, *reads.toTypedArray()), setOf(*writes)))
}
}
@@ -171,4 +163,4 @@ public fun <T, D : Device> DeviceConstructor.deviceProperty(
property: MutableDevicePropertySpec<D, T>,
initialValue: T,
): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, MutableDeviceState<T>>> =
- property(device.mutablePropertyAsState(property, initialValue))
\ No newline at end of file
+ property(device.mutablePropertyAsState(property, initialValue))
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt
index 08913a2..6d44422 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt
@@ -1,12 +1,14 @@
package space.kscience.controls.constructor
-public abstract class DeviceModel : BindingsContainer {
+import space.kscience.dataforge.context.Context
- private val _bindings: MutableList<Binding> = mutableListOf()
+public abstract class DeviceModel(override val context: Context) : StateContainer {
- override val bindings: List<Binding> get() = _bindings
+ private val _stateDescriptors: MutableList<StateDescriptor> = mutableListOf()
- override fun registerBinding(binding: Binding) {
- _bindings.add(binding)
+ override val stateDescriptors: List<StateDescriptor> get() = _stateDescriptors
+
+ override fun registerState(stateDescriptor: StateDescriptor) {
+ _stateDescriptors.add(stateDescriptor)
}
}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/StateDescriptor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/StateDescriptor.kt
new file mode 100644
index 0000000..b8f40b5
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/StateDescriptor.kt
@@ -0,0 +1,74 @@
+package space.kscience.controls.constructor
+
+import space.kscience.controls.api.Device
+import space.kscience.controls.manager.ClockManager
+import space.kscience.dataforge.context.ContextAware
+import space.kscience.dataforge.context.request
+import space.kscience.dataforge.meta.MetaConverter
+import kotlin.time.Duration
+
+/**
+ * A binding that is used to describe device functionality
+ */
+public sealed interface StateDescriptor
+
+/**
+ * A binding that exposes device property as read-only state
+ */
+public class PropertyStateDescriptor<T>(
+ public val device: Device,
+ public val propertyName: String,
+ public val state: DeviceState<T>,
+) : StateDescriptor
+
+/**
+ * A binding for independent state like a timer
+ */
+public class StateBinding<T>(
+ public val state: DeviceState<T>,
+) : StateDescriptor
+
+public class ConnectionStateDescriptor(
+ public val reads: Collection<DeviceState<*>>,
+ public val writes: Collection<DeviceState<*>>,
+) : StateDescriptor
+
+
+public interface StateContainer : ContextAware {
+ public val stateDescriptors: List<StateDescriptor>
+ public fun registerState(stateDescriptor: StateDescriptor)
+}
+
+/**
+ * Register a [state] in this container. The state is not registered as a device property if [this] is a [DeviceConstructor]
+ */
+public fun <T, D : DeviceState<T>> StateContainer.state(state: D): D {
+ registerState(StateBinding(state))
+ return state
+}
+
+/**
+ * Create a register a [MutableDeviceState] with a given [converter]
+ */
+public fun <T> StateContainer.state(converter: MetaConverter<T>, initialValue: T): MutableDeviceState<T> = state(
+ DeviceState.internal(converter, initialValue)
+)
+
+/**
+ * Create a register a mutable [Double] state
+ */
+public fun StateContainer.doubleState(initialValue: Double): MutableDeviceState<Double> = state(
+ MetaConverter.double, initialValue
+)
+
+/**
+ * Create a register a mutable [String] state
+ */
+public fun StateContainer.stringState(initialValue: String): MutableDeviceState<String> = state(
+ MetaConverter.string, initialValue
+)
+
+/**
+ * Create and register a timer state.
+ */
+public fun StateContainer.timer(tick: Duration): TimerState = state(TimerState(context.request(ClockManager), tick))
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt
similarity index 94%
rename from controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
rename to controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt
index 277271a..d1d557f 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/customState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt
@@ -51,9 +51,9 @@ public class DoubleInRangeState(
/**
* Create and register a [DoubleInRangeState]
*/
-public fun BindingsContainer.doubleInRangeState(
+public fun StateContainer.doubleInRangeState(
initialValue: Double,
range: ClosedFloatingPointRange<Double>,
): DoubleInRangeState = DoubleInRangeState(initialValue, range).also {
- registerBinding(StateBinding(it))
+ registerState(StateBinding(it))
}
\ No newline at end of file
diff --git a/controls-vision/build.gradle.kts b/controls-vision/build.gradle.kts
index 5c75242..09c644b 100644
--- a/controls-vision/build.gradle.kts
+++ b/controls-vision/build.gradle.kts
@@ -12,7 +12,7 @@ kscience {
useKtor()
useSerialization()
useContextReceivers()
- dependencies {
+ commonMain {
api(projects.controlsCore)
api(projects.controlsConstructor)
api(libs.visionforge.plotly)
From 55bcb0866814bdbbf17d5eb74e2182ca408cea4a Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Thu, 23 May 2024 16:16:22 +0300
Subject: [PATCH 089/125] Force to use endpoint ID in `launchMagixService`
---
.../kotlin/space/kscience/controls/client/controlsMagix.kt | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
index 1c6f556..5fe99c3 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
@@ -40,7 +40,7 @@ internal fun generateId(request: MagixMessage): String = if (request.id != null)
*/
public fun DeviceManager.launchMagixService(
endpoint: MagixEndpoint,
- endpointID: String = controlsMagixFormat.defaultFormat,
+ endpointID: String,
coroutineContext: CoroutineContext = EmptyCoroutineContext,
): Job = context.launch(coroutineContext) {
endpoint.subscribe(controlsMagixFormat, targetFilter = listOf(endpointID, null)).onEach { (request, payload) ->
From 05757aefdc1afbe674c67be6f0602ebf0ee37125 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Fri, 24 May 2024 13:56:54 +0300
Subject: [PATCH 090/125] First draft of model binding
---
.space/CODEOWNERS | 1 -
build.gradle.kts | 5 +-
.../controls/constructor/DeviceConstructor.kt | 46 ++---
.../controls/constructor/DeviceGroup.kt | 56 ++++--
.../controls/constructor/DeviceModel.kt | 24 ++-
.../controls/constructor/DeviceState.kt | 21 +-
.../controls/constructor/StateDescriptor.kt | 169 +++++++++++++---
.../controls/constructor/TimerState.kt | 3 -
.../controls/constructor/boundState.kt | 2 +-
.../controls/constructor/exoticState.kt | 10 +-
.../controls/constructor/externalState.kt | 13 +-
.../controls/constructor/flowState.kt | 7 +-
.../controls/constructor/internalState.kt | 9 +-
.../space/kscience/controls/api/DeviceHub.kt | 1 +
.../controls/{spec => misc}/converters.kt | 20 +-
.../kscience/controls/api/MessageTest.kt | 3 +-
.../kscience/controls/client/DeviceClient.kt | 18 +-
.../kscience/controls/client/controlsMagix.kt | 3 +-
.../kotlin/BooleanIndicatorVision.kt | 24 ---
.../commonMain/kotlin/ControlVisionPlugin.kt | 3 +-
.../src/commonMain/kotlin/controlsVisions.kt | 35 ++++
.../src/commonMain/kotlin/plotExtensions.kt | 2 +-
.../jsMain/kotlin/ControlsVisionPlugin.js.kt | 32 ++-
.../controls/demo/car/VirtualCarController.kt | 2 +-
demo/constructor/build.gradle.kts | 12 +-
.../src/jvmMain/kotlin/BodyOnSprings.kt | 185 ++++++++++++++++++
.../pimotionmaster/PiMotionMasterDevice.kt | 2 +
gradle/libs.versions.toml | 1 +
28 files changed, 537 insertions(+), 172 deletions(-)
delete mode 100644 .space/CODEOWNERS
rename controls-core/src/commonMain/kotlin/space/kscience/controls/{spec => misc}/converters.kt (62%)
delete mode 100644 controls-vision/src/commonMain/kotlin/BooleanIndicatorVision.kt
create mode 100644 controls-vision/src/commonMain/kotlin/controlsVisions.kt
create mode 100644 demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
diff --git a/.space/CODEOWNERS b/.space/CODEOWNERS
deleted file mode 100644
index 9f836ea..0000000
--- a/.space/CODEOWNERS
+++ /dev/null
@@ -1 +0,0 @@
-./space/* "Project Admin"
diff --git a/build.gradle.kts b/build.gradle.kts
index 6423c3c..50a61d8 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -7,10 +7,7 @@ plugins {
allprojects {
group = "space.kscience"
- version = "0.4.0-dev-3"
- repositories{
- maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
- }
+ version = "0.4.0-dev-4"
}
ksciencePublish {
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
index 03a1e0e..17294f1 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -1,8 +1,5 @@
package space.kscience.controls.constructor
-import kotlinx.coroutines.Job
-import kotlinx.coroutines.flow.launchIn
-import kotlinx.coroutines.flow.onEach
import space.kscience.controls.api.Device
import space.kscience.controls.api.PropertyDescriptor
import space.kscience.controls.spec.DevicePropertySpec
@@ -25,29 +22,24 @@ public abstract class DeviceConstructor(
context: Context,
meta: Meta = Meta.EMPTY,
) : DeviceGroup(context, meta), StateContainer {
- private val _stateDescriptors: MutableList<StateDescriptor> = mutableListOf()
- override val stateDescriptors: List<StateDescriptor> get() = _stateDescriptors
+ private val _stateDescriptors: MutableSet<StateDescriptor> = mutableSetOf()
+ override val stateDescriptors: Set<StateDescriptor> get() = _stateDescriptors
override fun registerState(stateDescriptor: StateDescriptor) {
_stateDescriptors.add(stateDescriptor)
}
- override fun registerProperty(descriptor: PropertyDescriptor, state: DeviceState<*>) {
- super.registerProperty(descriptor, state)
- registerState(PropertyStateDescriptor(this, descriptor.name, state))
+ override fun unregisterState(stateDescriptor: StateDescriptor) {
+ _stateDescriptors.remove(stateDescriptor)
}
- /**
- * Bind an action to a [DeviceState]. [onChange] block is performed on each state change
- *
- * Optionally provide [writes] - a set of states that this change affects.
- */
- public fun <T> DeviceState<T>.onChange(
- vararg writes: DeviceState<*>,
- reads: Collection<DeviceState<*>>,
- onChange: suspend (T) -> Unit,
- ): Job = valueFlow.onEach(onChange).launchIn(this@DeviceConstructor).also {
- registerState(ConnectionStateDescriptor(setOf(this, *reads.toTypedArray()), setOf(*writes)))
+ override fun <T> registerProperty(
+ converter: MetaConverter<T>,
+ descriptor: PropertyDescriptor,
+ state: DeviceState<T>,
+ ) {
+ super.registerProperty(converter, descriptor, state)
+ registerState(StatePropertyDescriptor(this, descriptor.name, state))
}
}
@@ -84,6 +76,7 @@ public fun <D : Device> DeviceConstructor.device(
* Register a property and provide a direct reader for it
*/
public fun <T, S : DeviceState<T>> DeviceConstructor.property(
+ converter: MetaConverter<T>,
state: S,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
nameOverride: String? = null,
@@ -91,7 +84,7 @@ public fun <T, S : DeviceState<T>> DeviceConstructor.property(
PropertyDelegateProvider { _: DeviceConstructor, property ->
val name = nameOverride ?: property.name
val descriptor = PropertyDescriptor(name).apply(descriptorBuilder)
- registerProperty(descriptor, state)
+ registerProperty(converter, descriptor, state)
ReadOnlyProperty { _: DeviceConstructor, _ ->
state
}
@@ -108,7 +101,8 @@ public fun <T : Any> DeviceConstructor.property(
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
nameOverride: String? = null,
): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, DeviceState<T>>> = property(
- DeviceState.external(this, metaConverter, readInterval, initialState, reader),
+ metaConverter,
+ DeviceState.external(this, readInterval, initialState, reader),
descriptorBuilder,
nameOverride,
)
@@ -125,7 +119,8 @@ public fun <T : Any> DeviceConstructor.mutableProperty(
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
nameOverride: String? = null,
): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, MutableDeviceState<T>>> = property(
- DeviceState.external(this, metaConverter, readInterval, initialState, reader, writer),
+ metaConverter,
+ DeviceState.external(this, readInterval, initialState, reader, writer),
descriptorBuilder,
nameOverride,
)
@@ -140,7 +135,8 @@ public fun <T> DeviceConstructor.virtualProperty(
nameOverride: String? = null,
callback: (T) -> Unit = {},
): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, MutableDeviceState<T>>> = property(
- DeviceState.internal(metaConverter, initialState, callback),
+ metaConverter,
+ MutableDeviceState(initialState, callback),
descriptorBuilder,
nameOverride,
)
@@ -153,7 +149,7 @@ public fun <T, D : Device> DeviceConstructor.deviceProperty(
property: DevicePropertySpec<D, T>,
initialValue: T,
): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, DeviceState<T>>> =
- property(device.propertyAsState(property, initialValue))
+ property(property.converter, device.propertyAsState(property, initialValue))
/**
* Bind existing property provided by specification to this device
@@ -163,4 +159,4 @@ public fun <T, D : Device> DeviceConstructor.deviceProperty(
property: MutableDevicePropertySpec<D, T>,
initialValue: T,
): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, MutableDeviceState<T>>> =
- property(device.mutablePropertyAsState(property, initialValue))
+ property(property.converter, device.mutablePropertyAsState(property, initialValue))
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
index ef886dc..ddac115 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -1,14 +1,12 @@
package space.kscience.controls.constructor
import kotlinx.coroutines.*
-import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.MutableSharedFlow
-import kotlinx.coroutines.flow.launchIn
-import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.flow.*
import space.kscience.controls.api.*
import space.kscience.controls.api.DeviceLifecycleState.*
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.install
+import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.dataforge.context.*
import space.kscience.dataforge.meta.Laminate
import space.kscience.dataforge.meta.Meta
@@ -30,12 +28,21 @@ public open class DeviceGroup(
override val meta: Meta,
) : DeviceHub, CachingDevice {
- internal class Property(
- val state: DeviceState<*>,
+ private class Property<T>(
+ val state: DeviceState<T>,
+ val converter: MetaConverter<T>,
val descriptor: PropertyDescriptor,
- )
+ ) {
+ val valueAsMeta get() = converter.convert(state.value)
- internal class Action(
+ fun setMeta(meta: Meta) {
+ check(state is MutableDeviceState) { "Can't write to read-only property" }
+
+ state.value = converter.read(meta)
+ }
+ }
+
+ private class Action(
val invoke: suspend (Meta?) -> Meta?,
val descriptor: ActionDescriptor,
)
@@ -81,16 +88,20 @@ public open class DeviceGroup(
return device
}
- private val properties: MutableMap<Name, Property> = hashMapOf()
+ private val properties: MutableMap<Name, Property<*>> = hashMapOf()
/**
* Register a new property based on [DeviceState]. Properties could be modified dynamically
*/
- public open fun registerProperty(descriptor: PropertyDescriptor, state: DeviceState<*>) {
+ public open fun <T> registerProperty(
+ converter: MetaConverter<T>,
+ descriptor: PropertyDescriptor,
+ state: DeviceState<T>,
+ ) {
val name = descriptor.name.parseAsName()
require(properties[name] == null) { "Can't add property with name $name. It already exists." }
- properties[name] = Property(state, descriptor)
- state.metaFlow.onEach {
+ properties[name] = Property(state, converter, descriptor)
+ state.valueFlow.map(converter::convert).onEach {
sharedMessageFlow.emit(
PropertyChangedMessage(
descriptor.name,
@@ -109,19 +120,18 @@ public open class DeviceGroup(
get() = actions.values.map { it.descriptor }
override suspend fun readProperty(propertyName: String): Meta =
- properties[propertyName.parseAsName()]?.state?.valueAsMeta
+ properties[propertyName.parseAsName()]?.valueAsMeta
?: error("Property with name $propertyName not found")
- override fun getProperty(propertyName: String): Meta? = properties[propertyName.parseAsName()]?.state?.valueAsMeta
+ override fun getProperty(propertyName: String): Meta? = properties[propertyName.parseAsName()]?.valueAsMeta
override suspend fun invalidate(propertyName: String) {
//does nothing for this implementation
}
override suspend fun writeProperty(propertyName: String, value: Meta) {
- val property = (properties[propertyName.parseAsName()]?.state as? MutableDeviceState)
- ?: error("Property with name $propertyName not found")
- property.valueAsMeta = value
+ val property = properties[propertyName.parseAsName()] ?: error("Property with name $propertyName not found")
+ property.setMeta(value)
}
@@ -164,6 +174,10 @@ public open class DeviceGroup(
}
}
+public fun <T> DeviceGroup.registerProperty(propertySpec: DevicePropertySpec<*, T>, state: DeviceState<T>) {
+ registerProperty(propertySpec.converter, propertySpec.descriptor, state)
+}
+
public fun DeviceManager.registerDeviceGroup(
name: String = "@group",
meta: Meta = Meta.EMPTY,
@@ -234,10 +248,12 @@ public fun DeviceGroup.registerDeviceGroup(name: String, block: DeviceGroup.() -
*/
public fun <T : Any> DeviceGroup.registerProperty(
name: String,
+ converter: MetaConverter<T>,
state: DeviceState<T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
) {
registerProperty(
+ converter,
PropertyDescriptor(name).apply(descriptorBuilder),
state
)
@@ -248,10 +264,12 @@ public fun <T : Any> DeviceGroup.registerProperty(
*/
public fun <T : Any> DeviceGroup.registerMutableProperty(
name: String,
+ converter: MetaConverter<T>,
state: MutableDeviceState<T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
) {
registerProperty(
+ converter,
PropertyDescriptor(name).apply(descriptorBuilder),
state
)
@@ -269,7 +287,7 @@ public fun <T : Any> DeviceGroup.registerVirtualProperty(
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
callback: (T) -> Unit = {},
): MutableDeviceState<T> {
- val state = DeviceState.internal<T>(converter, initialValue, callback)
- registerMutableProperty(name, state, descriptorBuilder)
+ val state = MutableDeviceState<T>(initialValue, callback)
+ registerMutableProperty(name, converter, state, descriptorBuilder)
return state
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt
index 6d44422..484b471 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt
@@ -1,14 +1,32 @@
package space.kscience.controls.constructor
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.SupervisorJob
+import kotlinx.coroutines.newCoroutineContext
import space.kscience.dataforge.context.Context
+import kotlin.coroutines.CoroutineContext
-public abstract class DeviceModel(override val context: Context) : StateContainer {
+public abstract class DeviceModel(
+ final override val context: Context,
+ vararg dependencies: DeviceState<*>,
+) : StateContainer, CoroutineScope {
- private val _stateDescriptors: MutableList<StateDescriptor> = mutableListOf()
+ override val coroutineContext: CoroutineContext = context.newCoroutineContext(SupervisorJob())
- override val stateDescriptors: List<StateDescriptor> get() = _stateDescriptors
+
+ private val _stateDescriptors: MutableSet<StateDescriptor> = mutableSetOf<StateDescriptor>().apply {
+ dependencies.forEach {
+ add(StateNodeDescriptor(it))
+ }
+ }
+
+ override val stateDescriptors: Set<StateDescriptor> get() = _stateDescriptors
override fun registerState(stateDescriptor: StateDescriptor) {
_stateDescriptors.add(stateDescriptor)
}
+
+ override fun unregisterState(stateDescriptor: StateDescriptor) {
+ _stateDescriptors.remove(stateDescriptor)
+ }
}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index 8a2914b..e74c4c0 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -6,15 +6,12 @@ import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.map
import kotlinx.coroutines.flow.onEach
-import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.MetaConverter
import kotlin.reflect.KProperty
/**
* An observable state of a device
*/
public interface DeviceState<T> {
- public val converter: MetaConverter<T>
public val value: T
public val valueFlow: Flow<T>
@@ -24,9 +21,6 @@ public interface DeviceState<T> {
public companion object
}
-public val <T> DeviceState<T>.metaFlow: Flow<Meta> get() = valueFlow.map(converter::convert)
-
-public val <T> DeviceState<T>.valueAsMeta: Meta get() = converter.convert(value)
public operator fun <T> DeviceState<T>.getValue(thisRef: Any?, property: KProperty<*>): T = value
@@ -47,12 +41,6 @@ public operator fun <T> MutableDeviceState<T>.setValue(thisRef: Any?, property:
this.value = value
}
-public var <T> MutableDeviceState<T>.valueAsMeta: Meta
- get() = converter.convert(value)
- set(arg) {
- value = converter.read(arg)
- }
-
/**
* Device state with a value that depends on other device states
*/
@@ -65,17 +53,15 @@ public interface DeviceStateWithDependencies<T> : DeviceState<T> {
*/
public fun <T, R> DeviceState.Companion.map(
state: DeviceState<T>,
- converter: MetaConverter<R>, mapper: (T) -> R,
+ mapper: (T) -> R,
): DeviceStateWithDependencies<R> = object : DeviceStateWithDependencies<R> {
override val dependencies = listOf(state)
- override val converter: MetaConverter<R> = converter
-
override val value: R get() = mapper(state.value)
override val valueFlow: Flow<R> = state.valueFlow.map(mapper)
- override fun toString(): String = "DeviceState.map(arg=${state}, converter=$converter)"
+ override fun toString(): String = "DeviceState.map(arg=${state})"
}
/**
@@ -84,13 +70,10 @@ public fun <T, R> DeviceState.Companion.map(
public fun <T1, T2, R> DeviceState.Companion.combine(
state1: DeviceState<T1>,
state2: DeviceState<T2>,
- converter: MetaConverter<R>,
mapper: (T1, T2) -> R,
): DeviceStateWithDependencies<R> = object : DeviceStateWithDependencies<R> {
override val dependencies = listOf(state1, state2)
- override val converter: MetaConverter<R> = converter
-
override val value: R get() = mapper(state1.value, state2.value)
override val valueFlow: Flow<R> = kotlinx.coroutines.flow.combine(state1.valueFlow, state2.valueFlow, mapper)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/StateDescriptor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/StateDescriptor.kt
index b8f40b5..30a0299 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/StateDescriptor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/StateDescriptor.kt
@@ -1,10 +1,14 @@
package space.kscience.controls.constructor
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.flow.runningFold
import space.kscience.controls.api.Device
import space.kscience.controls.manager.ClockManager
import space.kscience.dataforge.context.ContextAware
import space.kscience.dataforge.context.request
-import space.kscience.dataforge.meta.MetaConverter
import kotlin.time.Duration
/**
@@ -15,7 +19,7 @@ public sealed interface StateDescriptor
/**
* A binding that exposes device property as read-only state
*/
-public class PropertyStateDescriptor<T>(
+public class StatePropertyDescriptor<T>(
public val device: Device,
public val propertyName: String,
public val state: DeviceState<T>,
@@ -24,51 +28,172 @@ public class PropertyStateDescriptor<T>(
/**
* A binding for independent state like a timer
*/
-public class StateBinding<T>(
+public class StateNodeDescriptor<T>(
public val state: DeviceState<T>,
) : StateDescriptor
-public class ConnectionStateDescriptor(
+public class StateConnectionDescriptor(
public val reads: Collection<DeviceState<*>>,
public val writes: Collection<DeviceState<*>>,
) : StateDescriptor
-public interface StateContainer : ContextAware {
- public val stateDescriptors: List<StateDescriptor>
+public interface StateContainer : ContextAware, CoroutineScope {
+ public val stateDescriptors: Set<StateDescriptor>
public fun registerState(stateDescriptor: StateDescriptor)
+ public fun unregisterState(stateDescriptor: StateDescriptor)
+
+
+ /**
+ * Bind an action to a [DeviceState]. [onChange] block is performed on each state change
+ *
+ * Optionally provide [writes] - a set of states that this change affects.
+ */
+ public fun <T> DeviceState<T>.onNext(
+ vararg writes: DeviceState<*>,
+ alsoReads: Collection<DeviceState<*>> = emptySet(),
+ onChange: suspend (T) -> Unit,
+ ): Job = valueFlow.onEach(onChange).launchIn(this@StateContainer).also {
+ registerState(StateConnectionDescriptor(setOf(this, *alsoReads.toTypedArray()), setOf(*writes)))
+ }
+
+ public fun <T> DeviceState<T>.onChange(
+ vararg writes: DeviceState<*>,
+ alsoReads: Collection<DeviceState<*>> = emptySet(),
+ onChange: suspend (prev: T, next: T) -> Unit,
+ ): Job = valueFlow.runningFold(Pair(value, value)) { pair, next ->
+ Pair(pair.second, next)
+ }.onEach { pair ->
+ if (pair.first != pair.second) {
+ onChange(pair.first, pair.second)
+ }
+ }.launchIn(this@StateContainer).also {
+ registerState(StateConnectionDescriptor(setOf(this, *alsoReads.toTypedArray()), setOf(*writes)))
+ }
}
/**
* Register a [state] in this container. The state is not registered as a device property if [this] is a [DeviceConstructor]
*/
public fun <T, D : DeviceState<T>> StateContainer.state(state: D): D {
- registerState(StateBinding(state))
+ registerState(StateNodeDescriptor(state))
return state
}
/**
* Create a register a [MutableDeviceState] with a given [converter]
*/
-public fun <T> StateContainer.state(converter: MetaConverter<T>, initialValue: T): MutableDeviceState<T> = state(
- DeviceState.internal(converter, initialValue)
+public fun <T> StateContainer.mutableState(initialValue: T): MutableDeviceState<T> = state(
+ MutableDeviceState(initialValue)
)
-/**
- * Create a register a mutable [Double] state
- */
-public fun StateContainer.doubleState(initialValue: Double): MutableDeviceState<Double> = state(
- MetaConverter.double, initialValue
-)
-
-/**
- * Create a register a mutable [String] state
- */
-public fun StateContainer.stringState(initialValue: String): MutableDeviceState<String> = state(
- MetaConverter.string, initialValue
-)
+public fun <T : DeviceModel> StateContainer.model(model: T): T {
+ model.stateDescriptors.forEach {
+ registerState(it)
+ }
+ return model
+}
/**
* Create and register a timer state.
*/
public fun StateContainer.timer(tick: Duration): TimerState = state(TimerState(context.request(ClockManager), tick))
+
+
+public fun <T, R> StateContainer.mapState(
+ state: DeviceState<T>,
+ transformation: (T) -> R,
+): DeviceStateWithDependencies<R> = state(DeviceState.map(state, transformation))
+
+/**
+ * Create a new state by combining two existing ones
+ */
+public fun <T1, T2, R> StateContainer.combineState(
+ first: DeviceState<T1>,
+ second: DeviceState<T2>,
+ transformation: (T1, T2) -> R,
+): DeviceState<R> = state(DeviceState.combine(first, second, transformation))
+
+
+/**
+ * Create and start binding between [sourceState] and [targetState]. Changes made to [sourceState] are automatically
+ * transferred onto [targetState], but not vise versa.
+ *
+ * On resulting [Job] cancel the binding is unregistered
+ */
+public fun <T> StateContainer.bindTo(sourceState: DeviceState<T>, targetState: MutableDeviceState<T>): Job {
+ val descriptor = StateConnectionDescriptor(setOf(sourceState), setOf(targetState))
+ registerState(descriptor)
+ return sourceState.valueFlow.onEach {
+ targetState.value = it
+ }.launchIn(this).apply {
+ invokeOnCompletion {
+ unregisterState(descriptor)
+ }
+ }
+}
+
+/**
+ * Create and start binding between [sourceState] and [targetState]. Changes made to [sourceState] are automatically
+ * transferred onto [targetState] via [transformation], but not vise versa.
+ *
+ * On resulting [Job] cancel the binding is unregistered
+ */
+public fun <T, R> StateContainer.transformTo(
+ sourceState: DeviceState<T>,
+ targetState: MutableDeviceState<R>,
+ transformation: suspend (T) -> R,
+): Job {
+ val descriptor = StateConnectionDescriptor(setOf(sourceState), setOf(targetState))
+ registerState(descriptor)
+ return sourceState.valueFlow.onEach {
+ targetState.value = transformation(it)
+ }.launchIn(this).apply {
+ invokeOnCompletion {
+ unregisterState(descriptor)
+ }
+ }
+}
+
+/**
+ * Register [StateDescriptor] that combines values from [sourceState1] and [sourceState2] using [transformation].
+ *
+ * On resulting [Job] cancel the binding is unregistered
+ */
+public fun <T1, T2, R> StateContainer.combineTo(
+ sourceState1: DeviceState<T1>,
+ sourceState2: DeviceState<T2>,
+ targetState: MutableDeviceState<R>,
+ transformation: suspend (T1, T2) -> R,
+): Job {
+ val descriptor = StateConnectionDescriptor(setOf(sourceState1, sourceState2), setOf(targetState))
+ registerState(descriptor)
+ return kotlinx.coroutines.flow.combine(sourceState1.valueFlow, sourceState2.valueFlow, transformation).onEach {
+ targetState.value = it
+ }.launchIn(this).apply {
+ invokeOnCompletion {
+ unregisterState(descriptor)
+ }
+ }
+}
+
+/**
+ * Register [StateDescriptor] that combines values from [sourceStates] using [transformation].
+ *
+ * On resulting [Job] cancel the binding is unregistered
+ */
+public inline fun <reified T, R> StateContainer.combineTo(
+ sourceStates: Collection<DeviceState<T>>,
+ targetState: MutableDeviceState<R>,
+ noinline transformation: suspend (Array<T>) -> R,
+): Job {
+ val descriptor = StateConnectionDescriptor(sourceStates, setOf(targetState))
+ registerState(descriptor)
+ return kotlinx.coroutines.flow.combine(sourceStates.map { it.valueFlow }, transformation).onEach {
+ targetState.value = it
+ }.launchIn(this).apply {
+ invokeOnCompletion {
+ unregisterState(descriptor)
+ }
+ }
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/TimerState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/TimerState.kt
index 8f36079..baf9646 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/TimerState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/TimerState.kt
@@ -7,8 +7,6 @@ import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
import kotlinx.datetime.Instant
import space.kscience.controls.manager.ClockManager
-import space.kscience.controls.spec.instant
-import space.kscience.dataforge.meta.MetaConverter
import kotlin.time.Duration
/**
@@ -23,7 +21,6 @@ public class TimerState(
public val clockManager: ClockManager,
public val tick: Duration,
) : DeviceState<Instant> {
- override val converter: MetaConverter<Instant> get() = MetaConverter.instant
private val clock = MutableStateFlow(clockManager.clock.now())
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/boundState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/boundState.kt
index 37be770..f5c4480 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/boundState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/boundState.kt
@@ -15,7 +15,7 @@ import space.kscience.dataforge.meta.MetaConverter
* A copy-free [DeviceState] bound to a device property
*/
private open class BoundDeviceState<T>(
- override val converter: MetaConverter<T>,
+ val converter: MetaConverter<T>,
val device: Device,
val propertyName: String,
initialValue: T,
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt
index d1d557f..aabacfd 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt
@@ -2,7 +2,6 @@ package space.kscience.controls.constructor
import kotlinx.coroutines.flow.MutableStateFlow
import kotlinx.coroutines.flow.StateFlow
-import space.kscience.dataforge.meta.MetaConverter
/**
@@ -17,7 +16,6 @@ public class DoubleInRangeState(
require(initialValue in range) { "Initial value should be in range" }
}
- override val converter: MetaConverter<Double> = MetaConverter.double
private val _valueFlow = MutableStateFlow(initialValue)
@@ -32,18 +30,18 @@ public class DoubleInRangeState(
/**
* A state showing that the range is on its lower boundary
*/
- public val atStart: DeviceState<Boolean> = DeviceState.map(this, MetaConverter.boolean) {
+ public val atStart: DeviceState<Boolean> = DeviceState.map(this) {
it <= range.start
}
/**
* A state showing that the range is on its higher boundary
*/
- public val atEnd: DeviceState<Boolean> = DeviceState.map(this, MetaConverter.boolean) {
+ public val atEnd: DeviceState<Boolean> = DeviceState.map(this) {
it >= range.endInclusive
}
- override fun toString(): String = "DoubleRangeState(range=$range, converter=$converter)"
+ override fun toString(): String = "DoubleRangeState(range=$range)"
}
@@ -55,5 +53,5 @@ public fun StateContainer.doubleInRangeState(
initialValue: Double,
range: ClosedFloatingPointRange<Double>,
): DoubleInRangeState = DoubleInRangeState(initialValue, range).also {
- registerState(StateBinding(it))
+ registerState(StateNodeDescriptor(it))
}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/externalState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/externalState.kt
index c670a23..9b4a15f 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/externalState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/externalState.kt
@@ -4,13 +4,11 @@ import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.*
import kotlinx.coroutines.launch
-import space.kscience.dataforge.meta.MetaConverter
import kotlin.time.Duration
private open class ExternalState<T>(
val scope: CoroutineScope,
- override val converter: MetaConverter<T>,
val readInterval: Duration,
initialValue: T,
val reader: suspend () -> T,
@@ -26,7 +24,7 @@ private open class ExternalState<T>(
override val value: T get() = flow.value
override val valueFlow: Flow<T> get() = flow
- override fun toString(): String = "ExternalState(converter=$converter)"
+ override fun toString(): String = "ExternalState()"
}
/**
@@ -34,20 +32,18 @@ private open class ExternalState<T>(
*/
public fun <T> DeviceState.Companion.external(
scope: CoroutineScope,
- converter: MetaConverter<T>,
readInterval: Duration,
initialValue: T,
reader: suspend () -> T,
-): DeviceState<T> = ExternalState(scope, converter, readInterval, initialValue, reader)
+): DeviceState<T> = ExternalState(scope, readInterval, initialValue, reader)
private class MutableExternalState<T>(
scope: CoroutineScope,
- converter: MetaConverter<T>,
readInterval: Duration,
initialValue: T,
reader: suspend () -> T,
val writer: suspend (T) -> Unit,
-) : ExternalState<T>(scope, converter, readInterval, initialValue, reader), MutableDeviceState<T> {
+) : ExternalState<T>(scope, readInterval, initialValue, reader), MutableDeviceState<T> {
override var value: T
get() = super.value
set(value) {
@@ -62,9 +58,8 @@ private class MutableExternalState<T>(
*/
public fun <T> DeviceState.Companion.external(
scope: CoroutineScope,
- converter: MetaConverter<T>,
readInterval: Duration,
initialValue: T,
reader: suspend () -> T,
writer: suspend (T) -> Unit,
-): MutableDeviceState<T> = MutableExternalState(scope, converter, readInterval, initialValue, reader, writer)
\ No newline at end of file
+): MutableDeviceState<T> = MutableExternalState(scope, readInterval, initialValue, reader, writer)
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/flowState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/flowState.kt
index 434c074..2bd9322 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/flowState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/flowState.kt
@@ -2,22 +2,19 @@ package space.kscience.controls.constructor
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.MutableStateFlow
-import space.kscience.dataforge.meta.MetaConverter
private class StateFlowAsState<T>(
- override val converter: MetaConverter<T>,
val flow: MutableStateFlow<T>,
) : MutableDeviceState<T> {
override var value: T by flow::value
override val valueFlow: Flow<T> get() = flow
- override fun toString(): String = "FlowAsState(converter=$converter)"
+ override fun toString(): String = "FlowAsState()"
}
/**
* Create a read-only [DeviceState] that wraps [MutableStateFlow].
* No data copy is performed.
*/
-public fun <T> MutableStateFlow<T>.asDeviceState(converter: MetaConverter<T>): DeviceState<T> =
- StateFlowAsState(converter, this)
\ No newline at end of file
+public fun <T> MutableStateFlow<T>.asDeviceState(): MutableDeviceState<T> = StateFlowAsState(this)
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
index ed2d5d1..11c778d 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
@@ -2,7 +2,6 @@ package space.kscience.controls.constructor
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.MutableStateFlow
-import space.kscience.dataforge.meta.MetaConverter
/**
* A [MutableDeviceState] that does not correspond to a physical state
@@ -10,7 +9,6 @@ import space.kscience.dataforge.meta.MetaConverter
* @param callback a synchronous callback that could be used without a scope
*/
private class VirtualDeviceState<T>(
- override val converter: MetaConverter<T>,
initialValue: T,
private val callback: (T) -> Unit = {},
) : MutableDeviceState<T> {
@@ -24,7 +22,7 @@ private class VirtualDeviceState<T>(
callback(value)
}
- override fun toString(): String = "VirtualDeviceState(converter=$converter)"
+ override fun toString(): String = "VirtualDeviceState()"
}
@@ -33,8 +31,7 @@ private class VirtualDeviceState<T>(
*
* @param callback a synchronous callback that could be used without a scope
*/
-public fun <T> DeviceState.Companion.internal(
- converter: MetaConverter<T>,
+public fun <T> MutableDeviceState(
initialValue: T,
callback: (T) -> Unit = {},
-): MutableDeviceState<T> = VirtualDeviceState(converter, initialValue, callback)
+): MutableDeviceState<T> = VirtualDeviceState(initialValue, callback)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
index e2f6331..4aef3ff 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceHub.kt
@@ -22,6 +22,7 @@ public interface DeviceHub : Provider {
} else {
emptyMap()
}
+ //TODO send message on device change
public companion object
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/converters.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/converters.kt
similarity index 62%
rename from controls-core/src/commonMain/kotlin/space/kscience/controls/spec/converters.kt
rename to controls-core/src/commonMain/kotlin/space/kscience/controls/misc/converters.kt
index 89a28da..4297d20 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/converters.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/converters.kt
@@ -1,4 +1,4 @@
-package space.kscience.controls.spec
+package space.kscience.controls.misc
import kotlinx.datetime.Instant
import space.kscience.dataforge.meta.*
@@ -12,9 +12,9 @@ public fun Double.asMeta(): Meta = Meta(asValue())
* Generate a nullable [MetaConverter] from non-nullable one
*/
public fun <T : Any> MetaConverter<T>.nullable(): MetaConverter<T?> = object : MetaConverter<T?> {
- override fun convert(obj: T?): Meta = obj?.let { this@nullable.convert(it) }?: Meta(Null)
+ override fun convert(obj: T?): Meta = obj?.let { this@nullable.convert(it) } ?: Meta(Null)
- override fun readOrNull(source: Meta): T? = if(source.value == Null) null else this@nullable.readOrNull(source)
+ override fun readOrNull(source: Meta): T? = if (source.value == Null) null else this@nullable.readOrNull(source)
}
@@ -38,4 +38,16 @@ private object InstantConverter : MetaConverter<Instant> {
override fun convert(obj: Instant): Meta = Meta(obj.toString())
}
-public val MetaConverter.Companion.instant: MetaConverter<Instant> get() = InstantConverter
\ No newline at end of file
+public val MetaConverter.Companion.instant: MetaConverter<Instant> get() = InstantConverter
+
+private object DoubleRangeConverter : MetaConverter<ClosedFloatingPointRange<Double>> {
+ override fun readOrNull(source: Meta): ClosedFloatingPointRange<Double>? = source.value?.doubleArray?.let { (start, end)->
+ start..end
+ }
+
+ override fun convert(
+ obj: ClosedFloatingPointRange<Double>,
+ ): Meta = Meta(doubleArrayOf(obj.start, obj.endInclusive).asValue())
+}
+
+public val MetaConverter.Companion.doubleRange: MetaConverter<ClosedFloatingPointRange<Double>> get() = DoubleRangeConverter
\ No newline at end of file
diff --git a/controls-core/src/commonTest/kotlin/space/kscience/controls/api/MessageTest.kt b/controls-core/src/commonTest/kotlin/space/kscience/controls/api/MessageTest.kt
index 719738a..269b140 100644
--- a/controls-core/src/commonTest/kotlin/space/kscience/controls/api/MessageTest.kt
+++ b/controls-core/src/commonTest/kotlin/space/kscience/controls/api/MessageTest.kt
@@ -1,9 +1,8 @@
package space.kscience.controls.api
-import kotlinx.serialization.decodeFromString
import kotlinx.serialization.encodeToString
import kotlinx.serialization.json.Json
-import space.kscience.controls.spec.asMeta
+import space.kscience.controls.misc.asMeta
import kotlin.test.Test
import kotlin.test.assertEquals
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
index 859bce2..f4a232e 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
@@ -16,8 +16,6 @@ import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.misc.DFExperimental
import space.kscience.dataforge.names.Name
-import space.kscience.dataforge.names.length
-import space.kscience.dataforge.names.startsWith
import space.kscience.magix.api.MagixEndpoint
import space.kscience.magix.api.send
import space.kscience.magix.api.subscribe
@@ -121,12 +119,18 @@ public suspend fun MagixEndpoint.remoteDevice(
deviceEndpoint: String,
deviceName: Name,
): DeviceClient = coroutineScope {
- val subscription = subscribe(DeviceManager.magixFormat, originFilter = listOf(deviceEndpoint)).map { it.second }
+ val subscription = subscribe(DeviceManager.magixFormat, originFilter = listOf(deviceEndpoint))
+ .map { it.second }
+ .filter {
+ it.sourceDevice == null || it.sourceDevice == deviceName
+ }
val deferredDescriptorMessage = CompletableDeferred<DescriptionMessage>()
launch {
- deferredDescriptorMessage.complete(subscription.filterIsInstance<DescriptionMessage>().first())
+ deferredDescriptorMessage.complete(
+ subscription.filterIsInstance<DescriptionMessage>().first()
+ )
}
send(
@@ -157,12 +161,6 @@ public suspend fun MagixEndpoint.remoteDevice(
}
}
-private class MapBasedDeviceHub(val deviceMap: Map<Name, Device>, val prefix: Name) : DeviceHub {
- override val devices: Map<Name, Device>
- get() = deviceMap.filterKeys { name: Name -> name == prefix || (name.startsWith(prefix) && name.length == prefix.length + 1) }
-
-}
-
/**
* Create a dynamic [DeviceHub] from incoming messages
*/
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
index 5fe99c3..2ffad2a 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/controlsMagix.kt
@@ -1,6 +1,7 @@
package space.kscience.controls.client
import com.benasher44.uuid.uuid4
+import kotlinx.coroutines.CancellationException
import kotlinx.coroutines.Job
import kotlinx.coroutines.flow.catch
import kotlinx.coroutines.flow.launchIn
@@ -56,7 +57,7 @@ public fun DeviceManager.launchMagixService(
)
}
}.catch { error ->
- logger.error(error) { "Error while responding to message: ${error.message}" }
+ if (error !is CancellationException) logger.error(error) { "Error while responding to message: ${error.message}" }
}.launchIn(this)
hubMessageFlow().onEach { payload ->
diff --git a/controls-vision/src/commonMain/kotlin/BooleanIndicatorVision.kt b/controls-vision/src/commonMain/kotlin/BooleanIndicatorVision.kt
deleted file mode 100644
index 8783228..0000000
--- a/controls-vision/src/commonMain/kotlin/BooleanIndicatorVision.kt
+++ /dev/null
@@ -1,24 +0,0 @@
-package space.kscience.controls.vision
-
-import kotlinx.serialization.SerialName
-import kotlinx.serialization.Serializable
-import space.kscience.dataforge.meta.boolean
-import space.kscience.visionforge.AbstractVision
-import space.kscience.visionforge.Vision
-import space.kscience.visionforge.html.VisionOfHtml
-
-/**
- * A [Vision] that shows an indicator
- */
-@Serializable
-@SerialName("controls.indicator")
-public class BooleanIndicatorVision : AbstractVision(), VisionOfHtml {
- public val isOn: Boolean by properties.boolean(false)
-}
-
-///**
-// * A [Vision] that allows both showing the value and changing it
-// */
-//public interface RegulatorVision: IndicatorVision{
-//
-//}
\ No newline at end of file
diff --git a/controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt b/controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt
index 6395d53..d9ec746 100644
--- a/controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt
+++ b/controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt
@@ -13,6 +13,7 @@ public expect class ControlVisionPlugin: VisionPlugin{
internal val controlsVisionSerializersModule = SerializersModule {
polymorphic(Vision::class) {
- subclass(BooleanIndicatorVision.serializer())
+ subclass(IndicatorVision.serializer())
+ subclass(SliderVision.serializer())
}
}
\ No newline at end of file
diff --git a/controls-vision/src/commonMain/kotlin/controlsVisions.kt b/controls-vision/src/commonMain/kotlin/controlsVisions.kt
new file mode 100644
index 0000000..1b633ed
--- /dev/null
+++ b/controls-vision/src/commonMain/kotlin/controlsVisions.kt
@@ -0,0 +1,35 @@
+package space.kscience.controls.vision
+
+import kotlinx.serialization.SerialName
+import kotlinx.serialization.Serializable
+import space.kscience.controls.misc.doubleRange
+import space.kscience.dataforge.meta.MetaConverter
+import space.kscience.dataforge.meta.convertable
+import space.kscience.dataforge.meta.double
+import space.kscience.dataforge.meta.string
+import space.kscience.visionforge.AbstractControlVision
+import space.kscience.visionforge.AbstractVision
+import space.kscience.visionforge.Vision
+
+/**
+ * A [Vision] that shows a colored indicator
+ */
+@Serializable
+@SerialName("controls.indicator")
+public class IndicatorVision : AbstractVision() {
+ public val color: String? by properties.string()
+}
+
+@Serializable
+@SerialName("controls.slider")
+public class SliderVision : AbstractControlVision() {
+ public var position: Double? by properties.double()
+ public var range: ClosedFloatingPointRange<Double>? by properties.convertable(MetaConverter.doubleRange)
+}
+
+///**
+// * A [Vision] that allows both showing the value and changing it
+// */
+//public interface RegulatorVision: IndicatorVision{
+//
+//}
\ No newline at end of file
diff --git a/controls-vision/src/commonMain/kotlin/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
index 88b870e..8eeb9a4 100644
--- a/controls-vision/src/commonMain/kotlin/plotExtensions.kt
+++ b/controls-vision/src/commonMain/kotlin/plotExtensions.kt
@@ -145,7 +145,7 @@ private fun <T> Trace.updateFromState(
public fun <T> Plot.plotDeviceState(
context: Context,
state: DeviceState<T>,
- extractValue: T.() -> Value = { state.converter.convert(this).value ?: Null },
+ extractValue: (T) -> Value = { Value.of(it) },
maxAge: Duration = defaultMaxAge,
maxPoints: Int = defaultMaxPoints,
minPoints: Int = defaultMinPoints,
diff --git a/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt b/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
index d08772c..b966791 100644
--- a/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
+++ b/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
@@ -10,7 +10,34 @@ import space.kscience.dataforge.names.asName
import space.kscience.visionforge.VisionPlugin
import space.kscience.visionforge.html.ElementVisionRenderer
-private val indicatorRenderer = ElementVisionRenderer<BooleanIndicatorVision> { name, vision: BooleanIndicatorVision, meta ->
+
+private val indicatorRenderer = ElementVisionRenderer<IndicatorVision> { name, vision: IndicatorVision, meta ->
+// val ledSize = vision.properties["size"].int ?: 15
+// val color = vision.color ?: "LightGray"
+// div("controls-indicator") {
+// style = """
+//
+// @keyframes blink {
+// 0% { box-shadow: 0 0 10px; }
+// 50% { box-shadow: 0 0 30px; }
+// 100% { box-shadow: 0 0 10px; }
+// }
+//
+// display: inline-block;
+// margin: ${ledSize}px;
+// width: ${ledSize}px;
+// height: ${ledSize}px;
+// border-radius: 50%;
+//
+// background: $color;
+// border: 1px solid darken($color,5%);
+// color: $color;
+// animation: blink 3s infinite;
+// """.trimIndent()
+// }
+}
+
+private val sliderRenderer = ElementVisionRenderer<SliderVision> { name, vision: SliderVision, meta ->
}
@@ -22,7 +49,8 @@ public actual class ControlVisionPlugin : VisionPlugin() {
override fun content(target: String): Map<Name, Any> = when (target) {
ElementVisionRenderer.TYPE -> mapOf(
- "indicator".asName() to indicatorRenderer
+ "indicator".asName() to indicatorRenderer,
+ "slider".asName() to sliderRenderer
)
else -> super.content(target)
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt
index e76cfe0..a598d4b 100644
--- a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt
+++ b/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt
@@ -64,7 +64,7 @@ class VirtualCarController : Controller(), ContextAware {
//mongoStorageJob = deviceManager.storeMessages(DefaultAsynchronousMongoClientFactory)
//Launch device client and connect it to the server
val deviceEndpoint = MagixEndpoint.rSocketWithTcp("localhost")
- deviceManager.launchMagixService(deviceEndpoint)
+ deviceManager.launchMagixService(deviceEndpoint, "car")
}
}
diff --git a/demo/constructor/build.gradle.kts b/demo/constructor/build.gradle.kts
index 6909639..8628dd1 100644
--- a/demo/constructor/build.gradle.kts
+++ b/demo/constructor/build.gradle.kts
@@ -1,3 +1,4 @@
+import org.jetbrains.compose.ExperimentalComposeLibrary
import org.jetbrains.compose.desktop.application.dsl.TargetFormat
import org.jetbrains.kotlin.gradle.dsl.ExplicitApiMode
@@ -11,12 +12,15 @@ kscience {
withJava()
}
useKtor()
+ useSerialization()
useContextReceivers()
- dependencies {
- api(projects.controlsVision)
+ commonMain {
+ implementation(projects.controlsVision)
+ implementation(projects.controlsConstructor)
+// implementation("io.github.koalaplot:koalaplot-core:0.6.0")
}
jvmMain {
- implementation("io.ktor:ktor-server-cio")
+// implementation("io.ktor:ktor-server-cio")
implementation(spclibs.logback.classic)
}
}
@@ -26,6 +30,8 @@ kotlin {
jvmMain {
dependencies {
implementation(compose.desktop.currentOs)
+ @OptIn(ExperimentalComposeLibrary::class)
+ implementation(compose.desktop.components.splitPane)
}
}
}
diff --git a/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt b/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
new file mode 100644
index 0000000..bb15c49
--- /dev/null
+++ b/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
@@ -0,0 +1,185 @@
+package space.kscience.controls.demo.constructor
+
+import androidx.compose.foundation.Canvas
+import androidx.compose.foundation.layout.Box
+import androidx.compose.foundation.layout.fillMaxSize
+import androidx.compose.foundation.layout.size
+import androidx.compose.material.MaterialTheme
+import androidx.compose.runtime.*
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.geometry.Offset
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.unit.dp
+import androidx.compose.ui.window.Window
+import androidx.compose.ui.window.application
+import kotlinx.serialization.Serializable
+import space.kscience.controls.constructor.*
+import space.kscience.dataforge.context.Context
+import kotlin.coroutines.CoroutineContext
+import kotlin.coroutines.EmptyCoroutineContext
+import kotlin.math.pow
+import kotlin.math.sqrt
+import kotlin.time.Duration.Companion.milliseconds
+import kotlin.time.DurationUnit
+
+@Serializable
+data class XY(val x: Double, val y: Double) {
+ companion object {
+ val ZERO = XY(0.0, 0.0)
+ }
+}
+
+operator fun XY.plus(other: XY): XY = XY(x + other.x, y + other.y)
+operator fun XY.times(c: Double): XY = XY(x * c, y * c)
+operator fun XY.div(c: Double): XY = XY(x / c, y / c)
+//
+//class XYPosition(context: Context, x0: Double, y0: Double) : DeviceModel(context) {
+// val x: MutableDeviceState<Double> = mutableState(x0)
+// val y: MutableDeviceState<Double> = mutableState(y0)
+//
+// val xy = combineState(x, y) { x, y -> XY(x, y) }
+//}
+
+class Spring(
+ context: Context,
+ val k: Double,
+ val l0: Double,
+ val begin: DeviceState<XY>,
+ val end: DeviceState<XY>,
+) : DeviceConstructor(context) {
+
+ val length = combineState(begin, end) { begin, end ->
+ sqrt((end.y - begin.y).pow(2) + (end.x - begin.x).pow(2))
+ }
+
+ val tension: DeviceState<Double> = mapState(length) { l ->
+ val delta = l - l0
+ k * delta
+ }
+
+ /**
+ * direction from start to end
+ */
+ val direction = combineState(begin, end) { begin, end ->
+ val dx = end.x - begin.x
+ val dy = end.y - begin.y
+ val l = sqrt((end.y - begin.y).pow(2) + (end.x - begin.x).pow(2))
+ XY(dx / l, dy / l)
+ }
+
+ val beginForce = combineState(direction, tension) { direction: XY, tension: Double ->
+ direction * (tension)
+ }
+
+
+ val endForce = combineState(direction, tension) { direction: XY, tension: Double ->
+ direction * (-tension)
+ }
+}
+
+class MaterialPoint(
+ context: Context,
+ val mass: Double,
+ val force: DeviceState<XY>,
+ val position: MutableDeviceState<XY>,
+ val velocity: MutableDeviceState<XY> = MutableDeviceState(XY.ZERO),
+) : DeviceModel(context, force) {
+
+ private val timer: TimerState = timer(2.milliseconds)
+
+ private val movement = timer.onChange(
+ position, velocity,
+ alsoReads = setOf(force, velocity, position)
+ ) { prev, next ->
+ val dt = (next - prev).toDouble(DurationUnit.SECONDS)
+ val a = force.value / mass
+ position.value += a * (dt * dt / 2) + velocity.value * dt
+ velocity.value += a * dt
+ }
+}
+
+
+class BodyOnSprings(
+ context: Context,
+ mass: Double,
+ k: Double,
+ startPosition: XY,
+ l0: Double = 1.0,
+ val xLeft: Double = 0.0,
+ val xRight: Double = 2.0,
+ val yBottom: Double = 0.0,
+ val yTop: Double = 2.0,
+) : DeviceConstructor(context) {
+
+ val width = xRight - xLeft
+ val height = yTop - yBottom
+
+ val position = mutableState(startPosition)
+
+ private val leftAnchor = mutableState(XY(xLeft, yTop + yBottom / 2))
+
+ val leftSpring by device(
+ Spring(context, k, l0, leftAnchor, position)
+ )
+
+ private val rightAnchor = mutableState(XY(xRight, yTop + yBottom / 2))
+
+ val rightSpring by device(
+ Spring(context, k, l0, rightAnchor, position)
+ )
+
+ val force: DeviceState<XY> = combineState(leftSpring.endForce, rightSpring.endForce) { left, rignt ->
+ left + rignt
+ }
+
+
+ val body = model(
+ MaterialPoint(
+ context = context,
+ mass = mass,
+ force = force,
+ position = position
+ )
+ )
+}
+
+@Composable
+fun <T> DeviceState<T>.collect(
+ coroutineContext: CoroutineContext = EmptyCoroutineContext,
+): State<T> = valueFlow.collectAsState(value, coroutineContext)
+
+fun main() = application {
+ val initialState = XY(1.1, 1.1)
+
+ Window(title = "Ball on springs", onCloseRequest = ::exitApplication) {
+ MaterialTheme {
+ val context = remember {
+ Context("simulation")
+ }
+
+ val model = remember {
+ BodyOnSprings(context, 100.0, 1000.0, initialState)
+ }
+
+ val position: XY by model.body.position.collect()
+ Box(Modifier.size(400.dp)) {
+ Canvas(modifier = Modifier.fillMaxSize()) {
+ fun XY.toOffset() = Offset(
+ (x / model.width * size.width).toFloat(),
+ (y / model.height * size.height).toFloat()
+ )
+
+ drawCircle(
+ Color.Red, 10f, center = position.toOffset()
+ )
+ drawLine(Color.Blue, model.leftSpring.begin.value.toOffset(), model.leftSpring.end.value.toOffset())
+ drawLine(
+ Color.Blue,
+ model.rightSpring.begin.value.toOffset(),
+ model.rightSpring.end.value.toOffset()
+ )
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
index 106b077..b0282d0 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
@@ -12,6 +12,8 @@ import kotlinx.coroutines.sync.withLock
import kotlinx.coroutines.withTimeout
import space.kscience.controls.api.DeviceHub
import space.kscience.controls.api.PropertyDescriptor
+import space.kscience.controls.misc.asMeta
+import space.kscience.controls.misc.duration
import space.kscience.controls.ports.AsynchronousPort
import space.kscience.controls.ports.KtorTcpPort
import space.kscience.controls.ports.send
diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
index 601b9d1..617933a 100644
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -79,6 +79,7 @@ visionforge-jupiter = { module = "space.kscience:visionforge-jupyter", version.r
visionforge-plotly = { module = "space.kscience:visionforge-plotly", version.ref = "visionforge" }
visionforge-markdown = { module = "space.kscience:visionforge-markdown", version.ref = "visionforge" }
visionforge-server = { module = "space.kscience:visionforge-server", version.ref = "visionforge" }
+visionforge-compose-html = { module = "space.kscience:visionforge-compose-html", version.ref = "visionforge" }
# Buildscript
From f72d7aa3fa46b2b45e5ccbe508568cc3563af4e0 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Tue, 28 May 2024 09:51:30 +0300
Subject: [PATCH 091/125] Synchronous port response consumeAsSource
---
CHANGELOG.md | 1 +
.../controls/ports/AsynchronousPort.kt | 23 +++++-------------
.../controls/ports/SynchronousPort.kt | 24 ++++++++++++++++---
.../kscience/controls/ports/ioExtensions.kt | 21 +++++++++++++++-
4 files changed, 48 insertions(+), 21 deletions(-)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5a1dad9..92b2765 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,6 +13,7 @@
- Refactored ports. Now we have `AsynchronousPort` as well as `SynchronousPort`
- `DeviceClient` now initializes property and action descriptors eagerly.
- `DeviceHub` now works with `Name` instead of `NameToken`. Tree-like structure is made using `Path`. Device messages no longer have access to sub-devices.
+- Add some utility methods to ports. Synchronous port response could be now consumed as `Source`.
### Deprecated
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt
index 3f89e75..9b37fd3 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt
@@ -3,10 +3,7 @@ package space.kscience.controls.ports
import kotlinx.coroutines.*
import kotlinx.coroutines.channels.Channel
import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.launchIn
-import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.flow.receiveAsFlow
-import kotlinx.io.Buffer
import kotlinx.io.Source
import space.kscience.controls.api.AsynchronousSocket
import space.kscience.dataforge.context.*
@@ -26,15 +23,7 @@ public interface AsynchronousPort : ContextAware, AsynchronousSocket<ByteArray>
* [scope] controls the consummation.
* If the scope is canceled, the source stops producing.
*/
-public fun AsynchronousPort.receiveAsSource(scope: CoroutineScope): Source {
- val buffer = Buffer()
-
- subscribe().onEach {
- buffer.write(it)
- }.launchIn(scope)
-
- return buffer
-}
+public fun AsynchronousPort.receiveAsSource(scope: CoroutineScope): Source = subscribe().consumeAsSource(scope)
/**
@@ -51,13 +40,13 @@ public abstract class AbstractAsynchronousPort(
CoroutineScope(
coroutineContext +
SupervisorJob(coroutineContext[Job]) +
- CoroutineExceptionHandler { _, throwable -> logger.error(throwable) { throwable.stackTraceToString() } } +
+ CoroutineExceptionHandler { _, throwable -> logger.error(throwable) { "Asynchronous port error: " + throwable.stackTraceToString() } } +
CoroutineName(toString())
)
}
- private val outgoing = Channel<ByteArray>(meta["outgoing.capacity"].int?:100)
- private val incoming = Channel<ByteArray>(meta["incoming.capacity"].int?:100)
+ private val outgoing = Channel<ByteArray>(meta["outgoing.capacity"].int ?: 100)
+ private val incoming = Channel<ByteArray>(meta["incoming.capacity"].int ?: 100)
/**
* Internal method to synchronously send data
@@ -100,7 +89,7 @@ public abstract class AbstractAsynchronousPort(
* Send a data packet via the port
*/
override suspend fun send(data: ByteArray) {
- check(isOpen){"The port is not opened"}
+ check(isOpen) { "The port is not opened" }
outgoing.send(data)
}
@@ -117,7 +106,7 @@ public abstract class AbstractAsynchronousPort(
sendJob?.cancel()
}
- override fun toString(): String = meta["name"].string?:"ChannelPort[${hashCode().toString(16)}]"
+ override fun toString(): String = meta["name"].string ?: "ChannelPort[${hashCode().toString(16)}]"
}
/**
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt
index 49c2b06..ac368c5 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt
@@ -1,11 +1,11 @@
package space.kscience.controls.ports
-import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.first
-import kotlinx.coroutines.flow.takeWhile
+import kotlinx.coroutines.coroutineScope
+import kotlinx.coroutines.flow.*
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import kotlinx.io.Buffer
+import kotlinx.io.Source
import kotlinx.io.readByteArray
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.ContextAware
@@ -46,6 +46,24 @@ public interface SynchronousPort : ContextAware, AutoCloseable {
}
}
+/**
+ * Read response to a given message using [Source] abstraction
+ */
+public suspend fun <R> SynchronousPort.respondAsSource(
+ request: ByteArray,
+ transform: suspend Source.() -> R,
+): R = respond(request) {
+ //suspend until the response is fully read
+ coroutineScope {
+ val buffer = Buffer()
+ val collectJob = onEach { buffer.write(it) }.launchIn(this)
+ val res = transform(buffer)
+ //cancel collection when the result is achieved
+ collectJob.cancel()
+ res
+ }
+}
+
private class SynchronousOverAsynchronousPort(
val port: AsynchronousPort,
val mutex: Mutex,
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/ioExtensions.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/ioExtensions.kt
index dbe7256..5d7d3bf 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/ioExtensions.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/ioExtensions.kt
@@ -1,5 +1,24 @@
package space.kscience.controls.ports
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
+import kotlinx.io.Buffer
+import kotlinx.io.Source
import space.kscience.dataforge.io.Binary
-public fun Binary.readShort(position: Int): Short = read(position) { readShort() }
\ No newline at end of file
+public fun Binary.readShort(position: Int): Short = read(position) { readShort() }
+
+/**
+ * Consume given flow of [ByteArray] as [Source]. The subscription is canceled when [scope] is closed.
+ */
+public fun Flow<ByteArray>.consumeAsSource(scope: CoroutineScope): Source {
+ val buffer = Buffer()
+ //subscription is canceled when the scope is canceled
+ onEach {
+ buffer.write(it)
+ }.launchIn(scope)
+
+ return buffer
+}
\ No newline at end of file
From 9edde7bdbd47688f208cb9f2a8fbe73519a8261a Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 29 May 2024 22:20:22 +0300
Subject: [PATCH 092/125] Major constructor refactoring
---
build.gradle.kts | 3 +
controls-constructor/build.gradle.kts | 1 +
...ateDescriptor.kt => ConstructorElement.kt} | 93 +++--
.../controls/constructor/ConstructorModel.kt | 33 ++
.../controls/constructor/DeviceConstructor.kt | 40 +-
.../controls/constructor/DeviceModel.kt | 32 --
.../controls/constructor/DeviceState.kt | 6 +
.../controls/constructor/boundState.kt | 4 +-
.../controls/constructor/exoticState.kt | 2 +-
.../controls/constructor/library/Converter.kt | 20 +
.../controls/constructor/library/Drive.kt | 4 +-
.../constructor/library/LimitSwitch.kt | 26 +-
.../constructor/library/PidRegulator.kt | 30 +-
.../controls/constructor/library/Regulator.kt | 4 +-
.../constructor/units/NumericalValue.kt | 10 +
.../constructor/units/UnitsOfMeasurement.kt | 30 ++
.../kscience/controls/manager/ClockManager.kt | 3 +-
.../kscience/controls/spec/DeviceSpec.kt | 19 +-
.../kscience/controls/client/MagixLoopTest.kt | 59 ++-
.../controls/opcua/client/OpcUaDevice.kt | 2 +-
...otExtensions.kt => koalaPlotExtensions.kt} | 0
.../build.gradle.kts | 45 +++
.../src/commonMain/kotlin/TimeAxisModel.kt | 45 +++
.../src/commonMain/kotlin/composeState.kt | 31 ++
.../src/commonMain/kotlin/indicators.kt | 2 +
.../src/commonMain/kotlin/koalaPlots.kt | 230 +++++++++++
.../src/commonMain/kotlin/sliders.kt | 51 +++
demo/constructor/build.gradle.kts | 10 +-
.../src/jvmMain/kotlin/BodyOnSprings.kt | 92 +++--
.../src/jvmMain/kotlin/LinearDrive.kt | 372 ++++++++++--------
.../constructor/src/jvmMain/kotlin/Plotter.kt | 2 +
settings.gradle.kts | 1 +
32 files changed, 900 insertions(+), 402 deletions(-)
rename controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/{StateDescriptor.kt => ConstructorElement.kt} (63%)
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorModel.kt
delete mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Converter.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt
rename controls-vision/src/commonMain/kotlin/{plotExtensions.kt => koalaPlotExtensions.kt} (100%)
create mode 100644 controls-visualisation-compose/build.gradle.kts
create mode 100644 controls-visualisation-compose/src/commonMain/kotlin/TimeAxisModel.kt
create mode 100644 controls-visualisation-compose/src/commonMain/kotlin/composeState.kt
create mode 100644 controls-visualisation-compose/src/commonMain/kotlin/indicators.kt
create mode 100644 controls-visualisation-compose/src/commonMain/kotlin/koalaPlots.kt
create mode 100644 controls-visualisation-compose/src/commonMain/kotlin/sliders.kt
create mode 100644 demo/constructor/src/jvmMain/kotlin/Plotter.kt
diff --git a/build.gradle.kts b/build.gradle.kts
index 50a61d8..773272c 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -8,6 +8,9 @@ plugins {
allprojects {
group = "space.kscience"
version = "0.4.0-dev-4"
+ repositories{
+ google()
+ }
}
ksciencePublish {
diff --git a/controls-constructor/build.gradle.kts b/controls-constructor/build.gradle.kts
index e69c4d4..008a242 100644
--- a/controls-constructor/build.gradle.kts
+++ b/controls-constructor/build.gradle.kts
@@ -11,6 +11,7 @@ kscience{
jvm()
js()
useCoroutines()
+ useSerialization()
commonMain {
api(projects.controlsCore)
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/StateDescriptor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt
similarity index 63%
rename from controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/StateDescriptor.kt
rename to controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt
index 30a0299..911a682 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/StateDescriptor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt
@@ -2,9 +2,7 @@ package space.kscience.controls.constructor
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Job
-import kotlinx.coroutines.flow.launchIn
-import kotlinx.coroutines.flow.onEach
-import kotlinx.coroutines.flow.runningFold
+import kotlinx.coroutines.flow.*
import space.kscience.controls.api.Device
import space.kscience.controls.manager.ClockManager
import space.kscience.dataforge.context.ContextAware
@@ -14,34 +12,38 @@ import kotlin.time.Duration
/**
* A binding that is used to describe device functionality
*/
-public sealed interface StateDescriptor
+public sealed interface ConstructorElement
/**
* A binding that exposes device property as read-only state
*/
-public class StatePropertyDescriptor<T>(
+public class PropertyConstructorElement<T>(
public val device: Device,
public val propertyName: String,
public val state: DeviceState<T>,
-) : StateDescriptor
+) : ConstructorElement
/**
* A binding for independent state like a timer
*/
-public class StateNodeDescriptor<T>(
+public class StateConstructorElement<T>(
public val state: DeviceState<T>,
-) : StateDescriptor
+) : ConstructorElement
-public class StateConnectionDescriptor(
+public class ConnectionConstrucorElement(
public val reads: Collection<DeviceState<*>>,
public val writes: Collection<DeviceState<*>>,
-) : StateDescriptor
+) : ConstructorElement
+
+public class ModelConstructorElement(
+ public val model: ConstructorModel
+) : ConstructorElement
public interface StateContainer : ContextAware, CoroutineScope {
- public val stateDescriptors: Set<StateDescriptor>
- public fun registerState(stateDescriptor: StateDescriptor)
- public fun unregisterState(stateDescriptor: StateDescriptor)
+ public val constructorElements: Set<ConstructorElement>
+ public fun registerElement(constructorElement: ConstructorElement)
+ public fun unregisterElement(constructorElement: ConstructorElement)
/**
@@ -50,16 +52,16 @@ public interface StateContainer : ContextAware, CoroutineScope {
* Optionally provide [writes] - a set of states that this change affects.
*/
public fun <T> DeviceState<T>.onNext(
- vararg writes: DeviceState<*>,
- alsoReads: Collection<DeviceState<*>> = emptySet(),
+ writes: Collection<DeviceState<*>> = emptySet(),
+ reads: Collection<DeviceState<*>> = emptySet(),
onChange: suspend (T) -> Unit,
): Job = valueFlow.onEach(onChange).launchIn(this@StateContainer).also {
- registerState(StateConnectionDescriptor(setOf(this, *alsoReads.toTypedArray()), setOf(*writes)))
+ registerElement(ConnectionConstrucorElement(reads + this, writes))
}
public fun <T> DeviceState<T>.onChange(
- vararg writes: DeviceState<*>,
- alsoReads: Collection<DeviceState<*>> = emptySet(),
+ writes: Collection<DeviceState<*>> = emptySet(),
+ reads: Collection<DeviceState<*>> = emptySet(),
onChange: suspend (prev: T, next: T) -> Unit,
): Job = valueFlow.runningFold(Pair(value, value)) { pair, next ->
Pair(pair.second, next)
@@ -68,7 +70,7 @@ public interface StateContainer : ContextAware, CoroutineScope {
onChange(pair.first, pair.second)
}
}.launchIn(this@StateContainer).also {
- registerState(StateConnectionDescriptor(setOf(this, *alsoReads.toTypedArray()), setOf(*writes)))
+ registerElement(ConnectionConstrucorElement(reads + this, writes))
}
}
@@ -76,21 +78,19 @@ public interface StateContainer : ContextAware, CoroutineScope {
* Register a [state] in this container. The state is not registered as a device property if [this] is a [DeviceConstructor]
*/
public fun <T, D : DeviceState<T>> StateContainer.state(state: D): D {
- registerState(StateNodeDescriptor(state))
+ registerElement(StateConstructorElement(state))
return state
}
/**
* Create a register a [MutableDeviceState] with a given [converter]
*/
-public fun <T> StateContainer.mutableState(initialValue: T): MutableDeviceState<T> = state(
+public fun <T> StateContainer.stateOf(initialValue: T): MutableDeviceState<T> = state(
MutableDeviceState(initialValue)
)
-public fun <T : DeviceModel> StateContainer.model(model: T): T {
- model.stateDescriptors.forEach {
- registerState(it)
- }
+public fun <T : ConstructorModel> StateContainer.model(model: T): T {
+ registerElement(ModelConstructorElement(model))
return model
}
@@ -101,9 +101,20 @@ public fun StateContainer.timer(tick: Duration): TimerState = state(TimerState(c
public fun <T, R> StateContainer.mapState(
- state: DeviceState<T>,
+ origin: DeviceState<T>,
transformation: (T) -> R,
-): DeviceStateWithDependencies<R> = state(DeviceState.map(state, transformation))
+): DeviceStateWithDependencies<R> = state(DeviceState.map(origin, transformation))
+
+
+public fun <T, R> StateContainer.flowState(
+ origin: DeviceState<T>,
+ initialValue: R,
+ transformation: suspend FlowCollector<R>.(T) -> Unit
+): DeviceStateWithDependencies<R> {
+ val state = MutableDeviceState(initialValue)
+ origin.valueFlow.transform(transformation).onEach { state.value = it }.launchIn(this)
+ return state(state.withDependencies(setOf(origin)))
+}
/**
* Create a new state by combining two existing ones
@@ -122,13 +133,13 @@ public fun <T1, T2, R> StateContainer.combineState(
* On resulting [Job] cancel the binding is unregistered
*/
public fun <T> StateContainer.bindTo(sourceState: DeviceState<T>, targetState: MutableDeviceState<T>): Job {
- val descriptor = StateConnectionDescriptor(setOf(sourceState), setOf(targetState))
- registerState(descriptor)
+ val descriptor = ConnectionConstrucorElement(setOf(sourceState), setOf(targetState))
+ registerElement(descriptor)
return sourceState.valueFlow.onEach {
targetState.value = it
}.launchIn(this).apply {
invokeOnCompletion {
- unregisterState(descriptor)
+ unregisterElement(descriptor)
}
}
}
@@ -144,19 +155,19 @@ public fun <T, R> StateContainer.transformTo(
targetState: MutableDeviceState<R>,
transformation: suspend (T) -> R,
): Job {
- val descriptor = StateConnectionDescriptor(setOf(sourceState), setOf(targetState))
- registerState(descriptor)
+ val descriptor = ConnectionConstrucorElement(setOf(sourceState), setOf(targetState))
+ registerElement(descriptor)
return sourceState.valueFlow.onEach {
targetState.value = transformation(it)
}.launchIn(this).apply {
invokeOnCompletion {
- unregisterState(descriptor)
+ unregisterElement(descriptor)
}
}
}
/**
- * Register [StateDescriptor] that combines values from [sourceState1] and [sourceState2] using [transformation].
+ * Register [ConstructorElement] that combines values from [sourceState1] and [sourceState2] using [transformation].
*
* On resulting [Job] cancel the binding is unregistered
*/
@@ -166,19 +177,19 @@ public fun <T1, T2, R> StateContainer.combineTo(
targetState: MutableDeviceState<R>,
transformation: suspend (T1, T2) -> R,
): Job {
- val descriptor = StateConnectionDescriptor(setOf(sourceState1, sourceState2), setOf(targetState))
- registerState(descriptor)
+ val descriptor = ConnectionConstrucorElement(setOf(sourceState1, sourceState2), setOf(targetState))
+ registerElement(descriptor)
return kotlinx.coroutines.flow.combine(sourceState1.valueFlow, sourceState2.valueFlow, transformation).onEach {
targetState.value = it
}.launchIn(this).apply {
invokeOnCompletion {
- unregisterState(descriptor)
+ unregisterElement(descriptor)
}
}
}
/**
- * Register [StateDescriptor] that combines values from [sourceStates] using [transformation].
+ * Register [ConstructorElement] that combines values from [sourceStates] using [transformation].
