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 {

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]

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>
@@ -81,12 +85,12 @@ 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())

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)
+fun <T> MutableDeviceState<T>.debounce(interval: Duration) = MutableDebounceDeviceState(this, interval)

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

@@ -1,27 +1,53 @@
 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
 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,
@@ -29,7 +55,7 @@ internal data class CollectiveDeviceState(
     val velocity: MutableDeviceState<GmcVelocity>,
 )
 
-internal fun VirtualDeviceState(
+internal fun CollectiveDeviceState(
     id: CollectiveDeviceId,
     position: Gmc,
     configuration: CollectiveDeviceConfiguration.() -> Unit = {},
@@ -40,13 +66,12 @@ internal fun VirtualDeviceState(
     MutableDeviceState(GmcVelocity.zero)
 )
 
-
 internal class DeviceCollectiveModel(
     context: Context,
     val deviceStates: Collection<CollectiveDeviceState>,
     val visibilityRange: Distance = 0.5.kilometers,
-    val radioRange: Distance = 5.kilometers,
-) : ModelConstructor(context), PeerConnection {
+    val radioRange: Distance = 1.kilometers,
+) : ModelConstructor(context) {
 
     /**
      * Propagate movement
@@ -70,33 +95,88 @@ internal class DeviceCollectiveModel(
         return allCurves.filterValues { it.distance in 0.kilometers..visibilityRange }
     }
 
-    val devices = deviceStates.associate {
+    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.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(target.configuration.deviceId.parseAsName(), message)
+            }
+        }
+    }
+
+    val devices = deviceStates.associate { state ->
         val device = CollectiveDeviceConstructor(
             context = context,
-            configuration = it.configuration,
-            position = it.position,
-            velocity = it.velocity,
-            peerConnection = this,
+            configuration = state.configuration,
+            position = state.position,
+            velocity = state.velocity,
+            peerConnection = RadioPeerConnectionModel(state.position),
         ) {
-            locateVisible(it.id)
+            locateVisible(state.id)
         }
-        //start movement program
-        device.moveInCircles()
-        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 }
-
-    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,
@@ -119,3 +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

@@ -1,60 +0,0 @@
-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 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 CollectiveDevice.moveInCircles(): Job = 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

@@ -7,30 +7,26 @@ 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.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.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 +47,7 @@ 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
 
 
@@ -59,7 +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() {
@@ -81,7 +79,6 @@ fun App() {
 
     val devices = remember { mutableStateMapOf<CollectiveDeviceId, DeviceClient>() }
 
-
     LaunchedEffect(collectiveModel) {
         launchCollectiveMagixServer(collectiveModel)
 
@@ -92,7 +89,8 @@ 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
                 }
             }
         }
@@ -111,10 +109,29 @@ fun App() {
 
     var showOnlyVisible by remember { mutableStateOf(false) }
 
+    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(
@@ -122,45 +139,64 @@ 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.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)
                 }
 
+                //draw received data
                 scope.launch {
-
                     client.await().subscribe(DeviceManager.magixFormat).onEach { (magixMessage, deviceMessage) ->
                         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)
-                            }
+                            ).color(Color.Blue).onClick { selectedDeviceId = id }
                         }
                     }.launchIn(scope)
 
                 }
+
+                // draw trawler
+
+                trawler.position.valueFlow.onEach {
+                    circle(it, id = "trawler").color(Color.Black)
+                }.launchIn(scope)
             }
         }
         second(200.dp) {
@@ -168,6 +204,34 @@ 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,