Finalize collective demo

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() {

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 {

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>

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.*
-import kotlinx.coroutines.Dispatchers
+import kotlinx.io.writeString
-import kotlinx.coroutines.Job
-import kotlinx.coroutines.launch
 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 {
+            devices.values.filter { it.configuration.radioFrequency == address }.filter {
-                GeoEllipsoid.WGS84.curveBetween(peerState.position.value, it.value.position.value).distance < radioRange
+                GeoEllipsoid.WGS84.curveBetween(position.value, it.position.value).distance < radioRange
-            }.forEach { (id, target) ->
+            }.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,
+            configuration = state.configuration,
-            position = it.position,
+            position = state.position,
-            velocity = it.velocity,
+            velocity = state.velocity,
-            peerConnection = RadioPeerConnection(it),
+            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) {
@@ -134,3 +199,57 @@ 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)
+
+}

demo/device-collective/src/jvmMain/kotlin/debugModel.kt

@@ -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))
-    }
-}

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.*
-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
 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) {