*
* On resulting [Job] cancel the binding is unregistered
*/
@@ -187,13 +198,13 @@ public inline fun <reified T, R> StateContainer.combineTo(
targetState: MutableDeviceState<R>,
noinline transformation: suspend (Array<T>) -> R,
): Job {
- val descriptor = StateConnectionDescriptor(sourceStates, setOf(targetState))
- registerState(descriptor)
+ val descriptor = ConnectionConstrucorElement(sourceStates, setOf(targetState))
+ registerElement(descriptor)
return kotlinx.coroutines.flow.combine(sourceStates.map { it.valueFlow }, transformation).onEach {
targetState.value = it
}.launchIn(this).apply {
invokeOnCompletion {
- unregisterState(descriptor)
+ unregisterElement(descriptor)
}
}
}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorModel.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorModel.kt
new file mode 100644
index 0000000..35a1e31
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorModel.kt
@@ -0,0 +1,33 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.SupervisorJob
+import kotlinx.coroutines.newCoroutineContext
+import space.kscience.dataforge.context.Context
+import kotlin.coroutines.CoroutineContext
+
+public abstract class ConstructorModel(
+ final override val context: Context,
+ vararg dependencies: DeviceState<*>,
+) : StateContainer, CoroutineScope {
+
+ @OptIn(kotlinx.coroutines.ExperimentalCoroutinesApi::class)
+ override val coroutineContext: CoroutineContext = context.newCoroutineContext(SupervisorJob())
+
+
+ private val _constructorElements: MutableSet<ConstructorElement> = mutableSetOf<ConstructorElement>().apply {
+ dependencies.forEach {
+ add(StateConstructorElement(it))
+ }
+ }
+
+ override val constructorElements: Set<ConstructorElement> get() = _constructorElements
+
+ override fun registerElement(constructorElement: ConstructorElement) {
+ _constructorElements.add(constructorElement)
+ }
+
+ override fun unregisterElement(constructorElement: ConstructorElement) {
+ _constructorElements.remove(constructorElement)
+ }
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
index 17294f1..8854247 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -3,7 +3,6 @@ package space.kscience.controls.constructor
import space.kscience.controls.api.Device
import space.kscience.controls.api.PropertyDescriptor
import space.kscience.controls.spec.DevicePropertySpec
-import space.kscience.controls.spec.MutableDevicePropertySpec
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.meta.Meta
@@ -22,15 +21,15 @@ public abstract class DeviceConstructor(
context: Context,
meta: Meta = Meta.EMPTY,
) : DeviceGroup(context, meta), StateContainer {
- private val _stateDescriptors: MutableSet<StateDescriptor> = mutableSetOf()
- override val stateDescriptors: Set<StateDescriptor> get() = _stateDescriptors
+ private val _constructorElements: MutableSet<ConstructorElement> = mutableSetOf()
+ override val constructorElements: Set<ConstructorElement> get() = _constructorElements
- override fun registerState(stateDescriptor: StateDescriptor) {
- _stateDescriptors.add(stateDescriptor)
+ override fun registerElement(constructorElement: ConstructorElement) {
+ _constructorElements.add(constructorElement)
}
- override fun unregisterState(stateDescriptor: StateDescriptor) {
- _stateDescriptors.remove(stateDescriptor)
+ override fun unregisterElement(constructorElement: ConstructorElement) {
+ _constructorElements.remove(constructorElement)
}
override fun <T> registerProperty(
@@ -39,7 +38,7 @@ public abstract class DeviceConstructor(
state: DeviceState<T>,
) {
super.registerProperty(converter, descriptor, state)
- registerState(StatePropertyDescriptor(this, descriptor.name, state))
+ registerElement(PropertyConstructorElement(this, descriptor.name, state))
}
}
@@ -108,7 +107,7 @@ public fun <T : Any> DeviceConstructor.property(
)
/**
- * Register a mutable external state as a property
+ * Create and register a mutable external state as a property
*/
public fun <T : Any> DeviceConstructor.mutableProperty(
metaConverter: MetaConverter<T>,
@@ -141,22 +140,7 @@ public fun <T> DeviceConstructor.virtualProperty(
nameOverride,
)
-/**
- * Bind existing property provided by specification to this device
- */
-public fun <T, D : Device> DeviceConstructor.deviceProperty(
- device: D,
- property: DevicePropertySpec<D, T>,
- initialValue: T,
-): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, DeviceState<T>>> =
- property(property.converter, device.propertyAsState(property, initialValue))
-
-/**
- * Bind existing property provided by specification to this device
- */
-public fun <T, D : Device> DeviceConstructor.deviceProperty(
- device: D,
- property: MutableDevicePropertySpec<D, T>,
- initialValue: T,
-): PropertyDelegateProvider<DeviceConstructor, ReadOnlyProperty<DeviceConstructor, MutableDeviceState<T>>> =
- property(property.converter, device.mutablePropertyAsState(property, initialValue))
+public fun <T, S : DeviceState<T>> DeviceConstructor.property(
+ spec: DevicePropertySpec<*, T>,
+ state: S,
+): Unit = registerProperty(spec.converter, spec.descriptor, state)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt
deleted file mode 100644
index 484b471..0000000
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceModel.kt
+++ /dev/null
@@ -1,32 +0,0 @@
-package space.kscience.controls.constructor
-
-import kotlinx.coroutines.CoroutineScope
-import kotlinx.coroutines.SupervisorJob
-import kotlinx.coroutines.newCoroutineContext
-import space.kscience.dataforge.context.Context
-import kotlin.coroutines.CoroutineContext
-
-public abstract class DeviceModel(
- final override val context: Context,
- vararg dependencies: DeviceState<*>,
-) : StateContainer, CoroutineScope {
-
- override val coroutineContext: CoroutineContext = context.newCoroutineContext(SupervisorJob())
-
-
- private val _stateDescriptors: MutableSet<StateDescriptor> = mutableSetOf<StateDescriptor>().apply {
- dependencies.forEach {
- add(StateNodeDescriptor(it))
- }
- }
-
- override val stateDescriptors: Set<StateDescriptor> get() = _stateDescriptors
-
- override fun registerState(stateDescriptor: StateDescriptor) {
- _stateDescriptors.add(stateDescriptor)
- }
-
- override fun unregisterState(stateDescriptor: StateDescriptor) {
- _stateDescriptors.remove(stateDescriptor)
- }
-}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index e74c4c0..db388d3 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -48,6 +48,12 @@ public interface DeviceStateWithDependencies<T> : DeviceState<T> {
public val dependencies: Collection<DeviceState<*>>
}
+public fun <T> DeviceState<T>.withDependencies(
+ dependencies: Collection<DeviceState<*>>
+): DeviceStateWithDependencies<T> = object : DeviceStateWithDependencies<T>, DeviceState<T> by this {
+ override val dependencies: Collection<DeviceState<*>> = dependencies
+}
+
/**
* Create a new read-only [DeviceState] that mirrors receiver state by mapping the value with [mapper].
*/
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/boundState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/boundState.kt
index f5c4480..1c128fa 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/boundState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/boundState.kt
@@ -92,11 +92,11 @@ public suspend fun <T> Device.mutablePropertyAsState(
return mutablePropertyAsState(propertyName, metaConverter, initialValue)
}
-public suspend fun <D : Device, T> D.mutablePropertyAsState(
+public suspend fun <D : Device, T> D.propertyAsState(
propertySpec: MutableDevicePropertySpec<D, T>,
): MutableDeviceState<T> = mutablePropertyAsState(propertySpec.name, propertySpec.converter)
-public fun <D : Device, T> D.mutablePropertyAsState(
+public fun <D : Device, T> D.propertyAsState(
propertySpec: MutableDevicePropertySpec<D, T>,
initialValue: T,
): MutableDeviceState<T> = mutablePropertyAsState(propertySpec.name, propertySpec.converter, initialValue)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt
index aabacfd..96ea4fe 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt
@@ -53,5 +53,5 @@ public fun StateContainer.doubleInRangeState(
initialValue: Double,
range: ClosedFloatingPointRange<Double>,
): DoubleInRangeState = DoubleInRangeState(initialValue, range).also {
- registerState(StateNodeDescriptor(it))
+ registerElement(StateConstructorElement(it))
}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Converter.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Converter.kt
new file mode 100644
index 0000000..45cd4db
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Converter.kt
@@ -0,0 +1,20 @@
+package space.kscience.controls.constructor.library
+
+import kotlinx.coroutines.flow.FlowCollector
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.DeviceStateWithDependencies
+import space.kscience.controls.constructor.flowState
+import space.kscience.dataforge.context.Context
+
+/**
+ * A device that converts one type of physical quantity to another type
+ */
+public class Converter<T, R>(
+ context: Context,
+ input: DeviceState<T>,
+ initialValue: R,
+ transform: suspend FlowCollector<R>.(T) -> Unit,
+) : DeviceConstructor(context) {
+ public val output: DeviceStateWithDependencies<R> = flowState(input, initialValue, transform)
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt
index 5678b34..6a07db0 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt
@@ -6,7 +6,7 @@ import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
import space.kscience.controls.api.Device
import space.kscience.controls.constructor.MutableDeviceState
-import space.kscience.controls.constructor.mutablePropertyAsState
+import space.kscience.controls.constructor.propertyAsState
import space.kscience.controls.manager.clock
import space.kscience.controls.spec.*
import space.kscience.dataforge.context.Context
@@ -98,4 +98,4 @@ public class VirtualDrive(
}
}
-public suspend fun Drive.stateOfForce(): MutableDeviceState<Double> = mutablePropertyAsState(Drive.force)
+public suspend fun Drive.stateOfForce(): MutableDeviceState<Double> = propertyAsState(Drive.force)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
index af6436f..876d2dc 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
@@ -1,15 +1,14 @@
package space.kscience.controls.constructor.library
-import kotlinx.coroutines.flow.launchIn
-import kotlinx.coroutines.flow.onEach
import space.kscience.controls.api.Device
+import space.kscience.controls.constructor.DeviceConstructor
import space.kscience.controls.constructor.DeviceState
-import space.kscience.controls.spec.DeviceBySpec
+import space.kscience.controls.constructor.property
import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.DeviceSpec
import space.kscience.controls.spec.booleanProperty
import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.context.Factory
+import space.kscience.dataforge.meta.MetaConverter
/**
@@ -17,13 +16,10 @@ import space.kscience.dataforge.context.Factory
*/
public interface LimitSwitch : Device {
- public val locked: Boolean
+ public fun isLocked(): Boolean
public companion object : DeviceSpec<LimitSwitch>() {
- public val locked: DevicePropertySpec<LimitSwitch, Boolean> by booleanProperty { locked }
- public operator fun invoke(lockedState: DeviceState<Boolean>): Factory<LimitSwitch> = Factory { context, _ ->
- VirtualLimitSwitch(context, lockedState)
- }
+ public val locked: DevicePropertySpec<LimitSwitch, Boolean> by booleanProperty { isLocked() }
}
}
@@ -32,14 +28,10 @@ public interface LimitSwitch : Device {
*/
public class VirtualLimitSwitch(
context: Context,
- public val lockedState: DeviceState<Boolean>,
-) : DeviceBySpec<LimitSwitch>(LimitSwitch, context), LimitSwitch {
+ locked: DeviceState<Boolean>,
+) : DeviceConstructor(context), LimitSwitch {
- override suspend fun onStart() {
- lockedState.valueFlow.onEach {
- propertyChanged(LimitSwitch.locked, it)
- }.launchIn(this)
- }
+ public val locked: DeviceState<Boolean> by property(MetaConverter.boolean, locked)
- override val locked: Boolean get() = lockedState.value
+ override fun isLocked(): Boolean = locked.value
}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
index afb2cbd..9edf91e 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
@@ -16,32 +16,22 @@ import kotlin.time.Duration
import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.DurationUnit
+
/**
* Pid regulator parameters
*/
-public interface PidParameters {
- public val kp: Double
- public val ki: Double
- public val kd: Double
- public val timeStep: Duration
-}
-
-private data class PidParametersImpl(
- override val kp: Double,
- override val ki: Double,
- override val kd: Double,
- override val timeStep: Duration,
-) : PidParameters
-
-public fun PidParameters(kp: Double, ki: Double, kd: Double, timeStep: Duration = 1.milliseconds): PidParameters =
- PidParametersImpl(kp, ki, kd, timeStep)
-
+public data class PidParameters(
+ val kp: Double,
+ val ki: Double,
+ val kd: Double,
+ val timeStep: Duration = 1.milliseconds,
+)
/**
* A drive with PID regulator
*/
public class PidRegulator(
public val drive: Drive,
- public val pidParameters: PidParameters,
+ public var pidParameters: PidParameters, // TODO expose as property
) : DeviceBySpec<Regulator>(Regulator, drive.context), Regulator {
private val clock = drive.context.clock
@@ -65,7 +55,7 @@ public class PidRegulator(
delay(pidParameters.timeStep)
mutex.withLock {
val realTime = clock.now()
- val delta = target - position
+ val delta = target - getPosition()
val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
integral += delta * dtSeconds
val derivative = (drive.position - lastPosition) / dtSeconds
@@ -87,7 +77,7 @@ public class PidRegulator(
drive.stop()
}
- override val position: Double get() = drive.position
+ override suspend fun getPosition(): Double = drive.position
}
public fun DeviceGroup.pid(
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt
index adf319b..eb9a333 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt
@@ -17,11 +17,11 @@ public interface Regulator : Device {
/**
* Current position value
*/
- public val position: Double
+ public suspend fun getPosition(): Double
public companion object : DeviceSpec<Regulator>() {
public val target: MutableDevicePropertySpec<Regulator, Double> by mutableProperty(MetaConverter.double, Regulator::target)
- public val position: DevicePropertySpec<Regulator, Double> by doubleProperty { position }
+ public val position: DevicePropertySpec<Regulator, Double> by doubleProperty { getPosition() }
}
}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
new file mode 100644
index 0000000..c97784d
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
@@ -0,0 +1,10 @@
+package space.kscience.controls.constructor.units
+
+import kotlin.jvm.JvmInline
+
+
+/**
+ * A value without identity coupled to units of measurements.
+ */
+@JvmInline
+public value class NumericalValue<T: UnitsOfMeasurement>(public val value: Double)
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt
new file mode 100644
index 0000000..c29c1be
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt
@@ -0,0 +1,30 @@
+package space.kscience.controls.constructor.units
+
+
+public interface UnitsOfMeasurement
+
+/**/
+
+public interface UnitsOfLength : UnitsOfMeasurement
+
+public data object Meters: UnitsOfLength
+
+/**/
+
+public interface UnitsOfTime: UnitsOfMeasurement
+
+public data object Seconds: UnitsOfTime
+
+/**/
+
+public interface UnitsOfVelocity: UnitsOfMeasurement
+
+public data object MetersPerSecond: UnitsOfVelocity
+
+/**/
+
+public interface UnitsAngularOfVelocity: UnitsOfMeasurement
+
+public data object RadiansPerSecond: UnitsAngularOfVelocity
+
+public data object DegreesPerSecond: UnitsAngularOfVelocity
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
index 20ba47e..a245d29 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
@@ -12,6 +12,7 @@ import kotlin.math.roundToLong
@OptIn(InternalCoroutinesApi::class)
private class CompressedTimeDispatcher(
+ val clockManager: ClockManager,
val dispatcher: CoroutineDispatcher,
val compression: Double,
) : CoroutineDispatcher(), Delay {
@@ -74,7 +75,7 @@ public class ClockManager : AbstractPlugin() {
): CoroutineDispatcher = if (timeCompression == 1.0) {
dispatcher
} else {
- CompressedTimeDispatcher(dispatcher, timeCompression)
+ CompressedTimeDispatcher(this, dispatcher, timeCompression)
}
public companion object : PluginFactory<ClockManager> {
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
index 07d831f..503df83 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
@@ -1,10 +1,7 @@
package space.kscience.controls.spec
import kotlinx.coroutines.withContext
-import space.kscience.controls.api.ActionDescriptor
-import space.kscience.controls.api.Device
-import space.kscience.controls.api.PropertyDescriptor
-import space.kscience.controls.api.metaDescriptor
+import space.kscience.controls.api.*
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.MetaConverter
import space.kscience.dataforge.meta.descriptors.MetaDescriptor
@@ -159,7 +156,6 @@ public abstract class DeviceSpec<D : Device> {
deviceAction
}
}
-
}
/**
@@ -196,3 +192,16 @@ public fun <D : Device> DeviceSpec<D>.metaAction(
execute(it)
}
+
+/**
+ * Throw an exception if device does not have all properties and actions defined by this specification
+ */
+public fun DeviceSpec<*>.validate(device: Device) {
+ properties.map { it.value.descriptor }.forEach { specProperty ->
+ check(specProperty in device.propertyDescriptors) { "Property ${specProperty.name} not registered in ${device.id}" }
+ }
+
+ actions.map { it.value.descriptor }.forEach { specAction ->
+ check(specAction in device.actionDescriptors) { "Action ${specAction.name} not registered in ${device.id}" }
+ }
+}
diff --git a/controls-magix/src/jvmTest/kotlin/space/kscience/controls/client/MagixLoopTest.kt b/controls-magix/src/jvmTest/kotlin/space/kscience/controls/client/MagixLoopTest.kt
index 764dcad..b08066b 100644
--- a/controls-magix/src/jvmTest/kotlin/space/kscience/controls/client/MagixLoopTest.kt
+++ b/controls-magix/src/jvmTest/kotlin/space/kscience/controls/client/MagixLoopTest.kt
@@ -19,42 +19,37 @@ import kotlin.test.assertEquals
class MagixLoopTest {
@Test
- fun deviceHub() = runTest {
- val context = Context {
- plugin(DeviceManager)
- }
-
- val server = context.startMagixServer()
-
- val deviceManager = context.request(DeviceManager)
-
- val deviceEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
-
-// deviceEndpoint.subscribe().onEach {
-// println(it)
-// }.launchIn(this)
-
- deviceManager.launchMagixService(deviceEndpoint, "device")
-
- launch {
- delay(50)
- repeat(10) {
- deviceManager.install("test[$it]", TestDevice)
- }
- }
-
- val clientEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
-
- val remoteHub = clientEndpoint.remoteDeviceHub(context, "client", "device")
-
- assertEquals(0, remoteHub.devices.size)
-
- delay(60)
- //switch context to use actual delay
+ fun realDeviceHub() = runTest {
withContext(Dispatchers.Default) {
+ val context = Context {
+ plugin(DeviceManager)
+ }
+
+ val server = context.startMagixServer()
+
+ val deviceManager = context.request(DeviceManager)
+
+ val deviceEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+
+ deviceManager.launchMagixService(deviceEndpoint, "device")
+
+ launch {
+ delay(50)
+ repeat(10) {
+ deviceManager.install("test[$it]", TestDevice)
+ }
+ }
+
+ val clientEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+
+ val remoteHub = clientEndpoint.remoteDeviceHub(context, "client", "device")
+
+ assertEquals(0, remoteHub.devices.size)
+ delay(60)
clientEndpoint.requestDeviceUpdate("client", "device")
delay(60)
assertEquals(10, remoteHub.devices.size)
+ server.stop()
}
}
}
\ No newline at end of file
diff --git a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDevice.kt b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDevice.kt
index 08a84b0..41369dc 100644
--- a/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDevice.kt
+++ b/controls-opcua/src/main/kotlin/space/kscience/controls/opcua/client/OpcUaDevice.kt
@@ -34,7 +34,7 @@ public suspend inline fun <reified T: Any> OpcUaDevice.readOpcWithTime(
converter: MetaConverter<T>,
magAge: Double = 500.0
): Pair<T, DateTime> {
- val data = client.readValue(magAge, TimestampsToReturn.Server, nodeId).await()
+ val data: DataValue = client.readValue(magAge, TimestampsToReturn.Server, nodeId).await()
val time = data.serverTime ?: error("No server time provided")
val meta: Meta = when (val content = data.value.value) {
is T -> return content to time
diff --git a/controls-vision/src/commonMain/kotlin/plotExtensions.kt b/controls-vision/src/commonMain/kotlin/koalaPlotExtensions.kt
similarity index 100%
rename from controls-vision/src/commonMain/kotlin/plotExtensions.kt
rename to controls-vision/src/commonMain/kotlin/koalaPlotExtensions.kt
diff --git a/controls-visualisation-compose/build.gradle.kts b/controls-visualisation-compose/build.gradle.kts
new file mode 100644
index 0000000..48ae9cd
--- /dev/null
+++ b/controls-visualisation-compose/build.gradle.kts
@@ -0,0 +1,45 @@
+import org.jetbrains.compose.ExperimentalComposeLibrary
+
+plugins {
+ id("space.kscience.gradle.mpp")
+ alias(spclibs.plugins.compose)
+ `maven-publish`
+}
+
+description = """
+ Visualisation extension using compose-multiplatform
+""".trimIndent()
+
+kscience {
+ jvm()
+ useKtor()
+ useSerialization()
+ useContextReceivers()
+ commonMain {
+ api(projects.controlsConstructor)
+ api("io.github.koalaplot:koalaplot-core:0.6.0")
+ }
+}
+
+kotlin {
+ sourceSets {
+ commonMain {
+ dependencies {
+ api(compose.foundation)
+ api(compose.material3)
+ @OptIn(ExperimentalComposeLibrary::class)
+ api(compose.desktop.components.splitPane)
+ }
+ }
+// jvmMain {
+// dependencies {
+// implementation(compose.desktop.currentOs)
+// }
+// }
+ }
+}
+
+
+readme {
+ maturity = space.kscience.gradle.Maturity.PROTOTYPE
+}
\ No newline at end of file
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/TimeAxisModel.kt b/controls-visualisation-compose/src/commonMain/kotlin/TimeAxisModel.kt
new file mode 100644
index 0000000..2c82802
--- /dev/null
+++ b/controls-visualisation-compose/src/commonMain/kotlin/TimeAxisModel.kt
@@ -0,0 +1,45 @@
+package space.kscience.controls.compose
+
+import androidx.compose.ui.unit.Dp
+import androidx.compose.ui.unit.dp
+import io.github.koalaplot.core.xygraph.AxisModel
+import io.github.koalaplot.core.xygraph.TickValues
+import kotlinx.datetime.Clock
+import kotlinx.datetime.Instant
+import kotlin.math.floor
+import kotlin.time.Duration
+import kotlin.time.times
+
+public class TimeAxisModel(
+ override val minimumMajorTickSpacing: Dp = 50.dp,
+ private val rangeProvider: () -> ClosedRange<Instant>,
+) : AxisModel<Instant> {
+
+ override fun computeTickValues(axisLength: Dp): TickValues<Instant> {
+ val currentRange = rangeProvider()
+ val rangeLength = currentRange.endInclusive - currentRange.start
+ val numTicks = floor(axisLength / minimumMajorTickSpacing).toInt()
+ val numMinorTicks = numTicks * 2
+ return object : TickValues<Instant> {
+ override val majorTickValues: List<Instant> = List(numTicks) {
+ currentRange.start + it.toDouble() / (numTicks - 1) * rangeLength
+ }
+
+ override val minorTickValues: List<Instant> = List(numMinorTicks) {
+ currentRange.start + it.toDouble() / (numMinorTicks - 1) * rangeLength
+ }
+ }
+ }
+
+ override fun computeOffset(point: Instant): Float {
+ val currentRange = rangeProvider()
+ return ((point - currentRange.start) / (currentRange.endInclusive - currentRange.start)).toFloat()
+ }
+
+ public companion object {
+ public fun recent(duration: Duration, clock: Clock = Clock.System): TimeAxisModel = TimeAxisModel {
+ val now = clock.now()
+ (now - duration)..now
+ }
+ }
+}
\ No newline at end of file
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/composeState.kt b/controls-visualisation-compose/src/commonMain/kotlin/composeState.kt
new file mode 100644
index 0000000..5b793d6
--- /dev/null
+++ b/controls-visualisation-compose/src/commonMain/kotlin/composeState.kt
@@ -0,0 +1,31 @@
+package space.kscience.controls.compose
+
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.State
+import androidx.compose.runtime.collectAsState
+import androidx.compose.runtime.snapshotFlow
+import kotlinx.coroutines.flow.Flow
+import space.kscience.controls.constructor.DeviceState
+import kotlin.coroutines.CoroutineContext
+import kotlin.coroutines.EmptyCoroutineContext
+
+
+/**
+ * Represent this [DeviceState] as Compose multiplatform [State]
+ */
+@Composable
+public fun <T> DeviceState<T>.asComposeState(
+ coroutineContext: CoroutineContext = EmptyCoroutineContext,
+): State<T> = valueFlow.collectAsState(value, coroutineContext)
+
+
+/**
+ * Represent this Compose [State] as [DeviceState]
+ */
+public fun <T> State<T>.asDeviceState(): DeviceState<T> = object : DeviceState<T> {
+ override val value: T get() = this@asDeviceState.value
+
+ override val valueFlow: Flow<T> get() = snapshotFlow { this@asDeviceState.value }
+
+ override fun toString(): String = "ComposeState(value=$value)"
+}
\ No newline at end of file
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/indicators.kt b/controls-visualisation-compose/src/commonMain/kotlin/indicators.kt
new file mode 100644
index 0000000..ada0f10
--- /dev/null
+++ b/controls-visualisation-compose/src/commonMain/kotlin/indicators.kt
@@ -0,0 +1,2 @@
+package space.kscience.controls.compose
+
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/koalaPlots.kt b/controls-visualisation-compose/src/commonMain/kotlin/koalaPlots.kt
new file mode 100644
index 0000000..d721f0a
--- /dev/null
+++ b/controls-visualisation-compose/src/commonMain/kotlin/koalaPlots.kt
@@ -0,0 +1,230 @@
+package space.kscience.controls.compose
+
+import androidx.compose.runtime.*
+import androidx.compose.ui.graphics.SolidColor
+import io.github.koalaplot.core.line.LinePlot
+import io.github.koalaplot.core.style.LineStyle
+import io.github.koalaplot.core.xygraph.DefaultPoint
+import io.github.koalaplot.core.xygraph.XYGraphScope
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import kotlinx.datetime.Clock
+import kotlinx.datetime.Instant
+import space.kscience.controls.api.Device
+import space.kscience.controls.api.PropertyChangedMessage
+import space.kscience.controls.api.propertyMessageFlow
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.manager.clock
+import space.kscience.controls.misc.ValueWithTime
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.name
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.double
+import kotlin.time.Duration
+import kotlin.time.Duration.Companion.minutes
+import kotlin.time.Duration.Companion.seconds
+
+
+private val defaultMaxAge get() = 10.minutes
+private val defaultMaxPoints get() = 800
+private val defaultMinPoints get() = 400
+private val defaultSampling get() = 1.seconds
+
+
+internal fun <T> Flow<ValueWithTime<T>>.collectAndTrim(
+ maxAge: Duration = defaultMaxAge,
+ maxPoints: Int = defaultMaxPoints,
+ minPoints: Int = defaultMinPoints,
+ clock: Clock = Clock.System,
+): Flow<List<ValueWithTime<T>>> {
+ require(maxPoints > 2)
+ require(minPoints > 0)
+ require(maxPoints > minPoints)
+ val points = mutableListOf<ValueWithTime<T>>()
+ return transform { newPoint ->
+ points.add(newPoint)
+ val now = clock.now()
+ // filter old points
+ points.removeAll { now - it.time > maxAge }
+
+ if (points.size > maxPoints) {
+ val durationBetweenPoints = maxAge / minPoints
+ val markedForRemoval = buildList {
+ var lastTime: Instant? = null
+ points.forEach { point ->
+ if (lastTime?.let { point.time - it < durationBetweenPoints } == true) {
+ add(point)
+ } else {
+ lastTime = point.time
+ }
+ }
+ }
+
+ points.removeAll(markedForRemoval)
+ }
+ //return a protective copy
+ emit(ArrayList(points))
+ }
+}
+
+private val defaultLineStyle: LineStyle = LineStyle(SolidColor(androidx.compose.ui.graphics.Color.Black))
+
+
+@Composable
+private fun <T> XYGraphScope<Instant, T>.PlotTimeSeries(
+ data: List<ValueWithTime<T>>,
+ lineStyle: LineStyle = defaultLineStyle,
+) {
+ LinePlot(
+ data = data.map { DefaultPoint(it.time, it.value) },
+ lineStyle = lineStyle
+ )
+}
+
+
+/**
+ * Add a trace that shows a [Device] property change over time. Show only latest [maxPoints] .
+ * @return a [Job] that handles the listener
+ */
+@Composable
+public fun XYGraphScope<Instant, Double>.PlotDeviceProperty(
+ device: Device,
+ propertyName: String,
+ extractValue: Meta.() -> Double = { value?.double ?: Double.NaN },
+ maxAge: Duration = defaultMaxAge,
+ maxPoints: Int = defaultMaxPoints,
+ minPoints: Int = defaultMinPoints,
+ sampling: Duration = defaultSampling,
+ lineStyle: LineStyle = defaultLineStyle,
+) {
+ var points by remember { mutableStateOf<List<ValueWithTime<Double>>>(emptyList()) }
+
+ LaunchedEffect(device, propertyName, maxAge, maxPoints, minPoints, sampling) {
+ device.propertyMessageFlow(propertyName)
+ .sample(sampling)
+ .map { ValueWithTime(it.value.extractValue(), it.time) }
+ .collectAndTrim(maxAge, maxPoints, minPoints, device.clock)
+ .onEach { points = it }
+ .launchIn(this)
+ }
+
+
+ PlotTimeSeries(points, lineStyle)
+}
+
+@Composable
+public fun XYGraphScope<Instant, Double>.PlotDeviceProperty(
+ device: Device,
+ property: DevicePropertySpec<*, out Number>,
+ maxAge: Duration = defaultMaxAge,
+ maxPoints: Int = defaultMaxPoints,
+ minPoints: Int = defaultMinPoints,
+ sampling: Duration = defaultSampling,
+ lineStyle: LineStyle = LineStyle(SolidColor(androidx.compose.ui.graphics.Color.Black)),
+): Unit = PlotDeviceProperty(
+ device = device,
+ propertyName = property.name,
+ extractValue = { property.converter.readOrNull(this)?.toDouble() ?: Double.NaN },
+ maxAge = maxAge,
+ maxPoints = maxPoints,
+ minPoints = minPoints,
+ sampling = sampling,
+ lineStyle = lineStyle
+)
+
+@Composable
+public fun XYGraphScope<Instant, Double>.PlotNumberState(
+ context: Context,
+ state: DeviceState<out Number>,
+ maxAge: Duration = defaultMaxAge,
+ maxPoints: Int = defaultMaxPoints,
+ minPoints: Int = defaultMinPoints,
+ sampling: Duration = defaultSampling,
+ lineStyle: LineStyle = defaultLineStyle,
+): Unit {
+ var points by remember { mutableStateOf<List<ValueWithTime<Double>>>(emptyList()) }
+
+
+ LaunchedEffect(context, state, maxAge, maxPoints, minPoints, sampling) {
+ val clock = context.clock
+
+ state.valueFlow.sample(sampling)
+ .map { ValueWithTime(it.toDouble(), clock.now()) }
+ .collectAndTrim(maxAge, maxPoints, minPoints, clock)
+ .onEach { points = it }
+ .launchIn(this)
+ }
+
+
+ PlotTimeSeries(points, lineStyle)
+}
+
+
+private fun List<Instant>.averageTime(): Instant {
+ val min = min()
+ val max = max()
+ val duration = max - min
+ return min + duration / 2
+}
+
+private fun <T> Flow<T>.chunkedByPeriod(duration: Duration): Flow<List<T>> {
+ val collector: ArrayDeque<T> = ArrayDeque<T>()
+ return channelFlow {
+ launch {
+ while (isActive) {
+ delay(duration)
+ send(ArrayList(collector))
+ collector.clear()
+ }
+ }
+ this@chunkedByPeriod.collect {
+ collector.add(it)
+ }
+ }
+}
+
+
+/**
+ * Average property value by [averagingInterval]. Return [startValue] on each sample interval if no events arrived.
+ */
+@Composable
+public fun XYGraphScope<Instant, Double>.PlotAveragedDeviceProperty(
+ device: Device,
+ propertyName: String,
+ startValue: Double = 0.0,
+ extractValue: Meta.() -> Double = { value?.double ?: startValue },
+ maxAge: Duration = defaultMaxAge,
+ maxPoints: Int = defaultMaxPoints,
+ minPoints: Int = defaultMinPoints,
+ averagingInterval: Duration = defaultSampling,
+ lineStyle: LineStyle = defaultLineStyle,
+) {
+
+ var points by remember { mutableStateOf<List<ValueWithTime<Double>>>(emptyList()) }
+
+ LaunchedEffect(device, propertyName, startValue, maxAge, maxPoints, minPoints, averagingInterval) {
+ val clock = device.clock
+ var lastValue = startValue
+ device.propertyMessageFlow(propertyName)
+ .chunkedByPeriod(averagingInterval)
+ .transform<List<PropertyChangedMessage>, ValueWithTime<Double>> { eventList ->
+ if (eventList.isEmpty()) {
+ ValueWithTime(lastValue, clock.now())
+ } else {
+ val time = eventList.map { it.time }.averageTime()
+ val value = eventList.map { extractValue(it.value) }.average()
+ ValueWithTime(value, time).also {
+ lastValue = value
+ }
+ }
+ }.collectAndTrim(maxAge, maxPoints, minPoints, clock)
+ .onEach { points = it }
+ .launchIn(this)
+ }
+
+ PlotTimeSeries(points, lineStyle)
+}
\ No newline at end of file
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/sliders.kt b/controls-visualisation-compose/src/commonMain/kotlin/sliders.kt
new file mode 100644
index 0000000..4adf952
--- /dev/null
+++ b/controls-visualisation-compose/src/commonMain/kotlin/sliders.kt
@@ -0,0 +1,51 @@
+package space.kscience.controls.compose
+
+import androidx.compose.foundation.interaction.MutableInteractionSource
+import androidx.compose.material3.SliderColors
+import androidx.compose.material3.SliderDefaults
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.remember
+import androidx.compose.ui.Modifier
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.MutableDeviceState
+
+@Composable
+public fun Slider(
+ deviceState: MutableDeviceState<Number>,
+ modifier: Modifier = Modifier,
+ enabled: Boolean = true,
+ valueRange: ClosedFloatingPointRange<Float> = 0f..1f,
+ steps: Int = 0,
+ interactionSource: MutableInteractionSource = remember { MutableInteractionSource() },
+ colors: SliderColors = SliderDefaults.colors(),
+) {
+ androidx.compose.material3.Slider(
+ value = deviceState.value.toFloat(),
+ onValueChange = { deviceState.value = it },
+ modifier = modifier,
+ enabled = enabled,
+ valueRange = valueRange,
+ steps = steps,
+ interactionSource = interactionSource,
+ colors = colors,
+ )
+}
+
+@Composable
+public fun SliderIndicator(
+ deviceState: DeviceState<Number>,
+ modifier: Modifier = Modifier,
+ valueRange: ClosedFloatingPointRange<Float> = 0f..1f,
+ steps: Int = 0,
+ colors: SliderColors = SliderDefaults.colors(),
+) {
+ androidx.compose.material3.Slider(
+ value = deviceState.value.toFloat(),
+ onValueChange = { /*do nothing*/ },
+ modifier = modifier,
+ enabled = false,
+ valueRange = valueRange,
+ steps = steps,
+ colors = colors,
+ )
+}
\ No newline at end of file
diff --git a/demo/constructor/build.gradle.kts b/demo/constructor/build.gradle.kts
index 8628dd1..6b6f461 100644
--- a/demo/constructor/build.gradle.kts
+++ b/demo/constructor/build.gradle.kts
@@ -1,4 +1,3 @@
-import org.jetbrains.compose.ExperimentalComposeLibrary
import org.jetbrains.compose.desktop.application.dsl.TargetFormat
import org.jetbrains.kotlin.gradle.dsl.ExplicitApiMode
@@ -8,14 +7,13 @@ plugins {
}
kscience {
- jvm {
- withJava()
- }
+ jvm()
useKtor()
useSerialization()
useContextReceivers()
commonMain {
- implementation(projects.controlsVision)
+ implementation(projects.controlsVisualisationCompose)
+// implementation(projects.controlsVision)
implementation(projects.controlsConstructor)
// implementation("io.github.koalaplot:koalaplot-core:0.6.0")
}
@@ -30,8 +28,6 @@ kotlin {
jvmMain {
dependencies {
implementation(compose.desktop.currentOs)
- @OptIn(ExperimentalComposeLibrary::class)
- implementation(compose.desktop.components.splitPane)
}
}
}
diff --git a/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt b/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
index bb15c49..9f84cb7 100644
--- a/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
+++ b/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
@@ -5,7 +5,8 @@ import androidx.compose.foundation.layout.Box
import androidx.compose.foundation.layout.fillMaxSize
import androidx.compose.foundation.layout.size
import androidx.compose.material.MaterialTheme
-import androidx.compose.runtime.*
+import androidx.compose.runtime.getValue
+import androidx.compose.runtime.remember
import androidx.compose.ui.Modifier
import androidx.compose.ui.geometry.Offset
import androidx.compose.ui.graphics.Color
@@ -13,10 +14,9 @@ import androidx.compose.ui.unit.dp
import androidx.compose.ui.window.Window
import androidx.compose.ui.window.application
import kotlinx.serialization.Serializable
+import space.kscience.controls.compose.asComposeState
import space.kscience.controls.constructor.*
import space.kscience.dataforge.context.Context
-import kotlin.coroutines.CoroutineContext
-import kotlin.coroutines.EmptyCoroutineContext
import kotlin.math.pow
import kotlin.math.sqrt
import kotlin.time.Duration.Companion.milliseconds
@@ -29,16 +29,11 @@ data class XY(val x: Double, val y: Double) {
}
}
+val XY.length: Double get() = sqrt(x.pow(2) + y.pow(2))
+
operator fun XY.plus(other: XY): XY = XY(x + other.x, y + other.y)
operator fun XY.times(c: Double): XY = XY(x * c, y * c)
operator fun XY.div(c: Double): XY = XY(x / c, y / c)
-//
-//class XYPosition(context: Context, x0: Double, y0: Double) : DeviceModel(context) {
-// val x: MutableDeviceState<Double> = mutableState(x0)
-// val y: MutableDeviceState<Double> = mutableState(y0)
-//
-// val xy = combineState(x, y) { x, y -> XY(x, y) }
-//}
class Spring(
context: Context,
@@ -46,27 +41,25 @@ class Spring(
val l0: Double,
val begin: DeviceState<XY>,
val end: DeviceState<XY>,
-) : DeviceConstructor(context) {
-
- val length = combineState(begin, end) { begin, end ->
- sqrt((end.y - begin.y).pow(2) + (end.x - begin.x).pow(2))
- }
-
- val tension: DeviceState<Double> = mapState(length) { l ->
- val delta = l - l0
- k * delta
- }
+) : ConstructorModel(context) {
/**
- * direction from start to end
+ * vector from start to end
*/
- val direction = combineState(begin, end) { begin, end ->
+ val direction = combineState(begin, end) { begin: XY, end: XY ->
val dx = end.x - begin.x
val dy = end.y - begin.y
- val l = sqrt((end.y - begin.y).pow(2) + (end.x - begin.x).pow(2))
+ val l = sqrt(dx.pow(2) + dy.pow(2))
XY(dx / l, dy / l)
}
+ val tension: DeviceState<Double> = combineState(begin, end) { begin: XY, end: XY ->
+ val dx = end.x - begin.x
+ val dy = end.y - begin.y
+ k * sqrt(dx.pow(2) + dy.pow(2))
+ }
+
+
val beginForce = combineState(direction, tension) { direction: XY, tension: Double ->
direction * (tension)
}
@@ -83,13 +76,15 @@ class MaterialPoint(
val force: DeviceState<XY>,
val position: MutableDeviceState<XY>,
val velocity: MutableDeviceState<XY> = MutableDeviceState(XY.ZERO),
-) : DeviceModel(context, force) {
+) : ConstructorModel(context, force, position, velocity) {
private val timer: TimerState = timer(2.milliseconds)
+ //TODO synchronize force change
+
private val movement = timer.onChange(
- position, velocity,
- alsoReads = setOf(force, velocity, position)
+ writes = setOf(position, velocity),
+ reads = setOf(force, velocity, position)
) { prev, next ->
val dt = (next - prev).toDouble(DurationUnit.SECONDS)
val a = force.value / mass
@@ -105,31 +100,31 @@ class BodyOnSprings(
k: Double,
startPosition: XY,
l0: Double = 1.0,
- val xLeft: Double = 0.0,
- val xRight: Double = 2.0,
- val yBottom: Double = 0.0,
- val yTop: Double = 2.0,
+ val xLeft: Double = -1.0,
+ val xRight: Double = 1.0,
+ val yBottom: Double = -1.0,
+ val yTop: Double = 1.0,
) : DeviceConstructor(context) {
val width = xRight - xLeft
val height = yTop - yBottom
- val position = mutableState(startPosition)
+ val position = stateOf(startPosition)
- private val leftAnchor = mutableState(XY(xLeft, yTop + yBottom / 2))
+ private val leftAnchor = stateOf(XY(xLeft, (yTop + yBottom) / 2))
- val leftSpring by device(
+ val leftSpring = model(
Spring(context, k, l0, leftAnchor, position)
)
- private val rightAnchor = mutableState(XY(xRight, yTop + yBottom / 2))
+ private val rightAnchor = stateOf(XY(xRight, (yTop + yBottom) / 2))
- val rightSpring by device(
+ val rightSpring = model(
Spring(context, k, l0, rightAnchor, position)
)
- val force: DeviceState<XY> = combineState(leftSpring.endForce, rightSpring.endForce) { left, rignt ->
- left + rignt
+ val force: DeviceState<XY> = combineState(leftSpring.endForce, rightSpring.endForce) { left, right ->
+ left + right
}
@@ -138,18 +133,13 @@ class BodyOnSprings(
context = context,
mass = mass,
force = force,
- position = position
+ position = position,
)
)
}
-@Composable
-fun <T> DeviceState<T>.collect(
- coroutineContext: CoroutineContext = EmptyCoroutineContext,
-): State<T> = valueFlow.collectAsState(value, coroutineContext)
-
fun main() = application {
- val initialState = XY(1.1, 1.1)
+ val initialState = XY(0.1, 0.2)
Window(title = "Ball on springs", onCloseRequest = ::exitApplication) {
MaterialTheme {
@@ -161,12 +151,20 @@ fun main() = application {
BodyOnSprings(context, 100.0, 1000.0, initialState)
}
- val position: XY by model.body.position.collect()
+ //TODO add ability to freeze model
+
+// LaunchedEffect(Unit){
+// model.position.valueFlow.onEach {
+// model.position.value = it.copy(y = model.position.value.y.coerceIn(-1.0..1.0))
+// }.collect()
+// }
+
+ val position: XY by model.body.position.asComposeState()
Box(Modifier.size(400.dp)) {
Canvas(modifier = Modifier.fillMaxSize()) {
fun XY.toOffset() = Offset(
- (x / model.width * size.width).toFloat(),
- (y / model.height * size.height).toFloat()
+ center.x + (x / model.width * size.width).toFloat(),
+ center.y - (y / model.height * size.height).toFloat()
)
drawCircle(
diff --git a/demo/constructor/src/jvmMain/kotlin/LinearDrive.kt b/demo/constructor/src/jvmMain/kotlin/LinearDrive.kt
index 95df7ad..f64ef72 100644
--- a/demo/constructor/src/jvmMain/kotlin/LinearDrive.kt
+++ b/demo/constructor/src/jvmMain/kotlin/LinearDrive.kt
@@ -1,38 +1,40 @@
package space.kscience.controls.demo.constructor
-import androidx.compose.foundation.layout.Column
-import androidx.compose.foundation.layout.Row
-import androidx.compose.foundation.layout.padding
-import androidx.compose.foundation.layout.width
+import androidx.compose.foundation.background
+import androidx.compose.foundation.layout.*
import androidx.compose.material.*
-import androidx.compose.runtime.getValue
-import androidx.compose.runtime.mutableStateOf
-import androidx.compose.runtime.remember
-import androidx.compose.runtime.setValue
+import androidx.compose.runtime.*
import androidx.compose.ui.Alignment
import androidx.compose.ui.Modifier
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.graphics.SolidColor
import androidx.compose.ui.unit.dp
import androidx.compose.ui.window.Window
import androidx.compose.ui.window.application
-import space.kscience.controls.constructor.DeviceConstructor
-import space.kscience.controls.constructor.DoubleInRangeState
-import space.kscience.controls.constructor.device
-import space.kscience.controls.constructor.deviceProperty
+import io.github.koalaplot.core.ChartLayout
+import io.github.koalaplot.core.legend.FlowLegend
+import io.github.koalaplot.core.style.LineStyle
+import io.github.koalaplot.core.util.ExperimentalKoalaPlotApi
+import io.github.koalaplot.core.util.toString
+import io.github.koalaplot.core.xygraph.XYGraph
+import io.github.koalaplot.core.xygraph.rememberDoubleLinearAxisModel
+import kotlinx.coroutines.flow.collect
+import kotlinx.coroutines.flow.onEach
+import kotlinx.datetime.Instant
+import org.jetbrains.compose.splitpane.ExperimentalSplitPaneApi
+import org.jetbrains.compose.splitpane.HorizontalSplitPane
+import space.kscience.controls.compose.PlotDeviceProperty
+import space.kscience.controls.compose.PlotNumberState
+import space.kscience.controls.compose.TimeAxisModel
+import space.kscience.controls.constructor.*
import space.kscience.controls.constructor.library.*
import space.kscience.controls.manager.ClockManager
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.clock
import space.kscience.controls.manager.install
-import space.kscience.controls.spec.doRecurring
-import space.kscience.controls.spec.name
-import space.kscience.controls.vision.plot
-import space.kscience.controls.vision.plotDeviceProperty
-import space.kscience.controls.vision.plotNumberState
-import space.kscience.controls.vision.showDashboard
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.Meta
-import space.kscience.plotly.models.ScatterMode
-import space.kscience.visionforge.plotly.PlotlyPlugin
+import java.awt.Dimension
import kotlin.math.PI
import kotlin.math.sin
import kotlin.time.Duration
@@ -49,15 +51,15 @@ class LinearDrive(
meta: Meta = Meta.EMPTY,
) : DeviceConstructor(drive.context, meta) {
- val drive: Drive by device(drive)
+ val drive by device(drive)
val pid by device(PidRegulator(drive, pidParameters))
val start by device(start)
val end by device(end)
- val position by deviceProperty(drive, Drive.position, Double.NaN)
+ val position = drive.propertyAsState(Drive.position, Double.NaN)
- val target by deviceProperty(pid, Regulator.target, 0.0)
+ val target = pid.propertyAsState(Regulator.target, 0.0)
}
/**
@@ -77,163 +79,205 @@ fun LinearDrive(
meta = meta
)
+class Modulator(
+ context: Context,
+ target: MutableDeviceState<Double>,
+ var freq: Double = 0.1,
+ var timeStep: Duration = 5.milliseconds,
+) : DeviceConstructor(context) {
+ private val clockStart = clock.now()
+ val timer = timer(10.milliseconds)
+
+ private val modulation = timer.onNext {
+ val timeFromStart = clock.now() - clockStart
+ val t = timeFromStart.toDouble(DurationUnit.SECONDS)
+ target.value = 5 * sin(2.0 * PI * freq * t) +
+ sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / timeStep))
+ }
+}
+
+
+private val maxAge = 10.seconds
+
+@OptIn(ExperimentalSplitPaneApi::class, ExperimentalKoalaPlotApi::class)
fun main() = application {
- val context = Context {
- plugin(DeviceManager)
- plugin(PlotlyPlugin)
- plugin(ClockManager)
+ val context = remember {
+ Context {
+ plugin(DeviceManager)
+ plugin(ClockManager)
+ }
}
- class MutablePidParameters(
- kp: Double,
- ki: Double,
- kd: Double,
- timeStep: Duration,
- ) : PidParameters {
- override var kp by mutableStateOf(kp)
- override var ki by mutableStateOf(ki)
- override var kd by mutableStateOf(kd)
- override var timeStep by mutableStateOf(timeStep)
+ val clock = remember { context.clock }
+
+
+ var pidParameters by remember {
+ mutableStateOf(PidParameters(kp = 2.5, ki = 0.0, kd = -0.1, timeStep = 0.005.seconds))
}
- val pidParameters = remember {
- MutablePidParameters(
- kp = 2.5,
- ki = 0.0,
- kd = -0.1,
- timeStep = 0.005.seconds
+ val state = remember { DoubleInRangeState(0.0, -6.0..6.0) }
+
+ val linearDrive = remember {
+ context.install(
+ "linearDrive",
+ LinearDrive(context, state, 0.05, pidParameters)
)
}
- val state = DoubleInRangeState(0.0, -6.0..6.0)
-
- val linearDrive = context.install(
- "linearDrive",
- LinearDrive(context, state, 0.05, pidParameters)
- )
-
- val clockStart = context.clock.now()
- linearDrive.doRecurring(10.milliseconds) {
- val timeFromStart = clock.now() - clockStart
- val t = timeFromStart.toDouble(DurationUnit.SECONDS)
- val freq = 0.1
- target.value = 5 * sin(2.0 * PI * freq * t) +
- sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / pidParameters.timeStep))
+ val modulator = remember {
+ context.install(
+ "modulator",
+ Modulator(context, linearDrive.target)
+ )
}
-
- val maxAge = 10.seconds
-
- context.showDashboard {
- plot {
- plotNumberState(context, state, maxAge = maxAge, sampling = 50.milliseconds) {
- name = "real position"
- }
- plotDeviceProperty(linearDrive.pid, Regulator.position.name, maxAge = maxAge, sampling = 50.milliseconds) {
- name = "read position"
- }
-
- plotDeviceProperty(linearDrive.pid, Regulator.target.name, maxAge = maxAge, sampling = 50.milliseconds) {
- name = "target"
- }
- }
-
- plot {
- plotDeviceProperty(
- linearDrive.start,
- LimitSwitch.locked.name,
- maxAge = maxAge,
- sampling = 50.milliseconds
- ) {
- name = "start measured"
- mode = ScatterMode.markers
- }
- plotDeviceProperty(linearDrive.end, LimitSwitch.locked.name, maxAge = maxAge, sampling = 50.milliseconds) {
- name = "end measured"
- mode = ScatterMode.markers
- }
- }
-
+ //bind pid parameters
+ LaunchedEffect(Unit) {
+ snapshotFlow {
+ pidParameters
+ }.onEach {
+ linearDrive.pid.pidParameters = pidParameters
+ }.collect()
}
Window(title = "Pid regulator simulator", onCloseRequest = ::exitApplication) {
+ window.minimumSize = Dimension(800, 400)
MaterialTheme {
- Column {
- Row {
- Text("kp:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
- TextField(
- String.format("%.2f", pidParameters.kp),
- { pidParameters.kp = it.toDouble() },
- Modifier.width(100.dp),
- enabled = false
- )
- Slider(
- pidParameters.kp.toFloat(),
- { pidParameters.kp = it.toDouble() },
- valueRange = 0f..20f,
- steps = 100
- )
- }
- Row {
- Text("ki:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
- TextField(
- String.format("%.2f", pidParameters.ki),
- { pidParameters.ki = it.toDouble() },
- Modifier.width(100.dp),
- enabled = false
- )
-
- Slider(
- pidParameters.ki.toFloat(),
- { pidParameters.ki = it.toDouble() },
- valueRange = -10f..10f,
- steps = 100
- )
- }
- Row {
- Text("kd:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
- TextField(
- String.format("%.2f", pidParameters.kd),
- { pidParameters.kd = it.toDouble() },
- Modifier.width(100.dp),
- enabled = false
- )
-
- Slider(
- pidParameters.kd.toFloat(),
- { pidParameters.kd = it.toDouble() },
- valueRange = -10f..10f,
- steps = 100
- )
- }
-
- Row {
- Text("dt:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
- TextField(
- pidParameters.timeStep.toString(DurationUnit.MILLISECONDS),
- { pidParameters.timeStep = it.toDouble().milliseconds },
- Modifier.width(100.dp),
- enabled = false
- )
-
- Slider(
- pidParameters.timeStep.toDouble(DurationUnit.MILLISECONDS).toFloat(),
- { pidParameters.timeStep = it.toDouble().milliseconds },
- valueRange = 0f..100f,
- steps = 100
- )
- }
- Row {
- Button({
- pidParameters.run {
- kp = 2.5
- ki = 0.0
- kd = -0.1
- timeStep = 0.005.seconds
+ HorizontalSplitPane {
+ first(400.dp) {
+ Column(modifier = Modifier.background(color = Color.LightGray).fillMaxHeight()) {
+ Row {
+ Text("kp:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
+ TextField(
+ String.format("%.2f", pidParameters.kp),
+ { pidParameters = pidParameters.copy(kp = it.toDouble()) },
+ Modifier.width(100.dp),
+ enabled = false
+ )
+ Slider(
+ pidParameters.kp.toFloat(),
+ { pidParameters = pidParameters.copy(kp = it.toDouble()) },
+ valueRange = 0f..20f,
+ steps = 100
+ )
+ }
+ Row {
+ Text("ki:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
+ TextField(
+ String.format("%.2f", pidParameters.ki),
+ { pidParameters = pidParameters.copy(ki = it.toDouble()) },
+ Modifier.width(100.dp),
+ enabled = false
+ )
+
+ Slider(
+ pidParameters.ki.toFloat(),
+ { pidParameters = pidParameters.copy(ki = it.toDouble()) },
+ valueRange = -10f..10f,
+ steps = 100
+ )
+ }
+ Row {
+ Text("kd:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
+ TextField(
+ String.format("%.2f", pidParameters.kd),
+ { pidParameters = pidParameters.copy(kd = it.toDouble()) },
+ Modifier.width(100.dp),
+ enabled = false
+ )
+
+ Slider(
+ pidParameters.kd.toFloat(),
+ { pidParameters = pidParameters.copy(kd = it.toDouble()) },
+ valueRange = -10f..10f,
+ steps = 100
+ )
+ }
+
+ Row {
+ Text("dt:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
+ TextField(
+ pidParameters.timeStep.toString(DurationUnit.MILLISECONDS),
+ { pidParameters = pidParameters.copy(timeStep = it.toDouble().milliseconds) },
+ Modifier.width(100.dp),
+ enabled = false
+ )
+
+ Slider(
+ pidParameters.timeStep.toDouble(DurationUnit.MILLISECONDS).toFloat(),
+ { pidParameters = pidParameters.copy(timeStep = it.toDouble().milliseconds) },
+ valueRange = 0f..100f,
+ steps = 100
+ )
+ }
+ Row {
+ Button({
+ pidParameters = PidParameters(
+ kp = 2.5,
+ ki = 0.0,
+ kd = -0.1,
+ timeStep = 0.005.seconds
+ )
+ }) {
+ Text("Reset")
+ }
+ }
+ }
+ }
+ second(400.dp) {
+ ChartLayout {
+ XYGraph<Instant, Double>(
+ xAxisModel = remember { TimeAxisModel.recent(maxAge, clock) },
+ yAxisModel = rememberDoubleLinearAxisModel(state.range),
+ xAxisTitle = { Text("Time in seconds relative to current") },
+ xAxisLabels = { it: Instant ->
+ androidx.compose.material3.Text(
+ (clock.now() - it).toDouble(
+ DurationUnit.SECONDS
+ ).toString(2)
+ )
+ },
+ yAxisLabels = { it: Double -> Text(it.toString(2)) }
+ ) {
+ PlotNumberState(
+ context = context,
+ state = state,
+ maxAge = maxAge,
+ sampling = 50.milliseconds,
+ lineStyle = LineStyle(SolidColor(Color.Blue))
+ )
+ PlotDeviceProperty(
+ linearDrive.pid,
+ Regulator.position,
+ maxAge = maxAge,
+ sampling = 50.milliseconds,
+ )
+ PlotDeviceProperty(
+ linearDrive.pid,
+ Regulator.target,
+ maxAge = maxAge,
+ sampling = 50.milliseconds,
+ lineStyle = LineStyle(SolidColor(Color.Red))
+ )
+ }
+ Surface {
+ FlowLegend(3, label = {
+ when (it) {
+ 0 -> {
+ Text("Body position", color = Color.Blue)
+ }
+
+ 1 -> {
+ Text("Regulator position", color = Color.Black)
+ }
+
+ 2 -> {
+ Text("Regulator target", color = Color.Red)
+ }
+ }
+ })
}
- }) {
- Text("Reset")
}
}
}
diff --git a/demo/constructor/src/jvmMain/kotlin/Plotter.kt b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
new file mode 100644
index 0000000..bd0d366
--- /dev/null
+++ b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
@@ -0,0 +1,2 @@
+package space.kscience.controls.demo.constructor
+
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 39adc72..366c39e 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -64,6 +64,7 @@ include(
":controls-storage",
":controls-storage:controls-xodus",
":controls-constructor",
+ ":controls-visualisation-compose",
":controls-vision",
":controls-jupyter",
":magix",
From 54e915ef108b37f89092113334117f75db488f71 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sat, 1 Jun 2024 09:35:03 +0300
Subject: [PATCH 093/125] WIP Constructor update
---
.../constructor/ConstructorElement.kt | 7 +-
.../controls/constructor/DeviceConstructor.kt | 18 ++--
.../controls/constructor/DeviceGroup.kt | 17 ++--
.../controls/constructor/DeviceState.kt | 4 +-
...onstructorModel.kt => ModelConstructor.kt} | 2 +-
.../controls/constructor/exoticState.kt | 57 -------------
.../controls/constructor/internalState.kt | 16 ++++
.../controls/constructor/library/Converter.kt | 20 -----
.../constructor/library/DoubleInRangeState.kt | 57 +++++++++++++
.../controls/constructor/library/Drive.kt | 3 +-
.../constructor/library/LimitSwitch.kt | 48 ++++++-----
.../constructor/library/PidRegulator.kt | 83 ++++++++-----------
.../controls/constructor/library/Regulator.kt | 24 ++----
.../controls/constructor/library/StepDrive.kt | 33 ++++++++
.../constructor/library/Transmission.kt | 33 ++++++++
.../controls/constructor/units/Direction.kt | 6 ++
.../constructor/units/NumericalValue.kt | 29 ++++++-
.../constructor/units/UnitsOfMeasurement.kt | 23 +++--
.../controls/constructor/TimerTest.kt | 3 +-
.../kscience/controls/manager/ClockManager.kt | 9 ++
.../src/jvmMain/kotlin/BodyOnSprings.kt | 4 +-
.../kotlin/{LinearDrive.kt => PidDemo.kt} | 36 ++++----
22 files changed, 320 insertions(+), 212 deletions(-)
rename controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/{ConstructorModel.kt => ModelConstructor.kt} (96%)
delete mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt
delete mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Converter.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/DoubleInRangeState.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/StepDrive.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Transmission.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/Direction.kt
rename demo/constructor/src/jvmMain/kotlin/{LinearDrive.kt => PidDemo.kt} (92%)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt
index 911a682..0aa72a0 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt
@@ -36,7 +36,7 @@ public class ConnectionConstrucorElement(
) : ConstructorElement
public class ModelConstructorElement(
- public val model: ConstructorModel
+ public val model: ModelConstructor
) : ConstructorElement
@@ -89,7 +89,7 @@ public fun <T> StateContainer.stateOf(initialValue: T): MutableDeviceState<T> =
MutableDeviceState(initialValue)
)
-public fun <T : ConstructorModel> StateContainer.model(model: T): T {
+public fun <T : ModelConstructor> StateContainer.model(model: T): T {
registerElement(ModelConstructorElement(model))
return model
}
@@ -125,14 +125,13 @@ public fun <T1, T2, R> StateContainer.combineState(
transformation: (T1, T2) -> R,
): DeviceState<R> = state(DeviceState.combine(first, second, transformation))
-
/**
* Create and start binding between [sourceState] and [targetState]. Changes made to [sourceState] are automatically
* transferred onto [targetState], but not vise versa.
*
* On resulting [Job] cancel the binding is unregistered
*/
-public fun <T> StateContainer.bindTo(sourceState: DeviceState<T>, targetState: MutableDeviceState<T>): Job {
+public fun <T> StateContainer.bind(sourceState: DeviceState<T>, targetState: MutableDeviceState<T>): Job {
val descriptor = ConnectionConstrucorElement(setOf(sourceState), setOf(targetState))
registerElement(descriptor)
return sourceState.valueFlow.onEach {
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
index 8854247..00d408e 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -32,13 +32,14 @@ public abstract class DeviceConstructor(
_constructorElements.remove(constructorElement)
}
- override fun <T> registerProperty(
+ override fun <T, S: DeviceState<T>> registerAsProperty(
converter: MetaConverter<T>,
descriptor: PropertyDescriptor,
- state: DeviceState<T>,
- ) {
- super.registerProperty(converter, descriptor, state)
+ state: S,
+ ): S {
+ val res = super.registerAsProperty(converter, descriptor, state)
registerElement(PropertyConstructorElement(this, descriptor.name, state))
+ return res
}
}
@@ -83,7 +84,7 @@ public fun <T, S : DeviceState<T>> DeviceConstructor.property(
PropertyDelegateProvider { _: DeviceConstructor, property ->
val name = nameOverride ?: property.name
val descriptor = PropertyDescriptor(name).apply(descriptorBuilder)
- registerProperty(converter, descriptor, state)
+ registerAsProperty(converter, descriptor, state)
ReadOnlyProperty { _: DeviceConstructor, _ ->
state
}
@@ -140,7 +141,10 @@ public fun <T> DeviceConstructor.virtualProperty(
nameOverride,
)
-public fun <T, S : DeviceState<T>> DeviceConstructor.property(
+public fun <T, S : DeviceState<T>> DeviceConstructor.registerAsProperty(
spec: DevicePropertySpec<*, T>,
state: S,
-): Unit = registerProperty(spec.converter, spec.descriptor, state)
+): S {
+ registerAsProperty(spec.converter, spec.descriptor, state)
+ return state
+}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
index ddac115..182d10b 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -93,11 +93,11 @@ public open class DeviceGroup(
/**
* Register a new property based on [DeviceState]. Properties could be modified dynamically
*/
- public open fun <T> registerProperty(
+ public open fun <T, S : DeviceState<T>> registerAsProperty(
converter: MetaConverter<T>,
descriptor: PropertyDescriptor,
- state: DeviceState<T>,
- ) {
+ state: S,
+ ): S {
val name = descriptor.name.parseAsName()
require(properties[name] == null) { "Can't add property with name $name. It already exists." }
properties[name] = Property(state, converter, descriptor)
@@ -109,6 +109,7 @@ public open class DeviceGroup(
)
)
}.launchIn(this)
+ return state
}
private val actions: MutableMap<Name, Action> = hashMapOf()
@@ -174,8 +175,8 @@ public open class DeviceGroup(
}
}
-public fun <T> DeviceGroup.registerProperty(propertySpec: DevicePropertySpec<*, T>, state: DeviceState<T>) {
- registerProperty(propertySpec.converter, propertySpec.descriptor, state)
+public fun <T> DeviceGroup.registerAsProperty(propertySpec: DevicePropertySpec<*, T>, state: DeviceState<T>) {
+ registerAsProperty(propertySpec.converter, propertySpec.descriptor, state)
}
public fun DeviceManager.registerDeviceGroup(
@@ -246,13 +247,13 @@ public fun DeviceGroup.registerDeviceGroup(name: String, block: DeviceGroup.() -
/**
* Register read-only property based on [state]
*/
-public fun <T : Any> DeviceGroup.registerProperty(
+public fun <T : Any> DeviceGroup.registerAsProperty(
name: String,
converter: MetaConverter<T>,
state: DeviceState<T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
) {
- registerProperty(
+ registerAsProperty(
converter,
PropertyDescriptor(name).apply(descriptorBuilder),
state
@@ -268,7 +269,7 @@ public fun <T : Any> DeviceGroup.registerMutableProperty(
state: MutableDeviceState<T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
) {
- registerProperty(
+ registerAsProperty(
converter,
PropertyDescriptor(name).apply(descriptorBuilder),
state
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index db388d3..5083347 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -67,9 +67,11 @@ public fun <T, R> DeviceState.Companion.map(
override val valueFlow: Flow<R> = state.valueFlow.map(mapper)
- override fun toString(): String = "DeviceState.map(arg=${state})"
+ override fun toString(): String = "DeviceState.map(state=${state})"
}
+public fun <T, R> DeviceState<T>.map(mapper: (T) -> R): DeviceStateWithDependencies<R> = DeviceState.map(this, mapper)
+
/**
* Combine two device states into one read-only [DeviceState]. Only the latest value of each state is used.
*/
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorModel.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ModelConstructor.kt
similarity index 96%
rename from controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorModel.kt
rename to controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ModelConstructor.kt
index 35a1e31..8fdc708 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorModel.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ModelConstructor.kt
@@ -6,7 +6,7 @@ import kotlinx.coroutines.newCoroutineContext
import space.kscience.dataforge.context.Context
import kotlin.coroutines.CoroutineContext
-public abstract class ConstructorModel(
+public abstract class ModelConstructor(
final override val context: Context,
vararg dependencies: DeviceState<*>,
) : StateContainer, CoroutineScope {
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt
deleted file mode 100644
index 96ea4fe..0000000
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/exoticState.kt
+++ /dev/null
@@ -1,57 +0,0 @@
-package space.kscience.controls.constructor
-
-import kotlinx.coroutines.flow.MutableStateFlow
-import kotlinx.coroutines.flow.StateFlow
-
-
-/**
- * A state describing a [Double] value in the [range]
- */
-public class DoubleInRangeState(
- initialValue: Double,
- public val range: ClosedFloatingPointRange<Double>,
-) : MutableDeviceState<Double> {
-
- init {
- require(initialValue in range) { "Initial value should be in range" }
- }
-
-
- private val _valueFlow = MutableStateFlow(initialValue)
-
- override var value: Double
- get() = _valueFlow.value
- set(newValue) {
- _valueFlow.value = newValue.coerceIn(range)
- }
-
- override val valueFlow: StateFlow<Double> get() = _valueFlow
-
- /**
- * A state showing that the range is on its lower boundary
- */
- public val atStart: DeviceState<Boolean> = DeviceState.map(this) {
- it <= range.start
- }
-
- /**
- * A state showing that the range is on its higher boundary
- */
- public val atEnd: DeviceState<Boolean> = DeviceState.map(this) {
- it >= range.endInclusive
- }
-
- override fun toString(): String = "DoubleRangeState(range=$range)"
-
-
-}
-
-/**
- * Create and register a [DoubleInRangeState]
- */
-public fun StateContainer.doubleInRangeState(
- initialValue: Double,
- range: ClosedFloatingPointRange<Double>,
-): DoubleInRangeState = DoubleInRangeState(initialValue, range).also {
- registerElement(StateConstructorElement(it))
-}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
index 11c778d..8bdfce1 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
@@ -2,6 +2,7 @@ package space.kscience.controls.constructor
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.MutableStateFlow
+import kotlinx.coroutines.flow.emptyFlow
/**
* A [MutableDeviceState] that does not correspond to a physical state
@@ -35,3 +36,18 @@ public fun <T> MutableDeviceState(
initialValue: T,
callback: (T) -> Unit = {},
): MutableDeviceState<T> = VirtualDeviceState(initialValue, callback)
+
+
+/**
+ * Create a [DeviceState] with constant value
+ */
+public fun <T> DeviceState(
+ value: T
+): DeviceState<T> = object : DeviceState<T> {
+ override val value: T get() = value
+ override val valueFlow: Flow<T>
+ get() = emptyFlow()
+
+ override fun toString(): String = "ConstDeviceState($value)"
+
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Converter.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Converter.kt
deleted file mode 100644
index 45cd4db..0000000
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Converter.kt
+++ /dev/null
@@ -1,20 +0,0 @@
-package space.kscience.controls.constructor.library
-
-import kotlinx.coroutines.flow.FlowCollector
-import space.kscience.controls.constructor.DeviceConstructor
-import space.kscience.controls.constructor.DeviceState
-import space.kscience.controls.constructor.DeviceStateWithDependencies
-import space.kscience.controls.constructor.flowState
-import space.kscience.dataforge.context.Context
-
-/**
- * A device that converts one type of physical quantity to another type
- */
-public class Converter<T, R>(
- context: Context,
- input: DeviceState<T>,
- initialValue: R,
- transform: suspend FlowCollector<R>.(T) -> Unit,
-) : DeviceConstructor(context) {
- public val output: DeviceStateWithDependencies<R> = flowState(input, initialValue, transform)
-}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/DoubleInRangeState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/DoubleInRangeState.kt
new file mode 100644
index 0000000..10773da
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/DoubleInRangeState.kt
@@ -0,0 +1,57 @@
+package space.kscience.controls.constructor.library
+
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.map
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.map
+
+/**
+ * A state describing a [Double] value in the [range]
+ */
+public open class DoubleInRangeState(
+ private val input: DeviceState<Double>,
+ public val range: ClosedFloatingPointRange<Double>,
+) : DeviceState<Double> {
+
+ override val valueFlow: Flow<Double> get() = input.valueFlow.map { it.coerceIn(range) }
+
+ override val value: Double get() = input.value.coerceIn(range)
+
+ /**
+ * A state showing that the range is on its lower boundary
+ */
+ public val atStart: DeviceState<Boolean> = input.map { it <= range.start }
+
+ /**
+ * A state showing that the range is on its higher boundary
+ */
+ public val atEnd: DeviceState<Boolean> = input.map { it >= range.endInclusive }
+
+ override fun toString(): String = "DoubleRangeState(value=${value},range=$range)"
+}
+
+public class MutableDoubleInRangeState(
+ private val mutableInput: MutableDeviceState<Double>,
+ range: ClosedFloatingPointRange<Double>
+) : DoubleInRangeState(mutableInput, range), MutableDeviceState<Double> {
+ override var value: Double
+ get() = super.value
+ set(value) {
+ mutableInput.value = value.coerceIn(range)
+ }
+}
+
+public fun MutableDoubleInRangeState(
+ initialValue: Double,
+ range: ClosedFloatingPointRange<Double>
+): MutableDoubleInRangeState = MutableDoubleInRangeState(MutableDeviceState(initialValue),range)
+
+
+public fun DeviceState<Double>.coerceIn(
+ range: ClosedFloatingPointRange<Double>
+): DoubleInRangeState = DoubleInRangeState(this, range)
+
+public fun MutableDeviceState<Double>.coerceIn(
+ range: ClosedFloatingPointRange<Double>
+): MutableDoubleInRangeState = MutableDoubleInRangeState(this, range)
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt
index 6a07db0..77a16ca 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt
@@ -98,4 +98,5 @@ public class VirtualDrive(
}
}
-public suspend fun Drive.stateOfForce(): MutableDeviceState<Double> = propertyAsState(Drive.force)
+public fun Drive.stateOfForce(initialForce: Double = 0.0): MutableDeviceState<Double> =
+ propertyAsState(Drive.force, initialForce)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
index 876d2dc..919d026 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
@@ -1,37 +1,45 @@
package space.kscience.controls.constructor.library
-import space.kscience.controls.api.Device
import space.kscience.controls.constructor.DeviceConstructor
import space.kscience.controls.constructor.DeviceState
-import space.kscience.controls.constructor.property
+import space.kscience.controls.constructor.map
+import space.kscience.controls.constructor.registerAsProperty
+import space.kscience.controls.constructor.units.Direction
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.controls.constructor.units.UnitsOfMeasurement
+import space.kscience.controls.constructor.units.compareTo
import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.DeviceSpec
import space.kscience.controls.spec.booleanProperty
import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.meta.MetaConverter
-/**
- * A limit switch device
- */
-public interface LimitSwitch : Device {
-
- public fun isLocked(): Boolean
-
- public companion object : DeviceSpec<LimitSwitch>() {
- public val locked: DevicePropertySpec<LimitSwitch, Boolean> by booleanProperty { isLocked() }
- }
-}
-
/**
* Virtual [LimitSwitch]
*/
-public class VirtualLimitSwitch(
+public class LimitSwitch(
context: Context,
locked: DeviceState<Boolean>,
-) : DeviceConstructor(context), LimitSwitch {
+) : DeviceConstructor(context) {
- public val locked: DeviceState<Boolean> by property(MetaConverter.boolean, locked)
+ public val locked: DeviceState<Boolean> = registerAsProperty(LimitSwitch.locked, locked)
- override fun isLocked(): Boolean = locked.value
-}
\ No newline at end of file
+ public companion object : DeviceSpec<LimitSwitch>() {
+ public val locked: DevicePropertySpec<LimitSwitch, Boolean> by booleanProperty { locked.value }
+ }
+}
+
+public fun <U : UnitsOfMeasurement, T : NumericalValue<U>> LimitSwitch(
+ context: Context,
+ limit: T,
+ boundary: Direction,
+ position: DeviceState<T>,
+): LimitSwitch = LimitSwitch(
+ context,
+ DeviceState.map(position) {
+ when (boundary) {
+ Direction.UP -> it >= limit
+ Direction.DOWN -> it <= limit
+ }
+ }
+)
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
index 9edf91e..27c3f95 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
@@ -1,19 +1,17 @@
package space.kscience.controls.constructor.library
-import kotlinx.coroutines.Job
import kotlinx.coroutines.delay
import kotlinx.coroutines.isActive
import kotlinx.coroutines.launch
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
-import kotlinx.datetime.Instant
-import space.kscience.controls.constructor.DeviceGroup
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.state
+import space.kscience.controls.constructor.stateOf
import space.kscience.controls.manager.clock
-import space.kscience.controls.spec.DeviceBySpec
-import space.kscience.controls.spec.write
-import space.kscience.dataforge.names.parseAsName
+import space.kscience.dataforge.context.Context
import kotlin.time.Duration
-import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.DurationUnit
@@ -24,64 +22,53 @@ public data class PidParameters(
val kp: Double,
val ki: Double,
val kd: Double,
- val timeStep: Duration = 1.milliseconds,
+ val timeStep: Duration,
)
+
/**
- * A drive with PID regulator
+ * A PID regulator
*/
public class PidRegulator(
- public val drive: Drive,
+ context: Context,
+ private val position: DeviceState<Double>,
public var pidParameters: PidParameters, // TODO expose as property
-) : DeviceBySpec<Regulator>(Regulator, drive.context), Regulator {
+ output: MutableDeviceState<Double> = MutableDeviceState(0.0),
+) : Regulator<Double>(context) {
- private val clock = drive.context.clock
+ override val target: MutableDeviceState<Double> = stateOf(0.0)
+ override val output: MutableDeviceState<Double> = state(output)
- override var target: Double = drive.position
-
- private var lastTime: Instant = clock.now()
- private var lastPosition: Double = target
+ private var lastPosition: Double = target.value
private var integral: Double = 0.0
-
- private var updateJob: Job? = null
private val mutex = Mutex()
+ private var lastTime = clock.now()
- override suspend fun onStart() {
- drive.start()
- updateJob = launch {
- while (isActive) {
- delay(pidParameters.timeStep)
- mutex.withLock {
- val realTime = clock.now()
- val delta = target - getPosition()
- val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
- integral += delta * dtSeconds
- val derivative = (drive.position - lastPosition) / dtSeconds
+ private val updateJob = launch {
+ while (isActive) {
+ delay(pidParameters.timeStep)
+ mutex.withLock {
+ val realTime = clock.now()
+ val delta = target.value - position.value
+ val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
+ integral += delta * dtSeconds
+ val derivative = (position.value - lastPosition) / dtSeconds
- //set last time and value to new values
- lastTime = realTime
- lastPosition = drive.position
+ //set last time and value to new values
+ lastTime = realTime
+ lastPosition = position.value
- drive.write(Drive.force,pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative)
- //drive.force = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative
- propertyChanged(Regulator.position, drive.position)
- }
+ output.value = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative
}
}
}
-
- override suspend fun onStop() {
- updateJob?.cancel()
- drive.stop()
- }
-
- override suspend fun getPosition(): Double = drive.position
}
-public fun DeviceGroup.pid(
- name: String,
- drive: Drive,
- pidParameters: PidParameters,
-): PidRegulator = install(name.parseAsName(), PidRegulator(drive, pidParameters))
\ No newline at end of file
+//
+//public fun DeviceGroup.pid(
+// name: String,
+// drive: Drive,
+// pidParameters: PidParameters,
+//): PidRegulator = install(name.parseAsName(), PidRegulator(drive, pidParameters))
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt
index eb9a333..628fb0e 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt
@@ -1,27 +1,17 @@
package space.kscience.controls.constructor.library
-import space.kscience.controls.api.Device
-import space.kscience.controls.spec.*
-import space.kscience.dataforge.meta.MetaConverter
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.dataforge.context.Context
/**
* A regulator with target value and current position
*/
-public interface Regulator : Device {
- /**
- * Get or set target value
- */
- public var target: Double
+public abstract class Regulator<T>(context: Context) : DeviceConstructor(context) {
- /**
- * Current position value
- */
- public suspend fun getPosition(): Double
+ public abstract val target: MutableDeviceState<T>
- public companion object : DeviceSpec<Regulator>() {
- public val target: MutableDevicePropertySpec<Regulator, Double> by mutableProperty(MetaConverter.double, Regulator::target)
-
- public val position: DevicePropertySpec<Regulator, Double> by doubleProperty { getPosition() }
- }
+ public abstract val output: DeviceState<T>
}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/StepDrive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/StepDrive.kt
new file mode 100644
index 0000000..47a9742
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/StepDrive.kt
@@ -0,0 +1,33 @@
+package space.kscience.controls.constructor.library
+
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.combineState
+import space.kscience.controls.constructor.property
+import space.kscience.controls.constructor.units.*
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.MetaConverter
+
+/**
+ * A step drive regulated by [input]
+ */
+public class StepDrive(
+ context: Context,
+ public val step: NumericalValue<Degrees>,
+ public val zero: NumericalValue<Degrees> = NumericalValue(0.0),
+ direction: Direction = Direction.UP,
+ input: MutableDeviceState<Int> = MutableDeviceState(0),
+ hold: MutableDeviceState<Boolean> = MutableDeviceState(false)
+) : Transmission<Int, NumericalValue<Degrees>>(context) {
+
+ override val input: MutableDeviceState<Int> by property(MetaConverter.int, input)
+
+ public val hold: MutableDeviceState<Boolean> by property(MetaConverter.boolean, hold)
+
+ override val output: DeviceState<NumericalValue<Degrees>> = combineState(
+ input, hold
+ ) { input, hold ->
+ //TODO use hold parameter
+ zero + input * direction.coef * step
+ }
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Transmission.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Transmission.kt
new file mode 100644
index 0000000..5974a2f
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Transmission.kt
@@ -0,0 +1,33 @@
+package space.kscience.controls.constructor.library
+
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.flowState
+import space.kscience.dataforge.context.Context
+
+
+/**
+ * A model for a device that converts one type of physical quantity to another type
+ */
+public abstract class Transmission<T, R>(context: Context) : DeviceConstructor(context) {
+ public abstract val input: MutableDeviceState<T>
+ public abstract val output: DeviceState<R>
+
+ public companion object {
+ /**
+ * Create a device that is a hard connection between two physical quantities
+ */
+ public suspend fun <T, R> direct(
+ context: Context,
+ input: MutableDeviceState<T>,
+ transform: suspend (T) -> R
+ ): Transmission<T, R> {
+ val initialValue = transform(input.value)
+ return object : Transmission<T, R>(context) {
+ override val input: MutableDeviceState<T> = input
+ override val output: DeviceState<R> = flowState(input, initialValue) { emit(transform(it)) }
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/Direction.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/Direction.kt
new file mode 100644
index 0000000..3685c7e
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/Direction.kt
@@ -0,0 +1,6 @@
+package space.kscience.controls.constructor.units
+
+public enum class Direction(public val coef: Int) {
+ UP(1),
+ DOWN(-1)
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
index c97784d..98fe418 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
@@ -7,4 +7,31 @@ import kotlin.jvm.JvmInline
* A value without identity coupled to units of measurements.
