Refactoring. Developing composer

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 = "0.3.0-dev-1"
     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")
 }
 

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
+}

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
+
+
+}

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()
+}

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"),
+        )
+
+    }
+}

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")
     }

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(),

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){

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
 }

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)

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
 
 }

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)"
 }

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
      */

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

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)
+    }
+
+}

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{

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

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()
     }
 }
 

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
@@ -127,7 +166,10 @@ public abstract class ModbusRegistryMap {
             }
         }
 
-        private val ModbusRegistryKey.sectionNumber
+    }
+}
+
+private val ModbusRegistryKey.sectionNumber
     get() = when (this) {
         is ModbusRegistryKey.Coil -> 1
         is ModbusRegistryKey.DiscreteInput -> 2
@@ -135,9 +177,9 @@ public abstract class ModbusRegistryMap {
         is ModbusRegistryKey.InputRegister -> 3
     }
 
-        public fun print(map: ModbusRegistryMap, to: Appendable = System.out) {
-            validate(map)
-            map.entries.entries
+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 }
@@ -156,7 +198,30 @@ public abstract class ModbusRegistryMap {
             }
             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)
     }
 }
 

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()
     }
 }

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)
                     }

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()
     }
 
 }

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()
     }

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)

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) {
 
@@ -31,18 +30,14 @@ 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()
     }
-    }
 
     companion object : Factory<MagixVirtualCar> {
         override fun build(context: Context, meta: Meta): MagixVirtualCar = MagixVirtualCar(context, meta)

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

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()
     }

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) {

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
+toolsVersion=0.15.0-kotlin-1.9.20-RC2

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",