controls-constructor/build.gradle.kts

@@ -23,6 +23,7 @@ kscience{
     commonTest{
         implementation(spclibs.logback.classic)
         implementation("org.jetbrains.kotlinx:kotlinx-coroutines-core:1.8.1")
+        implementation("org.jetbrains.kotlinx:kotlinx-coroutines-test:1.9.0")
     }
 }
 

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/ConstructorElement.kt

@@ -74,6 +74,18 @@ public interface StateContainer : ContextAware, CoroutineScope {
     }.launchIn(this@StateContainer).also {
         registerElement(ConnectionConstrucorElement(reads + this, writes))
     }
+
+    /**
+     * Create and register a derived state.
+     */
+    public fun <T> derivedState(
+        dependencies: List<DeviceState<*>>,
+        computeValue: () -> T,
+    ): DeviceStateWithDependencies<T> {
+        val state = DeviceState.derived(this, dependencies, computeValue)
+        registerElement(StateConstructorElement(state))
+        return state
+    }
 }
 
 /**
@@ -210,7 +222,7 @@ public fun <T1, T2, R> StateContainer.combineTo(
 ): Job {
     val descriptor = ConnectionConstrucorElement(setOf(sourceState1, sourceState2), setOf(targetState))
     registerElement(descriptor)
-    return kotlinx.coroutines.flow.combine(sourceState1.valueFlow, sourceState2.valueFlow, transformation).onEach {
+    return combine(sourceState1.valueFlow, sourceState2.valueFlow, transformation).onEach {
         targetState.value = it
     }.launchIn(this).apply {
         invokeOnCompletion {
@@ -231,7 +243,7 @@ public inline fun <reified T, R> StateContainer.combineTo(
 ): Job {
     val descriptor = ConnectionConstrucorElement(sourceStates, setOf(targetState))
     registerElement(descriptor)
-    return kotlinx.coroutines.flow.combine(sourceStates.map { it.valueFlow }, transformation).onEach {
+    return combine(sourceStates.map { it.valueFlow }, transformation).onEach {
         targetState.value = it
     }.launchIn(this).apply {
         invokeOnCompletion {

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/DeviceState.kt

@@ -2,10 +2,7 @@ package space.kscience.controls.constructor
 
 import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Job
-import kotlinx.coroutines.flow.Flow
-import kotlinx.coroutines.flow.launchIn
-import kotlinx.coroutines.flow.map
-import kotlinx.coroutines.flow.onEach
+import kotlinx.coroutines.flow.*
 import space.kscience.controls.constructor.units.NumericalValue
 import space.kscience.controls.constructor.units.UnitsOfMeasurement
 import kotlin.reflect.KProperty
@@ -44,18 +41,43 @@ public operator fun <T> MutableDeviceState<T>.setValue(thisRef: Any?, property:
 }
 
 /**
- * Device state with a value that depends on other device states
+ * DeviceState with dependencies on other DeviceStates.
  */
 public interface DeviceStateWithDependencies<T> : DeviceState<T> {
     public val dependencies: Collection<DeviceState<*>>
 }
 
+/**
+ * Extension function to create a DerivedDeviceState.
+ */
+public fun <T> DeviceState.Companion.derived(
+    scope: CoroutineScope,
+    dependencies: List<DeviceState<*>>,
+    computeValue: () -> T
+): DeviceStateWithDependencies<T> = DerivedDeviceState(scope, dependencies, computeValue)
+
 public fun <T> DeviceState<T>.withDependencies(
     dependencies: Collection<DeviceState<*>>,
 ): DeviceStateWithDependencies<T> = object : DeviceStateWithDependencies<T>, DeviceState<T> by this {
     override val dependencies: Collection<DeviceState<*>> = dependencies
 }
 
+
+public fun <T> DeviceState.Companion.fromFlow(
+    scope: CoroutineScope,
+    flow: Flow<T>,
+    initialValue: T
+): DeviceState<T> {
+    val stateFlow = flow.stateIn(scope, SharingStarted.Eagerly, initialValue)
+    return object : DeviceState<T> {
+        override val value: T get() = stateFlow.value
+        override val valueFlow: Flow<T> get() = stateFlow
+        override fun toString(): String {
+            return "DeviceState.fromFlow(scope=$scope, flow=$flow, initialValue=$initialValue)"
+        }
+    }
+}
+
 /**
  * Create a new read-only [DeviceState] that mirrors receiver state by mapping the value with [mapper].
  */
@@ -101,3 +123,27 @@ public fun <T1, T2, R> DeviceState.Companion.combine(
 
     override fun toString(): String = "DeviceState.combine(state1=$state1, state2=$state2)"
 }
+
+/**
+ * A DeviceState that derives its value from other DeviceStates.
+ */
+public class DerivedDeviceState<T>(
+    scope: CoroutineScope,
+    override val dependencies: List<DeviceState<*>>,
+    computeValue: () -> T
+) : DeviceStateWithDependencies<T> {
+    private val _valueFlow: StateFlow<T>
+
+    init {
+        val flows = dependencies.map { it.valueFlow }
+        _valueFlow = combine(flows) {
+            computeValue()
+        }.stateIn(scope, SharingStarted.Eagerly, computeValue())
+    }
+
+    override val value: T get() = _valueFlow.value
+    override val valueFlow: Flow<T> get() = _valueFlow
+    override fun toString(): String {
+        TODO("Not yet implemented")
+    }
+}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/Drive.kt

@@ -3,7 +3,7 @@ package space.kscience.controls.constructor.devices
 import space.kscience.controls.constructor.DeviceConstructor
 import space.kscience.controls.constructor.MutableDeviceState
 import space.kscience.controls.constructor.property
-import space.kscience.controls.constructor.units.NewtonsMeters
+import space.kscience.controls.constructor.units.NewtonMeters
 import space.kscience.controls.constructor.units.NumericalValue
 import space.kscience.controls.constructor.units.numerical
 import space.kscience.dataforge.context.Context
@@ -13,7 +13,7 @@ import space.kscience.dataforge.meta.MetaConverter
 
 public class Drive(
     context: Context,
-    force: MutableDeviceState<NumericalValue<NewtonsMeters>> = MutableDeviceState(NumericalValue(0)),
+    force: MutableDeviceState<NumericalValue<NewtonMeters>> = MutableDeviceState(NumericalValue(0)),
 ) : DeviceConstructor(context) {
-    public val force: MutableDeviceState<NumericalValue<NewtonsMeters>> by property(MetaConverter.numerical(), force)
+    public val force: MutableDeviceState<NumericalValue<NewtonMeters>> by property(MetaConverter.numerical(), force)
 }

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/devices/LinearDrive.kt

@@ -4,7 +4,7 @@ import space.kscience.controls.constructor.*
 import space.kscience.controls.constructor.models.PidParameters
 import space.kscience.controls.constructor.models.PidRegulator
 import space.kscience.controls.constructor.units.Meters
-import space.kscience.controls.constructor.units.NewtonsMeters
+import space.kscience.controls.constructor.units.NewtonMeters
 import space.kscience.controls.constructor.units.NumericalValue
 import space.kscience.controls.constructor.units.numerical
 import space.kscience.dataforge.context.Context
@@ -24,7 +24,7 @@ public class LinearDrive(
     public val position: DeviceState<NumericalValue<Meters>> by property(MetaConverter.numerical(), position)
 
     public val drive: Drive by device(drive)
-    public val pid: PidRegulator<Meters, NewtonsMeters>  = model(
+    public val pid: PidRegulator<Meters, NewtonMeters>  = model(
         PidRegulator(
             context = context,
             position = position,

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/Annotation.kt

@@ -1,9 +0,0 @@
-package space.kscience.controls.constructor.dsl.core
-
-/**
- * Класс для представления аннотации.
- */
-public data class Annotation(
-    val name: String,
-    val properties: Map<String, Any>
-)

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/EquationSystem.kt

@@ -1,196 +0,0 @@
-package space.kscience.controls.constructor.dsl.core
-
-import space.kscience.controls.constructor.dsl.core.equations.*
-import space.kscience.controls.constructor.dsl.core.expressions.*
-import space.kscience.controls.constructor.dsl.core.variables.ArrayVariable
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-/**
- * Класс для хранения и обработки системы уравнений.
- */
-public class EquationSystem {
-    public val equations: MutableList<EquationBase> = mutableListOf()
-    public val variables: MutableSet<String> = mutableSetOf()
-    public val derivativeVariables: MutableSet<String> = mutableSetOf()
-    public val algebraicEquations: MutableList<Equation> = mutableListOf()
-    public val initialEquations: MutableList<EquationBase> = mutableListOf()
-    public val conditionalEquations: MutableList<ConditionalEquation> = mutableListOf()
-
-    /**
-     * Метод для добавления списка уравнений.
-     */
-    public fun addEquations(eqs: List<EquationBase>) {
-        for (eq in eqs) {
-            addEquation(eq)
-        }
-    }
-
-    /**
-     * Метод для добавления одного уравнения.
-     */
-    public fun addEquation(eq: EquationBase) {
-        equations.add(eq)
-        collectVariables(eq)
-    }
-
-    private fun collectVariables(eq: EquationBase) {
-        when (eq) {
-            is Equation -> {
-                collectVariablesFromExpression(eq.leftExpression)
-                collectVariablesFromExpression(eq.rightExpression)
-
-                // Classify the equation
-                if (isDifferentialEquation(eq)) {
-                    // Handled in toODESystem()
-                } else {
-                    algebraicEquations.add(eq)
-                }
-            }
-            is ConditionalEquation -> {
-                collectVariablesFromExpression(eq.condition)
-                collectVariables(eq.trueEquation)
-                eq.falseEquation?.let { collectVariables(it) }
-                conditionalEquations.add(eq)
-            }
-            is InitialEquation -> {
-                collectVariablesFromExpression(eq.leftExpression)
-                collectVariablesFromExpression(eq.rightExpression)
-                initialEquations.add(eq)
-            }
-            else -> {
-                throw UnsupportedOperationException("Unknown equation type: ${eq::class}")
-            }
-        }
-    }
-
-    private fun collectVariablesFromExpression(expr: Expression) {
-        when (expr) {
-            is VariableExpression -> variables.add(expr.variable.name)
-            is ConstantExpression -> {
-                // Constants do not contain variables
-            }
-            is DerivativeExpression -> {
-                collectVariablesFromExpression(expr.variable)
-                derivativeVariables.add(expr.variable.variable.name)
-            }
-            is PartialDerivativeExpression -> {
-                collectVariablesFromExpression(expr.variable)
-                collectVariablesFromExpression(expr.respectTo)
-                // For partial derivatives, variables may need special handling
-            }
-            is BinaryExpression -> {
-                collectVariablesFromExpression(expr.left)
-                collectVariablesFromExpression(expr.right)
-            }
-            is FunctionCallExpression -> {
-                expr.arguments.forEach { collectVariablesFromExpression(it) }
-            }
-            is ArrayVariableExpression -> {
-                collectVariablesFromArrayVariable(expr.left)
-                collectVariablesFromArrayVariable(expr.right)
-            }
-            is ArrayScalarExpression -> {
-                collectVariablesFromArrayVariable(expr.array)
-                collectVariablesFromExpression(expr.scalar)
-            }
-            else -> {
-                throw UnsupportedOperationException("Unknown expression type: ${expr::class}")
-            }
-        }
-    }
-
-    private fun collectVariablesFromArrayVariable(arrayVar: ArrayVariable) {
-        variables.add(arrayVar.name)
-        // Additional processing if necessary
-    }
-
-    private fun isDifferentialEquation(eq: Equation): Boolean {
-        val leftIsDerivative = containsDerivative(eq.leftExpression)
-        val rightIsDerivative = containsDerivative(eq.rightExpression)
-        return leftIsDerivative || rightIsDerivative
-    }
-
-    private fun containsDerivative(expr: Expression): Boolean {
-        return when (expr) {
-            is DerivativeExpression -> true
-            is BinaryExpression -> containsDerivative(expr.left) || containsDerivative(expr.right)
-            is FunctionCallExpression -> expr.arguments.any { containsDerivative(it) }
-            else -> false
-        }
-    }
-
-    /**
-     * Подготовка системы ОДУ для численного решения.
-     */
-    public fun toODESystem(): ODESystem {
-        val odeEquations = mutableListOf<ODEEquation>()
-
-        // Process equations to separate ODEs and algebraic equations
-        for (eqBase in equations) {
-            when (eqBase) {
-                is Equation -> {
-                    val eq = eqBase
-                    if (isDifferentialEquation(eq)) {
-                        // Handle differential equations
-                        processDifferentialEquation(eq, odeEquations)
-                    } else {
-                        // Handle algebraic equations
-                        algebraicEquations.add(eq)
-                    }
-                }
-                is ConditionalEquation -> {
-                    // Handle conditional equations
-                    // For ODE system, we might need to process them differently
-                    conditionalEquations.add(eqBase)
-                }
-                is InitialEquation -> {
-                    // Initial equations are used for setting initial conditions
-                    initialEquations.add(eqBase)
-                }
-                else -> {
-                    throw UnsupportedOperationException("Unknown equation type: ${eqBase::class}")
-                }
-            }
-        }
-
-        return ODESystem(odeEquations, algebraicEquations, initialEquations, conditionalEquations)
-    }
-
-    private fun processDifferentialEquation(eq: Equation, odeEquations: MutableList<ODEEquation>) {
-        // Identify which side has the derivative
-        val derivativeExpr = findDerivativeExpression(eq.leftExpression) ?: findDerivativeExpression(eq.rightExpression)
-        if (derivativeExpr != null) {
-            val variableName = derivativeExpr.variable.variable.name
-            if (derivativeExpr.order != 1) {
-                throw UnsupportedOperationException("Only first-order derivatives are supported in this solver.")
-            }
-
-            val rhs = if (eq.leftExpression is DerivativeExpression) eq.rightExpression else eq.leftExpression
-            odeEquations.add(ODEEquation(variableName, rhs))
-            derivativeVariables.add(variableName)
-        } else {
-            throw UnsupportedOperationException("Equation is marked as differential but no derivative found.")
-        }
-    }
-
-    private fun findDerivativeExpression(expr: Expression): DerivativeExpression? {
-        return when (expr) {
-            is DerivativeExpression -> expr
-            is BinaryExpression -> findDerivativeExpression(expr.left) ?: findDerivativeExpression(expr.right)
-            is FunctionCallExpression -> expr.arguments.mapNotNull { findDerivativeExpression(it) }.firstOrNull()
-            else -> null
-        }
-    }
-}
-
-public data class ODEEquation(
-    val variableName: String,
-    val rhs: Expression
-)
-
-public class ODESystem(
-    public val odeEquations: List<ODEEquation>,
-    public val algebraicEquations: List<Equation>,
-    public val initialEquations: List<EquationBase>,
-    public val conditionalEquations: List<ConditionalEquation>
-)

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/Record.kt

@@ -1,19 +0,0 @@
-package space.kscience.controls.constructor.dsl.core
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-/**
- * Класс для представления записи (record).
- */
-public class Record(public val name: String) {
-    public val fields: MutableMap<String, Variable> = mutableMapOf()
-
-
-    public fun field(name: String, unit: PhysicalUnit) {
-        if (fields.containsKey(name)) {
-            throw IllegalArgumentException("Field with name $name already exists in record $name.")
-        }
-        fields[name] = Variable(name, unit)
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/algorithms/AlgorithmBuilder.kt

@@ -1,37 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.algorithms
-
-import space.kscience.controls.constructor.dsl.core.expressions.Expression
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-/**
- * Класс для построения алгоритмов.
- */
-public class AlgorithmBuilder {
-    public val statements: MutableList<Statement> = mutableListOf()
-
-    public fun assign(variable: Variable, expression: Expression) {
-        statements.add(AssignmentStatement(variable, expression))
-    }
-
-    public fun ifStatement(condition: Expression, init: AlgorithmBuilder.() -> Unit) {
-        val trueBuilder = AlgorithmBuilder()
-        trueBuilder.init()
-        statements.add(IfStatement(condition, trueBuilder.build(), null))
-    }
-
-    public fun forStatement(variable: Variable, range: IntRange, init: AlgorithmBuilder.() -> Unit) {
-        val bodyBuilder = AlgorithmBuilder()
-        bodyBuilder.init()
-        statements.add(ForStatement(variable, range, bodyBuilder.build()))
-    }
-
-    public fun whileStatement(condition: Expression, init: AlgorithmBuilder.() -> Unit) {
-        val bodyBuilder = AlgorithmBuilder()
-        bodyBuilder.init()
-        statements.add(WhileStatement(condition, bodyBuilder.build()))
-    }
-
-    public fun build(): Algorithm {
-        return Algorithm(statements.toList())
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/algorithms/AlgorithmSection.kt