*/
@JvmInline
-public value class NumericalValue<T: UnitsOfMeasurement>(public val value: Double)
\ No newline at end of file
+public value class NumericalValue<U : UnitsOfMeasurement>(public val value: Double)
+
+public operator fun <U: UnitsOfMeasurement> NumericalValue<U>.compareTo(other: NumericalValue<U>): Int =
+ value.compareTo(other.value)
+
+public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.plus(
+ other: NumericalValue<U>
+): NumericalValue<U> = NumericalValue(this.value + other.value)
+
+public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.minus(
+ other: NumericalValue<U>
+): NumericalValue<U> = NumericalValue(this.value - other.value)
+
+public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.times(
+ c: Number
+): NumericalValue<U> = NumericalValue(this.value * c.toDouble())
+
+public operator fun <U : UnitsOfMeasurement> Number.times(
+ numericalValue: NumericalValue<U>
+): NumericalValue<U> = NumericalValue(numericalValue.value * toDouble())
+
+public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.times(
+ c: Double
+): NumericalValue<U> = NumericalValue(this.value * c)
+
+public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.div(
+ c: Number
+): NumericalValue<U> = NumericalValue(this.value / c.toDouble())
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt
index c29c1be..ed295ef 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt
@@ -7,24 +7,31 @@ public interface UnitsOfMeasurement
public interface UnitsOfLength : UnitsOfMeasurement
-public data object Meters: UnitsOfLength
+public data object Meters : UnitsOfLength
/**/
-public interface UnitsOfTime: UnitsOfMeasurement
+public interface UnitsOfTime : UnitsOfMeasurement
-public data object Seconds: UnitsOfTime
+public data object Seconds : UnitsOfTime
/**/
-public interface UnitsOfVelocity: UnitsOfMeasurement
+public interface UnitsOfVelocity : UnitsOfMeasurement
-public data object MetersPerSecond: UnitsOfVelocity
+public data object MetersPerSecond : UnitsOfVelocity
/**/
-public interface UnitsAngularOfVelocity: UnitsOfMeasurement
+public sealed interface UnitsOfAngles : UnitsOfMeasurement
-public data object RadiansPerSecond: UnitsAngularOfVelocity
+public data object Radians : UnitsOfAngles
+public data object Degrees : UnitsOfAngles
-public data object DegreesPerSecond: UnitsAngularOfVelocity
\ No newline at end of file
+/**/
+
+public interface UnitsAngularOfVelocity : UnitsOfMeasurement
+
+public data object RadiansPerSecond : UnitsAngularOfVelocity
+
+public data object DegreesPerSecond : UnitsAngularOfVelocity
\ No newline at end of file
diff --git a/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/TimerTest.kt b/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/TimerTest.kt
index 323f8df..38f7d83 100644
--- a/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/TimerTest.kt
+++ b/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/TimerTest.kt
@@ -15,8 +15,9 @@ class TimerTest {
@Test
fun timer() = runTest {
val timer = TimerState(Global.request(ClockManager), 10.milliseconds)
- timer.valueFlow.take(10).onEach {
+ timer.valueFlow.take(100).onEach {
println(it)
}.collect()
+
}
}
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
index a245d29..4204730 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/ClockManager.kt
@@ -9,6 +9,7 @@ import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.double
import kotlin.coroutines.CoroutineContext
import kotlin.math.roundToLong
+import kotlin.time.Duration
@OptIn(InternalCoroutinesApi::class)
private class CompressedTimeDispatcher(
@@ -78,6 +79,14 @@ public class ClockManager : AbstractPlugin() {
CompressedTimeDispatcher(this, dispatcher, timeCompression)
}
+ public fun scheduleWithFixedDelay(tick: Duration, block: suspend () -> Unit): Job = context.launch(asDispatcher()) {
+ while (isActive) {
+ delay(tick)
+ block()
+ }
+ }
+
+
public companion object : PluginFactory<ClockManager> {
override val tag: PluginTag = PluginTag("clock", group = PluginTag.DATAFORGE_GROUP)
diff --git a/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt b/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
index 9f84cb7..7fcb5ab 100644
--- a/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
+++ b/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
@@ -41,7 +41,7 @@ class Spring(
val l0: Double,
val begin: DeviceState<XY>,
val end: DeviceState<XY>,
-) : ConstructorModel(context) {
+) : ModelConstructor(context) {
/**
* vector from start to end
@@ -76,7 +76,7 @@ class MaterialPoint(
val force: DeviceState<XY>,
val position: MutableDeviceState<XY>,
val velocity: MutableDeviceState<XY> = MutableDeviceState(XY.ZERO),
-) : ConstructorModel(context, force, position, velocity) {
+) : ModelConstructor(context, force, position, velocity) {
private val timer: TimerState = timer(2.milliseconds)
diff --git a/demo/constructor/src/jvmMain/kotlin/LinearDrive.kt b/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
similarity index 92%
rename from demo/constructor/src/jvmMain/kotlin/LinearDrive.kt
rename to demo/constructor/src/jvmMain/kotlin/PidDemo.kt
index f64ef72..fb0ab64 100644
--- a/demo/constructor/src/jvmMain/kotlin/LinearDrive.kt
+++ b/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
@@ -52,14 +52,18 @@ class LinearDrive(
) : DeviceConstructor(drive.context, meta) {
val drive by device(drive)
- val pid by device(PidRegulator(drive, pidParameters))
+ val pid by device(
+ PidRegulator(
+ context = context,
+ position = drive.propertyAsState(Drive.position, 0.0),
+ pidParameters = pidParameters
+ )
+ )
+
+ private val binding = bind(pid.output, drive.stateOfForce())
val start by device(start)
val end by device(end)
-
- val position = drive.propertyAsState(Drive.position, Double.NaN)
-
- val target = pid.propertyAsState(Regulator.target, 0.0)
}
/**
@@ -67,14 +71,14 @@ class LinearDrive(
*/
fun LinearDrive(
context: Context,
- positionState: DoubleInRangeState,
+ positionState: MutableDoubleInRangeState,
mass: Double,
pidParameters: PidParameters,
meta: Meta = Meta.EMPTY,
): LinearDrive = LinearDrive(
drive = VirtualDrive(context, mass, positionState),
- start = VirtualLimitSwitch(context, positionState.atStart),
- end = VirtualLimitSwitch(context, positionState.atEnd),
+ start = LimitSwitch(context, positionState.atStart),
+ end = LimitSwitch(context, positionState.atEnd),
pidParameters = pidParameters,
meta = meta
)
@@ -116,7 +120,7 @@ fun main() = application {
mutableStateOf(PidParameters(kp = 2.5, ki = 0.0, kd = -0.1, timeStep = 0.005.seconds))
}
- val state = remember { DoubleInRangeState(0.0, -6.0..6.0) }
+ val state = remember { MutableDoubleInRangeState(0.0, -6.0..6.0) }
val linearDrive = remember {
context.install(
@@ -128,7 +132,7 @@ fun main() = application {
val modulator = remember {
context.install(
"modulator",
- Modulator(context, linearDrive.target)
+ Modulator(context, linearDrive.pid.target)
)
}
@@ -207,7 +211,7 @@ fun main() = application {
Slider(
pidParameters.timeStep.toDouble(DurationUnit.MILLISECONDS).toFloat(),
{ pidParameters = pidParameters.copy(timeStep = it.toDouble().milliseconds) },
- valueRange = 0f..100f,
+ valueRange = 1f..100f,
steps = 100
)
}
@@ -248,14 +252,14 @@ fun main() = application {
lineStyle = LineStyle(SolidColor(Color.Blue))
)
PlotDeviceProperty(
- linearDrive.pid,
- Regulator.position,
+ linearDrive.drive,
+ Drive.position,
maxAge = maxAge,
sampling = 50.milliseconds,
)
- PlotDeviceProperty(
- linearDrive.pid,
- Regulator.target,
+ PlotNumberState(
+ context = context,
+ state = linearDrive.pid.target,
maxAge = maxAge,
sampling = 50.milliseconds,
lineStyle = LineStyle(SolidColor(Color.Red))
From d0e3faea8818d27cb80529f0a596d472bd702f42 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 2 Jun 2024 17:58:38 +0300
Subject: [PATCH 094/125] Complete rework of PID demo and underlying devices
---
.../constructor/ConstructorElement.kt | 50 ++++-
.../controls/constructor/DeviceState.kt | 16 +-
.../controls/constructor/devices/Drive.kt | 18 ++
.../constructor/devices/EncoderDevice.kt | 20 ++
.../{library => devices}/LimitSwitch.kt | 3 +-
.../constructor/devices/LinearDrive.kt | 38 ++++
.../controls/constructor/devices/StepDrive.kt | 61 ++++++
.../constructor/library/DoubleInRangeState.kt | 57 -----
.../controls/constructor/library/Drive.kt | 102 ---------
.../constructor/library/PidRegulator.kt | 74 -------
.../controls/constructor/library/Regulator.kt | 17 --
.../controls/constructor/library/StepDrive.kt | 33 ---
.../constructor/library/Transmission.kt | 33 ---
.../controls/constructor/models/Inertia.kt | 104 +++++++++
.../constructor/models/PidRegulator.kt | 73 +++++++
.../controls/constructor/models/RangeState.kt | 68 ++++++
.../controls/constructor/models/Reducer.kt | 25 +++
.../controls/constructor/models/ScrewDrive.kt | 22 ++
.../constructor/units/NumericalValue.kt | 38 +++-
.../constructor/units/UnitsOfMeasurement.kt | 27 ++-
.../src/commonMain/kotlin/NumberTextField.kt | 59 +++++
.../src/commonMain/kotlin/TimeAxisModel.kt | 5 +-
.../src/commonMain/kotlin/koalaPlots.kt | 17 +-
.../constructor/src/jvmMain/kotlin/PidDemo.kt | 204 +++++++++---------
24 files changed, 719 insertions(+), 445 deletions(-)
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/Drive.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/EncoderDevice.kt
rename controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/{library => devices}/LimitSwitch.kt (92%)
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/LinearDrive.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
delete mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/DoubleInRangeState.kt
delete mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt
delete mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
delete mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt
delete mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/StepDrive.kt
delete mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Transmission.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/PidRegulator.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/RangeState.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Reducer.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt
create mode 100644 controls-visualisation-compose/src/commonMain/kotlin/NumberTextField.kt
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt
index 0aa72a0..8073689 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt
@@ -3,11 +3,13 @@ package space.kscience.controls.constructor
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Job
import kotlinx.coroutines.flow.*
+import kotlinx.datetime.Instant
import space.kscience.controls.api.Device
import space.kscience.controls.manager.ClockManager
import space.kscience.dataforge.context.ContextAware
import space.kscience.dataforge.context.request
import kotlin.time.Duration
+import kotlin.time.Duration.Companion.milliseconds
/**
* A binding that is used to describe device functionality
@@ -36,7 +38,7 @@ public class ConnectionConstrucorElement(
) : ConstructorElement
public class ModelConstructorElement(
- public val model: ModelConstructor
+ public val model: ModelConstructor,
) : ConstructorElement
@@ -77,15 +79,15 @@ public interface StateContainer : ContextAware, CoroutineScope {
/**
* Register a [state] in this container. The state is not registered as a device property if [this] is a [DeviceConstructor]
*/
-public fun <T, D : DeviceState<T>> StateContainer.state(state: D): D {
+public fun <T, D : DeviceState<T>> StateContainer.registerState(state: D): D {
registerElement(StateConstructorElement(state))
return state
}
/**
- * Create a register a [MutableDeviceState] with a given [converter]
+ * Create a register a [MutableDeviceState]
*/
-public fun <T> StateContainer.stateOf(initialValue: T): MutableDeviceState<T> = state(
+public fun <T> StateContainer.stateOf(initialValue: T): MutableDeviceState<T> = registerState(
MutableDeviceState(initialValue)
)
@@ -97,23 +99,53 @@ public fun <T : ModelConstructor> StateContainer.model(model: T): T {
/**
* Create and register a timer state.
*/
-public fun StateContainer.timer(tick: Duration): TimerState = state(TimerState(context.request(ClockManager), tick))
+public fun StateContainer.timer(tick: Duration): TimerState =
+ registerState(TimerState(context.request(ClockManager), tick))
+/**
+ * Register a new timer and perform [block] on its change
+ */
+public fun StateContainer.onTimer(
+ tick: Duration,
+ writes: Collection<DeviceState<*>> = emptySet(),
+ reads: Collection<DeviceState<*>> = emptySet(),
+ block: suspend (prev: Instant, next: Instant) -> Unit,
+): Job = timer(tick).onChange(writes = writes, reads = reads, onChange = block)
+
+public enum class DefaultTimer(public val duration: Duration){
+ REALTIME(5.milliseconds),
+ VERY_FAST(10.milliseconds),
+ FAST(20.milliseconds),
+ MEDIUM(50.milliseconds),
+ SLOW(100.milliseconds),
+ VERY_SLOW(500.milliseconds),
+}
+
+/**
+ * Perform an action on default timer
+ */
+public fun StateContainer.onTimer(
+ defaultTimer: DefaultTimer = DefaultTimer.FAST,
+ writes: Collection<DeviceState<*>> = emptySet(),
+ reads: Collection<DeviceState<*>> = emptySet(),
+ block: suspend (prev: Instant, next: Instant) -> Unit,
+): Job = timer(defaultTimer.duration).onChange(writes = writes, reads = reads, onChange = block)
+//TODO implement timer pooling
public fun <T, R> StateContainer.mapState(
origin: DeviceState<T>,
transformation: (T) -> R,
-): DeviceStateWithDependencies<R> = state(DeviceState.map(origin, transformation))
+): DeviceStateWithDependencies<R> = registerState(DeviceState.map(origin, transformation))
public fun <T, R> StateContainer.flowState(
origin: DeviceState<T>,
initialValue: R,
- transformation: suspend FlowCollector<R>.(T) -> Unit
+ transformation: suspend FlowCollector<R>.(T) -> Unit,
): DeviceStateWithDependencies<R> {
val state = MutableDeviceState(initialValue)
origin.valueFlow.transform(transformation).onEach { state.value = it }.launchIn(this)
- return state(state.withDependencies(setOf(origin)))
+ return registerState(state.withDependencies(setOf(origin)))
}
/**
@@ -123,7 +155,7 @@ public fun <T1, T2, R> StateContainer.combineState(
first: DeviceState<T1>,
second: DeviceState<T2>,
transformation: (T1, T2) -> R,
-): DeviceState<R> = state(DeviceState.combine(first, second, transformation))
+): DeviceState<R> = registerState(DeviceState.combine(first, second, transformation))
/**
* Create and start binding between [sourceState] and [targetState]. Changes made to [sourceState] are automatically
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index 5083347..c326565 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -6,12 +6,14 @@ import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.map
import kotlinx.coroutines.flow.onEach
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.controls.constructor.units.UnitsOfMeasurement
import kotlin.reflect.KProperty
/**
* An observable state of a device
*/
-public interface DeviceState<T> {
+public interface DeviceState<out T> {
public val value: T
public val valueFlow: Flow<T>
@@ -49,7 +51,7 @@ public interface DeviceStateWithDependencies<T> : DeviceState<T> {
}
public fun <T> DeviceState<T>.withDependencies(
- dependencies: Collection<DeviceState<*>>
+ dependencies: Collection<DeviceState<*>>,
): DeviceStateWithDependencies<T> = object : DeviceStateWithDependencies<T>, DeviceState<T> by this {
override val dependencies: Collection<DeviceState<*>> = dependencies
}
@@ -72,6 +74,16 @@ public fun <T, R> DeviceState.Companion.map(
public fun <T, R> DeviceState<T>.map(mapper: (T) -> R): DeviceStateWithDependencies<R> = DeviceState.map(this, mapper)
+public fun DeviceState<out NumericalValue<out UnitsOfMeasurement>>.values(): DeviceState<Double> = object : DeviceState<Double> {
+ override val value: Double
+ get() = this@values.value.value
+
+ override val valueFlow: Flow<Double>
+ get() = this@values.valueFlow.map { it.value }
+
+ override fun toString(): String = this@values.toString()
+}
+
/**
* Combine two device states into one read-only [DeviceState]. Only the latest value of each state is used.
*/
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/Drive.kt
new file mode 100644
index 0000000..3436856
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/Drive.kt
@@ -0,0 +1,18 @@
+package space.kscience.controls.constructor.devices
+
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.property
+import space.kscience.controls.constructor.units.NewtonsMeters
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.controls.constructor.units.numerical
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.MetaConverter
+
+
+public class Drive(
+ context: Context,
+ force: MutableDeviceState<NumericalValue<NewtonsMeters>> = MutableDeviceState(NumericalValue(0)),
+) : DeviceConstructor(context) {
+ public val force: MutableDeviceState<NumericalValue<NewtonsMeters>> by property(MetaConverter.numerical(), force)
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/EncoderDevice.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/EncoderDevice.kt
new file mode 100644
index 0000000..cb73cff
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/EncoderDevice.kt
@@ -0,0 +1,20 @@
+package space.kscience.controls.constructor.devices
+
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.property
+import space.kscience.controls.constructor.units.Degrees
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.controls.constructor.units.numerical
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.MetaConverter
+
+/**
+ * An encoder that can read an angle
+ */
+public class EncoderDevice(
+ context: Context,
+ position: DeviceState<NumericalValue<Degrees>>
+) : DeviceConstructor(context) {
+ public val position: DeviceState<NumericalValue<Degrees>> by property(MetaConverter.numerical<Degrees>(), position)
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/LimitSwitch.kt
similarity index 92%
rename from controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
rename to controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/LimitSwitch.kt
index 919d026..cba6b83 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/LimitSwitch.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/LimitSwitch.kt
@@ -1,4 +1,4 @@
-package space.kscience.controls.constructor.library
+package space.kscience.controls.constructor.devices
import space.kscience.controls.constructor.DeviceConstructor
import space.kscience.controls.constructor.DeviceState
@@ -7,7 +7,6 @@ import space.kscience.controls.constructor.registerAsProperty
import space.kscience.controls.constructor.units.Direction
import space.kscience.controls.constructor.units.NumericalValue
import space.kscience.controls.constructor.units.UnitsOfMeasurement
-import space.kscience.controls.constructor.units.compareTo
import space.kscience.controls.spec.DevicePropertySpec
import space.kscience.controls.spec.DeviceSpec
import space.kscience.controls.spec.booleanProperty
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/LinearDrive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/LinearDrive.kt
new file mode 100644
index 0000000..51039d1
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/LinearDrive.kt
@@ -0,0 +1,38 @@
+package space.kscience.controls.constructor.devices
+
+import space.kscience.controls.constructor.*
+import space.kscience.controls.constructor.models.PidParameters
+import space.kscience.controls.constructor.models.PidRegulator
+import space.kscience.controls.constructor.units.Meters
+import space.kscience.controls.constructor.units.NewtonsMeters
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.controls.constructor.units.numerical
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.MetaConverter
+
+public class LinearDrive(
+ drive: Drive,
+ start: LimitSwitch,
+ end: LimitSwitch,
+ position: DeviceState<NumericalValue<Meters>>,
+ pidParameters: PidParameters,
+ context: Context = drive.context,
+ meta: Meta = Meta.EMPTY,
+) : DeviceConstructor(context, meta) {
+
+ public val position: DeviceState<NumericalValue<Meters>> by property(MetaConverter.numerical(), position)
+
+ public val drive: Drive by device(drive)
+ public val pid: PidRegulator<Meters, NewtonsMeters> = model(
+ PidRegulator(
+ context = context,
+ position = position,
+ output = drive.force,
+ pidParameters = pidParameters
+ )
+ )
+
+ public val startLimit: LimitSwitch by device(start)
+ public val endLimit: LimitSwitch by device(end)
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
new file mode 100644
index 0000000..072789b
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
@@ -0,0 +1,61 @@
+package space.kscience.controls.constructor.devices
+
+import kotlinx.coroutines.launch
+import space.kscience.controls.constructor.*
+import space.kscience.controls.constructor.units.Degrees
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.controls.constructor.units.plus
+import space.kscience.controls.constructor.units.times
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.MetaConverter
+import kotlin.math.max
+import kotlin.math.min
+import kotlin.math.roundToInt
+import kotlin.time.DurationUnit
+
+/**
+ * A step drive
+ *
+ * @param speed ticks per second
+ * @param target target ticks state
+ * @param writeTicks a hardware callback
+ */
+public class StepDrive(
+ context: Context,
+ speed: MutableDeviceState<Double>,
+ target: MutableDeviceState<Int> = MutableDeviceState(0),
+ private val writeTicks: suspend (ticks: Int, speed: Double) -> Unit,
+) : DeviceConstructor(context) {
+
+ public val target: MutableDeviceState<Int> by property(MetaConverter.int, target)
+
+ public val speed: MutableDeviceState<Double> by property(MetaConverter.double, speed)
+
+ private val positionState = stateOf(target.value)
+
+ public val position: DeviceState<Int> by property(MetaConverter.int, positionState)
+
+ private val ticker = onTimer { prev, next ->
+ val tickSpeed = speed.value
+ val timeDelta = (next - prev).toDouble(DurationUnit.SECONDS)
+ val ticksDelta: Int = target.value - position.value
+ val steps: Int = when {
+ ticksDelta > 0 -> min(ticksDelta, (timeDelta * tickSpeed).roundToInt())
+ ticksDelta < 0 -> max(ticksDelta, (timeDelta * tickSpeed).roundToInt())
+ else -> return@onTimer
+ }
+ launch {
+ writeTicks(steps, tickSpeed)
+ positionState.value += steps
+ }
+ }
+}
+
+/**
+ * Compute a state using given tick-to-angle transformation
+ */
+public fun StepDrive.angle(
+ zero: NumericalValue<Degrees>,
+ step: NumericalValue<Degrees>,
+): DeviceState<NumericalValue<Degrees>> = position.map { zero + it * step }
+
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/DoubleInRangeState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/DoubleInRangeState.kt
deleted file mode 100644
index 10773da..0000000
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/DoubleInRangeState.kt
+++ /dev/null
@@ -1,57 +0,0 @@
-package space.kscience.controls.constructor.library
-
-import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.map
-import space.kscience.controls.constructor.DeviceState
-import space.kscience.controls.constructor.MutableDeviceState
-import space.kscience.controls.constructor.map
-
-/**
- * A state describing a [Double] value in the [range]
- */
-public open class DoubleInRangeState(
- private val input: DeviceState<Double>,
- public val range: ClosedFloatingPointRange<Double>,
-) : DeviceState<Double> {
-
- override val valueFlow: Flow<Double> get() = input.valueFlow.map { it.coerceIn(range) }
-
- override val value: Double get() = input.value.coerceIn(range)
-
- /**
- * A state showing that the range is on its lower boundary
- */
- public val atStart: DeviceState<Boolean> = input.map { it <= range.start }
-
- /**
- * A state showing that the range is on its higher boundary
- */
- public val atEnd: DeviceState<Boolean> = input.map { it >= range.endInclusive }
-
- override fun toString(): String = "DoubleRangeState(value=${value},range=$range)"
-}
-
-public class MutableDoubleInRangeState(
- private val mutableInput: MutableDeviceState<Double>,
- range: ClosedFloatingPointRange<Double>
-) : DoubleInRangeState(mutableInput, range), MutableDeviceState<Double> {
- override var value: Double
- get() = super.value
- set(value) {
- mutableInput.value = value.coerceIn(range)
- }
-}
-
-public fun MutableDoubleInRangeState(
- initialValue: Double,
- range: ClosedFloatingPointRange<Double>
-): MutableDoubleInRangeState = MutableDoubleInRangeState(MutableDeviceState(initialValue),range)
-
-
-public fun DeviceState<Double>.coerceIn(
- range: ClosedFloatingPointRange<Double>
-): DoubleInRangeState = DoubleInRangeState(this, range)
-
-public fun MutableDeviceState<Double>.coerceIn(
- range: ClosedFloatingPointRange<Double>
-): MutableDoubleInRangeState = MutableDoubleInRangeState(this, range)
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt
deleted file mode 100644
index 77a16ca..0000000
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Drive.kt
+++ /dev/null
@@ -1,102 +0,0 @@
-package space.kscience.controls.constructor.library
-
-import kotlinx.coroutines.Job
-import kotlinx.coroutines.delay
-import kotlinx.coroutines.isActive
-import kotlinx.coroutines.launch
-import space.kscience.controls.api.Device
-import space.kscience.controls.constructor.MutableDeviceState
-import space.kscience.controls.constructor.propertyAsState
-import space.kscience.controls.manager.clock
-import space.kscience.controls.spec.*
-import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.context.Factory
-import space.kscience.dataforge.meta.MetaConverter
-import space.kscience.dataforge.meta.double
-import space.kscience.dataforge.meta.get
-import kotlin.math.pow
-import kotlin.time.Duration.Companion.milliseconds
-import kotlin.time.DurationUnit
-
-/**
- * A classic drive regulated by force with encoder
- */
-public interface Drive : Device {
- /**
- * Get or set drive force or momentum
- */
- public var force: Double
-
- /**
- * Current position value
- */
- public val position: Double
-
- public companion object : DeviceSpec<Drive>() {
- public val force: MutableDevicePropertySpec<Drive, Double> by Drive.mutableProperty(
- MetaConverter.double,
- Drive::force
- )
-
- public val position: DevicePropertySpec<Drive, Double> by doubleProperty { position }
- }
-}
-
-/**
- * A virtual drive
- */
-public class VirtualDrive(
- context: Context,
- private val mass: Double,
- public val positionState: MutableDeviceState<Double>,
-) : Drive, DeviceBySpec<Drive>(Drive, context) {
-
- private val dt = meta["time.step"].double?.milliseconds ?: 5.milliseconds
- private val clock = context.clock
-
- override var force: Double = 0.0
-
- override val position: Double get() = positionState.value
-
- public var velocity: Double = 0.0
- private set
-
- private var updateJob: Job? = null
-
- override suspend fun onStart() {
- updateJob = launch {
- var lastTime = clock.now()
- while (isActive) {
- delay(dt)
- val realTime = clock.now()
- val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
-
- //set last time and value to new values
- lastTime = realTime
-
- // compute new value based on velocity and acceleration from the previous step
- positionState.value += velocity * dtSeconds + force / mass * dtSeconds.pow(2) / 2
- propertyChanged(Drive.position, positionState.value)
-
- // compute new velocity based on acceleration on the previous step
- velocity += force / mass * dtSeconds
- }
- }
- }
-
- override suspend fun onStop() {
- updateJob?.cancel()
- }
-
- public companion object {
- public fun factory(
- mass: Double,
- positionState: MutableDeviceState<Double>,
- ): Factory<Drive> = Factory { context, _ ->
- VirtualDrive(context, mass, positionState)
- }
- }
-}
-
-public fun Drive.stateOfForce(initialForce: Double = 0.0): MutableDeviceState<Double> =
- propertyAsState(Drive.force, initialForce)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
deleted file mode 100644
index 27c3f95..0000000
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/PidRegulator.kt
+++ /dev/null
@@ -1,74 +0,0 @@
-package space.kscience.controls.constructor.library
-
-import kotlinx.coroutines.delay
-import kotlinx.coroutines.isActive
-import kotlinx.coroutines.launch
-import kotlinx.coroutines.sync.Mutex
-import kotlinx.coroutines.sync.withLock
-import space.kscience.controls.constructor.DeviceState
-import space.kscience.controls.constructor.MutableDeviceState
-import space.kscience.controls.constructor.state
-import space.kscience.controls.constructor.stateOf
-import space.kscience.controls.manager.clock
-import space.kscience.dataforge.context.Context
-import kotlin.time.Duration
-import kotlin.time.DurationUnit
-
-
-/**
- * Pid regulator parameters
- */
-public data class PidParameters(
- val kp: Double,
- val ki: Double,
- val kd: Double,
- val timeStep: Duration,
-)
-
-/**
- * A PID regulator
- */
-public class PidRegulator(
- context: Context,
- private val position: DeviceState<Double>,
- public var pidParameters: PidParameters, // TODO expose as property
- output: MutableDeviceState<Double> = MutableDeviceState(0.0),
-) : Regulator<Double>(context) {
-
- override val target: MutableDeviceState<Double> = stateOf(0.0)
- override val output: MutableDeviceState<Double> = state(output)
-
- private var lastPosition: Double = target.value
-
- private var integral: Double = 0.0
-
- private val mutex = Mutex()
-
- private var lastTime = clock.now()
-
- private val updateJob = launch {
- while (isActive) {
- delay(pidParameters.timeStep)
- mutex.withLock {
- val realTime = clock.now()
- val delta = target.value - position.value
- val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
- integral += delta * dtSeconds
- val derivative = (position.value - lastPosition) / dtSeconds
-
- //set last time and value to new values
- lastTime = realTime
- lastPosition = position.value
-
- output.value = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative
- }
- }
- }
-}
-
-//
-//public fun DeviceGroup.pid(
-// name: String,
-// drive: Drive,
-// pidParameters: PidParameters,
-//): PidRegulator = install(name.parseAsName(), PidRegulator(drive, pidParameters))
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt
deleted file mode 100644
index 628fb0e..0000000
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Regulator.kt
+++ /dev/null
@@ -1,17 +0,0 @@
-package space.kscience.controls.constructor.library
-
-import space.kscience.controls.constructor.DeviceConstructor
-import space.kscience.controls.constructor.DeviceState
-import space.kscience.controls.constructor.MutableDeviceState
-import space.kscience.dataforge.context.Context
-
-
-/**
- * A regulator with target value and current position
- */
-public abstract class Regulator<T>(context: Context) : DeviceConstructor(context) {
-
- public abstract val target: MutableDeviceState<T>
-
- public abstract val output: DeviceState<T>
-}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/StepDrive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/StepDrive.kt
deleted file mode 100644
index 47a9742..0000000
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/StepDrive.kt
+++ /dev/null
@@ -1,33 +0,0 @@
-package space.kscience.controls.constructor.library
-
-import space.kscience.controls.constructor.DeviceState
-import space.kscience.controls.constructor.MutableDeviceState
-import space.kscience.controls.constructor.combineState
-import space.kscience.controls.constructor.property
-import space.kscience.controls.constructor.units.*
-import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.meta.MetaConverter
-
-/**
- * A step drive regulated by [input]
- */
-public class StepDrive(
- context: Context,
- public val step: NumericalValue<Degrees>,
- public val zero: NumericalValue<Degrees> = NumericalValue(0.0),
- direction: Direction = Direction.UP,
- input: MutableDeviceState<Int> = MutableDeviceState(0),
- hold: MutableDeviceState<Boolean> = MutableDeviceState(false)
-) : Transmission<Int, NumericalValue<Degrees>>(context) {
-
- override val input: MutableDeviceState<Int> by property(MetaConverter.int, input)
-
- public val hold: MutableDeviceState<Boolean> by property(MetaConverter.boolean, hold)
-
- override val output: DeviceState<NumericalValue<Degrees>> = combineState(
- input, hold
- ) { input, hold ->
- //TODO use hold parameter
- zero + input * direction.coef * step
- }
-}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Transmission.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Transmission.kt
deleted file mode 100644
index 5974a2f..0000000
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/library/Transmission.kt
+++ /dev/null
@@ -1,33 +0,0 @@
-package space.kscience.controls.constructor.library
-
-import space.kscience.controls.constructor.DeviceConstructor
-import space.kscience.controls.constructor.DeviceState
-import space.kscience.controls.constructor.MutableDeviceState
-import space.kscience.controls.constructor.flowState
-import space.kscience.dataforge.context.Context
-
-
-/**
- * A model for a device that converts one type of physical quantity to another type
- */
-public abstract class Transmission<T, R>(context: Context) : DeviceConstructor(context) {
- public abstract val input: MutableDeviceState<T>
- public abstract val output: DeviceState<R>
-
- public companion object {
- /**
- * Create a device that is a hard connection between two physical quantities
- */
- public suspend fun <T, R> direct(
- context: Context,
- input: MutableDeviceState<T>,
- transform: suspend (T) -> R
- ): Transmission<T, R> {
- val initialValue = transform(input.value)
- return object : Transmission<T, R>(context) {
- override val input: MutableDeviceState<T> = input
- override val output: DeviceState<R> = flowState(input, initialValue) { emit(transform(it)) }
- }
- }
- }
-}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt
new file mode 100644
index 0000000..d6c3fc7
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt
@@ -0,0 +1,104 @@
+package space.kscience.controls.constructor.models
+
+import space.kscience.controls.constructor.*
+import space.kscience.controls.constructor.units.*
+import space.kscience.dataforge.context.Context
+import kotlin.math.pow
+import kotlin.time.Duration
+import kotlin.time.Duration.Companion.milliseconds
+import kotlin.time.DurationUnit
+
+/**
+ * A model for inertial movement. Both linear and angular
+ */
+public class Inertia<U : UnitsOfMeasurement, V : UnitsOfMeasurement>(
+ context: Context,
+ force: DeviceState<Double>, //TODO add system unit sets
+ inertia: Double,
+ public val position: MutableDeviceState<NumericalValue<U>>,
+ public val velocity: MutableDeviceState<NumericalValue<V>>,
+ timerPrecision: Duration = 10.milliseconds,
+) : ModelConstructor(context) {
+
+ init {
+ registerState(position)
+ registerState(velocity)
+ }
+
+ private val movementTimer = timer(timerPrecision)
+
+ private var currentForce = force.value
+
+ private val movement = movementTimer.onChange { prev, next ->
+ val dtSeconds = (next - prev).toDouble(DurationUnit.SECONDS)
+
+ // compute new value based on velocity and acceleration from the previous step
+ position.value += NumericalValue(velocity.value.value * dtSeconds + currentForce / inertia * dtSeconds.pow(2) / 2)
+
+ // compute new velocity based on acceleration on the previous step
+ velocity.value += NumericalValue(currentForce / inertia * dtSeconds)
+ currentForce = force.value
+ }
+
+ public companion object {
+ /**
+ * Linear inertial model with [force] in newtons and [mass] in kilograms
+ */
+ public fun linear(
+ context: Context,
+ force: DeviceState<NumericalValue<Newtons>>,
+ mass: NumericalValue<Kilograms>,
+ position: MutableDeviceState<NumericalValue<Meters>>,
+ velocity: MutableDeviceState<NumericalValue<MetersPerSecond>> = MutableDeviceState(NumericalValue(0.0)),
+ ): Inertia<Meters, MetersPerSecond> = Inertia(
+ context = context,
+ force = force.values(),
+ inertia = mass.value,
+ position = position,
+ velocity = velocity
+ )
+//
+//
+// public fun linear(
+// context: Context,
+// force: DeviceState<NumericalValue<Newtons>>,
+// mass: NumericalValue<Kilograms>,
+// initialPosition: NumericalValue<Meters>,
+// initialVelocity: NumericalValue<MetersPerSecond> = NumericalValue(0),
+// ): Inertia<Meters, MetersPerSecond> = Inertia(
+// context = context,
+// force = force.values(),
+// inertia = mass.value,
+// position = MutableDeviceState(initialPosition),
+// velocity = MutableDeviceState(initialVelocity)
+// )
+
+ public fun circular(
+ context: Context,
+ force: DeviceState<NumericalValue<NewtonsMeters>>,
+ momentOfInertia: NumericalValue<KgM2>,
+ position: MutableDeviceState<NumericalValue<Degrees>>,
+ velocity: MutableDeviceState<NumericalValue<DegreesPerSecond>> = MutableDeviceState(NumericalValue(0.0)),
+ ): Inertia<Degrees, DegreesPerSecond> = Inertia(
+ context = context,
+ force = force.values(),
+ inertia = momentOfInertia.value,
+ position = position,
+ velocity = velocity
+ )
+//
+// public fun circular(
+// context: Context,
+// force: DeviceState<NumericalValue<NewtonsMeters>>,
+// momentOfInertia: NumericalValue<KgM2>,
+// initialPosition: NumericalValue<Degrees>,
+// initialVelocity: NumericalValue<DegreesPerSecond> = NumericalValue(0),
+// ): Inertia<Degrees, DegreesPerSecond> = Inertia(
+// context = context,
+// force = force.values(),
+// inertia = momentOfInertia.value,
+// position = MutableDeviceState(initialPosition),
+// velocity = MutableDeviceState(initialVelocity)
+// )
+ }
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/PidRegulator.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/PidRegulator.kt
new file mode 100644
index 0000000..8c97594
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/PidRegulator.kt
@@ -0,0 +1,73 @@
+package space.kscience.controls.constructor.models
+
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.sync.Mutex
+import kotlinx.coroutines.sync.withLock
+import space.kscience.controls.constructor.*
+import space.kscience.controls.constructor.units.*
+import space.kscience.controls.manager.clock
+import space.kscience.dataforge.context.Context
+import kotlin.time.Duration
+import kotlin.time.Duration.Companion.milliseconds
+import kotlin.time.DurationUnit
+
+
+/**
+ * Pid regulator parameters
+ */
+public data class PidParameters(
+ val kp: Double,
+ val ki: Double,
+ val kd: Double,
+ val timeStep: Duration = 10.milliseconds,
+)
+
+/**
+ * A PID regulator
+ *
+ * @param P units of position values
+ * @param O units of output values
+ */
+public class PidRegulator<P : UnitsOfMeasurement, O : UnitsOfMeasurement>(
+ context: Context,
+ private val position: DeviceState<NumericalValue<P>>,
+ public var pidParameters: PidParameters, // TODO expose as property
+ output: MutableDeviceState<NumericalValue<O>> = MutableDeviceState(NumericalValue(0.0)),
+ private val convertOutput: (NumericalValue<P>) -> NumericalValue<O> = { NumericalValue(it.value) },
+) : ModelConstructor(context) {
+
+ public val target: MutableDeviceState<NumericalValue<P>> = stateOf(NumericalValue(0.0))
+ public val output: MutableDeviceState<NumericalValue<O>> = registerState(output)
+
+ private val updateJob = launch {
+ var lastPosition: NumericalValue<P> = target.value
+
+ var integral: NumericalValue<P> = NumericalValue(0.0)
+
+ val mutex = Mutex()
+
+ val clock = context.clock
+
+ var lastTime = clock.now()
+
+ while (isActive) {
+ delay(pidParameters.timeStep)
+ mutex.withLock {
+ val realTime = clock.now()
+ val delta: NumericalValue<P> = target.value - position.value
+ val dtSeconds = (realTime - lastTime).toDouble(DurationUnit.SECONDS)
+ integral += delta * dtSeconds
+ val derivative = (position.value - lastPosition) / dtSeconds
+
+ //set last time and value to new values
+ lastTime = realTime
+ lastPosition = position.value
+
+ output.value =
+ convertOutput(pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative)
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/RangeState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/RangeState.kt
new file mode 100644
index 0000000..c760699
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/RangeState.kt
@@ -0,0 +1,68 @@
+package space.kscience.controls.constructor.models
+
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.map
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.map
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.controls.constructor.units.UnitsOfMeasurement
+
+/**
+ * A state describing a [T] value in the [range]
+ */
+public open class RangeState<T : Comparable<T>>(
+ private val input: DeviceState<T>,
+ public val range: ClosedRange<T>,
+) : DeviceState<T> {
+
+ override val valueFlow: Flow<T> get() = input.valueFlow.map { it.coerceIn(range) }
+
+ override val value: T get() = input.value.coerceIn(range)
+
+ /**
+ * A state showing that the range is on its lower boundary
+ */
+ public val atStart: DeviceState<Boolean> = input.map { it <= range.start }
+
+ /**
+ * A state showing that the range is on its higher boundary
+ */
+ public val atEnd: DeviceState<Boolean> = input.map { it >= range.endInclusive }
+
+ override fun toString(): String = "DoubleRangeState(value=${value},range=$range)"
+}
+
+public class MutableRangeState<T : Comparable<T>>(
+ private val mutableInput: MutableDeviceState<T>,
+ range: ClosedRange<T>,
+) : RangeState<T>(mutableInput, range), MutableDeviceState<T> {
+ override var value: T
+ get() = super.value
+ set(value) {
+ mutableInput.value = value.coerceIn(range)
+ }
+}
+
+public fun <T : Comparable<T>> MutableRangeState(
+ initialValue: T,
+ range: ClosedRange<T>,
+): MutableRangeState<T> = MutableRangeState<T>(MutableDeviceState(initialValue), range)
+
+public fun <U : UnitsOfMeasurement> MutableRangeState(
+ initialValue: Double,
+ range: ClosedRange<Double>,
+): MutableRangeState<NumericalValue<U>> = MutableRangeState(
+ initialValue = NumericalValue(initialValue),
+ range = NumericalValue<U>(range.start)..NumericalValue<U>(range.endInclusive)
+)
+
+
+public fun <T : Comparable<T>> DeviceState<T>.coerceIn(
+ range: ClosedFloatingPointRange<T>,
+): RangeState<T> = RangeState(this, range)
+
+
+public fun <T : Comparable<T>> MutableDeviceState<T>.coerceIn(
+ range: ClosedFloatingPointRange<T>,
+): MutableRangeState<T> = MutableRangeState(this, range)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Reducer.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Reducer.kt
new file mode 100644
index 0000000..caba5ff
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Reducer.kt
@@ -0,0 +1,25 @@
+package space.kscience.controls.constructor.models
+
+import space.kscience.controls.constructor.*
+import space.kscience.controls.constructor.units.Degrees
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.controls.constructor.units.times
+import space.kscience.dataforge.context.Context
+
+/**
+ * A reducer device used for simulations only (no public properties)
+ */
+public class Reducer(
+ context: Context,
+ public val ratio: Double,
+ public val input: DeviceState<NumericalValue<Degrees>>,
+ public val output: MutableDeviceState<NumericalValue<Degrees>>,
+) : ModelConstructor(context) {
+ init {
+ registerState(input)
+ registerState(output)
+ transformTo(input, output) {
+ it * ratio
+ }
+ }
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt
new file mode 100644
index 0000000..6e2f86c
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt
@@ -0,0 +1,22 @@
+package space.kscience.controls.constructor.models
+
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.ModelConstructor
+import space.kscience.controls.constructor.map
+import space.kscience.controls.constructor.units.Meters
+import space.kscience.controls.constructor.units.Newtons
+import space.kscience.controls.constructor.units.NewtonsMeters
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.dataforge.context.Context
+
+public class ScrewDrive(
+ context: Context,
+ public val leverage: NumericalValue<Meters>,
+) : ModelConstructor(context) {
+ public fun transformForce(
+ stateOfForce: DeviceState<NumericalValue<NewtonsMeters>>,
+ ): DeviceState<NumericalValue<Newtons>> = DeviceState.map(stateOfForce) {
+ NumericalValue(it.value * leverage.value)
+ }
+
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
index 98fe418..60de195 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
@@ -1,5 +1,8 @@
package space.kscience.controls.constructor.units
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.MetaConverter
+import space.kscience.dataforge.meta.double
import kotlin.jvm.JvmInline
@@ -7,31 +10,46 @@ import kotlin.jvm.JvmInline
* A value without identity coupled to units of measurements.
*/
@JvmInline
-public value class NumericalValue<U : UnitsOfMeasurement>(public val value: Double)
+public value class NumericalValue<U : UnitsOfMeasurement>(public val value: Double): Comparable<NumericalValue<U>> {
+ override fun compareTo(other: NumericalValue<U>): Int = value.compareTo(other.value)
-public operator fun <U: UnitsOfMeasurement> NumericalValue<U>.compareTo(other: NumericalValue<U>): Int =
- value.compareTo(other.value)
+}
+
+public fun <U : UnitsOfMeasurement> NumericalValue(
+ number: Number,
+): NumericalValue<U> = NumericalValue(number.toDouble())
public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.plus(
- other: NumericalValue<U>
+ other: NumericalValue<U>,
): NumericalValue<U> = NumericalValue(this.value + other.value)
public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.minus(
- other: NumericalValue<U>
+ other: NumericalValue<U>,
): NumericalValue<U> = NumericalValue(this.value - other.value)
public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.times(
- c: Number
+ c: Number,
): NumericalValue<U> = NumericalValue(this.value * c.toDouble())
public operator fun <U : UnitsOfMeasurement> Number.times(
- numericalValue: NumericalValue<U>
+ numericalValue: NumericalValue<U>,
): NumericalValue<U> = NumericalValue(numericalValue.value * toDouble())
public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.times(
- c: Double
+ c: Double,
): NumericalValue<U> = NumericalValue(this.value * c)
public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.div(
- c: Number
-): NumericalValue<U> = NumericalValue(this.value / c.toDouble())
\ No newline at end of file
+ c: Number,
+): NumericalValue<U> = NumericalValue(this.value / c.toDouble())
+
+
+private object NumericalValueMetaConverter : MetaConverter<NumericalValue<*>> {
+ override fun convert(obj: NumericalValue<*>): Meta = Meta(obj.value)
+
+ override fun readOrNull(source: Meta): NumericalValue<*>? = source.double?.let { NumericalValue<Nothing>(it) }
+}
+
+@Suppress("UNCHECKED_CAST")
+public fun <U : UnitsOfMeasurement> MetaConverter.Companion.numerical(): MetaConverter<NumericalValue<U>> =
+ NumericalValueMetaConverter as MetaConverter<NumericalValue<U>>
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt
index ed295ef..1264423 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt
@@ -30,8 +30,31 @@ public data object Degrees : UnitsOfAngles
/**/
-public interface UnitsAngularOfVelocity : UnitsOfMeasurement
+public sealed interface UnitsAngularOfVelocity : UnitsOfMeasurement
public data object RadiansPerSecond : UnitsAngularOfVelocity
-public data object DegreesPerSecond : UnitsAngularOfVelocity
\ No newline at end of file
+public data object DegreesPerSecond : UnitsAngularOfVelocity
+
+/**/
+public interface UnitsOfForce: UnitsOfMeasurement
+
+public data object Newtons: UnitsOfForce
+
+/**/
+
+public interface UnitsOfTorque: UnitsOfMeasurement
+
+public data object NewtonsMeters: UnitsOfTorque
+
+/**/
+
+public interface UnitsOfMass: UnitsOfMeasurement
+
+public data object Kilograms : UnitsOfMass
+
+/**/
+
+public interface UnitsOfMomentOfInertia: UnitsOfMeasurement
+
+public data object KgM2: UnitsOfMomentOfInertia
\ No newline at end of file
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/NumberTextField.kt b/controls-visualisation-compose/src/commonMain/kotlin/NumberTextField.kt
new file mode 100644
index 0000000..68e61ca
--- /dev/null
+++ b/controls-visualisation-compose/src/commonMain/kotlin/NumberTextField.kt
@@ -0,0 +1,59 @@
+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.filled.KeyboardArrowRight
+import androidx.compose.material3.*
+import androidx.compose.runtime.*
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.graphics.Shape
+import androidx.compose.ui.text.TextStyle
+
+@Composable
+public fun NumberTextField(
+ value: Number,
+ onValueChange: (Number) -> Unit,
+ step: Double = 0.0,
+ formatter: (Number) -> String = { it.toString() },
+ modifier: Modifier = Modifier,
+ enabled: Boolean = true,
+ textStyle: TextStyle = LocalTextStyle.current,
+ label: @Composable (() -> Unit)? = null,
+ supportingText: @Composable (() -> Unit)? = null,
+ shape: Shape = TextFieldDefaults.shape,
+ colors: TextFieldColors = TextFieldDefaults.colors(),
+) {
+ var isError by remember { mutableStateOf(false) }
+
+ 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")
+ }
+ }
+ TextField(
+ value = formatter(value),
+ onValueChange = { stringValue: String ->
+ val number = stringValue.toDoubleOrNull()
+ number?.let { onValueChange(number) }
+ isError = number == null
+ },
+ isError = isError,
+ enabled = enabled,
+ textStyle = textStyle,
+ label = label,
+ supportingText = supportingText,
+ singleLine = true,
+ shape = shape,
+ colors = colors,
+ modifier = Modifier.weight(1f)
+ )
+ step.takeIf { it > 0.0 }?.let {
+ IconButton({ onValueChange(value.toDouble() + step) }, enabled = enabled) {
+ Icon(Icons.Default.KeyboardArrowRight, "increase value")
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/TimeAxisModel.kt b/controls-visualisation-compose/src/commonMain/kotlin/TimeAxisModel.kt
index 2c82802..65ce8d9 100644
--- a/controls-visualisation-compose/src/commonMain/kotlin/TimeAxisModel.kt
+++ b/controls-visualisation-compose/src/commonMain/kotlin/TimeAxisModel.kt
@@ -19,15 +19,12 @@ public class TimeAxisModel(
val currentRange = rangeProvider()
val rangeLength = currentRange.endInclusive - currentRange.start
val numTicks = floor(axisLength / minimumMajorTickSpacing).toInt()
- val numMinorTicks = numTicks * 2
return object : TickValues<Instant> {
override val majorTickValues: List<Instant> = List(numTicks) {
currentRange.start + it.toDouble() / (numTicks - 1) * rangeLength
}
- override val minorTickValues: List<Instant> = List(numMinorTicks) {
- currentRange.start + it.toDouble() / (numMinorTicks - 1) * rangeLength
- }
+ override val minorTickValues: List<Instant> = emptyList()
}
}
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/koalaPlots.kt b/controls-visualisation-compose/src/commonMain/kotlin/koalaPlots.kt
index d721f0a..855de10 100644
--- a/controls-visualisation-compose/src/commonMain/kotlin/koalaPlots.kt
+++ b/controls-visualisation-compose/src/commonMain/kotlin/koalaPlots.kt
@@ -17,6 +17,8 @@ import space.kscience.controls.api.Device
import space.kscience.controls.api.PropertyChangedMessage
import space.kscience.controls.api.propertyMessageFlow
import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.controls.constructor.values
import space.kscience.controls.manager.clock
import space.kscience.controls.misc.ValueWithTime
import space.kscience.controls.spec.DevicePropertySpec
@@ -139,7 +141,7 @@ public fun XYGraphScope<Instant, Double>.PlotDeviceProperty(
@Composable
public fun XYGraphScope<Instant, Double>.PlotNumberState(
context: Context,
- state: DeviceState<out Number>,
+ state: DeviceState<Number>,
maxAge: Duration = defaultMaxAge,
maxPoints: Int = defaultMaxPoints,
minPoints: Int = defaultMinPoints,
@@ -163,6 +165,19 @@ public fun XYGraphScope<Instant, Double>.PlotNumberState(
PlotTimeSeries(points, lineStyle)
}
+@Composable
+public fun XYGraphScope<Instant, Double>.PlotNumericState(
+ context: Context,
+ state: DeviceState<NumericalValue<*>>,
+ maxAge: Duration = defaultMaxAge,
+ maxPoints: Int = defaultMaxPoints,
+ minPoints: Int = defaultMinPoints,
+ sampling: Duration = defaultSampling,
+ lineStyle: LineStyle = defaultLineStyle,
+): Unit {
+ PlotNumberState(context, state.values(), maxAge, maxPoints, minPoints, sampling, lineStyle)
+}
+
private fun List<Instant>.averageTime(): Instant {
val min = min()
diff --git a/demo/constructor/src/jvmMain/kotlin/PidDemo.kt b/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
index fb0ab64..9129a1c 100644
--- a/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
+++ b/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
@@ -23,17 +23,27 @@ import kotlinx.coroutines.flow.onEach
import kotlinx.datetime.Instant
import org.jetbrains.compose.splitpane.ExperimentalSplitPaneApi
import org.jetbrains.compose.splitpane.HorizontalSplitPane
-import space.kscience.controls.compose.PlotDeviceProperty
-import space.kscience.controls.compose.PlotNumberState
+import space.kscience.controls.compose.NumberTextField
+import space.kscience.controls.compose.PlotNumericState
import space.kscience.controls.compose.TimeAxisModel
-import space.kscience.controls.constructor.*
-import space.kscience.controls.constructor.library.*
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.MutableDeviceState
+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.MutableRangeState
+import space.kscience.controls.constructor.models.PidParameters
+import space.kscience.controls.constructor.models.ScrewDrive
+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
import space.kscience.controls.manager.ClockManager
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.clock
import space.kscience.controls.manager.install
import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.meta.Meta
import java.awt.Dimension
import kotlin.math.PI
import kotlin.math.sin
@@ -43,67 +53,79 @@ import kotlin.time.Duration.Companion.seconds
import kotlin.time.DurationUnit
-class LinearDrive(
- drive: Drive,
- start: LimitSwitch,
- end: LimitSwitch,
- pidParameters: PidParameters,
- meta: Meta = Meta.EMPTY,
-) : DeviceConstructor(drive.context, meta) {
-
- val drive by device(drive)
- val pid by device(
- PidRegulator(
- context = context,
- position = drive.propertyAsState(Drive.position, 0.0),
- pidParameters = pidParameters
- )
- )
-
- private val binding = bind(pid.output, drive.stateOfForce())
-
- val start by device(start)
- val end by device(end)
-}
-
-/**
- * A shortcut to create a virtual [LimitSwitch] from [DoubleInRangeState]
- */
-fun LinearDrive(
- context: Context,
- positionState: MutableDoubleInRangeState,
- mass: Double,
- pidParameters: PidParameters,
- meta: Meta = Meta.EMPTY,
-): LinearDrive = LinearDrive(
- drive = VirtualDrive(context, mass, positionState),
- start = LimitSwitch(context, positionState.atStart),
- end = LimitSwitch(context, positionState.atEnd),
- pidParameters = pidParameters,
- meta = meta
-)
-
class Modulator(
context: Context,
- target: MutableDeviceState<Double>,
+ target: MutableDeviceState<NumericalValue<Meters>>,
var freq: Double = 0.1,
var timeStep: Duration = 5.milliseconds,
) : DeviceConstructor(context) {
private val clockStart = clock.now()
- val timer = timer(10.milliseconds)
-
- private val modulation = timer.onNext {
+ private val modulation = timer(10.milliseconds).onNext {
val timeFromStart = clock.now() - clockStart
val t = timeFromStart.toDouble(DurationUnit.SECONDS)
- target.value = 5 * sin(2.0 * PI * freq * t) +
- sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / timeStep))
+ target.value = NumericalValue(
+ 5 * sin(2.0 * PI * freq * t) +
+ sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / timeStep))
+ )
}
}
+private val inertia = NumericalValue<Kilograms>(0.1)
+
+private val leverage = NumericalValue<Meters>(0.05)
+
private val maxAge = 10.seconds
+private val range = -6.0..6.0
+
+/**
+ * The whole physical model is here
+ */
+private fun createLinearDriveModel(context: Context, pidParameters: PidParameters): LinearDrive {
+
+ //create a drive model with zero starting force
+ val drive = Drive(context)
+
+ //a screw drive to converse a rotational moment into a linear one
+ val screwDrive = ScrewDrive(context, leverage)
+
+ // Create a physical position coerced in a given range
+ val position = MutableRangeState<Meters>(0.0, range)
+
+ /**
+ * Create an inertia model.
+ * The inertia uses drive force as input. Position is used as both input and output
+ *
+ * Force is the input parameter, position is output parameter
+ *
+ */
+ val inertia = Inertia.linear(
+ context = context,
+ force = screwDrive.transformForce(drive.force),
+ mass = inertia,
+ position = position
+ )
+
+ /**
+ * Create a limit switches from physical position
+ */
+ val startLimitSwitch = LimitSwitch(context, position.atStart)
+ val endLimitSwitch = LimitSwitch(context, position.atEnd)
+
+ return context.install(
+ "linearDrive",
+ LinearDrive(drive, startLimitSwitch, endLimitSwitch, position, pidParameters)
+ )
+}
+
+
+private fun createModulator(linearDrive: LinearDrive): Modulator = linearDrive.context.install(
+ "modulator",
+ Modulator(linearDrive.context, linearDrive.pid.target)
+)
+
@OptIn(ExperimentalSplitPaneApi::class, ExperimentalKoalaPlotApi::class)
fun main() = application {
val context = remember {
@@ -113,27 +135,16 @@ fun main() = application {
}
}
- val clock = remember { context.clock }
-
-
var pidParameters by remember {
- mutableStateOf(PidParameters(kp = 2.5, ki = 0.0, kd = -0.1, timeStep = 0.005.seconds))
+ mutableStateOf(PidParameters(kp = 900.0, ki = 20.0, kd = -50.0, timeStep = 0.005.seconds))
}
- val state = remember { MutableDoubleInRangeState(0.0, -6.0..6.0) }
-
- val linearDrive = remember {
- context.install(
- "linearDrive",
- LinearDrive(context, state, 0.05, pidParameters)
- )
+ val linearDrive: LinearDrive = remember {
+ createLinearDriveModel(context, pidParameters)
}
val modulator = remember {
- context.install(
- "modulator",
- Modulator(context, linearDrive.pid.target)
- )
+ createModulator(linearDrive)
}
//bind pid parameters
@@ -145,6 +156,8 @@ fun main() = application {
}.collect()
}
+ val clock = remember { context.clock }
+
Window(title = "Pid regulator simulator", onCloseRequest = ::exitApplication) {
window.minimumSize = Dimension(800, 400)
MaterialTheme {
@@ -153,48 +166,51 @@ fun main() = application {
Column(modifier = Modifier.background(color = Color.LightGray).fillMaxHeight()) {
Row {
Text("kp:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
- TextField(
- String.format("%.2f", pidParameters.kp),
- { pidParameters = pidParameters.copy(kp = it.toDouble()) },
- Modifier.width(100.dp),
- enabled = false
+ NumberTextField(
+ value = pidParameters.kp,
+ onValueChange = { pidParameters = pidParameters.copy(kp = it.toDouble()) },
+ formatter = { String.format("%.2f", it.toDouble()) },
+ step = 1.0,
+ modifier = Modifier.width(200.dp),
)
Slider(
pidParameters.kp.toFloat(),
{ pidParameters = pidParameters.copy(kp = it.toDouble()) },
- valueRange = 0f..20f,
+ valueRange = 0f..1000f,
steps = 100
)
}
Row {
Text("ki:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
- TextField(
- String.format("%.2f", pidParameters.ki),
- { pidParameters = pidParameters.copy(ki = it.toDouble()) },
- Modifier.width(100.dp),
- enabled = false
+ NumberTextField(
+ value = pidParameters.ki,
+ onValueChange = { pidParameters = pidParameters.copy(ki = it.toDouble()) },
+ formatter = { String.format("%.2f", it.toDouble()) },
+ step = 0.1,
+ modifier = Modifier.width(200.dp),
)
Slider(
pidParameters.ki.toFloat(),
{ pidParameters = pidParameters.copy(ki = it.toDouble()) },
- valueRange = -10f..10f,
+ valueRange = -100f..100f,
steps = 100
)
}
Row {
Text("kd:", Modifier.align(Alignment.CenterVertically).width(50.dp).padding(5.dp))
- TextField(
- String.format("%.2f", pidParameters.kd),
- { pidParameters = pidParameters.copy(kd = it.toDouble()) },
- Modifier.width(100.dp),
- enabled = false
+ NumberTextField(
+ value = pidParameters.kd,
+ onValueChange = { pidParameters = pidParameters.copy(kd = it.toDouble()) },
+ formatter = { String.format("%.2f", it.toDouble()) },
+ step = 0.1,
+ modifier = Modifier.width(200.dp),
)
Slider(
pidParameters.kd.toFloat(),
{ pidParameters = pidParameters.copy(kd = it.toDouble()) },
- valueRange = -10f..10f,
+ valueRange = -100f..100f,
steps = 100
)
}
@@ -204,7 +220,7 @@ fun main() = application {
TextField(
pidParameters.timeStep.toString(DurationUnit.MILLISECONDS),
{ pidParameters = pidParameters.copy(timeStep = it.toDouble().milliseconds) },
- Modifier.width(100.dp),
+ Modifier.width(200.dp),
enabled = false
)
@@ -233,7 +249,7 @@ fun main() = application {
ChartLayout {
XYGraph<Instant, Double>(
xAxisModel = remember { TimeAxisModel.recent(maxAge, clock) },
- yAxisModel = rememberDoubleLinearAxisModel(state.range),
+ yAxisModel = rememberDoubleLinearAxisModel((range.start - 1.0)..(range.endInclusive + 1.0)),
xAxisTitle = { Text("Time in seconds relative to current") },
xAxisLabels = { it: Instant ->
androidx.compose.material3.Text(
@@ -244,20 +260,14 @@ fun main() = application {
},
yAxisLabels = { it: Double -> Text(it.toString(2)) }
) {
- PlotNumberState(
+ PlotNumericState(
context = context,
- state = state,
+ state = linearDrive.position,
maxAge = maxAge,
sampling = 50.milliseconds,
lineStyle = LineStyle(SolidColor(Color.Blue))
)
- PlotDeviceProperty(
- linearDrive.drive,
- Drive.position,
- maxAge = maxAge,
- sampling = 50.milliseconds,
- )
- PlotNumberState(
+ PlotNumericState(
context = context,
state = linearDrive.pid.target,
maxAge = maxAge,
@@ -273,10 +283,6 @@ fun main() = application {
}
1 -> {
- Text("Regulator position", color = Color.Black)
- }
-
- 2 -> {
Text("Regulator target", color = Color.Red)
}
}
From a2b7d1ecb096e66c4ca4eea6e9fb5cbd8bdd4911 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 3 Jun 2024 13:44:20 +0300
Subject: [PATCH 095/125] Fix step drive demo
---
.../controls/constructor/DeviceConstructor.kt | 8 +-
.../controls/constructor/DeviceGroup.kt | 44 ++++-
.../controls/constructor/DeviceState.kt | 2 +-
.../controls/constructor/devices/StepDrive.kt | 27 ++-
.../controls/constructor/flowState.kt | 2 +-
.../controls/constructor/internalState.kt | 2 +-
.../controls/constructor/models/RangeState.kt | 8 +-
.../controls/constructor/models/ScrewDrive.kt | 16 +-
.../controls/constructor/models/XYPosition.kt | 17 ++
.../constructor/units/NumericalValue.kt | 5 +-
.../src/jvmMain/kotlin/BodyOnSprings.kt | 16 +-
.../constructor/src/jvmMain/kotlin/PidDemo.kt | 40 ++--
.../constructor/src/jvmMain/kotlin/Plotter.kt | 172 ++++++++++++++++++
13 files changed, 298 insertions(+), 61 deletions(-)
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/XYPosition.kt
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
index 00d408e..371e94f 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceConstructor.kt
@@ -32,12 +32,12 @@ public abstract class DeviceConstructor(
_constructorElements.remove(constructorElement)
}
- override fun <T, S: DeviceState<T>> registerAsProperty(
+ override fun <T, S: DeviceState<T>> registerProperty(
converter: MetaConverter<T>,
descriptor: PropertyDescriptor,
state: S,
): S {
- val res = super.registerAsProperty(converter, descriptor, state)
+ val res = super.registerProperty(converter, descriptor, state)
registerElement(PropertyConstructorElement(this, descriptor.name, state))
return res
}
@@ -84,7 +84,7 @@ public fun <T, S : DeviceState<T>> DeviceConstructor.property(
PropertyDelegateProvider { _: DeviceConstructor, property ->
val name = nameOverride ?: property.name
val descriptor = PropertyDescriptor(name).apply(descriptorBuilder)
- registerAsProperty(converter, descriptor, state)
+ registerProperty(converter, descriptor, state)
ReadOnlyProperty { _: DeviceConstructor, _ ->
state
}
@@ -145,6 +145,6 @@ public fun <T, S : DeviceState<T>> DeviceConstructor.registerAsProperty(
spec: DevicePropertySpec<*, T>,
state: S,
): S {
- registerAsProperty(spec.converter, spec.descriptor, state)
+ registerProperty(spec.converter, spec.descriptor, state)
return state
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
index 182d10b..a41899a 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -42,10 +42,15 @@ public open class DeviceGroup(
}
}
- private class Action(
- val invoke: suspend (Meta?) -> Meta?,
+ private class Action<T, R>(
+ val inputConverter: MetaConverter<T>,
+ val outputConverter: MetaConverter<R>,
val descriptor: ActionDescriptor,
- )
+ val action: suspend (T) -> R,
+ ) {
+ suspend operator fun invoke(argument: Meta?): Meta? = argument?.let { inputConverter.readOrNull(it) }
+ ?.let { action(it)?.let { outputConverter.convert(it) } }
+ }
private val sharedMessageFlow = MutableSharedFlow<DeviceMessage>()
@@ -93,7 +98,7 @@ public open class DeviceGroup(
/**
* Register a new property based on [DeviceState]. Properties could be modified dynamically
*/
- public open fun <T, S : DeviceState<T>> registerAsProperty(
+ public open fun <T, S : DeviceState<T>> registerProperty(
converter: MetaConverter<T>,
descriptor: PropertyDescriptor,
state: S,
@@ -112,7 +117,26 @@ public open class DeviceGroup(
return state
}
- private val actions: MutableMap<Name, Action> = hashMapOf()
+ private val actions: MutableMap<Name, Action<*, *>> = hashMapOf()
+
+ public fun <T, R> registerAction(
+ inputConverter: MetaConverter<T>,
+ outputConverter: MetaConverter<R>,
+ descriptor: ActionDescriptor,
+ action: suspend (T) -> R,
+ ): suspend (T) -> R {
+ val name = descriptor.name.parseAsName()
+ require(actions[name] == null) { "Can't add action with name $name. It already exists." }
+ actions[name] = Action(
+ inputConverter = inputConverter,
+ outputConverter = outputConverter,
+ descriptor = descriptor,
+ action = action
+ )
+ return {
+ action(it)
+ }
+ }
override val propertyDescriptors: Collection<PropertyDescriptor>
get() = properties.values.map { it.descriptor }
@@ -137,8 +161,8 @@ public open class DeviceGroup(
override suspend fun execute(actionName: String, argument: Meta?): Meta? {
- val action = actions[actionName] ?: error("Action with name $actionName not found")
- return action.invoke(argument)
+ val action: Action<*, *> = actions[actionName] ?: error("Action with name $actionName not found")
+ return action(argument)
}
final override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
@@ -176,7 +200,7 @@ public open class DeviceGroup(
}
public fun <T> DeviceGroup.registerAsProperty(propertySpec: DevicePropertySpec<*, T>, state: DeviceState<T>) {
- registerAsProperty(propertySpec.converter, propertySpec.descriptor, state)
+ registerProperty(propertySpec.converter, propertySpec.descriptor, state)
}
public fun DeviceManager.registerDeviceGroup(
@@ -253,7 +277,7 @@ public fun <T : Any> DeviceGroup.registerAsProperty(
state: DeviceState<T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
) {
- registerAsProperty(
+ registerProperty(
converter,
PropertyDescriptor(name).apply(descriptorBuilder),
state
@@ -269,7 +293,7 @@ public fun <T : Any> DeviceGroup.registerMutableProperty(
state: MutableDeviceState<T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
) {
- registerAsProperty(
+ registerProperty(
converter,
PropertyDescriptor(name).apply(descriptorBuilder),
state
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index c326565..846a37b 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -74,7 +74,7 @@ public fun <T, R> DeviceState.Companion.map(
public fun <T, R> DeviceState<T>.map(mapper: (T) -> R): DeviceStateWithDependencies<R> = DeviceState.map(this, mapper)
-public fun DeviceState<out NumericalValue<out UnitsOfMeasurement>>.values(): DeviceState<Double> = object : DeviceState<Double> {
+public fun DeviceState<NumericalValue<out UnitsOfMeasurement>>.values(): DeviceState<Double> = object : DeviceState<Double> {
override val value: Double
get() = this@values.value.value
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
index 072789b..a8d9894 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
@@ -1,6 +1,5 @@
package space.kscience.controls.constructor.devices
-import kotlinx.coroutines.launch
import space.kscience.controls.constructor.*
import space.kscience.controls.constructor.units.Degrees
import space.kscience.controls.constructor.units.NumericalValue
@@ -16,38 +15,36 @@ import kotlin.time.DurationUnit
/**
* A step drive
*
- * @param speed ticks per second
+ * @param ticksPerSecond ticks per second
* @param target target ticks state
* @param writeTicks a hardware callback
*/
public class StepDrive(
context: Context,
- speed: MutableDeviceState<Double>,
+ ticksPerSecond: MutableDeviceState<Double>,
target: MutableDeviceState<Int> = MutableDeviceState(0),
- private val writeTicks: suspend (ticks: Int, speed: Double) -> Unit,
+ private val writeTicks: suspend (ticks: Int, speed: Double) -> Unit = { _, _ -> },
) : DeviceConstructor(context) {
public val target: MutableDeviceState<Int> by property(MetaConverter.int, target)
- public val speed: MutableDeviceState<Double> by property(MetaConverter.double, speed)
+ public val speed: MutableDeviceState<Double> by property(MetaConverter.double, ticksPerSecond)
private val positionState = stateOf(target.value)
public val position: DeviceState<Int> by property(MetaConverter.int, positionState)
- private val ticker = onTimer { prev, next ->
- val tickSpeed = speed.value
+ private val ticker = onTimer(reads = setOf(target, position), writes = setOf(position)) { prev, next ->
+ val tickSpeed = ticksPerSecond.value
val timeDelta = (next - prev).toDouble(DurationUnit.SECONDS)
val ticksDelta: Int = target.value - position.value
val steps: Int = when {
ticksDelta > 0 -> min(ticksDelta, (timeDelta * tickSpeed).roundToInt())
- ticksDelta < 0 -> max(ticksDelta, (timeDelta * tickSpeed).roundToInt())
+ ticksDelta < 0 -> max(ticksDelta, -(timeDelta * tickSpeed).roundToInt())
else -> return@onTimer
}
- launch {
- writeTicks(steps, tickSpeed)
- positionState.value += steps
- }
+ writeTicks(steps, tickSpeed)
+ positionState.value += steps
}
}
@@ -55,7 +52,9 @@ public class StepDrive(
* Compute a state using given tick-to-angle transformation
*/
public fun StepDrive.angle(
- zero: NumericalValue<Degrees>,
step: NumericalValue<Degrees>,
-): DeviceState<NumericalValue<Degrees>> = position.map { zero + it * step }
+ zero: NumericalValue<Degrees> = NumericalValue(0),
+): DeviceState<NumericalValue<Degrees>> = position.map {
+ zero + it.toDouble() * step
+}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/flowState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/flowState.kt
index 2bd9322..34a4910 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/flowState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/flowState.kt
@@ -10,7 +10,7 @@ private class StateFlowAsState<T>(
override var value: T by flow::value
override val valueFlow: Flow<T> get() = flow
- override fun toString(): String = "FlowAsState()"
+ override fun toString(): String = "FlowAsState($value)"
}
/**
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
index 8bdfce1..687804e 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
@@ -23,7 +23,7 @@ private class VirtualDeviceState<T>(
callback(value)
}
- override fun toString(): String = "VirtualDeviceState()"
+ override fun toString(): String = "VirtualDeviceState($value)"
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/RangeState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/RangeState.kt
index c760699..202fa71 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/RangeState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/RangeState.kt
@@ -16,7 +16,9 @@ public open class RangeState<T : Comparable<T>>(
public val range: ClosedRange<T>,
) : DeviceState<T> {
- override val valueFlow: Flow<T> get() = input.valueFlow.map { it.coerceIn(range) }
+ override val valueFlow: Flow<T> get() = input.valueFlow.map {
+ it.coerceIn(range)
+ }
override val value: T get() = input.value.coerceIn(range)
@@ -59,10 +61,10 @@ public fun <U : UnitsOfMeasurement> MutableRangeState(
public fun <T : Comparable<T>> DeviceState<T>.coerceIn(
- range: ClosedFloatingPointRange<T>,
+ range: ClosedRange<T>,
): RangeState<T> = RangeState(this, range)
public fun <T : Comparable<T>> MutableDeviceState<T>.coerceIn(
- range: ClosedFloatingPointRange<T>,
+ range: ClosedRange<T>,
): MutableRangeState<T> = MutableRangeState(this, range)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt
index 6e2f86c..5a6b6bc 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt
@@ -3,20 +3,26 @@ package space.kscience.controls.constructor.models
import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.constructor.ModelConstructor
import space.kscience.controls.constructor.map
-import space.kscience.controls.constructor.units.Meters
-import space.kscience.controls.constructor.units.Newtons
-import space.kscience.controls.constructor.units.NewtonsMeters
-import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.controls.constructor.units.*
import space.kscience.dataforge.context.Context
+import kotlin.math.PI
public class ScrewDrive(
context: Context,
public val leverage: NumericalValue<Meters>,
) : ModelConstructor(context) {
+
public fun transformForce(
stateOfForce: DeviceState<NumericalValue<NewtonsMeters>>,
): DeviceState<NumericalValue<Newtons>> = DeviceState.map(stateOfForce) {
- NumericalValue(it.value * leverage.value)
+ NumericalValue(it.value * leverage.value/2/ PI)
+ }
+
+ public fun transformOffset(
+ stateOfAngle: DeviceState<NumericalValue<Degrees>>,
+ offset: NumericalValue<Meters> = NumericalValue(0),
+ ): DeviceState<NumericalValue<Meters>> = DeviceState.map(stateOfAngle) {
+ offset + NumericalValue(it.value * leverage.value/2/ PI)
}
}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/XYPosition.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/XYPosition.kt
new file mode 100644
index 0000000..15411f8
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/XYPosition.kt
@@ -0,0 +1,17 @@
+package space.kscience.controls.constructor.models
+
+import space.kscience.controls.constructor.ModelConstructor
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.stateOf
+import space.kscience.controls.constructor.units.Meters
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.dataforge.context.Context
+
+public class XYPosition(
+ context: Context,
+ initialX: NumericalValue<Meters> = NumericalValue(0.0),
+ initialY: NumericalValue<Meters> = NumericalValue(0.0),
+) : ModelConstructor(context) {
+ public val x: MutableDeviceState<NumericalValue<Meters>> = stateOf(initialX)
+ public val y: MutableDeviceState<NumericalValue<Meters>> = stateOf(initialY)
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
index 60de195..e503623 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
@@ -10,7 +10,7 @@ import kotlin.jvm.JvmInline
* A value without identity coupled to units of measurements.
