Implement visibility range for collective device

.gitignore

@@ -9,4 +9,7 @@
 
 out/
 build/
+
 !gradle-wrapper.jar
+
+/demo/device-collective/mapCache/

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

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,

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,
+    )
+}

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
+}

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))
     }

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"
     }
 }

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()
 }

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 }
+    }
 }

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

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)
+fun <T> DeviceState<T>.sample(interval: Duration) = SampleDeviceState(this, interval)

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[$it]",
+    val devices: List<VirtualDeviceState> = List(100) { index ->
+        val id = "device[$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))
     }
 }

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),
@@ -62,6 +86,10 @@ fun App() {
         )
     }
 
+    HorizontalSplitPane(
+        splitPaneState = rememberSplitPaneState(0.9f)
+    ) {
+        first(400.dp) {
             MapView(
                 mapTileProvider = mapTileProvider,
                 config = ViewConfig()
@@ -69,14 +97,82 @@ 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").color(Color.Red)
+                        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)
+                    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()
+                            )
+                        }
+                    }
+                }
+            }
         }
     }
 }