@@ -1,80 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.algorithms
-
-import space.kscience.controls.constructor.dsl.core.expressions.Expression
-import space.kscience.controls.constructor.dsl.core.simulation.SimulationContext
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-
-/**
- * Абстрактный класс для операторов в алгоритмической секции.
- */
-public sealed class Statement {
-    public abstract suspend fun execute(context: SimulationContext)
-}
-
-public data class AssignmentStatement(
-    val variable: Variable,
-    val expression: Expression
-) : Statement() {
-    override suspend fun execute(context: SimulationContext) {
-        val value = expression.evaluate(context.getVariableValues())
-        context.updateVariable(variable.name, value)
-    }
-}
-
-public data class IfStatement(
-    val condition: Expression,
-    val trueBranch: Algorithm,
-    val falseBranch: Algorithm? = null
-) : Statement() {
-    override suspend fun execute(context: SimulationContext) {
-        val conditionValue = condition.evaluate(context.getVariableValues())
-        if (conditionValue != 0.0) {
-            trueBranch.execute(context)
-        } else {
-            falseBranch?.execute(context)
-        }
-    }
-}
-
-public data class ForStatement(
-    val variable: Variable,
-    val range: IntRange,
-    val body: Algorithm
-) : Statement() {
-    override suspend fun execute(context: SimulationContext) {
-        for (i in range) {
-            context.updateVariable(variable.name, i.toDouble())
-            body.execute(context)
-        }
-    }
-}
-
-public data class WhileStatement(
-    val condition: Expression,
-    val body: Algorithm
-) : Statement() {
-    override suspend fun execute(context: SimulationContext) {
-        while (condition.evaluate(context.getVariableValues()) != 0.0) {
-            body.execute(context)
-        }
-    }
-}
-
-public class Algorithm(private val statements: List<Statement>) {
-    /**
-     * Добавляет оператор в алгоритм.
-     */
-    public fun addStatement(statement: Statement) {
-        (statements as MutableList).add(statement)
-    }
-
-    /**
-     * Выполняет алгоритм в заданном контексте симуляции.
-     */
-    public suspend fun execute(context: SimulationContext) {
-        for (statement in statements) {
-            statement.execute(context)
-        }
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/components/Component.kt

@@ -1,81 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.components
-
-import space.kscience.controls.constructor.dsl.core.Annotation
-import space.kscience.controls.constructor.dsl.core.equations.Equation
-import space.kscience.controls.constructor.dsl.core.variables.ParameterVariable
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-/**
- * Базовый класс для всех компонентов модели.
- */
-public abstract class Component<V : Variable, P : ParameterVariable, C : Connector>(public val name: String) {
-    public val variables: MutableMap<String, V> = mutableMapOf()
-    public val parameters: MutableMap<String, P> = mutableMapOf()
-    public val equations: MutableList<Equation> = mutableListOf()
-    public val connectors: MutableMap<String, C> = mutableMapOf()
-    public val annotations: MutableList<Annotation> = mutableListOf()
-    public var isReplaceable: Boolean = false
-
-    /**
-     * Метод для инициализации переменных.
-     */
-    protected abstract fun initializeVariables()
-
-    /**
-     * Метод для определения уравнений компонента.
-     */
-    protected abstract fun defineEquations()
-
-    /**
-     * Метод для добавления переменной.
-     */
-    public fun addVariable(variable: V) {
-        if (variables.containsKey(variable.name)) {
-            throw IllegalArgumentException("Variable with name ${variable.name} already exists in component $name.")
-        }
-        variables[variable.name] = variable
-    }
-
-    /**
-     * Метод для добавления параметра.
-     */
-    public fun addParameter(parameter: P) {
-        if (parameters.containsKey(parameter.name)) {
-            throw IllegalArgumentException("Parameter with name ${parameter.name} already exists in component $name.")
-        }
-        parameters[parameter.name] = parameter
-    }
-
-    /**
-     * Метод для добавления уравнения.
-     */
-    public fun addEquation(equation: Equation) {
-        equations.add(equation)
-    }
-
-    /**
-     * Метод для добавления коннектора.
-     */
-    public fun addConnector(name: String, connector: C) {
-        if (connectors.containsKey(name)) {
-            throw IllegalArgumentException("Connector with name $name already exists in component $name.")
-        }
-        connectors[name] = connector
-    }
-
-    public fun annotate(annotation: Annotation) {
-        annotations.add(annotation)
-    }
-
-    /**
-     * Метод для модификации параметров компонента.
-     */
-    public fun modify(modifier: Component<V, P, C>.() -> Unit): Component<V, P, C> {
-        this.apply(modifier)
-        return this
-    }
-
-    public fun markAsReplaceable(isReplaceable: Boolean) {
-        this.isReplaceable = isReplaceable
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/components/Connection.kt

@@ -1,38 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.components
-
-import space.kscience.controls.constructor.dsl.core.equations.Equation
-import space.kscience.controls.constructor.dsl.core.expressions.VariableExpression
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-/**
- * Класс для представления соединения между двумя коннекторами.
- */
-public class Connection<C : Connector>(
-    public val connector1: C,
-    public val connector2: C
-) {
-    init {
-        if (connector1.unit != connector2.unit) {
-            throw IllegalArgumentException("Cannot connect connectors with different units: ${connector1.unit} and ${connector2.unit}.")
-        }
-    }
-
-    /**
-     * Генерация уравнений для соединения.
-     */
-    public fun generateEquations(): List<Equation> {
-        val equations = mutableListOf<Equation>()
-        for ((varName, var1) in connector1.variables) {
-            val var2 = connector2.variables[varName]
-                ?: throw IllegalArgumentException("Variable $varName not found in connector ${connector2.name}.")
-
-            equations.add(
-                Equation(
-                    VariableExpression(var1),
-                    VariableExpression(var2)
-                )
-            )
-        }
-        return equations
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/components/Connector.kt

@@ -1,22 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.components
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-/**
- * Интерфейс для коннектора, позволяющего соединять компоненты.
- */
-public interface Connector {
-    public val name: String
-    public val variables: Map<String, Variable>
-    public val unit: PhysicalUnit
-}
-
-/**
- * Базовая реализация коннектора.
- */
-public class BasicConnector(
-    override val name: String,
-    override val unit: PhysicalUnit,
-    override val variables: Map<String, Variable>
-) : Connector

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/components/Model.kt

@@ -1,163 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.components
-
-import space.kscience.controls.constructor.dsl.core.*
-import space.kscience.controls.constructor.dsl.core.algorithms.*
-import space.kscience.controls.constructor.dsl.core.equations.Equation
-import space.kscience.controls.constructor.dsl.core.equations.ConditionalEquation
-import space.kscience.controls.constructor.dsl.core.expressions.Expression
-import space.kscience.controls.constructor.dsl.core.expressions.VariableExpression
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import space.kscience.controls.constructor.dsl.core.variables.ParameterVariable
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-import space.kscience.controls.constructor.dsl.core.functions.Function
-import space.kscience.controls.constructor.dsl.core.functions.FunctionBuilder
-
-/**
- * Класс для представления модели, содержащей компоненты и соединения.
- */
-public class Model(public val name: String, init: Model.() -> Unit) {
-    public val components: MutableMap<String, Component<*, *, *>> = mutableMapOf<String, Component<*, *, *>>()
-    public val connections: MutableList<Connection<*>> = mutableListOf<Connection<*>>()
-    public val variables: MutableMap<String, Variable> = mutableMapOf<String, Variable>()
-    public val parameters: MutableMap<String, ParameterVariable> = mutableMapOf<String, ParameterVariable>()
-    public val equations: MutableList<Equation> = mutableListOf<Equation>()
-    public val initialValues: MutableMap<String, Double> = mutableMapOf<String, Double>()
-    public val initialEquations: MutableList<Equation> = mutableListOf<Equation>()
-    public val conditionalEquations: MutableList<ConditionalEquation> = mutableListOf<ConditionalEquation>()
-    public val algorithms: MutableList<Algorithm> = mutableListOf<Algorithm>()
-    public val functions: MutableMap<String, Function> = mutableMapOf<String, Function>()
-
-    init {
-        this.init()
-    }
-
-    /**
-     * Определение переменной.
-     */
-    public fun variable(name: String, unit: PhysicalUnit): VariableExpression {
-        val variable = Variable(name, unit)
-        variables[name] = variable
-        return VariableExpression(variable)
-    }
-
-    /**
-     * Определение параметра.
-     */
-    public fun parameter(name: String, unit: PhysicalUnit, value: Double): ParameterVariable {
-        val parameter = ParameterVariable(name, unit, value)
-        parameters[name] = parameter
-        return parameter
-    }
-
-    /**
-     * Добавление уравнения.
-     */
-    public fun equation(equationBuilder: () -> Equation) {
-        val equation = equationBuilder()
-        equations.add(equation)
-    }
-
-    /**
-     * Установка начальных значений.
-     */
-    public fun initialValues(init: MutableMap<String, Double>.() -> Unit) {
-        initialValues.apply(init)
-    }
-
-    /**
-     * Добавление инициализационного уравнения.
-     */
-    public fun initialEquation(equationBuilder: () -> Equation) {
-        val equation = equationBuilder()
-        initialEquations.add(equation)
-    }
-
-    /**
-     * Метод для добавления компонента.
-     */
-    public fun addComponent(component: Component<*, *, *>) {
-        if (components.containsKey(component.name)) {
-            throw IllegalArgumentException("Component with name ${component.name} already exists in model $name.")
-        }
-        components[component.name] = component
-    }
-
-    /**
-     * Метод для добавления соединения.
-     */
-    public fun addConnection(connection: Connection<*>) {
-        connections.add(connection)
-    }
-
-    /**
-     * Метод для генерации системы уравнений модели.
-     */
-    public fun generateEquationSystem(): EquationSystem {
-        val equationSystem = EquationSystem()
-
-        // Добавление уравнений модели
-        equationSystem.addEquations(equations)
-
-        // Добавление уравнений компонентов
-        for (component in components.values) {
-            equationSystem.addEquations(component.equations)
-        }
-
-        // Добавление уравнений соединений
-        for (connection in connections) {
-            equationSystem.addEquations(connection.generateEquations())
-        }
-
-        // Добавление условных уравнений
-        for (condEq in conditionalEquations) {
-            equationSystem.addEquation(condEq)
-        }
-
-        // Добавление инициализационных уравнений
-        equationSystem.addEquations(initialEquations)
-
-        return equationSystem
-    }
-
-    /**
-     * Метод для замены компонента.
-     */
-    public fun replaceComponent(name: String, newComponent: Component<*, *, *>) {
-        val oldComponent = components[name]
-        if (oldComponent != null && oldComponent.isReplaceable) {
-            components[name] = newComponent
-        } else {
-            throw IllegalArgumentException("Component $name is not replaceable or does not exist.")
-        }
-    }
-
-    /**
-     * Добавление условного уравнения.
-     */
-    public fun conditionalEquation(condition: Expression, trueEquation: Equation, falseEquation: Equation? = null) {
-        val condEq = ConditionalEquation(condition, trueEquation, falseEquation)
-        conditionalEquations.add(condEq)
-    }
-
-    /**
-     * Добавление алгоритма.
-     */
-    public fun algorithm(init: AlgorithmBuilder.() -> Unit) {
-        val builder = AlgorithmBuilder()
-        builder.init()
-        algorithms.add(builder.build())
-    }
-
-    /**
-     * Добавление пользовательской функции.
-     */
-    public fun function(name: String, init: FunctionBuilder.() -> Unit) {
-        if (functions.containsKey(name)) {
-            throw IllegalArgumentException("Function with name $name already exists in model $name.")
-        }
-        val builder = FunctionBuilder(name)
-        builder.init()
-        val function = builder.build()
-        functions[name] = function
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/components/Package.kt

@@ -1,21 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.components
-
-/**
- * Класс для представления пакета моделей.
- */
-public class Package(public val name: String) {
-    public val models: MutableMap<String, Model> = mutableMapOf()
-    public val subPackages: MutableMap<String, Package> = mutableMapOf()
-
-    public fun addModel(model: Model) {
-        models[model.name] = model
-    }
-
-    public fun addPackage(pkg: Package) {
-        subPackages[pkg.name] = pkg
-    }
-
-    public fun getModel(name: String): Model? {
-        return models[name] ?: subPackages.values.mapNotNull { it.getModel(name) }.firstOrNull()
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/equations/ConditionalEquation.kt

@@ -1,12 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.equations
-
-import space.kscience.controls.constructor.dsl.core.expressions.Expression
-
-/**
- * Класс для условного уравнения.
- */
-public class ConditionalEquation(
-    public val condition: Expression,
-    public val trueEquation: Equation,
-    public val falseEquation: Equation? = null
-) : EquationBase()

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/equations/Equation.kt

@@ -1,24 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.equations
-
-import space.kscience.controls.constructor.dsl.core.expressions.Expression
-
-/**
- * Класс для представления уравнения.
- */
-public class Equation(
-    public val leftExpression: Expression,
-    public val rightExpression: Expression
-) : EquationBase() {
-    init {
-        // Проверка совместимости единиц измерения
-        if (!leftExpression.unit.dimension.isCompatibleWith(rightExpression.unit.dimension)) {
-            throw IllegalArgumentException("Units of left and right expressions in the equation are not compatible.")
-        }
-    }
-
-    public fun evaluate(values: Map<String, Double>): Double {
-        val leftValue = leftExpression.evaluate(values)
-        val rightValue = rightExpression.evaluate(values)
-        return leftValue - rightValue
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/equations/EquationBase.kt

@@ -1,6 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.equations
-
-/**
- * Абстрактный базовый класс для уравнений.
- */
-public sealed class EquationBase

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/equations/InitialEquation.kt

@@ -1,11 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.equations
-
-import space.kscience.controls.constructor.dsl.core.expressions.Expression
-
-/**
- * Class representing an initial equation for setting initial conditions.
- */
-public class InitialEquation(
-    public val leftExpression: Expression,
-    public val rightExpression: Expression
-) : EquationBase()

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/events/AssignAction.kt

@@ -1,18 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.events
-
-import space.kscience.controls.constructor.dsl.core.expressions.Expression
-import space.kscience.controls.constructor.dsl.core.simulation.SimulationContext
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-/**
- * Действие присваивания нового значения переменной.
- */
-public data class AssignAction(
-    val variable: Variable,
-    val newValue: Expression
-) : EventAction() {
-    override suspend fun execute(context: SimulationContext) {
-        val value = newValue.evaluate(context.getVariableValues())
-        context.updateVariable(variable.name, value)
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/events/Event.kt

@@ -1,30 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.events
-
-import space.kscience.controls.constructor.dsl.core.simulation.SimulationContext
-import space.kscience.controls.constructor.dsl.core.expressions.Expression
-
-/**
- * Класс для представления события.
- */
-public class Event(
-    public val condition: Expression,
-    public val actions: List<EventAction>
-) {
-    /**
-     * Метод для проверки, произошло ли событие.
-     */
-    public suspend fun checkEvent(context: SimulationContext): Boolean {
-        val values = context.getVariableValues()
-        val conditionValue = condition.evaluate(values)
-        return conditionValue > 0 // Событие происходит, когда условие положительно
-    }
-
-    /**
-     * Метод для выполнения действий при событии.
-     */
-    public suspend fun executeActions(context: SimulationContext) {
-        for (action in actions) {
-            action.execute(context)
-        }
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/events/EventAction.kt

@@ -1,12 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.events
-
-import space.kscience.controls.constructor.dsl.core.expressions.Expression
-import space.kscience.controls.constructor.dsl.core.simulation.SimulationContext
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-/**
- * Абстрактный класс для действий при событии.
- */
-public sealed class EventAction {
-    public abstract suspend fun execute(context: SimulationContext)
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/events/ReinitAction.kt

@@ -1,18 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.events
-
-import space.kscience.controls.constructor.dsl.core.expressions.Expression
-import space.kscience.controls.constructor.dsl.core.simulation.SimulationContext
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-/**
- * Действие реинициализации переменной.
- */
-public data class ReinitAction(
-    val variable: Variable,
-    val newValue: Expression
-) : EventAction() {
-    override suspend fun execute(context: SimulationContext) {
-        val value = newValue.evaluate(context.getVariableValues())
-        context.updateVariable(variable.name, value)
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expression/ExpressionOperators.kt

@@ -1,91 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expression
-
-import space.kscience.controls.constructor.dsl.core.variables.ArrayVariable
-import space.kscience.controls.constructor.dsl.core.equations.Equation
-import space.kscience.controls.constructor.dsl.core.expressions.ArrayBinaryExpression
-import space.kscience.controls.constructor.dsl.core.expressions.ArrayBinaryOperator
-import space.kscience.controls.constructor.dsl.core.expressions.ArrayScalarExpression
-import space.kscience.controls.constructor.dsl.core.expressions.ArrayScalarOperator
-import space.kscience.controls.constructor.dsl.core.expressions.BinaryExpression
-import space.kscience.controls.constructor.dsl.core.expressions.BinaryOperator
-import space.kscience.controls.constructor.dsl.core.expressions.ConstantExpression
-import space.kscience.controls.constructor.dsl.core.expressions.Expression
-import space.kscience.controls.constructor.dsl.core.expressions.FunctionCallExpression
-import space.kscience.controls.constructor.dsl.core.units.Units
-import space.kscience.controls.constructor.dsl.core.functions.Function
-
-// Операторные функции для скалярных выражений
-
-public operator fun Expression.plus(other: Expression): Expression {
-    return BinaryExpression(this, BinaryOperator.ADD, other)
-}
-
-public operator fun Expression.minus(other: Expression): Expression {
-    return BinaryExpression(this, BinaryOperator.SUBTRACT, other)
-}
-
-public operator fun Expression.times(other: Expression): Expression {
-    return BinaryExpression(this, BinaryOperator.MULTIPLY, other)
-}
-
-public operator fun Expression.div(other: Expression): Expression {
-    return BinaryExpression(this, BinaryOperator.DIVIDE, other)
-}
-
-public infix fun Expression.pow(exponent: Expression): Expression {
-    return FunctionCallExpression("pow", listOf(this, exponent))
-}
-
-public infix fun Expression.pow(exponent: Double): Expression {
-    return FunctionCallExpression("pow", listOf(this, ConstantExpression(exponent, Units.dimensionless)))
-}
-
-// Сравнительные операторы
-
-public infix fun Expression.eq(other: Expression): Equation {
-    return Equation(this, other)
-}
-
-public infix fun Expression.gt(other: Expression): Expression {
-    return BinaryExpression(this, BinaryOperator.GREATER_THAN, other)
-}
-
-public infix fun Expression.lt(other: Expression): Expression {
-    return BinaryExpression(this, BinaryOperator.LESS_THAN, other)
-}
-
-public infix fun Expression.ge(other: Expression): Expression {
-    return BinaryExpression(this, BinaryOperator.GREATER_OR_EQUAL, other)
-}
-
-public infix fun Expression.le(other: Expression): Expression {
-    return BinaryExpression(this, BinaryOperator.LESS_OR_EQUAL, other)
-}
-
-// Операторные функции для массивов
-
-public operator fun ArrayVariable.plus(other: ArrayVariable): Expression {
-    return ArrayBinaryExpression(this, ArrayBinaryOperator.ADD, other)
-}
-
-public operator fun ArrayVariable.minus(other: ArrayVariable): Expression {
-    return ArrayBinaryExpression(this, ArrayBinaryOperator.SUBTRACT, other)
-}
-
-public operator fun ArrayVariable.times(scalar: Expression): Expression {
-    return ArrayScalarExpression(this, ArrayScalarOperator.MULTIPLY, scalar)
-}
-
-public operator fun ArrayVariable.div(scalar: Expression): Expression {
-    return ArrayScalarExpression(this, ArrayScalarOperator.DIVIDE, scalar)
-}
-
-/**
- * Функция для вызова пользовательской функции в выражении.
- */
-public fun callFunction(function: Function, vararg args: Expression): FunctionCallExpression {
-    require(args.size == function.inputs.size) {
-        "Number of arguments does not match number of function inputs."
-    }
-    return FunctionCallExpression(function.name, args.toList())
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expressions/ArrayBinaryExpression.kt