*/
@JvmInline
-public value class NumericalValue<U : UnitsOfMeasurement>(public val value: Double): Comparable<NumericalValue<U>> {
+public value class NumericalValue<U : UnitsOfMeasurement>(public val value: Double) : Comparable<NumericalValue<U>> {
override fun compareTo(other: NumericalValue<U>): Int = value.compareTo(other.value)
}
@@ -43,6 +43,9 @@ public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.div(
c: Number,
): NumericalValue<U> = NumericalValue(this.value / c.toDouble())
+public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.div(other: NumericalValue<U>): Double =
+ value / other.value
+
private object NumericalValueMetaConverter : MetaConverter<NumericalValue<*>> {
override fun convert(obj: NumericalValue<*>): Meta = Meta(obj.value)
diff --git a/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt b/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
index 7fcb5ab..e4de468 100644
--- a/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
+++ b/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
@@ -23,19 +23,19 @@ import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.DurationUnit
@Serializable
-data class XY(val x: Double, val y: Double) {
+private data class XY(val x: Double, val y: Double) {
companion object {
val ZERO = XY(0.0, 0.0)
}
}
-val XY.length: Double get() = sqrt(x.pow(2) + y.pow(2))
+private val XY.length: Double get() = sqrt(x.pow(2) + y.pow(2))
-operator fun XY.plus(other: XY): XY = XY(x + other.x, y + other.y)
-operator fun XY.times(c: Double): XY = XY(x * c, y * c)
-operator fun XY.div(c: Double): XY = XY(x / c, y / c)
+private operator fun XY.plus(other: XY): XY = XY(x + other.x, y + other.y)
+private operator fun XY.times(c: Double): XY = XY(x * c, y * c)
+private operator fun XY.div(c: Double): XY = XY(x / c, y / c)
-class Spring(
+private class Spring(
context: Context,
val k: Double,
val l0: Double,
@@ -70,7 +70,7 @@ class Spring(
}
}
-class MaterialPoint(
+private class MaterialPoint(
context: Context,
val mass: Double,
val force: DeviceState<XY>,
@@ -94,7 +94,7 @@ class MaterialPoint(
}
-class BodyOnSprings(
+private class BodyOnSprings(
context: Context,
mass: Double,
k: Double,
diff --git a/demo/constructor/src/jvmMain/kotlin/PidDemo.kt b/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
index 9129a1c..a77544f 100644
--- a/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
+++ b/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
@@ -72,7 +72,7 @@ class Modulator(
}
-private val inertia = NumericalValue<Kilograms>(0.1)
+private val mass = NumericalValue<Kilograms>(0.1)
private val leverage = NumericalValue<Meters>(0.05)
@@ -83,7 +83,13 @@ private val range = -6.0..6.0
/**
* The whole physical model is here
*/
-private fun createLinearDriveModel(context: Context, pidParameters: PidParameters): LinearDrive {
+internal fun createLinearDriveModel(
+ context: Context,
+ pidParameters: PidParameters,
+ mass: NumericalValue<Kilograms>,
+ leverage: NumericalValue<Meters>,
+ position: MutableRangeState<NumericalValue<Meters>>,
+): LinearDrive {
//create a drive model with zero starting force
val drive = Drive(context)
@@ -91,8 +97,6 @@ private fun createLinearDriveModel(context: Context, pidParameters: PidParameter
//a screw drive to converse a rotational moment into a linear one
val screwDrive = ScrewDrive(context, leverage)
- // Create a physical position coerced in a given range
- val position = MutableRangeState<Meters>(0.0, range)
/**
* Create an inertia model.
@@ -101,10 +105,10 @@ private fun createLinearDriveModel(context: Context, pidParameters: PidParameter
* Force is the input parameter, position is output parameter
*
*/
- val inertia = Inertia.linear(
+ val inertiaModel = Inertia.linear(
context = context,
force = screwDrive.transformForce(drive.force),
- mass = inertia,
+ mass = mass,
position = position
)
@@ -114,12 +118,12 @@ private fun createLinearDriveModel(context: Context, pidParameters: PidParameter
val startLimitSwitch = LimitSwitch(context, position.atStart)
val endLimitSwitch = LimitSwitch(context, position.atEnd)
- return context.install(
- "linearDrive",
- LinearDrive(drive, startLimitSwitch, endLimitSwitch, position, pidParameters)
- )
-}
+ /**
+ * Install the resulting device
+ */
+ return LinearDrive(drive, startLimitSwitch, endLimitSwitch, position, pidParameters)
+}
private fun createModulator(linearDrive: LinearDrive): Modulator = linearDrive.context.install(
"modulator",
@@ -140,11 +144,21 @@ fun main() = application {
}
val linearDrive: LinearDrive = remember {
- createLinearDriveModel(context, pidParameters)
+ context.install(
+ "linearDrive",
+ createLinearDriveModel(
+ context = context,
+ pidParameters = pidParameters,
+ mass = mass,
+ leverage = leverage,
+ // Create a physical position coerced in a given range
+ position = MutableRangeState<Meters>(0.0, range)
+ )
+ )
}
val modulator = remember {
- createModulator(linearDrive)
+ context.install("modulator", createModulator(linearDrive))
}
//bind pid parameters
diff --git a/demo/constructor/src/jvmMain/kotlin/Plotter.kt b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
index bd0d366..9d48965 100644
--- a/demo/constructor/src/jvmMain/kotlin/Plotter.kt
+++ b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
@@ -1,2 +1,174 @@
package space.kscience.controls.demo.constructor
+import androidx.compose.foundation.Canvas
+import androidx.compose.foundation.layout.fillMaxSize
+import androidx.compose.material.MaterialTheme
+import androidx.compose.runtime.*
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.geometry.Offset
+import androidx.compose.ui.geometry.Size
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.window.Window
+import androidx.compose.ui.window.application
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.device
+import space.kscience.controls.constructor.devices.StepDrive
+import space.kscience.controls.constructor.devices.angle
+import space.kscience.controls.constructor.models.RangeState
+import space.kscience.controls.constructor.models.ScrewDrive
+import space.kscience.controls.constructor.models.coerceIn
+import space.kscience.controls.constructor.units.*
+import space.kscience.controls.manager.ClockManager
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.dataforge.context.Context
+import java.awt.Dimension
+import kotlin.random.Random
+
+
+class Plotter(
+ context: Context,
+ xDrive: StepDrive,
+ yDrive: StepDrive,
+ val paint: suspend (Color) -> Unit,
+) : DeviceConstructor(context) {
+ val xDrive by device(xDrive)
+ val yDrive by device(yDrive)
+
+ public fun moveToXY(x: Int, y: Int) {
+ xDrive.target.value = x
+ yDrive.target.value = y
+ }
+
+ //TODO add calibration
+
+ // TODO add draw as action
+}
+
+suspend fun Plotter.modernArt(xRange: IntRange, yRange: IntRange) {
+ while (isActive){
+ val randomX = Random.nextInt(xRange.first, xRange.last)
+ val randomY = Random.nextInt(xRange.first, xRange.last)
+ moveToXY(randomX, randomY)
+ delay(500)
+ paint(Color(Random.nextInt()))
+ }
+}
+
+suspend fun Plotter.square(xRange: IntRange, yRange: IntRange) {
+ while (isActive) {
+ moveToXY(xRange.first, yRange.first)
+ delay(1000)
+ paint(Color.Red)
+
+ moveToXY(xRange.first, yRange.last)
+ delay(1000)
+ paint(Color.Red)
+
+ moveToXY(xRange.last, yRange.last)
+ delay(1000)
+ paint(Color.Red)
+
+ moveToXY(xRange.last, yRange.first)
+ delay(1000)
+ paint(Color.Red)
+ }
+}
+
+private val xRange = NumericalValue<Meters>(-0.5)..NumericalValue<Meters>(0.5)
+private val yRange = NumericalValue<Meters>(-0.5)..NumericalValue<Meters>(0.5)
+private val ticksPerSecond = MutableDeviceState(250.0)
+private val step = NumericalValue<Degrees>(1.2)
+
+
+private data class PlotterPoint(
+ val x: NumericalValue<Meters>,
+ val y: NumericalValue<Meters>,
+ val color: Color = Color.Black,
+)
+
+suspend fun main() = application {
+ Window(title = "Pid regulator simulator", onCloseRequest = ::exitApplication) {
+ window.minimumSize = Dimension(400, 400)
+
+ val points = remember { mutableStateListOf<PlotterPoint>() }
+ var position by remember { mutableStateOf(PlotterPoint(NumericalValue(0), NumericalValue(0))) }
+
+ LaunchedEffect(Unit) {
+ val context = Context {
+ plugin(DeviceManager)
+ plugin(ClockManager)
+ }
+
+ /* Here goes the device definition block */
+
+
+ val xScrewDrive = ScrewDrive(context, NumericalValue(0.01))
+ val xDrive = StepDrive(context, ticksPerSecond)
+ val x: RangeState<NumericalValue<Meters>> = xScrewDrive.transformOffset(xDrive.angle(step)).coerceIn(xRange)
+
+ val yScrewDrive = ScrewDrive(context, NumericalValue(0.01))
+ val yDrive = StepDrive(context, ticksPerSecond)
+ val y: RangeState<NumericalValue<Meters>> = yScrewDrive.transformOffset(yDrive.angle(step)).coerceIn(yRange)
+
+ val plotter = Plotter(context, xDrive, yDrive) { color ->
+ println("Point X: ${x.value.value}, Y: ${y.value.value}, color: $color")
+ points.add(PlotterPoint(x.value, y.value, color))
+ }
+
+
+ /* Start visualization program */
+
+ launch {
+ x.valueFlow.collect {
+ position = position.copy(x = it)
+ }
+ }
+
+ launch {
+ y.valueFlow.collect {
+ position = position.copy(y = it)
+ }
+ }
+
+ launch {
+ val range = -100..100
+ plotter.modernArt(range, range)
+ //plotter.square(range, range)
+ }
+ }
+
+
+ /* Here goes the visualization block */
+
+ MaterialTheme {
+ Canvas(modifier = Modifier.fillMaxSize()) {
+ fun toOffset(x: NumericalValue<Meters>, y: NumericalValue<Meters>): Offset {
+ val canvasX = (x - xRange.start) / (xRange.endInclusive - xRange.start) * size.width
+ val canvasY = (y - yRange.start) / (yRange.endInclusive - yRange.start) * size.height
+ return Offset(canvasX.toFloat(), canvasY.toFloat())
+ }
+
+ val center = toOffset(position.x, position.y)
+
+
+ drawRect(
+ Color.LightGray,
+ topLeft = Offset(0f, center.y - 5f),
+ size = Size(size.width, 10f)
+ )
+
+ drawCircle(Color.Black, radius = 10f, center = center)
+
+
+ points.forEach {
+ drawCircle(it.color, radius = 2f, center = toOffset(it.x, it.y))
+ }
+ }
+ }
+ }
+
+}
\ No newline at end of file
From 4a5f5fab8c953bb288749ef17f6a359ee20a8a78 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 3 Jun 2024 15:38:39 +0300
Subject: [PATCH 096/125] Finish plotter demo
---
.../controls/constructor/devices/Drive.kt | 1 +
.../controls/constructor/devices/StepDrive.kt | 22 ++++++------
.../controls/constructor/models/Inertia.kt | 33 +----------------
.../controls/constructor/models/ScrewDrive.kt | 14 ++++----
.../controls/constructor/models/XYPosition.kt | 17 ---------
.../constructor/models/coordinates.kt | 8 +++++
.../constructor/src/jvmMain/kotlin/PidDemo.kt | 6 ++--
.../constructor/src/jvmMain/kotlin/Plotter.kt | 36 +++++++++++--------
8 files changed, 53 insertions(+), 84 deletions(-)
delete mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/XYPosition.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/coordinates.kt
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/Drive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/Drive.kt
index 3436856..9880508 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/Drive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/Drive.kt
@@ -9,6 +9,7 @@ import space.kscience.controls.constructor.units.numerical
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.MetaConverter
+//TODO use current as input
public class Drive(
context: Context,
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
index a8d9894..be32f07 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
@@ -9,7 +9,7 @@ import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.MetaConverter
import kotlin.math.max
import kotlin.math.min
-import kotlin.math.roundToInt
+import kotlin.math.roundToLong
import kotlin.time.DurationUnit
/**
@@ -22,25 +22,27 @@ import kotlin.time.DurationUnit
public class StepDrive(
context: Context,
ticksPerSecond: MutableDeviceState<Double>,
- target: MutableDeviceState<Int> = MutableDeviceState(0),
- private val writeTicks: suspend (ticks: Int, speed: Double) -> Unit = { _, _ -> },
+ target: MutableDeviceState<Long> = MutableDeviceState(0),
+ private val writeTicks: suspend (ticks: Long, speed: Double) -> Unit = { _, _ -> },
) : DeviceConstructor(context) {
- public val target: MutableDeviceState<Int> by property(MetaConverter.int, target)
+ public val target: MutableDeviceState<Long> by property(MetaConverter.long, target)
public val speed: MutableDeviceState<Double> by property(MetaConverter.double, ticksPerSecond)
private val positionState = stateOf(target.value)
- public val position: DeviceState<Int> by property(MetaConverter.int, positionState)
+ public val position: DeviceState<Long> by property(MetaConverter.long, positionState)
+
+ //FIXME round to zero problem
private val ticker = onTimer(reads = setOf(target, position), writes = setOf(position)) { prev, next ->
val tickSpeed = ticksPerSecond.value
val timeDelta = (next - prev).toDouble(DurationUnit.SECONDS)
- val ticksDelta: Int = target.value - position.value
- val steps: Int = when {
- ticksDelta > 0 -> min(ticksDelta, (timeDelta * tickSpeed).roundToInt())
- ticksDelta < 0 -> max(ticksDelta, -(timeDelta * tickSpeed).roundToInt())
+ val ticksDelta: Long = target.value - position.value
+ val steps: Long = when {
+ ticksDelta > 0 -> min(ticksDelta, (timeDelta * tickSpeed).roundToLong())
+ ticksDelta < 0 -> max(ticksDelta, -(timeDelta * tickSpeed).roundToLong())
else -> return@onTimer
}
writeTicks(steps, tickSpeed)
@@ -55,6 +57,6 @@ public fun StepDrive.angle(
step: NumericalValue<Degrees>,
zero: NumericalValue<Degrees> = NumericalValue(0),
): DeviceState<NumericalValue<Degrees>> = position.map {
- zero + it.toDouble() * step
+ zero + it * step
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt
index d6c3fc7..88a377e 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt
@@ -25,11 +25,9 @@ public class Inertia<U : UnitsOfMeasurement, V : UnitsOfMeasurement>(
registerState(velocity)
}
- private val movementTimer = timer(timerPrecision)
-
private var currentForce = force.value
- private val movement = movementTimer.onChange { prev, next ->
+ private val movement = onTimer (timerPrecision) { prev, next ->
val dtSeconds = (next - prev).toDouble(DurationUnit.SECONDS)
// compute new value based on velocity and acceleration from the previous step
@@ -57,21 +55,6 @@ public class Inertia<U : UnitsOfMeasurement, V : UnitsOfMeasurement>(
position = position,
velocity = velocity
)
-//
-//
-// public fun linear(
-// context: Context,
-// force: DeviceState<NumericalValue<Newtons>>,
-// mass: NumericalValue<Kilograms>,
-// initialPosition: NumericalValue<Meters>,
-// initialVelocity: NumericalValue<MetersPerSecond> = NumericalValue(0),
-// ): Inertia<Meters, MetersPerSecond> = Inertia(
-// context = context,
-// force = force.values(),
-// inertia = mass.value,
-// position = MutableDeviceState(initialPosition),
-// velocity = MutableDeviceState(initialVelocity)
-// )
public fun circular(
context: Context,
@@ -86,19 +69,5 @@ public class Inertia<U : UnitsOfMeasurement, V : UnitsOfMeasurement>(
position = position,
velocity = velocity
)
-//
-// public fun circular(
-// context: Context,
-// force: DeviceState<NumericalValue<NewtonsMeters>>,
-// momentOfInertia: NumericalValue<KgM2>,
-// initialPosition: NumericalValue<Degrees>,
-// initialVelocity: NumericalValue<DegreesPerSecond> = NumericalValue(0),
-// ): Inertia<Degrees, DegreesPerSecond> = Inertia(
-// context = context,
-// force = force.values(),
-// inertia = momentOfInertia.value,
-// position = MutableDeviceState(initialPosition),
-// velocity = MutableDeviceState(initialVelocity)
-// )
}
}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt
index 5a6b6bc..573a648 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt
@@ -12,17 +12,17 @@ public class ScrewDrive(
public val leverage: NumericalValue<Meters>,
) : ModelConstructor(context) {
- public fun transformForce(
- stateOfForce: DeviceState<NumericalValue<NewtonsMeters>>,
- ): DeviceState<NumericalValue<Newtons>> = DeviceState.map(stateOfForce) {
- NumericalValue(it.value * leverage.value/2/ PI)
+ public fun torqueToForce(
+ stateOfMomentum: DeviceState<NumericalValue<NewtonsMeters>>,
+ ): DeviceState<NumericalValue<Newtons>> = DeviceState.map(stateOfMomentum) { momentum ->
+ NumericalValue(momentum.value / leverage.value )
}
- public fun transformOffset(
+ public fun degreesToMeters(
stateOfAngle: DeviceState<NumericalValue<Degrees>>,
offset: NumericalValue<Meters> = NumericalValue(0),
- ): DeviceState<NumericalValue<Meters>> = DeviceState.map(stateOfAngle) {
- offset + NumericalValue(it.value * leverage.value/2/ PI)
+ ): DeviceState<NumericalValue<Meters>> = DeviceState.map(stateOfAngle) { degrees ->
+ offset + NumericalValue(degrees.value * 2 * PI / 360 *leverage.value )
}
}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/XYPosition.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/XYPosition.kt
deleted file mode 100644
index 15411f8..0000000
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/XYPosition.kt
+++ /dev/null
@@ -1,17 +0,0 @@
-package space.kscience.controls.constructor.models
-
-import space.kscience.controls.constructor.ModelConstructor
-import space.kscience.controls.constructor.MutableDeviceState
-import space.kscience.controls.constructor.stateOf
-import space.kscience.controls.constructor.units.Meters
-import space.kscience.controls.constructor.units.NumericalValue
-import space.kscience.dataforge.context.Context
-
-public class XYPosition(
- context: Context,
- initialX: NumericalValue<Meters> = NumericalValue(0.0),
- initialY: NumericalValue<Meters> = NumericalValue(0.0),
-) : ModelConstructor(context) {
- public val x: MutableDeviceState<NumericalValue<Meters>> = stateOf(initialX)
- public val y: MutableDeviceState<NumericalValue<Meters>> = stateOf(initialY)
-}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/coordinates.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/coordinates.kt
new file mode 100644
index 0000000..50db92b
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/coordinates.kt
@@ -0,0 +1,8 @@
+package space.kscience.controls.constructor.models
+
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.controls.constructor.units.UnitsOfMeasurement
+
+public data class XY<U: UnitsOfMeasurement>(val x: NumericalValue<U>, val y: NumericalValue<U>)
+
+public data class XYZ<U: UnitsOfMeasurement>(val x: NumericalValue<U>, val y: NumericalValue<U>, val z: NumericalValue<U>)
\ No newline at end of file
diff --git a/demo/constructor/src/jvmMain/kotlin/PidDemo.kt b/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
index a77544f..b19e179 100644
--- a/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
+++ b/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
@@ -94,7 +94,7 @@ internal fun createLinearDriveModel(
//create a drive model with zero starting force
val drive = Drive(context)
- //a screw drive to converse a rotational moment into a linear one
+ //a screw drive to convert a rotational moment into a force
val screwDrive = ScrewDrive(context, leverage)
@@ -107,7 +107,7 @@ internal fun createLinearDriveModel(
*/
val inertiaModel = Inertia.linear(
context = context,
- force = screwDrive.transformForce(drive.force),
+ force = screwDrive.torqueToForce(drive.force),
mass = mass,
position = position
)
@@ -266,7 +266,7 @@ fun main() = application {
yAxisModel = rememberDoubleLinearAxisModel((range.start - 1.0)..(range.endInclusive + 1.0)),
xAxisTitle = { Text("Time in seconds relative to current") },
xAxisLabels = { it: Instant ->
- androidx.compose.material3.Text(
+ Text(
(clock.now() - it).toDouble(
DurationUnit.SECONDS
).toString(2)
diff --git a/demo/constructor/src/jvmMain/kotlin/Plotter.kt b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
index 9d48965..b605dd4 100644
--- a/demo/constructor/src/jvmMain/kotlin/Plotter.kt
+++ b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
@@ -18,7 +18,6 @@ import space.kscience.controls.constructor.MutableDeviceState
import space.kscience.controls.constructor.device
import space.kscience.controls.constructor.devices.StepDrive
import space.kscience.controls.constructor.devices.angle
-import space.kscience.controls.constructor.models.RangeState
import space.kscience.controls.constructor.models.ScrewDrive
import space.kscience.controls.constructor.models.coerceIn
import space.kscience.controls.constructor.units.*
@@ -38,21 +37,26 @@ class Plotter(
val xDrive by device(xDrive)
val yDrive by device(yDrive)
- public fun moveToXY(x: Int, y: Int) {
- xDrive.target.value = x
- yDrive.target.value = y
+ public fun moveToXY(x: Number, y: Number) {
+ xDrive.target.value = x.toLong()
+ yDrive.target.value = y.toLong()
}
+// val position = combineState(xDrive.position, yDrive.position) { x, y ->
+// space.kscience.controls.constructor.models.XY(x, y)
+// }
+
//TODO add calibration
// TODO add draw as action
}
suspend fun Plotter.modernArt(xRange: IntRange, yRange: IntRange) {
- while (isActive){
+ while (isActive) {
val randomX = Random.nextInt(xRange.first, xRange.last)
- val randomY = Random.nextInt(xRange.first, xRange.last)
+ val randomY = Random.nextInt(yRange.first, yRange.last)
moveToXY(randomX, randomY)
+ //TODO wait for position instead of custom delay
delay(500)
paint(Color(Random.nextInt()))
}
@@ -80,8 +84,8 @@ suspend fun Plotter.square(xRange: IntRange, yRange: IntRange) {
private val xRange = NumericalValue<Meters>(-0.5)..NumericalValue<Meters>(0.5)
private val yRange = NumericalValue<Meters>(-0.5)..NumericalValue<Meters>(0.5)
-private val ticksPerSecond = MutableDeviceState(250.0)
-private val step = NumericalValue<Degrees>(1.2)
+private val ticksPerSecond = MutableDeviceState(3000.0)
+private val step = NumericalValue<Degrees>(1.8)
private data class PlotterPoint(
@@ -106,13 +110,13 @@ suspend fun main() = application {
/* Here goes the device definition block */
- val xScrewDrive = ScrewDrive(context, NumericalValue(0.01))
val xDrive = StepDrive(context, ticksPerSecond)
- val x: RangeState<NumericalValue<Meters>> = xScrewDrive.transformOffset(xDrive.angle(step)).coerceIn(xRange)
+ val xTransmission = ScrewDrive(context, NumericalValue(0.01))
+ val x = xTransmission.degreesToMeters(xDrive.angle(step)).coerceIn(xRange)
- val yScrewDrive = ScrewDrive(context, NumericalValue(0.01))
val yDrive = StepDrive(context, ticksPerSecond)
- val y: RangeState<NumericalValue<Meters>> = yScrewDrive.transformOffset(yDrive.angle(step)).coerceIn(yRange)
+ val yTransmission = ScrewDrive(context, NumericalValue(0.01))
+ val y = yTransmission.degreesToMeters(yDrive.angle(step)).coerceIn(yRange)
val plotter = Plotter(context, xDrive, yDrive) { color ->
println("Point X: ${x.value.value}, Y: ${y.value.value}, color: $color")
@@ -134,10 +138,12 @@ suspend fun main() = application {
}
}
+ /* run program */
+
launch {
- val range = -100..100
- plotter.modernArt(range, range)
- //plotter.square(range, range)
+ val range = -1000..1000
+// plotter.modernArt(range, range)
+ plotter.square(range, range)
}
}
From 9f21a14f96fae6588f4802903ca8dfb829db4fc7 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 3 Jun 2024 18:02:57 +0300
Subject: [PATCH 097/125] Fix ball on springs demo
---
.../controls/constructor/models/Inertia.kt | 5 +-
.../constructor/models/MaterialPoint.kt | 42 ++++++
.../constructor/models/coordinates.kt | 8 --
.../constructor/units/NumericalValue.kt | 2 +
.../controls/constructor/units/coordinates.kt | 36 +++++
.../src/jvmMain/kotlin/BodyOnSprings.kt | 134 ++++++------------
6 files changed, 122 insertions(+), 105 deletions(-)
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/MaterialPoint.kt
delete mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/coordinates.kt
create mode 100644 controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/coordinates.kt
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt
index 88a377e..1c6a507 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt
@@ -4,8 +4,6 @@ import space.kscience.controls.constructor.*
import space.kscience.controls.constructor.units.*
import space.kscience.dataforge.context.Context
import kotlin.math.pow
-import kotlin.time.Duration
-import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.DurationUnit
/**
@@ -17,7 +15,6 @@ public class Inertia<U : UnitsOfMeasurement, V : UnitsOfMeasurement>(
inertia: Double,
public val position: MutableDeviceState<NumericalValue<U>>,
public val velocity: MutableDeviceState<NumericalValue<V>>,
- timerPrecision: Duration = 10.milliseconds,
) : ModelConstructor(context) {
init {
@@ -27,7 +24,7 @@ public class Inertia<U : UnitsOfMeasurement, V : UnitsOfMeasurement>(
private var currentForce = force.value
- private val movement = onTimer (timerPrecision) { prev, next ->
+ private val movement = onTimer { prev, next ->
val dtSeconds = (next - prev).toDouble(DurationUnit.SECONDS)
// compute new value based on velocity and acceleration from the previous step
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/MaterialPoint.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/MaterialPoint.kt
new file mode 100644
index 0000000..c03841c
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/MaterialPoint.kt
@@ -0,0 +1,42 @@
+package space.kscience.controls.constructor.models
+
+import space.kscience.controls.constructor.*
+import space.kscience.controls.constructor.units.*
+import space.kscience.dataforge.context.Context
+import kotlin.math.pow
+import kotlin.time.DurationUnit
+
+
+/**
+ * 3D material point
+ */
+public class MaterialPoint(
+ context: Context,
+ force: DeviceState<XYZ<Newtons>>,
+ mass: NumericalValue<Kilograms>,
+ public val position: MutableDeviceState<XYZ<Meters>>,
+ public val velocity: MutableDeviceState<XYZ<MetersPerSecond>>,
+) : ModelConstructor(context) {
+
+ init {
+ registerState(position)
+ registerState(velocity)
+ }
+
+ private var currentForce = force.value
+
+ private val movement = onTimer(
+ reads = setOf(velocity, position),
+ writes = setOf(velocity, position)
+ ) { prev, next ->
+ val dtSeconds = (next - prev).toDouble(DurationUnit.SECONDS)
+
+ // compute new value based on velocity and acceleration from the previous step
+ position.value += (velocity.value * dtSeconds).cast(Meters) +
+ (currentForce / mass.value * dtSeconds.pow(2) / 2).cast(Meters)
+
+ // compute new velocity based on acceleration on the previous step
+ velocity.value += (currentForce / mass.value * dtSeconds).cast(MetersPerSecond)
+ currentForce = force.value
+ }
+}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/coordinates.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/coordinates.kt
deleted file mode 100644
index 50db92b..0000000
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/coordinates.kt
+++ /dev/null
@@ -1,8 +0,0 @@
-package space.kscience.controls.constructor.models
-
-import space.kscience.controls.constructor.units.NumericalValue
-import space.kscience.controls.constructor.units.UnitsOfMeasurement
-
-public data class XY<U: UnitsOfMeasurement>(val x: NumericalValue<U>, val y: NumericalValue<U>)
-
-public data class XYZ<U: UnitsOfMeasurement>(val x: NumericalValue<U>, val y: NumericalValue<U>, val z: NumericalValue<U>)
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
index e503623..8e77001 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt
@@ -46,6 +46,8 @@ public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.div(
public operator fun <U : UnitsOfMeasurement> NumericalValue<U>.div(other: NumericalValue<U>): Double =
value / other.value
+public operator fun <U: UnitsOfMeasurement> NumericalValue<U>.unaryMinus(): NumericalValue<U> = NumericalValue(-value)
+
private object NumericalValueMetaConverter : MetaConverter<NumericalValue<*>> {
override fun convert(obj: NumericalValue<*>): Meta = Meta(obj.value)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/coordinates.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/coordinates.kt
new file mode 100644
index 0000000..88d7bd6
--- /dev/null
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/coordinates.kt
@@ -0,0 +1,36 @@
+package space.kscience.controls.constructor.units
+
+public data class XY<U : UnitsOfMeasurement>(val x: NumericalValue<U>, val y: NumericalValue<U>)
+
+public fun <U : UnitsOfMeasurement> XY(x: Number, y: Number): XY<U> = XY(NumericalValue(x), NumericalValue((y)))
+
+public operator fun <U : UnitsOfMeasurement> XY<U>.plus(other: XY<U>): XY<U> =
+ XY(x + other.x, y + other.y)
+
+public operator fun <U : UnitsOfMeasurement> XY<U>.times(c: Number): XY<U> = XY(x * c, y * c)
+public operator fun <U : UnitsOfMeasurement> XY<U>.div(c: Number): XY<U> = XY(x / c, y / c)
+
+public operator fun <U : UnitsOfMeasurement> XY<U>.unaryMinus(): XY<U> = XY(-x, -y)
+
+public data class XYZ<U : UnitsOfMeasurement>(
+ val x: NumericalValue<U>,
+ val y: NumericalValue<U>,
+ val z: NumericalValue<U>,
+)
+
+public fun <U : UnitsOfMeasurement> XYZ(x: Number, y: Number, z: Number): XYZ<U> =
+ XYZ(NumericalValue(x), NumericalValue((y)), NumericalValue(z))
+
+@Suppress("UNCHECKED_CAST", "UNUSED_PARAMETER")
+public fun <U : UnitsOfMeasurement, R : UnitsOfMeasurement> XYZ<U>.cast(units: R): XYZ<R> = this as XYZ<R>
+
+public operator fun <U : UnitsOfMeasurement> XYZ<U>.plus(other: XYZ<U>): XYZ<U> =
+ XYZ(x + other.x, y + other.y, z + other.z)
+
+public operator fun <U : UnitsOfMeasurement> XYZ<U>.minus(other: XYZ<U>): XYZ<U> =
+ XYZ(x - other.x, y - other.y, z - other.z)
+
+public operator fun <U : UnitsOfMeasurement> XYZ<U>.times(c: Number): XYZ<U> = XYZ(x * c, y * c, z * c)
+public operator fun <U : UnitsOfMeasurement> XYZ<U>.div(c: Number): XYZ<U> = XYZ(x / c, y / c, z / c)
+
+public operator fun <U : UnitsOfMeasurement> XYZ<U>.unaryMinus(): XYZ<U> = XYZ(-x, -y, -z)
\ No newline at end of file
diff --git a/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt b/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
index e4de468..e937d1b 100644
--- a/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
+++ b/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
@@ -1,105 +1,50 @@
package space.kscience.controls.demo.constructor
import androidx.compose.foundation.Canvas
-import androidx.compose.foundation.layout.Box
import androidx.compose.foundation.layout.fillMaxSize
-import androidx.compose.foundation.layout.size
import androidx.compose.material.MaterialTheme
import androidx.compose.runtime.getValue
import androidx.compose.runtime.remember
import androidx.compose.ui.Modifier
import androidx.compose.ui.geometry.Offset
import androidx.compose.ui.graphics.Color
-import androidx.compose.ui.unit.dp
import androidx.compose.ui.window.Window
import androidx.compose.ui.window.application
-import kotlinx.serialization.Serializable
import space.kscience.controls.compose.asComposeState
import space.kscience.controls.constructor.*
+import space.kscience.controls.constructor.models.MaterialPoint
+import space.kscience.controls.constructor.units.*
import space.kscience.dataforge.context.Context
+import java.awt.Dimension
import kotlin.math.pow
import kotlin.math.sqrt
-import kotlin.time.Duration.Companion.milliseconds
-import kotlin.time.DurationUnit
-@Serializable
-private data class XY(val x: Double, val y: Double) {
- companion object {
- val ZERO = XY(0.0, 0.0)
- }
-}
-
-private val XY.length: Double get() = sqrt(x.pow(2) + y.pow(2))
-
-private operator fun XY.plus(other: XY): XY = XY(x + other.x, y + other.y)
-private operator fun XY.times(c: Double): XY = XY(x * c, y * c)
-private operator fun XY.div(c: Double): XY = XY(x / c, y / c)
private class Spring(
context: Context,
val k: Double,
- val l0: Double,
- val begin: DeviceState<XY>,
- val end: DeviceState<XY>,
+ val l0: NumericalValue<Meters>,
+ val begin: DeviceState<XYZ<Meters>>,
+ val end: DeviceState<XYZ<Meters>>,
) : ModelConstructor(context) {
/**
- * vector from start to end
+ * Tension at the beginning point
*/
- val direction = combineState(begin, end) { begin: XY, end: XY ->
- val dx = end.x - begin.x
- val dy = end.y - begin.y
- val l = sqrt(dx.pow(2) + dy.pow(2))
- XY(dx / l, dy / l)
- }
-
- val tension: DeviceState<Double> = combineState(begin, end) { begin: XY, end: XY ->
- val dx = end.x - begin.x
- val dy = end.y - begin.y
- k * sqrt(dx.pow(2) + dy.pow(2))
- }
-
-
- val beginForce = combineState(direction, tension) { direction: XY, tension: Double ->
- direction * (tension)
- }
-
-
- val endForce = combineState(direction, tension) { direction: XY, tension: Double ->
- direction * (-tension)
- }
-}
-
-private class MaterialPoint(
- context: Context,
- val mass: Double,
- val force: DeviceState<XY>,
- val position: MutableDeviceState<XY>,
- val velocity: MutableDeviceState<XY> = MutableDeviceState(XY.ZERO),
-) : ModelConstructor(context, force, position, velocity) {
-
- private val timer: TimerState = timer(2.milliseconds)
-
- //TODO synchronize force change
-
- private val movement = timer.onChange(
- writes = setOf(position, velocity),
- reads = setOf(force, velocity, position)
- ) { prev, next ->
- val dt = (next - prev).toDouble(DurationUnit.SECONDS)
- val a = force.value / mass
- position.value += a * (dt * dt / 2) + velocity.value * dt
- velocity.value += a * dt
+ val tension: DeviceState<XYZ<Newtons>> = combineState(begin, end) { begin: XYZ<Meters>, end: XYZ<Meters> ->
+ val delta = end - begin
+ val l = sqrt(delta.x.value.pow(2) + delta.y.value.pow(2) + delta.z.value.pow(2))
+ ((delta / l) * k * (l - l0.value)).cast(Newtons)
}
}
private class BodyOnSprings(
context: Context,
- mass: Double,
+ mass: NumericalValue<Kilograms>,
k: Double,
- startPosition: XY,
- l0: Double = 1.0,
+ startPosition: XYZ<Meters>,
+ l0: NumericalValue<Meters> = NumericalValue(1.0),
val xLeft: Double = -1.0,
val xRight: Double = 1.0,
val yBottom: Double = -1.0,
@@ -110,22 +55,24 @@ private class BodyOnSprings(
val height = yTop - yBottom
val position = stateOf(startPosition)
+ val velocity: MutableDeviceState<XYZ<MetersPerSecond>> = stateOf(XYZ(0, 0, 0))
- private val leftAnchor = stateOf(XY(xLeft, (yTop + yBottom) / 2))
+ private val leftAnchor = stateOf(XYZ<Meters>(xLeft, (yTop + yBottom) / 2, 0.0))
val leftSpring = model(
Spring(context, k, l0, leftAnchor, position)
)
- private val rightAnchor = stateOf(XY(xRight, (yTop + yBottom) / 2))
+ private val rightAnchor = stateOf(XYZ<Meters>(xRight, (yTop + yBottom) / 2, 0.0))
val rightSpring = model(
Spring(context, k, l0, rightAnchor, position)
)
- val force: DeviceState<XY> = combineState(leftSpring.endForce, rightSpring.endForce) { left, right ->
- left + right
- }
+ val force: DeviceState<XYZ<Newtons>> =
+ combineState(leftSpring.tension, rightSpring.tension) { left: XYZ<Newtons>, right ->
+ -left - right
+ }
val body = model(
@@ -134,21 +81,23 @@ private class BodyOnSprings(
mass = mass,
force = force,
position = position,
+ velocity = velocity
)
)
}
fun main() = application {
- val initialState = XY(0.1, 0.2)
+ val initialState = XYZ<Meters>(0.01, 0.1, 0)
Window(title = "Ball on springs", onCloseRequest = ::exitApplication) {
+ window.minimumSize = Dimension(400, 400)
MaterialTheme {
val context = remember {
Context("simulation")
}
val model = remember {
- BodyOnSprings(context, 100.0, 1000.0, initialState)
+ BodyOnSprings(context, NumericalValue(10.0), 100.0, initialState)
}
//TODO add ability to freeze model
@@ -159,24 +108,23 @@ fun main() = application {
// }.collect()
// }
- val position: XY by model.body.position.asComposeState()
- Box(Modifier.size(400.dp)) {
- Canvas(modifier = Modifier.fillMaxSize()) {
- fun XY.toOffset() = Offset(
- center.x + (x / model.width * size.width).toFloat(),
- center.y - (y / model.height * size.height).toFloat()
- )
+ val position: XYZ<Meters> by model.body.position.asComposeState()
+ Canvas(modifier = Modifier.fillMaxSize()) {
+ fun XYZ<Meters>.toOffset() = Offset(
+ ((x.value - model.xLeft) / model.width * size.width).toFloat(),
+ ((y.value - model.yBottom) / model.height * size.height).toFloat()
- drawCircle(
- Color.Red, 10f, center = position.toOffset()
- )
- drawLine(Color.Blue, model.leftSpring.begin.value.toOffset(), model.leftSpring.end.value.toOffset())
- drawLine(
- Color.Blue,
- model.rightSpring.begin.value.toOffset(),
- model.rightSpring.end.value.toOffset()
- )
- }
+ )
+
+ drawCircle(
+ Color.Red, 10f, center = position.toOffset()
+ )
+ drawLine(Color.Blue, model.leftSpring.begin.value.toOffset(), model.leftSpring.end.value.toOffset())
+ drawLine(
+ Color.Blue,
+ model.rightSpring.begin.value.toOffset(),
+ model.rightSpring.end.value.toOffset()
+ )
}
}
}
From 1799a9a9096b945d9354000234a517e9b41790fb Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 3 Jun 2024 18:34:08 +0300
Subject: [PATCH 098/125] Fix ball on springs demo
---
.../controls/constructor/models/MaterialPoint.kt | 10 ++++++++--
.../kscience/controls/constructor/units/coordinates.kt | 8 ++++++++
demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt | 6 ++----
3 files changed, 18 insertions(+), 6 deletions(-)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/MaterialPoint.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/MaterialPoint.kt
index c03841c..cc44a85 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/MaterialPoint.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/MaterialPoint.kt
@@ -26,17 +26,23 @@ public class MaterialPoint(
private var currentForce = force.value
private val movement = onTimer(
+ DefaultTimer.REALTIME,
reads = setOf(velocity, position),
writes = setOf(velocity, position)
) { prev, next ->
val dtSeconds = (next - prev).toDouble(DurationUnit.SECONDS)
// compute new value based on velocity and acceleration from the previous step
- position.value += (velocity.value * dtSeconds).cast(Meters) +
+ val deltaR = (velocity.value * dtSeconds).cast(Meters) +
(currentForce / mass.value * dtSeconds.pow(2) / 2).cast(Meters)
+ position.value += deltaR
// compute new velocity based on acceleration on the previous step
- velocity.value += (currentForce / mass.value * dtSeconds).cast(MetersPerSecond)
+ val deltaV = (currentForce / mass.value * dtSeconds).cast(MetersPerSecond)
+ //TODO apply energy correction
+ //val work = deltaR.length.value * currentForce.length.value
+ velocity.value += deltaV
+
currentForce = force.value
}
}
\ No newline at end of file
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/coordinates.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/coordinates.kt
index 88d7bd6..027dbbb 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/coordinates.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/coordinates.kt
@@ -1,5 +1,8 @@
package space.kscience.controls.constructor.units
+import kotlin.math.pow
+import kotlin.math.sqrt
+
public data class XY<U : UnitsOfMeasurement>(val x: NumericalValue<U>, val y: NumericalValue<U>)
public fun <U : UnitsOfMeasurement> XY(x: Number, y: Number): XY<U> = XY(NumericalValue(x), NumericalValue((y)))
@@ -18,6 +21,11 @@ public data class XYZ<U : UnitsOfMeasurement>(
val z: NumericalValue<U>,
)
+public val <U : UnitsOfMeasurement> XYZ<U>.length: NumericalValue<U>
+ get() = NumericalValue(
+ sqrt(x.value.pow(2) + y.value.pow(2) + z.value.pow(2))
+ )
+
public fun <U : UnitsOfMeasurement> XYZ(x: Number, y: Number, z: Number): XYZ<U> =
XYZ(NumericalValue(x), NumericalValue((y)), NumericalValue(z))
diff --git a/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt b/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
index e937d1b..57bc426 100644
--- a/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
+++ b/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
@@ -16,8 +16,6 @@ import space.kscience.controls.constructor.models.MaterialPoint
import space.kscience.controls.constructor.units.*
import space.kscience.dataforge.context.Context
import java.awt.Dimension
-import kotlin.math.pow
-import kotlin.math.sqrt
private class Spring(
@@ -33,7 +31,7 @@ private class Spring(
*/
val tension: DeviceState<XYZ<Newtons>> = combineState(begin, end) { begin: XYZ<Meters>, end: XYZ<Meters> ->
val delta = end - begin
- val l = sqrt(delta.x.value.pow(2) + delta.y.value.pow(2) + delta.z.value.pow(2))
+ val l = delta.length.value
((delta / l) * k * (l - l0.value)).cast(Newtons)
}
}
@@ -87,7 +85,7 @@ private class BodyOnSprings(
}
fun main() = application {
- val initialState = XYZ<Meters>(0.01, 0.1, 0)
+ val initialState = XYZ<Meters>(0, 0.4, 0)
Window(title = "Ball on springs", onCloseRequest = ::exitApplication) {
window.minimumSize = Dimension(400, 400)
From 91f860adf61a3d0ee49372a99c3dc385a30bed27 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 3 Jun 2024 18:48:12 +0300
Subject: [PATCH 099/125] Move plotter model out of visualization
---
.../constructor/src/jvmMain/kotlin/Plotter.kt | 79 ++++++++++---------
1 file changed, 40 insertions(+), 39 deletions(-)
diff --git a/demo/constructor/src/jvmMain/kotlin/Plotter.kt b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
index b605dd4..af2c4dd 100644
--- a/demo/constructor/src/jvmMain/kotlin/Plotter.kt
+++ b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
@@ -11,11 +11,10 @@ import androidx.compose.ui.graphics.Color
import androidx.compose.ui.window.Window
import androidx.compose.ui.window.application
import kotlinx.coroutines.delay
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.isActive
-import kotlinx.coroutines.launch
-import space.kscience.controls.constructor.DeviceConstructor
-import space.kscience.controls.constructor.MutableDeviceState
-import space.kscience.controls.constructor.device
+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
@@ -28,7 +27,7 @@ import java.awt.Dimension
import kotlin.random.Random
-class Plotter(
+private class Plotter(
context: Context,
xDrive: StepDrive,
yDrive: StepDrive,
@@ -42,16 +41,16 @@ class Plotter(
yDrive.target.value = y.toLong()
}
-// val position = combineState(xDrive.position, yDrive.position) { x, y ->
-// space.kscience.controls.constructor.models.XY(x, y)
-// }
+ val ticks = combineState(xDrive.position, yDrive.position) { x, y ->
+ x to y
+ }
//TODO add calibration
// TODO add draw as action
}
-suspend fun Plotter.modernArt(xRange: IntRange, yRange: IntRange) {
+private suspend fun Plotter.modernArt(xRange: IntRange, yRange: IntRange) {
while (isActive) {
val randomX = Random.nextInt(xRange.first, xRange.last)
val randomY = Random.nextInt(yRange.first, yRange.last)
@@ -62,7 +61,7 @@ suspend fun Plotter.modernArt(xRange: IntRange, yRange: IntRange) {
}
}
-suspend fun Plotter.square(xRange: IntRange, yRange: IntRange) {
+private suspend fun Plotter.square(xRange: IntRange, yRange: IntRange) {
while (isActive) {
moveToXY(xRange.first, yRange.first)
delay(1000)
@@ -94,12 +93,33 @@ private data class PlotterPoint(
val color: Color = Color.Black,
)
+private class PlotterModel(
+ context: Context,
+ val callback: (PlotterPoint) -> Unit,
+) : ModelConstructor(context) {
+
+ private val xDrive = StepDrive(context, ticksPerSecond)
+ private val xTransmission = ScrewDrive(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))
+ val y = yTransmission.degreesToMeters(yDrive.angle(step)).coerceIn(yRange)
+
+ val xy: DeviceState<XY<Meters>> = combineState(x, y) { x, y -> XY(x, y) }
+
+ val plotter = Plotter(context, xDrive, yDrive) { color ->
+ println("Point X: ${x.value.value}, Y: ${y.value.value}, color: $color")
+ callback(PlotterPoint(x.value, y.value, color))
+ }
+}
+
suspend fun main() = application {
Window(title = "Pid regulator simulator", onCloseRequest = ::exitApplication) {
window.minimumSize = Dimension(400, 400)
val points = remember { mutableStateListOf<PlotterPoint>() }
- var position by remember { mutableStateOf(PlotterPoint(NumericalValue(0), NumericalValue(0))) }
+ var position by remember { mutableStateOf(XY<Meters>(0, 0)) }
LaunchedEffect(Unit) {
val context = Context {
@@ -109,42 +129,23 @@ suspend fun main() = application {
/* Here goes the device definition block */
-
- val xDrive = StepDrive(context, ticksPerSecond)
- val xTransmission = ScrewDrive(context, NumericalValue(0.01))
- val x = xTransmission.degreesToMeters(xDrive.angle(step)).coerceIn(xRange)
-
- val yDrive = StepDrive(context, ticksPerSecond)
- val yTransmission = ScrewDrive(context, NumericalValue(0.01))
- val y = yTransmission.degreesToMeters(yDrive.angle(step)).coerceIn(yRange)
-
- val plotter = Plotter(context, xDrive, yDrive) { color ->
- println("Point X: ${x.value.value}, Y: ${y.value.value}, color: $color")
- points.add(PlotterPoint(x.value, y.value, color))
+ val plotterModel = PlotterModel(context) { plotterPoint ->
+ points.add(plotterPoint)
}
-
/* Start visualization program */
- launch {
- x.valueFlow.collect {
- position = position.copy(x = it)
- }
- }
-
- launch {
- y.valueFlow.collect {
- position = position.copy(y = it)
- }
- }
+ plotterModel.xy.valueFlow.onEach {
+ position = it
+ }.launchIn(this)
/* run program */
- launch {
- val range = -1000..1000
+
+ val range = -1000..1000
// plotter.modernArt(range, range)
- plotter.square(range, range)
- }
+ plotterModel.plotter.square(range, range)
+
}
From c63c2db6517ef05a4fe6e22700f6fcbc0991de91 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 5 Jun 2024 17:19:20 +0300
Subject: [PATCH 100/125] Fix PID demo
---
.gitignore | 1 +
.../controls/constructor/models/Inertia.kt | 2 +-
.../models/{ScrewDrive.kt => Leadscrew.kt} | 13 +++--
.../commonMain/kotlin/ControlVisionPlugin.kt | 10 +++-
.../commonMain/kotlin/koalaPlotExtensions.kt | 2 +-
.../jsMain/kotlin/ControlsVisionPlugin.js.kt | 8 ++--
.../kotlin/ControlsVisionPlugin.jvm.kt | 8 ++--
.../build.gradle.kts | 3 +-
.../src/commonMain/kotlin/NumberTextField.kt | 8 ++--
demo/all-things/build.gradle.kts | 3 +-
demo/constructor/build.gradle.kts | 3 +-
.../src/jvmMain/kotlin/BodyOnSprings.kt | 2 +-
.../constructor/src/jvmMain/kotlin/PidDemo.kt | 47 +++++++++----------
.../constructor/src/jvmMain/kotlin/Plotter.kt | 8 ++--
demo/devices-on-map/build.gradle.kts | 41 ++++++++++++++++
.../devices-on-map/src/jvmMain/kotlin/main.kt | 8 ++++
demo/motors/build.gradle.kts | 3 +-
gradle.properties | 2 +-
gradle/libs.versions.toml | 2 +
settings.gradle.kts | 3 +-
20 files changed, 121 insertions(+), 56 deletions(-)
rename controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/{ScrewDrive.kt => Leadscrew.kt} (72%)
create mode 100644 demo/devices-on-map/build.gradle.kts
create mode 100644 demo/devices-on-map/src/jvmMain/kotlin/main.kt
diff --git a/.gitignore b/.gitignore
index 3bf252e..e688053 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,7 @@
# Created by .ignore support plugin (hsz.mobi)
.idea/
.gradle
+.kotlin
*.iws
*.iml
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt
index 1c6a507..1259151 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt
+++ b/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
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Leadscrew.kt
similarity index 72%
rename from controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt
rename to controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Leadscrew.kt
index 573a648..ebe0d30 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/ScrewDrive.kt
+++ b/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>>,
- ): DeviceState<NumericalValue<Newtons>> = DeviceState.map(stateOfMomentum) { momentum ->
- NumericalValue(momentum.value / leverage.value )
+ stateOfTorque: DeviceState<NumericalValue<NewtonsMeters>>,
+ ): DeviceState<NumericalValue<Newtons>> = DeviceState.map(stateOfTorque) { torque ->
+ 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 )
}
}
\ No newline at end of file
diff --git a/controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt b/controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt
index d9ec746..b51d15c 100644
--- a/controls-vision/src/commonMain/kotlin/ControlVisionPlugin.kt
+++ b/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 {
diff --git a/controls-vision/src/commonMain/kotlin/koalaPlotExtensions.kt b/controls-vision/src/commonMain/kotlin/koalaPlotExtensions.kt
index 8eeb9a4..8be10df 100644
--- a/controls-vision/src/commonMain/kotlin/koalaPlotExtensions.kt
+++ b/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,
diff --git a/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt b/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
index b966791..f75630b 100644
--- a/controls-vision/src/jsMain/kotlin/ControlsVisionPlugin.js.kt
+++ b/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()
}
}
\ No newline at end of file
diff --git a/controls-vision/src/jvmMain/kotlin/ControlsVisionPlugin.jvm.kt b/controls-vision/src/jvmMain/kotlin/ControlsVisionPlugin.jvm.kt
index 55074ae..53ada2e 100644
--- a/controls-vision/src/jvmMain/kotlin/ControlsVisionPlugin.jvm.kt
+++ b/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()
}
}
\ No newline at end of file
diff --git a/controls-visualisation-compose/build.gradle.kts b/controls-visualisation-compose/build.gradle.kts
index 48ae9cd..d9d8215 100644
--- a/controls-visualisation-compose/build.gradle.kts
+++ b/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`
}
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/NumberTextField.kt b/controls-visualisation-compose/src/commonMain/kotlin/NumberTextField.kt
index 68e61ca..3ab10c6 100644
--- a/controls-visualisation-compose/src/commonMain/kotlin/NumberTextField.kt
+++ b/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.filled.KeyboardArrowRight
+import androidx.compose.material.icons.automirrored.filled.KeyboardArrowLeft
+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")
}
}
}
diff --git a/demo/all-things/build.gradle.kts b/demo/all-things/build.gradle.kts
index 2abde80..077e55d 100644
--- a/demo/all-things/build.gradle.kts
+++ b/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)
}
diff --git a/demo/constructor/build.gradle.kts b/demo/constructor/build.gradle.kts
index 6b6f461..6d6d7f0 100644
--- a/demo/constructor/build.gradle.kts
+++ b/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 {
diff --git a/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt b/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
index 57bc426..af6da52 100644
--- a/demo/constructor/src/jvmMain/kotlin/BodyOnSprings.kt
+++ b/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)
diff --git a/demo/constructor/src/jvmMain/kotlin/PidDemo.kt b/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
index b19e179..81a5923 100644
--- a/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
+++ b/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.timer
+import space.kscience.controls.constructor.onTimer
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 {
- val timeFromStart = clock.now() - clockStart
+ private val modulation = onTimer(timeStep) { _, next ->
+ 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()) },
- step = 1.0,
+ formatter = { String.format("%.3f", it.toDouble()) },
+ 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()) },
- step = 0.1,
+ formatter = { String.format("%.3f", it.toDouble()) },
+ 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()) },
- step = 0.1,
+ formatter = { String.format("%.3f", it.toDouble()) },
+ 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(
- kp = 2.5,
- ki = 0.0,
- kd = -0.1,
- timeStep = 0.005.seconds
- )
+ pidParameters = startPid
}) {
Text("Reset")
}
diff --git a/demo/constructor/src/jvmMain/kotlin/Plotter.kt b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
index af2c4dd..dfded59 100644
--- a/demo/constructor/src/jvmMain/kotlin/Plotter.kt
+++ b/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)
}
diff --git a/demo/devices-on-map/build.gradle.kts b/demo/devices-on-map/build.gradle.kts
new file mode 100644
index 0000000..b81dc12
--- /dev/null
+++ b/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"
+ }
+}
\ No newline at end of file
diff --git a/demo/devices-on-map/src/jvmMain/kotlin/main.kt b/demo/devices-on-map/src/jvmMain/kotlin/main.kt
new file mode 100644
index 0000000..648610e
--- /dev/null
+++ b/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 {
+
+}
\ No newline at end of file
diff --git a/demo/motors/build.gradle.kts b/demo/motors/build.gradle.kts
index 9241764..774df46 100644
--- a/demo/motors/build.gradle.kts
+++ b/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{
diff --git a/gradle.properties b/gradle.properties
index 4f937f0..99c39d0 100644
--- a/gradle.properties
+++ b/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
\ No newline at end of file
+toolsVersion=0.15.4-kotlin-2.0.0
\ No newline at end of file
diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
index 617933a..102c441 100644
--- a/gradle/libs.versions.toml
+++ b/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]
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 366c39e..7aebf36 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -86,5 +86,6 @@ include(
":demo:motors",
":demo:echo",
":demo:mks-pdr900",
- ":demo:constructor"
+ ":demo:constructor",
+ ":demo:devices-on-map"
)
From a2b5880da99f6718afcff5a54a7f3cd9e11db767 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Thu, 6 Jun 2024 16:54:17 +0300
Subject: [PATCH 101/125] Add device collective demo
---
.../controls/client/RemoteDeviceConnect.kt | 2 +-
.../kscience/controls/client/MagixLoopTest.kt | 63 ++++++------
.../src/commonMain/kotlin/koalaPlots.kt | 7 +-
.../build.gradle.kts | 1 +
.../src/jvmMain/kotlin/DebounceDeviceState.kt | 20 ++++
.../jvmMain/kotlin/DeviceCollectiveModel.kt | 43 +++++++++
.../src/jvmMain/kotlin/GmcVelocity.kt | 24 +++++
.../src/jvmMain/kotlin/RemoteDevice.kt | 64 ++++++++++++
.../src/jvmMain/kotlin/debugModel.kt | 50 ++++++++++
.../src/jvmMain/kotlin/main.kt | 91 ++++++++++++++++++
.../src/jvmMain/resources/SPC-logo.png | Bin 0 -> 5166 bytes
.../devices-on-map/src/jvmMain/kotlin/main.kt | 8 --
gradle/libs.versions.toml | 6 +-
settings.gradle.kts | 2 +-
14 files changed, 333 insertions(+), 48 deletions(-)
rename demo/{devices-on-map => device-collective}/build.gradle.kts (94%)
create mode 100644 demo/device-collective/src/jvmMain/kotlin/DebounceDeviceState.kt
create mode 100644 demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
create mode 100644 demo/device-collective/src/jvmMain/kotlin/GmcVelocity.kt
create mode 100644 demo/device-collective/src/jvmMain/kotlin/RemoteDevice.kt
create mode 100644 demo/device-collective/src/jvmMain/kotlin/debugModel.kt
create mode 100644 demo/device-collective/src/jvmMain/kotlin/main.kt
create mode 100644 demo/device-collective/src/jvmMain/resources/SPC-logo.png
delete mode 100644 demo/devices-on-map/src/jvmMain/kotlin/main.kt
diff --git a/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
index 3c707b2..18a3dfc 100644
--- a/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
+++ b/controls-magix/src/commonTest/kotlin/space/kscience/controls/client/RemoteDeviceConnect.kt
@@ -93,7 +93,7 @@ internal class RemoteDeviceConnect {
val virtualMagixEndpoint = VirtualMagixEndpoint(deviceManager)
- val remoteDevice = virtualMagixEndpoint.remoteDevice(context, "client", "device", "test".asName())
+ val remoteDevice: DeviceClient = virtualMagixEndpoint.remoteDevice(context, "client", "device", "test".asName())
assertContains(0.0..1.0, remoteDevice.read(TestDevice.value))
diff --git a/controls-magix/src/jvmTest/kotlin/space/kscience/controls/client/MagixLoopTest.kt b/controls-magix/src/jvmTest/kotlin/space/kscience/controls/client/MagixLoopTest.kt
index b08066b..31f73fc 100644
--- a/controls-magix/src/jvmTest/kotlin/space/kscience/controls/client/MagixLoopTest.kt
+++ b/controls-magix/src/jvmTest/kotlin/space/kscience/controls/client/MagixLoopTest.kt
@@ -1,10 +1,10 @@
package space.kscience.controls.client
+import kotlinx.coroutines.CompletableDeferred
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.delay
import kotlinx.coroutines.launch
import kotlinx.coroutines.test.runTest
-import kotlinx.coroutines.withContext
import space.kscience.controls.client.RemoteDeviceConnect.TestDevice
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.install
@@ -20,36 +20,37 @@ class MagixLoopTest {
@Test
fun realDeviceHub() = runTest {
- withContext(Dispatchers.Default) {
- val context = Context {
- plugin(DeviceManager)
- }
-
- val server = context.startMagixServer()
-
- val deviceManager = context.request(DeviceManager)
-
- val deviceEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
-
- deviceManager.launchMagixService(deviceEndpoint, "device")
-
- launch {
- delay(50)
- repeat(10) {
- deviceManager.install("test[$it]", TestDevice)
- }
- }
-
- val clientEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
-
- val remoteHub = clientEndpoint.remoteDeviceHub(context, "client", "device")
-
- assertEquals(0, remoteHub.devices.size)
- delay(60)
- clientEndpoint.requestDeviceUpdate("client", "device")
- delay(60)
- assertEquals(10, remoteHub.devices.size)
- server.stop()
+ val context = Context {
+ coroutineContext(Dispatchers.Default)
+ plugin(DeviceManager)
}
+
+ val server = context.startMagixServer()
+
+ val deviceManager = context.request(DeviceManager)
+
+ val deviceEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+
+ deviceManager.launchMagixService(deviceEndpoint, "device")
+
+ val trigger = CompletableDeferred<Unit>()
+
+ context.launch {
+ repeat(10) {
+ deviceManager.install("test[$it]", TestDevice)
+ }
+ delay(100)
+ trigger.complete(Unit)
+ }
+
+ val clientEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+
+ val remoteHub = clientEndpoint.remoteDeviceHub(context, "client", "device")
+
+ assertEquals(0, remoteHub.devices.size)
+ clientEndpoint.requestDeviceUpdate("client", "device")
+ trigger.join()
+ assertEquals(10, remoteHub.devices.size)
+ server.stop()
}
}
\ No newline at end of file
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/koalaPlots.kt b/controls-visualisation-compose/src/commonMain/kotlin/koalaPlots.kt
index 855de10..87a9fca 100644
--- a/controls-visualisation-compose/src/commonMain/kotlin/koalaPlots.kt
+++ b/controls-visualisation-compose/src/commonMain/kotlin/koalaPlots.kt
@@ -1,3 +1,5 @@
+@file:OptIn(FlowPreview::class)
+
package space.kscience.controls.compose
import androidx.compose.runtime.*
@@ -6,11 +8,8 @@ import io.github.koalaplot.core.line.LinePlot
import io.github.koalaplot.core.style.LineStyle
import io.github.koalaplot.core.xygraph.DefaultPoint
import io.github.koalaplot.core.xygraph.XYGraphScope
-import kotlinx.coroutines.Job
-import kotlinx.coroutines.delay
+import kotlinx.coroutines.*
import kotlinx.coroutines.flow.*
-import kotlinx.coroutines.isActive
-import kotlinx.coroutines.launch
import kotlinx.datetime.Clock
import kotlinx.datetime.Instant
import space.kscience.controls.api.Device
diff --git a/demo/devices-on-map/build.gradle.kts b/demo/device-collective/build.gradle.kts
similarity index 94%
rename from demo/devices-on-map/build.gradle.kts
rename to demo/device-collective/build.gradle.kts
index b81dc12..5520265 100644
--- a/demo/devices-on-map/build.gradle.kts
+++ b/demo/device-collective/build.gradle.kts
@@ -13,6 +13,7 @@ kscience {
commonMain {
implementation(projects.controlsVisualisationCompose)
implementation(projects.controlsConstructor)
+ implementation(projects.magix.magixRsocket)
}
jvmMain {
// implementation("io.ktor:ktor-server-cio")
diff --git a/demo/device-collective/src/jvmMain/kotlin/DebounceDeviceState.kt b/demo/device-collective/src/jvmMain/kotlin/DebounceDeviceState.kt
new file mode 100644
index 0000000..b507cd6
--- /dev/null
+++ b/demo/device-collective/src/jvmMain/kotlin/DebounceDeviceState.kt
@@ -0,0 +1,20 @@
+package space.kscience.controls.demo.map
+
+import kotlinx.coroutines.FlowPreview
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.sample
+import space.kscience.controls.constructor.DeviceState
+import kotlin.time.Duration
+
+@OptIn(FlowPreview::class)
+class DebounceDeviceState<T>(
+ val origin: DeviceState<T>,
+ val interval: Duration,
+) : DeviceState<T> {
+ override val value: T get() = origin.value
+ override val valueFlow: Flow<T> get() = origin.valueFlow.sample(interval)
+
+ override fun toString(): String = "DebounceDeviceState($value, interval=$interval)"
+}
+
+fun <T> DeviceState<T>.debounce(interval: Duration) = DebounceDeviceState(this, interval)
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
new file mode 100644
index 0000000..fdf13a1
--- /dev/null
+++ b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
@@ -0,0 +1,43 @@
+package space.kscience.controls.demo.map
+
+import space.kscience.controls.constructor.ModelConstructor
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.onTimer
+import space.kscience.dataforge.context.Context
+import space.kscience.maps.coordinates.Gmc
+
+
+typealias RemoteDeviceId = String
+
+
+data class RemoteDeviceState(
+ val id: RemoteDeviceId,
+ val configuration: RemoteDeviceConfiguration,
+ val position: MutableDeviceState<Gmc>,
+ val velocity: MutableDeviceState<GmcVelocity>,
+)
+
+public fun RemoteDeviceState(
+ id: RemoteDeviceId,
+ position: Gmc,
+ configuration: RemoteDeviceConfiguration.() -> Unit = {},
+) = RemoteDeviceState(
+ id,
+ RemoteDeviceConfiguration(configuration),
+ MutableDeviceState(position),
+ MutableDeviceState(GmcVelocity.zero)
+)
+
+
+class DeviceCollectiveModel(
+ context: Context,
+ val deviceStates: Collection<RemoteDeviceState>,
+) : ModelConstructor(context) {
+
+ private val movement = onTimer { prev, next ->
+ val delta = (next - prev)
+ deviceStates.forEach { state ->
+ state.position.value = state.position.value.moveWith(state.velocity.value, delta)
+ }
+ }
+}
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/GmcVelocity.kt b/demo/device-collective/src/jvmMain/kotlin/GmcVelocity.kt
new file mode 100644
index 0000000..bea840d
--- /dev/null
+++ b/demo/device-collective/src/jvmMain/kotlin/GmcVelocity.kt
@@ -0,0 +1,24 @@
+package space.kscience.controls.demo.map
+
+import kotlinx.serialization.Serializable
+import space.kscience.kmath.geometry.Angle
+import space.kscience.maps.coordinates.*
+import kotlin.time.Duration
+import kotlin.time.DurationUnit
+
+@Serializable
+data class GmcVelocity(val bearing: Angle, val velocity: Distance, val elevation: Distance = 0.kilometers){
+ companion object{
+ val zero = GmcVelocity(Angle.zero, 0.kilometers)
+ }
+}
+
+
+fun Gmc.moveWith(velocity: GmcVelocity, duration: Duration): Gmc {
+ val seconds = duration.toDouble(DurationUnit.SECONDS)
+
+ return GeoEllipsoid.WGS84.curveInDirection(
+ GmcPose(this, velocity.bearing),
+ velocity.velocity * seconds,
+ ).backward.coordinates
+}
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/RemoteDevice.kt b/demo/device-collective/src/jvmMain/kotlin/RemoteDevice.kt
new file mode 100644
index 0000000..19a4e5b
--- /dev/null
+++ b/demo/device-collective/src/jvmMain/kotlin/RemoteDevice.kt
@@ -0,0 +1,64 @@
+@file:OptIn(DFExperimental::class)
+
+package space.kscience.controls.demo.map
+
+import space.kscience.controls.api.Device
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.registerAsProperty
+import space.kscience.controls.spec.DeviceSpec
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.MetaConverter
+import space.kscience.dataforge.meta.Scheme
+import space.kscience.dataforge.meta.SchemeSpec
+import space.kscience.dataforge.misc.DFExperimental
+import space.kscience.maps.coordinates.Gmc
+import kotlin.time.Duration.Companion.milliseconds
+
+class RemoteDeviceConfiguration : Scheme() {
+ companion object : SchemeSpec<RemoteDeviceConfiguration>(::RemoteDeviceConfiguration)
+}
+
+
+interface RemoteDevice : Device {
+
+ suspend fun getPosition(): Gmc
+
+ suspend fun getVelocity(): GmcVelocity
+
+ suspend fun setVelocity(value: GmcVelocity)
+
+
+ companion object : DeviceSpec<RemoteDevice>() {
+ val position by property<Gmc>(
+ converter = MetaConverter.serializable(),
+ read = { getPosition() }
+ )
+
+ val velocity by mutableProperty<GmcVelocity>(
+ converter = MetaConverter.serializable(),
+ read = { getVelocity() },
+ write = { _, value -> setVelocity(value) }
+ )
+ }
+}
+
+
+class RemoteDeviceConstructor(
+ context: Context,
+ val configuration: RemoteDeviceConfiguration,
+ position: MutableDeviceState<Gmc>,
+ velocity: MutableDeviceState<GmcVelocity>,
+) : DeviceConstructor(context, configuration.meta), RemoteDevice {
+
+ val position = registerAsProperty(RemoteDevice.position, position.debounce(500.milliseconds))
+ val velocity = registerAsProperty(RemoteDevice.velocity, velocity)
+
+ override suspend fun getPosition(): Gmc = position.value
+
+ override suspend fun getVelocity(): GmcVelocity = velocity.value
+
+ override suspend fun setVelocity(value: GmcVelocity) {
+ velocity.value = value
+ }
+}
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/debugModel.kt b/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
new file mode 100644
index 0000000..e352fcc
--- /dev/null
+++ b/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
@@ -0,0 +1,50 @@
+package space.kscience.controls.demo.map
+
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import space.kscience.controls.spec.write
+import space.kscience.dataforge.context.Context
+import space.kscience.kmath.geometry.degrees
+import space.kscience.kmath.geometry.radians
+import space.kscience.maps.coordinates.Gmc
+import space.kscience.maps.coordinates.kilometers
+import kotlin.math.PI
+import kotlin.random.Random
+
+private val deviceVelocity = 0.1.kilometers
+
+private val center = Gmc.ofDegrees(55.925, 37.514)
+private val radius = 0.01.degrees
+
+
+internal fun generateModel(context: Context): DeviceCollectiveModel {
+ val devices: List<RemoteDeviceState> = buildList {
+ repeat(100) {
+ add(
+ RemoteDeviceState(
+ "device[$it]",
+ Gmc(
+ center.latitude + radius * Random.nextDouble(),
+ center.longitude + radius * Random.nextDouble()
+ )
+ )
+ )
+ }
+ }
+
+ val model = DeviceCollectiveModel(context, devices)
+
+ return model
+}
+
+fun RemoteDevice.moveInCircles(): Job = launch {
+ var bearing = Random.nextDouble(-PI, PI).radians
+ write(RemoteDevice.velocity, GmcVelocity(bearing, deviceVelocity))
+ while (isActive) {
+ delay(500)
+ bearing += 5.degrees
+ write(RemoteDevice.velocity, GmcVelocity(bearing, deviceVelocity))
+ }
+}
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/main.kt b/demo/device-collective/src/jvmMain/kotlin/main.kt
new file mode 100644
index 0000000..0c7f7ad
--- /dev/null
+++ b/demo/device-collective/src/jvmMain/kotlin/main.kt
@@ -0,0 +1,91 @@
+package space.kscience.controls.demo.map
+
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.remember
+import androidx.compose.runtime.rememberCoroutineScope
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.res.painterResource
+import androidx.compose.ui.window.Window
+import androidx.compose.ui.window.application
+import io.ktor.client.HttpClient
+import io.ktor.client.engine.cio.CIO
+import kotlinx.coroutines.flow.launchIn
+import kotlinx.coroutines.flow.onEach
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.controls.spec.propertyFlow
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.request
+import space.kscience.maps.compose.MapView
+import space.kscience.maps.compose.OpenStreetMapTileProvider
+import space.kscience.maps.features.ViewConfig
+import space.kscience.maps.features.circle
+import space.kscience.maps.features.color
+import space.kscience.maps.features.rectangle
+import java.nio.file.Path
+
+
+@Composable
+fun rememberDeviceManager(): DeviceManager = remember {
+ val context = Context {
+ plugin(DeviceManager)
+ }
+
+ context.request(DeviceManager)
+}
+
+
+@Composable
+fun App() {
+ val scope = rememberCoroutineScope()
+
+
+ val deviceManager = rememberDeviceManager()
+
+
+ val collectiveModel = remember {
+ generateModel(deviceManager.context)
+ }
+
+ val devices: Map<RemoteDeviceId, RemoteDevice> = remember {
+ collectiveModel.deviceStates.associate {
+ val device = RemoteDeviceConstructor(deviceManager.context, it.configuration, it.position, it.velocity)
+ device.moveInCircles()
+ it.id to device
+ }
+ }
+
+ val mapTileProvider = remember {
+ OpenStreetMapTileProvider(
+ client = HttpClient(CIO),
+ cacheDirectory = Path.of("mapCache")
+ )
+ }
+
+ MapView(
+ mapTileProvider = mapTileProvider,
+ config = ViewConfig()
+ ) {
+ collectiveModel.deviceStates.forEach { device ->
+ circle(device.position.value, id = device.id + ".position").color(Color.Red)
+ device.position.valueFlow.onEach {
+ circle(device.position.value, id = device.id + ".position").color(Color.Red)
+ }.launchIn(scope)
+ }
+
+ devices.forEach { (id, device) ->
+ device.propertyFlow(RemoteDevice.position).onEach { position ->
+ rectangle(position, id = id).color(Color.Blue)
+ }.launchIn(scope)
+ }
+ }
+}
+
+
+fun main() = application {
+ Window(onCloseRequest = ::exitApplication, title = "Maps-kt demo", icon = painterResource("SPC-logo.png")) {
+ MaterialTheme {
+ App()
+ }
+ }
+}
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/resources/SPC-logo.png b/demo/device-collective/src/jvmMain/resources/SPC-logo.png
new file mode 100644
index 0000000000000000000000000000000000000000..953de16d4876765010935ffc20cbd1d37351dbb6
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diff --git a/demo/devices-on-map/src/jvmMain/kotlin/main.kt b/demo/devices-on-map/src/jvmMain/kotlin/main.kt
deleted file mode 100644
index 648610e..0000000
--- a/demo/devices-on-map/src/jvmMain/kotlin/main.kt
+++ /dev/null
@@ -1,8 +0,0 @@
-package space.kscience.controls.demo.map
-
-import androidx.compose.ui.window.application
-
-
-fun main() = application {
-
-}
\ No newline at end of file
diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
index 102c441..7c5a861 100644
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -1,6 +1,6 @@
[versions]
-dataforge = "0.8.0"
+dataforge = "0.9.0"
rsocket = "0.15.4"
xodus = "2.0.1"
@@ -10,7 +10,7 @@ fazecast = "2.10.3"
tornadofx = "1.7.20"
-plotlykt = "0.7.0"
+plotlykt = "0.7.2"
logback = "1.2.11"
@@ -29,7 +29,7 @@ pi4j-ktx = "2.4.0"
plc4j = "0.12.0"
-visionforge = "0.4.1"
+visionforge = "0.4.2"
versions = "0.51.0"
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 7aebf36..7e84c71 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -87,5 +87,5 @@ include(
":demo:echo",
":demo:mks-pdr900",
":demo:constructor",
- ":demo:devices-on-map"
+ ":demo:device-collective"
)
From 5c7d3d8a7a3513ede88320a895ef8d89cf6dc440 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Fri, 7 Jun 2024 10:52:28 +0300
Subject: [PATCH 102/125] Add PeerConnection
---
CHANGELOG.md | 1 +
.../kscience/controls/api/DeviceMessage.kt | 10 ++++-
.../kscience/controls/peer/PeerConnection.kt | 42 +++++++++++++++++++
3 files changed, 51 insertions(+), 2 deletions(-)
create mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/peer/PeerConnection.kt
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 92b2765..ae8c47f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,7 @@
- PLC4X bindings
- Shortcuts to access all Controls devices in a magix network.