@@ -1,37 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expressions
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import space.kscience.controls.constructor.dsl.core.variables.ArrayVariable
-
-/**
- * Класс для представления бинарной операции между двумя массивами.
- */
-public class ArrayBinaryExpression(
-    public val left: ArrayVariable,
-    public val operator: ArrayBinaryOperator,
-    public val right: ArrayVariable
-) : Expression() {
-
-    override val unit: PhysicalUnit = when (operator) {
-        ArrayBinaryOperator.ADD, ArrayBinaryOperator.SUBTRACT -> {
-            if (left.unit != right.unit) {
-                throw IllegalArgumentException("Units must be the same for array addition or subtraction.")
-            }
-            left.unit
-        }
-        ArrayBinaryOperator.MULTIPLY -> left.unit * right.unit
-        ArrayBinaryOperator.DIVIDE -> left.unit / right.unit
-    }
-
-    override fun evaluate(values: Map<String, Double>): Double {
-        throw UnsupportedOperationException("Cannot evaluate array expression to a scalar value.")
-    }
-
-    override fun checkDimensions() {
-        TODO()
-    }
-
-    override fun derivative(variable: VariableExpression): Expression {
-        throw UnsupportedOperationException("Derivative of array expression is not implemented.")
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expressions/ArrayBinaryOperator.kt

@@ -1,11 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expressions
-
-/**
- * Перечисление для бинарных операций над массивами.
- */
-public enum class ArrayBinaryOperator {
-    ADD,
-    SUBTRACT,
-    MULTIPLY,
-    DIVIDE
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expressions/ArrayExpression.kt

@@ -1,3 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expressions
-
-public sealed class ArrayExpression : Expression()

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expressions/ArrayScalarExpression.kt

@@ -1,34 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expressions
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import space.kscience.controls.constructor.dsl.core.variables.ArrayVariable
-
-/**
- * Представляет операцию между массивом и скаляром.
- */
-public class ArrayScalarExpression(
-    public val array: ArrayVariable,
-    public val operator: ArrayScalarOperator,
-    public val scalar: Expression
-) : Expression() {
-
-    override val unit: PhysicalUnit = when (operator) {
-        ArrayScalarOperator.MULTIPLY -> array.unit * scalar.unit
-        ArrayScalarOperator.DIVIDE -> array.unit / scalar.unit
-    }
-
-    override fun evaluate(values: Map<String, Double>): Double {
-        // Невозможно вычислить массивное выражение до скалярного значения
-        throw UnsupportedOperationException("Cannot evaluate array expression to a scalar value.")
-    }
-
-    override fun checkDimensions() {
-//        array.checkDimensions()
-        scalar.checkDimensions()
-        // Единицы измерения уже проверены в свойстве `unit`
-    }
-
-    override fun derivative(variable: VariableExpression): Expression {
-        throw UnsupportedOperationException("Derivative of array expression is not implemented.")
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expressions/ArrayScalarOperator.kt

@@ -1,9 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expressions
-
-/**
- * Перечисление операторов между массивом и скаляром.
- */
-public enum class ArrayScalarOperator {
-    MULTIPLY,
-    DIVIDE
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expressions/ArrayVariableExpression.kt

@@ -1,42 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expressions
-
-import space.kscience.controls.constructor.dsl.core.expressions.Expression
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import space.kscience.controls.constructor.dsl.core.variables.ArrayVariable
-
-/**
- * Представляет операцию между двумя массивами.
- */
-public class ArrayVariableExpression(
-    public val left: ArrayVariable,
-    public val operator: ArrayBinaryOperator,
-    public val right: ArrayVariable
-) : Expression() {
-
-    override val unit: PhysicalUnit = when (operator) {
-        ArrayBinaryOperator.ADD, ArrayBinaryOperator.SUBTRACT -> {
-            if (left.unit != right.unit) {
-                throw IllegalArgumentException("Units must be the same for array addition or subtraction.")
-            }
-            left.unit
-        }
-        ArrayBinaryOperator.MULTIPLY -> left.unit * right.unit
-        ArrayBinaryOperator.DIVIDE -> left.unit / right.unit
-    }
-
-    override fun evaluate(values: Map<String, Double>): Double {
-        // Невозможно вычислить массивное выражение до скалярного значения
-        throw UnsupportedOperationException("Cannot evaluate array expression to a scalar value.")
-    }
-
-    override fun checkDimensions() {
-//        left.checkDimensions()
-//        right.checkDimensions()
-        // Единицы измерения уже проверены в свойстве `unit`
-    }
-
-    override fun derivative(variable: VariableExpression): Expression {
-        // Производная массива не реализована
-        throw UnsupportedOperationException("Derivative of array expression is not implemented.")
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expressions/BinaryExpression.kt

@@ -1,135 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expressions
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import space.kscience.controls.constructor.dsl.core.units.Units
-import kotlin.math.*
-
-/**
- * Перечисление типов бинарных операций.
- */
-public enum class BinaryOperator {
-    ADD,
-    SUBTRACT,
-    MULTIPLY,
-    DIVIDE,
-    POWER,
-    GREATER_THAN,
-    LESS_THAN,
-    GREATER_OR_EQUAL,
-    LESS_OR_EQUAL
-}
-
-/**
- * Класс для представления бинарной операции.
- */
-public class BinaryExpression(
-    public val left: Expression,
-    public val operator: BinaryOperator,
-    public val right: Expression
-) : Expression() {
-
-    override val unit: PhysicalUnit = when (operator) {
-        BinaryOperator.ADD, BinaryOperator.SUBTRACT -> {
-            if (left.unit != right.unit) {
-                throw IllegalArgumentException("Units of left and right expressions must be the same for addition or subtraction.")
-            }
-            left.unit
-        }
-        BinaryOperator.MULTIPLY -> left.unit * right.unit
-        BinaryOperator.DIVIDE -> left.unit / right.unit
-        BinaryOperator.POWER -> {
-            if (right is ConstantExpression) {
-                left.unit.pow(right.value)
-            } else {
-                throw IllegalArgumentException("Exponent must be a constant expression.")
-            }
-        }
-        BinaryOperator.GREATER_THAN, BinaryOperator.LESS_THAN,
-        BinaryOperator.GREATER_OR_EQUAL, BinaryOperator.LESS_OR_EQUAL -> {
-            Units.dimensionless
-        }
-    }
-
-    override fun evaluate(values: Map<String, Double>): Double {
-        val leftValue = left.evaluate(values)
-        val rightValue = right.evaluate(values)
-        return when (operator) {
-            BinaryOperator.ADD -> leftValue + rightValue
-            BinaryOperator.SUBTRACT -> leftValue - rightValue
-            BinaryOperator.MULTIPLY -> leftValue * rightValue
-            BinaryOperator.DIVIDE -> leftValue / rightValue
-            BinaryOperator.POWER -> leftValue.pow(rightValue)
-            BinaryOperator.GREATER_THAN -> if (leftValue > rightValue) 1.0 else 0.0
-            BinaryOperator.LESS_THAN -> if (leftValue < rightValue) 1.0 else 0.0
-            BinaryOperator.GREATER_OR_EQUAL -> if (leftValue >= rightValue) 1.0 else 0.0
-            BinaryOperator.LESS_OR_EQUAL -> if (leftValue <= rightValue) 1.0 else 0.0
-        }
-    }
-
-    override fun checkDimensions() {
-        left.checkDimensions()
-        right.checkDimensions()
-        when (operator) {
-            BinaryOperator.ADD, BinaryOperator.SUBTRACT -> {
-                if (left.unit != right.unit) {
-                    throw IllegalArgumentException("Units must be the same for addition or subtraction.")
-                }
-            }
-            BinaryOperator.MULTIPLY, BinaryOperator.DIVIDE -> {
-                // Единицы измерения уже вычислены в `unit`
-            }
-            BinaryOperator.POWER -> {
-                if (!right.unit.dimension.isDimensionless()) {
-                    throw IllegalArgumentException("Exponent must be dimensionless.")
-                }
-            }
-            BinaryOperator.GREATER_THAN, BinaryOperator.LESS_THAN,
-            BinaryOperator.GREATER_OR_EQUAL, BinaryOperator.LESS_OR_EQUAL -> {
-                if (left.unit != right.unit) {
-                    throw IllegalArgumentException("Units must be the same for comparison operations.")
-                }
-            }
-        }
-    }
-
-    override fun derivative(variable: VariableExpression): Expression {
-        return when (operator) {
-            BinaryOperator.ADD, BinaryOperator.SUBTRACT -> {
-                BinaryExpression(left.derivative(variable), operator, right.derivative(variable))
-            }
-            BinaryOperator.MULTIPLY -> {
-                // Правило произведения: (u*v)' = u'*v + u*v'
-                val leftDerivative = BinaryExpression(left.derivative(variable), BinaryOperator.MULTIPLY, right)
-                val rightDerivative = BinaryExpression(left, BinaryOperator.MULTIPLY, right.derivative(variable))
-                BinaryExpression(leftDerivative, BinaryOperator.ADD, rightDerivative)
-            }
-            BinaryOperator.DIVIDE -> {
-                // Правило частного: (u/v)' = (u'*v - u*v') / v^2
-                val numerator = BinaryExpression(
-                    BinaryExpression(left.derivative(variable), BinaryOperator.MULTIPLY, right),
-                    BinaryOperator.SUBTRACT,
-                    BinaryExpression(left, BinaryOperator.MULTIPLY, right.derivative(variable))
-                )
-                val denominator = BinaryExpression(right, BinaryOperator.POWER, ConstantExpression(2.0, Units.dimensionless))
-                BinaryExpression(numerator, BinaryOperator.DIVIDE, denominator)
-            }
-            BinaryOperator.POWER -> {
-                if (right is ConstantExpression) {
-                    // (u^n)' = n * u^(n-1) * u'
-                    val n = right.value
-                    val newExponent = ConstantExpression(n - 1.0, Units.dimensionless)
-                    val baseDerivative = left.derivative(variable)
-                    val powerExpression = BinaryExpression(left, BinaryOperator.POWER, newExponent)
-                    BinaryExpression(
-                        BinaryExpression(ConstantExpression(n, Units.dimensionless), BinaryOperator.MULTIPLY, powerExpression),
-                        BinaryOperator.MULTIPLY,
-                        baseDerivative
-                    )
-                } else {
-                    throw UnsupportedOperationException("Derivative of expression with variable exponent is not supported.")
-                }
-            }
-            else -> throw UnsupportedOperationException("Derivative not implemented for operator $operator.")
-        }
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expressions/ConstantExpression.kt

@@ -1,20 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expressions
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import space.kscience.controls.constructor.dsl.core.units.Units
-
-/**
- * Класс для представления константного значения.
- */
-public class ConstantExpression(public val value: Double, override val unit: PhysicalUnit) : Expression() {
-    override fun evaluate(values: Map<String, Double>): Double {
-        return value
-    }
-    override fun checkDimensions() {
-        // Константа имеет единицу измерения, дополнительных проверок не требуется
-    }
-
-    override fun derivative(variable: VariableExpression): Expression {
-        return ConstantExpression(0.0, Units.dimensionless)
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expressions/DerivativeExpression.kt

@@ -1,30 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expressions
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import space.kscience.controls.constructor.dsl.core.units.Units
-
-/**
- * Класс для представления производной переменной по времени.
- */
-public class DerivativeExpression(
-    public val variable: VariableExpression,
-    public val order: Int = 1 // Порядок производной (по умолчанию 1)
-) : Expression() {
-
-    override val unit: PhysicalUnit = variable.unit / Units.second.pow(order.toDouble())
-
-    override fun evaluate(values: Map<String, Double>): Double {
-        // вычисление производной невозможно в этом контексте
-        throw UnsupportedOperationException("Cannot evaluate derivative directly.")
-    }
-
-    override fun checkDimensions() {
-        variable.checkDimensions()
-        // Единица измерения уже рассчитана
-    }
-
-    override fun derivative(variable: VariableExpression): Expression {
-        // Производная от производной - это производная более высокого порядка
-        return DerivativeExpression(this.variable, this.order + 1)
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expressions/Expression.kt

@@ -1,34 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expressions
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-
-/**
- * Абстрактный класс для представления математических выражений.
- * Каждое выражение связано с единицей измерения.
- */
-public abstract class Expression {
-    public abstract val unit: PhysicalUnit
-
-    /**
-     * Метод для вычисления численного значения выражения.
-     * Параметр values содержит значения переменных.
-     */
-    public abstract fun evaluate(values: Map<String, Double>): Double
-
-    /**
-     * Проверка размерности выражения.
-     */
-    public abstract fun checkDimensions()
-
-    /**
-     * Упрощение выражения.
-     */
-    public open fun simplify(): Expression = this
-
-    /**
-     * Производная выражения по заданной переменной.
-     */
-    public open fun derivative(variable: VariableExpression): Expression {
-        throw UnsupportedOperationException("Derivative not implemented for this expression type.")
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expressions/FunctionCallExpression.kt

@@ -1,91 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expressions
-
-import space.kscience.controls.constructor.dsl.core.units.Units
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import kotlin.math.*
-
-/**
- * Класс для представления вызова математической функции.
- */
-public class FunctionCallExpression(
-    public val functionName: String,
-    public val arguments: List<Expression>
-) : Expression() {
-
-    override val unit: PhysicalUnit = determineUnit()
-
-    private fun determineUnit(): PhysicalUnit {
-        return when (functionName) {
-            "sin", "cos", "tan", "asin", "acos", "atan",
-            "sinh", "cosh", "tanh", "asinh", "acosh", "atanh",
-            "exp", "log", "log10", "signum" -> Units.dimensionless
-            "sqrt", "cbrt", "abs" -> arguments[0].unit
-            "pow", "max", "min" -> arguments[0].unit
-            else -> throw IllegalArgumentException("Unknown function: $functionName")
-        }
-    }
-
-    override fun evaluate(values: Map<String, Double>): Double {
-        val argValues = arguments.map { it.evaluate(values) }
-        return when (functionName) {
-            "sin" -> sin(argValues[0])
-            "cos" -> cos(argValues[0])
-            "tan" -> tan(argValues[0])
-            "asin" -> asin(argValues[0])
-            "acos" -> acos(argValues[0])
-            "atan" -> atan(argValues[0])
-            "sinh" -> sinh(argValues[0])
-            "cosh" -> cosh(argValues[0])
-            "tanh" -> tanh(argValues[0])
-            "asinh" -> asinh(argValues[0])
-            "acosh" -> acosh(argValues[0])
-            "atanh" -> atanh(argValues[0])
-            "exp" -> exp(argValues[0])
-            "log" -> ln(argValues[0])
-            "log10" -> log10(argValues[0])
-            "sqrt" -> sqrt(argValues[0])
-            "cbrt" -> cbrt(argValues[0])
-            "abs" -> abs(argValues[0])
-            "signum" -> sign(argValues[0])
-            "pow" -> argValues[0].pow(argValues[1])
-            "max" -> max(argValues[0], argValues[1])
-            "min" -> min(argValues[0], argValues[1])
-            else -> throw IllegalArgumentException("Unknown function: $functionName")
-        }
-    }
-
-    override fun checkDimensions() {
-        when (functionName) {
-            "sin", "cos", "tan", "asin", "acos", "atan",
-            "sinh", "cosh", "tanh", "asinh", "acosh", "atanh",
-            "exp", "log", "log10", "signum" -> {
-                val argUnit = arguments[0].unit
-                if (!argUnit.dimension.isDimensionless()) {
-                    throw IllegalArgumentException("Argument of $functionName must be dimensionless.")
-                }
-            }
-            "sqrt", "cbrt", "abs" -> {
-                // Единица измерения сохраняется, дополнительных проверок не требуется
-            }
-            "pow" -> {
-                val exponentUnit = arguments[1].unit
-                if (!exponentUnit.dimension.isDimensionless()) {
-                    throw IllegalArgumentException("Exponent in $functionName must be dimensionless.")
-                }
-            }
-            "max", "min" -> {
-                if (arguments[0].unit != arguments[1].unit) {
-                    throw IllegalArgumentException("Arguments of $functionName must have the same units.")
-                }
-            }
-            else -> throw IllegalArgumentException("Unknown function: $functionName")
-        }
-        // Проверяем размерности аргументов
-        arguments.forEach { it.checkDimensions() }
-    }
-
-    override fun derivative(variable: VariableExpression): Expression {
-        // Реализация производной для функций
-        throw UnsupportedOperationException("Derivative for function $functionName is not implemented.")
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expressions/PartialDerivativeExpression.kt

@@ -1,31 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expressions
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-
-/**
- * Представляет частную производную переменной по другой переменной.
- */
-public class PartialDerivativeExpression(
-    public val variable: VariableExpression,
-    public val respectTo: VariableExpression,
-    public val order: Int = 1
-) : Expression() {
-
-    override val unit: PhysicalUnit = variable.unit / respectTo.unit.pow(order.toDouble())
-
-    override fun evaluate(values: Map<String, Double>): Double {
-        // Невозможно вычислить частную производную без дополнительного контекста
-        throw UnsupportedOperationException("Cannot evaluate partial derivative directly.")
-    }
-
-    override fun checkDimensions() {
-        variable.checkDimensions()
-        respectTo.checkDimensions()
-        // Единицы измерения уже рассчитаны
-    }
-
-    override fun derivative(variable: VariableExpression): Expression {
-        // Производная частной производной не реализована
-        throw UnsupportedOperationException("Derivative of partial derivative is not implemented.")
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/expressions/VariableExpression.kt

@@ -1,32 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.expressions
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import space.kscience.controls.constructor.dsl.core.units.Units
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-/**
- * Класс для представления переменной в выражении.
- */
-public class VariableExpression(public val variable: Variable) : Expression() {
-    override val unit: PhysicalUnit = variable.unit
-
-    override fun evaluate(values: Map<String, Double>): Double {
-        return values[variable.name] ?: throw IllegalArgumentException("Variable ${variable.name} is not defined.")
-    }
-
-    override fun checkDimensions() {
-        // Переменная уже имеет единицу измерения, дополнительных проверок не требуется
-    }
-
-    override fun derivative(variable: VariableExpression): Expression {
-        return if (this.variable == variable.variable) {
-            ConstantExpression(1.0, Units.dimensionless)
-        } else {
-            ConstantExpression(0.0, Units.dimensionless)
-        }
-    }
-
-    public fun partialDerivative(respectTo: VariableExpression, order: Int = 1): PartialDerivativeExpression {
-        return PartialDerivativeExpression(this, respectTo, order)
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/functions/Function.kt

@@ -1,14 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.functions
-
-import space.kscience.controls.constructor.dsl.core.algorithms.Algorithm
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-/**
- * Класс для представления пользовательской функции.
- */
-public data class Function(
-    val name: String,
-    val inputs: List<Variable>,
-    val outputs: List<Variable>,
-    val algorithm: Algorithm
-)

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/functions/FunctionBuilder.kt

@@ -1,50 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.functions
-
-import space.kscience.controls.constructor.dsl.core.algorithms.AlgorithmBuilder
-import space.kscience.controls.constructor.dsl.core.algorithms.Algorithm
-import space.kscience.controls.constructor.dsl.core.components.Model
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import space.kscience.controls.constructor.dsl.core.variables.Causality
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-/**
- * Класс для построения пользовательской функции.
- */
-public class FunctionBuilder(private val name: String) {
-    public val inputs: MutableList<Variable> = mutableListOf<Variable>()
-    public val outputs: MutableList<Variable> = mutableListOf<Variable>()
-    private val algorithmBuilder = AlgorithmBuilder()
-
-    /**
-     * Определение входного параметра функции.
-     */
-    public fun input(name: String, unit: PhysicalUnit): Variable {
-        val variable = Variable(name, unit, causality = Causality.INPUT)
-        inputs.add(variable)
-        return variable
-    }
-
-    /**
-     * Определение выходного параметра функции.
-     */
-    public fun output(name: String, unit: PhysicalUnit): Variable {
-        val variable = Variable(name, unit, causality = Causality.OUTPUT)
-        outputs.add(variable)
-        return variable
-    }
-
-    /**
-     * Определение алгоритмического тела функции.
-     */
-    public fun algorithm(init: AlgorithmBuilder.() -> Unit) {
-        algorithmBuilder.init()
-    }
-
-    /**
-     * Построение функции.
-     */
-    public fun build(): Function {
-        val algorithm = algorithmBuilder.build()
-        return Function(name, inputs, outputs, algorithm)
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/simulation/NumericSolver.kt

@@ -1,37 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.simulation
-
-import kotlinx.coroutines.CoroutineScope
-import kotlinx.coroutines.flow.StateFlow
-import space.kscience.controls.constructor.dsl.core.EquationSystem
-import space.kscience.controls.constructor.dsl.core.events.Event
-
-public interface NumericSolver {
-    /**
-     * Инициализирует решатель.
-     */
-    public suspend fun initialize(
-        equationSystem: EquationSystem,
-        context: SimulationContext
-    )
-
-    /**
-     * Выполняет один шаг симуляции.
-     */
-    public suspend fun step(context: SimulationContext, timeStep: Double): Boolean
-
-    /**
-     * Запускает симуляцию.
-     */
-    public suspend fun solve(
-        equationSystem: EquationSystem,
-        context: SimulationContext,
-        timeStart: Double,
-        timeEnd: Double,
-        timeStep: Double
-    ): SimulationResult
-}
-
-public data class SimulationResult(
-    val timePoints: List<Double>,
-    val variableValues: Map<String, List<Double>>
-)

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/simulation/SimulationContext.kt

@@ -1,93 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.simulation
-
-import kotlinx.coroutines.CoroutineScope
-import kotlinx.coroutines.channels.Channel
-import kotlinx.coroutines.flow.MutableStateFlow
-import kotlinx.coroutines.flow.StateFlow
-import kotlinx.coroutines.launch
-import space.kscience.controls.constructor.dsl.core.events.Event
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-/**
- * Класс для хранения состояния симуляции.
- */
-public class SimulationContext(
-    private val scope: CoroutineScope
-) {
-    public var currentTime: Double = 0.0
-    private val _variableValues: MutableMap<String, MutableStateFlow<Double>> = mutableMapOf()
-
-    // Канал для событий
-    private val eventChannel = Channel<Event>()
-
-    // Список событий
-    public val events: MutableList<Event> = mutableListOf()
-
-    /**
-     * Регистрирует переменную в контексте симуляции.
-     */
-    public fun registerVariable(variable: Variable) {
-        _variableValues[variable.name] = MutableStateFlow(variable.value)
-    }
-
-    /**
-     * Обновляет значение переменной.
-     */
-    public suspend fun updateVariable(name: String, value: Double) {
-        _variableValues[name]?.emit(value)
-            ?: throw IllegalArgumentException("Variable $name is not defined in the simulation context.")
-    }
-
-    /**
-     * Получает текущее значение переменной.
-     */
-    public fun getCurrentVariableValue(name: String): Double {
-        return _variableValues[name]?.value
-            ?: throw IllegalArgumentException("Variable $name is not defined in the simulation context.")
-    }
-
-    /**
-     * Возвращает текущие значения всех переменных.
-     */
-    public fun getVariableValues(): Map<String, Double> {
-        return _variableValues.mapValues { it.value.value }
-    }
-
-    /**
-     * Отправляет событие на обработку.
-     */
-    public suspend fun sendEvent(event: Event) {
-        eventChannel.send(event)
-    }
-
-    /**
-     * Запускает обработку событий.
-     */
-    public fun startEventHandling() {
-        scope.launch {
-            for (event in eventChannel) {
-                if (event.checkEvent(this@SimulationContext)) {
-                    event.executeActions(this@SimulationContext)
-                }
-            }
-        }
-    }
-
-    /**
-     * Обрабатывает события из списка events.
-     */
-    public suspend fun handleEvents() {
-        for (event in events) {
-            if (event.checkEvent(this)) {
-                event.executeActions(this)
-            }
-        }
-    }
-
-    /**
-     * Увеличивает время симуляции.
-     */
-    public suspend fun advanceTime(deltaTime: Double) {
-        currentTime += deltaTime
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/units/Dimension.kt

@@ -1,78 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.units
-
-import kotlin.math.abs
-
-/**
- * Класс для представления размерности физической величины.
- */
-public data class Dimension(
-    val length: Double = 0.0,
-    val mass: Double = 0.0,
-    val time: Double = 0.0,
-    val electricCurrent: Double = 0.0,
-    val temperature: Double = 0.0,
-    val amountOfSubstance: Double = 0.0,
-    val luminousIntensity: Double = 0.0
-) {
-    public operator fun plus(other: Dimension): Dimension {
-        return Dimension(
-            length + other.length,
-            mass + other.mass,
-            time + other.time,
-            electricCurrent + other.electricCurrent,
-            temperature + other.temperature,
-            amountOfSubstance + other.amountOfSubstance,
-            luminousIntensity + other.luminousIntensity
-        )
-    }
-
-    public operator fun minus(other: Dimension): Dimension {
-        return Dimension(
-            length - other.length,
-            mass - other.mass,
-            time - other.time,
-            electricCurrent - other.electricCurrent,
-            temperature - other.temperature,
-            amountOfSubstance - other.amountOfSubstance,
-            luminousIntensity - other.luminousIntensity
-        )
-    }
-
-    public operator fun times(factor: Double): Dimension {
-        return Dimension(
-            length * factor,
-            mass * factor,
-            time * factor,
-            electricCurrent * factor,
-            temperature * factor,
-            amountOfSubstance * factor,
-            luminousIntensity * factor
-        )
-    }
-
-    /**
-     * Проверяет, является ли размерность безразмерной.
-     */
-    public fun isDimensionless(epsilon: Double = 1e-10): Boolean {
-        return abs(length) < epsilon &&
-                abs(mass) < epsilon &&
-                abs(time) < epsilon &&
-                abs(electricCurrent) < epsilon &&
-                abs(temperature) < epsilon &&
-                abs(amountOfSubstance) < epsilon &&
-                abs(luminousIntensity) < epsilon
-    }
-
-    /**
-     * Проверяет совместимость размерностей.
-     */
-    public fun isCompatibleWith(other: Dimension, epsilon: Double = 1e-10): Boolean {
-        return abs(length - other.length) < epsilon &&
-                abs(mass - other.mass) < epsilon &&
-                abs(time - other.time) < epsilon &&
-                abs(electricCurrent - other.electricCurrent) < epsilon &&
-                abs(temperature - other.temperature) < epsilon &&
-                abs(amountOfSubstance - other.amountOfSubstance) < epsilon &&
-                abs(luminousIntensity - other.luminousIntensity) < epsilon
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/units/PhysicalUnit.kt

@@ -1,51 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.units
-
-import kotlin.math.pow
-
-/**
- * Класс для представления физической единицы измерения.
- */
-public data class PhysicalUnit(
-    val name: String,
-    val symbol: String,
-    val conversionFactorToSI: Double,
-    val dimension: Dimension
-) {
-    public operator fun times(other: PhysicalUnit): PhysicalUnit {
-        return PhysicalUnit(
-            name = "$name·${other.name}",
-            symbol = "$symbol·${other.symbol}",
-            conversionFactorToSI = this.conversionFactorToSI * other.conversionFactorToSI,
-            dimension = this.dimension + other.dimension
-        )
-    }
-
-    public operator fun div(other: PhysicalUnit): PhysicalUnit {
-        return PhysicalUnit(
-            name = "$name/${other.name}",
-            symbol = "$symbol/${other.symbol}",
-            conversionFactorToSI = this.conversionFactorToSI / other.conversionFactorToSI,
-            dimension = this.dimension - other.dimension
-        )
-    }
-
-    public fun pow(exponent: Double): PhysicalUnit {
-        return PhysicalUnit(
-            name = "$name^$exponent",
-            symbol = "${symbol}^$exponent",
-            conversionFactorToSI = this.conversionFactorToSI.pow(exponent),
-            dimension = this.dimension * exponent
-        )
-    }
-
-    /**
-     * Преобразует значение из текущей единицы в целевую единицу.
-     */
-    public fun convertValueTo(valueInThisUnit: Double, targetUnit: PhysicalUnit): Double {
-        require(this.dimension.isCompatibleWith(targetUnit.dimension)) {
-            "Units are not compatible: $this and $targetUnit"
-        }
-        val valueInSI = valueInThisUnit * this.conversionFactorToSI
-        return valueInSI / targetUnit.conversionFactorToSI
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/units/Units.kt

@@ -1,89 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.units
-
-import kotlin.math.*
-
-public object Units {
-    private val unitsRegistry = mutableMapOf<String, PhysicalUnit>()
-
-    // Основные единицы СИ
-    public val meter: PhysicalUnit = PhysicalUnit("meter", "m", 1.0, Dimension(length = 1.0))
-    public val kilogram: PhysicalUnit = PhysicalUnit("kilogram", "kg", 1.0, Dimension(mass = 1.0))
-    public val second: PhysicalUnit = PhysicalUnit("second", "s", 1.0, Dimension(time = 1.0))
-    public val ampere: PhysicalUnit = PhysicalUnit("ampere", "A", 1.0, Dimension(electricCurrent = 1.0))
-    public val kelvin: PhysicalUnit = PhysicalUnit("kelvin", "K", 1.0, Dimension(temperature = 1.0))
-    public val mole: PhysicalUnit = PhysicalUnit("mole", "mol", 1.0, Dimension(amountOfSubstance = 1.0))
-    public val candela: PhysicalUnit = PhysicalUnit("candela", "cd", 1.0, Dimension(luminousIntensity = 1.0))
-    public val radian: PhysicalUnit = PhysicalUnit("radian", "rad", 1.0, Dimension())
-    public val hertz: PhysicalUnit = PhysicalUnit("hertz", "Hz", 1.0, Dimension(time = -1.0))
-
-    public val dimensionless: PhysicalUnit = PhysicalUnit("dimensionless", "", 1.0, Dimension())
-
-    init {
-        // Регистрируем основные единицы
-        registerUnit(meter)
-        registerUnit(kilogram)
-        registerUnit(second)
-        registerUnit(ampere)
-        registerUnit(kelvin)
-        registerUnit(mole)
-        registerUnit(candela)
-        registerUnit(radian)
-        registerUnit(hertz)
-    }
-
-    /**
-     * Регистрирует единицу измерения в реестре.
-     */
-    public fun registerUnit(unit: PhysicalUnit) {
-        unitsRegistry[unit.name] = unit
-    }
-
-    /**
-     * Получает единицу измерения по имени.
-     */
-    public fun getUnit(name: String): PhysicalUnit? {
-        return unitsRegistry[name]
-    }
-
-    /**
-     * Список префиксов СИ.
-     */
-    public enum class Prefix(public val prefixName: String, public val symbol: String, public val factor: Double) {
-        YOTTA("yotta", "Y", 1e24),
-        ZETTA("zetta", "Z", 1e21),
-        EXA("exa", "E", 1e18),
-        PETA("peta", "P", 1e15),
-        TERA("tera", "T", 1e12),
-        GIGA("giga", "G", 1e9),
-        MEGA("mega", "M", 1e6),
-        KILO("kilo", "k", 1e3),
-        HECTO("hecto", "h", 1e2),
-        DECA("deca", "da", 1e1),
-        DECI("deci", "d", 1e-1),
-        CENTI("centi", "c", 1e-2),
-        MILLI("milli", "m", 1e-3),
-        MICRO("micro", "μ", 1e-6),
-        NANO("nano", "n", 1e-9),
-        PICO("pico", "p", 1e-12),
-        FEMTO("femto", "f", 1e-15),
-        ATTO("atto", "a", 1e-18),
-        ZEPTO("zepto", "z", 1e-21),
-        YOCTO("yocto", "y", 1e-24)
-    }
-
-    /**
-     * Создает новую единицу с заданным префиксом.
-     */
-    public fun withPrefix(prefix: Prefix, unit: PhysicalUnit): PhysicalUnit {
-        val newName = "${prefix.prefixName}${unit.name}"
-        val newSymbol = "${prefix.symbol}${unit.symbol}"
-        val newConversionFactor = unit.conversionFactorToSI * prefix.factor
-        val newUnit = PhysicalUnit(newName, newSymbol, newConversionFactor, unit.dimension)
-        registerUnit(newUnit)
-        return newUnit
-    }
-
-    public val kilometer: PhysicalUnit = withPrefix(Prefix.KILO, meter)
-    public val millimeter: PhysicalUnit = withPrefix(Prefix.MILLI, meter)
-    public val microsecond: PhysicalUnit = withPrefix(Prefix.MICRO, second)
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/variables/AbstractVariable.kt

@@ -1,13 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.variables
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-
-/**
- * Абстрактный класс для переменных.
- */
-public abstract class AbstractVariable(
-    public val name: String,
-    public val unit: PhysicalUnit,
-    public val variability: Variability,
-    public val causality: Causality
-)

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/variables/ArrayVariable.kt

@@ -1,28 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.variables
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import org.jetbrains.kotlinx.multik.ndarray.data.D2
-import org.jetbrains.kotlinx.multik.ndarray.data.NDArray
-import org.jetbrains.kotlinx.multik.ndarray.data.set
-import org.jetbrains.kotlinx.multik.ndarray.operations.plus
-
-/**
- * Класс для представления переменной-массива.
- * Использует Multik для работы с многомерными массивами.
- */
-public class ArrayVariable(
-    name: String,
-    unit: PhysicalUnit,
-    public val array: NDArray<Double, D2>,
-    causality: Causality = Causality.INTERNAL
-) : AbstractVariable(name, unit, Variability.CONTINUOUS, causality) {
-
-    public fun add(other: ArrayVariable): ArrayVariable {
-        require(this.array.shape contentEquals other.array.shape) {
-            "Array shapes do not match."
-        }
-        val resultArray = this.array + other.array
-        return ArrayVariable("$name + ${other.name}", unit, resultArray, causality)
-    }
-
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/variables/Causality.kt