- `DeviceClient` properly evaluates lifecycle and logs
+- `PeerConnection` API for direct device-device binary sharing
### Changed
- Constructor properties return `DeviceState` in order to be able to subscribe to them
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
index dda89de..f91beb5 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
@@ -166,12 +166,18 @@ public data class ActionResultMessage(
}
/**
- * Notifies listeners that a new binary with given [binaryID] is available. The binary itself could not be provided via [DeviceMessage] API.
+ * Notifies listeners that a new binary with given [contentId] and [contentMeta] is available.
+ *
+ * [contentMeta] includes public information that could be shared with loop subscribers. It should not contain sensitive data.
+ *
+ * The binary itself could not be provided via [DeviceMessage] API.
+ * [space.kscience.controls.peer.PeerConnection] must be used instead
*/
@Serializable
@SerialName("binary.notification")
public data class BinaryNotificationMessage(
- val binaryID: String,
+ val contentId: String,
+ val contentMeta: Meta,
override val sourceDevice: Name,
override val targetDevice: Name? = null,
override val comment: String? = null,
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/peer/PeerConnection.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/peer/PeerConnection.kt
new file mode 100644
index 0000000..14b49ef
--- /dev/null
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/peer/PeerConnection.kt
@@ -0,0 +1,42 @@
+package space.kscience.controls.peer
+
+import space.kscience.dataforge.io.Envelope
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.names.Name
+
+/**
+ * A manager that allows direct synchronous sending and receiving binary data
+ */
+public interface PeerConnection {
+ /**
+ * Receive an [Envelope] from a device with name [deviceName] on a given [address] with given [contentId].
+ *
+ * The address depends on the specifics of given [PeerConnection]. For example, it could be a TCP/IP port or
+ * magix endpoint name.
+ *
+ * Depending on [PeerConnection] implementation, the resulting [Envelope] could be lazy loaded
+ *
+ * Additional metadata in [requestMeta] could be required for authentication.
+ */
+ public suspend fun receive(
+ address: String,
+ deviceName: Name,
+ contentId: String,
+ requestMeta: Meta = Meta.EMPTY,
+ ): Envelope
+
+ /**
+ * Send an [envelope] to a device with name [deviceName] on a given [address]
+ *
+ * The address depends on the specifics of given [PeerConnection]. For example, it could be a TCP/IP port or
+ * magix endpoint name.
+ *
+ * Additional metadata in [requestMeta] could be required for authentication.
+ */
+ public suspend fun send(
+ address: String,
+ deviceName: Name,
+ envelope: Envelope,
+ requestMeta: Meta = Meta.EMPTY,
+ )
+}
\ No newline at end of file
From 13b80be8841761568ed17db6b23a2e9116591411 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Fri, 7 Jun 2024 20:20:39 +0300
Subject: [PATCH 103/125] Implement visibility range for collective device
---
.gitignore | 5 +-
.../src/commonMain/kotlin/misc.kt | 12 ++
.../constructor/src/jvmMain/kotlin/Plotter.kt | 19 ++-
demo/device-collective/build.gradle.kts | 2 +-
.../{RemoteDevice.kt => CollectiveDevice.kt} | 32 ++--
.../jvmMain/kotlin/DeviceCollectiveModel.kt | 42 +++--
.../src/jvmMain/kotlin/GmcVelocity.kt | 2 +-
...nceDeviceState.kt => SampleDeviceState.kt} | 6 +-
.../src/jvmMain/kotlin/debugModel.kt | 31 ++--
.../src/jvmMain/kotlin/main.kt | 146 +++++++++++++++---
10 files changed, 226 insertions(+), 71 deletions(-)
create mode 100644 controls-visualisation-compose/src/commonMain/kotlin/misc.kt
rename demo/device-collective/src/jvmMain/kotlin/{RemoteDevice.kt => CollectiveDevice.kt} (60%)
rename demo/device-collective/src/jvmMain/kotlin/{DebounceDeviceState.kt => SampleDeviceState.kt} (76%)
diff --git a/.gitignore b/.gitignore
index e688053..5fab474 100644
--- a/.gitignore
+++ b/.gitignore
@@ -9,4 +9,7 @@
out/
build/
-!gradle-wrapper.jar
\ No newline at end of file
+
+!gradle-wrapper.jar
+
+/demo/device-collective/mapCache/
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/misc.kt b/controls-visualisation-compose/src/commonMain/kotlin/misc.kt
new file mode 100644
index 0000000..caf21e3
--- /dev/null
+++ b/controls-visualisation-compose/src/commonMain/kotlin/misc.kt
@@ -0,0 +1,12 @@
+package space.kscience.controls.compose
+
+import androidx.compose.ui.Modifier
+
+public inline fun Modifier.conditional(
+ condition: Boolean,
+ modifier: Modifier.() -> Modifier,
+): Modifier = if (condition) {
+ then(modifier(Modifier))
+} else {
+ this
+}
\ No newline at end of file
diff --git a/demo/constructor/src/jvmMain/kotlin/Plotter.kt b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
index dfded59..40f81f9 100644
--- a/demo/constructor/src/jvmMain/kotlin/Plotter.kt
+++ b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
@@ -15,6 +15,7 @@ import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.isActive
import space.kscience.controls.constructor.*
+import space.kscience.controls.constructor.devices.LimitSwitch
import space.kscience.controls.constructor.devices.StepDrive
import space.kscience.controls.constructor.devices.angle
import space.kscience.controls.constructor.models.Leadscrew
@@ -31,10 +32,18 @@ private class Plotter(
context: Context,
xDrive: StepDrive,
yDrive: StepDrive,
+ xStartLimit: LimitSwitch,
+ xEndLimit: LimitSwitch,
+ yStartLimit: LimitSwitch,
+ yEndLimit: LimitSwitch,
val paint: suspend (Color) -> Unit,
) : DeviceConstructor(context) {
val xDrive by device(xDrive)
val yDrive by device(yDrive)
+ val xStartLimit by device(xStartLimit)
+ val xEndLimit by device(xEndLimit)
+ val yStartLimit by device(yStartLimit)
+ val yEndLimit by device(yEndLimit)
public fun moveToXY(x: Number, y: Number) {
xDrive.target.value = x.toLong()
@@ -108,7 +117,15 @@ private class PlotterModel(
val xy: DeviceState<XY<Meters>> = combineState(x, y) { x, y -> XY(x, y) }
- val plotter = Plotter(context, xDrive, yDrive) { color ->
+ val plotter = Plotter(
+ context = context,
+ xDrive = xDrive,
+ yDrive = yDrive,
+ xStartLimit = LimitSwitch(context,x.atStart),
+ xEndLimit = LimitSwitch(context,x.atEnd),
+ yStartLimit = LimitSwitch(context,x.atStart),
+ yEndLimit = LimitSwitch(context,x.atEnd),
+ ) { color ->
println("Point X: ${x.value.value}, Y: ${y.value.value}, color: $color")
callback(PlotterPoint(x.value, y.value, color))
}
diff --git a/demo/device-collective/build.gradle.kts b/demo/device-collective/build.gradle.kts
index 5520265..8bb0597 100644
--- a/demo/device-collective/build.gradle.kts
+++ b/demo/device-collective/build.gradle.kts
@@ -37,6 +37,6 @@ kotlin.explicitApi = ExplicitApiMode.Disabled
compose.desktop {
application {
- mainClass = "space.kscience.controls.demo.map.MainKt"
+ mainClass = "space.kscience.controls.demo.collective.MainKt"
}
}
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/RemoteDevice.kt b/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
similarity index 60%
rename from demo/device-collective/src/jvmMain/kotlin/RemoteDevice.kt
rename to demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
index 19a4e5b..050794c 100644
--- a/demo/device-collective/src/jvmMain/kotlin/RemoteDevice.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
@@ -1,6 +1,6 @@
@file:OptIn(DFExperimental::class)
-package space.kscience.controls.demo.map
+package space.kscience.controls.demo.collective
import space.kscience.controls.api.Device
import space.kscience.controls.constructor.DeviceConstructor
@@ -10,17 +10,20 @@ import space.kscience.controls.spec.DeviceSpec
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.MetaConverter
import space.kscience.dataforge.meta.Scheme
-import space.kscience.dataforge.meta.SchemeSpec
+import space.kscience.dataforge.meta.string
import space.kscience.dataforge.misc.DFExperimental
import space.kscience.maps.coordinates.Gmc
import kotlin.time.Duration.Companion.milliseconds
-class RemoteDeviceConfiguration : Scheme() {
- companion object : SchemeSpec<RemoteDeviceConfiguration>(::RemoteDeviceConfiguration)
+class CollectiveDeviceConfiguration(deviceId: DeviceId) : Scheme() {
+ var deviceId by string(deviceId)
+ var description by string()
}
-interface RemoteDevice : Device {
+interface CollectiveDevice : Device {
+
+ public val id: DeviceId
suspend fun getPosition(): Gmc
@@ -28,8 +31,10 @@ interface RemoteDevice : Device {
suspend fun setVelocity(value: GmcVelocity)
+ suspend fun listVisible(): Collection<DeviceId>
- companion object : DeviceSpec<RemoteDevice>() {
+
+ companion object : DeviceSpec<CollectiveDevice>() {
val position by property<Gmc>(
converter = MetaConverter.serializable(),
read = { getPosition() }
@@ -44,15 +49,18 @@ interface RemoteDevice : Device {
}
-class RemoteDeviceConstructor(
+class CollectiveDeviceConstructor(
context: Context,
- val configuration: RemoteDeviceConfiguration,
+ val configuration: CollectiveDeviceConfiguration,
position: MutableDeviceState<Gmc>,
velocity: MutableDeviceState<GmcVelocity>,
-) : DeviceConstructor(context, configuration.meta), RemoteDevice {
+ private val listVisible: suspend () -> Collection<DeviceId>,
+) : DeviceConstructor(context, configuration.meta), CollectiveDevice {
- val position = registerAsProperty(RemoteDevice.position, position.debounce(500.milliseconds))
- val velocity = registerAsProperty(RemoteDevice.velocity, velocity)
+ override val id: DeviceId get() = configuration.deviceId
+
+ val position = registerAsProperty(CollectiveDevice.position, position.sample(500.milliseconds))
+ val velocity = registerAsProperty(CollectiveDevice.velocity, velocity)
override suspend fun getPosition(): Gmc = position.value
@@ -61,4 +69,6 @@ class RemoteDeviceConstructor(
override suspend fun setVelocity(value: GmcVelocity) {
velocity.value = value
}
+
+ override suspend fun listVisible(): Collection<DeviceId> = listVisible.invoke()
}
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
index fdf13a1..4abedea 100644
--- a/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
@@ -1,43 +1,59 @@
-package space.kscience.controls.demo.map
+package space.kscience.controls.demo.collective
import space.kscience.controls.constructor.ModelConstructor
import space.kscience.controls.constructor.MutableDeviceState
import space.kscience.controls.constructor.onTimer
import space.kscience.dataforge.context.Context
-import space.kscience.maps.coordinates.Gmc
+import space.kscience.maps.coordinates.*
-typealias RemoteDeviceId = String
+typealias DeviceId = String
-data class RemoteDeviceState(
- val id: RemoteDeviceId,
- val configuration: RemoteDeviceConfiguration,
+internal data class VirtualDeviceState(
+ val id: DeviceId,
+ val configuration: CollectiveDeviceConfiguration,
val position: MutableDeviceState<Gmc>,
val velocity: MutableDeviceState<GmcVelocity>,
)
-public fun RemoteDeviceState(
- id: RemoteDeviceId,
+internal fun VirtualDeviceState(
+ id: DeviceId,
position: Gmc,
- configuration: RemoteDeviceConfiguration.() -> Unit = {},
-) = RemoteDeviceState(
+ configuration: CollectiveDeviceConfiguration.() -> Unit = {},
+) = VirtualDeviceState(
id,
- RemoteDeviceConfiguration(configuration),
+ CollectiveDeviceConfiguration(id).apply(configuration),
MutableDeviceState(position),
MutableDeviceState(GmcVelocity.zero)
)
-class DeviceCollectiveModel(
+internal class DeviceCollectiveModel(
context: Context,
- val deviceStates: Collection<RemoteDeviceState>,
+ val deviceStates: Collection<VirtualDeviceState>,
+ val visibilityRange: Distance,
) : ModelConstructor(context) {
+ /**
+ * Propagate movement
+ */
private val movement = onTimer { prev, next ->
val delta = (next - prev)
deviceStates.forEach { state ->
state.position.value = state.position.value.moveWith(state.velocity.value, delta)
}
}
+
+ suspend fun locateVisible(id: DeviceId): Map<DeviceId, GmcCurve> {
+ val coordinatesSnapshot = deviceStates.associate { it.id to it.position.value }
+
+ val selected = coordinatesSnapshot[id] ?: error("Can't find device with id $id")
+
+ val allCurves = coordinatesSnapshot
+ .filterKeys { it != id }
+ .mapValues { GeoEllipsoid.WGS84.curveBetween(selected, it.value) }
+
+ return allCurves.filterValues { it.distance in 0.kilometers..visibilityRange }
+ }
}
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/GmcVelocity.kt b/demo/device-collective/src/jvmMain/kotlin/GmcVelocity.kt
index bea840d..9d356c6 100644
--- a/demo/device-collective/src/jvmMain/kotlin/GmcVelocity.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/GmcVelocity.kt
@@ -1,4 +1,4 @@
-package space.kscience.controls.demo.map
+package space.kscience.controls.demo.collective
import kotlinx.serialization.Serializable
import space.kscience.kmath.geometry.Angle
diff --git a/demo/device-collective/src/jvmMain/kotlin/DebounceDeviceState.kt b/demo/device-collective/src/jvmMain/kotlin/SampleDeviceState.kt
similarity index 76%
rename from demo/device-collective/src/jvmMain/kotlin/DebounceDeviceState.kt
rename to demo/device-collective/src/jvmMain/kotlin/SampleDeviceState.kt
index b507cd6..a2ef06c 100644
--- a/demo/device-collective/src/jvmMain/kotlin/DebounceDeviceState.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/SampleDeviceState.kt
@@ -1,4 +1,4 @@
-package space.kscience.controls.demo.map
+package space.kscience.controls.demo.collective
import kotlinx.coroutines.FlowPreview
import kotlinx.coroutines.flow.Flow
@@ -7,7 +7,7 @@ import space.kscience.controls.constructor.DeviceState
import kotlin.time.Duration
@OptIn(FlowPreview::class)
-class DebounceDeviceState<T>(
+class SampleDeviceState<T>(
val origin: DeviceState<T>,
val interval: Duration,
) : DeviceState<T> {
@@ -17,4 +17,4 @@ class DebounceDeviceState<T>(
override fun toString(): String = "DebounceDeviceState($value, interval=$interval)"
}
-fun <T> DeviceState<T>.debounce(interval: Duration) = DebounceDeviceState(this, interval)
\ No newline at end of file
+fun <T> DeviceState<T>.sample(interval: Duration) = SampleDeviceState(this, interval)
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/debugModel.kt b/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
index e352fcc..96c9ca8 100644
--- a/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
@@ -1,4 +1,4 @@
-package space.kscience.controls.demo.map
+package space.kscience.controls.demo.collective
import kotlinx.coroutines.Job
import kotlinx.coroutines.delay
@@ -20,31 +20,32 @@ private val radius = 0.01.degrees
internal fun generateModel(context: Context): DeviceCollectiveModel {
- val devices: List<RemoteDeviceState> = buildList {
- repeat(100) {
- add(
- RemoteDeviceState(
- "device[$it]",
- Gmc(
- center.latitude + radius * Random.nextDouble(),
- center.longitude + radius * Random.nextDouble()
- )
- )
+ val devices: List<VirtualDeviceState> = List(100) { index ->
+ val id = "device[$index]"
+
+ VirtualDeviceState(
+ id = id,
+ Gmc(
+ center.latitude + radius * Random.nextDouble(),
+ center.longitude + radius * Random.nextDouble()
)
+ ) {
+ deviceId = id
+ description = "Virtual remote device $id"
}
}
- val model = DeviceCollectiveModel(context, devices)
+ val model = DeviceCollectiveModel(context, devices, 0.2.kilometers)
return model
}
-fun RemoteDevice.moveInCircles(): Job = launch {
+fun CollectiveDevice.moveInCircles(): Job = launch {
var bearing = Random.nextDouble(-PI, PI).radians
- write(RemoteDevice.velocity, GmcVelocity(bearing, deviceVelocity))
+ write(CollectiveDevice.velocity, GmcVelocity(bearing, deviceVelocity))
while (isActive) {
delay(500)
bearing += 5.degrees
- write(RemoteDevice.velocity, GmcVelocity(bearing, deviceVelocity))
+ write(CollectiveDevice.velocity, GmcVelocity(bearing, deviceVelocity))
}
}
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/main.kt b/demo/device-collective/src/jvmMain/kotlin/main.kt
index 0c7f7ad..1db8621 100644
--- a/demo/device-collective/src/jvmMain/kotlin/main.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/main.kt
@@ -1,27 +1,42 @@
-package space.kscience.controls.demo.map
+@file:OptIn(ExperimentalFoundationApi::class, ExperimentalSplitPaneApi::class)
+package space.kscience.controls.demo.collective
+
+import androidx.compose.foundation.*
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.Row
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.padding
+import androidx.compose.material.Card
+import androidx.compose.material.Checkbox
+import androidx.compose.material.Text
import androidx.compose.material3.MaterialTheme
-import androidx.compose.runtime.Composable
-import androidx.compose.runtime.remember
-import androidx.compose.runtime.rememberCoroutineScope
+import androidx.compose.runtime.*
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
import androidx.compose.ui.graphics.Color
import androidx.compose.ui.res.painterResource
+import androidx.compose.ui.text.font.FontWeight
+import androidx.compose.ui.unit.DpSize
+import androidx.compose.ui.unit.dp
+import androidx.compose.ui.unit.sp
import androidx.compose.ui.window.Window
import androidx.compose.ui.window.application
import io.ktor.client.HttpClient
import io.ktor.client.engine.cio.CIO
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
+import org.jetbrains.compose.splitpane.ExperimentalSplitPaneApi
+import org.jetbrains.compose.splitpane.HorizontalSplitPane
+import org.jetbrains.compose.splitpane.rememberSplitPaneState
+import space.kscience.controls.compose.conditional
import space.kscience.controls.manager.DeviceManager
-import space.kscience.controls.spec.propertyFlow
+import space.kscience.controls.spec.useProperty
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.request
import space.kscience.maps.compose.MapView
import space.kscience.maps.compose.OpenStreetMapTileProvider
-import space.kscience.maps.features.ViewConfig
-import space.kscience.maps.features.circle
-import space.kscience.maps.features.color
-import space.kscience.maps.features.rectangle
+import space.kscience.maps.features.*
import java.nio.file.Path
@@ -34,7 +49,6 @@ fun rememberDeviceManager(): DeviceManager = remember {
context.request(DeviceManager)
}
-
@Composable
fun App() {
val scope = rememberCoroutineScope()
@@ -47,14 +61,24 @@ fun App() {
generateModel(deviceManager.context)
}
- val devices: Map<RemoteDeviceId, RemoteDevice> = remember {
+ val devices: Map<DeviceId, CollectiveDevice> = remember {
collectiveModel.deviceStates.associate {
- val device = RemoteDeviceConstructor(deviceManager.context, it.configuration, it.position, it.velocity)
+ val device = CollectiveDeviceConstructor(
+ context = deviceManager.context,
+ configuration = it.configuration,
+ position = it.position,
+ velocity = it.velocity
+ ) {
+ collectiveModel.locateVisible(it.id).keys
+ }
device.moveInCircles()
it.id to device
}
}
+ var selectedDeviceId by remember { mutableStateOf<DeviceId?>(null) }
+ var showOnlyVisible by remember { mutableStateOf(false) }
+
val mapTileProvider = remember {
OpenStreetMapTileProvider(
client = HttpClient(CIO),
@@ -62,21 +86,93 @@ fun App() {
)
}
- MapView(
- mapTileProvider = mapTileProvider,
- config = ViewConfig()
+ HorizontalSplitPane(
+ splitPaneState = rememberSplitPaneState(0.9f)
) {
- collectiveModel.deviceStates.forEach { device ->
- circle(device.position.value, id = device.id + ".position").color(Color.Red)
- device.position.valueFlow.onEach {
- circle(device.position.value, id = device.id + ".position").color(Color.Red)
- }.launchIn(scope)
- }
+ first(400.dp) {
+ MapView(
+ mapTileProvider = mapTileProvider,
+ config = ViewConfig()
+ ) {
+ collectiveModel.deviceStates.forEach { device ->
+ circle(device.position.value, id = device.id + ".position").color(Color.Red)
+ device.position.valueFlow.onEach {
+ circle(device.position.value, id = device.id + ".position", size = 3.dp)
+ .color(Color.Red)
+ .modifyAttribute(AlphaAttribute, 0.5f) // does not work right now
+ }.launchIn(scope)
+ }
- devices.forEach { (id, device) ->
- device.propertyFlow(RemoteDevice.position).onEach { position ->
- rectangle(position, id = id).color(Color.Blue)
- }.launchIn(scope)
+ devices.forEach { (id, device) ->
+ device.useProperty(CollectiveDevice.position, scope = scope) { position ->
+
+ val activeDevice = selectedDeviceId?.let { devices[it] }
+
+ if (activeDevice == null || id == selectedDeviceId || !showOnlyVisible || id in activeDevice.listVisible()) {
+ rectangle(
+ position,
+ id = id,
+ size = if (selectedDeviceId == id) DpSize(10.dp, 10.dp) else DpSize(5.dp, 5.dp)
+ ).color(if (selectedDeviceId == id) Color.Magenta else Color.Blue)
+ .modifyAttribute(AlphaAttribute, if (selectedDeviceId == id) 1f else 0.5f)
+ .onClick { selectedDeviceId = id }
+ } else {
+ removeFeature(id)
+ }
+
+ }
+ }
+ }
+ }
+ second(200.dp) {
+ Column {
+ selectedDeviceId?.let { id ->
+ Column(
+ modifier = Modifier
+ .padding(8.dp)
+ .border(2.dp, Color.DarkGray)
+ ) {
+ Card(
+ elevation = 16.dp,
+ ) {
+ Text(
+ text = "Выбран: $id",
+ fontSize = 16.sp,
+ fontWeight = FontWeight.Bold,
+ modifier = Modifier.padding(10.dp).fillMaxWidth()
+ )
+ }
+ devices[id]?.let {
+ Text(it.meta.toString(), Modifier.padding(10.dp))
+ }
+ Row(verticalAlignment = Alignment.CenterVertically, modifier = Modifier.padding(10.dp).fillMaxWidth()) {
+ Text("Показать только видимые")
+ Checkbox(showOnlyVisible, { showOnlyVisible = it })
+ }
+ }
+ }
+ Column(
+ modifier = Modifier.verticalScroll(rememberScrollState())
+ ) {
+ devices.forEach { (id, device) ->
+ Card(
+ elevation = 16.dp,
+ modifier = Modifier.padding(8.dp).onClick {
+ selectedDeviceId = id
+ }.conditional(id == selectedDeviceId) {
+ border(2.dp, Color.Blue)
+ }
+ ) {
+ Text(
+ text = id,
+ fontSize = 16.sp,
+ fontWeight = FontWeight.Bold,
+ modifier = Modifier.padding(10.dp).fillMaxWidth()
+ )
+ }
+ }
+ }
+ }
}
}
}
From e9bde6867466d4fcea57b20a11c46d25856abd60 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 9 Jun 2024 15:09:43 +0300
Subject: [PATCH 104/125] [WIP] remote communication for CollectiveDevice
---
.../kscience/controls/peer/PeerConnection.kt | 7 +-
.../controls/server/deviceWebServer.kt | 2 +
demo/device-collective/build.gradle.kts | 2 +
.../src/jvmMain/kotlin/CollectiveDevice.kt | 33 ++-
.../jvmMain/kotlin/DeviceCollectiveModel.kt | 86 ++++++-
.../src/jvmMain/kotlin/SampleDeviceState.kt | 19 +-
.../src/jvmMain/kotlin/debugModel.kt | 13 +-
.../src/jvmMain/kotlin/main.kt | 218 +++++++++++-------
.../kscience/controls/demo/MassDevice.kt | 3 +-
.../kscience/magix/api/MagixFlowPlugin.kt | 13 +-
.../kscience/magix/server/magixModule.kt | 57 +++--
.../space/kscience/magix/server/server.kt | 2 +-
12 files changed, 312 insertions(+), 143 deletions(-)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/peer/PeerConnection.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/peer/PeerConnection.kt
index 14b49ef..a831207 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/peer/PeerConnection.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/peer/PeerConnection.kt
@@ -2,14 +2,13 @@ package space.kscience.controls.peer
import space.kscience.dataforge.io.Envelope
import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.names.Name
/**
* A manager that allows direct synchronous sending and receiving binary data
*/
public interface PeerConnection {
/**
- * Receive an [Envelope] from a device with name [deviceName] on a given [address] with given [contentId].
+ * Receive an [Envelope] from a device on a given [address] with given [contentId].
*
* The address depends on the specifics of given [PeerConnection]. For example, it could be a TCP/IP port or
* magix endpoint name.
@@ -20,13 +19,12 @@ public interface PeerConnection {
*/
public suspend fun receive(
address: String,
- deviceName: Name,
contentId: String,
requestMeta: Meta = Meta.EMPTY,
): Envelope
/**
- * Send an [envelope] to a device with name [deviceName] on a given [address]
+ * Send an [envelope] to a device on a given [address]
*
* The address depends on the specifics of given [PeerConnection]. For example, it could be a TCP/IP port or
* magix endpoint name.
@@ -35,7 +33,6 @@ public interface PeerConnection {
*/
public suspend fun send(
address: String,
- deviceName: Name,
envelope: Envelope,
requestMeta: Meta = Meta.EMPTY,
)
diff --git a/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt b/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt
index 4f37322..8fd104e 100644
--- a/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt
+++ b/controls-server/src/jvmMain/kotlin/space/kscience/controls/server/deviceWebServer.kt
@@ -38,6 +38,7 @@ import space.kscience.dataforge.names.get
import space.kscience.magix.api.MagixEndpoint
import space.kscience.magix.api.MagixFlowPlugin
import space.kscience.magix.api.MagixMessage
+import space.kscience.magix.api.start
import space.kscience.magix.server.magixModule
@@ -215,5 +216,6 @@ public fun Application.deviceManagerModule(
plugins.forEach {
it.start(this, magixFlow)
}
+
magixModule(magixFlow)
}
\ No newline at end of file
diff --git a/demo/device-collective/build.gradle.kts b/demo/device-collective/build.gradle.kts
index 8bb0597..3290a0d 100644
--- a/demo/device-collective/build.gradle.kts
+++ b/demo/device-collective/build.gradle.kts
@@ -13,7 +13,9 @@ kscience {
commonMain {
implementation(projects.controlsVisualisationCompose)
implementation(projects.controlsConstructor)
+ implementation(projects.magix.magixServer)
implementation(projects.magix.magixRsocket)
+ implementation(projects.controlsMagix)
}
jvmMain {
// implementation("io.ktor:ktor-server-cio")
diff --git a/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt b/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
index 050794c..9fce04d 100644
--- a/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
@@ -6,24 +6,35 @@ import space.kscience.controls.api.Device
import space.kscience.controls.constructor.DeviceConstructor
import space.kscience.controls.constructor.MutableDeviceState
import space.kscience.controls.constructor.registerAsProperty
+import space.kscience.controls.peer.PeerConnection
import space.kscience.controls.spec.DeviceSpec
+import space.kscience.controls.spec.unit
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.MetaConverter
import space.kscience.dataforge.meta.Scheme
+import space.kscience.dataforge.meta.int
import space.kscience.dataforge.meta.string
import space.kscience.dataforge.misc.DFExperimental
import space.kscience.maps.coordinates.Gmc
+import space.kscience.maps.coordinates.GmcCurve
import kotlin.time.Duration.Companion.milliseconds
-class CollectiveDeviceConfiguration(deviceId: DeviceId) : Scheme() {
+typealias CollectiveDeviceId = String
+
+class CollectiveDeviceConfiguration(deviceId: CollectiveDeviceId) : Scheme() {
var deviceId by string(deviceId)
var description by string()
+ var reportInterval by int(500)
+ var radioFrequency by string(default = "169 MHz")
}
+typealias CollectiveDeviceRoster = Map<CollectiveDeviceId, CollectiveDeviceConfiguration>
interface CollectiveDevice : Device {
- public val id: DeviceId
+ public val id: CollectiveDeviceId
+
+ public val peerConnection: PeerConnection
suspend fun getPosition(): Gmc
@@ -31,8 +42,7 @@ interface CollectiveDevice : Device {
suspend fun setVelocity(value: GmcVelocity)
- suspend fun listVisible(): Collection<DeviceId>
-
+ suspend fun listVisible(): Collection<CollectiveDeviceId>
companion object : DeviceSpec<CollectiveDevice>() {
val position by property<Gmc>(
@@ -45,6 +55,10 @@ interface CollectiveDevice : Device {
read = { getVelocity() },
write = { _, value -> setVelocity(value) }
)
+
+ val listVisible by action(MetaConverter.unit, MetaConverter.valueList<String> { it.string }) {
+ listVisible().toList()
+ }
}
}
@@ -54,13 +68,14 @@ class CollectiveDeviceConstructor(
val configuration: CollectiveDeviceConfiguration,
position: MutableDeviceState<Gmc>,
velocity: MutableDeviceState<GmcVelocity>,
- private val listVisible: suspend () -> Collection<DeviceId>,
+ override val peerConnection: PeerConnection,
+ private val observation: suspend () -> Map<CollectiveDeviceId, GmcCurve>,
) : DeviceConstructor(context, configuration.meta), CollectiveDevice {
- override val id: DeviceId get() = configuration.deviceId
+ override val id: CollectiveDeviceId get() = configuration.deviceId
- val position = registerAsProperty(CollectiveDevice.position, position.sample(500.milliseconds))
- val velocity = registerAsProperty(CollectiveDevice.velocity, velocity)
+ val position = registerAsProperty(CollectiveDevice.position, position.sample(configuration.reportInterval.milliseconds))
+ val velocity = registerAsProperty(CollectiveDevice.velocity, velocity.sample(configuration.reportInterval.milliseconds))
override suspend fun getPosition(): Gmc = position.value
@@ -70,5 +85,5 @@ class CollectiveDeviceConstructor(
velocity.value = value
}
- override suspend fun listVisible(): Collection<DeviceId> = listVisible.invoke()
+ override suspend fun listVisible(): Collection<CollectiveDeviceId> = observation.invoke().keys
}
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
index 4abedea..2c325b4 100644
--- a/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
@@ -1,27 +1,41 @@
package space.kscience.controls.demo.collective
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.launch
+import space.kscience.controls.client.launchMagixService
import space.kscience.controls.constructor.ModelConstructor
import space.kscience.controls.constructor.MutableDeviceState
import space.kscience.controls.constructor.onTimer
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.controls.manager.install
+import space.kscience.controls.peer.PeerConnection
import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.request
+import space.kscience.dataforge.io.Envelope
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.names.parseAsName
+import space.kscience.magix.api.MagixEndpoint
+import space.kscience.magix.rsocket.rSocketWithWebSockets
+import space.kscience.magix.server.startMagixServer
import space.kscience.maps.coordinates.*
+import kotlin.time.Duration
+import kotlin.time.Duration.Companion.milliseconds
-typealias DeviceId = String
-
-
-internal data class VirtualDeviceState(
- val id: DeviceId,
+internal data class CollectiveDeviceState(
+ val id: CollectiveDeviceId,
val configuration: CollectiveDeviceConfiguration,
val position: MutableDeviceState<Gmc>,
val velocity: MutableDeviceState<GmcVelocity>,
)
internal fun VirtualDeviceState(
- id: DeviceId,
+ id: CollectiveDeviceId,
position: Gmc,
configuration: CollectiveDeviceConfiguration.() -> Unit = {},
-) = VirtualDeviceState(
+) = CollectiveDeviceState(
id,
CollectiveDeviceConfiguration(id).apply(configuration),
MutableDeviceState(position),
@@ -31,9 +45,11 @@ internal fun VirtualDeviceState(
internal class DeviceCollectiveModel(
context: Context,
- val deviceStates: Collection<VirtualDeviceState>,
- val visibilityRange: Distance,
-) : ModelConstructor(context) {
+ val deviceStates: Collection<CollectiveDeviceState>,
+ val visibilityRange: Distance = 0.4.kilometers,
+ val radioRange: Distance = 5.kilometers,
+ val reportInterval: Duration = 1000.milliseconds
+) : ModelConstructor(context), PeerConnection {
/**
* Propagate movement
@@ -45,7 +61,7 @@ internal class DeviceCollectiveModel(
}
}
- suspend fun locateVisible(id: DeviceId): Map<DeviceId, GmcCurve> {
+ private fun locateVisible(id: CollectiveDeviceId): Map<CollectiveDeviceId, GmcCurve> {
val coordinatesSnapshot = deviceStates.associate { it.id to it.position.value }
val selected = coordinatesSnapshot[id] ?: error("Can't find device with id $id")
@@ -56,4 +72,52 @@ internal class DeviceCollectiveModel(
return allCurves.filterValues { it.distance in 0.kilometers..visibilityRange }
}
+
+ val devices = deviceStates.associate {
+ val device = CollectiveDeviceConstructor(
+ context = context,
+ configuration = it.configuration,
+ position = it.position,
+ velocity = it.velocity,
+ peerConnection = this,
+ ) {
+ locateVisible(it.id)
+ }
+ //start movement program
+ device.moveInCircles()
+ it.id to device
+ }
+
+ val roster = deviceStates.associate { it.id to it.configuration }
+
+ override suspend fun receive(address: String, contentId: String, requestMeta: Meta): Envelope {
+ TODO("Not yet implemented")
+ }
+
+ override suspend fun send(address: String, envelope: Envelope, requestMeta: Meta) {
+// devices.values.filter { it.configuration.radioFrequency == address }.forEach { device ->
+// ```
+// }
+ }
+}
+
+internal fun CoroutineScope.launchCollectiveMagixServer(
+ collectiveModel: DeviceCollectiveModel,
+): Job = launch(Dispatchers.IO) {
+ val server = startMagixServer(
+// RSocketMagixFlowPlugin()
+ )
+
+ collectiveModel.devices.forEach { (id, device) ->
+ val deviceContext = collectiveModel.context.buildContext(id.parseAsName()) {
+ coroutineContext(coroutineContext)
+ plugin(DeviceManager)
+ }
+
+ deviceContext.install(id, device)
+
+ val deviceEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+
+ deviceContext.request(DeviceManager).launchMagixService(deviceEndpoint, id)
+ }
}
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/SampleDeviceState.kt b/demo/device-collective/src/jvmMain/kotlin/SampleDeviceState.kt
index a2ef06c..499c903 100644
--- a/demo/device-collective/src/jvmMain/kotlin/SampleDeviceState.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/SampleDeviceState.kt
@@ -4,6 +4,7 @@ import kotlinx.coroutines.FlowPreview
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.sample
import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.constructor.MutableDeviceState
import kotlin.time.Duration
@OptIn(FlowPreview::class)
@@ -11,10 +12,24 @@ class SampleDeviceState<T>(
val origin: DeviceState<T>,
val interval: Duration,
) : DeviceState<T> {
- override val value: T get() = origin.value
+ override val value: T by origin::value
override val valueFlow: Flow<T> get() = origin.valueFlow.sample(interval)
override fun toString(): String = "DebounceDeviceState($value, interval=$interval)"
}
-fun <T> DeviceState<T>.sample(interval: Duration) = SampleDeviceState(this, interval)
\ No newline at end of file
+
+fun <T> DeviceState<T>.sample(interval: Duration) = SampleDeviceState(this, interval)
+
+@OptIn(FlowPreview::class)
+class MutableSampleDeviceState<T>(
+ val origin: MutableDeviceState<T>,
+ val interval: Duration,
+) : MutableDeviceState<T> {
+ override var value: T by origin::value
+ override val valueFlow: Flow<T> get() = origin.valueFlow.sample(interval)
+
+ override fun toString(): String = "DebounceDeviceState($value, interval=$interval)"
+}
+
+fun <T> MutableDeviceState<T>.sample(interval: Duration) = MutableSampleDeviceState(this, interval)
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/debugModel.kt b/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
index 96c9ca8..d0ec384 100644
--- a/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
@@ -12,6 +12,8 @@ import space.kscience.maps.coordinates.Gmc
import space.kscience.maps.coordinates.kilometers
import kotlin.math.PI
import kotlin.random.Random
+import kotlin.time.Duration
+import kotlin.time.Duration.Companion.milliseconds
private val deviceVelocity = 0.1.kilometers
@@ -19,8 +21,13 @@ private val center = Gmc.ofDegrees(55.925, 37.514)
private val radius = 0.01.degrees
-internal fun generateModel(context: Context): DeviceCollectiveModel {
- val devices: List<VirtualDeviceState> = List(100) { index ->
+internal fun generateModel(
+ context: Context,
+ size: Int = 50,
+ reportInterval: Duration = 500.milliseconds,
+ additionalConfiguration: CollectiveDeviceConfiguration.() -> Unit = {},
+): DeviceCollectiveModel {
+ val devices: List<CollectiveDeviceState> = List(size) { index ->
val id = "device[$index]"
VirtualDeviceState(
@@ -32,6 +39,8 @@ internal fun generateModel(context: Context): DeviceCollectiveModel {
) {
deviceId = id
description = "Virtual remote device $id"
+ this.reportInterval = reportInterval.inWholeMilliseconds.toInt()
+ additionalConfiguration()
}
}
diff --git a/demo/device-collective/src/jvmMain/kotlin/main.kt b/demo/device-collective/src/jvmMain/kotlin/main.kt
index 1db8621..9aff323 100644
--- a/demo/device-collective/src/jvmMain/kotlin/main.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/main.kt
@@ -24,74 +24,95 @@ import androidx.compose.ui.window.Window
import androidx.compose.ui.window.application
import io.ktor.client.HttpClient
import io.ktor.client.engine.cio.CIO
+import kotlinx.coroutines.*
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
import org.jetbrains.compose.splitpane.ExperimentalSplitPaneApi
import org.jetbrains.compose.splitpane.HorizontalSplitPane
import org.jetbrains.compose.splitpane.rememberSplitPaneState
+import space.kscience.controls.api.PropertyChangedMessage
+import space.kscience.controls.client.*
import space.kscience.controls.compose.conditional
import space.kscience.controls.manager.DeviceManager
-import space.kscience.controls.spec.useProperty
import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.context.request
+import space.kscience.dataforge.context.ContextBuilder
+import space.kscience.dataforge.meta.MetaConverter
+import space.kscience.dataforge.names.parseAsName
+import space.kscience.magix.api.MagixEndpoint
+import space.kscience.magix.api.subscribe
+import space.kscience.magix.rsocket.rSocketWithWebSockets
import space.kscience.maps.compose.MapView
import space.kscience.maps.compose.OpenStreetMapTileProvider
+import space.kscience.maps.coordinates.Gmc
+import space.kscience.maps.coordinates.meters
import space.kscience.maps.features.*
import java.nio.file.Path
+import kotlin.time.Duration.Companion.seconds
@Composable
-fun rememberDeviceManager(): DeviceManager = remember {
- val context = Context {
- plugin(DeviceManager)
- }
-
- context.request(DeviceManager)
+fun rememberContext(name: String, contextBuilder: ContextBuilder.() -> Unit = {}): Context = remember {
+ Context(name, contextBuilder)
}
@Composable
fun App() {
val scope = rememberCoroutineScope()
-
- val deviceManager = rememberDeviceManager()
-
-
- val collectiveModel = remember {
- generateModel(deviceManager.context)
+ val parentContext = rememberContext("Parent") {
+ plugin(DeviceManager)
}
- val devices: Map<DeviceId, CollectiveDevice> = remember {
- collectiveModel.deviceStates.associate {
- val device = CollectiveDeviceConstructor(
- context = deviceManager.context,
- configuration = it.configuration,
- position = it.position,
- velocity = it.velocity
- ) {
- collectiveModel.locateVisible(it.id).keys
+ val collectiveModel = remember {
+ generateModel(parentContext, 60)
+ }
+
+ val roster = remember {
+ collectiveModel.roster
+ }
+
+ val client = remember { CompletableDeferred<MagixEndpoint>() }
+
+ val devices = remember { mutableStateMapOf<CollectiveDeviceId, DeviceClient>() }
+
+
+ LaunchedEffect(collectiveModel) {
+ launchCollectiveMagixServer(collectiveModel)
+ withContext(Dispatchers.IO) {
+ val magixClient = MagixEndpoint.rSocketWithWebSockets("localhost")
+
+ client.complete(magixClient)
+
+ collectiveModel.roster.forEach { (id, config) ->
+ devices[id] = magixClient.remoteDevice(parentContext, "listener", id, id.parseAsName())
}
- device.moveInCircles()
- it.id to device
+ }
+
+ }
+
+ var selectedDeviceId by remember { mutableStateOf<CollectiveDeviceId?>(null) }
+
+ var currentPosition by remember { mutableStateOf<Gmc?>(null) }
+
+ LaunchedEffect(selectedDeviceId, devices) {
+ selectedDeviceId?.let { devices[it] }?.propertyFlow(CollectiveDevice.position)?.collect {
+ currentPosition = it
}
}
- var selectedDeviceId by remember { mutableStateOf<DeviceId?>(null) }
var showOnlyVisible by remember { mutableStateOf(false) }
- val mapTileProvider = remember {
- OpenStreetMapTileProvider(
- client = HttpClient(CIO),
- cacheDirectory = Path.of("mapCache")
- )
- }
-
HorizontalSplitPane(
splitPaneState = rememberSplitPaneState(0.9f)
) {
first(400.dp) {
MapView(
- mapTileProvider = mapTileProvider,
+ mapTileProvider = remember {
+ OpenStreetMapTileProvider(
+ client = HttpClient(CIO),
+ cacheDirectory = Path.of("mapCache")
+ )
+ },
config = ViewConfig()
) {
collectiveModel.deviceStates.forEach { device ->
@@ -103,65 +124,61 @@ fun App() {
}.launchIn(scope)
}
- devices.forEach { (id, device) ->
- device.useProperty(CollectiveDevice.position, scope = scope) { position ->
+ scope.launch {
- val activeDevice = selectedDeviceId?.let { devices[it] }
+ client.await().subscribe(DeviceManager.magixFormat).onEach { (magixMessage, deviceMessage) ->
+ if (deviceMessage is PropertyChangedMessage && deviceMessage.property == "position") {
+ val id = magixMessage.sourceEndpoint
+ val position = MetaConverter.serializable<Gmc>().read(deviceMessage.value)
+ val activeDevice = selectedDeviceId?.let { devices[it] }
- if (activeDevice == null || id == selectedDeviceId || !showOnlyVisible || id in activeDevice.listVisible()) {
- rectangle(
- position,
- id = id,
- size = if (selectedDeviceId == id) DpSize(10.dp, 10.dp) else DpSize(5.dp, 5.dp)
- ).color(if (selectedDeviceId == id) Color.Magenta else Color.Blue)
- .modifyAttribute(AlphaAttribute, if (selectedDeviceId == id) 1f else 0.5f)
- .onClick { selectedDeviceId = id }
- } else {
- removeFeature(id)
+ suspend fun DeviceClient.idIsVisible() = try {
+ withTimeout(1.seconds) {
+ id in execute(CollectiveDevice.listVisible)
+ }
+ } catch (ex: Exception) {
+ ex.printStackTrace()
+ true
+ }
+
+ if (
+ activeDevice == null ||
+ id == selectedDeviceId ||
+ !showOnlyVisible ||
+ activeDevice.idIsVisible()
+ ) {
+ rectangle(
+ position,
+ id = id,
+ size = if (selectedDeviceId == id) DpSize(10.dp, 10.dp) else DpSize(5.dp, 5.dp)
+ ).color(if (selectedDeviceId == id) Color.Magenta else Color.Blue)
+ .modifyAttribute(AlphaAttribute, if (selectedDeviceId == id) 1f else 0.5f)
+ .onClick { selectedDeviceId = id }
+ } else {
+ removeFeature(id)
+ }
}
+ }.launchIn(scope)
- }
}
}
}
second(200.dp) {
- Column {
- selectedDeviceId?.let { id ->
- Column(
- modifier = Modifier
- .padding(8.dp)
- .border(2.dp, Color.DarkGray)
+
+ Column(
+ modifier = Modifier.verticalScroll(rememberScrollState())
+ ) {
+ devices.forEach { (id, _) ->
+ Card(
+ elevation = 16.dp,
+ modifier = Modifier.padding(8.dp).onClick {
+ selectedDeviceId = id
+ }.conditional(id == selectedDeviceId) {
+ border(2.dp, Color.Blue)
+ }
) {
- Card(
- elevation = 16.dp,
- ) {
- Text(
- text = "Выбран: $id",
- fontSize = 16.sp,
- fontWeight = FontWeight.Bold,
- modifier = Modifier.padding(10.dp).fillMaxWidth()
- )
- }
- devices[id]?.let {
- Text(it.meta.toString(), Modifier.padding(10.dp))
- }
- Row(verticalAlignment = Alignment.CenterVertically, modifier = Modifier.padding(10.dp).fillMaxWidth()) {
- Text("Показать только видимые")
- Checkbox(showOnlyVisible, { showOnlyVisible = it })
- }
- }
- }
- Column(
- modifier = Modifier.verticalScroll(rememberScrollState())
- ) {
- devices.forEach { (id, device) ->
- Card(
- elevation = 16.dp,
- modifier = Modifier.padding(8.dp).onClick {
- selectedDeviceId = id
- }.conditional(id == selectedDeviceId) {
- border(2.dp, Color.Blue)
- }
+ Column(
+ modifier = Modifier.padding(8.dp)
) {
Text(
text = id,
@@ -169,16 +186,49 @@ fun App() {
fontWeight = FontWeight.Bold,
modifier = Modifier.padding(10.dp).fillMaxWidth()
)
+ if (id == selectedDeviceId) {
+ roster[id]?.let {
+ Text("Meta:", color = Color.Blue, fontWeight = FontWeight.Bold)
+ Card(elevation = 16.dp, modifier = Modifier.fillMaxWidth().padding(8.dp)) {
+ Text(it.toString())
+ }
+ }
+
+ currentPosition?.let { currentPosition ->
+ Text("Широта: ${String.format("%.3f", currentPosition.latitude.toDegrees().value)}")
+ Text(
+ "Долгота: ${
+ String.format(
+ "%.3f",
+ currentPosition.longitude.toDegrees().value
+ )
+ }"
+ )
+ currentPosition.elevation?.let {
+ Text("Высота: ${String.format("%.1f", it.meters)} м")
+ }
+ }
+
+ Row(
+ verticalAlignment = Alignment.CenterVertically,
+ modifier = Modifier.fillMaxWidth()
+ ) {
+ Text("Показать только видимые")
+ Checkbox(showOnlyVisible, { showOnlyVisible = it })
+ }
+ }
}
}
}
}
+
}
}
}
fun main() = application {
+// System.setProperty(IO_PARALLELISM_PROPERTY_NAME, 300.toString())
Window(onCloseRequest = ::exitApplication, title = "Maps-kt demo", icon = painterResource("SPC-logo.png")) {
MaterialTheme {
App()
diff --git a/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt b/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt
index 5eafabf..53c4c7f 100644
--- a/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt
+++ b/demo/many-devices/src/main/kotlin/space/kscience/controls/demo/MassDevice.kt
@@ -83,8 +83,7 @@ suspend fun main() {
val endpointId = "device$it"
val deviceEndpoint = MagixEndpoint.rSocketStreamWithWebSockets("localhost")
- deviceManager.launchMagixService(deviceEndpoint, endpointId, Dispatchers.IO)
-
+ deviceManager.launchMagixService(deviceEndpoint, endpointId)
}
val trace = Bar {
diff --git a/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixFlowPlugin.kt b/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixFlowPlugin.kt
index 83c95cc..1a3dd75 100644
--- a/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixFlowPlugin.kt
+++ b/magix/magix-api/src/commonMain/kotlin/space/kscience/magix/api/MagixFlowPlugin.kt
@@ -21,9 +21,10 @@ public fun interface MagixFlowPlugin {
sendMessage: suspend (MagixMessage) -> Unit,
): Job
- /**
- * Use the same [MutableSharedFlow] to send and receive messages. Could be a bottleneck in case of many plugins.
- */
- public fun start(scope: CoroutineScope, magixFlow: MutableSharedFlow<MagixMessage>): Job =
- start(scope, magixFlow) { magixFlow.emit(it) }
-}
\ No newline at end of file
+}
+
+/**
+ * Use the same [MutableSharedFlow] to send and receive messages. Could be a bottleneck in case of many plugins.
+ */
+public fun MagixFlowPlugin.start(scope: CoroutineScope, magixFlow: MutableSharedFlow<MagixMessage>): Job =
+ start(scope, magixFlow) { magixFlow.emit(it) }
\ No newline at end of file
diff --git a/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/magixModule.kt b/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/magixModule.kt
index dc197ad..a1edec5 100644
--- a/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/magixModule.kt
+++ b/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/magixModule.kt
@@ -10,7 +10,9 @@ import io.ktor.server.util.getValue
import io.ktor.server.websocket.WebSockets
import io.rsocket.kotlin.ktor.server.RSocketSupport
import io.rsocket.kotlin.ktor.server.rSocket
+import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.MutableSharedFlow
+import kotlinx.coroutines.flow.SharedFlow
import kotlinx.coroutines.flow.map
import kotlinx.html.*
import kotlinx.serialization.encodeToString
@@ -42,7 +44,11 @@ private fun ApplicationCall.buildFilter(): MagixMessageFilter {
/**
* Attach magix http/sse and websocket-based rsocket event loop + statistics page to existing [MutableSharedFlow]
*/
-public fun Application.magixModule(magixFlow: MutableSharedFlow<MagixMessage>, route: String = "/") {
+public fun Application.magixModule(
+ magixFlow: Flow<MagixMessage>,
+ send: suspend (MagixMessage) -> Unit,
+ route: String = "/",
+) {
if (pluginOrNull(WebSockets) == null) {
install(WebSockets)
}
@@ -62,27 +68,31 @@ public fun Application.magixModule(magixFlow: MutableSharedFlow<MagixMessage>, r
routing {
route(route) {
- install(ContentNegotiation){
+ install(ContentNegotiation) {
json()
}
- get("state") {
- call.respondHtml {
- head {
- meta {
- httpEquiv = "refresh"
- content = "2"
+ if (magixFlow is SharedFlow) {
+ get("state") {
+ call.respondHtml {
+ head {
+ meta {
+ httpEquiv = "refresh"
+ content = "2"
+ }
}
- }
- body {
- h1 { +"Magix loop statistics" }
- h2 { +"Number of subscribers: ${magixFlow.subscriptionCount.value}" }
- h3 { +"Replay cache size: ${magixFlow.replayCache.size}" }
- h3 { +"Replay cache:" }
- ol {
- magixFlow.replayCache.forEach { message ->
- li {
- code {
- +magixJson.encodeToString(message)
+ body {
+ h1 { +"Magix loop statistics" }
+ if (magixFlow is MutableSharedFlow) {
+ h2 { +"Number of subscribers: ${magixFlow.subscriptionCount.value}" }
+ }
+ h3 { +"Replay cache size: ${magixFlow.replayCache.size}" }
+ h3 { +"Replay cache:" }
+ ol {
+ magixFlow.replayCache.forEach { message ->
+ li {
+ code {
+ +magixJson.encodeToString(message)
+ }
}
}
}
@@ -102,17 +112,22 @@ public fun Application.magixModule(magixFlow: MutableSharedFlow<MagixMessage>, r
}
post("broadcast") {
val message = call.receive<MagixMessage>()
- magixFlow.emit(message)
+ send(message)
}
//rSocket WS server. Filter from Payload
rSocket(
"rsocket",
- acceptor = RSocketMagixFlowPlugin.acceptor(application, magixFlow) { magixFlow.emit(it) }
+ acceptor = RSocketMagixFlowPlugin.acceptor(application, magixFlow) { send(it) }
)
}
}
}
+public fun Application.magixModule(
+ magixFlow: MutableSharedFlow<MagixMessage>,
+ route: String = "/",
+): Unit = magixModule(magixFlow, { magixFlow.emit(it) }, route)
+
/**
* Create a new loop [MutableSharedFlow] with given [buffer] and setup magix module based on it
*/
diff --git a/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/server.kt b/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/server.kt
index 2396e25..aa26bee 100644
--- a/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/server.kt
+++ b/magix/magix-server/src/jvmMain/kotlin/space/kscience/magix/server/server.kt
@@ -9,6 +9,7 @@ import kotlinx.coroutines.flow.MutableSharedFlow
import space.kscience.magix.api.MagixEndpoint.Companion.DEFAULT_MAGIX_HTTP_PORT
import space.kscience.magix.api.MagixFlowPlugin
import space.kscience.magix.api.MagixMessage
+import space.kscience.magix.api.start
/**
@@ -22,7 +23,6 @@ public fun CoroutineScope.startMagixServer(
val magixFlow = MutableSharedFlow<MagixMessage>(
replay = buffer,
- extraBufferCapacity = buffer,
onBufferOverflow = BufferOverflow.DROP_OLDEST
)
From c55ce2cf9a393f43829d792de9f14dd93027353f Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 9 Jun 2024 20:51:12 +0300
Subject: [PATCH 105/125] Fix visibility range for collective
---
.../controls/constructor/DeviceState.kt | 15 ++---
.../kscience/controls/misc/converters.kt | 17 ++++--
.../controls/client/clientPropertyAccess.kt | 5 +-
.../src/jvmMain/kotlin/CollectiveDevice.kt | 43 +++++++++++---
.../jvmMain/kotlin/DeviceCollectiveModel.kt | 8 +--
.../src/jvmMain/kotlin/main.kt | 57 +++++++++----------
6 files changed, 89 insertions(+), 56 deletions(-)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
index 846a37b..5b547f7 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt
@@ -74,15 +74,16 @@ public fun <T, R> DeviceState.Companion.map(
public fun <T, R> DeviceState<T>.map(mapper: (T) -> R): DeviceStateWithDependencies<R> = DeviceState.map(this, mapper)
-public fun DeviceState<NumericalValue<out UnitsOfMeasurement>>.values(): DeviceState<Double> = object : DeviceState<Double> {
- override val value: Double
- get() = this@values.value.value
+public fun DeviceState<NumericalValue<out UnitsOfMeasurement>>.values(): DeviceState<Double> =
+ object : DeviceState<Double> {
+ override val value: Double
+ get() = this@values.value.value
- override val valueFlow: Flow<Double>
- get() = this@values.valueFlow.map { it.value }
+ override val valueFlow: Flow<Double>
+ get() = this@values.valueFlow.map { it.value }
- override fun toString(): String = this@values.toString()
-}
+ override fun toString(): String = this@values.toString()
+ }
/**
* Combine two device states into one read-only [DeviceState]. Only the latest value of each state is used.
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/converters.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/converters.kt
index 4297d20..c200758 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/converters.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/misc/converters.kt
@@ -41,13 +41,22 @@ private object InstantConverter : MetaConverter<Instant> {
public val MetaConverter.Companion.instant: MetaConverter<Instant> get() = InstantConverter
private object DoubleRangeConverter : MetaConverter<ClosedFloatingPointRange<Double>> {
- override fun readOrNull(source: Meta): ClosedFloatingPointRange<Double>? = source.value?.doubleArray?.let { (start, end)->
- start..end
- }
+ override fun readOrNull(source: Meta): ClosedFloatingPointRange<Double>? =
+ source.value?.doubleArray?.let { (start, end) ->
+ start..end
+ }
override fun convert(
obj: ClosedFloatingPointRange<Double>,
): Meta = Meta(doubleArrayOf(obj.start, obj.endInclusive).asValue())
}
-public val MetaConverter.Companion.doubleRange: MetaConverter<ClosedFloatingPointRange<Double>> get() = DoubleRangeConverter
\ No newline at end of file
+public val MetaConverter.Companion.doubleRange: MetaConverter<ClosedFloatingPointRange<Double>> get() = DoubleRangeConverter
+
+private object StringListConverter : MetaConverter<List<String>> {
+ override fun convert(obj: List<String>): Meta = Meta(obj.map { it.asValue() }.asValue())
+
+ override fun readOrNull(source: Meta): List<String>? = source.stringList ?: source["@jsonArray"]?.stringList
+}
+
+public val MetaConverter.Companion.stringList: MetaConverter<List<String>> get() = StringListConverter
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/clientPropertyAccess.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/clientPropertyAccess.kt
index 20c59e8..10b1196 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/clientPropertyAccess.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/clientPropertyAccess.kt
@@ -19,10 +19,13 @@ import space.kscience.dataforge.meta.Meta
public suspend fun <T> DeviceClient.read(propertySpec: DevicePropertySpec<*, T>): T =
propertySpec.converter.readOrNull(readProperty(propertySpec.name)) ?: error("Property read result is not valid")
-
public suspend fun <T> DeviceClient.request(propertySpec: DevicePropertySpec<*, T>): T =
propertySpec.converter.read(getOrReadProperty(propertySpec.name))
+public fun <T> DeviceClient.getCached(propertySpec: DevicePropertySpec<*, T>): T? =
+ getProperty(propertySpec.name)?.let { propertySpec.converter.read(it) }
+
+
public suspend fun <T> DeviceClient.write(propertySpec: MutableDevicePropertySpec<*, T>, value: T) {
writeProperty(propertySpec.name, propertySpec.converter.convert(value))
}
diff --git a/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt b/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
index 9fce04d..941068c 100644
--- a/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
@@ -3,12 +3,10 @@
package space.kscience.controls.demo.collective
import space.kscience.controls.api.Device
-import space.kscience.controls.constructor.DeviceConstructor
-import space.kscience.controls.constructor.MutableDeviceState
-import space.kscience.controls.constructor.registerAsProperty
+import space.kscience.controls.constructor.*
+import space.kscience.controls.misc.stringList
import space.kscience.controls.peer.PeerConnection
import space.kscience.controls.spec.DeviceSpec
-import space.kscience.controls.spec.unit
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.MetaConverter
import space.kscience.dataforge.meta.Scheme
@@ -56,9 +54,16 @@ interface CollectiveDevice : Device {
write = { _, value -> setVelocity(value) }
)
- val listVisible by action(MetaConverter.unit, MetaConverter.valueList<String> { it.string }) {
- listVisible().toList()
- }
+ val visibleNeighbors by property(
+ MetaConverter.stringList,
+ read = {
+ listVisible().toList()
+ }
+ )
+
+// val listVisible by action(MetaConverter.unit, MetaConverter.valueList<String> { it.string }) {
+// listVisible().toList()
+// }
}
}
@@ -74,8 +79,28 @@ class CollectiveDeviceConstructor(
override val id: CollectiveDeviceId get() = configuration.deviceId
- val position = registerAsProperty(CollectiveDevice.position, position.sample(configuration.reportInterval.milliseconds))
- val velocity = registerAsProperty(CollectiveDevice.velocity, velocity.sample(configuration.reportInterval.milliseconds))
+ val position = registerAsProperty(
+ CollectiveDevice.position,
+ position.sample(configuration.reportInterval.milliseconds)
+ )
+
+ val velocity = registerAsProperty(
+ CollectiveDevice.velocity,
+ velocity.sample(configuration.reportInterval.milliseconds)
+ )
+
+ private val _visibleNeighbors: MutableDeviceState<Collection<CollectiveDeviceId>> = stateOf(emptyList())
+
+ val visibleNeighbors = registerAsProperty(
+ CollectiveDevice.visibleNeighbors,
+ _visibleNeighbors.map { it.toList() }
+ )
+
+ init {
+ position.onNext {
+ _visibleNeighbors.value = observation.invoke().keys
+ }
+ }
override suspend fun getPosition(): Gmc = position.value
diff --git a/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
index 2c325b4..d8c64dd 100644
--- a/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
@@ -20,8 +20,6 @@ import space.kscience.magix.api.MagixEndpoint
import space.kscience.magix.rsocket.rSocketWithWebSockets
import space.kscience.magix.server.startMagixServer
import space.kscience.maps.coordinates.*
-import kotlin.time.Duration
-import kotlin.time.Duration.Companion.milliseconds
internal data class CollectiveDeviceState(
@@ -46,9 +44,8 @@ internal fun VirtualDeviceState(
internal class DeviceCollectiveModel(
context: Context,
val deviceStates: Collection<CollectiveDeviceState>,
- val visibilityRange: Distance = 0.4.kilometers,
+ val visibilityRange: Distance = 1.kilometers,
val radioRange: Distance = 5.kilometers,
- val reportInterval: Duration = 1000.milliseconds
) : ModelConstructor(context), PeerConnection {
/**
@@ -107,6 +104,7 @@ internal fun CoroutineScope.launchCollectiveMagixServer(
val server = startMagixServer(
// RSocketMagixFlowPlugin()
)
+ val deviceEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
collectiveModel.devices.forEach { (id, device) ->
val deviceContext = collectiveModel.context.buildContext(id.parseAsName()) {
@@ -116,7 +114,7 @@ internal fun CoroutineScope.launchCollectiveMagixServer(
deviceContext.install(id, device)
- val deviceEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+// val deviceEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
deviceContext.request(DeviceManager).launchMagixService(deviceEndpoint, id)
}
diff --git a/demo/device-collective/src/jvmMain/kotlin/main.kt b/demo/device-collective/src/jvmMain/kotlin/main.kt
index 9aff323..1292a0e 100644
--- a/demo/device-collective/src/jvmMain/kotlin/main.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/main.kt
@@ -10,6 +10,7 @@ import androidx.compose.foundation.layout.padding
import androidx.compose.material.Card
import androidx.compose.material.Checkbox
import androidx.compose.material.Text
+import androidx.compose.material3.CircularProgressIndicator
import androidx.compose.material3.MaterialTheme
import androidx.compose.runtime.*
import androidx.compose.ui.Alignment
@@ -24,9 +25,12 @@ import androidx.compose.ui.window.Window
import androidx.compose.ui.window.application
import io.ktor.client.HttpClient
import io.ktor.client.engine.cio.CIO
-import kotlinx.coroutines.*
+import kotlinx.coroutines.CompletableDeferred
+import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
import org.jetbrains.compose.splitpane.ExperimentalSplitPaneApi
import org.jetbrains.compose.splitpane.HorizontalSplitPane
import org.jetbrains.compose.splitpane.rememberSplitPaneState
@@ -47,7 +51,6 @@ import space.kscience.maps.coordinates.Gmc
import space.kscience.maps.coordinates.meters
import space.kscience.maps.features.*
import java.nio.file.Path
-import kotlin.time.Duration.Companion.seconds
@Composable
@@ -55,6 +58,8 @@ fun rememberContext(name: String, contextBuilder: ContextBuilder.() -> Unit = {}
Context(name, contextBuilder)
}
+private val gmcMetaConverter = MetaConverter.serializable<Gmc>()
+
@Composable
fun App() {
val scope = rememberCoroutineScope()
@@ -82,8 +87,7 @@ fun App() {
val magixClient = MagixEndpoint.rSocketWithWebSockets("localhost")
client.complete(magixClient)
-
- collectiveModel.roster.forEach { (id, config) ->
+ collectiveModel.roster.forEach { (id, config) ->
devices[id] = magixClient.remoteDevice(parentContext, "listener", id, id.parseAsName())
}
}
@@ -129,23 +133,14 @@ fun App() {
client.await().subscribe(DeviceManager.magixFormat).onEach { (magixMessage, deviceMessage) ->
if (deviceMessage is PropertyChangedMessage && deviceMessage.property == "position") {
val id = magixMessage.sourceEndpoint
- val position = MetaConverter.serializable<Gmc>().read(deviceMessage.value)
+ val position = gmcMetaConverter.read(deviceMessage.value)
val activeDevice = selectedDeviceId?.let { devices[it] }
- suspend fun DeviceClient.idIsVisible() = try {
- withTimeout(1.seconds) {
- id in execute(CollectiveDevice.listVisible)
- }
- } catch (ex: Exception) {
- ex.printStackTrace()
- true
- }
-
if (
activeDevice == null ||
id == selectedDeviceId ||
!showOnlyVisible ||
- activeDevice.idIsVisible()
+ id in activeDevice.request(CollectiveDevice.visibleNeighbors)
) {
rectangle(
position,
@@ -168,24 +163,29 @@ fun App() {
Column(
modifier = Modifier.verticalScroll(rememberScrollState())
) {
- devices.forEach { (id, _) ->
+ collectiveModel.roster.forEach { (id, _) ->
Card(
elevation = 16.dp,
modifier = Modifier.padding(8.dp).onClick {
selectedDeviceId = id
}.conditional(id == selectedDeviceId) {
border(2.dp, Color.Blue)
- }
+ },
) {
Column(
modifier = Modifier.padding(8.dp)
) {
- Text(
- text = id,
- fontSize = 16.sp,
- fontWeight = FontWeight.Bold,
- modifier = Modifier.padding(10.dp).fillMaxWidth()
- )
+ Row(verticalAlignment = Alignment.CenterVertically) {
+ if (devices[id] == null) {
+ CircularProgressIndicator()
+ }
+ Text(
+ text = id,
+ fontSize = 16.sp,
+ fontWeight = FontWeight.Bold,
+ modifier = Modifier.padding(10.dp).fillMaxWidth(),
+ )
+ }
if (id == selectedDeviceId) {
roster[id]?.let {
Text("Meta:", color = Color.Blue, fontWeight = FontWeight.Bold)
@@ -195,14 +195,11 @@ fun App() {
}
currentPosition?.let { currentPosition ->
- Text("Широта: ${String.format("%.3f", currentPosition.latitude.toDegrees().value)}")
Text(
- "Долгота: ${
- String.format(
- "%.3f",
- currentPosition.longitude.toDegrees().value
- )
- }"
+ "Широта: ${String.format("%.3f", currentPosition.latitude.toDegrees().value)}"
+ )
+ Text(
+ "Долгота: ${String.format("%.3f", currentPosition.longitude.toDegrees().value)}"
)
currentPosition.elevation?.let {
Text("Высота: ${String.format("%.1f", it.meters)} м")
From 60a693b1b3eaebc0ca9a2e43dbd2b7cbd096a418 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 9 Jun 2024 21:12:18 +0300
Subject: [PATCH 106/125] Fix visibility range for collective
---
.../src/jvmMain/kotlin/DeviceCollectiveModel.kt | 2 +-
.../src/jvmMain/kotlin/debugModel.kt | 2 +-
demo/device-collective/src/jvmMain/kotlin/main.kt | 11 ++++++++---
3 files changed, 10 insertions(+), 5 deletions(-)
diff --git a/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
index d8c64dd..510ab3e 100644
--- a/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
@@ -44,7 +44,7 @@ internal fun VirtualDeviceState(
internal class DeviceCollectiveModel(
context: Context,
val deviceStates: Collection<CollectiveDeviceState>,
- val visibilityRange: Distance = 1.kilometers,
+ val visibilityRange: Distance = 0.5.kilometers,
val radioRange: Distance = 5.kilometers,
) : ModelConstructor(context), PeerConnection {
diff --git a/demo/device-collective/src/jvmMain/kotlin/debugModel.kt b/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
index d0ec384..cdca5cd 100644
--- a/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
@@ -44,7 +44,7 @@ internal fun generateModel(
}
}
- val model = DeviceCollectiveModel(context, devices, 0.2.kilometers)
+ val model = DeviceCollectiveModel(context, devices)
return model
}
diff --git a/demo/device-collective/src/jvmMain/kotlin/main.kt b/demo/device-collective/src/jvmMain/kotlin/main.kt
index 1292a0e..b05f038 100644
--- a/demo/device-collective/src/jvmMain/kotlin/main.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/main.kt
@@ -51,6 +51,7 @@ import space.kscience.maps.coordinates.Gmc
import space.kscience.maps.coordinates.meters
import space.kscience.maps.features.*
import java.nio.file.Path
+import kotlin.time.Duration.Companion.seconds
@Composable
@@ -69,7 +70,7 @@ fun App() {
}
val collectiveModel = remember {
- generateModel(parentContext, 60)
+ generateModel(parentContext, 100, reportInterval = 1.seconds)
}
val roster = remember {
@@ -83,12 +84,16 @@ fun App() {
LaunchedEffect(collectiveModel) {
launchCollectiveMagixServer(collectiveModel)
+
withContext(Dispatchers.IO) {
val magixClient = MagixEndpoint.rSocketWithWebSockets("localhost")
client.complete(magixClient)
- collectiveModel.roster.forEach { (id, config) ->
- devices[id] = magixClient.remoteDevice(parentContext, "listener", id, id.parseAsName())
+
+ collectiveModel.roster.forEach { (id, config) ->
+ scope.launch {
+ devices[id] = magixClient.remoteDevice(parentContext, "listener", id, id.parseAsName())
+ }
}
}
From a5bb42706b1048854bf1223b4bd34f2e2172800e Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 12 Jun 2024 11:56:27 +0300
Subject: [PATCH 107/125] Change visualization for collective
---
.../kscience/controls/peer/PeerConnection.kt | 2 +-
.../src/jvmMain/kotlin/CollectiveDevice.kt | 4 +-
...eDeviceState.kt => DebounceDeviceState.kt} | 11 +--
.../jvmMain/kotlin/DeviceCollectiveModel.kt | 39 +++++---
.../src/jvmMain/kotlin/debugModel.kt | 10 +--
.../src/jvmMain/kotlin/main.kt | 88 +++++++++++++------
6 files changed, 102 insertions(+), 52 deletions(-)
rename demo/device-collective/src/jvmMain/kotlin/{SampleDeviceState.kt => DebounceDeviceState.kt} (70%)
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/peer/PeerConnection.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/peer/PeerConnection.kt
index a831207..55624b7 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/peer/PeerConnection.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/peer/PeerConnection.kt
@@ -21,7 +21,7 @@ public interface PeerConnection {
address: String,
contentId: String,
requestMeta: Meta = Meta.EMPTY,
- ): Envelope
+ ): Envelope?
/**
* Send an [envelope] to a device on a given [address]
diff --git a/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt b/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
index 941068c..82170b9 100644
--- a/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
@@ -81,12 +81,12 @@ class CollectiveDeviceConstructor(
val position = registerAsProperty(
CollectiveDevice.position,
- position.sample(configuration.reportInterval.milliseconds)
+ position.debounce(configuration.reportInterval.milliseconds)
)
val velocity = registerAsProperty(
CollectiveDevice.velocity,
- velocity.sample(configuration.reportInterval.milliseconds)
+ velocity.debounce(configuration.reportInterval.milliseconds)
)
private val _visibleNeighbors: MutableDeviceState<Collection<CollectiveDeviceId>> = stateOf(emptyList())
diff --git a/demo/device-collective/src/jvmMain/kotlin/SampleDeviceState.kt b/demo/device-collective/src/jvmMain/kotlin/DebounceDeviceState.kt
similarity index 70%
rename from demo/device-collective/src/jvmMain/kotlin/SampleDeviceState.kt
rename to demo/device-collective/src/jvmMain/kotlin/DebounceDeviceState.kt
index 499c903..ac699e6 100644
--- a/demo/device-collective/src/jvmMain/kotlin/SampleDeviceState.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/DebounceDeviceState.kt
@@ -2,27 +2,28 @@ package space.kscience.controls.demo.collective
import kotlinx.coroutines.FlowPreview
import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.debounce
import kotlinx.coroutines.flow.sample
import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.constructor.MutableDeviceState
import kotlin.time.Duration
@OptIn(FlowPreview::class)
-class SampleDeviceState<T>(
+class DebounceDeviceState<T>(
val origin: DeviceState<T>,
val interval: Duration,
) : DeviceState<T> {
override val value: T by origin::value
- override val valueFlow: Flow<T> get() = origin.valueFlow.sample(interval)
+ override val valueFlow: Flow<T> get() = origin.valueFlow.debounce(interval)
override fun toString(): String = "DebounceDeviceState($value, interval=$interval)"
}
-fun <T> DeviceState<T>.sample(interval: Duration) = SampleDeviceState(this, interval)
+fun <T> DeviceState<T>.debounce(interval: Duration) = DebounceDeviceState(this, interval)
@OptIn(FlowPreview::class)
-class MutableSampleDeviceState<T>(
+class MutableDebounceDeviceState<T>(
val origin: MutableDeviceState<T>,
val interval: Duration,
) : MutableDeviceState<T> {
@@ -32,4 +33,4 @@ class MutableSampleDeviceState<T>(
override fun toString(): String = "DebounceDeviceState($value, interval=$interval)"
}
-fun <T> MutableDeviceState<T>.sample(interval: Duration) = MutableSampleDeviceState(this, interval)
\ No newline at end of file
+fun <T> MutableDeviceState<T>.debounce(interval: Duration) = MutableDebounceDeviceState(this, interval)
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
index 510ab3e..320f477 100644
--- a/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
@@ -4,16 +4,20 @@ import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.Job
import kotlinx.coroutines.launch
+import kotlinx.serialization.json.Json
+import space.kscience.controls.api.DeviceMessage
import space.kscience.controls.client.launchMagixService
import space.kscience.controls.constructor.ModelConstructor
import space.kscience.controls.constructor.MutableDeviceState
import space.kscience.controls.constructor.onTimer
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.install
+import space.kscience.controls.manager.respondMessage
import space.kscience.controls.peer.PeerConnection
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.request
import space.kscience.dataforge.io.Envelope
+import space.kscience.dataforge.io.toByteArray
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.names.parseAsName
import space.kscience.magix.api.MagixEndpoint
@@ -40,13 +44,17 @@ internal fun VirtualDeviceState(
MutableDeviceState(GmcVelocity.zero)
)
+private val json = Json {
+ ignoreUnknownKeys = true
+ prettyPrint = true
+}
internal class DeviceCollectiveModel(
context: Context,
val deviceStates: Collection<CollectiveDeviceState>,
val visibilityRange: Distance = 0.5.kilometers,
val radioRange: Distance = 5.kilometers,
-) : ModelConstructor(context), PeerConnection {
+) : ModelConstructor(context) {
/**
* Propagate movement
@@ -70,32 +78,39 @@ internal class DeviceCollectiveModel(
return allCurves.filterValues { it.distance in 0.kilometers..visibilityRange }
}
+ inner class RadioPeerConnection(private val peerState: CollectiveDeviceState) : PeerConnection {
+ override suspend fun receive(address: String, contentId: String, requestMeta: Meta): Envelope? = null
+
+ override suspend fun send(address: String, envelope: Envelope, requestMeta: Meta) {
+ devices.filter { it.value.configuration.radioFrequency == address }.filter {
+ GeoEllipsoid.WGS84.curveBetween(peerState.position.value, it.value.position.value).distance < radioRange
+ }.forEach { (id, target) ->
+ check(envelope.data != null) { "Envelope data is empty" }
+ val message = json.decodeFromString(
+ DeviceMessage.serializer(),
+ envelope.data?.toByteArray()?.decodeToString() ?: ""
+ )
+ target.respondMessage(id.parseAsName(), message)
+ }
+ }
+ }
+
val devices = deviceStates.associate {
val device = CollectiveDeviceConstructor(
context = context,
configuration = it.configuration,
position = it.position,
velocity = it.velocity,
- peerConnection = this,
+ peerConnection = RadioPeerConnection(it),
) {
locateVisible(it.id)
}
- //start movement program
- device.moveInCircles()
it.id to device
}
val roster = deviceStates.associate { it.id to it.configuration }
- override suspend fun receive(address: String, contentId: String, requestMeta: Meta): Envelope {
- TODO("Not yet implemented")
- }
- override suspend fun send(address: String, envelope: Envelope, requestMeta: Meta) {
-// devices.values.filter { it.configuration.radioFrequency == address }.forEach { device ->
-// ```
-// }
- }
}
internal fun CoroutineScope.launchCollectiveMagixServer(
diff --git a/demo/device-collective/src/jvmMain/kotlin/debugModel.kt b/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
index cdca5cd..c9e59b6 100644
--- a/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
@@ -1,10 +1,8 @@
package space.kscience.controls.demo.collective
-import kotlinx.coroutines.Job
-import kotlinx.coroutines.delay
-import kotlinx.coroutines.isActive
-import kotlinx.coroutines.launch
-import space.kscience.controls.spec.write
+import kotlinx.coroutines.*
+import space.kscience.controls.client.DeviceClient
+import space.kscience.controls.client.write
import space.kscience.dataforge.context.Context
import space.kscience.kmath.geometry.degrees
import space.kscience.kmath.geometry.radians
@@ -49,7 +47,7 @@ internal fun generateModel(
return model
}
-fun CollectiveDevice.moveInCircles(): Job = launch {
+fun DeviceClient.moveInCircles(scope: CoroutineScope = this): Job = scope.launch {
var bearing = Random.nextDouble(-PI, PI).radians
write(CollectiveDevice.velocity, GmcVelocity(bearing, deviceVelocity))
while (isActive) {
diff --git a/demo/device-collective/src/jvmMain/kotlin/main.kt b/demo/device-collective/src/jvmMain/kotlin/main.kt
index b05f038..0d08cc8 100644
--- a/demo/device-collective/src/jvmMain/kotlin/main.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/main.kt
@@ -7,6 +7,7 @@ import androidx.compose.foundation.layout.Column
import androidx.compose.foundation.layout.Row
import androidx.compose.foundation.layout.fillMaxWidth
import androidx.compose.foundation.layout.padding
+import androidx.compose.material.Button
import androidx.compose.material.Card
import androidx.compose.material.Checkbox
import androidx.compose.material.Text
@@ -18,19 +19,16 @@ import androidx.compose.ui.Modifier
import androidx.compose.ui.graphics.Color
import androidx.compose.ui.res.painterResource
import androidx.compose.ui.text.font.FontWeight
-import androidx.compose.ui.unit.DpSize
import androidx.compose.ui.unit.dp
import androidx.compose.ui.unit.sp
import androidx.compose.ui.window.Window
import androidx.compose.ui.window.application
import io.ktor.client.HttpClient
import io.ktor.client.engine.cio.CIO
-import kotlinx.coroutines.CompletableDeferred
-import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.*
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
-import kotlinx.coroutines.launch
-import kotlinx.coroutines.withContext
+import kotlinx.coroutines.flow.sample
import org.jetbrains.compose.splitpane.ExperimentalSplitPaneApi
import org.jetbrains.compose.splitpane.HorizontalSplitPane
import org.jetbrains.compose.splitpane.rememberSplitPaneState
@@ -51,6 +49,7 @@ import space.kscience.maps.coordinates.Gmc
import space.kscience.maps.coordinates.meters
import space.kscience.maps.features.*
import java.nio.file.Path
+import kotlin.time.Duration.Companion.milliseconds
import kotlin.time.Duration.Companion.seconds
@@ -92,7 +91,8 @@ fun App() {
collectiveModel.roster.forEach { (id, config) ->
scope.launch {
- devices[id] = magixClient.remoteDevice(parentContext, "listener", id, id.parseAsName())
+ val deviceClient = magixClient.remoteDevice(parentContext, "listener", id, id.parseAsName())
+ devices[id] = deviceClient
}
}
}
@@ -111,6 +111,8 @@ fun App() {
var showOnlyVisible by remember { mutableStateOf(false) }
+ var movementProgram: Job? by remember { mutableStateOf(null) }
+
HorizontalSplitPane(
splitPaneState = rememberSplitPaneState(0.9f)
) {
@@ -126,9 +128,28 @@ fun App() {
) {
collectiveModel.deviceStates.forEach { device ->
circle(device.position.value, id = device.id + ".position").color(Color.Red)
- device.position.valueFlow.onEach {
- circle(device.position.value, id = device.id + ".position", size = 3.dp)
- .color(Color.Red)
+ device.position.valueFlow.sample(50.milliseconds).onEach {
+ val activeDevice = selectedDeviceId?.let { devices[it] }
+ val color = if (selectedDeviceId == device.id) {
+ Color.Magenta
+ } else if (
+ showOnlyVisible &&
+ activeDevice != null &&
+ device.id in activeDevice.request(CollectiveDevice.visibleNeighbors)
+ ) {
+ Color.Cyan
+ } else {
+ Color.Red
+ }
+
+ circle(
+ device.position.value,
+ id = device.id + ".position",
+ size = if (selectedDeviceId == device.id) 6.dp else 3.dp
+ )
+ .color(color)
+ .modifyAttribute(ZAttribute, 10f)
+ .modifyAttribute(AlphaAttribute, if (selectedDeviceId == device.id) 1f else 0.5f)
.modifyAttribute(AlphaAttribute, 0.5f) // does not work right now
}.launchIn(scope)
}
@@ -139,24 +160,11 @@ fun App() {
if (deviceMessage is PropertyChangedMessage && deviceMessage.property == "position") {
val id = magixMessage.sourceEndpoint
val position = gmcMetaConverter.read(deviceMessage.value)
- val activeDevice = selectedDeviceId?.let { devices[it] }
- if (
- activeDevice == null ||
- id == selectedDeviceId ||
- !showOnlyVisible ||
- id in activeDevice.request(CollectiveDevice.visibleNeighbors)
- ) {
- rectangle(
- position,
- id = id,
- size = if (selectedDeviceId == id) DpSize(10.dp, 10.dp) else DpSize(5.dp, 5.dp)
- ).color(if (selectedDeviceId == id) Color.Magenta else Color.Blue)
- .modifyAttribute(AlphaAttribute, if (selectedDeviceId == id) 1f else 0.5f)
- .onClick { selectedDeviceId = id }
- } else {
- removeFeature(id)
- }
+ rectangle(
+ position,
+ id = id,
+ ).color(Color.Blue).onClick { selectedDeviceId = id }
}
}.launchIn(scope)
@@ -168,6 +176,34 @@ fun App() {
Column(
modifier = Modifier.verticalScroll(rememberScrollState())
) {
+ Button(
+ onClick = {
+ if (movementProgram == null) {
+ //start movement program
+ movementProgram = parentContext.launch {
+ devices.values.forEach { device ->
+ device.moveInCircles(this)
+ }
+ }
+ } else {
+ movementProgram?.cancel()
+ parentContext.launch {
+ devices.values.forEach { device ->
+ device.write(CollectiveDevice.velocity, GmcVelocity.zero)
+ }
+ }
+ movementProgram = null
+ }
+ },
+ modifier = Modifier.fillMaxWidth()
+ ) {
+ if (movementProgram == null) {
+ Text("Move")
+ } else {
+ Text("Stop")
+ }
+ }
+
collectiveModel.roster.forEach { (id, _) ->
Card(
elevation = 16.dp,
From eb126a60905ced9e30745f4a4e2b3d4f177ee548 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 12 Jun 2024 16:31:14 +0300
Subject: [PATCH 108/125] Finalize collective demo
---
.../kscience/controls/api/DeviceMessage.kt | 2 +-
.../controls/manager/respondMessage.kt | 2 +-
.../src/jvmMain/kotlin/CollectiveDevice.kt | 8 +-
.../jvmMain/kotlin/DeviceCollectiveModel.kt | 169 +++++++++++++++---
.../src/jvmMain/kotlin/debugModel.kt | 58 ------
.../src/jvmMain/kotlin/main.kt | 44 ++++-
6 files changed, 188 insertions(+), 95 deletions(-)
delete mode 100644 demo/device-collective/src/jvmMain/kotlin/debugModel.kt
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
index f91beb5..1aeabf6 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
@@ -73,7 +73,7 @@ public data class PropertySetMessage(
public val property: String,
public val value: Meta,
override val sourceDevice: Name? = null,
- override val targetDevice: Name,
+ override val targetDevice: Name?,
override val comment: String? = null,
@EncodeDefault override val time: Instant = Clock.System.now(),
) : DeviceMessage() {
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
index a15bcef..3988c3c 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/manager/respondMessage.kt
@@ -68,7 +68,7 @@ public suspend fun Device.respondMessage(deviceTarget: Name, request: DeviceMess
/**
* Process incoming [DeviceMessage], using hub naming to find target.
- * If the `targetDevice` is `null`, then message is sent to each device in this hub
+ * If the `targetDevice` is `null`, then the message is sent to each device in this hub
*/
public suspend fun DeviceHub.respondHubMessage(request: DeviceMessage): List<DeviceMessage> {
return try {
diff --git a/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt b/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
index 82170b9..c550830 100644
--- a/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/CollectiveDevice.kt
@@ -23,7 +23,11 @@ class CollectiveDeviceConfiguration(deviceId: CollectiveDeviceId) : Scheme() {
var deviceId by string(deviceId)
var description by string()
var reportInterval by int(500)
- var radioFrequency by string(default = "169 MHz")
+ var radioFrequency by string(default = DEFAULT_FREQUENCY)
+
+ companion object {
+ const val DEFAULT_FREQUENCY = "169 MHz"
+ }
}
typealias CollectiveDeviceRoster = Map<CollectiveDeviceId, CollectiveDeviceConfiguration>
@@ -111,4 +115,4 @@ class CollectiveDeviceConstructor(
}
override suspend fun listVisible(): Collection<CollectiveDeviceId> = observation.invoke().keys
-}
\ No newline at end of file
+}
diff --git a/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
index 320f477..b5e67e4 100644
--- a/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/DeviceCollectiveModel.kt
@@ -1,12 +1,14 @@
package space.kscience.controls.demo.collective
-import kotlinx.coroutines.CoroutineScope
-import kotlinx.coroutines.Dispatchers
-import kotlinx.coroutines.Job
-import kotlinx.coroutines.launch
+import kotlinx.coroutines.*
+import kotlinx.io.writeString
import kotlinx.serialization.json.Json
import space.kscience.controls.api.DeviceMessage
+import space.kscience.controls.api.PropertySetMessage
+import space.kscience.controls.client.DeviceClient
import space.kscience.controls.client.launchMagixService
+import space.kscience.controls.client.write
+import space.kscience.controls.constructor.DeviceState
import space.kscience.controls.constructor.ModelConstructor
import space.kscience.controls.constructor.MutableDeviceState
import space.kscience.controls.constructor.onTimer
@@ -14,18 +16,38 @@ import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.install
import space.kscience.controls.manager.respondMessage
import space.kscience.controls.peer.PeerConnection
+import space.kscience.controls.spec.name
+import space.kscience.controls.spec.write
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.request
import space.kscience.dataforge.io.Envelope
import space.kscience.dataforge.io.toByteArray
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.names.parseAsName
+import space.kscience.kmath.geometry.degrees
+import space.kscience.kmath.geometry.radians
import space.kscience.magix.api.MagixEndpoint
import space.kscience.magix.rsocket.rSocketWithWebSockets
import space.kscience.magix.server.startMagixServer
import space.kscience.maps.coordinates.*
+import kotlin.math.PI
+import kotlin.random.Random
+import kotlin.time.Duration
+import kotlin.time.Duration.Companion.milliseconds
+import kotlin.time.Duration.Companion.seconds
+
+private val deviceVelocity = 0.1.kilometers
+
+private val center = Gmc.ofDegrees(55.925, 37.514)
+private val radius = 0.01.degrees
+
+private val json = Json {
+ ignoreUnknownKeys = true
+ prettyPrint = true
+}
+
internal data class CollectiveDeviceState(
val id: CollectiveDeviceId,
val configuration: CollectiveDeviceConfiguration,
@@ -33,7 +55,7 @@ internal data class CollectiveDeviceState(
val velocity: MutableDeviceState<GmcVelocity>,
)
-internal fun VirtualDeviceState(
+internal fun CollectiveDeviceState(
id: CollectiveDeviceId,
position: Gmc,
configuration: CollectiveDeviceConfiguration.() -> Unit = {},
@@ -44,16 +66,11 @@ internal fun VirtualDeviceState(
MutableDeviceState(GmcVelocity.zero)
)
-private val json = Json {
- ignoreUnknownKeys = true
- prettyPrint = true
-}
-
internal class DeviceCollectiveModel(
context: Context,
val deviceStates: Collection<CollectiveDeviceState>,
val visibilityRange: Distance = 0.5.kilometers,
- val radioRange: Distance = 5.kilometers,
+ val radioRange: Distance = 1.kilometers,
) : ModelConstructor(context) {
/**
@@ -78,41 +95,89 @@ internal class DeviceCollectiveModel(
return allCurves.filterValues { it.distance in 0.kilometers..visibilityRange }
}
- inner class RadioPeerConnection(private val peerState: CollectiveDeviceState) : PeerConnection {
+ inner class RadioPeerConnectionModel(private val position: DeviceState<Gmc>) : PeerConnection {
override suspend fun receive(address: String, contentId: String, requestMeta: Meta): Envelope? = null
override suspend fun send(address: String, envelope: Envelope, requestMeta: Meta) {
- devices.filter { it.value.configuration.radioFrequency == address }.filter {
- GeoEllipsoid.WGS84.curveBetween(peerState.position.value, it.value.position.value).distance < radioRange
- }.forEach { (id, target) ->
+ devices.values.filter { it.configuration.radioFrequency == address }.filter {
+ GeoEllipsoid.WGS84.curveBetween(position.value, it.position.value).distance < radioRange
+ }.forEach { target ->
check(envelope.data != null) { "Envelope data is empty" }
val message = json.decodeFromString(
DeviceMessage.serializer(),
envelope.data?.toByteArray()?.decodeToString() ?: ""
)
- target.respondMessage(id.parseAsName(), message)
+ target.respondMessage(target.configuration.deviceId.parseAsName(), message)
}
}
}
- val devices = deviceStates.associate {
+ val devices = deviceStates.associate { state ->
val device = CollectiveDeviceConstructor(
context = context,
- configuration = it.configuration,
- position = it.position,
- velocity = it.velocity,
- peerConnection = RadioPeerConnection(it),
+ configuration = state.configuration,
+ position = state.position,
+ velocity = state.velocity,
+ peerConnection = RadioPeerConnectionModel(state.position),
) {
- locateVisible(it.id)
+ locateVisible(state.id)
}
- it.id to device
+ state.id to device
+ }
+
+ internal fun createTrawler(position: Gmc, id: CollectiveDeviceId = "trawler"): CollectiveDeviceConstructor {
+ val state = CollectiveDeviceState(
+ id = id,
+ configuration = CollectiveDeviceConfiguration(id),
+ position = MutableDeviceState(position),
+ velocity = MutableDeviceState(GmcVelocity.zero)
+ )
+
+ val result = CollectiveDeviceConstructor(
+ context = context,
+ configuration = state.configuration,
+ position = state.position,
+ velocity = state.velocity,
+ peerConnection = RadioPeerConnectionModel(state.position),
+ ) {
+ locateVisible(state.id)
+ }
+
+ // TODO move to CollectiveDeviceState
+ onTimer { prev, next ->
+ val delta = (next - prev)
+ state.position.value = state.position.value.moveWith(state.velocity.value, delta)
+ }
+
+ result.onTimer(1.seconds) { _, _ ->
+ val envelope = Envelope {
+ data {
+ writeString(
+ json.encodeToString(
+ DeviceMessage.serializer(),
+ PropertySetMessage(
+ property = CollectiveDevice.velocity.name,
+ value = gmcVelocityMetaConverter.convert(state.velocity.value),
+ targetDevice = null
+ )
+ )
+ )
+ }
+ }
+
+ result.peerConnection.send(
+ CollectiveDeviceConfiguration.DEFAULT_FREQUENCY,
+ envelope
+ )
+ }
+
+ return result
}
val roster = deviceStates.associate { it.id to it.configuration }
-
-
}
+
internal fun CoroutineScope.launchCollectiveMagixServer(
collectiveModel: DeviceCollectiveModel,
): Job = launch(Dispatchers.IO) {
@@ -133,4 +198,58 @@ internal fun CoroutineScope.launchCollectiveMagixServer(
deviceContext.request(DeviceManager).launchMagixService(deviceEndpoint, id)
}
+}
+
+
+internal fun generateModel(
+ context: Context,
+ size: Int = 50,
+ reportInterval: Duration = 500.milliseconds,
+ additionalConfiguration: CollectiveDeviceConfiguration.() -> Unit = {},
+): DeviceCollectiveModel {
+ val devices: List<CollectiveDeviceState> = List(size) { index ->
+ val id = "device[$index]"
+
+ CollectiveDeviceState(
+ id = id,
+ Gmc(
+ center.latitude + radius * Random.nextDouble(),
+ center.longitude + radius * Random.nextDouble()
+ )
+ ) {
+ deviceId = id
+ description = "Virtual remote device $id"
+ this.reportInterval = reportInterval.inWholeMilliseconds.toInt()
+ additionalConfiguration()
+ }
+ }
+
+ val model = DeviceCollectiveModel(context, devices)
+
+ return model
+}
+
+fun DeviceClient.moveInCircles(scope: CoroutineScope = this): Job = scope.launch {
+ var bearing = Random.nextDouble(-PI, PI).radians
+ write(CollectiveDevice.velocity, GmcVelocity(bearing, deviceVelocity))
+ while (isActive) {
+ delay(500)
+ bearing += 5.degrees
+ write(CollectiveDevice.velocity, GmcVelocity(bearing, deviceVelocity))
+ }
+}
+
+
+internal fun CollectiveDeviceConstructor.moveTo(
+ targetPosition: Gmc,
+ speedLimit: Distance = deviceVelocity,
+ scope: CoroutineScope = this,
+): Job = scope.launch {
+ do {
+ val curve = GeoEllipsoid.WGS84.curveBetween(position.value, targetPosition)
+ write(CollectiveDevice.velocity, GmcVelocity(curve.forward.bearing, speedLimit))
+ delay(1.seconds)
+ } while (curve.distance > 0.1.kilometers)
+ write(CollectiveDevice.velocity, GmcVelocity.zero)
+
}
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/debugModel.kt b/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
deleted file mode 100644
index c9e59b6..0000000
--- a/demo/device-collective/src/jvmMain/kotlin/debugModel.kt
+++ /dev/null
@@ -1,58 +0,0 @@
-package space.kscience.controls.demo.collective
-
-import kotlinx.coroutines.*
-import space.kscience.controls.client.DeviceClient
-import space.kscience.controls.client.write
-import space.kscience.dataforge.context.Context
-import space.kscience.kmath.geometry.degrees
-import space.kscience.kmath.geometry.radians
-import space.kscience.maps.coordinates.Gmc
-import space.kscience.maps.coordinates.kilometers
-import kotlin.math.PI
-import kotlin.random.Random
-import kotlin.time.Duration
-import kotlin.time.Duration.Companion.milliseconds
-
-private val deviceVelocity = 0.1.kilometers
-
-private val center = Gmc.ofDegrees(55.925, 37.514)
-private val radius = 0.01.degrees
-
-
-internal fun generateModel(
- context: Context,
- size: Int = 50,
- reportInterval: Duration = 500.milliseconds,
- additionalConfiguration: CollectiveDeviceConfiguration.() -> Unit = {},
-): DeviceCollectiveModel {
- val devices: List<CollectiveDeviceState> = List(size) { index ->
- val id = "device[$index]"
-
- VirtualDeviceState(
- id = id,
- Gmc(
- center.latitude + radius * Random.nextDouble(),
- center.longitude + radius * Random.nextDouble()
- )
- ) {
- deviceId = id
- description = "Virtual remote device $id"
- this.reportInterval = reportInterval.inWholeMilliseconds.toInt()
- additionalConfiguration()
- }
- }
-
- val model = DeviceCollectiveModel(context, devices)
-
- return model
-}
-
-fun DeviceClient.moveInCircles(scope: CoroutineScope = this): Job = scope.launch {
- var bearing = Random.nextDouble(-PI, PI).radians
- write(CollectiveDevice.velocity, GmcVelocity(bearing, deviceVelocity))
- while (isActive) {
- delay(500)
- bearing += 5.degrees
- write(CollectiveDevice.velocity, GmcVelocity(bearing, deviceVelocity))
- }
-}
\ No newline at end of file
diff --git a/demo/device-collective/src/jvmMain/kotlin/main.kt b/demo/device-collective/src/jvmMain/kotlin/main.kt
index 0d08cc8..f92b0eb 100644
--- a/demo/device-collective/src/jvmMain/kotlin/main.kt
+++ b/demo/device-collective/src/jvmMain/kotlin/main.kt
@@ -7,16 +7,14 @@ import androidx.compose.foundation.layout.Column
import androidx.compose.foundation.layout.Row
import androidx.compose.foundation.layout.fillMaxWidth
import androidx.compose.foundation.layout.padding
-import androidx.compose.material.Button
-import androidx.compose.material.Card
-import androidx.compose.material.Checkbox
-import androidx.compose.material.Text
+import androidx.compose.material.*
import androidx.compose.material3.CircularProgressIndicator
import androidx.compose.material3.MaterialTheme
import androidx.compose.runtime.*
import androidx.compose.ui.Alignment
import androidx.compose.ui.Modifier
import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.input.pointer.isSecondaryPressed
import androidx.compose.ui.res.painterResource
import androidx.compose.ui.text.font.FontWeight
import androidx.compose.ui.unit.dp
@@ -58,7 +56,8 @@ fun rememberContext(name: String, contextBuilder: ContextBuilder.() -> Unit = {}
Context(name, contextBuilder)
}
-private val gmcMetaConverter = MetaConverter.serializable<Gmc>()
+internal val gmcMetaConverter = MetaConverter.serializable<Gmc>()
+internal val gmcVelocityMetaConverter = MetaConverter.serializable<GmcVelocity>()
@Composable
fun App() {
@@ -80,7 +79,6 @@ fun App() {
val devices = remember { mutableStateMapOf<CollectiveDeviceId, DeviceClient>() }
-
LaunchedEffect(collectiveModel) {
launchCollectiveMagixServer(collectiveModel)
@@ -113,10 +111,27 @@ fun App() {
var movementProgram: Job? by remember { mutableStateOf(null) }
+ val trawler: CollectiveDeviceConstructor = remember {
+ collectiveModel.createTrawler(Gmc.ofDegrees(55.925, 37.50))
+ }
+
HorizontalSplitPane(
splitPaneState = rememberSplitPaneState(0.9f)
) {
first(400.dp) {
+ var clickPoint by remember { mutableStateOf<Gmc?>(null) }
+
+ CursorDropdownMenu(clickPoint != null, { clickPoint = null }) {
+ clickPoint?.let { point ->
+ TextButton({
+ trawler.moveTo(point)
+ clickPoint = null
+ }) {
+ Text("Move trawler here")
+ }
+ }
+ }
+
MapView(
mapTileProvider = remember {
OpenStreetMapTileProvider(
@@ -124,8 +139,15 @@ fun App() {
cacheDirectory = Path.of("mapCache")
)
},
- config = ViewConfig()
+ config = ViewConfig(
+ onClick = { event, point ->
+ if (event.buttons.isSecondaryPressed) {
+ clickPoint = point.focus
+ }
+ }
+ )
) {
+ //draw real positions
collectiveModel.deviceStates.forEach { device ->
circle(device.position.value, id = device.id + ".position").color(Color.Red)
device.position.valueFlow.sample(50.milliseconds).onEach {
@@ -154,8 +176,8 @@ fun App() {
}.launchIn(scope)
}
+ //draw received data
scope.launch {
-
client.await().subscribe(DeviceManager.magixFormat).onEach { (magixMessage, deviceMessage) ->
if (deviceMessage is PropertyChangedMessage && deviceMessage.property == "position") {
val id = magixMessage.sourceEndpoint
@@ -169,6 +191,12 @@ fun App() {
}.launchIn(scope)
}
+
+ // draw trawler
+
+ trawler.position.valueFlow.onEach {
+ circle(it, id = "trawler").color(Color.Black)
+ }.launchIn(scope)
}
}
second(200.dp) {
From 92c4355f483769af77ef0c6e938366428807e1df Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 17 Jun 2024 17:49:12 +0300
Subject: [PATCH 109/125] update device-collective readme
---
README.md | 9 +++++++++
controls-constructor/README.md | 4 ++--
controls-core/README.md | 4 ++--
controls-jupyter/README.md | 4 ++--
controls-magix/README.md | 4 ++--
controls-modbus/README.md | 4 ++--
controls-opcua/README.md | 4 ++--
controls-pi/README.md | 4 ++--
controls-ports-ktor/README.md | 4 ++--
controls-serial/README.md | 4 ++--
controls-server/README.md | 4 ++--
controls-storage/README.md | 4 ++--
controls-storage/controls-xodus/README.md | 4 ++--
controls-vision/README.md | 6 ++----
demo/device-collective/README.md | 13 +++++++++++++
magix/magix-api/README.md | 4 ++--
magix/magix-java-endpoint/README.md | 4 ++--
magix/magix-mqtt/README.md | 4 ++--
magix/magix-rabbit/README.md | 4 ++--
magix/magix-rsocket/README.md | 4 ++--
magix/magix-server/README.md | 4 ++--
magix/magix-storage/README.md | 4 ++--
magix/magix-storage/magix-storage-xodus/README.md | 4 ++--
magix/magix-zmq/README.md | 4 ++--
24 files changed, 66 insertions(+), 46 deletions(-)
create mode 100644 demo/device-collective/README.md
diff --git a/README.md b/README.md
index d5baaf9..6b9c9cd 100644
--- a/README.md
+++ b/README.md
@@ -134,6 +134,11 @@ Automatically checks consistency.
>
> **Maturity**: PROTOTYPE
+### [controls-visualisation-compose](controls-visualisation-compose)
+> Visualisation extension using compose-multiplatform
+>
+> **Maturity**: PROTOTYPE
+
### [demo](demo)
>
> **Maturity**: EXPERIMENTAL
@@ -159,6 +164,10 @@ Automatically checks consistency.
>
> **Maturity**: EXPERIMENTAL
+### [demo/device-collective](demo/device-collective)
+>
+> **Maturity**: EXPERIMENTAL
+
### [demo/echo](demo/echo)
>
> **Maturity**: EXPERIMENTAL
diff --git a/controls-constructor/README.md b/controls-constructor/README.md
index d388b01..7da4d0b 100644
--- a/controls-constructor/README.md
+++ b/controls-constructor/README.md
@@ -6,7 +6,7 @@ A low-code constructor for composite devices simulation
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-constructor:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:controls-constructor:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-constructor:0.4.0-dev-1")
+ implementation("space.kscience:controls-constructor:0.4.0-dev-4")
}
```
diff --git a/controls-core/README.md b/controls-core/README.md
index 71caf53..26ed618 100644
--- a/controls-core/README.md
+++ b/controls-core/README.md
@@ -16,7 +16,7 @@ Core interfaces for building a device server
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-core:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:controls-core:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -26,6 +26,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-core:0.4.0-dev-1")
+ implementation("space.kscience:controls-core:0.4.0-dev-4")
}
```
diff --git a/controls-jupyter/README.md b/controls-jupyter/README.md
index 7d0fc4f..6100ddd 100644
--- a/controls-jupyter/README.md
+++ b/controls-jupyter/README.md
@@ -6,7 +6,7 @@
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-jupyter:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:controls-jupyter:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-jupyter:0.4.0-dev-1")
+ implementation("space.kscience:controls-jupyter:0.4.0-dev-4")
}
```
diff --git a/controls-magix/README.md b/controls-magix/README.md
index 8c16ffd..c474221 100644
--- a/controls-magix/README.md
+++ b/controls-magix/README.md
@@ -12,7 +12,7 @@ Magix service for binding controls devices (both as RPC client and server)
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-magix:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:controls-magix:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -22,6 +22,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-magix:0.4.0-dev-1")
+ implementation("space.kscience:controls-magix:0.4.0-dev-4")
}
```
diff --git a/controls-modbus/README.md b/controls-modbus/README.md
index 61e4b60..9705e81 100644
--- a/controls-modbus/README.md
+++ b/controls-modbus/README.md
@@ -14,7 +14,7 @@ Automatically checks consistency.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-modbus:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:controls-modbus:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -24,6 +24,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-modbus:0.4.0-dev-1")
+ implementation("space.kscience:controls-modbus:0.4.0-dev-4")
}
```
diff --git a/controls-opcua/README.md b/controls-opcua/README.md
index 03dc32b..6867492 100644
--- a/controls-opcua/README.md
+++ b/controls-opcua/README.md
@@ -12,7 +12,7 @@ A client and server connectors for OPC-UA via Eclipse Milo
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-opcua:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:controls-opcua:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -22,6 +22,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-opcua:0.4.0-dev-1")
+ implementation("space.kscience:controls-opcua:0.4.0-dev-4")
}
```
diff --git a/controls-pi/README.md b/controls-pi/README.md
index 2873ac2..0afb324 100644
--- a/controls-pi/README.md
+++ b/controls-pi/README.md
@@ -6,7 +6,7 @@ Utils to work with controls-kt on Raspberry pi
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-pi:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:controls-pi:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-pi:0.4.0-dev-1")
+ implementation("space.kscience:controls-pi:0.4.0-dev-4")
}
```
diff --git a/controls-ports-ktor/README.md b/controls-ports-ktor/README.md
index 6b23d80..1cb277a 100644
--- a/controls-ports-ktor/README.md
+++ b/controls-ports-ktor/README.md
@@ -6,7 +6,7 @@ Implementation of byte ports on top os ktor-io asynchronous API
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-ports-ktor:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:controls-ports-ktor:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-ports-ktor:0.4.0-dev-1")
+ implementation("space.kscience:controls-ports-ktor:0.4.0-dev-4")
}
```
diff --git a/controls-serial/README.md b/controls-serial/README.md
index a961f55..ce95ee5 100644
--- a/controls-serial/README.md
+++ b/controls-serial/README.md
@@ -6,7 +6,7 @@ Implementation of direct serial port communication with JSerialComm
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-serial:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:controls-serial:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-serial:0.4.0-dev-1")
+ implementation("space.kscience:controls-serial:0.4.0-dev-4")
}
```
diff --git a/controls-server/README.md b/controls-server/README.md
index 114f618..896020d 100644
--- a/controls-server/README.md
+++ b/controls-server/README.md
@@ -6,7 +6,7 @@ A combined Magix event loop server with web server for visualization.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-server:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:controls-server:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-server:0.4.0-dev-1")
+ implementation("space.kscience:controls-server:0.4.0-dev-4")
}
```
diff --git a/controls-storage/README.md b/controls-storage/README.md
index 64751e8..dd4ab3d 100644
--- a/controls-storage/README.md
+++ b/controls-storage/README.md
@@ -6,7 +6,7 @@ An API for stand-alone Controls-kt device or a hub.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-storage:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:controls-storage:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-storage:0.4.0-dev-1")
+ implementation("space.kscience:controls-storage:0.4.0-dev-4")
}
```
diff --git a/controls-storage/controls-xodus/README.md b/controls-storage/controls-xodus/README.md
index e423c3f..44cdf26 100644
--- a/controls-storage/controls-xodus/README.md
+++ b/controls-storage/controls-xodus/README.md
@@ -6,7 +6,7 @@ An implementation of controls-storage on top of JetBrains Xodus.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-xodus:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:controls-xodus:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-xodus:0.4.0-dev-1")
+ implementation("space.kscience:controls-xodus:0.4.0-dev-4")
}
```
diff --git a/controls-vision/README.md b/controls-vision/README.md
index cbfc917..ff2b648 100644
--- a/controls-vision/README.md
+++ b/controls-vision/README.md
@@ -2,13 +2,11 @@
Dashboard and visualization extensions for devices
-Hello world!
-
## Usage
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-vision:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:controls-vision:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -18,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-vision:0.4.0-dev-1")
+ implementation("space.kscience:controls-vision:0.4.0-dev-4")
}
```
diff --git a/demo/device-collective/README.md b/demo/device-collective/README.md
new file mode 100644
index 0000000..5f639a7
--- /dev/null
+++ b/demo/device-collective/README.md
@@ -0,0 +1,13 @@
+# Module device-collective
+
+# Running demo from gradle
+
+1. Install JDK 17-21 in the system (for example, from https://sdkman.io/jdks or https://github.com/ScoopInstaller/Java).
+2. Clone the repository with Git.
+3. Run `./gradlew :demo:device-collective:run` from the project root directory.
+
+# Install distribution
+
+1 and 2 from above.
+3. Run `./gradlew :demo:device-collective:packageUberJarForCurrentOS` from the project root directory.
+4. Go to `build/compose/jars/device-collective-<your OS>-<version>.jar`. You can copy it and run with `java -jar <full-name>.jar`
diff --git a/magix/magix-api/README.md b/magix/magix-api/README.md
index 6228a7e..6f16ac0 100644
--- a/magix/magix-api/README.md
+++ b/magix/magix-api/README.md
@@ -6,7 +6,7 @@ A kotlin API for magix standard and some zero-dependency magix services
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-api:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:magix-api:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-api:0.4.0-dev-1")
+ implementation("space.kscience:magix-api:0.4.0-dev-4")
}
```
diff --git a/magix/magix-java-endpoint/README.md b/magix/magix-java-endpoint/README.md
index 2db1d42..87359f1 100644
--- a/magix/magix-java-endpoint/README.md
+++ b/magix/magix-java-endpoint/README.md
@@ -6,7 +6,7 @@ Java API to work with magix endpoints without Kotlin
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-java-endpoint:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:magix-java-endpoint:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-java-endpoint:0.4.0-dev-1")
+ implementation("space.kscience:magix-java-endpoint:0.4.0-dev-4")
}
```
diff --git a/magix/magix-mqtt/README.md b/magix/magix-mqtt/README.md
index 7896472..0ee054a 100644
--- a/magix/magix-mqtt/README.md
+++ b/magix/magix-mqtt/README.md
@@ -6,7 +6,7 @@ MQTT client magix endpoint
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-mqtt:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:magix-mqtt:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-mqtt:0.4.0-dev-1")
+ implementation("space.kscience:magix-mqtt:0.4.0-dev-4")
}
```
diff --git a/magix/magix-rabbit/README.md b/magix/magix-rabbit/README.md
index eee4a21..35b43c7 100644
--- a/magix/magix-rabbit/README.md
+++ b/magix/magix-rabbit/README.md
@@ -6,7 +6,7 @@ RabbitMQ client magix endpoint
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-rabbit:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:magix-rabbit:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-rabbit:0.4.0-dev-1")
+ implementation("space.kscience:magix-rabbit:0.4.0-dev-4")
}
```
diff --git a/magix/magix-rsocket/README.md b/magix/magix-rsocket/README.md
index ef16b66..9f3a42c 100644
--- a/magix/magix-rsocket/README.md
+++ b/magix/magix-rsocket/README.md
@@ -6,7 +6,7 @@ Magix endpoint (client) based on RSocket
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-rsocket:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:magix-rsocket:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-rsocket:0.4.0-dev-1")
+ implementation("space.kscience:magix-rsocket:0.4.0-dev-4")
}
```
diff --git a/magix/magix-server/README.md b/magix/magix-server/README.md
index 17bdbdf..8259e0f 100644
--- a/magix/magix-server/README.md
+++ b/magix/magix-server/README.md
@@ -6,7 +6,7 @@ A magix event loop implementation in Kotlin. Includes HTTP/SSE and RSocket route
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-server:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:magix-server:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-server:0.4.0-dev-1")
+ implementation("space.kscience:magix-server:0.4.0-dev-4")
}
```
diff --git a/magix/magix-storage/README.md b/magix/magix-storage/README.md
index dbb2729..672458e 100644
--- a/magix/magix-storage/README.md
+++ b/magix/magix-storage/README.md
@@ -6,7 +6,7 @@ Magix history database API
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-storage:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:magix-storage:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-storage:0.4.0-dev-1")
+ implementation("space.kscience:magix-storage:0.4.0-dev-4")
}
```
diff --git a/magix/magix-storage/magix-storage-xodus/README.md b/magix/magix-storage/magix-storage-xodus/README.md
index 90a0050..2fb495a 100644
--- a/magix/magix-storage/magix-storage-xodus/README.md
+++ b/magix/magix-storage/magix-storage-xodus/README.md
@@ -6,7 +6,7 @@
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-storage-xodus:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:magix-storage-xodus:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-storage-xodus:0.4.0-dev-1")
+ implementation("space.kscience:magix-storage-xodus:0.4.0-dev-4")
}
```
diff --git a/magix/magix-zmq/README.md b/magix/magix-zmq/README.md
index 6e924db..952e02e 100644
--- a/magix/magix-zmq/README.md
+++ b/magix/magix-zmq/README.md
@@ -6,7 +6,7 @@ ZMQ client endpoint for Magix
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-zmq:0.4.0-dev-1`.
+The Maven coordinates of this project are `space.kscience:magix-zmq:0.4.0-dev-4`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-zmq:0.4.0-dev-1")
+ implementation("space.kscience:magix-zmq:0.4.0-dev-4")
}
```
From f13b7268d6f33a93842f64815f4444959ced2bad Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 17 Jun 2024 17:52:02 +0300
Subject: [PATCH 110/125] update device-collective readme
---
demo/device-collective/README.md | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/demo/device-collective/README.md b/demo/device-collective/README.md
index 5f639a7..369ec04 100644
--- a/demo/device-collective/README.md
+++ b/demo/device-collective/README.md
@@ -8,6 +8,7 @@
# Install distribution
-1 and 2 from above.
+1. Install JDK 17-21 in the system (for example, from https://sdkman.io/jdks or https://github.com/ScoopInstaller/Java).
+2. Clone the repository with Git.
3. Run `./gradlew :demo:device-collective:packageUberJarForCurrentOS` from the project root directory.
4. Go to `build/compose/jars/device-collective-<your OS>-<version>.jar`. You can copy it and run with `java -jar <full-name>.jar`
From 8c7c017ab420c0625fec6e71da53e2458cd49f73 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Tue, 18 Jun 2024 19:25:55 +0300
Subject: [PATCH 111/125] Add linear drive calibration demo
---
.../controls/constructor/devices/StepDrive.kt | 8 +--
.../jvmMain/kotlin/LinearDriveCalibration.kt | 66 +++++++++++++++++++
2 files changed, 69 insertions(+), 5 deletions(-)
create mode 100644 demo/constructor/src/jvmMain/kotlin/LinearDriveCalibration.kt
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
index be32f07..ab33e39 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
@@ -22,6 +22,7 @@ import kotlin.time.DurationUnit
public class StepDrive(
context: Context,
ticksPerSecond: MutableDeviceState<Double>,
+ position: MutableDeviceState<Long> = MutableDeviceState(0),
target: MutableDeviceState<Long> = MutableDeviceState(0),
private val writeTicks: suspend (ticks: Long, speed: Double) -> Unit = { _, _ -> },
) : DeviceConstructor(context) {
@@ -30,10 +31,7 @@ public class StepDrive(
public val speed: MutableDeviceState<Double> by property(MetaConverter.double, ticksPerSecond)
- private val positionState = stateOf(target.value)
-
- public val position: DeviceState<Long> by property(MetaConverter.long, positionState)
-
+ public val position: DeviceState<Long> by property(MetaConverter.long, position)
//FIXME round to zero problem
private val ticker = onTimer(reads = setOf(target, position), writes = setOf(position)) { prev, next ->
@@ -46,7 +44,7 @@ public class StepDrive(
else -> return@onTimer
}
writeTicks(steps, tickSpeed)
- positionState.value += steps
+ position.value += steps
}
}
diff --git a/demo/constructor/src/jvmMain/kotlin/LinearDriveCalibration.kt b/demo/constructor/src/jvmMain/kotlin/LinearDriveCalibration.kt
new file mode 100644
index 0000000..1a2d5e9
--- /dev/null
+++ b/demo/constructor/src/jvmMain/kotlin/LinearDriveCalibration.kt
@@ -0,0 +1,66 @@
+package space.kscience.controls.demo.constructor
+
+import kotlinx.coroutines.coroutineScope
+import kotlinx.coroutines.ensureActive
+import space.kscience.controls.constructor.DeviceConstructor
+import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.device
+import space.kscience.controls.constructor.devices.LimitSwitch
+import space.kscience.controls.constructor.devices.StepDrive
+import space.kscience.controls.constructor.models.MutableRangeState
+import space.kscience.controls.manager.DeviceManager
+import space.kscience.dataforge.context.Context
+
+private val ticksPerSecond = MutableDeviceState(3000.0)
+
+class LinearStepDrive(
+ context: Context,
+ drive: StepDrive,
+ atStart: LimitSwitch,
+ atEnd: LimitSwitch,
+):DeviceConstructor(context){
+ val drive by device(drive)
+ val atStart by device(atStart)
+ val atEnd by device(atEnd)
+}
+
+
+fun LinearStepDrive(
+ context: Context,
+ position: MutableRangeState<Long>,
+): LinearStepDrive = LinearStepDrive(
+ context = context,
+ drive = StepDrive(context, ticksPerSecond, position),
+ atStart = LimitSwitch(context, position.atStart),
+ atEnd = LimitSwitch(context, position.atEnd)
+)
+
+suspend fun LinearStepDrive.calibrate(step: Long = 10): ClosedRange<Long> = coroutineScope{
+ do{
+ ensureActive()
+ drive.target.value += step
+ } while (!atEnd.locked.value)
+
+ val end = drive.position.value
+
+ do{
+ ensureActive()
+ drive.target.value -= step
+ } while (!atStart.locked.value)
+
+ val start = drive.position.value
+
+ return@coroutineScope start..end
+}
+
+suspend fun main() = coroutineScope {
+ val context = Context{
+ plugin(DeviceManager)
+ }
+
+ val positionModel = MutableRangeState<Long>(0L, -1002L..1012L)
+
+ val linearStepDrive = LinearStepDrive(context, positionModel)
+
+ println(linearStepDrive.calibrate())
+}
\ No newline at end of file
From a9d58bfac2b1da7314d7d0468e87a2abb3db74f6 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Tue, 18 Jun 2024 20:18:18 +0300
Subject: [PATCH 112/125] Fix StepDrive parameters
---
.../controls/constructor/devices/StepDrive.kt | 15 ++++---
.../jvmMain/kotlin/LinearDriveCalibration.kt | 41 ++++++++++++-------
.../constructor/src/jvmMain/kotlin/Plotter.kt | 2 +-
3 files changed, 37 insertions(+), 21 deletions(-)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
index ab33e39..9d552c5 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/StepDrive.kt
@@ -21,21 +21,26 @@ import kotlin.time.DurationUnit
*/
public class StepDrive(
context: Context,
- ticksPerSecond: MutableDeviceState<Double>,
+ ticksPerSecond: Double,
position: MutableDeviceState<Long> = MutableDeviceState(0),
- target: MutableDeviceState<Long> = MutableDeviceState(0),
private val writeTicks: suspend (ticks: Long, speed: Double) -> Unit = { _, _ -> },
) : DeviceConstructor(context) {
- public val target: MutableDeviceState<Long> by property(MetaConverter.long, target)
+ public val target: MutableDeviceState<Long> by property(
+ MetaConverter.long,
+ MutableDeviceState<Long>(position.value)
+ )
- public val speed: MutableDeviceState<Double> by property(MetaConverter.double, ticksPerSecond)
+ public val speed: MutableDeviceState<Double> by property(
+ MetaConverter.double,
+ MutableDeviceState<Double>(ticksPerSecond)
+ )
public val position: DeviceState<Long> by property(MetaConverter.long, position)
//FIXME round to zero problem
private val ticker = onTimer(reads = setOf(target, position), writes = setOf(position)) { prev, next ->
- val tickSpeed = ticksPerSecond.value
+ val tickSpeed = speed.value
val timeDelta = (next - prev).toDouble(DurationUnit.SECONDS)
val ticksDelta: Long = target.value - position.value
val steps: Long = when {
diff --git a/demo/constructor/src/jvmMain/kotlin/LinearDriveCalibration.kt b/demo/constructor/src/jvmMain/kotlin/LinearDriveCalibration.kt
index 1a2d5e9..02192b9 100644
--- a/demo/constructor/src/jvmMain/kotlin/LinearDriveCalibration.kt
+++ b/demo/constructor/src/jvmMain/kotlin/LinearDriveCalibration.kt
@@ -1,24 +1,26 @@
package space.kscience.controls.demo.constructor
import kotlinx.coroutines.coroutineScope
+import kotlinx.coroutines.delay
import kotlinx.coroutines.ensureActive
import space.kscience.controls.constructor.DeviceConstructor
-import space.kscience.controls.constructor.MutableDeviceState
+import space.kscience.controls.constructor.collectValuesIn
import space.kscience.controls.constructor.device
import space.kscience.controls.constructor.devices.LimitSwitch
import space.kscience.controls.constructor.devices.StepDrive
import space.kscience.controls.constructor.models.MutableRangeState
import space.kscience.controls.manager.DeviceManager
import space.kscience.dataforge.context.Context
+import kotlin.time.Duration.Companion.seconds
-private val ticksPerSecond = MutableDeviceState(3000.0)
+private val ticksPerSecond = 3000.0
class LinearStepDrive(
context: Context,
drive: StepDrive,
atStart: LimitSwitch,
atEnd: LimitSwitch,
-):DeviceConstructor(context){
+) : DeviceConstructor(context) {
val drive by device(drive)
val atStart by device(atStart)
val atEnd by device(atEnd)
@@ -28,39 +30,48 @@ class LinearStepDrive(
fun LinearStepDrive(
context: Context,
position: MutableRangeState<Long>,
-): LinearStepDrive = LinearStepDrive(
+): LinearStepDrive = LinearStepDrive(
context = context,
drive = StepDrive(context, ticksPerSecond, position),
atStart = LimitSwitch(context, position.atStart),
atEnd = LimitSwitch(context, position.atEnd)
)
-suspend fun LinearStepDrive.calibrate(step: Long = 10): ClosedRange<Long> = coroutineScope{
- do{
- ensureActive()
- drive.target.value += step
- } while (!atEnd.locked.value)
-
- val end = drive.position.value
-
- do{
+suspend fun LinearStepDrive.calibrate(step: Long = 10): ClosedRange<Long> = coroutineScope {
+ do {
ensureActive()
drive.target.value -= step
+ delay((step / ticksPerSecond).seconds)
} while (!atStart.locked.value)
val start = drive.position.value
+
+ do {
+ ensureActive()
+ drive.target.value += step
+ delay((step / ticksPerSecond).seconds)
+ } while (!atEnd.locked.value)
+
+ val end = drive.position.value
+
return@coroutineScope start..end
}
suspend fun main() = coroutineScope {
- val context = Context{
+ val context = Context {
plugin(DeviceManager)
}
- val positionModel = MutableRangeState<Long>(0L, -1002L..1012L)
+ val positionModel = MutableRangeState<Long>(0L, -1000L..1012L)
val linearStepDrive = LinearStepDrive(context, positionModel)
+ val printJob = linearStepDrive.drive.target.collectValuesIn(this){
+ println("Move to $it")
+ }
+
println(linearStepDrive.calibrate())
+
+ printJob.cancel()
}
\ No newline at end of file
diff --git a/demo/constructor/src/jvmMain/kotlin/Plotter.kt b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
index dfded59..3e139e3 100644
--- a/demo/constructor/src/jvmMain/kotlin/Plotter.kt
+++ b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
@@ -83,7 +83,7 @@ private suspend fun Plotter.square(xRange: IntRange, yRange: IntRange) {
private val xRange = NumericalValue<Meters>(-0.5)..NumericalValue<Meters>(0.5)
private val yRange = NumericalValue<Meters>(-0.5)..NumericalValue<Meters>(0.5)
-private val ticksPerSecond = MutableDeviceState(3000.0)
+private const val ticksPerSecond = 3000.0
private val step = NumericalValue<Degrees>(1.8)
From fbf79f0a3739f23b53e245921aaafebd9171f4cc Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Mon, 22 Jul 2024 18:46:58 +0300
Subject: [PATCH 113/125] Implement new visualization
---
CHANGELOG.md | 1 +
build.gradle.kts | 2 +-
.../controls/constructor/internalState.kt | 4 +-
controls-visualisation-compose/README.md | 21 +++
.../build.gradle.kts | 24 +---
.../src/commonMain/kotlin/DeviceDrawable2D.kt | 64 +++++++++
.../kotlin/DeviceDrawable2DStore.kt | 91 +++++++++++++
demo/car/build.gradle.kts | 4 +-
.../constructor/src/jvmMain/kotlin/Plotter.kt | 126 ++++++++++++------
demo/echo/build.gradle.kts | 4 +-
demo/many-devices/build.gradle.kts | 4 +-
gradle/libs.versions.toml | 4 +-
magix/magix-java-endpoint/build.gradle.kts | 17 +--
13 files changed, 280 insertions(+), 86 deletions(-)
create mode 100644 controls-visualisation-compose/README.md
create mode 100644 controls-visualisation-compose/src/commonMain/kotlin/DeviceDrawable2D.kt
create mode 100644 controls-visualisation-compose/src/commonMain/kotlin/DeviceDrawable2DStore.kt
diff --git a/CHANGELOG.md b/CHANGELOG.md
index ae8c47f..29b1a5c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,7 @@
- Shortcuts to access all Controls devices in a magix network.
- `DeviceClient` properly evaluates lifecycle and logs
- `PeerConnection` API for direct device-device binary sharing
+- DeviceDrawable2D intermediate visualization implementation
### Changed
- Constructor properties return `DeviceState` in order to be able to subscribe to them
diff --git a/build.gradle.kts b/build.gradle.kts
index 773272c..7f7e534 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -7,7 +7,7 @@ plugins {
allprojects {
group = "space.kscience"
- version = "0.4.0-dev-4"
+ version = "0.4.0-dev-5"
repositories{
google()
}
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
index 687804e..684f666 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/internalState.kt
@@ -11,7 +11,7 @@ import kotlinx.coroutines.flow.emptyFlow
*/
private class VirtualDeviceState<T>(
initialValue: T,
- private val callback: (T) -> Unit = {},
+ private val callback: (T) -> Unit = {}
) : MutableDeviceState<T> {
private val flow = MutableStateFlow(initialValue)
override val valueFlow: Flow<T> get() = flow
@@ -34,7 +34,7 @@ private class VirtualDeviceState<T>(
*/
public fun <T> MutableDeviceState(
initialValue: T,
- callback: (T) -> Unit = {},
+ callback: (T) -> Unit = {}
): MutableDeviceState<T> = VirtualDeviceState(initialValue, callback)
diff --git a/controls-visualisation-compose/README.md b/controls-visualisation-compose/README.md
new file mode 100644
index 0000000..0f77d54
--- /dev/null
+++ b/controls-visualisation-compose/README.md
@@ -0,0 +1,21 @@
+# Module controls-visualisation-compose
+
+Visualisation extension using compose-multiplatform
+
+## Usage
+
+## Artifact:
+
+The Maven coordinates of this project are `space.kscience:controls-visualisation-compose:0.4.0-dev-4`.
+
+**Gradle Kotlin DSL:**
+```kotlin
+repositories {
+ maven("https://repo.kotlin.link")
+ mavenCentral()
+}
+
+dependencies {
+ implementation("space.kscience:controls-visualisation-compose:0.4.0-dev-4")
+}
+```
diff --git a/controls-visualisation-compose/build.gradle.kts b/controls-visualisation-compose/build.gradle.kts
index d9d8215..0c68988 100644
--- a/controls-visualisation-compose/build.gradle.kts
+++ b/controls-visualisation-compose/build.gradle.kts
@@ -18,25 +18,11 @@ kscience {
useContextReceivers()
commonMain {
api(projects.controlsConstructor)
- api("io.github.koalaplot:koalaplot-core:0.6.0")
- }
-}
-
-kotlin {
- sourceSets {
- commonMain {
- dependencies {
- api(compose.foundation)
- api(compose.material3)
- @OptIn(ExperimentalComposeLibrary::class)
- api(compose.desktop.components.splitPane)
- }
- }
-// jvmMain {
-// dependencies {
-// implementation(compose.desktop.currentOs)
-// }
-// }
+ api(libs.koala.plots)
+ api(compose.foundation)
+ api(compose.material3)
+ @OptIn(ExperimentalComposeLibrary::class)
+ api(compose.desktop.components.splitPane)
}
}
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/DeviceDrawable2D.kt b/controls-visualisation-compose/src/commonMain/kotlin/DeviceDrawable2D.kt
new file mode 100644
index 0000000..464514b
--- /dev/null
+++ b/controls-visualisation-compose/src/commonMain/kotlin/DeviceDrawable2D.kt
@@ -0,0 +1,64 @@
+package space.kscience.controls.compose
+
+import androidx.compose.runtime.Immutable
+import androidx.compose.ui.geometry.Offset
+import androidx.compose.ui.geometry.Size
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.graphics.drawscope.DrawScope
+import androidx.compose.ui.graphics.drawscope.rotate
+
+/**
+ * A single 2D drawable
+ */
+@Immutable
+public sealed interface DeviceDrawable2D {
+
+ public fun DrawScope.draw()
+
+ override fun equals(other: Any?): Boolean
+}
+
+@Immutable
+public data class CircleDrawable2D(val position: Offset, val radius: Float, val color: Color) : DeviceDrawable2D {
+ override fun DrawScope.draw() {
+ drawCircle(color, radius = radius, center = position)
+ }
+}
+
+@Drawable2DBuilder
+public fun DeviceDrawable2DStore.circle(id: String, position: Offset, radius: Float, color: Color) {
+ emit(id, CircleDrawable2D(position, radius, color))
+}
+
+@Immutable
+public data class RectangleDrawable2D(
+ val position: Offset,
+ val rectangleSize: Size,
+ val color: Color,
+ val rotateDegrees: Float = 0f,
+) : DeviceDrawable2D {
+ override fun DrawScope.draw() {
+ rotate(rotateDegrees) {
+ drawRect(
+ color = color,
+ topLeft = Offset(
+ (position.x - rectangleSize.width / 2),
+ (position.y - rectangleSize.height / 2)
+ ),
+ size = Size(rectangleSize.width, rectangleSize.height)
+ )
+ }
+ }
+}
+
+@Drawable2DBuilder
+public fun DeviceDrawable2DStore.rectangle(
+ id: String,
+ position: Offset,
+ rectangleSize: Size,
+ color: Color,
+ rotateDegrees: Float = 0f,
+) {
+ emit(id, RectangleDrawable2D(position, rectangleSize, color, rotateDegrees))
+}
+
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/DeviceDrawable2DStore.kt b/controls-visualisation-compose/src/commonMain/kotlin/DeviceDrawable2DStore.kt
new file mode 100644
index 0000000..1c17aad
--- /dev/null
+++ b/controls-visualisation-compose/src/commonMain/kotlin/DeviceDrawable2DStore.kt
@@ -0,0 +1,91 @@
+package space.kscience.controls.compose
+
+import androidx.compose.foundation.Canvas
+import androidx.compose.runtime.*
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.geometry.Size
+import androidx.compose.ui.graphics.drawscope.clipRect
+import androidx.compose.ui.layout.onGloballyPositioned
+import androidx.compose.ui.unit.toSize
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.launch
+import space.kscience.controls.api.Device
+import space.kscience.controls.constructor.DeviceState
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.propertyFlow
+
+@DslMarker
+public annotation class Drawable2DBuilder
+
+@Drawable2DBuilder
+public class DeviceDrawable2DStore(public val scope: CoroutineScope, public val size: Size) {
+ public val drawableFlow: MutableStateFlow<Map<String, DeviceDrawable2D>> = MutableStateFlow(emptyMap())
+}
+
+public fun DeviceDrawable2DStore.emit(id: String, drawable2D: DeviceDrawable2D){
+ drawableFlow.value += (id to drawable2D)
+}
+
+public fun DeviceDrawable2DStore.emitAll(drawables: Map<String, DeviceDrawable2D>){
+ drawableFlow.value += drawables
+}
+
+
+/**
+ * Fill drawables from a flow
+ */
+public fun DeviceDrawable2DStore.observe(id: String, flow: Flow<DeviceDrawable2D>): Job = flow.onEach {
+ drawableFlow.value += (id to it)
+}.launchIn(scope)
+
+/**
+ * Observe single [DeviceState]
+ */
+public fun <T> DeviceDrawable2DStore.observeState(
+ state: DeviceState<T>,
+ id: String = state.toString(),
+ transform: suspend DeviceDrawable2DStore.(T) -> DeviceDrawable2D,
+): Job = observe(id, state.valueFlow.map { transform(this, it) })
+
+/**
+ * Observe a single [Device] property
+ */
+public fun <T, D : Device, P : DevicePropertySpec<D, T>> DeviceDrawable2DStore.observeProperty(
+ device: D,
+ devicePropertySpec: DevicePropertySpec<D, T>,
+ id: String = devicePropertySpec.toString(),
+ transform: suspend DeviceDrawable2DStore.(T) -> DeviceDrawable2D,
+): Job = observe(id, device.propertyFlow(devicePropertySpec).map { transform(this, it) })
+
+@Composable
+public fun Device2DCanvas(
+ modifier: Modifier = Modifier,
+ flowBuilder: suspend DeviceDrawable2DStore.() -> Unit,
+) {
+ val coroutineScope = rememberCoroutineScope()
+ var canvasSize by remember { mutableStateOf(Size(100f, 100f)) }
+
+ val store = remember(canvasSize) {
+ DeviceDrawable2DStore(coroutineScope, canvasSize).apply {
+ coroutineScope.launch {
+ flowBuilder()
+ }
+ }
+ }
+
+ val drawables by store.drawableFlow.collectAsState()
+
+ key(store) {
+ Canvas(modifier.onGloballyPositioned {
+ canvasSize = it.size.toSize()
+ }) {
+ clipRect {
+ drawables.values.forEach {
+ with(it) { draw() }
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/demo/car/build.gradle.kts b/demo/car/build.gradle.kts
index b8a7fb6..967b87d 100644
--- a/demo/car/build.gradle.kts
+++ b/demo/car/build.gradle.kts
@@ -37,8 +37,8 @@ kotlin{
}
tasks.withType<org.jetbrains.kotlin.gradle.tasks.KotlinCompile>().configureEach {
- kotlinOptions {
- freeCompilerArgs = freeCompilerArgs + listOf("-Xjvm-default=all", "-Xopt-in=kotlin.RequiresOptIn")
+ compilerOptions {
+ freeCompilerArgs.addAll("-Xjvm-default=all")
}
}
diff --git a/demo/constructor/src/jvmMain/kotlin/Plotter.kt b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
index 474f5c2..16006d6 100644
--- a/demo/constructor/src/jvmMain/kotlin/Plotter.kt
+++ b/demo/constructor/src/jvmMain/kotlin/Plotter.kt
@@ -1,19 +1,29 @@
package space.kscience.controls.demo.constructor
-import androidx.compose.foundation.Canvas
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.fillMaxHeight
import androidx.compose.foundation.layout.fillMaxSize
-import androidx.compose.material.MaterialTheme
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.material3.Button
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.Text
import androidx.compose.runtime.*
import androidx.compose.ui.Modifier
import androidx.compose.ui.geometry.Offset
import androidx.compose.ui.geometry.Size
import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.unit.dp
import androidx.compose.ui.window.Window
import androidx.compose.ui.window.application
+import kotlinx.coroutines.Job
import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import org.jetbrains.compose.splitpane.ExperimentalSplitPaneApi
+import org.jetbrains.compose.splitpane.HorizontalSplitPane
+import space.kscience.controls.compose.*
import space.kscience.controls.constructor.*
import space.kscience.controls.constructor.devices.LimitSwitch
import space.kscience.controls.constructor.devices.StepDrive
@@ -121,24 +131,30 @@ private class PlotterModel(
context = context,
xDrive = xDrive,
yDrive = yDrive,
- xStartLimit = LimitSwitch(context,x.atStart),
- xEndLimit = LimitSwitch(context,x.atEnd),
- yStartLimit = LimitSwitch(context,x.atStart),
- yEndLimit = LimitSwitch(context,x.atEnd),
+ xStartLimit = LimitSwitch(context, x.atStart),
+ xEndLimit = LimitSwitch(context, x.atEnd),
+ yStartLimit = LimitSwitch(context, x.atStart),
+ yEndLimit = LimitSwitch(context, x.atEnd),
) { color ->
println("Point X: ${x.value.value}, Y: ${y.value.value}, color: $color")
callback(PlotterPoint(x.value, y.value, color))
}
}
+private val range = -1000..1000
+
+@OptIn(ExperimentalSplitPaneApi::class)
suspend fun main() = application {
Window(title = "Pid regulator simulator", onCloseRequest = ::exitApplication) {
window.minimumSize = Dimension(400, 400)
- val points = remember { mutableStateListOf<PlotterPoint>() }
- var position by remember { mutableStateOf(XY<Meters>(0, 0)) }
+ val scope = rememberCoroutineScope()
- LaunchedEffect(Unit) {
+ var updateJob: Job? = remember { null }
+
+ var points by remember { mutableStateOf<List<PlotterPoint>>(emptyList()) }
+
+ val plotterModel = remember {
val context = Context {
plugin(DeviceManager)
plugin(ClockManager)
@@ -146,53 +162,81 @@ suspend fun main() = application {
/* Here goes the device definition block */
- val plotterModel = PlotterModel(context) { plotterPoint ->
- points.add(plotterPoint)
+ PlotterModel(context) { plotterPoint ->
+ points += plotterPoint
}
-
- /* Start visualization program */
-
- plotterModel.xy.valueFlow.onEach {
- position = it
- }.launchIn(this)
-
- /* run program */
-
-
- val range = -1000..1000
-// plotterModel.plotter.modernArt(range, range)
- plotterModel.plotter.square(range, range)
-
}
-
/* Here goes the visualization block */
MaterialTheme {
- Canvas(modifier = Modifier.fillMaxSize()) {
- fun toOffset(x: NumericalValue<Meters>, y: NumericalValue<Meters>): Offset {
- val canvasX = (x - xRange.start) / (xRange.endInclusive - xRange.start) * size.width
- val canvasY = (y - yRange.start) / (yRange.endInclusive - yRange.start) * size.height
- return Offset(canvasX.toFloat(), canvasY.toFloat())
+ HorizontalSplitPane {
+ first(200.dp) {
+ Column(modifier = Modifier.fillMaxHeight()) {
+ Button({
+ updateJob?.cancel()
+ updateJob = scope.launch {
+ plotterModel.plotter.square(range, range)
+ }
+ }, modifier = Modifier.fillMaxWidth()) {
+ Text("Rectangle")
+ }
+ Button({
+ updateJob?.cancel()
+ updateJob = scope.launch {
+ plotterModel.plotter.modernArt(range, range)
+ }
+ }, modifier = Modifier.fillMaxWidth()) {
+ Text("Modern Art")
+ }
+ Button({
+ updateJob?.cancel()
+ }, modifier = Modifier.fillMaxWidth()) {
+ Text("Stop")
+ }
+ }
+
}
+ second {
+ Device2DCanvas(modifier = Modifier.fillMaxSize()) {
+ fun xToPx(x: NumericalValue<Meters>): Float =
+ ((x - xRange.start) / (xRange.endInclusive - xRange.start) * size.width).toFloat()
- val center = toOffset(position.x, position.y)
+ fun yToPx(y: NumericalValue<Meters>): Float =
+ ((y - yRange.start) / (yRange.endInclusive - yRange.start) * size.height).toFloat()
- drawRect(
- Color.LightGray,
- topLeft = Offset(0f, center.y - 5f),
- size = Size(size.width, 10f)
- )
+ fun toOffset(xy: XY<Meters>): Offset = Offset(xToPx(xy.x), yToPx(xy.y))
- drawCircle(Color.Black, radius = 10f, center = center)
+ observeState(plotterModel.y, "beam") { y ->
+ RectangleDrawable2D(
+ position = Offset(size.width / 2, yToPx(y)),
+ rectangleSize = Size(size.width, 10f),
+ color = Color.LightGray
+ )
+ }
+ observeState(plotterModel.xy, "head") { xy ->
+ CircleDrawable2D(
+ position = toOffset(xy),
+ radius = 10f,
+ color = Color.Black
+ )
+ }
- points.forEach {
- drawCircle(it.color, radius = 2f, center = toOffset(it.x, it.y))
+ snapshotFlow { points }.onEach {
+ it.forEachIndexed { index, plotterPoint ->
+ circle(
+ "point[$index]",
+ Offset(xToPx(plotterPoint.x), yToPx(plotterPoint.y)),
+ radius = 5f,
+ color = plotterPoint.color
+ )
+ }
+ }.launchIn(scope)
+ }
}
}
}
}
-
}
\ No newline at end of file
diff --git a/demo/echo/build.gradle.kts b/demo/echo/build.gradle.kts
index 873220e..ed722bf 100644
--- a/demo/echo/build.gradle.kts
+++ b/demo/echo/build.gradle.kts
@@ -21,8 +21,8 @@ kotlin{
}
tasks.withType<org.jetbrains.kotlin.gradle.tasks.KotlinCompile>().configureEach {
- kotlinOptions {
- freeCompilerArgs = freeCompilerArgs + listOf("-Xjvm-default=all", "-Xopt-in=kotlin.RequiresOptIn")
+ compilerOptions {
+ freeCompilerArgs.addAll("-Xjvm-default=all")
}
}
diff --git a/demo/many-devices/build.gradle.kts b/demo/many-devices/build.gradle.kts
index 64fbfe2..5743341 100644
--- a/demo/many-devices/build.gradle.kts
+++ b/demo/many-devices/build.gradle.kts
@@ -26,8 +26,8 @@ kotlin{
tasks.withType<org.jetbrains.kotlin.gradle.tasks.KotlinCompile>().configureEach {
- kotlinOptions {
- freeCompilerArgs = freeCompilerArgs + listOf("-Xjvm-default=all", "-Xopt-in=kotlin.RequiresOptIn")
+ compilerOptions {
+ freeCompilerArgs.addAll("-Xjvm-default=all")
}
}
diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
index 7c5a861..207964a 100644
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -81,7 +81,9 @@ 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"
+sciprog-maps-compose = { module = "space.kscience:maps-kt-compose", version = "0.3.0" }
+
+koala-plots = { module = "io.github.koalaplot:koalaplot-core", version = "0.6.1" }
# Buildscript
diff --git a/magix/magix-java-endpoint/build.gradle.kts b/magix/magix-java-endpoint/build.gradle.kts
index ce20b5d..68c7075 100644
--- a/magix/magix-java-endpoint/build.gradle.kts
+++ b/magix/magix-java-endpoint/build.gradle.kts
@@ -1,5 +1,3 @@
-import org.jetbrains.kotlin.gradle.tasks.KotlinCompile
-import space.kscience.gradle.KScienceVersions
import space.kscience.gradle.Maturity
plugins {
@@ -17,19 +15,6 @@ dependencies {
implementation(spclibs.kotlinx.coroutines.jdk9)
}
-//java {
-// sourceCompatibility = KScienceVersions.JVM_TARGET
-// targetCompatibility = KScienceVersions.JVM_TARGET
-//}
-
-
-//FIXME https://youtrack.jetbrains.com/issue/KT-52815/Compiler-option-Xjdk-release-fails-to-compile-mixed-projects
-tasks.withType<KotlinCompile>{
- kotlinOptions {
- freeCompilerArgs -= "-Xjdk-release=11"
- }
-}
-
-readme{
+readme {
maturity = Maturity.EXPERIMENTAL
}
\ No newline at end of file
From f0f9d0e174ff3744490a22a678e60c38b32f30ee Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Tue, 23 Jul 2024 20:32:01 +0300
Subject: [PATCH 114/125] Add direct canvas customization for DeviceDrawable2D
---
.../kscience/controls/constructor/devices/LimitSwitch.kt | 2 +-
.../src/commonMain/kotlin/DeviceDrawable2DStore.kt | 7 +++++--
2 files changed, 6 insertions(+), 3 deletions(-)
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/LimitSwitch.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/LimitSwitch.kt
index cba6b83..d06a385 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/LimitSwitch.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/LimitSwitch.kt
@@ -14,7 +14,7 @@ import space.kscience.dataforge.context.Context
/**
- * Virtual [LimitSwitch]
+ * A device that detects if a motor hits the end of its range
*/
public class LimitSwitch(
context: Context,
diff --git a/controls-visualisation-compose/src/commonMain/kotlin/DeviceDrawable2DStore.kt b/controls-visualisation-compose/src/commonMain/kotlin/DeviceDrawable2DStore.kt
index 1c17aad..94bf76c 100644
--- a/controls-visualisation-compose/src/commonMain/kotlin/DeviceDrawable2DStore.kt
+++ b/controls-visualisation-compose/src/commonMain/kotlin/DeviceDrawable2DStore.kt
@@ -4,6 +4,7 @@ import androidx.compose.foundation.Canvas
import androidx.compose.runtime.*
import androidx.compose.ui.Modifier
import androidx.compose.ui.geometry.Size
+import androidx.compose.ui.graphics.drawscope.DrawScope
import androidx.compose.ui.graphics.drawscope.clipRect
import androidx.compose.ui.layout.onGloballyPositioned
import androidx.compose.ui.unit.toSize
@@ -24,11 +25,11 @@ public class DeviceDrawable2DStore(public val scope: CoroutineScope, public val
public val drawableFlow: MutableStateFlow<Map<String, DeviceDrawable2D>> = MutableStateFlow(emptyMap())
}
-public fun DeviceDrawable2DStore.emit(id: String, drawable2D: DeviceDrawable2D){
+public fun DeviceDrawable2DStore.emit(id: String, drawable2D: DeviceDrawable2D) {
drawableFlow.value += (id to drawable2D)
}
-public fun DeviceDrawable2DStore.emitAll(drawables: Map<String, DeviceDrawable2D>){
+public fun DeviceDrawable2DStore.emitAll(drawables: Map<String, DeviceDrawable2D>) {
drawableFlow.value += drawables
}
@@ -62,6 +63,7 @@ public fun <T, D : Device, P : DevicePropertySpec<D, T>> DeviceDrawable2DStore.o
@Composable
public fun Device2DCanvas(
modifier: Modifier = Modifier,
+ onDraw: DrawScope.() -> Unit = {},
flowBuilder: suspend DeviceDrawable2DStore.() -> Unit,
) {
val coroutineScope = rememberCoroutineScope()
@@ -85,6 +87,7 @@ public fun Device2DCanvas(
drawables.values.forEach {
with(it) { draw() }
}
+ onDraw()
}
}
}
From 47327aef19954032adba2233e58ca188c133913f Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Thu, 25 Jul 2024 12:28:58 +0300
Subject: [PATCH 115/125] Add message flow output for PidDemo
---
.space.kts | 45 -------------------
build.gradle.kts | 1 +
.../controls/demo/DemoControllerView.kt | 6 ++-
.../constructor/src/jvmMain/kotlin/PidDemo.kt | 18 ++++++--
gradle/libs.versions.toml | 5 +--
5 files changed, 21 insertions(+), 54 deletions(-)
delete mode 100644 .space.kts
diff --git a/.space.kts b/.space.kts
deleted file mode 100644
index c5dd962..0000000
--- a/.space.kts
+++ /dev/null
@@ -1,45 +0,0 @@
-import kotlin.io.path.readText
-
-job("Build") {
- gradlew("spc.registry.jetbrains.space/p/sci/containers/kotlin-ci:1.0.3", "build")
-}
-
-job("Publish") {
- startOn {
- gitPush { enabled = false }
- }
- container("spc.registry.jetbrains.space/p/sci/containers/kotlin-ci:1.0.3") {
- env["SPACE_USER"] = "{{ project:space_user }}"
- env["SPACE_TOKEN"] = "{{ project:space_token }}"
- kotlinScript { api ->
-
- val spaceUser = System.getenv("SPACE_USER")
- val spaceToken = System.getenv("SPACE_TOKEN")
-
- // write the version to the build directory
- api.gradlew("version")
-
- //read the version from build file
- val version = java.nio.file.Path.of("build/project-version.txt").readText()
-
- val revisionSuffix = if (version.endsWith("SNAPSHOT")) {
- "-" + api.gitRevision().take(7)
- } else {
- ""
- }
-
- api.space().projects.automation.deployments.start(
- project = api.projectIdentifier(),
- targetIdentifier = TargetIdentifier.Key("maps-kt"),
- version = version+revisionSuffix,
- // automatically update deployment status based on the status of a job
- syncWithAutomationJob = true
- )
- api.gradlew(
- "publishAllPublicationsToSpaceRepository",
- "-Ppublishing.space.user=\"$spaceUser\"",
- "-Ppublishing.space.token=\"$spaceToken\"",
- )
- }
- }
-}
\ No newline at end of file
diff --git a/build.gradle.kts b/build.gradle.kts
index 7f7e534..b9b6d19 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -3,6 +3,7 @@ import space.kscience.gradle.useSPCTeam
plugins {
id("space.kscience.gradle.project")
+ alias(libs.plugins.versions)
}
allprojects {
diff --git a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
index f107f56..fc72520 100644
--- a/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
+++ b/demo/all-things/src/main/kotlin/space/kscience/controls/demo/DemoControllerView.kt
@@ -82,22 +82,24 @@ class DemoController : ContextAware {
opcUaServer.startup()
opcUaServer.serveDevices(deviceManager)
-
+ //create a remote listener endpoint
val listenerEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost")
+ // subscribe remote endpoint
listenerEndpoint.subscribe(DeviceManager.magixFormat).onEach { (magixMessage, deviceMessage) ->
// print all messages that are not property change message
if (deviceMessage !is PropertyChangedMessage) {
println(">> ${json.encodeToString(MagixMessage.serializer(), magixMessage)}")
}
}.launchIn(this)
+
+ // send description request
listenerEndpoint.send(
format = DeviceManager.magixFormat,
payload = GetDescriptionMessage(),
source = "listener",
// target = "demoDevice"
)
-
}
fun shutdown(): Job = context.launch {
diff --git a/demo/constructor/src/jvmMain/kotlin/PidDemo.kt b/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
index 81a5923..9411321 100644
--- a/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
+++ b/demo/constructor/src/jvmMain/kotlin/PidDemo.kt
@@ -19,10 +19,13 @@ import io.github.koalaplot.core.util.toString
import io.github.koalaplot.core.xygraph.XYGraph
import io.github.koalaplot.core.xygraph.rememberDoubleLinearAxisModel
import kotlinx.coroutines.flow.collect
+import kotlinx.coroutines.flow.filterIsInstance
+import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
import kotlinx.datetime.Instant
import org.jetbrains.compose.splitpane.ExperimentalSplitPaneApi
import org.jetbrains.compose.splitpane.HorizontalSplitPane
+import space.kscience.controls.api.PropertyChangedMessage
import space.kscience.controls.compose.NumberTextField
import space.kscience.controls.compose.PlotNumericState
import space.kscience.controls.compose.TimeAxisModel
@@ -39,11 +42,9 @@ import space.kscience.controls.constructor.onTimer
import space.kscience.controls.constructor.units.Kilograms
import space.kscience.controls.constructor.units.Meters
import space.kscience.controls.constructor.units.NumericalValue
-import space.kscience.controls.manager.ClockManager
-import space.kscience.controls.manager.DeviceManager
-import space.kscience.controls.manager.clock
-import space.kscience.controls.manager.install
+import space.kscience.controls.manager.*
import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.context.request
import java.awt.Dimension
import kotlin.math.PI
import kotlin.math.sin
@@ -165,6 +166,15 @@ fun main() = application {
//bind pid parameters
LaunchedEffect(Unit) {
+
+ // start listening to local device hub
+ context.request(DeviceManager).hubMessageFlow()
+ .filterIsInstance<PropertyChangedMessage>() // filter only property change messages
+ //.filter { it.sourceDevice == "linearDrive".asName()} //optionally filter by device name
+ .onEach {
+ println("${it.sourceDevice} >> ${it.property} changed to ${it.value}")
+ }.launchIn(this)
+
snapshotFlow {
pidParameters
}.onEach {
diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
index 207964a..daf1fd6 100644
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -31,8 +31,6 @@ plc4j = "0.12.0"
visionforge = "0.4.2"
-versions = "0.51.0"
-
[libraries]
dataforge-io = { module = "space.kscience:dataforge-io", version.ref = "dataforge" }
@@ -89,4 +87,5 @@ koala-plots = { module = "io.github.koalaplot:koalaplot-core", version = "0.6.1"
[plugins]
-versions = { id = "com.github.ben-manes.versions", version.ref = "versions" }
+versions = "com.github.ben-manes.versions:0.51.0"
+versions-update = "nl.littlerobots.version-catalog-update:0.8.4"
From c12f1ce1cdd7f1423fd33e6037447bd9c8285d51 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sat, 3 Aug 2024 21:11:59 +0300
Subject: [PATCH 116/125] Add lifecycle to ports. Suspended device start
---
CHANGELOG.md | 3 +
.../controls/constructor/DeviceGroup.kt | 6 +-
.../controls/constructor/DeviceGroupTest.kt | 4 +-
.../controls/api/AsynchronousSocket.kt | 12 +---
.../space/kscience/controls/api/Device.kt | 47 ++++-----------
.../kscience/controls/api/DeviceMessage.kt | 2 +-
.../kscience/controls/api/WithLifeCycle.kt | 59 +++++++++++++++++++
.../controls/ports/AsynchronousPort.kt | 11 ++--
.../controls/ports/SynchronousPort.kt | 18 +++---
.../kscience/controls/spec/DeviceBase.kt | 13 ++--
.../kscience/controls/spec/DeviceSpec.kt | 2 +-
.../kscience/controls/ports/ChannelPort.kt | 18 +++---
.../kscience/controls/ports/UdpSocketPort.kt | 9 +--
.../controls/ports/AsynchronousPortIOTest.kt | 8 +--
.../kscience/controls/client/DeviceClient.kt | 4 +-
.../controls/pi/AsynchronousPiPort.kt | 10 ++--
.../kscience/controls/pi/SynchronousPiPort.kt | 15 +++--
.../kscience/controls/ports/KtorTcpPort.kt | 16 ++---
.../kscience/controls/ports/KtorUdpPort.kt | 16 ++---
.../controls/serial/AsynchronousSerialPort.kt | 13 ++--
.../controls/serial/SynchronousSerialPort.kt | 16 ++---
.../sciprog/devices/mks/MksPdr900Device.kt | 4 +-
.../pimotionmaster/PiMotionMasterDevice.kt | 4 +-
.../PiMotionMasterVirtualDevice.kt | 17 +++---
24 files changed, 185 insertions(+), 142 deletions(-)
create mode 100644 controls-core/src/commonMain/kotlin/space/kscience/controls/api/WithLifeCycle.kt
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 29b1a5c..26cb25f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,7 @@
- `DeviceClient` properly evaluates lifecycle and logs
- `PeerConnection` API for direct device-device binary sharing
- DeviceDrawable2D intermediate visualization implementation
+- New interface `WithLifeCycle`. Change Port API to adhere to it.
### Changed
- Constructor properties return `DeviceState` in order to be able to subscribe to them
@@ -16,6 +17,8 @@
- `DeviceClient` now initializes property and action descriptors eagerly.
- `DeviceHub` now works with `Name` instead of `NameToken`. Tree-like structure is made using `Path`. Device messages no longer have access to sub-devices.
- Add some utility methods to ports. Synchronous port response could be now consumed as `Source`.
+- `DeviceLifecycleState` is replaced by `LifecycleState`.
+
### Deprecated
diff --git a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
index a41899a..79ff2ed 100644
--- a/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
+++ b/controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceGroup.kt
@@ -3,7 +3,7 @@ package space.kscience.controls.constructor
import kotlinx.coroutines.*
import kotlinx.coroutines.flow.*
import space.kscience.controls.api.*
-import space.kscience.controls.api.DeviceLifecycleState.*
+import space.kscience.controls.api.LifecycleState.*
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.install
import space.kscience.controls.spec.DevicePropertySpec
@@ -165,11 +165,11 @@ public open class DeviceGroup(
return action(argument)
}
- final override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
+ final override var lifecycleState: LifecycleState = LifecycleState.STOPPED
private set
- private suspend fun setLifecycleState(lifecycleState: DeviceLifecycleState) {
+ private suspend fun setLifecycleState(lifecycleState: LifecycleState) {
this.lifecycleState = lifecycleState
sharedMessageFlow.emit(
DeviceLifeCycleMessage(lifecycleState)
diff --git a/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/DeviceGroupTest.kt b/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/DeviceGroupTest.kt
index 40f00dc..aa46133 100644
--- a/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/DeviceGroupTest.kt
+++ b/controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/DeviceGroupTest.kt
@@ -4,7 +4,7 @@ import kotlinx.coroutines.flow.first
import kotlinx.coroutines.test.runTest
import space.kscience.controls.api.Device
import space.kscience.controls.api.DeviceLifeCycleMessage
-import space.kscience.controls.api.DeviceLifecycleState
+import space.kscience.controls.api.LifecycleState
import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.install
import space.kscience.controls.spec.doRecurring
@@ -37,7 +37,7 @@ class DeviceGroupTest {
}
error("Error!")
}
- testDevice.messageFlow.first { it is DeviceLifeCycleMessage && it.state == DeviceLifecycleState.STOPPED }
+ testDevice.messageFlow.first { it is DeviceLifeCycleMessage && it.state == LifecycleState.STOPPED }
println("stopped")
}
}
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/AsynchronousSocket.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/AsynchronousSocket.kt
index defefb2..7c56084 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/AsynchronousSocket.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/AsynchronousSocket.kt
@@ -5,7 +5,7 @@ import kotlinx.coroutines.flow.Flow
/**
* A generic bidirectional asynchronous sender/receiver object
*/
-public interface AsynchronousSocket<T> : AutoCloseable {
+public interface AsynchronousSocket<T> : WithLifeCycle {
/**
* Send an object to the socket
*/
@@ -15,16 +15,6 @@ public interface AsynchronousSocket<T> : AutoCloseable {
* Flow of objects received from socket
*/
public fun subscribe(): Flow<T>
-
- /**
- * Start socket operation
- */
- public fun open()
-
- /**
- * Check if this socket is open
- */
- public val isOpen: Boolean
}
/**
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
index 240eaa0..1e941bb 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/Device.kt
@@ -4,7 +4,6 @@ import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Job
import kotlinx.coroutines.cancel
import kotlinx.coroutines.flow.*
-import kotlinx.serialization.Serializable
import space.kscience.controls.api.Device.Companion.DEVICE_TARGET
import space.kscience.dataforge.context.ContextAware
import space.kscience.dataforge.context.info
@@ -15,40 +14,13 @@ import space.kscience.dataforge.meta.string
import space.kscience.dataforge.misc.DfType
import space.kscience.dataforge.names.parseAsName
-/**
- * A lifecycle state of a device
- */
-@Serializable
-public enum class DeviceLifecycleState {
-
- /**
- * Device is initializing
- */
- STARTING,
-
- /**
- * The Device is initialized and running
- */
- STARTED,
-
- /**
- * The Device is closed
- */
- STOPPED,
-
- /**
- * The device encountered irrecoverable error
- */
- ERROR
-}
-
/**
* General interface describing a managed Device.
* [Device] is a supervisor scope encompassing all operations on a device.
* When canceled, cancels all running processes.
*/
@DfType(DEVICE_TARGET)
-public interface Device : ContextAware, CoroutineScope {
+public interface Device : ContextAware, WithLifeCycle, CoroutineScope {
/**
* Initial configuration meta for the device
@@ -94,18 +66,16 @@ public interface Device : ContextAware, CoroutineScope {
* Initialize the device. This function suspends until the device is finished initialization.
* Does nothing if the device is started or is starting
*/
- public suspend fun start(): Unit = Unit
+ override suspend fun start(): Unit = Unit
/**
* Close and terminate the device. This function does not wait for the device to be closed.
*/
- public suspend fun stop() {
+ override suspend fun stop() {
coroutineContext[Job]?.cancel("The device is closed")
logger.info { "Device $this is closed" }
}
- public val lifecycleState: DeviceLifecycleState
-
public companion object {
public const val DEVICE_TARGET: String = "device"
}
@@ -114,7 +84,7 @@ public interface Device : ContextAware, CoroutineScope {
/**
* Inner id of a device. Not necessary corresponds to the name in the parent container
*/
-public val Device.id: String get() = meta["id"].string?: "device[${hashCode().toString(16)}]"
+public val Device.id: String get() = meta["id"].string ?: "device[${hashCode().toString(16)}]"
/**
* Device that caches properties values
@@ -167,3 +137,12 @@ public fun Device.onPropertyChange(
public fun Device.propertyMessageFlow(propertyName: String): Flow<PropertyChangedMessage> = messageFlow
.filterIsInstance<PropertyChangedMessage>()
.filter { it.property == propertyName }
+
+/**
+ * React on device lifecycle events
+ */
+public fun Device.onLifecycleEvent(
+ block: suspend (LifecycleState) -> Unit
+): Job = messageFlow.filterIsInstance<DeviceLifeCycleMessage>().onEach {
+ block(it.state)
+}.launchIn(this)
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
index 1aeabf6..e93fe7d 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/DeviceMessage.kt
@@ -240,7 +240,7 @@ public data class DeviceErrorMessage(
@Serializable
@SerialName("lifecycle")
public data class DeviceLifeCycleMessage(
- val state: DeviceLifecycleState,
+ val state: LifecycleState,
override val sourceDevice: Name = Name.EMPTY,
override val targetDevice: Name? = null,
override val comment: String? = null,
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/api/WithLifeCycle.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/WithLifeCycle.kt
new file mode 100644
index 0000000..631a66d
--- /dev/null
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/api/WithLifeCycle.kt
@@ -0,0 +1,59 @@
+package space.kscience.controls.api
+
+import kotlinx.serialization.Serializable
+
+/**
+ * A lifecycle state of a device
+ */
+@Serializable
+public enum class LifecycleState {
+
+ /**
+ * Device is initializing
+ */
+ STARTING,
+
+ /**
+ * The Device is initialized and running
+ */
+ STARTED,
+
+ /**
+ * The Device is closed
+ */
+ STOPPED,
+
+ /**
+ * The device encountered irrecoverable error
+ */
+ ERROR
+}
+
+
+/**
+ * An object that could be started or stopped functioning
+ */
+public interface WithLifeCycle {
+
+ public suspend fun start()
+
+ public suspend fun stop()
+
+ public val lifecycleState: LifecycleState
+}
+
+/**
+ * Bind this object lifecycle to a device lifecycle
+ *
+ * The starting and stopping are done in device scope
+ */
+public fun WithLifeCycle.bindToDeviceLifecycle(device: Device){
+ device.onLifecycleEvent {
+ when(it){
+ LifecycleState.STARTING -> start()
+ LifecycleState.STARTED -> {/*ignore*/}
+ LifecycleState.STOPPED -> stop()
+ LifecycleState.ERROR -> stop()
+ }
+ }
+}
\ No newline at end of file
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt
index 9b37fd3..29502f9 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/AsynchronousPort.kt
@@ -6,6 +6,7 @@ import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.receiveAsFlow
import kotlinx.io.Source
import space.kscience.controls.api.AsynchronousSocket
+import space.kscience.controls.api.LifecycleState
import space.kscience.dataforge.context.*
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.get
@@ -65,8 +66,8 @@ public abstract class AbstractAsynchronousPort(
protected abstract fun onOpen()
- final override fun open() {
- if (!isOpen) {
+ final override suspend fun start() {
+ if (lifecycleState == LifecycleState.STOPPED) {
sendJob = scope.launch {
for (data in outgoing) {
try {
@@ -80,7 +81,7 @@ public abstract class AbstractAsynchronousPort(
}
onOpen()
} else {
- logger.warn { "$this already opened" }
+ logger.warn { "$this already started" }
}
}
@@ -89,7 +90,7 @@ public abstract class AbstractAsynchronousPort(
* Send a data packet via the port
*/
override suspend fun send(data: ByteArray) {
- check(isOpen) { "The port is not opened" }
+ check(lifecycleState == LifecycleState.STARTED) { "The port is not opened" }
outgoing.send(data)
}
@@ -100,7 +101,7 @@ public abstract class AbstractAsynchronousPort(
*/
override fun subscribe(): Flow<ByteArray> = incoming.receiveAsFlow()
- override fun close() {
+ override suspend fun stop() {
outgoing.close()
incoming.close()
sendJob?.cancel()
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt
index ac368c5..8427760 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/ports/SynchronousPort.kt
@@ -7,6 +7,8 @@ import kotlinx.coroutines.sync.withLock
import kotlinx.io.Buffer
import kotlinx.io.Source
import kotlinx.io.readByteArray
+import space.kscience.controls.api.LifecycleState
+import space.kscience.controls.api.WithLifeCycle
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.ContextAware
@@ -14,11 +16,7 @@ import space.kscience.dataforge.context.ContextAware
* A port handler for synchronous (request-response) communication with a port.
* Only one request could be active at a time (others are suspended).
*/
-public interface SynchronousPort : ContextAware, AutoCloseable {
-
- public fun open()
-
- public val isOpen: Boolean
+public interface SynchronousPort : ContextAware, WithLifeCycle {
/**
* Send a single message and wait for the flow of response chunks.
@@ -71,14 +69,14 @@ private class SynchronousOverAsynchronousPort(
override val context: Context get() = port.context
- override fun open() {
- if (!port.isOpen) port.open()
+ override suspend fun start() {
+ if (port.lifecycleState == LifecycleState.STOPPED) port.start()
}
- override val isOpen: Boolean get() = port.isOpen
+ override val lifecycleState: LifecycleState get() = port.lifecycleState
- override fun close() {
- if (port.isOpen) port.close()
+ override suspend fun stop() {
+ if (port.lifecycleState == LifecycleState.STARTED) port.stop()
}
override suspend fun <R> respond(
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
index 941eda9..a060f46 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt
@@ -72,7 +72,6 @@ public abstract class DeviceBase<D : Device>(
onBufferOverflow = BufferOverflow.DROP_OLDEST
)
- @OptIn(ExperimentalCoroutinesApi::class)
override val coroutineContext: CoroutineContext = context.newCoroutineContext(
SupervisorJob(context.coroutineContext[Job]) +
CoroutineName("Device $id") +
@@ -188,11 +187,11 @@ public abstract class DeviceBase<D : Device>(
return spec.executeWithMeta(self, argument ?: Meta.EMPTY)
}
- final override var lifecycleState: DeviceLifecycleState = DeviceLifecycleState.STOPPED
+ final override var lifecycleState: LifecycleState = LifecycleState.STOPPED
private set
- private suspend fun setLifecycleState(lifecycleState: DeviceLifecycleState) {
+ private suspend fun setLifecycleState(lifecycleState: LifecycleState) {
this.lifecycleState = lifecycleState
sharedMessageFlow.emit(
DeviceLifeCycleMessage(lifecycleState)
@@ -204,11 +203,11 @@ public abstract class DeviceBase<D : Device>(
}
final override suspend fun start() {
- if (lifecycleState == DeviceLifecycleState.STOPPED) {
+ if (lifecycleState == LifecycleState.STOPPED) {
super.start()
- setLifecycleState(DeviceLifecycleState.STARTING)
+ setLifecycleState(LifecycleState.STARTING)
onStart()
- setLifecycleState(DeviceLifecycleState.STARTED)
+ setLifecycleState(LifecycleState.STARTED)
} else {
logger.debug { "Device $this is already started" }
}
@@ -220,7 +219,7 @@ public abstract class DeviceBase<D : Device>(
final override suspend fun stop() {
onStop()
- setLifecycleState(DeviceLifecycleState.STOPPED)
+ setLifecycleState(LifecycleState.STOPPED)
super.stop()
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
index 503df83..c6f8b0a 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt
@@ -33,7 +33,7 @@ public abstract class DeviceSpec<D : Device> {
public open suspend fun D.onOpen() {
}
- public open fun D.onClose() {
+ public open suspend fun D.onClose() {
}
diff --git a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
index 85c3d5c..e5430db 100644
--- a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
+++ b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/ChannelPort.kt
@@ -1,6 +1,7 @@
package space.kscience.controls.ports
import kotlinx.coroutines.*
+import space.kscience.controls.api.LifecycleState
import space.kscience.dataforge.context.*
import space.kscience.dataforge.meta.*
import java.net.InetSocketAddress
@@ -30,7 +31,7 @@ public class ChannelPort(
meta: Meta,
coroutineContext: CoroutineContext = context.coroutineContext,
channelBuilder: suspend () -> ByteChannel,
-) : AbstractAsynchronousPort(context, meta, coroutineContext), AutoCloseable {
+) : AbstractAsynchronousPort(context, meta, coroutineContext) {
/**
* A handler to await port connection
@@ -41,7 +42,8 @@ public class ChannelPort(
private var listenerJob: Job? = null
- override val isOpen: Boolean get() = listenerJob?.isActive == true
+ override val lifecycleState: LifecycleState
+ get() = if(listenerJob?.isActive == true) LifecycleState.STARTED else LifecycleState.STOPPED
override fun onOpen() {
listenerJob = scope.launch(Dispatchers.IO) {
@@ -71,12 +73,12 @@ public class ChannelPort(
}
@OptIn(ExperimentalCoroutinesApi::class)
- override fun close() {
+ override suspend fun stop() {
listenerJob?.cancel()
if (futureChannel.isCompleted) {
futureChannel.getCompleted().close()
}
- super.close()
+ super.stop()
}
}
@@ -105,12 +107,12 @@ public object TcpPort : Factory<AsynchronousPort> {
/**
* Create and open TCP port
*/
- public fun open(
+ public suspend fun start(
context: Context,
host: String,
port: Int,
coroutineContext: CoroutineContext = context.coroutineContext,
- ): ChannelPort = build(context, host, port, coroutineContext).apply { open() }
+ ): ChannelPort = build(context, host, port, coroutineContext).apply { start() }
override fun build(context: Context, meta: Meta): ChannelPort {
val host = meta["host"].string ?: "localhost"
@@ -156,13 +158,13 @@ public object UdpPort : Factory<AsynchronousPort> {
/**
* Connect a datagram channel to a remote host/port. If [localPort] is provided, it is used to bind local port for receiving messages.
*/
- public fun open(
+ public suspend fun start(
context: Context,
remoteHost: String,
remotePort: Int,
localPort: Int? = null,
localHost: String = "localhost",
- ): ChannelPort = build(context, remoteHost, remotePort, localPort, localHost).apply { open() }
+ ): ChannelPort = build(context, remoteHost, remotePort, localPort, localHost).apply { start() }
override fun build(context: Context, meta: Meta): ChannelPort {
diff --git a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/UdpSocketPort.kt b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/UdpSocketPort.kt
index ae65c64..39d4c13 100644
--- a/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/UdpSocketPort.kt
+++ b/controls-core/src/jvmMain/kotlin/space/kscience/controls/ports/UdpSocketPort.kt
@@ -1,6 +1,7 @@
package space.kscience.controls.ports
import kotlinx.coroutines.*
+import space.kscience.controls.api.LifecycleState
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.meta.Meta
import java.net.DatagramPacket
@@ -39,13 +40,13 @@ public class UdpSocketPort(
}
}
- override fun close() {
+ override suspend fun stop() {
listenerJob?.cancel()
- super.close()
+ super.stop()
}
- override val isOpen: Boolean get() = listenerJob?.isActive == true
-
+ override val lifecycleState: LifecycleState
+ get() = if(listenerJob?.isActive == true) LifecycleState.STARTED else LifecycleState.STOPPED
override suspend fun write(data: ByteArray): Unit = withContext(Dispatchers.IO) {
val packet = DatagramPacket(
diff --git a/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/AsynchronousPortIOTest.kt b/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/AsynchronousPortIOTest.kt
index b19cfad..6709f8c 100644
--- a/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/AsynchronousPortIOTest.kt
+++ b/controls-core/src/jvmTest/kotlin/space/kscience/controls/ports/AsynchronousPortIOTest.kt
@@ -29,8 +29,8 @@ internal class AsynchronousPortIOTest {
@Test
fun testUdpCommunication() = runTest {
- val receiver = UdpPort.open(Global, "localhost", 8811, localPort = 8812)
- val sender = UdpPort.open(Global, "localhost", 8812, localPort = 8811)
+ val receiver = UdpPort.start(Global, "localhost", 8811, localPort = 8812)
+ val sender = UdpPort.start(Global, "localhost", 8812, localPort = 8811)
delay(30)
repeat(10) {
@@ -44,7 +44,7 @@ internal class AsynchronousPortIOTest {
.toList()
assertEquals("Line number 3", res[3].trim())
- receiver.close()
- sender.close()
+ receiver.stop()
+ sender.stop()
}
}
\ No newline at end of file
diff --git a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
index f4a232e..045ee02 100644
--- a/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
+++ b/controls-magix/src/commonMain/kotlin/space/kscience/controls/client/DeviceClient.kt
@@ -99,10 +99,10 @@ public class DeviceClient internal constructor(
}
private val lifecycleStateFlow = messageFlow.filterIsInstance<DeviceLifeCycleMessage>()
- .map { it.state }.stateIn(this, started = SharingStarted.Eagerly, DeviceLifecycleState.STARTED)
+ .map { it.state }.stateIn(this, started = SharingStarted.Eagerly, LifecycleState.STARTED)
@DFExperimental
- override val lifecycleState: DeviceLifecycleState get() = lifecycleStateFlow.value
+ override val lifecycleState: LifecycleState get() = lifecycleStateFlow.value
}
/**
diff --git a/controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/AsynchronousPiPort.kt b/controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/AsynchronousPiPort.kt
index 1aee657..019ac9e 100644
--- a/controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/AsynchronousPiPort.kt
+++ b/controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/AsynchronousPiPort.kt
@@ -5,6 +5,7 @@ import com.pi4j.io.serial.Serial
import com.pi4j.io.serial.SerialConfigBuilder
import com.pi4j.ktx.io.serial
import kotlinx.coroutines.*
+import space.kscience.controls.api.LifecycleState
import space.kscience.controls.ports.AbstractAsynchronousPort
import space.kscience.controls.ports.AsynchronousPort
import space.kscience.controls.ports.copyToArray
@@ -49,9 +50,10 @@ public class AsynchronousPiPort(
}
- override val isOpen: Boolean get() = listenerJob?.isActive == true
+ override val lifecycleState: LifecycleState
+ get() = if(listenerJob?.isActive == true) LifecycleState.STARTED else LifecycleState.STOPPED
- override fun close() {
+ override suspend fun stop() {
listenerJob?.cancel()
serial.close()
}
@@ -74,11 +76,11 @@ public class AsynchronousPiPort(
return AsynchronousPiPort(context, meta, serial)
}
- public fun open(
+ public suspend fun start(
context: Context,
device: String,
block: SerialConfigBuilder.() -> Unit,
- ): AsynchronousPiPort = build(context, device, block).apply { open() }
+ ): AsynchronousPiPort = build(context, device, block).apply { start() }
override fun build(context: Context, meta: Meta): AsynchronousPort {
val device: String = meta["device"].string ?: error("Device name not defined")
diff --git a/controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt b/controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt
index 6bc590c..d91cd6c 100644
--- a/controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt
+++ b/controls-pi/src/jvmMain/kotlin/space/kscience/controls/pi/SynchronousPiPort.kt
@@ -10,6 +10,7 @@ import kotlinx.coroutines.flow.flow
import kotlinx.coroutines.runInterruptible
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
+import space.kscience.controls.api.LifecycleState
import space.kscience.controls.ports.SynchronousPort
import space.kscience.controls.ports.copyToArray
import space.kscience.dataforge.context.*
@@ -27,11 +28,13 @@ public class SynchronousPiPort(
) : SynchronousPort {
private val pi = context.request(PiPlugin)
- override fun open() {
+
+ override suspend fun start() {
serial.open()
}
- override val isOpen: Boolean get() = serial.isOpen
+ override val lifecycleState: LifecycleState
+ get() = if(serial.isOpen) LifecycleState.STARTED else LifecycleState.STOPPED
override suspend fun <R> respond(
request: ByteArray,
@@ -41,7 +44,7 @@ public class SynchronousPiPort(
serial.write(request)
flow<ByteArray> {
val buffer = ByteBuffer.allocate(1024)
- while (isOpen) {
+ while (serial.isOpen) {
try {
val num = serial.read(buffer)
if (num > 0) {
@@ -64,7 +67,7 @@ public class SynchronousPiPort(
}
}
- override fun close() {
+ override suspend fun stop() {
serial.close()
}
@@ -86,11 +89,11 @@ public class SynchronousPiPort(
return SynchronousPiPort(context, meta, serial)
}
- public fun open(
+ public suspend fun start(
context: Context,
device: String,
block: SerialConfigBuilder.() -> Unit,
- ): SynchronousPiPort = build(context, device, block).apply { open() }
+ ): SynchronousPiPort = build(context, device, block).apply { start() }
override fun build(context: Context, meta: Meta): SynchronousPiPort {
val device: String = meta["device"].string ?: error("Device name not defined")
diff --git a/controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorTcpPort.kt b/controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorTcpPort.kt
index 463e922..d853e46 100644
--- a/controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorTcpPort.kt
+++ b/controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorTcpPort.kt
@@ -6,9 +6,9 @@ import io.ktor.network.sockets.aSocket
import io.ktor.network.sockets.openReadChannel
import io.ktor.network.sockets.openWriteChannel
import io.ktor.utils.io.consumeEachBufferRange
-import io.ktor.utils.io.core.Closeable
import io.ktor.utils.io.writeAvailable
import kotlinx.coroutines.*
+import space.kscience.controls.api.LifecycleState
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.meta.Meta
@@ -25,7 +25,7 @@ public class KtorTcpPort internal constructor(
public val port: Int,
coroutineContext: CoroutineContext = context.coroutineContext,
socketOptions: SocketOptions.TCPClientSocketOptions.() -> Unit = {},
-) : AbstractAsynchronousPort(context, meta, coroutineContext), Closeable {
+) : AbstractAsynchronousPort(context, meta, coroutineContext) {
override fun toString(): String = "port[tcp:$host:$port]"
@@ -55,13 +55,13 @@ public class KtorTcpPort internal constructor(
writeChannel.await().writeAvailable(data)
}
- override val isOpen: Boolean
- get() = listenerJob?.isActive == true
+ override val lifecycleState: LifecycleState
+ get() = if(listenerJob?.isActive == true) LifecycleState.STARTED else LifecycleState.STOPPED
- override fun close() {
+ override suspend fun stop() {
listenerJob?.cancel()
futureSocket.cancel()
- super.close()
+ super.stop()
}
public companion object : Factory<AsynchronousPort> {
@@ -82,13 +82,13 @@ public class KtorTcpPort internal constructor(
return KtorTcpPort(context, meta, host, port, coroutineContext, socketOptions)
}
- public fun open(
+ public suspend fun start(
context: Context,
host: String,
port: Int,
coroutineContext: CoroutineContext = context.coroutineContext,
socketOptions: SocketOptions.TCPClientSocketOptions.() -> Unit = {},
- ): KtorTcpPort = build(context, host, port, coroutineContext, socketOptions).apply { open() }
+ ): KtorTcpPort = build(context, host, port, coroutineContext, socketOptions).apply { start() }
override fun build(context: Context, meta: Meta): AsynchronousPort {
val host = meta["host"].string ?: "localhost"
diff --git a/controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorUdpPort.kt b/controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorUdpPort.kt
index 48096cf..267daa4 100644
--- a/controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorUdpPort.kt
+++ b/controls-ports-ktor/src/jvmMain/kotlin/space/kscience/controls/ports/KtorUdpPort.kt
@@ -4,9 +4,9 @@ import io.ktor.network.selector.ActorSelectorManager
import io.ktor.network.sockets.*
import io.ktor.utils.io.ByteWriteChannel
import io.ktor.utils.io.consumeEachBufferRange
-import io.ktor.utils.io.core.Closeable
import io.ktor.utils.io.writeAvailable
import kotlinx.coroutines.*
+import space.kscience.controls.api.LifecycleState
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.meta.Meta
@@ -24,7 +24,7 @@ public class KtorUdpPort internal constructor(
public val localHost: String = "localhost",
coroutineContext: CoroutineContext = context.coroutineContext,
socketOptions: SocketOptions.UDPSocketOptions.() -> Unit = {},
-) : AbstractAsynchronousPort(context, meta, coroutineContext), Closeable {
+) : AbstractAsynchronousPort(context, meta, coroutineContext) {
override fun toString(): String = "port[udp:$remoteHost:$remotePort]"
@@ -58,13 +58,13 @@ public class KtorUdpPort internal constructor(
writeChannel.await().writeAvailable(data)
}
- override val isOpen: Boolean
- get() = listenerJob?.isActive == true
+ override val lifecycleState: LifecycleState
+ get() = if(listenerJob?.isActive == true) LifecycleState.STARTED else LifecycleState.STOPPED
- override fun close() {
+ override suspend fun stop() {
listenerJob?.cancel()
futureSocket.cancel()
- super.close()
+ super.stop()
}
public companion object : Factory<AsynchronousPort> {
@@ -101,7 +101,7 @@ public class KtorUdpPort internal constructor(
/**
* Create and open UDP port
*/
- public fun open(
+ public suspend fun start(
context: Context,
remoteHost: String,
remotePort: Int,
@@ -117,7 +117,7 @@ public class KtorUdpPort internal constructor(
localHost,
coroutineContext,
socketOptions
- ).apply { open() }
+ ).apply { start() }
override fun build(context: Context, meta: Meta): AsynchronousPort {
val remoteHost by meta.string { error("Remote host is not specified") }
diff --git a/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt b/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt
index b6e83bc..a9c4ede 100644
--- a/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt
+++ b/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt
@@ -5,6 +5,7 @@ import com.fazecast.jSerialComm.SerialPortDataListener
import com.fazecast.jSerialComm.SerialPortEvent
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.launch
+import space.kscience.controls.api.LifecycleState
import space.kscience.controls.ports.AbstractAsynchronousPort
import space.kscience.controls.ports.AsynchronousPort
import space.kscience.dataforge.context.Context
@@ -55,18 +56,20 @@ public class AsynchronousSerialPort(
comPort.addDataListener(serialPortListener)
}
- override val isOpen: Boolean get() = comPort.isOpen
+ override val lifecycleState: LifecycleState
+ get() = if(comPort.isOpen) LifecycleState.STARTED else LifecycleState.STOPPED
+
override suspend fun write(data: ByteArray) {
comPort.writeBytes(data, data.size)
}
- override fun close() {
+ override suspend fun stop() {
comPort.removeDataListener()
if (comPort.isOpen) {
comPort.closePort()
}
- super.close()
+ super.stop()
}
public companion object : Factory<AsynchronousPort> {
@@ -100,7 +103,7 @@ public class AsynchronousSerialPort(
/**
* Construct ComPort with given parameters
*/
- public fun open(
+ public suspend fun start(
context: Context,
portName: String,
baudRate: Int = 9600,
@@ -118,7 +121,7 @@ public class AsynchronousSerialPort(
parity = parity,
coroutineContext = coroutineContext,
additionalConfig = additionalConfig
- ).apply { open() }
+ ).apply { start() }
override fun build(context: Context, meta: Meta): AsynchronousPort {
diff --git a/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt b/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt
index 1a9b4a5..b9fc091 100644
--- a/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt
+++ b/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/SynchronousSerialPort.kt
@@ -7,6 +7,7 @@ import kotlinx.coroutines.flow.flow
import kotlinx.coroutines.runInterruptible
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
+import space.kscience.controls.api.LifecycleState
import space.kscience.controls.ports.SynchronousPort
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
@@ -28,16 +29,17 @@ public class SynchronousSerialPort(
override fun toString(): String = "port[${comPort.descriptivePortName}]"
- override fun open() {
- if (!isOpen) {
+ override suspend fun start() {
+ if (!comPort.isOpen) {
comPort.openPort()
}
}
- override val isOpen: Boolean get() = comPort.isOpen
+ override val lifecycleState: LifecycleState
+ get() = if(comPort.isOpen) LifecycleState.STARTED else LifecycleState.STOPPED
- override fun close() {
+ override suspend fun stop() {
if (comPort.isOpen) {
comPort.closePort()
}
@@ -52,7 +54,7 @@ public class SynchronousSerialPort(
comPort.flushIOBuffers()
comPort.writeBytes(request, request.size)
flow<ByteArray> {
- while (isOpen) {
+ while (comPort.isOpen) {
try {
val available = comPort.bytesAvailable()
if (available > 0) {
@@ -108,7 +110,7 @@ public class SynchronousSerialPort(
/**
* Construct ComPort with given parameters
*/
- public fun open(
+ public suspend fun start(
context: Context,
portName: String,
baudRate: Int = 9600,
@@ -124,7 +126,7 @@ public class SynchronousSerialPort(
stopBits = stopBits,
parity = parity,
additionalConfig = additionalConfig
- ).apply { open() }
+ ).apply { start() }
override fun build(context: Context, meta: Meta): SynchronousPort {
diff --git a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
index b0fd562..d28acc0 100644
--- a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
+++ b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
@@ -99,9 +99,9 @@ class MksPdr900Device(context: Context, meta: Meta) : DeviceBySpec<MksPdr900Devi
val error by logicalProperty(MetaConverter.string)
- override fun MksPdr900Device.onClose() {
+ override suspend fun MksPdr900Device.onClose() {
if (portDelegate.isInitialized()) {
- port.close()
+ port.stop()
}
}
}
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
index b0282d0..04e03df 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
@@ -168,7 +168,7 @@ class PiMotionMasterDevice(
}
//Update port
//address = portSpec.node
- port = portFactory(portSpec, context).apply { open() }
+ port = portFactory(portSpec, context).apply { start() }
// connector.open()
//Initialize axes
val idn = read(identity)
@@ -190,7 +190,7 @@ class PiMotionMasterDevice(
}) {
port?.let {
execute(stop)
- it.close()
+ it.stop()
}
port = null
propertyChanged(connected, false)
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterVirtualDevice.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterVirtualDevice.kt
index f343d7c..4ec21de 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterVirtualDevice.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterVirtualDevice.kt
@@ -6,6 +6,7 @@ import kotlinx.coroutines.flow.*
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import space.kscience.controls.api.AsynchronousSocket
+import space.kscience.controls.api.LifecycleState
import space.kscience.controls.ports.AbstractAsynchronousPort
import space.kscience.controls.ports.withDelimiter
import space.kscience.dataforge.context.*
@@ -48,10 +49,10 @@ abstract class VirtualDevice(val scope: CoroutineScope) : AsynchronousSocket<Byt
respond(response())
}
- override val isOpen: Boolean
- get() = scope.isActive
+ override val lifecycleState: LifecycleState
+ get() = if(scope.isActive) LifecycleState.STARTED else LifecycleState.STOPPED
- override fun close() = scope.cancel()
+ override suspend fun stop() = scope.cancel()
}
class VirtualPort(private val device: VirtualDevice, context: Context) : AbstractAsynchronousPort(context, Meta.EMPTY) {
@@ -72,12 +73,12 @@ class VirtualPort(private val device: VirtualDevice, context: Context) : Abstrac
device.send(data)
}
- override val isOpen: Boolean
- get() = respondJob?.isActive == true
+ override val lifecycleState: LifecycleState
+ get() = if(respondJob?.isActive == true) LifecycleState.STARTED else LifecycleState.STOPPED
- override fun close() {
+ override suspend fun stop() {
respondJob?.cancel()
- super.close()
+ super.stop()
}
}
@@ -88,7 +89,7 @@ class PiMotionMasterVirtualDevice(
scope: CoroutineScope = context,
) : VirtualDevice(scope), ContextAware {
- override fun open() {
+ override suspend fun start() {
//add asynchronous send logic here
}
From 89d78c43bbc148d67bb61025502a6a085f8a68c5 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sat, 3 Aug 2024 21:26:50 +0300
Subject: [PATCH 117/125] Add wasm and native targets to core modules
---
build.gradle.kts | 2 +-
controls-constructor/build.gradle.kts | 2 ++
controls-core/build.gradle.kts | 1 +
.../src/wasmJsMain/kotlin/fromSpec.wasm.kt | 9 +++++++++
controls-magix/build.gradle.kts | 1 +
.../kscience/controls/demo/car/IVirtualCar.kt | 0
.../controls/demo/car/MagixVirtualCar.kt | 0
.../kscience/controls/demo/car/VirtualCar.kt | 0
.../controls/demo/car/VirtualCarController.kt | 0
.../src/{main => jvmMain}/kotlin/zmq.kt | 0
magix/magix-api/build.gradle.kts | 1 +
magix/magix-mqtt/build.gradle.kts | 15 +++++++++------
.../magix/rabbit/RabbitMQMagixEndpoint.kt | 0
.../magix-storage-xodus/build.gradle.kts | 18 +++++++++++-------
magix/magix-zmq/build.gradle.kts | 13 ++++++++-----
.../kscince/magix/zmq/ZmqMagixEndpoint.kt | 0
.../kscince/magix/zmq/ZmqMagixFlowPlugin.kt | 1 -
17 files changed, 43 insertions(+), 20 deletions(-)
create mode 100644 controls-core/src/wasmJsMain/kotlin/fromSpec.wasm.kt
rename demo/car/src/{main => jvmMain}/kotlin/space/kscience/controls/demo/car/IVirtualCar.kt (100%)
rename demo/car/src/{main => jvmMain}/kotlin/space/kscience/controls/demo/car/MagixVirtualCar.kt (100%)
rename demo/car/src/{main => jvmMain}/kotlin/space/kscience/controls/demo/car/VirtualCar.kt (100%)
rename demo/car/src/{main => jvmMain}/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt (100%)
rename demo/magix-demo/src/{main => jvmMain}/kotlin/zmq.kt (100%)
rename magix/magix-rabbit/src/{main => jvmMain}/kotlin/space/kscience/magix/rabbit/RabbitMQMagixEndpoint.kt (100%)
rename magix/magix-zmq/src/{main => jvmMain}/kotlin/space/kscince/magix/zmq/ZmqMagixEndpoint.kt (100%)
rename magix/magix-zmq/src/{main => jvmMain}/kotlin/space/kscince/magix/zmq/ZmqMagixFlowPlugin.kt (97%)
diff --git a/build.gradle.kts b/build.gradle.kts
index b9b6d19..619a512 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -8,7 +8,7 @@ plugins {
allprojects {
group = "space.kscience"
- version = "0.4.0-dev-5"
+ version = "0.4.0-dev-6"
repositories{
google()
}
diff --git a/controls-constructor/build.gradle.kts b/controls-constructor/build.gradle.kts
index 008a242..1947f91 100644
--- a/controls-constructor/build.gradle.kts
+++ b/controls-constructor/build.gradle.kts
@@ -10,6 +10,8 @@ description = """
kscience{
jvm()
js()
+ native()
+ wasm()
useCoroutines()
useSerialization()
commonMain {
diff --git a/controls-core/build.gradle.kts b/controls-core/build.gradle.kts
index 9624b35..868cdd0 100644
--- a/controls-core/build.gradle.kts
+++ b/controls-core/build.gradle.kts
@@ -13,6 +13,7 @@ kscience {
jvm()
js()
native()
+ wasm()
useCoroutines()
useSerialization{
json()
diff --git a/controls-core/src/wasmJsMain/kotlin/fromSpec.wasm.kt b/controls-core/src/wasmJsMain/kotlin/fromSpec.wasm.kt
new file mode 100644
index 0000000..cd77248
--- /dev/null
+++ b/controls-core/src/wasmJsMain/kotlin/fromSpec.wasm.kt
@@ -0,0 +1,9 @@
+package space.kscience.controls.spec
+
+import space.kscience.controls.api.ActionDescriptor
+import space.kscience.controls.api.PropertyDescriptor
+import kotlin.reflect.KProperty
+
+internal actual fun PropertyDescriptor.fromSpec(property: KProperty<*>){}
+
+internal actual fun ActionDescriptor.fromSpec(property: KProperty<*>){}
\ No newline at end of file
diff --git a/controls-magix/build.gradle.kts b/controls-magix/build.gradle.kts
index ea03a7e..1425eb0 100644
--- a/controls-magix/build.gradle.kts
+++ b/controls-magix/build.gradle.kts
@@ -13,6 +13,7 @@ kscience {
jvm()
js()
native()
+ wasm()
useCoroutines()
useSerialization {
json()
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/IVirtualCar.kt b/demo/car/src/jvmMain/kotlin/space/kscience/controls/demo/car/IVirtualCar.kt
similarity index 100%
rename from demo/car/src/main/kotlin/space/kscience/controls/demo/car/IVirtualCar.kt
rename to demo/car/src/jvmMain/kotlin/space/kscience/controls/demo/car/IVirtualCar.kt
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/MagixVirtualCar.kt b/demo/car/src/jvmMain/kotlin/space/kscience/controls/demo/car/MagixVirtualCar.kt
similarity index 100%
rename from demo/car/src/main/kotlin/space/kscience/controls/demo/car/MagixVirtualCar.kt
rename to demo/car/src/jvmMain/kotlin/space/kscience/controls/demo/car/MagixVirtualCar.kt
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt b/demo/car/src/jvmMain/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
similarity index 100%
rename from demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
rename to demo/car/src/jvmMain/kotlin/space/kscience/controls/demo/car/VirtualCar.kt
diff --git a/demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt b/demo/car/src/jvmMain/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt
similarity index 100%
rename from demo/car/src/main/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt
rename to demo/car/src/jvmMain/kotlin/space/kscience/controls/demo/car/VirtualCarController.kt
diff --git a/demo/magix-demo/src/main/kotlin/zmq.kt b/demo/magix-demo/src/jvmMain/kotlin/zmq.kt
similarity index 100%
rename from demo/magix-demo/src/main/kotlin/zmq.kt
rename to demo/magix-demo/src/jvmMain/kotlin/zmq.kt
diff --git a/magix/magix-api/build.gradle.kts b/magix/magix-api/build.gradle.kts
index 68151c3..253f3e3 100644
--- a/magix/magix-api/build.gradle.kts
+++ b/magix/magix-api/build.gradle.kts
@@ -13,6 +13,7 @@ kscience {
jvm()
js()
native()
+ wasm()
useCoroutines()
useSerialization{
json()
diff --git a/magix/magix-mqtt/build.gradle.kts b/magix/magix-mqtt/build.gradle.kts
index 5261a00..9241929 100644
--- a/magix/magix-mqtt/build.gradle.kts
+++ b/magix/magix-mqtt/build.gradle.kts
@@ -1,5 +1,5 @@
plugins {
- id("space.kscience.gradle.jvm")
+ id("space.kscience.gradle.mpp")
`maven-publish`
}
@@ -7,12 +7,15 @@ description = """
MQTT client magix endpoint
""".trimIndent()
-dependencies {
- api(projects.magix.magixApi)
- implementation(libs.hivemq.mqtt.client)
- implementation(spclibs.kotlinx.coroutines.jdk8)
+kscience {
+ jvm()
+ jvmMain {
+ api(projects.magix.magixApi)
+ implementation(libs.hivemq.mqtt.client)
+ implementation(spclibs.kotlinx.coroutines.jdk8)
+ }
}
-readme{
+readme {
maturity = space.kscience.gradle.Maturity.PROTOTYPE
}
diff --git a/magix/magix-rabbit/src/main/kotlin/space/kscience/magix/rabbit/RabbitMQMagixEndpoint.kt b/magix/magix-rabbit/src/jvmMain/kotlin/space/kscience/magix/rabbit/RabbitMQMagixEndpoint.kt
similarity index 100%
rename from magix/magix-rabbit/src/main/kotlin/space/kscience/magix/rabbit/RabbitMQMagixEndpoint.kt
rename to magix/magix-rabbit/src/jvmMain/kotlin/space/kscience/magix/rabbit/RabbitMQMagixEndpoint.kt
diff --git a/magix/magix-storage/magix-storage-xodus/build.gradle.kts b/magix/magix-storage/magix-storage-xodus/build.gradle.kts
index f50abe3..6c35cef 100644
--- a/magix/magix-storage/magix-storage-xodus/build.gradle.kts
+++ b/magix/magix-storage/magix-storage-xodus/build.gradle.kts
@@ -1,20 +1,24 @@
plugins {
- id("space.kscience.gradle.jvm")
+ id("space.kscience.gradle.mpp")
`maven-publish`
}
kscience {
+ jvm()
useCoroutines()
-}
-
-dependencies {
- api(projects.magix.magixStorage)
- implementation(libs.xodus.entity.store)
+ jvmMain {
+ api(projects.magix.magixStorage)
+ implementation(libs.xodus.entity.store)
// implementation("org.jetbrains.xodus:dnq:2.0.0")
- testImplementation(spclibs.kotlinx.coroutines.test)
+ }
+
+ jvmTest{
+ implementation(spclibs.kotlinx.coroutines.test)
+ }
}
+
readme {
maturity = space.kscience.gradle.Maturity.PROTOTYPE
}
diff --git a/magix/magix-zmq/build.gradle.kts b/magix/magix-zmq/build.gradle.kts
index 20cc246..7eedafa 100644
--- a/magix/magix-zmq/build.gradle.kts
+++ b/magix/magix-zmq/build.gradle.kts
@@ -1,7 +1,7 @@
import space.kscience.gradle.Maturity
plugins {
- id("space.kscience.gradle.jvm")
+ id("space.kscience.gradle.mpp")
`maven-publish`
}
@@ -9,10 +9,13 @@ description = """
ZMQ client endpoint for Magix
""".trimIndent()
-dependencies {
- api(projects.magix.magixApi)
- api("org.slf4j:slf4j-api:2.0.6")
- api("org.zeromq:jeromq:0.5.3")
+kscience {
+ jvm()
+ jvmMain {
+ api(projects.magix.magixApi)
+ api("org.slf4j:slf4j-api:2.0.6")
+ api("org.zeromq:jeromq:0.5.3")
+ }
}
readme {
diff --git a/magix/magix-zmq/src/main/kotlin/space/kscince/magix/zmq/ZmqMagixEndpoint.kt b/magix/magix-zmq/src/jvmMain/kotlin/space/kscince/magix/zmq/ZmqMagixEndpoint.kt
similarity index 100%
rename from magix/magix-zmq/src/main/kotlin/space/kscince/magix/zmq/ZmqMagixEndpoint.kt
rename to magix/magix-zmq/src/jvmMain/kotlin/space/kscince/magix/zmq/ZmqMagixEndpoint.kt
diff --git a/magix/magix-zmq/src/main/kotlin/space/kscince/magix/zmq/ZmqMagixFlowPlugin.kt b/magix/magix-zmq/src/jvmMain/kotlin/space/kscince/magix/zmq/ZmqMagixFlowPlugin.kt
similarity index 97%
rename from magix/magix-zmq/src/main/kotlin/space/kscince/magix/zmq/ZmqMagixFlowPlugin.kt
rename to magix/magix-zmq/src/jvmMain/kotlin/space/kscince/magix/zmq/ZmqMagixFlowPlugin.kt
index 7813b8c..c35aa39 100644
--- a/magix/magix-zmq/src/main/kotlin/space/kscince/magix/zmq/ZmqMagixFlowPlugin.kt
+++ b/magix/magix-zmq/src/jvmMain/kotlin/space/kscince/magix/zmq/ZmqMagixFlowPlugin.kt
@@ -4,7 +4,6 @@ import kotlinx.coroutines.*
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.launchIn
import kotlinx.coroutines.flow.onEach
-import kotlinx.serialization.decodeFromString
import kotlinx.serialization.encodeToString
import org.slf4j.LoggerFactory
import org.zeromq.SocketType
From 284f9feb9383431d03284408b0802630339a8f8c Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 13 Nov 2024 17:11:53 +0300
Subject: [PATCH 118/125] Simulation initial commit
---
settings.gradle.kts | 1 +
simulation-kt/build.gradle.kts | 32 +++++++
.../commonMain/kotlin/GeneratingTimeline.kt | 96 +++++++++++++++++++
.../src/commonMain/kotlin/MergedTimeline.kt | 49 ++++++++++
.../src/commonMain/kotlin/SharedTimeline.kt | 86 +++++++++++++++++
.../src/commonMain/kotlin/Timeline.kt | 76 +++++++++++++++
6 files changed, 340 insertions(+)
create mode 100644 simulation-kt/build.gradle.kts
create mode 100644 simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
create mode 100644 simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
create mode 100644 simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
create mode 100644 simulation-kt/src/commonMain/kotlin/Timeline.kt
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 7e84c71..702ce9b 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -52,6 +52,7 @@ dependencyResolutionManagement {
}
include(
+ ":simulation-kt",
":controls-core",
":controls-ports-ktor",
":controls-serial",
diff --git a/simulation-kt/build.gradle.kts b/simulation-kt/build.gradle.kts
new file mode 100644
index 0000000..c30480a
--- /dev/null
+++ b/simulation-kt/build.gradle.kts
@@ -0,0 +1,32 @@
+import space.kscience.gradle.Maturity
+
+plugins {
+ id("space.kscience.gradle.mpp")
+ `maven-publish`
+}
+
+description = """
+ Core interfaces for building a device server
+""".trimIndent()
+
+kscience {
+ jvm()
+ js()
+ native()
+ wasm()
+ useCoroutines()
+ useContextReceivers()
+
+ commonMain {
+ api(spclibs.kotlinx.datetime)
+ }
+
+ jvmTest{
+ implementation(spclibs.logback.classic)
+ }
+}
+
+
+readme{
+ maturity = Maturity.EXPERIMENTAL
+}
\ No newline at end of file
diff --git a/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt b/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
new file mode 100644
index 0000000..4e9da50
--- /dev/null
+++ b/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
@@ -0,0 +1,96 @@
+package space.kscience.simulation
+
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.asFlow
+import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.flow.takeWhile
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.sync.Mutex
+import kotlinx.coroutines.sync.withLock
+import kotlinx.datetime.Instant
+import kotlin.time.Duration
+
+/**
+ * @param lookaheadInterval an interval for generated events ahead of the last observed event.
+ */
+public class GeneratingTimeline<E : TimelineEvent>(
+ private val generationScope: CoroutineScope,
+ private val initialEvent: E,
+ private val lookaheadInterval: Duration,
+ private val generatorChain: suspend (E) -> E
+) : Timeline<E> {
+
+ private val mutex = Mutex()
+
+ private val events = ArrayDeque<E>()
+
+ private val observers: MutableSet<TimelineObserver> = mutableSetOf()
+
+ override val lastEventTime: Instant?
+ get() = events.lastOrNull()?.time
+
+ override val observedTime: Instant
+ get() = observers.minOfOrNull { it.lastCollectedEventTime } ?: Instant.DISTANT_PAST
+
+ override fun flowUnobservedEvents(): Flow<E> = events.asFlow()
+
+ override suspend fun advance(toTime: Instant) {
+ observers.forEach {
+ it.collect(toTime)
+ }
+ }
+
+ private var generatorJob: Job = launchGenerateJob(initialEvent)
+
+ private fun launchGenerateJob(event: E): Job = generationScope.launch {
+ var currentEvent = event
+ while(currentEvent.time < observedTime + lookaheadInterval) {
+ val nextEvent = generatorChain(currentEvent)
+ mutex.withLock {
+ events.add(nextEvent)
+ }
+ currentEvent = nextEvent
+ }
+ }
+
+ private fun regenerate(event: E) {
+ generatorJob.cancel()
+ generatorJob = launchGenerateJob(event)
+ }
+
+ /**
+ * Discard unconsumed events after [atTime].
+ */
+ override suspend fun interrupt(atTime: Instant): Unit {
+ if (atTime < observedTime)
+ error("Timeline interrupt at time $atTime is not possible because there are observed events before $observedTime")
+ mutex.withLock {
+ while (events.isNotEmpty() && events.last().time > atTime) {
+ events.removeLast()
+ }
+ }
+ }
+
+ override suspend fun observe(collector: suspend Flow<E>.() -> Unit): TimelineObserver {
+ val observer = object : TimelineObserver {
+ val observerMutex = Mutex()
+ override var lastCollectedEventTime: Instant = Instant.DISTANT_PAST
+
+ override suspend fun collect(upTo: Instant) = observerMutex.withLock {
+ flowUnobservedEvents().takeWhile { it.time <= upTo }.onEach {
+ lastCollectedEventTime = it.time
+ }.collector()
+ //cleanup()
+ }
+
+ override fun close() {
+ observers.remove(this)
+ }
+
+ }
+ observers.add(observer)
+ return observer
+ }
+}
\ No newline at end of file
diff --git a/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt b/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
new file mode 100644
index 0000000..991cdc4
--- /dev/null
+++ b/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
@@ -0,0 +1,49 @@
+package space.kscience.simulation
+
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.merge
+import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.flow.takeWhile
+import kotlinx.datetime.Instant
+
+public class MergedTimeline<E : TimelineEvent>(
+ private val timelines: List<Timeline<E>>
+) : Timeline<E> {
+ override val lastEventTime: Instant?
+ get() = timelines.minOfOrNull { it.lastEventTime ?: Instant.DISTANT_PAST }
+ override val observedTime: Instant
+ get() = timelines.maxOfOrNull { it.observedTime } ?: Instant.DISTANT_FUTURE
+
+ override fun flowUnobservedEvents(): Flow<E> = timelines.map { flowUnobservedEvents() }.merge()
+
+ override suspend fun advance(toTime: Instant) {
+ timelines.forEach { it.advance(toTime) }
+ }
+
+ override suspend fun interrupt(atTime: Instant) {
+ timelines.forEach { it.interrupt(atTime) }
+ }
+
+ private val observers: MutableSet<TimelineObserver> = mutableSetOf()
+
+ override suspend fun observe(collector: suspend Flow<E>.() -> Unit): TimelineObserver {
+ val observer = object : TimelineObserver {
+ override var lastCollectedEventTime: Instant = Instant.DISTANT_PAST
+
+ override suspend fun collect(upTo: Instant) = timelines
+ .map { flowUnobservedEvents() }
+ .merge()
+ .takeWhile { it.time <= upTo }.onEach {
+ lastCollectedEventTime = it.time
+ }.collector()
+
+
+ override fun close() {
+ observers.remove(this)
+ }
+
+ }
+ observers.add(observer)
+ return observer
+ }
+}
\ No newline at end of file
diff --git a/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt b/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
new file mode 100644
index 0000000..067d4d2
--- /dev/null
+++ b/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
@@ -0,0 +1,86 @@
+package space.kscience.simulation
+
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.asFlow
+import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.flow.takeWhile
+import kotlinx.coroutines.sync.Mutex
+import kotlinx.coroutines.sync.withLock
+import kotlinx.datetime.Instant
+
+/**
+ * A manually mutable [Timeline] that could be modified via [emit] method by multiple
+ */
+public class SharedTimeline<E : TimelineEvent> : Timeline<E> {
+
+ private val mutex = Mutex()
+
+ private val events = ArrayDeque<E>()
+
+ private val observers: MutableSet<TimelineObserver> = mutableSetOf()
+
+ override val lastEventTime: Instant?
+ get() = events.lastOrNull()?.time
+
+ override val observedTime: Instant
+ get() = observers.minOfOrNull { it.lastCollectedEventTime } ?: Instant.DISTANT_PAST
+
+ override fun flowUnobservedEvents(): Flow<E> = events.asFlow()
+
+ /**
+ * Emit new event to the timeline
+ */
+ public suspend fun emit(event: E): Boolean = mutex.withLock {
+ if (event.time < observedTime) error("Can't emit event $event because there are observed events after $observedTime")
+ events.add(event)
+ }
+
+ override suspend fun advance(toTime: Instant) {
+ observers.forEach {
+ it.collect(toTime)
+ }
+ }
+
+ /**
+ * Discard all events before [observedTime]
+ */
+ private suspend fun cleanup(): Unit {
+ val threshold = observedTime
+ while (events.isNotEmpty() && events.last().time > threshold) {
+ events.removeFirst()
+ }
+ }
+
+ /**
+ * Discard unconsumed events after [atTime].
+ */
+ override suspend fun interrupt(atTime: Instant): Unit = mutex.withLock {
+ val threshold = observedTime
+ if (atTime < threshold)
+ error("Timeline interrupt at time $atTime is not possible because there are observed events before $threshold")
+ while (events.isNotEmpty() && events.last().time > atTime) {
+ events.removeLast()
+ }
+ }
+
+ override suspend fun observe(collector: suspend Flow<E>.() -> Unit): TimelineObserver {
+ val observer = object : TimelineObserver {
+ val observerMutex = Mutex()
+ override var lastCollectedEventTime: Instant = Instant.DISTANT_PAST
+
+ override suspend fun collect(upTo: Instant) = observerMutex.withLock {
+ flowUnobservedEvents().takeWhile { it.time <= upTo }.onEach {
+ lastCollectedEventTime = it.time
+ }.collector()
+ cleanup()
+ }
+
+ override fun close() {
+ observers.remove(this)
+ }
+
+ }
+ observers.add(observer)
+ return observer
+ }
+}
\ No newline at end of file
diff --git a/simulation-kt/src/commonMain/kotlin/Timeline.kt b/simulation-kt/src/commonMain/kotlin/Timeline.kt
new file mode 100644
index 0000000..f9f4535
--- /dev/null
+++ b/simulation-kt/src/commonMain/kotlin/Timeline.kt
@@ -0,0 +1,76 @@
+package space.kscience.simulation
+
+import kotlinx.coroutines.flow.Flow
+import kotlinx.datetime.Instant
+
+
+public interface TimelineEvent {
+ public val time: Instant
+}
+
+public interface TimelineObserver: AutoCloseable {
+ /**
+ * The time of the last event collected by this collector
+ */
+ public val lastCollectedEventTime: Instant
+
+ /**
+ * Collect all uncollected events from [lastCollectedEventTime] to [upTo].
+ *
+ * By default, collects all events.
+ */
+ public suspend fun collect(upTo: Instant = Instant.DISTANT_FUTURE)
+}
+
+/**
+ * A time-ordered sequence of events of type [E]. There time of events is strictly monotonic, meaning that the time of
+ * the next event is greater than the previous event time.
+ *
+ * Timeline guarantees that all collectors could read all events when they need. Meaning that all unread events are cached.
+ *
+ * Timeline guarantees that already read events won't change, but unread events could change.
+ */
+public interface Timeline<E : TimelineEvent> {
+ /**
+ * The timestamp of the last event in a timeline
+ */
+ public val lastEventTime: Instant?
+
+ /**
+ * The time of the last event that was observed by all observers
+ */
+ public val observedTime: Instant
+
+ /**
+ * Flow events from [observedTime] to [lastEventTime].
+ *
+ * The resulting flow is finite and should not suspend.
+ *
+ * This method does not affect [observedTime].
+ */
+ public fun flowUnobservedEvents(): Flow<E>
+
+ /**
+ * Attach observer to this [Timeline]. The observer collection is not triggered right away, but only on demand.
+ *
+ * Each collection shifts [TimelineObserver.lastCollectedEventTime] for this observer.
+ * The value of [observedTime] is the least of all observers [TimelineObserver.lastCollectedEventTime].
+ */
+ public suspend fun observe(
+ collector: suspend Flow<E>.() -> Unit
+ ): TimelineObserver
+
+ /**
+ * Advance simulation time to [toTime]. This method forces all observers to collect all events in the given range.
+ *
+ * This method suspends until all advancement is done
+ */
+ public suspend fun advance(toTime: Instant)
+
+ /**
+ * Interrupt generation of this timeline and discard unconsumed events after [atTime].
+ *
+ * Throw exception if at least one observer advanced
+ */
+ public suspend fun interrupt(atTime: Instant): Unit
+}
\ No newline at end of file
From becde944032c84074ec0b940680149988a2ac09b Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Thu, 21 Nov 2024 09:42:53 +0300
Subject: [PATCH 119/125] GeneratingTimeLine prototype is working
---
.../commonMain/kotlin/GeneratingTimeline.kt | 108 ++++++++++++------
.../src/commonMain/kotlin/MergedTimeline.kt | 20 ++--
.../src/commonMain/kotlin/SharedTimeline.kt | 42 +++----
.../src/commonMain/kotlin/Timeline.kt | 43 ++++---
.../src/commonMain/kotlin/notNullUtils.kt | 35 ++++++
.../src/commonTest/kotlin/TimelineTests.kt | 34 ++++++
6 files changed, 201 insertions(+), 81 deletions(-)
create mode 100644 simulation-kt/src/commonMain/kotlin/notNullUtils.kt
create mode 100644 simulation-kt/src/commonTest/kotlin/TimelineTests.kt
diff --git a/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt b/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
index 4e9da50..f3d7d92 100644
--- a/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
@@ -2,10 +2,9 @@ package space.kscience.simulation
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Job
-import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.asFlow
-import kotlinx.coroutines.flow.onEach
-import kotlinx.coroutines.flow.takeWhile
+import kotlinx.coroutines.channels.BufferOverflow
+import kotlinx.coroutines.channels.Channel
+import kotlinx.coroutines.flow.*
import kotlinx.coroutines.launch
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
@@ -20,21 +19,49 @@ public class GeneratingTimeline<E : TimelineEvent>(
private val initialEvent: E,
private val lookaheadInterval: Duration,
private val generatorChain: suspend (E) -> E
-) : Timeline<E> {
+) : Timeline<E>, AutoCloseable {
+
+ // push to this channel to trigger event generation
+ private val wakeupChannel = Channel<Unit>(onBufferOverflow = BufferOverflow.DROP_OLDEST)
+
+ private suspend fun kickGenerator() {
+ wakeupChannel.send(Unit)
+ }
private val mutex = Mutex()
- private val events = ArrayDeque<E>()
+ private val history = ArrayDeque<E>()
+
+ private val lastEvent = MutableSharedFlow<E>(replay = Int.MAX_VALUE)
+
+ private val updateHistoryJob = generationScope.launch {
+ lastEvent.onEach {
+ mutex.withLock {
+ history.add(it)
+ //cleanup old events
+ val threshold = observedTime ?: return@withLock
+ while (history.isNotEmpty() && history.last().time > threshold) {
+ history.removeFirst()
+ }
+
+ }
+ }
+ }
private val observers: MutableSet<TimelineObserver> = mutableSetOf()
- override val lastEventTime: Instant?
- get() = events.lastOrNull()?.time
+ override val time: Instant
+ get() = history.lastOrNull()?.time ?: initialEvent.time
- override val observedTime: Instant
- get() = observers.minOfOrNull { it.lastCollectedEventTime } ?: Instant.DISTANT_PAST
+ override val observedTime: Instant?
+ get() = observers.minOfNotNullOrNull { it.time }
- override fun flowUnobservedEvents(): Flow<E> = events.asFlow()
+ override fun flowUnobservedEvents(): Flow<E> = flow {
+ history.forEach { e ->
+ emit(e)
+ }
+ emitAll(lastEvent)
+ }
override suspend fun advance(toTime: Instant) {
observers.forEach {
@@ -42,51 +69,60 @@ public class GeneratingTimeline<E : TimelineEvent>(
}
}
- private var generatorJob: Job = launchGenerateJob(initialEvent)
+ private var generatorJob: Job = launchGenerator(initialEvent)
- private fun launchGenerateJob(event: E): Job = generationScope.launch {
+ private fun launchGenerator(event: E): Job = generationScope.launch {
+ kickGenerator()
var currentEvent = event
- while(currentEvent.time < observedTime + lookaheadInterval) {
- val nextEvent = generatorChain(currentEvent)
- mutex.withLock {
- events.add(nextEvent)
+ // for each wakeup generate all events in lookaheadInterval
+ for (u in wakeupChannel) {
+ while (currentEvent.time < (observedTime ?: event.time) + lookaheadInterval) {
+ val nextEvent = generatorChain(currentEvent)
+ lastEvent.emit(nextEvent)
+ currentEvent = nextEvent
}
- currentEvent = nextEvent
}
}
- private fun regenerate(event: E) {
- generatorJob.cancel()
- generatorJob = launchGenerateJob(event)
- }
- /**
- * Discard unconsumed events after [atTime].
- */
- override suspend fun interrupt(atTime: Instant): Unit {
- if (atTime < observedTime)
- error("Timeline interrupt at time $atTime is not possible because there are observed events before $observedTime")
+ public suspend fun interrupt(newStart: E) {
+ check(newStart.time > (observedTime ?: Instant.DISTANT_FUTURE)) {
+ "Can't interrupt generating timeline after observed event"
+ }
mutex.withLock {
- while (events.isNotEmpty() && events.last().time > atTime) {
- events.removeLast()
+ while (history.isNotEmpty() && history.last().time > newStart.time) {
+ history.removeLast()
}
+ generatorJob.cancel()
+ generatorJob = launchGenerator(newStart)
+
}
+ kickGenerator()
+ }
+
+ override fun close() {
+ updateHistoryJob.cancel()
+ generatorJob.cancel()
}
override suspend fun observe(collector: suspend Flow<E>.() -> Unit): TimelineObserver {
val observer = object : TimelineObserver {
- val observerMutex = Mutex()
- override var lastCollectedEventTime: Instant = Instant.DISTANT_PAST
+ override var time: Instant = this@GeneratingTimeline.time
- override suspend fun collect(upTo: Instant) = observerMutex.withLock {
- flowUnobservedEvents().takeWhile { it.time <= upTo }.onEach {
- lastCollectedEventTime = it.time
+ override suspend fun collect(upTo: Instant) {
+ flowUnobservedEvents().takeWhile {
+ it.time <= upTo
+ }.onEach {
+ time = it.time
+ kickGenerator()
}.collector()
- //cleanup()
}
override fun close() {
observers.remove(this)
+ if(observers.isEmpty()){
+ this@GeneratingTimeline.close()
+ }
}
}
diff --git a/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt b/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
index 991cdc4..c498bb8 100644
--- a/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
@@ -6,13 +6,15 @@ import kotlinx.coroutines.flow.onEach
import kotlinx.coroutines.flow.takeWhile
import kotlinx.datetime.Instant
+
public class MergedTimeline<E : TimelineEvent>(
private val timelines: List<Timeline<E>>
) : Timeline<E> {
- override val lastEventTime: Instant?
- get() = timelines.minOfOrNull { it.lastEventTime ?: Instant.DISTANT_PAST }
- override val observedTime: Instant
- get() = timelines.maxOfOrNull { it.observedTime } ?: Instant.DISTANT_FUTURE
+ override val time: Instant
+ get() = timelines.minOfNotNullOrNull { it.time } ?: Instant.DISTANT_PAST
+
+ override val observedTime: Instant?
+ get() = timelines.maxOfNotNullOrNull { it.observedTime }
override fun flowUnobservedEvents(): Flow<E> = timelines.map { flowUnobservedEvents() }.merge()
@@ -20,21 +22,21 @@ public class MergedTimeline<E : TimelineEvent>(
timelines.forEach { it.advance(toTime) }
}
- override suspend fun interrupt(atTime: Instant) {
- timelines.forEach { it.interrupt(atTime) }
- }
+// override suspend fun interrupt(atTime: Instant) {
+// timelines.forEach { it.interrupt(atTime) }
+// }
private val observers: MutableSet<TimelineObserver> = mutableSetOf()
override suspend fun observe(collector: suspend Flow<E>.() -> Unit): TimelineObserver {
val observer = object : TimelineObserver {
- override var lastCollectedEventTime: Instant = Instant.DISTANT_PAST
+ override var time: Instant = this@MergedTimeline.time
override suspend fun collect(upTo: Instant) = timelines
.map { flowUnobservedEvents() }
.merge()
.takeWhile { it.time <= upTo }.onEach {
- lastCollectedEventTime = it.time
+ time = it.time
}.collector()
diff --git a/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt b/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
index 067d4d2..b5e4845 100644
--- a/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
@@ -19,11 +19,11 @@ public class SharedTimeline<E : TimelineEvent> : Timeline<E> {
private val observers: MutableSet<TimelineObserver> = mutableSetOf()
- override val lastEventTime: Instant?
- get() = events.lastOrNull()?.time
+ override val time: Instant
+ get() = events.lastOrNull()?.time ?: Instant.DISTANT_PAST
- override val observedTime: Instant
- get() = observers.minOfOrNull { it.lastCollectedEventTime } ?: Instant.DISTANT_PAST
+ override val observedTime: Instant?
+ get() = observers.minOfNotNullOrNull { it.time }
override fun flowUnobservedEvents(): Flow<E> = events.asFlow()
@@ -31,7 +31,9 @@ public class SharedTimeline<E : TimelineEvent> : Timeline<E> {
* Emit new event to the timeline
*/
public suspend fun emit(event: E): Boolean = mutex.withLock {
- if (event.time < observedTime) error("Can't emit event $event because there are observed events after $observedTime")
+ if (event.time < (observedTime ?: Instant.DISTANT_PAST)) {
+ error("Can't emit event $event because there are observed events after $observedTime")
+ }
events.add(event)
}
@@ -44,33 +46,33 @@ public class SharedTimeline<E : TimelineEvent> : Timeline<E> {
/**
* Discard all events before [observedTime]
*/
- private suspend fun cleanup(): Unit {
- val threshold = observedTime
+ private suspend fun cleanup(): Unit = mutex.withLock {
+ val threshold = observedTime ?: return@withLock
while (events.isNotEmpty() && events.last().time > threshold) {
events.removeFirst()
}
}
- /**
- * Discard unconsumed events after [atTime].
- */
- override suspend fun interrupt(atTime: Instant): Unit = mutex.withLock {
- val threshold = observedTime
- if (atTime < threshold)
- error("Timeline interrupt at time $atTime is not possible because there are observed events before $threshold")
- while (events.isNotEmpty() && events.last().time > atTime) {
- events.removeLast()
- }
- }
+// /**
+// * Discard unconsumed events after [atTime].
+// */
+// override suspend fun interrupt(atTime: Instant): Unit = mutex.withLock {
+// val threshold = observedTime
+// if (atTime < threshold)
+// error("Timeline interrupt at time $atTime is not possible because there are observed events before $threshold")
+// while (events.isNotEmpty() && events.last().time > atTime) {
+// events.removeLast()
+// }
+// }
override suspend fun observe(collector: suspend Flow<E>.() -> Unit): TimelineObserver {
val observer = object : TimelineObserver {
val observerMutex = Mutex()
- override var lastCollectedEventTime: Instant = Instant.DISTANT_PAST
+ override var time: Instant = this@SharedTimeline.time
override suspend fun collect(upTo: Instant) = observerMutex.withLock {
flowUnobservedEvents().takeWhile { it.time <= upTo }.onEach {
- lastCollectedEventTime = it.time
+ time = it.time
}.collector()
cleanup()
}
diff --git a/simulation-kt/src/commonMain/kotlin/Timeline.kt b/simulation-kt/src/commonMain/kotlin/Timeline.kt
index f9f4535..64974ff 100644
--- a/simulation-kt/src/commonMain/kotlin/Timeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/Timeline.kt
@@ -2,20 +2,31 @@ package space.kscience.simulation
import kotlinx.coroutines.flow.Flow
import kotlinx.datetime.Instant
+import kotlin.time.Duration
public interface TimelineEvent {
public val time: Instant
}
-public interface TimelineObserver: AutoCloseable {
+public interface TimelineInterval : TimelineEvent {
+ public val startTime: Instant
+ public val duration: Duration
+
+ override val time: Instant
+ get() = startTime + duration
+}
+
+public data class SimpleTimelineEvent<T>(override val time: Instant, val value: T) : TimelineEvent
+
+public interface TimelineObserver : AutoCloseable {
/**
- * The time of the last event collected by this collector
+ * The subjective time of this observer
*/
- public val lastCollectedEventTime: Instant
+ public val time: Instant
/**
- * Collect all uncollected events from [lastCollectedEventTime] to [upTo].
+ * Collect all uncollected events from [time] to [upTo].
*
* By default, collects all events.
*/
@@ -32,17 +43,17 @@ public interface TimelineObserver: AutoCloseable {
*/
public interface Timeline<E : TimelineEvent> {
/**
- * The timestamp of the last event in a timeline
+ * A subjective time of this timeline. The time could advance without events being produced.
*/
- public val lastEventTime: Instant?
+ public val time: Instant
/**
* The time of the last event that was observed by all observers
*/
- public val observedTime: Instant
+ public val observedTime: Instant?
/**
- * Flow events from [observedTime] to [lastEventTime].
+ * Flow events from [observedTime] to [time].
*
* The resulting flow is finite and should not suspend.
*
@@ -53,8 +64,8 @@ public interface Timeline<E : TimelineEvent> {
/**
* Attach observer to this [Timeline]. The observer collection is not triggered right away, but only on demand.
*
- * Each collection shifts [TimelineObserver.lastCollectedEventTime] for this observer.
- * The value of [observedTime] is the least of all observers [TimelineObserver.lastCollectedEventTime].
+ * Each collection shifts [TimelineObserver.time] for this observer.
+ * The value of [observedTime] is the least of all observers [TimelineObserver.time].
*/
public suspend fun observe(
collector: suspend Flow<E>.() -> Unit
@@ -67,10 +78,10 @@ public interface Timeline<E : TimelineEvent> {
*/
public suspend fun advance(toTime: Instant)
- /**
- * Interrupt generation of this timeline and discard unconsumed events after [atTime].
- *
- * Throw exception if at least one observer advanced
- */
- public suspend fun interrupt(atTime: Instant): Unit
+// /**
+// * Interrupt generation of this timeline and discard unconsumed events after [atTime].
+// *
+// * Throw exception if at least one observer advanced
+// */
+// public suspend fun interrupt(atTime: Instant): Unit
}
\ No newline at end of file
diff --git a/simulation-kt/src/commonMain/kotlin/notNullUtils.kt b/simulation-kt/src/commonMain/kotlin/notNullUtils.kt
new file mode 100644
index 0000000..5e7d64b
--- /dev/null
+++ b/simulation-kt/src/commonMain/kotlin/notNullUtils.kt
@@ -0,0 +1,35 @@
+package space.kscience.simulation
+
+internal inline fun <T, R : Comparable<R>> Iterable<T>.minOfNotNullOrNull(selector: (T) -> R?): R? {
+ val iterator = iterator()
+ if (!iterator.hasNext()) return null
+ var minValue = selector(iterator.next())
+ while (iterator.hasNext()) {
+ val v = selector(iterator.next())
+ when {
+ minValue == null -> minValue = v
+ v == null -> {/*do nothing*/}
+ minValue > v -> {
+ minValue = v
+ }
+ }
+ }
+ return minValue
+}
+
+internal inline fun <T, R : Comparable<R>> Iterable<T>.maxOfNotNullOrNull(selector: (T) -> R?): R? {
+ val iterator = iterator()
+ if (!iterator.hasNext()) return null
+ var maxValue = selector(iterator.next())
+ while (iterator.hasNext()) {
+ val v = selector(iterator.next())
+ when {
+ maxValue == null -> maxValue = v
+ v == null -> {/*do nothing*/}
+ maxValue < v -> {
+ maxValue = v
+ }
+ }
+ }
+ return maxValue
+}
\ No newline at end of file
diff --git a/simulation-kt/src/commonTest/kotlin/TimelineTests.kt b/simulation-kt/src/commonTest/kotlin/TimelineTests.kt
new file mode 100644
index 0000000..a1bf632
--- /dev/null
+++ b/simulation-kt/src/commonTest/kotlin/TimelineTests.kt
@@ -0,0 +1,34 @@
+package space.kscience.simulation
+
+import kotlinx.coroutines.test.runTest
+import kotlinx.datetime.Instant
+import kotlin.test.Test
+import kotlin.time.Duration.Companion.seconds
+
+class TimelineTests {
+
+
+ @Test
+ fun testGeneration() = runTest(timeout = 5.seconds) {
+ val startTime = Instant.parse("2020-01-01T00:00:00.000Z")
+
+ val generation = GeneratingTimeline<SimpleTimelineEvent<DoubleArray>>(
+ this,
+ initialEvent = SimpleTimelineEvent(startTime, List(10) { it.toDouble() }.toDoubleArray()),
+ lookaheadInterval = 1.seconds
+ ) { event ->
+ val time = event.time + 0.1.seconds
+ println("Emit: $time")
+ SimpleTimelineEvent(time, event.value.map { it + 1.0 }.toDoubleArray())
+ }
+
+ val collector = generation.observe {
+ collect {
+ println("Consume: ${it.time}")
+ }
+ }
+
+ collector.collect(startTime + 2.seconds)
+ collector.close()
+ }
+}
\ No newline at end of file
From 9a0c55b24aed4a8831e0d7113804342199be5405 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Fri, 29 Nov 2024 10:04:55 +0300
Subject: [PATCH 120/125] Fix flag in serial port
---
.../space/kscience/controls/serial/AsynchronousSerialPort.kt | 2 +-
.../kotlin/space/kscience/controls/serial/SerialPortPlugin.kt | 2 ++
2 files changed, 3 insertions(+), 1 deletion(-)
diff --git a/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt b/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt
index a9c4ede..b581405 100644
--- a/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt
+++ b/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/AsynchronousSerialPort.kt
@@ -29,7 +29,7 @@ public class AsynchronousSerialPort(
private val serialPortListener = object : SerialPortDataListener {
override fun getListeningEvents(): Int =
- SerialPort.LISTENING_EVENT_DATA_RECEIVED and SerialPort.LISTENING_EVENT_DATA_AVAILABLE
+ SerialPort.LISTENING_EVENT_DATA_RECEIVED or SerialPort.LISTENING_EVENT_DATA_AVAILABLE
override fun serialEvent(event: SerialPortEvent) {
when (event.eventType) {
diff --git a/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/SerialPortPlugin.kt b/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/SerialPortPlugin.kt
index f0d099f..b43fc00 100644
--- a/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/SerialPortPlugin.kt
+++ b/controls-serial/src/jvmMain/kotlin/space/kscience/controls/serial/SerialPortPlugin.kt
@@ -11,6 +11,8 @@ import space.kscience.dataforge.names.asName
public class SerialPortPlugin : AbstractPlugin() {
+ public val ports: Ports by require(Ports)
+
override val tag: PluginTag get() = Companion.tag
override fun content(target: String): Map<Name, Any> = when (target) {
From b4b534df1d55665fb440c373521aaf2e91162497 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Fri, 29 Nov 2024 12:58:24 +0300
Subject: [PATCH 121/125] Change property delegates names
---
build.gradle.kts | 2 +-
.../controls/spec/propertySpecDelegates.kt | 43 +++++++++++++------
.../sciprog/devices/mks/MksPdr900Device.kt | 6 +--
.../pimotionmaster/PiMotionMasterDevice.kt | 6 +--
4 files changed, 36 insertions(+), 21 deletions(-)
diff --git a/build.gradle.kts b/build.gradle.kts
index 619a512..7e06cfa 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -8,7 +8,7 @@ plugins {
allprojects {
group = "space.kscience"
- version = "0.4.0-dev-6"
+ version = "0.4.0-dev-7"
repositories{
google()
}
diff --git a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
index 8bd22b6..efb66a7 100644
--- a/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
+++ b/controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt
@@ -41,25 +41,24 @@ public fun <T, D : Device> DeviceSpec<D>.mutableProperty(
write = { _, value: T -> readWriteProperty.set(this, value) }
)
+//read only delegates
+
/**
- * Register a mutable logical property (without a corresponding physical state) for a device
+ * Register a read-only logical property
+ * (without a corresponding physical state or with a state that is updated asynchronously) for a device
*/
-public fun <T, D : DeviceBase<D>> DeviceSpec<D>.logicalProperty(
+public fun <T, D : DeviceBase<D>> DeviceSpec<D>.property(
converter: MetaConverter<T>,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
name: String? = null,
-): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, T>>> =
- mutableProperty(
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, T>>> =
+ property(
converter,
descriptorBuilder,
name,
read = { propertyName -> getProperty(propertyName)?.let(converter::readOrNull) },
- write = { propertyName, value -> writeProperty(propertyName, converter.convert(value)) }
)
-
-//read only delegates
-
public fun <D : Device> DeviceSpec<D>.booleanProperty(
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
name: String? = null,
@@ -141,7 +140,25 @@ public fun <D : Device> DeviceSpec<D>.metaProperty(
//read-write delegates
-public fun <D : Device> DeviceSpec<D>.booleanProperty(
+
+/**
+ * Register a mutable logical property
+ * (without a corresponding physical state or with a state that is updated asynchronously) for a device
+ */
+public fun <T, D : DeviceBase<D>> DeviceSpec<D>.mutableProperty(
+ converter: MetaConverter<T>,
+ descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+ name: String? = null,
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, T>>> =
+ mutableProperty(
+ converter,
+ descriptorBuilder,
+ name,
+ read = { propertyName -> getProperty(propertyName)?.let(converter::readOrNull) },
+ write = { propertyName, value -> writeProperty(propertyName, converter.convert(value)) }
+ )
+
+public fun <D : Device> DeviceSpec<D>.mutableBooleanProperty(
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
name: String? = null,
read: suspend D.(propertyName: String) -> Boolean?,
@@ -161,7 +178,7 @@ public fun <D : Device> DeviceSpec<D>.booleanProperty(
)
-public fun <D : Device> DeviceSpec<D>.numberProperty(
+public fun <D : Device> DeviceSpec<D>.mutableNumberProperty(
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
name: String? = null,
read: suspend D.(propertyName: String) -> Number,
@@ -169,7 +186,7 @@ public fun <D : Device> DeviceSpec<D>.numberProperty(
): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, Number>>> =
mutableProperty(MetaConverter.number, numberDescriptor(descriptorBuilder), name, read, write)
-public fun <D : Device> DeviceSpec<D>.doubleProperty(
+public fun <D : Device> DeviceSpec<D>.mutableDoubleProperty(
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
name: String? = null,
read: suspend D.(propertyName: String) -> Double,
@@ -177,7 +194,7 @@ public fun <D : Device> DeviceSpec<D>.doubleProperty(
): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, Double>>> =
mutableProperty(MetaConverter.double, numberDescriptor(descriptorBuilder), name, read, write)
-public fun <D : Device> DeviceSpec<D>.stringProperty(
+public fun <D : Device> DeviceSpec<D>.mutableStringProperty(
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
name: String? = null,
read: suspend D.(propertyName: String) -> String,
@@ -185,7 +202,7 @@ public fun <D : Device> DeviceSpec<D>.stringProperty(
): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, String>>> =
mutableProperty(MetaConverter.string, descriptorBuilder, name, read, write)
-public fun <D : Device> DeviceSpec<D>.metaProperty(
+public fun <D : Device> DeviceSpec<D>.mutableMetaProperty(
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
name: String? = null,
read: suspend D.(propertyName: String) -> Meta,
diff --git a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
index d28acc0..892d465 100644
--- a/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
+++ b/demo/mks-pdr900/src/main/kotlin/center/sciprog/devices/mks/MksPdr900Device.kt
@@ -88,15 +88,15 @@ class MksPdr900Device(context: Context, meta: Meta) : DeviceBySpec<MksPdr900Devi
override fun build(context: Context, meta: Meta): MksPdr900Device = MksPdr900Device(context, meta)
- val powerOn by booleanProperty(read = { readPowerOn() }, write = { _, value -> writePowerOn(value) })
+ val powerOn by mutableBooleanProperty(read = { readPowerOn() }, write = { _, value -> writePowerOn(value) })
- val channel by logicalProperty(MetaConverter.int)
+ val channel by property(MetaConverter.int)
val value by doubleProperty(read = {
readChannelData(getOrRead(channel))
})
- val error by logicalProperty(MetaConverter.string)
+ val error by property(MetaConverter.string)
override suspend fun MksPdr900Device.onClose() {
diff --git a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
index 04e03df..4324b9b 100644
--- a/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
+++ b/demo/motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt
@@ -23,8 +23,6 @@ import space.kscience.dataforge.context.*
import space.kscience.dataforge.meta.*
import space.kscience.dataforge.names.Name
import space.kscience.dataforge.names.parseAsName
-import kotlin.collections.component1
-import kotlin.collections.component2
import kotlin.time.Duration
import kotlin.time.Duration.Companion.milliseconds
@@ -238,7 +236,7 @@ class PiMotionMasterDevice(
private fun axisBooleanProperty(
command: String,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
- ) = booleanProperty(
+ ) = mutableBooleanProperty(
read = {
readAxisBoolean("$command?")
},
@@ -251,7 +249,7 @@ class PiMotionMasterDevice(
private fun axisNumberProperty(
command: String,
descriptorBuilder: PropertyDescriptor.() -> Unit = {},
- ) = doubleProperty(
+ ) = mutableDoubleProperty(
read = {
mm.requestAndParse("$command?", axisId)[axisId]?.toDoubleOrNull()
?: error("Malformed $command response. Should include float value for $axisId")
From bb09a747105bb055798a98f68056935eca923246 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 8 Dec 2024 10:37:47 +0300
Subject: [PATCH 122/125] GeneratingTimeline fully functional
---
gradle/wrapper/gradle-wrapper.properties | 2 +-
settings.gradle.kts | 4 +
simulation-kt/build.gradle.kts | 2 +-
.../src/commonMain/kotlin/AbstractTimeline.kt | 70 +++++++++
.../commonMain/kotlin/GeneratingTimeline.kt | 143 +++++-------------
.../src/commonMain/kotlin/MergedTimeline.kt | 54 ++-----
.../src/commonMain/kotlin/SharedTimeline.kt | 84 ++--------
.../src/commonMain/kotlin/Timeline.kt | 27 +---
.../src/commonTest/kotlin/TimelineTests.kt | 38 +++--
9 files changed, 176 insertions(+), 248 deletions(-)
create mode 100644 simulation-kt/src/commonMain/kotlin/AbstractTimeline.kt
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 48c0a02..81aa1c0 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.7-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11.1-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 702ce9b..1c6b8b2 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -21,6 +21,10 @@ pluginManagement {
}
}
+plugins {
+ id("org.gradle.toolchains.foojay-resolver-convention") version "0.8.0"
+}
+
dependencyResolutionManagement {
val toolsVersion: String by extra
diff --git a/simulation-kt/build.gradle.kts b/simulation-kt/build.gradle.kts
index c30480a..b365d98 100644
--- a/simulation-kt/build.gradle.kts
+++ b/simulation-kt/build.gradle.kts
@@ -28,5 +28,5 @@ kscience {
readme{
- maturity = Maturity.EXPERIMENTAL
+ maturity = Maturity.PROTOTYPE
}
\ No newline at end of file
diff --git a/simulation-kt/src/commonMain/kotlin/AbstractTimeline.kt b/simulation-kt/src/commonMain/kotlin/AbstractTimeline.kt
new file mode 100644
index 0000000..9876083
--- /dev/null
+++ b/simulation-kt/src/commonMain/kotlin/AbstractTimeline.kt
@@ -0,0 +1,70 @@
+package space.kscience.simulation
+
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.channels.BufferOverflow
+import kotlinx.coroutines.channels.Channel
+import kotlinx.coroutines.coroutineScope
+import kotlinx.coroutines.currentCoroutineContext
+import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.launch
+import kotlinx.datetime.Instant
+
+public abstract class AbstractTimeline<E : TimelineEvent>(
+ protected val timelineScope: CoroutineScope,
+ protected var startTime: Instant,
+) : Timeline<E> {
+
+ private val observers: MutableSet<TimelineObserver> = mutableSetOf()
+
+ private val feedbackChannel = Channel<Unit>(onBufferOverflow = BufferOverflow.DROP_OLDEST)
+
+ override val time: StateFlow<Instant> = feedbackChannel.consumeAsFlow().map {
+ maxOf(startTime,observers.maxOfOrNull { it.time.value } ?: startTime)
+ }.stateIn(timelineScope, SharingStarted.Lazily, startTime)
+
+ override suspend fun advance(toTime: Instant) {
+ observers.forEach {
+ it.collect(toTime)
+ }
+ }
+
+ /**
+ * Flow unobserved events starting at [time]. The flow could be interrupted if timeline changes
+ */
+ protected abstract fun events(): Flow<E>
+
+ override suspend fun observe(collector: suspend Flow<E>.() -> Unit): TimelineObserver {
+ val context = currentCoroutineContext()
+ val observer = object : TimelineObserver {
+ // observed time
+ override val time = MutableStateFlow(startTime)
+
+ private val channel = Channel<E>()
+
+ private val collectJob = timelineScope.launch(context) {
+ channel.consumeAsFlow().onEach {
+ time.emit(it.time)
+ feedbackChannel.send(Unit)
+ }.collector()
+ }
+
+
+ override suspend fun collect(upTo: Instant) = coroutineScope {
+ require(upTo >= time.value) { "Requested time $upTo is lower than observed ${time.value}" }
+ events().takeWhile {
+ it.time <= upTo
+ }.collect {
+ channel.send(it)
+ }
+ }
+
+ override fun close() {
+ collectJob.cancel()
+ observers.remove(this)
+ }
+
+ }
+ observers.add(observer)
+ return observer
+ }
+}
\ No newline at end of file
diff --git a/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt b/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
index f3d7d92..6f29266 100644
--- a/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
@@ -1,132 +1,65 @@
package space.kscience.simulation
import kotlinx.coroutines.CoroutineScope
-import kotlinx.coroutines.Job
-import kotlinx.coroutines.channels.BufferOverflow
import kotlinx.coroutines.channels.Channel
+import kotlinx.coroutines.coroutineScope
import kotlinx.coroutines.flow.*
-import kotlinx.coroutines.launch
-import kotlinx.coroutines.sync.Mutex
-import kotlinx.coroutines.sync.withLock
import kotlinx.datetime.Instant
import kotlin.time.Duration
+/**
+ * Suspend the collection of this [Flow] until event time is lower that threshold
+ */
+public fun <E : TimelineEvent> Flow<E>.withTimeThreshold(
+ threshold: Flow<Instant>
+): Flow<E> = transform { event ->
+ threshold.first { it > event.time }
+ emit(event)
+}
+
/**
* @param lookaheadInterval an interval for generated events ahead of the last observed event.
*/
public class GeneratingTimeline<E : TimelineEvent>(
private val generationScope: CoroutineScope,
- private val initialEvent: E,
+ private val origin: E,
private val lookaheadInterval: Duration,
- private val generatorChain: suspend (E) -> E
-) : Timeline<E>, AutoCloseable {
+ private val generator: suspend FlowCollector<E>.(E) -> Unit
+) : AbstractTimeline<E>(generationScope, origin.time) {
- // push to this channel to trigger event generation
- private val wakeupChannel = Channel<Unit>(onBufferOverflow = BufferOverflow.DROP_OLDEST)
+ private val startEventFlow = MutableStateFlow(origin)
- private suspend fun kickGenerator() {
- wakeupChannel.send(Unit)
+ private data class EventWithOrigin<E : TimelineEvent>(val origin: E, val event: E) : TimelineEvent {
+ override val time: Instant get() = event.time
}
- private val mutex = Mutex()
-
- private val history = ArrayDeque<E>()
-
- private val lastEvent = MutableSharedFlow<E>(replay = Int.MAX_VALUE)
-
- private val updateHistoryJob = generationScope.launch {
- lastEvent.onEach {
- mutex.withLock {
- history.add(it)
- //cleanup old events
- val threshold = observedTime ?: return@withLock
- while (history.isNotEmpty() && history.last().time > threshold) {
- history.removeFirst()
- }
-
+ private val events: SharedFlow<E> = flow {
+ coroutineScope {
+ startEventFlow.collect { startEvent ->
+ emitAll(
+ flow { generator(startEvent) }.takeWhile { startEvent == startEventFlow.value }.map {
+ EventWithOrigin(startEvent, it)
+ }
+ )
}
}
- }
-
- private val observers: MutableSet<TimelineObserver> = mutableSetOf()
-
- override val time: Instant
- get() = history.lastOrNull()?.time ?: initialEvent.time
-
- override val observedTime: Instant?
- get() = observers.minOfNotNullOrNull { it.time }
-
- override fun flowUnobservedEvents(): Flow<E> = flow {
- history.forEach { e ->
- emit(e)
- }
- emitAll(lastEvent)
- }
-
- override suspend fun advance(toTime: Instant) {
- observers.forEach {
- it.collect(toTime)
- }
- }
-
- private var generatorJob: Job = launchGenerator(initialEvent)
-
- private fun launchGenerator(event: E): Job = generationScope.launch {
- kickGenerator()
- var currentEvent = event
- // for each wakeup generate all events in lookaheadInterval
- for (u in wakeupChannel) {
- while (currentEvent.time < (observedTime ?: event.time) + lookaheadInterval) {
- val nextEvent = generatorChain(currentEvent)
- lastEvent.emit(nextEvent)
- currentEvent = nextEvent
- }
- }
- }
+ }.withTimeThreshold(
+ threshold = time.map { it + lookaheadInterval }
+ ).buffer(Channel.UNLIMITED).mapNotNull {
+ //it.event
+ it.takeIf { it.origin == startEventFlow.value }?.event
+ }.shareIn(
+ scope = generationScope,
+ started = SharingStarted.Eagerly,
+ )
+ override fun events(): Flow<E> = events
public suspend fun interrupt(newStart: E) {
- check(newStart.time > (observedTime ?: Instant.DISTANT_FUTURE)) {
+ check(newStart.time >= time.value) {
"Can't interrupt generating timeline after observed event"
}
- mutex.withLock {
- while (history.isNotEmpty() && history.last().time > newStart.time) {
- history.removeLast()
- }
- generatorJob.cancel()
- generatorJob = launchGenerator(newStart)
-
- }
- kickGenerator()
- }
-
- override fun close() {
- updateHistoryJob.cancel()
- generatorJob.cancel()
- }
-
- override suspend fun observe(collector: suspend Flow<E>.() -> Unit): TimelineObserver {
- val observer = object : TimelineObserver {
- override var time: Instant = this@GeneratingTimeline.time
-
- override suspend fun collect(upTo: Instant) {
- flowUnobservedEvents().takeWhile {
- it.time <= upTo
- }.onEach {
- time = it.time
- kickGenerator()
- }.collector()
- }
-
- override fun close() {
- observers.remove(this)
- if(observers.isEmpty()){
- this@GeneratingTimeline.close()
- }
- }
-
- }
- observers.add(observer)
- return observer
+ startTime = newStart.time
+ startEventFlow.emit(newStart)
}
}
\ No newline at end of file
diff --git a/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt b/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
index c498bb8..334e8c7 100644
--- a/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
@@ -1,51 +1,25 @@
package space.kscience.simulation
+import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.merge
-import kotlinx.coroutines.flow.onEach
-import kotlinx.coroutines.flow.takeWhile
-import kotlinx.datetime.Instant
+import kotlinx.coroutines.flow.flow
public class MergedTimeline<E : TimelineEvent>(
+ timelineScope: CoroutineScope,
private val timelines: List<Timeline<E>>
-) : Timeline<E> {
- override val time: Instant
- get() = timelines.minOfNotNullOrNull { it.time } ?: Instant.DISTANT_PAST
+) : AbstractTimeline<E>(timelineScope, timelines.minOf { it.time.value }) {
- override val observedTime: Instant?
- get() = timelines.maxOfNotNullOrNull { it.observedTime }
-
- override fun flowUnobservedEvents(): Flow<E> = timelines.map { flowUnobservedEvents() }.merge()
-
- override suspend fun advance(toTime: Instant) {
- timelines.forEach { it.advance(toTime) }
+ override fun events(): Flow<E> = flow {
+ val buffer = TODO()
+//
+// timelines.forEach { timeline ->
+// timeline.observe {
+// collect{
+// buffer.add(it)
+// }
+// }
+// }
}
-// override suspend fun interrupt(atTime: Instant) {
-// timelines.forEach { it.interrupt(atTime) }
-// }
-
- private val observers: MutableSet<TimelineObserver> = mutableSetOf()
-
- override suspend fun observe(collector: suspend Flow<E>.() -> Unit): TimelineObserver {
- val observer = object : TimelineObserver {
- override var time: Instant = this@MergedTimeline.time
-
- override suspend fun collect(upTo: Instant) = timelines
- .map { flowUnobservedEvents() }
- .merge()
- .takeWhile { it.time <= upTo }.onEach {
- time = it.time
- }.collector()
-
-
- override fun close() {
- observers.remove(this)
- }
-
- }
- observers.add(observer)
- return observer
- }
}
\ No newline at end of file
diff --git a/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt b/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
index b5e4845..d9962d8 100644
--- a/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
@@ -1,88 +1,30 @@
package space.kscience.simulation
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.channels.Channel
import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.asFlow
-import kotlinx.coroutines.flow.onEach
-import kotlinx.coroutines.flow.takeWhile
-import kotlinx.coroutines.sync.Mutex
-import kotlinx.coroutines.sync.withLock
+import kotlinx.coroutines.flow.MutableSharedFlow
import kotlinx.datetime.Instant
/**
* A manually mutable [Timeline] that could be modified via [emit] method by multiple
*/
-public class SharedTimeline<E : TimelineEvent> : Timeline<E> {
+public class SharedTimeline<E : TimelineEvent>(
+ timelineScope: CoroutineScope,
+ startTime: Instant
+) : AbstractTimeline<E>(timelineScope, startTime) {
- private val mutex = Mutex()
+ private val events = MutableSharedFlow<E>(replay = Channel.UNLIMITED)
- private val events = ArrayDeque<E>()
-
- private val observers: MutableSet<TimelineObserver> = mutableSetOf()
-
- override val time: Instant
- get() = events.lastOrNull()?.time ?: Instant.DISTANT_PAST
-
- override val observedTime: Instant?
- get() = observers.minOfNotNullOrNull { it.time }
-
- override fun flowUnobservedEvents(): Flow<E> = events.asFlow()
+ override fun events(): Flow<E> = events
/**
* Emit new event to the timeline
*/
- public suspend fun emit(event: E): Boolean = mutex.withLock {
- if (event.time < (observedTime ?: Instant.DISTANT_PAST)) {
- error("Can't emit event $event because there are observed events after $observedTime")
+ public suspend fun emit(event: E) {
+ if (event.time < (events.replayCache.lastOrNull()?.time ?: time.value)) {
+ error("Can't emit event $event because timeline monotony is broken")
}
- events.add(event)
- }
-
- override suspend fun advance(toTime: Instant) {
- observers.forEach {
- it.collect(toTime)
- }
- }
-
- /**
- * Discard all events before [observedTime]
- */
- private suspend fun cleanup(): Unit = mutex.withLock {
- val threshold = observedTime ?: return@withLock
- while (events.isNotEmpty() && events.last().time > threshold) {
- events.removeFirst()
- }
- }
-
-// /**
-// * Discard unconsumed events after [atTime].
-// */
-// override suspend fun interrupt(atTime: Instant): Unit = mutex.withLock {
-// val threshold = observedTime
-// if (atTime < threshold)
-// error("Timeline interrupt at time $atTime is not possible because there are observed events before $threshold")
-// while (events.isNotEmpty() && events.last().time > atTime) {
-// events.removeLast()
-// }
-// }
-
- override suspend fun observe(collector: suspend Flow<E>.() -> Unit): TimelineObserver {
- val observer = object : TimelineObserver {
- val observerMutex = Mutex()
- override var time: Instant = this@SharedTimeline.time
-
- override suspend fun collect(upTo: Instant) = observerMutex.withLock {
- flowUnobservedEvents().takeWhile { it.time <= upTo }.onEach {
- time = it.time
- }.collector()
- cleanup()
- }
-
- override fun close() {
- observers.remove(this)
- }
-
- }
- observers.add(observer)
- return observer
+ events.emit(event)
}
}
\ No newline at end of file
diff --git a/simulation-kt/src/commonMain/kotlin/Timeline.kt b/simulation-kt/src/commonMain/kotlin/Timeline.kt
index 64974ff..27219cd 100644
--- a/simulation-kt/src/commonMain/kotlin/Timeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/Timeline.kt
@@ -1,6 +1,7 @@
package space.kscience.simulation
import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.StateFlow
import kotlinx.datetime.Instant
import kotlin.time.Duration
@@ -21,9 +22,9 @@ public data class SimpleTimelineEvent<T>(override val time: Instant, val value:
public interface TimelineObserver : AutoCloseable {
/**
- * The subjective time of this observer
+ * The subjective time of this observer (last observed time)
*/
- public val time: Instant
+ public val time: StateFlow<Instant>
/**
* Collect all uncollected events from [time] to [upTo].
@@ -33,6 +34,8 @@ public interface TimelineObserver : AutoCloseable {
public suspend fun collect(upTo: Instant = Instant.DISTANT_FUTURE)
}
+public suspend fun TimelineObserver.collect(duration: Duration) = collect(time.value + duration)
+
/**
* A time-ordered sequence of events of type [E]. There time of events is strictly monotonic, meaning that the time of
* the next event is greater than the previous event time.
@@ -43,29 +46,15 @@ public interface TimelineObserver : AutoCloseable {
*/
public interface Timeline<E : TimelineEvent> {
/**
- * A subjective time of this timeline. The time could advance without events being produced.
+ * A subjective time of this timeline. The subjective time is the last observed time.
*/
- public val time: Instant
+ public val time: StateFlow<Instant>
- /**
- * The time of the last event that was observed by all observers
- */
- public val observedTime: Instant?
-
- /**
- * Flow events from [observedTime] to [time].
- *
- * The resulting flow is finite and should not suspend.
- *
- * This method does not affect [observedTime].
- */
- public fun flowUnobservedEvents(): Flow<E>
/**
* Attach observer to this [Timeline]. The observer collection is not triggered right away, but only on demand.
*
* Each collection shifts [TimelineObserver.time] for this observer.
- * The value of [observedTime] is the least of all observers [TimelineObserver.time].
*/
public suspend fun observe(
collector: suspend Flow<E>.() -> Unit
@@ -84,4 +73,4 @@ public interface Timeline<E : TimelineEvent> {
// * Throw exception if at least one observer advanced
// */
// public suspend fun interrupt(atTime: Instant): Unit
-}
\ No newline at end of file
+}
diff --git a/simulation-kt/src/commonTest/kotlin/TimelineTests.kt b/simulation-kt/src/commonTest/kotlin/TimelineTests.kt
index a1bf632..a052d64 100644
--- a/simulation-kt/src/commonTest/kotlin/TimelineTests.kt
+++ b/simulation-kt/src/commonTest/kotlin/TimelineTests.kt
@@ -1,34 +1,50 @@
package space.kscience.simulation
+import kotlinx.coroutines.isActive
import kotlinx.coroutines.test.runTest
import kotlinx.datetime.Instant
import kotlin.test.Test
+import kotlin.time.Duration
import kotlin.time.Duration.Companion.seconds
class TimelineTests {
@Test
- fun testGeneration() = runTest(timeout = 5.seconds) {
+ fun testGeneration() = runTest{
val startTime = Instant.parse("2020-01-01T00:00:00.000Z")
val generation = GeneratingTimeline<SimpleTimelineEvent<DoubleArray>>(
this,
- initialEvent = SimpleTimelineEvent(startTime, List(10) { it.toDouble() }.toDoubleArray()),
+ origin = SimpleTimelineEvent(startTime, List(10) { it.toDouble() }.toDoubleArray()),
lookaheadInterval = 1.seconds
) { event ->
- val time = event.time + 0.1.seconds
- println("Emit: $time")
- SimpleTimelineEvent(time, event.value.map { it + 1.0 }.toDoubleArray())
- }
-
- val collector = generation.observe {
- collect {
- println("Consume: ${it.time}")
+ var time = event.time
+ while (isActive) {
+ time += 0.1.seconds
+ println("Emit: ${time - startTime}")
+ emit(SimpleTimelineEvent(time, event.value.map { it + 1.0 }.toDoubleArray()))
}
}
- collector.collect(startTime + 2.seconds)
+ val result = mutableListOf<Duration>()
+
+ val collector = generation.observe {
+ collect {
+ println("Consume: ${it.time - startTime}")
+ result.add(it.time - startTime)
+ }
+ }
+
+ collector.collect(2.seconds)
+ println("First collection complete")
+ collector.collect(2.seconds)
+ println("Second collection complete")
+ println("Interrupt")
+ generation.interrupt(SimpleTimelineEvent(startTime + 6.seconds, List(10) { it.toDouble() }.toDoubleArray()))
+ println("Collecting second")
+ collector.collect(startTime + 6.seconds + 2.5.seconds)
+ println(result)
collector.close()
}
}
\ No newline at end of file
From 203a8c157006a8e8dc5719de4835dd031af83507 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 8 Dec 2024 11:12:08 +0300
Subject: [PATCH 123/125] GeneratingTimeline fully functional
---
.../src/commonMain/kotlin/AbstractTimeline.kt | 22 ++++++++++----
.../commonMain/kotlin/GeneratingTimeline.kt | 13 ++++----
.../src/commonMain/kotlin/MergedTimeline.kt | 9 +++---
.../src/commonMain/kotlin/SharedTimeline.kt | 9 +++---
.../src/commonMain/kotlin/Timeline.kt | 21 ++++++++-----
.../src/commonTest/kotlin/TimelineTests.kt | 30 +++++++++----------
6 files changed, 60 insertions(+), 44 deletions(-)
diff --git a/simulation-kt/src/commonMain/kotlin/AbstractTimeline.kt b/simulation-kt/src/commonMain/kotlin/AbstractTimeline.kt
index 9876083..b4d243f 100644
--- a/simulation-kt/src/commonMain/kotlin/AbstractTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/AbstractTimeline.kt
@@ -1,18 +1,23 @@
package space.kscience.simulation
-import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.*
import kotlinx.coroutines.channels.BufferOverflow
import kotlinx.coroutines.channels.Channel
-import kotlinx.coroutines.coroutineScope
-import kotlinx.coroutines.currentCoroutineContext
import kotlinx.coroutines.flow.*
-import kotlinx.coroutines.launch
import kotlinx.datetime.Instant
+import kotlin.coroutines.CoroutineContext
public abstract class AbstractTimeline<E : TimelineEvent>(
- protected val timelineScope: CoroutineScope,
protected var startTime: Instant,
-) : Timeline<E> {
+ coroutineContext: CoroutineContext
+) : Timeline<E>, AutoCloseable {
+
+ protected val timelineScope: CoroutineScope = CoroutineScope(
+ coroutineContext +
+ SupervisorJob(coroutineContext[Job]) +
+ CoroutineExceptionHandler{ _, throwable -> throwable.printStackTrace() } +
+ CoroutineName("Timeline")
+ )
private val observers: MutableSet<TimelineObserver> = mutableSetOf()
@@ -67,4 +72,9 @@ public abstract class AbstractTimeline<E : TimelineEvent>(
observers.add(observer)
return observer
}
+
+ override fun close() {
+ observers.forEach { it.close() }
+ timelineScope.cancel()
+ }
}
\ No newline at end of file
diff --git a/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt b/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
index 6f29266..5690d7c 100644
--- a/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
@@ -1,10 +1,11 @@
package space.kscience.simulation
-import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.channels.Channel
import kotlinx.coroutines.coroutineScope
import kotlinx.coroutines.flow.*
import kotlinx.datetime.Instant
+import kotlin.coroutines.CoroutineContext
+import kotlin.coroutines.EmptyCoroutineContext
import kotlin.time.Duration
/**
@@ -21,11 +22,11 @@ public fun <E : TimelineEvent> Flow<E>.withTimeThreshold(
* @param lookaheadInterval an interval for generated events ahead of the last observed event.
*/
public class GeneratingTimeline<E : TimelineEvent>(
- private val generationScope: CoroutineScope,
private val origin: E,
private val lookaheadInterval: Duration,
+ coroutineContext: CoroutineContext = EmptyCoroutineContext,
private val generator: suspend FlowCollector<E>.(E) -> Unit
-) : AbstractTimeline<E>(generationScope, origin.time) {
+) : AbstractTimeline<E>(origin.time, coroutineContext) {
private val startEventFlow = MutableStateFlow(origin)
@@ -46,11 +47,11 @@ public class GeneratingTimeline<E : TimelineEvent>(
}.withTimeThreshold(
threshold = time.map { it + lookaheadInterval }
).buffer(Channel.UNLIMITED).mapNotNull {
- //it.event
+ //a barrier to avoid leaking stale events after interruption from buffer
it.takeIf { it.origin == startEventFlow.value }?.event
}.shareIn(
- scope = generationScope,
- started = SharingStarted.Eagerly,
+ scope = timelineScope,
+ started = SharingStarted.Lazily,
)
override fun events(): Flow<E> = events
diff --git a/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt b/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
index 334e8c7..0da6227 100644
--- a/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
@@ -1,14 +1,15 @@
package space.kscience.simulation
-import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.flow
+import kotlin.coroutines.CoroutineContext
+import kotlin.coroutines.EmptyCoroutineContext
public class MergedTimeline<E : TimelineEvent>(
- timelineScope: CoroutineScope,
- private val timelines: List<Timeline<E>>
-) : AbstractTimeline<E>(timelineScope, timelines.minOf { it.time.value }) {
+ private val timelines: List<Timeline<E>>,
+ coroutineContext: CoroutineContext = EmptyCoroutineContext
+) : AbstractTimeline<E>(timelines.minOf { it.time.value }, coroutineContext) {
override fun events(): Flow<E> = flow {
val buffer = TODO()
diff --git a/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt b/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
index d9962d8..1b45002 100644
--- a/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
@@ -1,18 +1,19 @@
package space.kscience.simulation
-import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.channels.Channel
import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.MutableSharedFlow
import kotlinx.datetime.Instant
+import kotlin.coroutines.CoroutineContext
+import kotlin.coroutines.EmptyCoroutineContext
/**
* A manually mutable [Timeline] that could be modified via [emit] method by multiple
*/
public class SharedTimeline<E : TimelineEvent>(
- timelineScope: CoroutineScope,
- startTime: Instant
-) : AbstractTimeline<E>(timelineScope, startTime) {
+ startTime: Instant,
+ coroutineContext: CoroutineContext = EmptyCoroutineContext
+) : AbstractTimeline<E>(startTime, coroutineContext) {
private val events = MutableSharedFlow<E>(replay = Channel.UNLIMITED)
diff --git a/simulation-kt/src/commonMain/kotlin/Timeline.kt b/simulation-kt/src/commonMain/kotlin/Timeline.kt
index 27219cd..20a0746 100644
--- a/simulation-kt/src/commonMain/kotlin/Timeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/Timeline.kt
@@ -34,7 +34,10 @@ public interface TimelineObserver : AutoCloseable {
public suspend fun collect(upTo: Instant = Instant.DISTANT_FUTURE)
}
-public suspend fun TimelineObserver.collect(duration: Duration) = collect(time.value + duration)
+/**
+ * Collect events for a fixed [duration] since last observed time
+ */
+public suspend fun TimelineObserver.collect(duration: Duration): Unit = collect(time.value + duration)
/**
* A time-ordered sequence of events of type [E]. There time of events is strictly monotonic, meaning that the time of
@@ -66,11 +69,13 @@ public interface Timeline<E : TimelineEvent> {
* This method suspends until all advancement is done
*/
public suspend fun advance(toTime: Instant)
-
-// /**
-// * Interrupt generation of this timeline and discard unconsumed events after [atTime].
-// *
-// * Throw exception if at least one observer advanced
-// */
-// public suspend fun interrupt(atTime: Instant): Unit
}
+
+/**
+ * Perform [collector] action on each event
+ */
+public suspend fun <E : TimelineEvent> Timeline<E>.observeEach(
+ collector: suspend (E) -> Unit
+): TimelineObserver = observe {
+ collect(collector)
+}
\ No newline at end of file
diff --git a/simulation-kt/src/commonTest/kotlin/TimelineTests.kt b/simulation-kt/src/commonTest/kotlin/TimelineTests.kt
index a052d64..b9f53dd 100644
--- a/simulation-kt/src/commonTest/kotlin/TimelineTests.kt
+++ b/simulation-kt/src/commonTest/kotlin/TimelineTests.kt
@@ -11,40 +11,38 @@ class TimelineTests {
@Test
- fun testGeneration() = runTest{
+ fun testGeneration() = runTest(timeout = 1.seconds) {
val startTime = Instant.parse("2020-01-01T00:00:00.000Z")
- val generation = GeneratingTimeline<SimpleTimelineEvent<DoubleArray>>(
- this,
- origin = SimpleTimelineEvent(startTime, List(10) { it.toDouble() }.toDoubleArray()),
+ val generation = GeneratingTimeline(
+ origin = SimpleTimelineEvent(startTime, Unit),
lookaheadInterval = 1.seconds
) { event ->
var time = event.time
while (isActive) {
time += 0.1.seconds
println("Emit: ${time - startTime}")
- emit(SimpleTimelineEvent(time, event.value.map { it + 1.0 }.toDoubleArray()))
+ emit(SimpleTimelineEvent(time, Unit))
}
}
val result = mutableListOf<Duration>()
- val collector = generation.observe {
- collect {
- println("Consume: ${it.time - startTime}")
- result.add(it.time - startTime)
- }
+ val observer = generation.observeEach {
+ println("Consume: ${it.time - startTime}")
+ result.add(it.time - startTime)
}
- collector.collect(2.seconds)
+ observer.collect(2.seconds)
println("First collection complete")
- collector.collect(2.seconds)
+ observer.collect(2.seconds)
println("Second collection complete")
println("Interrupt")
- generation.interrupt(SimpleTimelineEvent(startTime + 6.seconds, List(10) { it.toDouble() }.toDoubleArray()))
- println("Collecting second")
- collector.collect(startTime + 6.seconds + 2.5.seconds)
+ generation.interrupt(SimpleTimelineEvent(startTime + 6.seconds, Unit))
+ println("Collecting after interruption")
+ observer.collect(startTime + 6.seconds + 2.5.seconds)
println(result)
- collector.close()
+ generation.close()
+
}
}
\ No newline at end of file
From f708bb93e238ac100dc9ff26a2e2219e84762fa4 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 8 Dec 2024 12:04:11 +0300
Subject: [PATCH 124/125] Re-implement MergedTimeline
---
.../commonMain/kotlin/GeneratingTimeline.kt | 4 +-
.../src/commonMain/kotlin/MergedTimeline.kt | 82 ++++++++++++++++---
...bstractTimeline.kt => ProducerTimeline.kt} | 7 +-
.../src/commonMain/kotlin/SharedTimeline.kt | 2 +-
4 files changed, 77 insertions(+), 18 deletions(-)
rename simulation-kt/src/commonMain/kotlin/{AbstractTimeline.kt => ProducerTimeline.kt} (90%)
diff --git a/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt b/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
index 5690d7c..0698b45 100644
--- a/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/GeneratingTimeline.kt
@@ -22,11 +22,11 @@ public fun <E : TimelineEvent> Flow<E>.withTimeThreshold(
* @param lookaheadInterval an interval for generated events ahead of the last observed event.
*/
public class GeneratingTimeline<E : TimelineEvent>(
- private val origin: E,
+ origin: E,
private val lookaheadInterval: Duration,
coroutineContext: CoroutineContext = EmptyCoroutineContext,
private val generator: suspend FlowCollector<E>.(E) -> Unit
-) : AbstractTimeline<E>(origin.time, coroutineContext) {
+) : ProducerTimeline<E>(origin.time, coroutineContext) {
private val startEventFlow = MutableStateFlow(origin)
diff --git a/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt b/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
index 0da6227..4614fbb 100644
--- a/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/MergedTimeline.kt
@@ -1,7 +1,11 @@
package space.kscience.simulation
-import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.flow
+import kotlinx.coroutines.*
+import kotlinx.coroutines.channels.Channel
+import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.sync.Mutex
+import kotlinx.coroutines.sync.withLock
+import kotlinx.datetime.Instant
import kotlin.coroutines.CoroutineContext
import kotlin.coroutines.EmptyCoroutineContext
@@ -9,18 +13,70 @@ import kotlin.coroutines.EmptyCoroutineContext
public class MergedTimeline<E : TimelineEvent>(
private val timelines: List<Timeline<E>>,
coroutineContext: CoroutineContext = EmptyCoroutineContext
-) : AbstractTimeline<E>(timelines.minOf { it.time.value }, coroutineContext) {
+) : Timeline<E> {
- override fun events(): Flow<E> = flow {
- val buffer = TODO()
-//
-// timelines.forEach { timeline ->
-// timeline.observe {
-// collect{
-// buffer.add(it)
-// }
-// }
-// }
+ protected val timelineScope: CoroutineScope = CoroutineScope(
+ coroutineContext +
+ SupervisorJob(coroutineContext[Job]) +
+ CoroutineExceptionHandler{ _, throwable -> throwable.printStackTrace() } +
+ CoroutineName("MergedTimeline")
+ )
+
+ override val time: StateFlow<Instant> = combine(timelines.map { it.time }){ array->
+ array.max()
+ }.stateIn(timelineScope, SharingStarted.Lazily, timelines.maxOf { it.time.value })
+
+ override suspend fun advance(toTime: Instant) {
+ observers.forEach {
+ it.collect(toTime)
+ }
+ }
+
+ private val observers: MutableSet<TimelineObserver> = mutableSetOf()
+
+ override suspend fun observe(collector: suspend Flow<E>.() -> Unit): TimelineObserver {
+ val context = currentCoroutineContext()
+ val buffer = mutableListOf<E>()
+
+ val timelineObservers = timelines.map {
+ it.observeEach { event ->
+ buffer.add(event)
+ }
+ }
+
+ val observer = object : TimelineObserver {
+
+ private val channel = Channel<E>()
+
+ override val time = MutableStateFlow(this@MergedTimeline.time.value)
+
+ private val collectJob = timelineScope.launch(context) {
+ channel.consumeAsFlow().onEach {
+ time.emit(it.time)
+ }.collector()
+ }
+
+ private val mutex = Mutex()
+
+ override suspend fun collect(upTo: Instant) = mutex.withLock{
+ timelineObservers.forEach {
+ it.collect(upTo)
+ }
+ buffer.sortedBy { it.time }.forEach {
+ channel.send(it)
+ buffer.remove(it)
+ }
+ }
+
+ override fun close() {
+ collectJob.cancel()
+ observers.remove(this)
+ }
+
+ }
+
+ observers.add(observer)
+ return observer
}
}
\ No newline at end of file
diff --git a/simulation-kt/src/commonMain/kotlin/AbstractTimeline.kt b/simulation-kt/src/commonMain/kotlin/ProducerTimeline.kt
similarity index 90%
rename from simulation-kt/src/commonMain/kotlin/AbstractTimeline.kt
rename to simulation-kt/src/commonMain/kotlin/ProducerTimeline.kt
index b4d243f..a201d92 100644
--- a/simulation-kt/src/commonMain/kotlin/AbstractTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/ProducerTimeline.kt
@@ -4,10 +4,12 @@ import kotlinx.coroutines.*
import kotlinx.coroutines.channels.BufferOverflow
import kotlinx.coroutines.channels.Channel
import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.sync.Mutex
+import kotlinx.coroutines.sync.withLock
import kotlinx.datetime.Instant
import kotlin.coroutines.CoroutineContext
-public abstract class AbstractTimeline<E : TimelineEvent>(
+public abstract class ProducerTimeline<E : TimelineEvent>(
protected var startTime: Instant,
coroutineContext: CoroutineContext
) : Timeline<E>, AutoCloseable {
@@ -53,8 +55,9 @@ public abstract class AbstractTimeline<E : TimelineEvent>(
}.collector()
}
+ private val mutex = Mutex()
- override suspend fun collect(upTo: Instant) = coroutineScope {
+ override suspend fun collect(upTo: Instant) = mutex.withLock {
require(upTo >= time.value) { "Requested time $upTo is lower than observed ${time.value}" }
events().takeWhile {
it.time <= upTo
diff --git a/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt b/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
index 1b45002..051524e 100644
--- a/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
+++ b/simulation-kt/src/commonMain/kotlin/SharedTimeline.kt
@@ -13,7 +13,7 @@ import kotlin.coroutines.EmptyCoroutineContext
public class SharedTimeline<E : TimelineEvent>(
startTime: Instant,
coroutineContext: CoroutineContext = EmptyCoroutineContext
-) : AbstractTimeline<E>(startTime, coroutineContext) {
+) : ProducerTimeline<E>(startTime, coroutineContext) {
private val events = MutableSharedFlow<E>(replay = Channel.UNLIMITED)
From e9a37f40fd1da68a1f469cb4b28f190b311ca4b1 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Sun, 8 Dec 2024 12:15:22 +0300
Subject: [PATCH 125/125] reademe update
---
README.md | 9 +++++++
controls-constructor/README.md | 4 +--
controls-core/README.md | 4 +--
controls-jupyter/README.md | 4 +--
controls-magix/README.md | 4 +--
controls-modbus/README.md | 4 +--
controls-opcua/README.md | 4 +--
controls-pi/README.md | 4 +--
controls-plc4x/README.md | 21 +++++++++++++++
controls-ports-ktor/README.md | 4 +--
controls-serial/README.md | 4 +--
controls-server/README.md | 4 +--
controls-storage/README.md | 4 +--
controls-storage/controls-xodus/README.md | 4 +--
controls-vision/README.md | 4 +--
controls-visualisation-compose/README.md | 4 +--
demo/device-collective/README.md | 10 -------
magix/magix-api/README.md | 4 +--
magix/magix-java-endpoint/README.md | 4 +--
magix/magix-mqtt/README.md | 4 +--
magix/magix-rabbit/README.md | 4 +--
magix/magix-rsocket/README.md | 4 +--
magix/magix-server/README.md | 4 +--
magix/magix-storage/README.md | 4 +--
.../magix-storage-xodus/README.md | 4 +--
magix/magix-utils/README.md | 21 +++++++++++++++
magix/magix-zmq/README.md | 4 +--
simulation-kt/README.md | 26 +++++++++++++++++++
simulation-kt/build.gradle.kts | 13 +++++-----
29 files changed, 130 insertions(+), 62 deletions(-)
create mode 100644 controls-plc4x/README.md
create mode 100644 magix/magix-utils/README.md
create mode 100644 simulation-kt/README.md
diff --git a/README.md b/README.md
index 6b9c9cd..256b87d 100644
--- a/README.md
+++ b/README.md
@@ -147,6 +147,15 @@ Automatically checks consistency.
>
> **Maturity**: EXPERIMENTAL
+### [simulation-kt](simulation-kt)
+> A framework for combination of asynchronous simulations.
+>
+> **Maturity**: PROTOTYPE
+>
+> **Features:**
+> - [timeline](simulation-kt/#) : Timeline is an ordered discrete history containing TimeLineEvent
+
+
### [controls-storage/controls-xodus](controls-storage/controls-xodus)
> An implementation of controls-storage on top of JetBrains Xodus.
>
diff --git a/controls-constructor/README.md b/controls-constructor/README.md
index 7da4d0b..f2186bd 100644
--- a/controls-constructor/README.md
+++ b/controls-constructor/README.md
@@ -6,7 +6,7 @@ A low-code constructor for composite devices simulation
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-constructor:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-constructor:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-constructor:0.4.0-dev-4")
+ implementation("space.kscience:controls-constructor:0.4.0-dev-7")
}
```
diff --git a/controls-core/README.md b/controls-core/README.md
index 26ed618..f7bc0bd 100644
--- a/controls-core/README.md
+++ b/controls-core/README.md
@@ -16,7 +16,7 @@ Core interfaces for building a device server
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-core:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-core:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -26,6 +26,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-core:0.4.0-dev-4")
+ implementation("space.kscience:controls-core:0.4.0-dev-7")
}
```
diff --git a/controls-jupyter/README.md b/controls-jupyter/README.md
index 6100ddd..045b8d0 100644
--- a/controls-jupyter/README.md
+++ b/controls-jupyter/README.md
@@ -6,7 +6,7 @@
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-jupyter:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-jupyter:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-jupyter:0.4.0-dev-4")
+ implementation("space.kscience:controls-jupyter:0.4.0-dev-7")
}
```
diff --git a/controls-magix/README.md b/controls-magix/README.md
index c474221..f2dd35f 100644
--- a/controls-magix/README.md
+++ b/controls-magix/README.md
@@ -12,7 +12,7 @@ Magix service for binding controls devices (both as RPC client and server)
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-magix:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-magix:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -22,6 +22,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-magix:0.4.0-dev-4")
+ implementation("space.kscience:controls-magix:0.4.0-dev-7")
}
```
diff --git a/controls-modbus/README.md b/controls-modbus/README.md
index 9705e81..ef52403 100644
--- a/controls-modbus/README.md
+++ b/controls-modbus/README.md
@@ -14,7 +14,7 @@ Automatically checks consistency.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-modbus:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-modbus:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -24,6 +24,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-modbus:0.4.0-dev-4")
+ implementation("space.kscience:controls-modbus:0.4.0-dev-7")
}
```
diff --git a/controls-opcua/README.md b/controls-opcua/README.md
index 6867492..1d65c9d 100644
--- a/controls-opcua/README.md
+++ b/controls-opcua/README.md
@@ -12,7 +12,7 @@ A client and server connectors for OPC-UA via Eclipse Milo
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-opcua:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-opcua:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -22,6 +22,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-opcua:0.4.0-dev-4")
+ implementation("space.kscience:controls-opcua:0.4.0-dev-7")
}
```
diff --git a/controls-pi/README.md b/controls-pi/README.md
index 0afb324..9c36e60 100644
--- a/controls-pi/README.md
+++ b/controls-pi/README.md
@@ -6,7 +6,7 @@ Utils to work with controls-kt on Raspberry pi
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-pi:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-pi:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-pi:0.4.0-dev-4")
+ implementation("space.kscience:controls-pi:0.4.0-dev-7")
}
```
diff --git a/controls-plc4x/README.md b/controls-plc4x/README.md
new file mode 100644
index 0000000..21cf398
--- /dev/null
+++ b/controls-plc4x/README.md
@@ -0,0 +1,21 @@
+# Module controls-plc4x
+
+A plugin for Controls-kt device server on top of plc4x library
+
+## Usage
+
+## Artifact:
+
+The Maven coordinates of this project are `space.kscience:controls-plc4x:0.4.0-dev-7`.
+
+**Gradle Kotlin DSL:**
+```kotlin
+repositories {
+ maven("https://repo.kotlin.link")
+ mavenCentral()
+}
+
+dependencies {
+ implementation("space.kscience:controls-plc4x:0.4.0-dev-7")
+}
+```
diff --git a/controls-ports-ktor/README.md b/controls-ports-ktor/README.md
index 1cb277a..376bd13 100644
--- a/controls-ports-ktor/README.md
+++ b/controls-ports-ktor/README.md
@@ -6,7 +6,7 @@ Implementation of byte ports on top os ktor-io asynchronous API
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-ports-ktor:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-ports-ktor:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-ports-ktor:0.4.0-dev-4")
+ implementation("space.kscience:controls-ports-ktor:0.4.0-dev-7")
}
```
diff --git a/controls-serial/README.md b/controls-serial/README.md
index ce95ee5..44598d0 100644
--- a/controls-serial/README.md
+++ b/controls-serial/README.md
@@ -6,7 +6,7 @@ Implementation of direct serial port communication with JSerialComm
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-serial:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-serial:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-serial:0.4.0-dev-4")
+ implementation("space.kscience:controls-serial:0.4.0-dev-7")
}
```
diff --git a/controls-server/README.md b/controls-server/README.md
index 896020d..f143d50 100644
--- a/controls-server/README.md
+++ b/controls-server/README.md
@@ -6,7 +6,7 @@ A combined Magix event loop server with web server for visualization.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-server:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-server:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-server:0.4.0-dev-4")
+ implementation("space.kscience:controls-server:0.4.0-dev-7")
}
```
diff --git a/controls-storage/README.md b/controls-storage/README.md
index dd4ab3d..116792d 100644
--- a/controls-storage/README.md
+++ b/controls-storage/README.md
@@ -6,7 +6,7 @@ An API for stand-alone Controls-kt device or a hub.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-storage:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-storage:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-storage:0.4.0-dev-4")
+ implementation("space.kscience:controls-storage:0.4.0-dev-7")
}
```
diff --git a/controls-storage/controls-xodus/README.md b/controls-storage/controls-xodus/README.md
index 44cdf26..e206f1e 100644
--- a/controls-storage/controls-xodus/README.md
+++ b/controls-storage/controls-xodus/README.md
@@ -6,7 +6,7 @@ An implementation of controls-storage on top of JetBrains Xodus.
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-xodus:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-xodus:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-xodus:0.4.0-dev-4")
+ implementation("space.kscience:controls-xodus:0.4.0-dev-7")
}
```
diff --git a/controls-vision/README.md b/controls-vision/README.md
index ff2b648..750f60f 100644
--- a/controls-vision/README.md
+++ b/controls-vision/README.md
@@ -6,7 +6,7 @@ Dashboard and visualization extensions for devices
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-vision:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-vision:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-vision:0.4.0-dev-4")
+ implementation("space.kscience:controls-vision:0.4.0-dev-7")
}
```
diff --git a/controls-visualisation-compose/README.md b/controls-visualisation-compose/README.md
index 0f77d54..da0d9ef 100644
--- a/controls-visualisation-compose/README.md
+++ b/controls-visualisation-compose/README.md
@@ -6,7 +6,7 @@ Visualisation extension using compose-multiplatform
## Artifact:
-The Maven coordinates of this project are `space.kscience:controls-visualisation-compose:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:controls-visualisation-compose:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:controls-visualisation-compose:0.4.0-dev-4")
+ implementation("space.kscience:controls-visualisation-compose:0.4.0-dev-7")
}
```
diff --git a/demo/device-collective/README.md b/demo/device-collective/README.md
index 369ec04..433a46f 100644
--- a/demo/device-collective/README.md
+++ b/demo/device-collective/README.md
@@ -1,14 +1,4 @@
# Module device-collective
-# Running demo from gradle
-1. Install JDK 17-21 in the system (for example, from https://sdkman.io/jdks or https://github.com/ScoopInstaller/Java).
-2. Clone the repository with Git.
-3. Run `./gradlew :demo:device-collective:run` from the project root directory.
-# Install distribution
-
-1. Install JDK 17-21 in the system (for example, from https://sdkman.io/jdks or https://github.com/ScoopInstaller/Java).
-2. Clone the repository with Git.
-3. Run `./gradlew :demo:device-collective:packageUberJarForCurrentOS` from the project root directory.
-4. Go to `build/compose/jars/device-collective-<your OS>-<version>.jar`. You can copy it and run with `java -jar <full-name>.jar`
diff --git a/magix/magix-api/README.md b/magix/magix-api/README.md
index 6f16ac0..0feb75d 100644
--- a/magix/magix-api/README.md
+++ b/magix/magix-api/README.md
@@ -6,7 +6,7 @@ A kotlin API for magix standard and some zero-dependency magix services
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-api:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:magix-api:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-api:0.4.0-dev-4")
+ implementation("space.kscience:magix-api:0.4.0-dev-7")
}
```
diff --git a/magix/magix-java-endpoint/README.md b/magix/magix-java-endpoint/README.md
index 87359f1..5b269a0 100644
--- a/magix/magix-java-endpoint/README.md
+++ b/magix/magix-java-endpoint/README.md
@@ -6,7 +6,7 @@ Java API to work with magix endpoints without Kotlin
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-java-endpoint:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:magix-java-endpoint:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-java-endpoint:0.4.0-dev-4")
+ implementation("space.kscience:magix-java-endpoint:0.4.0-dev-7")
}
```
diff --git a/magix/magix-mqtt/README.md b/magix/magix-mqtt/README.md
index 0ee054a..3661749 100644
--- a/magix/magix-mqtt/README.md
+++ b/magix/magix-mqtt/README.md
@@ -6,7 +6,7 @@ MQTT client magix endpoint
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-mqtt:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:magix-mqtt:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-mqtt:0.4.0-dev-4")
+ implementation("space.kscience:magix-mqtt:0.4.0-dev-7")
}
```
diff --git a/magix/magix-rabbit/README.md b/magix/magix-rabbit/README.md
index 35b43c7..db0de2c 100644
--- a/magix/magix-rabbit/README.md
+++ b/magix/magix-rabbit/README.md
@@ -6,7 +6,7 @@ RabbitMQ client magix endpoint
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-rabbit:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:magix-rabbit:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-rabbit:0.4.0-dev-4")
+ implementation("space.kscience:magix-rabbit:0.4.0-dev-7")
}
```
diff --git a/magix/magix-rsocket/README.md b/magix/magix-rsocket/README.md
index 9f3a42c..b3cf1ba 100644
--- a/magix/magix-rsocket/README.md
+++ b/magix/magix-rsocket/README.md
@@ -6,7 +6,7 @@ Magix endpoint (client) based on RSocket
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-rsocket:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:magix-rsocket:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-rsocket:0.4.0-dev-4")
+ implementation("space.kscience:magix-rsocket:0.4.0-dev-7")
}
```
diff --git a/magix/magix-server/README.md b/magix/magix-server/README.md
index 8259e0f..4e0968e 100644
--- a/magix/magix-server/README.md
+++ b/magix/magix-server/README.md
@@ -6,7 +6,7 @@ A magix event loop implementation in Kotlin. Includes HTTP/SSE and RSocket route
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-server:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:magix-server:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-server:0.4.0-dev-4")
+ implementation("space.kscience:magix-server:0.4.0-dev-7")
}
```
diff --git a/magix/magix-storage/README.md b/magix/magix-storage/README.md
index 672458e..f8d3c09 100644
--- a/magix/magix-storage/README.md
+++ b/magix/magix-storage/README.md
@@ -6,7 +6,7 @@ Magix history database API
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-storage:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:magix-storage:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-storage:0.4.0-dev-4")
+ implementation("space.kscience:magix-storage:0.4.0-dev-7")
}
```
diff --git a/magix/magix-storage/magix-storage-xodus/README.md b/magix/magix-storage/magix-storage-xodus/README.md
index 2fb495a..3a4a469 100644
--- a/magix/magix-storage/magix-storage-xodus/README.md
+++ b/magix/magix-storage/magix-storage-xodus/README.md
@@ -6,7 +6,7 @@
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-storage-xodus:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:magix-storage-xodus:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-storage-xodus:0.4.0-dev-4")
+ implementation("space.kscience:magix-storage-xodus:0.4.0-dev-7")
}
```
diff --git a/magix/magix-utils/README.md b/magix/magix-utils/README.md
new file mode 100644
index 0000000..95f51a9
--- /dev/null
+++ b/magix/magix-utils/README.md
@@ -0,0 +1,21 @@
+# Module magix-utils
+
+Common utilities and services for Magix endpoints.
+
+## Usage
+
+## Artifact:
+
+The Maven coordinates of this project are `space.kscience:magix-utils:0.4.0-dev-7`.
+
+**Gradle Kotlin DSL:**
+```kotlin
+repositories {
+ maven("https://repo.kotlin.link")
+ mavenCentral()
+}
+
+dependencies {
+ implementation("space.kscience:magix-utils:0.4.0-dev-7")
+}
+```
diff --git a/magix/magix-zmq/README.md b/magix/magix-zmq/README.md
index 952e02e..23c17c7 100644
--- a/magix/magix-zmq/README.md
+++ b/magix/magix-zmq/README.md
@@ -6,7 +6,7 @@ ZMQ client endpoint for Magix
## Artifact:
-The Maven coordinates of this project are `space.kscience:magix-zmq:0.4.0-dev-4`.
+The Maven coordinates of this project are `space.kscience:magix-zmq:0.4.0-dev-7`.
**Gradle Kotlin DSL:**
```kotlin
@@ -16,6 +16,6 @@ repositories {
}
dependencies {
- implementation("space.kscience:magix-zmq:0.4.0-dev-4")
+ implementation("space.kscience:magix-zmq:0.4.0-dev-7")
}
```
diff --git a/simulation-kt/README.md b/simulation-kt/README.md
new file mode 100644
index 0000000..ed4308e
--- /dev/null
+++ b/simulation-kt/README.md
@@ -0,0 +1,26 @@
+# Module simulation-kt
+
+
+
+## Features
+
+ - [timeline](#) : Timeline is an ordered discrete history containing TimeLineEvent
+
+
+## Usage
+
+## Artifact:
+
+The Maven coordinates of this project are `space.kscience:simulation-kt:0.4.0-dev-7`.
+
+**Gradle Kotlin DSL:**
+```kotlin
+repositories {
+ maven("https://repo.kotlin.link")
+ mavenCentral()
+}
+
+dependencies {
+ implementation("space.kscience:simulation-kt:0.4.0-dev-7")
+}
+```
diff --git a/simulation-kt/build.gradle.kts b/simulation-kt/build.gradle.kts
index b365d98..a80b1df 100644
--- a/simulation-kt/build.gradle.kts
+++ b/simulation-kt/build.gradle.kts
@@ -5,10 +5,6 @@ plugins {
`maven-publish`
}
-description = """
- Core interfaces for building a device server
-""".trimIndent()
-
kscience {
jvm()
js()
@@ -21,12 +17,17 @@ kscience {
api(spclibs.kotlinx.datetime)
}
- jvmTest{
+ jvmTest {
implementation(spclibs.logback.classic)
}
}
-readme{
+readme {
maturity = Maturity.PROTOTYPE
+ description = """
+ A framework for combination of asynchronous simulations.
+ """.trimIndent()
+
+ feature("timeline") { "Timeline is an ordered discrete history containing TimeLineEvent" }
}
\ No newline at end of file