@@ -1,10 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.variables
-
-/**
- * Перечисление каузальности переменной.
- */
-public enum class Causality {
-    INPUT,
-    OUTPUT,
-    INTERNAL
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/variables/ConstantVariable.kt

@@ -1,12 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.variables
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-
-/**
- * Класс для представления константы.
- */
-public class ConstantVariable(
-    name: String,
-    unit: PhysicalUnit,
-    public val value: Double
-) : AbstractVariable(name, unit, Variability.CONSTANT, Causality.INTERNAL)

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/variables/ContinuousVariable.kt

@@ -1,22 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.variables
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-
-public class ContinuousVariable(
-    name: String,
-    unit: PhysicalUnit,
-    public var value: Double = 0.0,
-    public val min: Double? = null,
-    public val max: Double? = null,
-    causality: Causality = Causality.INTERNAL
-) : AbstractVariable(name, unit, Variability.CONTINUOUS, causality) {
-    init {
-        // Проверка допустимого диапазона
-        if (min != null && value < min) {
-            throw IllegalArgumentException("Value of $name is less than minimum allowed value.")
-        }
-        if (max != null && value > max) {
-            throw IllegalArgumentException("Value of $name is greater than maximum allowed value.")
-        }
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/variables/DiscreteVariable.kt

@@ -1,13 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.variables
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-
-/**
- * Класс для представления дискретной переменной.
- */
-public class DiscreteVariable(
-    name: String,
-    unit: PhysicalUnit,
-    public var value: Double = 0.0,
-    causality: Causality = Causality.INTERNAL
-) : AbstractVariable(name, unit, Variability.DISCRETE, causality)

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/variables/ParameterVariable.kt

@@ -1,25 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.variables
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-
-/**
- * Класс для представления параметра (неизменяемой величины).
- */
-public open class ParameterVariable(
-    name: String,
-    unit: PhysicalUnit,
-    public val value: Double,
-    public val min: Double? = null,
-    public val max: Double? = null,
-    causality: Causality = Causality.INTERNAL
-) : AbstractVariable(name, unit, Variability.PARAMETER, causality) {
-    init {
-        // Проверка допустимого диапазона
-        if (min != null && value < min) {
-            throw IllegalArgumentException("Value of parameter $name is less than minimum allowed value.")
-        }
-        if (max != null && value > max) {
-            throw IllegalArgumentException("Value of parameter $name is greater than maximum allowed value.")
-        }
-    }
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/variables/Variability.kt

@@ -1,11 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.variables
-
-/**
- * Перечисление типов изменчивости переменной.
- */
-public enum class Variability {
-    CONSTANT,
-    PARAMETER,
-    DISCRETE,
-    CONTINUOUS
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/dsl/core/variables/Variable.kt

@@ -1,28 +0,0 @@
-package space.kscience.controls.constructor.dsl.core.variables
-
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-
-/**
- * Класс для представления переменной.
- */
-public open class Variable(
-    public val name: String,
-    public val unit: PhysicalUnit,
-    public open var value: Double = 0.0,
-    public val min: Double? = null,
-    public val max: Double? = null,
-    public var variability: Variability = Variability.CONTINUOUS,
-    public var causality: Causality = Causality.INTERNAL
-) {
-    init {
-        // Проверка, что значение находится в допустимом диапазоне
-        if (min != null && value < min) {
-            throw IllegalArgumentException("Value of $name is less than minimum allowed value.")
-        }
-        if (max != null && value > max) {
-            throw IllegalArgumentException("Value of $name is greater than maximum allowed value.")
-        }
-    }
-
-    public open fun checkDimensions() {}
-}

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Inertia.kt

@@ -55,7 +55,7 @@ public class Inertia<U : UnitsOfMeasurement, V : UnitsOfMeasurement>(
 
         public fun circular(
             context: Context,
-            force: DeviceState<NumericalValue<NewtonsMeters>>,
+            force: DeviceState<NumericalValue<NewtonMeters>>,
             momentOfInertia: NumericalValue<KgM2>,
             position: MutableDeviceState<NumericalValue<Degrees>>,
             velocity: MutableDeviceState<NumericalValue<DegreesPerSecond>> = MutableDeviceState(NumericalValue(0.0)),

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/models/Leadscrew.kt

@@ -16,7 +16,7 @@ public class Leadscrew(
 ) : ModelConstructor(context) {
 
     public fun torqueToForce(
-        stateOfTorque: DeviceState<NumericalValue<NewtonsMeters>>,
+        stateOfTorque: DeviceState<NumericalValue<NewtonMeters>>,
     ): DeviceState<NumericalValue<Newtons>> = DeviceState.map(stateOfTorque) { torque ->
         NumericalValue(torque.value / leverage.value )
     }

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/NumericalValue.kt

@@ -5,7 +5,6 @@ import space.kscience.dataforge.meta.MetaConverter
 import space.kscience.dataforge.meta.double
 import kotlin.jvm.JvmInline
 
-
 /**
  * A value without identity coupled to units of measurements.
  */

controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/units/UnitsOfMeasurement.kt

@@ -1,60 +1,244 @@
 package space.kscience.controls.constructor.units
 
+import kotlin.math.*
 
-public interface UnitsOfMeasurement
+/**
+ * Represents a unit of measurement.
+ * Provides methods to convert values to and from the base unit.
+ */
+public interface UnitsOfMeasurement {
+    /**
+     * Symbol representing the unit (e.g., "m" for meters).
+     */
+    public val symbol: String
 
-/**/
+    /**
+     * Converts a value from this unit to the base unit.
+     */
+    public fun toBase(value: Double): Double
 
+    /**
+     * Converts a value from the base unit to this unit.
+     */
+    public fun fromBase(value: Double): Double
+}
+
+/**
+ * Base unit, where conversion to base unit is identity.
+ */
+public open class BaseUnit(
+    override val symbol: String,
+) : UnitsOfMeasurement {
+    override fun toBase(value: Double): Double = value
+
+    override fun fromBase(value: Double): Double = value
+}
+
+/**
+ * Derived unit with a conversion factor to the base unit.
+ */
+public class DerivedUnit(
+    override val symbol: String,
+    private val conversionFactor: Double, // Factor to convert to base unit.
+) : UnitsOfMeasurement {
+    override fun toBase(value: Double): Double = value * conversionFactor
+
+    override fun fromBase(value: Double): Double = value / conversionFactor
+}
+
+
+/**
+ * Enumeration of SI prefixes with their symbols and factors.
+ */
+public enum class SIPrefix(
+    public val symbol: String,
+    public val factor: Double
+) {
+    YOTTA("Y", 1e24),
+    ZETTA("Z", 1e21),
+    EXA("E", 1e18),
+    PETA("P", 1e15),
+    TERA("T", 1e12),
+    GIGA("G", 1e9),
+    MEGA("M", 1e6),
+    KILO("k", 1e3),
+    HECTO("h", 1e2),
+    DECA("da", 1e1),
+    NONE("", 1.0),
+    DECI("d", 1e-1),
+    CENTI("c", 1e-2),
+    MILLI("m", 1e-3),
+    MICRO("μ", 1e-6),
+    NANO("n", 1e-9),
+    PICO("p", 1e-12),
+    FEMTO("f", 1e-15),
+    ATTO("a", 1e-18),
+    ZEPTO("z", 1e-21),
+    YOCTO("y", 1e-24),
+}
+
+
+/**
+ * Creates a new unit by applying an SI prefix to the current unit.
+ */
+public fun <U : UnitsOfMeasurement> U.withPrefix(prefix: SIPrefix): UnitsOfMeasurement {
+    val prefixedSymbol = prefix.symbol + this.symbol
+    val prefixedFactor = prefix.factor
+
+    return object : UnitsOfMeasurement {
+        override val symbol: String = prefixedSymbol
+
+        override fun toBase(value: Double): Double = this@withPrefix.toBase(value * prefixedFactor)
+
+        override fun fromBase(value: Double): Double = this@withPrefix.fromBase(value) / prefixedFactor
+    }
+}
+
+/**
+ * Interface for units of length.
+ */
 public interface UnitsOfLength : UnitsOfMeasurement
 
-public data object Meters : UnitsOfLength
+/**
+ * Base unit for length: Meter.
+ */
+public data object Meters : UnitsOfLength {
+    override val symbol: String = "m"
+    override fun toBase(value: Double): Double = value // Base unit
+    override fun fromBase(value: Double): Double = value
+}
 
-/**/
 
+/**
+ * Interface for units of time.
+ */
 public interface UnitsOfTime : UnitsOfMeasurement
 
-public data object Seconds : UnitsOfTime
-
-/**/
+/**
+ * Base unit for time: Second.
+ */
+public data object Seconds : UnitsOfTime {
+    override val symbol: String = "s"
+    override fun toBase(value: Double): Double = value // Base unit
+    override fun fromBase(value: Double): Double = value
+}
 
+/**
+ * Interface for units of velocity.
+ */
 public interface UnitsOfVelocity : UnitsOfMeasurement
 
-public data object MetersPerSecond : UnitsOfVelocity
+/**
+ * Derived unit for velocity: Meters per Second.
+ */
+public data object MetersPerSecond : UnitsOfVelocity {
+    override val symbol: String = "m/s"
+    override fun toBase(value: Double): Double = value // Base unit for velocity
+    override fun fromBase(value: Double): Double = value
+}
 
 /**/
 
+/**
+ * Sealed interface for units of angles.
+ */
 public sealed interface UnitsOfAngles : UnitsOfMeasurement
 
-public data object Radians : UnitsOfAngles
-public data object Degrees : UnitsOfAngles
+/**
+ * Base unit for angles: Radian.
+ */
+public data object Radians : UnitsOfAngles {
+    override val symbol: String = "rad"
+    override fun toBase(value: Double): Double = value // Base unit
+    override fun fromBase(value: Double): Double = value
+}
+
+/**
+ * Unit for angles: Degree.
+ */
+public data object Degrees : UnitsOfAngles {
+    override val symbol: String = "deg"
+    override fun toBase(value: Double): Double = value * (PI / 180.0)
+    override fun fromBase(value: Double): Double = value * (180.0 / PI)
+}
 
 /**/
 
+/**
+ * Sealed interface for units of angular velocity.
+ */
 public sealed interface UnitsAngularOfVelocity : UnitsOfMeasurement
 
-public data object RadiansPerSecond : UnitsAngularOfVelocity
+/**
+ * Base unit for angular velocity: Radians per Second.
+ */
+public data object RadiansPerSecond : UnitsAngularOfVelocity {
+    override val symbol: String = "rad/s"
+    override fun toBase(value: Double): Double = value // Base unit
+    override fun fromBase(value: Double): Double = value
+}
 
-public data object DegreesPerSecond : UnitsAngularOfVelocity
+/**
+ * Unit for angular velocity: Degrees per Second.
+ */
+public data object DegreesPerSecond : UnitsAngularOfVelocity {
+    override val symbol: String = "deg/s"
+    override fun toBase(value: Double): Double = value * (PI / 180.0)
+    override fun fromBase(value: Double): Double = value * (180.0 / PI)
+}
 
-/**/
+/**
+ * Interface for units of force.
+ */
 public interface UnitsOfForce : UnitsOfMeasurement
 
-public data object Newtons: UnitsOfForce
-
-/**/
+/**
+ * Base unit for force: Newton.
+ */
+public data object Newtons : UnitsOfForce {
+    override val symbol: String = "N"
+    override fun toBase(value: Double): Double = value // Base unit
+    override fun fromBase(value: Double): Double = value
+}
 
+/**
+ * Interface for units of torque.
+ */
 public interface UnitsOfTorque : UnitsOfMeasurement
 
-public data object NewtonsMeters: UnitsOfTorque
-
-/**/
+/**
+ * Base unit for torque: Newton Meter.
+ */
+public data object NewtonMeters : UnitsOfTorque {
+    override val symbol: String = "N·m"
+    override fun toBase(value: Double): Double = value // Base unit
+    override fun fromBase(value: Double): Double = value
+}
 
+/**
+ * Interface for units of mass.
+ */
 public interface UnitsOfMass : UnitsOfMeasurement
 
-public data object Kilograms : UnitsOfMass
-
-/**/
+/**
+ * Base unit for mass: Kilogram.
+ */
+public data object Kilograms : UnitsOfMass {
+    override val symbol: String = "kg"
+    override fun toBase(value: Double): Double = value // Base unit
+    override fun fromBase(value: Double): Double = value
+}
 
+/**
+ * Interface for units of moment of inertia.
+ */
 public interface UnitsOfMomentOfInertia : UnitsOfMeasurement
 
-public data object KgM2: UnitsOfMomentOfInertia
+/**
+ * Base unit for moment of inertia: Kilogram Meter Squared.
+ */
+public data object KgM2 : UnitsOfMomentOfInertia {
+    override val symbol: String = "kg·m²"
+    override fun toBase(value: Double): Double = value // Base unit
+    override fun fromBase(value: Double): Double = value
+}

controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/AnalyzerTest.kt

@@ -0,0 +1,806 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.*
+import kotlinx.coroutines.test.runTest
+import space.kscience.controls.api.LifecycleState
+import space.kscience.controls.spec.*
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.*
+import kotlin.test.Test
+import kotlin.test.assertEquals
+import kotlin.test.assertFalse
+import kotlin.test.assertTrue
+
+// Спецификация шагового мотора
+object StepperMotorSpec : DeviceSpec<StepperMotorDevice>() {
+
+    val position by intProperty(
+        read = { propertyName -> getPosition() },
+        write = { propertyName, value -> setPosition(value) }
+    )
+
+    val maxPosition by intProperty(
+        read = { propertyName -> maxPosition }
+    )
+
+    override fun createDevice(context: Context, meta: Meta): StepperMotorDevice {
+        return StepperMotorDevice(context, meta)
+    }
+}
+
+// Реализация устройства шагового мотора
+class StepperMotorDevice(
+    context: Context,
+    meta: Meta = Meta.EMPTY
+) : DeviceBySpec<StepperMotorDevice>(StepperMotorSpec, context, meta) {
+
+    private var _position: Int = 0
+    val maxPosition: Int = meta["maxPosition"].int ?: 100
+
+    // Получить текущую позицию мотора
+    suspend fun getPosition(): Int = _position
+
+    // Установить позицию мотора
+    suspend fun setPosition(value: Int) {
+        if (value in 0..maxPosition) {
+            _position = value
+            println("StepperMotorDevice: Перемещен в позицию $_position")
+            delay(100) // Имитация времени на перемещение
+        } else {
+            println("StepperMotorDevice: Неверная позиция $value (макс: $maxPosition)")
+        }
+    }
+
+    override fun toString(): String = "StepperMotorDevice"
+}
+
+// Спецификация клапана
+object ValveSpec : DeviceSpec<ValveDevice>() {
+
+    val state by booleanProperty(
+        read = { propertyName -> getState() },
+        write = { propertyName, value -> setState(value) }
+    )
+
+    override fun createDevice(context: Context, meta: Meta): ValveDevice {
+        return ValveDevice(context, meta)
+    }
+}
+
+// Реализация устройства клапана
+class ValveDevice(
+    context: Context,
+    meta: Meta = Meta.EMPTY
+) : DeviceBySpec<ValveDevice>(ValveSpec, context, meta) {
+
+    private var _state: Boolean = false
+
+    // Получить состояние клапана
+    suspend fun getState(): Boolean = _state
+
+    // Установить состояние клапана
+    suspend fun setState(value: Boolean) {
+        _state = value
+        val stateStr = if (_state) "открыт" else "закрыт"
+        println("ValveDevice: Клапан теперь $stateStr")
+        delay(50) // Имитация времени на изменение состояния
+    }
+
+    // Метод для щелчка клапана
+    suspend fun click() {
+        println("ValveDevice: Клик клапана...")
+        setState(true)
+        delay(50)
+        setState(false)
+        println("ValveDevice: Клик клапана завершен")
+    }
+
+    override fun toString(): String = "ValveDevice"
+}
+
+// Спецификация камеры давления
+object PressureChamberSpec : DeviceSpec<PressureChamberDevice>() {
+
+    val pressure by doubleProperty(
+        read = { propertyName -> getPressure() },
+        write = { propertyName, value -> setPressure(value) }
+    )
+
+    override fun createDevice(context: Context, meta: Meta): PressureChamberDevice {
+        return PressureChamberDevice(context, meta)
+    }
+}
+
+// Реализация устройства камеры давления
+class PressureChamberDevice(
+    context: Context,
+    meta: Meta = Meta.EMPTY
+) : DeviceBySpec<PressureChamberDevice>(PressureChamberSpec, context, meta) {
+
+    private var _pressure: Double = 0.0
+
+    // Получить текущее давление
+    suspend fun getPressure(): Double = _pressure
+
+    // Установить давление
+    suspend fun setPressure(value: Double) {
+        _pressure = value
+        println("PressureChamberDevice: Давление установлено на $_pressure")
+        delay(50)
+    }
+
+    override fun toString(): String = "PressureChamberDevice"
+}
+
+// Спецификация шприцевого насоса
+object SyringePumpSpec : DeviceSpec<SyringePumpDevice>() {
+
+    val volume by doubleProperty(
+        read = { propertyName -> getVolume() },
+        write = { propertyName, value -> setVolume(value) }
+    )
+
+    override fun createDevice(context: Context, meta: Meta): SyringePumpDevice {
+        return SyringePumpDevice(context, meta)
+    }
+}
+
+// Реализация устройства шприцевого насоса
+class SyringePumpDevice(
+    context: Context,
+    meta: Meta = Meta.EMPTY
+) : DeviceBySpec<SyringePumpDevice>(SyringePumpSpec, context, meta) {
+
+    private var _volume: Double = 0.0
+    val maxVolume: Double = meta["maxVolume"].double ?: 5.0
+
+    // Получить текущий объем
+    suspend fun getVolume(): Double = _volume
+
+    // Установить объем
+    suspend fun setVolume(value: Double) {
+        if (value in 0.0..maxVolume) {
+            _volume = value
+            println("SyringePumpDevice: Объем установлен на $_volume мл")
+            delay(100)
+        } else {
+            println("SyringePumpDevice: Неверный объем $value (макс: $maxVolume)")
+        }
+    }
+
+    override fun toString(): String = "SyringePumpDevice"
+}
+
+// Спецификация датчика реагента
+object ReagentSensorSpec : DeviceSpec<ReagentSensorDevice>() {
+
+    val isPresent by booleanProperty(
+        read = { propertyName -> checkReagent() }
+    )
+
+    override fun createDevice(context: Context, meta: Meta): ReagentSensorDevice {
+        return ReagentSensorDevice(context, meta)
+    }
+}
+
+// Реализация устройства датчика реагента
+class ReagentSensorDevice(
+    context: Context,
+    meta: Meta = Meta.EMPTY
+) : DeviceBySpec<ReagentSensorDevice>(ReagentSensorSpec, context, meta) {
+
+    // Проверить наличие реагента
+    suspend fun checkReagent(): Boolean {
+        println("ReagentSensorDevice: Проверка наличия реагента...")
+        delay(100) // Имитация времени на проверку
+        val isPresent = true // Предполагаем, что реагент присутствует
+        println("ReagentSensorDevice: Реагент ${if (isPresent) "обнаружен" else "не обнаружен"}")
+        return isPresent
+    }
+
+    override fun toString(): String = "ReagentSensorDevice"
+}
+
+// Спецификация иглы
+object NeedleSpec : DeviceSpec<NeedleDevice>() {
+
+    val mode by enumProperty(
+        enumValues = NeedleDevice.Mode.entries.toTypedArray(),
+        read = { propertyName -> getMode() },
+        write = { propertyName, value -> setMode(value) }
+    )
+
+    val position by doubleProperty(
+        read = { propertyName -> getPosition() },
+        write = { propertyName, value -> setPosition(value) }
+    )
+
+    override fun createDevice(context: Context, meta: Meta): NeedleDevice {
+        return NeedleDevice(context, meta)
+    }
+}
+
+// Реализация устройства иглы
+class NeedleDevice(
+    context: Context,
+    meta: Meta = Meta.EMPTY
+) : DeviceBySpec<NeedleDevice>(NeedleSpec, context, meta) {
+
+    // Режимы работы иглы
+    enum class Mode { SAMPLING, WASHING }
+
+    private var mode: Mode = Mode.WASHING
+    private var position: Double = 0.0 // в мм
+
+    // Получить текущий режим
+    suspend fun getMode(): Mode = mode
+
+    // Установить режим
+    suspend fun setMode(value: Mode) {
+        mode = value
+        println("NeedleDevice: Режим установлен на $mode")
+        delay(50)
+    }
+
+    // Получить текущую позицию
+    suspend fun getPosition(): Double = position
+
+    // Установить позицию
+    suspend fun setPosition(value: Double) {
+        if (value in 0.0..100.0) {
+            position = value
+            println("NeedleDevice: Перемещена в позицию $position мм")
+            delay(100)
+        } else {
+            println("NeedleDevice: Неверная позиция $value мм")
+        }
+    }
+
+    // Выполнить промывку
+    suspend fun performWashing(duration: Int) {
+        println("NeedleDevice: Промывка в течение $duration секунд")
+        delay(duration * 1000L) // Имитация промывки (1 секунда = 1000 мс)
+    }
+
+    // Выполнить забор пробы
+    suspend fun performSampling() {
+        println("NeedleDevice: Забор пробы в позиции $position мм")
+        delay(500) // Имитация забора пробы
+    }
+
+    override fun toString(): String = "NeedleDevice"
+}
+
+// Спецификация шейкера
+object ShakerSpec : DeviceSpec<ShakerDevice>() {
+
+    val verticalMotor by device(StepperMotorSpec, name = "verticalMotor")
+    val horizontalMotor by device(StepperMotorSpec, name = "horizontalMotor")
+
+    override fun createDevice(context: Context, meta: Meta): ShakerDevice {
+        return ShakerDevice(context, meta)
+    }
+}
+
+// Реализация устройства шейкера
+class ShakerDevice(
+    context: Context,
+    meta: Meta = Meta.EMPTY
+) : DeviceBySpec<ShakerDevice>(ShakerSpec, context, meta) {
+
+    val verticalMotor: StepperMotorDevice
+        get() = nestedDevices["verticalMotor"] as StepperMotorDevice
+
+    val horizontalMotor: StepperMotorDevice
+        get() = nestedDevices["horizontalMotor"] as StepperMotorDevice
+
+    // Метод встряхивания
+    suspend fun shake(cycles: Int) {
+        println("ShakerDevice: Начало встряхивания, циклов: $cycles")
+        repeat(cycles) {
+            verticalMotor.setPosition(3)
+            verticalMotor.setPosition(1)
+        }
+        println("ShakerDevice: Встряхивание завершено")
+    }
+
+    override fun toString(): String = "ShakerDevice"
+}
+
+// Спецификация системы транспортировки
+object TransportationSystemSpec : DeviceSpec<TransportationSystem>() {
+
+    val slideMotor by device(StepperMotorSpec, name = "slideMotor")
+    val pushMotor by device(StepperMotorSpec, name = "pushMotor")
+    val receiveMotor by device(StepperMotorSpec, name = "receiveMotor")
+
+    override fun createDevice(context: Context, meta: Meta): TransportationSystem {
+        return TransportationSystem(context, meta)
+    }
+}
+
+// Реализация системы транспортировки
+class TransportationSystem(
+    context: Context,
+    meta: Meta = Meta.EMPTY
+) : DeviceBySpec<TransportationSystem>(TransportationSystemSpec, context, meta) {
+
+    val slideMotor: StepperMotorDevice
+        get() = nestedDevices["slideMotor"] as StepperMotorDevice
+
+    val pushMotor: StepperMotorDevice
+        get() = nestedDevices["pushMotor"] as StepperMotorDevice
+
+    val receiveMotor: StepperMotorDevice
+        get() = nestedDevices["receiveMotor"] as StepperMotorDevice
+
+    override fun toString(): String = "TransportationSystem"
+}
+
+// Спецификация анализатора
+object AnalyzerSpec : DeviceSpec<AnalyzerDevice>() {
+
+    val transportationSystem by device(TransportationSystemSpec, name = "transportationSystem")
+    val shakerDevice by device(ShakerSpec, name = "shakerDevice")
+    val needleDevice by device(NeedleSpec, name = "needleDevice")
+
+    val valveV20 by device(ValveSpec, name = "valveV20")
+    val valveV17 by device(ValveSpec, name = "valveV17")
+    val valveV18 by device(ValveSpec, name = "valveV18")
+    val valveV35 by device(ValveSpec, name = "valveV35")
+
+    val pressureChamberHigh by device(PressureChamberSpec, name = "pressureChamberHigh")
+    val pressureChamberLow by device(PressureChamberSpec, name = "pressureChamberLow")
+
+    val syringePumpMA100 by device(SyringePumpSpec, name = "syringePumpMA100")
+    val syringePumpMA25 by device(SyringePumpSpec, name = "syringePumpMA25")
+
+    val reagentSensor1 by device(ReagentSensorSpec, name = "reagentSensor1")
+    val reagentSensor2 by device(ReagentSensorSpec, name = "reagentSensor2")
+    val reagentSensor3 by device(ReagentSensorSpec, name = "reagentSensor3")
+
+    override fun createDevice(context: Context, meta: Meta): AnalyzerDevice {
+        return AnalyzerDevice(context, meta)
+    }
+}
+
+// Реализация анализатора
+class AnalyzerDevice(
+    context: Context,
+    meta: Meta = Meta.EMPTY
+) : DeviceBySpec<AnalyzerDevice>(AnalyzerSpec, context, meta) {
+
+    val transportationSystem: TransportationSystem
+        get() = nestedDevices["transportationSystem"] as TransportationSystem
+
+    val shakerDevice: ShakerDevice
+        get() = nestedDevices["shakerDevice"] as ShakerDevice
+
+    val needleDevice: NeedleDevice
+        get() = nestedDevices["needleDevice"] as NeedleDevice
+
+    val valveV20: ValveDevice
+        get() = nestedDevices["valveV20"] as ValveDevice
+
+    val valveV17: ValveDevice
+        get() = nestedDevices["valveV17"] as ValveDevice
+
+    val valveV18: ValveDevice
+        get() = nestedDevices["valveV18"] as ValveDevice
+
+    val valveV35: ValveDevice
+        get() = nestedDevices["valveV35"] as ValveDevice
+
+    val pressureChamberHigh: PressureChamberDevice
+        get() = nestedDevices["pressureChamberHigh"] as PressureChamberDevice
+
+    val pressureChamberLow: PressureChamberDevice
+        get() = nestedDevices["pressureChamberLow"] as PressureChamberDevice
+
+    val syringePumpMA100: SyringePumpDevice
+        get() = nestedDevices["syringePumpMA100"] as SyringePumpDevice
+
+    val syringePumpMA25: SyringePumpDevice
+        get() = nestedDevices["syringePumpMA25"] as SyringePumpDevice
+
+    val reagentSensor1: ReagentSensorDevice
+        get() = nestedDevices["reagentSensor1"] as ReagentSensorDevice
+
+    val reagentSensor2: ReagentSensorDevice
+        get() = nestedDevices["reagentSensor2"] as ReagentSensorDevice
+
+    val reagentSensor3: ReagentSensorDevice
+        get() = nestedDevices["reagentSensor3"] as ReagentSensorDevice
+
+    // Процесс обработки проб
+    suspend fun processSample() {
+        println("Начало процесса забора пробы")
+
+        // Шаг 1: Открыть клапан V20 и начать забор пробы с помощью шприца MA 100 мкл
+        valveV20.setState(true)
+        syringePumpMA100.setVolume(0.1)
+        delay(500)  // Имитация времени для забора жидкости
+        valveV20.setState(false)
+
+        // Шаг 2: Открыть клапан V17 и начать подачу лизиса в WBC с помощью MA 2.5 мл
+        valveV17.setState(true)
+        syringePumpMA25.setVolume(2.5)
+        delay(500)  // Имитация времени для подачи лизиса
+        valveV17.setState(false)
+
+        // Шаг 3: Очистка системы
+        syringePumpMA100.setVolume(0.0)
+        syringePumpMA25.setVolume(0.0)
+
+        println("Процесс забора пробы завершен")
+    }
+
+    // Реализация рецепта калибровки
+    suspend fun calibrate() {
+        println("Начало калибровки...")
+
+        // Шаг 1: Откалибровать положения всех двигателей
+        val motors = listOf(
+            transportationSystem.slideMotor,
+            transportationSystem.pushMotor,
+            transportationSystem.receiveMotor,
+            shakerDevice.verticalMotor,
+            shakerDevice.horizontalMotor
+        )
+
+        for (motor in motors) {
+            for (position in 0..motor.maxPosition) {
+                motor.setPosition(position)
+            }
+            motor.setPosition(0)
+        }
+
+        // Шаг 2: Щелкнуть всеми клапанами и перевести их в нулевое положение
+        val valves = listOf(valveV20, valveV17, valveV18, valveV35)
+        for (valve in valves) {
+            valve.click()
+            valve.setState(false)
+        }
+
+        // Шаг 3: Провести накачку давления в камеру повышенного давления
+        pressureChamberHigh.setPressure(2.0)
+
+        // Шаг 4: Провести откачку камеры пониженного давления
+        pressureChamberLow.setPressure(-1.0)
+
+        // Шаг 5: Заполнить гидравлическую систему
+
+        // 5.1 Проверить наличие всех реагентов
+        val sensors = listOf(reagentSensor1, reagentSensor2, reagentSensor3)
+        for (sensor in sensors) {
+            sensor.checkReagent()
+        }
+
+        // 5.2 Прокачать все шприцевые дозаторы (5 раз движение между крайними положениями)
+        val pumps = listOf(syringePumpMA100, syringePumpMA25)
+        for (pump in pumps) {
+            repeat(5) {
+                pump.setVolume(pump.maxVolume)
+                pump.setVolume(0.0)
+            }
+        }
+
+        // 5.3 Провести промывку иглы в положении промывки для забора пробы
+        needleDevice.setPosition(0.0)
+        needleDevice.setMode(NeedleDevice.Mode.WASHING)
+        needleDevice.performWashing(5)
+
+        println("Калибровка завершена")
+    }
+
+    // Рецепт 1 - Подача пробирки на измерение
+    suspend fun executeRecipe1() {
+        println("Выполнение Рецепта 1")
+
+        // Шаг 1: Сдвинуть планшет на одну позицию
+        val currentSlidePosition = transportationSystem.slideMotor.getPosition()
+        transportationSystem.slideMotor.setPosition(currentSlidePosition + 1)
+        println("Сдвинуто планшет на позицию ${currentSlidePosition + 1}")
+
+        // Шаг 2: Захват пробирки для смешивания
+        println("Захват пробирки для смешивания")
+
+        // 2.1 - 2.10: Управление шейкером и двигателями
+        shakerDevice.verticalMotor.setPosition(1)
+        shakerDevice.horizontalMotor.setPosition(1)
+        println("Шейкер: вертикальный - 1, горизонтальный - 1")
+
+        shakerDevice.horizontalMotor.setPosition(2)
+        println("Шейкер: горизонтальный - 2")
+
+        shakerDevice.verticalMotor.setPosition(2)
+        println("Шейкер: вертикальный - 2")
+
+        // Встряхивание 5 циклов
+        repeat(5) {
+            shakerDevice.verticalMotor.setPosition(3)
+            shakerDevice.verticalMotor.setPosition(1)
+            println("Шейкер: цикл ${it + 1}")
+        }
+
+        shakerDevice.verticalMotor.setPosition(2)
+        shakerDevice.horizontalMotor.setPosition(1)
+        println("Шейкер: окончание движения")
+
+        // Шаг 3: Забор и измерение пробы
+        executeSampling()
+        needleDevice.setPosition(0.0)
+        println("Игла вернулась в исходное положение")
+    }
+
+    // Функция для выполнения забора пробы
+    suspend fun executeSampling() {
+        println("Забор и измерение пробы")
+
+        needleDevice.setPosition(0.0)
+        needleDevice.setMode(NeedleDevice.Mode.WASHING)
+        needleDevice.performWashing(5)
+
+        needleDevice.setPosition(10.0)
+        needleDevice.setMode(NeedleDevice.Mode.SAMPLING)
+        needleDevice.performSampling()
+
+        needleDevice.setPosition(0.0)
+        needleDevice.setMode(NeedleDevice.Mode.WASHING)
+        needleDevice.performWashing(5)
+
+        needleDevice.setPosition(20.0)
+        println("Игла в положении WOC")
+    }
+
+    // Рецепт 2 - Автоматическое измерение
+    suspend fun executeRecipe2() {
+        println("Выполнение Рецепта 2 - Автоматическое измерение")
+
+        transportationSystem.receiveMotor.setPosition(transportationSystem.receiveMotor.getPosition() + 1)
+        println("Сдвинуто податчик на 1 позицию")
+
+        // Проверка лотка
+        if (!checkTrayInPushSystem()) {
+            println("Лоток отсутствует. Повторный сдвиг")
+            transportationSystem.receiveMotor.setPosition(transportationSystem.receiveMotor.getPosition() + 1)
+        } else {
+            executeSampling()
+        }
+
+        // Если достигнута последняя позиция, меняем планшет
+        if (transportationSystem.receiveMotor.getPosition() >= transportationSystem.receiveMotor.maxPosition) {
+            println("Смена планшета. Возврат податчика в исходное положение")
+            transportationSystem.receiveMotor.setPosition(0)
+        }
+
+        println("Рецепт 2 завершен")
+        needleDevice.setPosition(0.0)
+        println("Игла вернулась в исходное положение")
+    }
+
+    // Рецепт 3 - Одиночное измерение
+    suspend fun executeRecipe3() {
+        println("Выполнение Рецепта 3 - Одиночное измерение")
+        executeSampling()
+        println("Рецепт 3 завершен")
+        needleDevice.setPosition(0.0)
+        println("Игла вернулась в исходное положение")
+    }
+
+    // функция проверки наличия лотка
+    private suspend fun checkTrayInPushSystem(): Boolean {
+        println("Проверка наличия лотка в системе проталкивания")
+        delay(200)
+        return true  // Имитация наличия лотка
+    }
+}
+
+// -----------------------
+// Тестирование анализатора
+// -----------------------
+class AnalyzerTest {
+
+    @Test
+    fun testAnalyzerInitialization() = runTest {
+        val context = Context("TestContext")
+        val analyzer = AnalyzerDevice(context)
+
+        analyzer.start()
+
+        // Проверка состояния устройств
+        assertEquals(LifecycleState.STARTED, analyzer.lifecycleState)
+        assertEquals(LifecycleState.STARTED, analyzer.transportationSystem.lifecycleState)
+        assertEquals(LifecycleState.STARTED, analyzer.shakerDevice.lifecycleState)
+        assertEquals(LifecycleState.STARTED, analyzer.needleDevice.lifecycleState)
+
+        // Проверка начальных положений двигателей
+        assertEquals(0, analyzer.transportationSystem.slideMotor.getPosition())
+        assertEquals(0, analyzer.transportationSystem.pushMotor.getPosition())
+        assertEquals(0, analyzer.transportationSystem.receiveMotor.getPosition())
+        assertEquals(0, analyzer.shakerDevice.verticalMotor.getPosition())
+        assertEquals(0, analyzer.shakerDevice.horizontalMotor.getPosition())
+        assertEquals(0.0, analyzer.needleDevice.getPosition())
+
+        // Проверка состояния клапанов
+        assertFalse(analyzer.valveV20.getState())
+        assertFalse(analyzer.valveV17.getState())
+        assertFalse(analyzer.valveV18.getState())
+        assertFalse(analyzer.valveV35.getState())
+
+        analyzer.stop()
+        assertEquals(LifecycleState.STOPPED, analyzer.lifecycleState)
+    }
+
+    @Test
+    fun testCalibration() = runTest {
+        val context = Context("TestContext")
+        val analyzer = AnalyzerDevice(context)
+
+        analyzer.start()
+
+        // Запуск калибровки
+        analyzer.calibrate()
+
+        // Проверка состояния двигателей после калибровки
+        assertEquals(0, analyzer.transportationSystem.slideMotor.getPosition())
+        assertEquals(0, analyzer.transportationSystem.pushMotor.getPosition())
+        assertEquals(0, analyzer.transportationSystem.receiveMotor.getPosition())
+        assertEquals(0, analyzer.shakerDevice.verticalMotor.getPosition())
+        assertEquals(0, analyzer.shakerDevice.horizontalMotor.getPosition())
+
+        // Проверка давления после калибровки
+        assertEquals(2.0, analyzer.pressureChamberHigh.getPressure())
+        assertEquals(-1.0, analyzer.pressureChamberLow.getPressure())
+
+        // Проверка состояния реагентных сенсоров
+        assertTrue(analyzer.reagentSensor1.checkReagent())
+        assertTrue(analyzer.reagentSensor2.checkReagent())
+        assertTrue(analyzer.reagentSensor3.checkReagent())
+
+        analyzer.stop()
+    }
+
+    @Test
+    fun testRecipe1() = runTest {
+        val context = Context("TestContext")
+        val analyzer = AnalyzerDevice(context)
+
+        analyzer.start()
+
+        // Выполнение рецепта 1 (подачи пробирки)
+        analyzer.executeRecipe1()
+
+        // Проверка конечных состояний после рецепта
+        assertEquals(1, analyzer.transportationSystem.slideMotor.getPosition())
+        assertEquals(1, analyzer.shakerDevice.verticalMotor.getPosition())
+        assertEquals(1, analyzer.shakerDevice.horizontalMotor.getPosition())
+
+        // Проверка положения иглы после забора пробы
+        assertEquals(0.0, analyzer.needleDevice.getPosition())
+
+        analyzer.stop()
+    }
+
+    @Test
+    fun testRecipe2() = runTest {
+        val context = Context("TestContext")
+        val analyzer = AnalyzerDevice(context)
+
+        analyzer.start()
+
+        // Выполнение рецепта 2 (автоматическое измерение)
+        analyzer.executeRecipe2()
+
+        // Проверка конечного положения двигателей
+        assertTrue(analyzer.transportationSystem.receiveMotor.getPosition() > 0)
+
+        // Проверка иглы после выполнения рецепта
+        assertEquals(0.0, analyzer.needleDevice.getPosition())
+
+        analyzer.stop()
+    }
+
+    @Test
+    fun testRecipe3() = runTest {
+        val context = Context("TestContext")
+        val analyzer = AnalyzerDevice(context)
+
+        analyzer.start()
+
+        // Выполнение рецепта 3 (одиночное измерение)
+        analyzer.executeRecipe3()
+
+        // Проверка иглы после одиночного измерения
+        assertEquals(0.0, analyzer.needleDevice.getPosition())
+
+        // Проверка завершения одиночного измерения
+        println("Одиночное измерение завершено")
+
+        analyzer.stop()
+    }
+
+    @Test
+    fun testDetailedMotorMovements() = runTest {
+        val context = Context("TestContext")
+        val analyzer = AnalyzerDevice(context)
+
+        analyzer.start()
+
+        // Проверка движения двигателей при выполнении задач
+        analyzer.transportationSystem.slideMotor.setPosition(2)
+        assertEquals(2, analyzer.transportationSystem.slideMotor.getPosition())
+
+        analyzer.shakerDevice.verticalMotor.setPosition(1)
+        analyzer.shakerDevice.horizontalMotor.setPosition(3)
+        assertEquals(1, analyzer.shakerDevice.verticalMotor.getPosition())
+        assertEquals(3, analyzer.shakerDevice.horizontalMotor.getPosition())
+
+        analyzer.stop()
+    }
+
+    @Test
+    fun testValveStates() = runTest {
+        val context = Context("TestContext")
+        val analyzer = AnalyzerDevice(context)
+
+        analyzer.start()
+
+        // Проверка работы клапанов
+        analyzer.valveV20.setState(true)
+        assertTrue(analyzer.valveV20.getState())
+
+        analyzer.valveV17.setState(false)
+        assertFalse(analyzer.valveV17.getState())
+
+        analyzer.valveV18.click() // Щелчок клапаном
+        assertFalse(analyzer.valveV18.getState())
+
+        analyzer.stop()
+    }
+
+    @Test
+    fun testSyringePumpOperations() = runTest {
+        val context = Context("TestContext")
+        val analyzer = AnalyzerDevice(context)
+
+        analyzer.start()
+
+        // Проверка работы шприцевого насоса
+        analyzer.syringePumpMA100.setVolume(0.05)
+        assertEquals(0.05, analyzer.syringePumpMA100.getVolume())
+
+        analyzer.syringePumpMA100.setVolume(0.0)
+        assertEquals(0.0, analyzer.syringePumpMA100.getVolume())
+
+        analyzer.syringePumpMA25.setVolume(2.5)
+        assertEquals(2.5, analyzer.syringePumpMA25.getVolume())
+
+        analyzer.stop()
+    }
+
+    @Test
+    fun testNeedleOperations() = runTest {
+        val context = Context("TestContext")
+        val analyzer = AnalyzerDevice(context)
+
+        analyzer.start()
+
+        // Проверка работы иглы в режиме промывки и забора проб
+        analyzer.needleDevice.setMode(NeedleDevice.Mode.WASHING)
+        analyzer.needleDevice.setPosition(0.0)
+        assertEquals(0.0, analyzer.needleDevice.getPosition())
+        assertEquals(NeedleDevice.Mode.WASHING, analyzer.needleDevice.getMode())
+
+        analyzer.needleDevice.performWashing(5) // Промывка иглы
+
+        analyzer.needleDevice.setMode(NeedleDevice.Mode.SAMPLING)
+        analyzer.needleDevice.setPosition(10.0)
+        assertEquals(10.0, analyzer.needleDevice.getPosition())
+        assertEquals(NeedleDevice.Mode.SAMPLING, analyzer.needleDevice.getMode())
+
+        analyzer.needleDevice.performSampling() // Забор пробы
+
+        analyzer.stop()
+    }
+}

controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/CompositeDeviceTest.kt

@@ -0,0 +1,182 @@
+package space.kscience.controls.constructor
+
+import kotlinx.coroutines.test.runTest
+import kotlin.test.Test
+import kotlin.test.assertEquals
+import space.kscience.controls.api.*
+import space.kscience.controls.spec.*
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.*
+
+class CompositeDeviceTest {
+
+    // simple MotorDevice and MotorSpec
+    class MotorSpec : DeviceSpec<MotorDevice>() {
+        val speed by doubleProperty(
+            name = "speed",
+            read = { propertyName ->
+                getSpeed()
+            },
+            write = { propertyName, value ->
+                setSpeed(value)
+            }
+        )
+
+        val position by doubleProperty(
+            name = "position",
+            read = { propertyName ->
+                getPosition()
+            }
+            // Assuming position is read-only
+        )
+
+        val reset by unitAction(
+            name = "reset",
+            execute = {
+                resetMotor()
+            }
+        )
+
+        override fun createDevice(context: Context, meta: Meta): MotorDevice {
+            return MotorDevice(context, meta)
+        }
+    }
+
+    class MotorDevice(
+        context: Context,
+        meta: Meta = Meta.EMPTY
+    ) : DeviceBySpec<MotorDevice>(MotorSpec(), context, meta) {
+        private var _speed: Double = 0.0
+        private var _position: Double = 0.0
+
+        suspend fun getSpeed(): Double = _speed
+        suspend fun setSpeed(value: Double) {
+            _speed = value
+        }
+
+        suspend fun getPosition(): Double = _position
+        suspend fun resetMotor() {
+            _speed = 0.0
+            _position = 0.0
+        }
+
+        override fun toString(): String = "MotorDevice"
+
+    }
+
+    data class Position(val base: Double, val elbow: Double, val wrist: Double)
+
+    object PositionConverter : MetaConverter<Position> {
+        override fun readOrNull(source: Meta): Position? {
+            val base = source["base"]?.value?.number?.toDouble() ?: return null
+            val elbow = source["elbow"]?.value?.number?.toDouble() ?: return null
+            val wrist = source["wrist"]?.value?.number?.toDouble() ?: return null
+            return Position(base, elbow, wrist)
+        }
+
+        override fun convert(obj: Position): Meta = Meta {
+            "base" put obj.base
+            "elbow" put obj.elbow
+            "wrist" put obj.wrist
+        }
+    }
+
+    object RobotArmSpec : DeviceSpec<RobotArmDevice>() {
+        val baseMotorSpec = MotorSpec()
+        val elbowMotorSpec = MotorSpec()
+        val wristMotorSpec = MotorSpec()
+
+        val baseMotor by device(baseMotorSpec)
+        val elbowMotor by device(elbowMotorSpec)
+        val wristMotor by device(wristMotorSpec)
+
+        val moveToPosition by action(
+            inputConverter = PositionConverter,
+            outputConverter = MetaConverter.unit,
+            name = "moveToPosition",
+            execute = { input ->
+                baseMotor.writeProperty("speed", Meta(input.base))
+                elbowMotor.writeProperty("speed", Meta(input.elbow))
+                wristMotor.writeProperty("speed", Meta(input.wrist))
+            }
+        )
+
+        override fun createDevice(context: Context, meta: Meta): RobotArmDevice {
+            return RobotArmDevice(context, meta)
+        }
+    }
+
+    class RobotArmDevice(
+        context: Context,
+        meta: Meta = Meta.EMPTY
+    ) : DeviceBySpec<RobotArmDevice>(RobotArmSpec, context, meta) {
+
+        val baseMotor: MotorDevice get() = nestedDevices["baseMotor"] as MotorDevice
+        val elbowMotor: MotorDevice get() = nestedDevices["elbowMotor"] as MotorDevice
+        val wristMotor: MotorDevice get() = nestedDevices["wristMotor"] as MotorDevice
+
+        override suspend fun onStart() {
+            super.onStart()
+        }
+
+        override suspend fun onStop() {
+            super.onStop()
+        }
+
+        override fun toString(): String = "RobotArmDevice"
+    }
+
+    @Test
+    fun testNestedDeviceInitialization() = runTest {
+        val context = Context("TestContext")
+        val robotArm = RobotArmDevice(context)
+
+        // Start the robot arm device
+        robotArm.start()
+
+        // Check that all motors are started
+        assertEquals(LifecycleState.STARTED, robotArm.baseMotor.lifecycleState)
+        assertEquals(LifecycleState.STARTED, robotArm.elbowMotor.lifecycleState)
+        assertEquals(LifecycleState.STARTED, robotArm.wristMotor.lifecycleState)
+
+        // Stop the robot arm device
+        robotArm.stop()
+    }
+
+    @Test
+    fun testCompositeDevicePropertyAndActionAccess() = runTest {
+        val context = Context("TestContext")
+        val robotArm = RobotArmDevice(context)
+
+        robotArm.start()
+
+        robotArm.baseMotor.writeProperty("speed", Meta(500.0))
+
+        val speedMeta = robotArm.baseMotor.getProperty("speed")
+        val speed = speedMeta?.value?.number?.toDouble()
+        assertEquals(500.0, speed)
+
+        // Stop the robot arm device
+        robotArm.stop()
+    }
+
+    @Test
+    fun testCompositeDeviceLifecycleManagement() = runTest {
+        val context = Context("TestContext")
+        val robotArm = RobotArmDevice(context)
+
+        // Start the robot arm device
+        robotArm.start()
+        assertEquals(LifecycleState.STARTED, robotArm.lifecycleState)
+        assertEquals(LifecycleState.STARTED, robotArm.baseMotor.lifecycleState)
+        assertEquals(LifecycleState.STARTED, robotArm.elbowMotor.lifecycleState)
+        assertEquals(LifecycleState.STARTED, robotArm.wristMotor.lifecycleState)
+
+        // Stop the robot arm device
+        robotArm.stop()
+        assertEquals(LifecycleState.STOPPED, robotArm.lifecycleState)
+        assertEquals(LifecycleState.STOPPED, robotArm.baseMotor.lifecycleState)
+        assertEquals(LifecycleState.STOPPED, robotArm.elbowMotor.lifecycleState)
+        assertEquals(LifecycleState.STOPPED, robotArm.wristMotor.lifecycleState)
+    }
+}

controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/DeviceSpecTest.kt

@@ -0,0 +1,168 @@
+package space.kscience.controls.constructor
+
+import kotlin.test.Test
+import kotlin.test.assertEquals
+import kotlin.test.assertFailsWith
+import kotlinx.coroutines.test.runTest
+import space.kscience.controls.api.LifecycleState
+import space.kscience.controls.spec.DeviceActionSpec
+import space.kscience.controls.spec.DeviceBase
+import space.kscience.controls.spec.DeviceBySpec
+import space.kscience.controls.spec.DevicePropertySpec
+import space.kscience.controls.spec.DeviceSpec
+import space.kscience.controls.spec.doubleProperty
+import space.kscience.controls.spec.unitAction
+import space.kscience.controls.spec.validate
+
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.number
+
+class DeviceSpecTest {
+
+    class MotorSpec : DeviceSpec<MotorDevice>() {
+        val speed by doubleProperty(
+            name = "speed",
+            read = { propertyName ->
+                getSpeed()
+            },
+            write = { propertyName, value ->
+                setSpeed(value)
+            }
+        )
+
+        val position by doubleProperty(
+            name = "position",
+            read = { propertyName ->
+                getPosition()
+            }
+            // Assuming position is read-only
+        )
+
+        val reset by unitAction(
+            name = "reset",
+            execute = {
+                resetMotor()
+            }
+        )
+    }
+
+    class MotorDevice(
+        context: Context,
+        meta: Meta = Meta.EMPTY
+    ) : DeviceBySpec<MotorDevice>(MotorSpec(), context, meta) {
+        private var _speed: Double = 0.0
+        private var _position: Double = 0.0
+
+        suspend fun getSpeed(): Double = _speed
+        suspend fun setSpeed(value: Double) {
+            _speed = value
+        }
+
+        suspend fun getPosition(): Double = _position
+        suspend fun resetMotor() {
+            _speed = 0.0
+            _position = 0.0
+        }
+
+        override fun toString(): String = "MotorDevice"
+    }
+
+    @Test
+    fun testDevicePropertyDefinitionAndAccess() = runTest {
+        val context = Context("TestContext")
+        val motor = MotorDevice(context)
+
+        motor.start()
+
+        val speedMeta = Meta(1000.0)
+        motor.writeProperty("speed", speedMeta)
+
+        val speedMetaRead = motor.readProperty("speed")
+        val speed = speedMetaRead.value?.number?.toDouble()
+        assertEquals(1000.0, speed)
+
+        val positionMeta = motor.readProperty("position")
+        val position = positionMeta.value?.number?.toDouble()
+        assertEquals(0.0, position)
+
+        motor.stop()
+    }
+
+    @Test
+    fun testDeviceActionDefinitionAndExecution() = runTest {
+        val context = Context("TestContext")
+        val motor = MotorDevice(context)
+
+        motor.start()
+
+        val speedMeta = Meta(1000.0)
+        motor.writeProperty("speed", speedMeta)
+
+        motor.execute("reset", Meta.EMPTY)
+
+        val speedMetaRead = motor.readProperty("speed")
+        val speed = speedMetaRead.value?.number?.toDouble()
+        assertEquals(0.0, speed)
+
+        val positionMeta = motor.readProperty("position")
+        val position = positionMeta.value?.number?.toDouble()
+        assertEquals(0.0, position)
+
+        motor.stop()
+    }
+
+    @Test
+    fun testDeviceLifecycleManagement() = runTest {
+        val context = Context("TestContext")
+        val motor = MotorDevice(context)
+
+        assertEquals(LifecycleState.STOPPED, motor.lifecycleState)
+
+        motor.start()
+        assertEquals(LifecycleState.STARTED, motor.lifecycleState)
+
+        motor.stop()
+        assertEquals(LifecycleState.STOPPED, motor.lifecycleState)
+    }
+
+    @Test
+    fun testDeviceErrorHandling() = runTest {
+        val context = Context("TestContext")
+        val motor = MotorDevice(context)
+
+        motor.start()
+
+        assertFailsWith<IllegalStateException> {
+            motor.readProperty("nonExistentProperty")
+        }
+
+        assertFailsWith<IllegalStateException> {
+            motor.execute("nonExistentAction", Meta.EMPTY)
+        }
+
+        motor.stop()
+    }
+
+    @Test
+    fun testDeviceSpecValidation() = runTest {
+        val context = Context("TestContext")
+        val motor = MotorDevice(context)
+
+        motor.spec.validate(motor)
+
+        val invalidMotor = object : DeviceBase<MotorDevice>(context, Meta.EMPTY) {
+            override val properties: Map<String, DevicePropertySpec<MotorDevice, *>>
+                get() = emptyMap()
+            override val actions: Map<String, DeviceActionSpec<MotorDevice, *, *>>
+                get() = emptyMap()
+
+            override fun toString(): String = "InvalidMotorDevice"
+        }
+
+        // Expect validation to fail
+        assertFailsWith<IllegalStateException> {
+            motor.spec.validate(invalidMotor)
+        }
+    }
+}

controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/EquationsTest.kt

@@ -1,89 +0,0 @@
-package space.kscience.controls.constructor
-
-import space.kscience.controls.constructor.dsl.core.EquationSystem
-import kotlin.test.Test
-import kotlin.test.assertEquals
-import kotlin.test.assertFailsWith
-import kotlin.test.assertTrue
-import space.kscience.controls.constructor.dsl.core.equations.*
-import space.kscience.controls.constructor.dsl.core.expressions.*
-import space.kscience.controls.constructor.dsl.core.units.Units
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-class EquationsTest {
-
-    @Test
-    fun testCreatingEquations() {
-        val xVar = Variable("x", Units.meter)
-        val xExpr = VariableExpression(xVar)
-        val yVar = Variable("y", Units.meter)
-        val yExpr = VariableExpression(yVar)
-        val constExpr = ConstantExpression(5.0, Units.meter)
-
-        // Regular equation: x = y + 5
-        val equation = Equation(xExpr, BinaryExpression(yExpr, BinaryOperator.ADD, constExpr))
-        assertEquals(xExpr, equation.leftExpression)
-        assertEquals(BinaryExpression(yExpr, BinaryOperator.ADD, constExpr), equation.rightExpression)
-
-        // Conditional equation: if x > 0 then y = x else y = -x
-        val condition = BinaryExpression(xExpr, BinaryOperator.GREATER_THAN, ConstantExpression(0.0, Units.meter))
-        val trueEquation = Equation(yExpr, xExpr)
-        val falseEquation = Equation(yExpr, BinaryExpression(ConstantExpression(0.0, Units.meter), BinaryOperator.SUBTRACT, xExpr))
-        val conditionalEquation = ConditionalEquation(condition, trueEquation, falseEquation)
-        assertEquals(condition, conditionalEquation.condition)
-        assertEquals(trueEquation, conditionalEquation.trueEquation)
-        assertEquals(falseEquation, conditionalEquation.falseEquation)
-
-        // Initial equation: x(0) = 0
-        val initialEquation = InitialEquation(xExpr, ConstantExpression(0.0, Units.meter))
-        assertEquals(xExpr, initialEquation.leftExpression)
-        assertEquals(ConstantExpression(0.0, Units.meter), initialEquation.rightExpression)
-    }
-
-    @Test
-    fun testUnitCompatibilityInEquations() {
-        val lengthVar = Variable("length", Units.meter)
-        val lengthExpr = VariableExpression(lengthVar)
-        val timeVar = Variable("time", Units.second)
-        val timeExpr = VariableExpression(timeVar)
-
-        // Correct equation: length = length + length
-        val validEquation = Equation(lengthExpr, BinaryExpression(lengthExpr, BinaryOperator.ADD, ConstantExpression(5.0, Units.meter)))
-        assertFailsWith<Exception> {
-            validEquation
-        }
-
-        // Incorrect equation: length = time
-        val exception = assertFailsWith<IllegalArgumentException> {
-            Equation(lengthExpr, timeExpr)
-        }
-        assertEquals("Units of left and right expressions in the equation are not compatible.", exception.message)
-    }
-
-    @Test
-    fun testEquationSystem() {
-        val xVar = Variable("x", Units.meter)
-        val xExpr = VariableExpression(xVar)
-        val vVar = Variable("v", Units.meter / Units.second)
-        val vExpr = VariableExpression(vVar)
-        val aVar = Variable("a", Units.meter / Units.second.pow(2.0))
-        val aExpr = VariableExpression(aVar)
-
-        // Differential equation: der(x) = v
-        val derX = DerivativeExpression(xExpr)
-        val eq1 = Equation(derX, vExpr)
-
-        // Algebraic equation: v = a * t
-        val tVar = Variable("t", Units.second)
-        val tExpr = VariableExpression(tVar)
-        val eq2 = Equation(vExpr, BinaryExpression(aExpr, BinaryOperator.MULTIPLY, tExpr))
-
-        val equationSystem = EquationSystem()
-        equationSystem.addEquation(eq1)
-        equationSystem.addEquation(eq2)
-
-        assertEquals(2, equationSystem.equations.size)
-        assertTrue(equationSystem.variables.containsAll(listOf("x", "v", "a", "t")))
-        assertTrue(equationSystem.derivativeVariables.contains("x"))
-    }
-}

controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/EventsAndActionsTest.kt

@@ -1,73 +0,0 @@
-package space.kscience.controls.constructor
-
-import kotlin.test.Test
-import kotlin.test.assertEquals
-import space.kscience.controls.constructor.dsl.core.events.Event
-import space.kscience.controls.constructor.dsl.core.events.ReinitAction
-import space.kscience.controls.constructor.dsl.core.events.AssignAction
-import space.kscience.controls.constructor.dsl.core.expressions.BinaryExpression
-import space.kscience.controls.constructor.dsl.core.expressions.BinaryOperator
-import space.kscience.controls.constructor.dsl.core.expressions.ConstantExpression
-import space.kscience.controls.constructor.dsl.core.expressions.VariableExpression
-import space.kscience.controls.constructor.dsl.core.simulation.SimulationContext
-import space.kscience.controls.constructor.dsl.core.units.Units
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-import kotlinx.coroutines.CoroutineScope
-import kotlinx.coroutines.Dispatchers
-import kotlinx.coroutines.launch
-import kotlinx.coroutines.test.runTest
-
-class EventsAndActionsTest {
-
-    @Test
-    fun testCreatingEvents() {
-        val xVar = Variable("x", Units.meter)
-        val xExpr = VariableExpression(xVar)
-
-        val condition = BinaryExpression(xExpr, BinaryOperator.GREATER_THAN, ConstantExpression(10.0, Units.meter))
-        val action = AssignAction(xVar, ConstantExpression(0.0, Units.meter))
-
-        val event = Event(condition, listOf(action))
-
-        assertEquals(condition, event.condition)
-        assertEquals(1, event.actions.size)
-        assertEquals(action, event.actions[0])
-    }
-
-    @Test
-    fun testProcessingEventsInSimulation() = runTest {
-        val xVar = Variable("x", Units.meter)
-        val xExpr = VariableExpression(xVar)
-        val context = SimulationContext(CoroutineScope(Dispatchers.Default)).apply {
-            registerVariable(xVar) // Регистрация переменной
-            launch { updateVariable("x", 5.0) } // Установка начального значения переменной
-        }
-
-        val condition = BinaryExpression(xExpr, BinaryOperator.GREATER_THAN, ConstantExpression(10.0, Units.meter))
-        val action = AssignAction(xVar, ConstantExpression(0.0, Units.meter))
-        val event = Event(condition, listOf(action))
-
-        context.events.add(event)
-
-        // Simulate x crossing the threshold
-        context.updateVariable("x", 15.0)
-        context.handleEvents()
-
-        assertEquals(0.0, context.getCurrentVariableValue("x"))
-    }
-
-    @Test
-    fun testReinitAction() = runTest {
-        val vVar = Variable("v", Units.meter / Units.second)
-        val vExpr = VariableExpression(vVar)
-        val context = SimulationContext(CoroutineScope(Dispatchers.Default)).apply {
-            registerVariable(vVar) // Регистрация переменной
-            launch { updateVariable("v", 20.0) } // Установка начального значения переменной
-        }
-
-        val action = ReinitAction(vVar, ConstantExpression(0.0, Units.meter / Units.second))
-        action.execute(context)
-
-        assertEquals(0.0, context.getCurrentVariableValue("v"))
-    }
-}

controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/ExpressionsTest.kt

@@ -1,101 +0,0 @@
-package space.kscience.controls.constructor
-
-import kotlin.test.Test
-import kotlin.test.assertEquals
-import kotlin.test.assertFailsWith
-import kotlin.test.assertTrue
-import space.kscience.controls.constructor.dsl.core.expressions.*
-import space.kscience.controls.constructor.dsl.core.units.Units
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-class ExpressionsTest {
-
-    @Test
-    fun testCreationOfDifferentTypesOfExpressions() {
-        // Constant expression
-        val constExpr = ConstantExpression(5.0, Units.meter)
-        assertEquals(5.0, constExpr.value)
-        assertEquals(Units.meter, constExpr.unit)
-
-        // Variable expression
-        val speedVar = Variable("speed", Units.meter / Units.second)
-        val speedExpr = VariableExpression(speedVar)
-        assertEquals(speedVar, speedExpr.variable)
-        assertEquals(Units.meter / Units.second, speedExpr.unit)
-
-        // Binary expression (addition)
-        val distanceVar = Variable("distance", Units.meter)
-        val distanceExpr = VariableExpression(distanceVar)
-        val totalDistanceExpr = BinaryExpression(distanceExpr, BinaryOperator.ADD, constExpr)
-        assertEquals(Units.meter, totalDistanceExpr.unit)
-
-        // Function call expression
-        val sinExpr = FunctionCallExpression("sin", listOf(constExpr))
-        assertEquals(Units.dimensionless, sinExpr.unit)
-    }
-
-    @Test
-    fun testEvaluationOfExpressions() {
-        val xVar = Variable("x", Units.meter)
-        val xExpr = VariableExpression(xVar)
-        val constExpr = ConstantExpression(2.0, Units.meter)
-
-        val values = mapOf("x" to 3.0)
-
-        // Binary expression: x + 2
-        val sumExpr = BinaryExpression(xExpr, BinaryOperator.ADD, constExpr)
-        assertEquals(5.0, sumExpr.evaluate(values))
-
-        // Binary expression: x * 2
-        val mulExpr = BinaryExpression(xExpr, BinaryOperator.MULTIPLY, ConstantExpression(2.0, Units.dimensionless))
-        assertEquals(6.0, mulExpr.evaluate(values))
-
-        // Function call: sin(x)
-        val sinExpr = FunctionCallExpression("sin", listOf(xExpr))
-        assertEquals(kotlin.math.sin(3.0), sinExpr.evaluate(values))
-    }
-
-    @Test
-    fun testDimensionCheckingInExpressions() {
-        val lengthVar = Variable("length", Units.meter)
-        val timeVar = Variable("time", Units.second)
-        val lengthExpr = VariableExpression(lengthVar)
-        val timeExpr = VariableExpression(timeVar)
-
-        // Correct addition
-        val sumExpr = BinaryExpression(lengthExpr, BinaryOperator.ADD, ConstantExpression(5.0, Units.meter))
-        assertFailsWith<Exception> {
-            sumExpr.checkDimensions()
-        }
-
-        // Incorrect addition (length + time)
-        val invalidSumExpr = BinaryExpression(lengthExpr, BinaryOperator.ADD, timeExpr)
-        val exception = assertFailsWith<IllegalArgumentException> {
-            invalidSumExpr.checkDimensions()
-        }
-        assertEquals("Units must be the same for addition or subtraction.", exception.message)
-    }
-
-    @Test
-    fun testDerivativeOfExpressions() {
-        val xVar = Variable("x", Units.meter)
-        val xExpr = VariableExpression(xVar)
-        val constExpr = ConstantExpression(5.0, Units.meter)
-
-        // Derivative of constant: should be zero
-        val derivativeConst = constExpr.derivative(xExpr)
-        assertTrue(derivativeConst is ConstantExpression)
-        assertEquals(0.0, derivativeConst.value)
-
-        // Derivative of variable with respect to itself: should be one
-        val derivativeVar = xExpr.derivative(xExpr)
-        assertTrue(derivativeVar is ConstantExpression)
-        assertEquals(1.0, derivativeVar.value)
-
-        // Derivative of x + 5 with respect to x: should be one
-        val sumExpr = BinaryExpression(xExpr, BinaryOperator.ADD, constExpr)
-        val derivativeSum = sumExpr.derivative(xExpr)
-        assertTrue(derivativeSum is ConstantExpression)
-        assertEquals(1.0, derivativeSum.value)
-    }
-}

controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/FunctionsTest.kt

@@ -1,29 +0,0 @@
-package space.kscience.controls.constructor
-
-import kotlin.test.Test
-import kotlin.test.assertEquals
-import space.kscience.controls.constructor.dsl.core.functions.FunctionBuilder
-import space.kscience.controls.constructor.dsl.core.expressions.*
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-import space.kscience.controls.constructor.dsl.core.units.Units
-
-class FunctionsTest {
-
-    @Test
-    fun testCreatingFunctions() {
-        val functionBuilder = FunctionBuilder("add").apply {
-            val aVar = input("a", Units.dimensionless)
-            val bVar = input("b", Units.dimensionless)
-            val resultVar = output("result", Units.dimensionless)
-
-            algorithm {
-                assign(resultVar, BinaryExpression(VariableExpression(aVar), BinaryOperator.ADD, VariableExpression(bVar)))
-            }
-        }
-
-        val addFunction = functionBuilder.build()
-        assertEquals("add", addFunction.name)
-        assertEquals(2, addFunction.inputs.size)
-        assertEquals(1, addFunction.outputs.size)
-    }
-}

controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/IntegrationTest.kt

@@ -0,0 +1,76 @@
+package space.kscience.controls.constructor
+
+import kotlin.test.Test
+import kotlin.test.assertEquals
+import kotlinx.coroutines.test.runTest
+import space.kscience.controls.constructor.CompositeDeviceTest.Position
+import space.kscience.controls.constructor.CompositeDeviceTest.PositionConverter
+import space.kscience.controls.constructor.CompositeDeviceTest.RobotArmDevice
+import space.kscience.controls.spec.*
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.number
+
+class IntegrationTest {
+
+    @Test
+    fun testFullDeviceSimulation() = runTest {
+        val context = Context("TestContext")
+        val robotArm = RobotArmDevice(context)
+
+        robotArm.start()
+
+        val position = Position(base = 90.0, elbow = 45.0, wrist = 30.0)
+        robotArm.execute("moveToPosition", PositionConverter.convert(position))
+
+        val baseSpeedMeta = robotArm.baseMotor.readProperty("speed")
+        val baseSpeed = baseSpeedMeta.value?.number?.toDouble()
+        assertEquals(90.0, baseSpeed)
+
+        val elbowSpeedMeta = robotArm.elbowMotor.readProperty("speed")
+        val elbowSpeed = elbowSpeedMeta.value?.number?.toDouble()
+        assertEquals(45.0, elbowSpeed)
+
+        val wristSpeedMeta = robotArm.wristMotor.readProperty("speed")
+        val wristSpeed = wristSpeedMeta.value?.number?.toDouble()
+        assertEquals(30.0, wristSpeed)
+
+        robotArm.stop()
+    }
+
+    class SensorDevice(
+        context: Context,
+        meta: Meta = Meta.EMPTY
+    ) : DeviceBySpec<SensorDevice>(SensorSpec, context, meta) {
+        private var _pressure: Double = 101325.0 // Atmospheric pressure in Pascals
+
+        suspend fun getPressure(): Double = _pressure
+
+        override fun toString(): String = "SensorDevice"
+
+    }
+
+    object SensorSpec : DeviceSpec<SensorDevice>() {
+        val pressure by doubleProperty(
+            name = "pressure",
+            read = { propertyName ->
+                getPressure()
+            }
+        )
+    }
+
+    @Test
+    fun testUnitsInDeviceProperties() = runTest {
+        val context = Context("TestContext")
+
+        val sensor = SensorDevice(context)
+
+        sensor.start()
+
+        val pressureMeta = sensor.readProperty("pressure")
+        val pressureValue = pressureMeta.value?.number?.toDouble()
+        assertEquals(101325.0, pressureValue)
+
+        sensor.stop()
+    }
+}

controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/UnitsOfMeasurementTest.kt

@@ -0,0 +1,18 @@
+package space.kscience.controls.constructor
+
+import space.kscience.controls.constructor.units.Degrees
+import space.kscience.controls.constructor.units.Meters
+import space.kscience.controls.constructor.units.NumericalValue
+import space.kscience.controls.constructor.units.Radians
+import space.kscience.controls.constructor.units.SIPrefix
+import space.kscience.controls.constructor.units.Seconds
+import space.kscience.controls.constructor.units.UnitsOfMeasurement
+import space.kscience.controls.constructor.units.withPrefix
+import kotlin.math.PI
+import kotlin.test.Test
+import kotlin.test.assertEquals
+import kotlin.test.assertFailsWith
+
+class UnitsOfMeasurementTest {
+
+}

controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/UnitsTest.kt

@@ -1,85 +0,0 @@
-package space.kscience.controls.constructor
-
-import kotlin.test.Test
-import kotlin.test.assertEquals
-import kotlin.test.assertFailsWith
-import space.kscience.controls.constructor.dsl.core.units.Dimension
-import space.kscience.controls.constructor.dsl.core.units.PhysicalUnit
-import space.kscience.controls.constructor.dsl.core.units.Units
-
-class UnitsTest {
-
-    @Test
-    fun testCreationOfBaseUnits() {
-        val meter = Units.meter
-        assertEquals("meter", meter.name)
-        assertEquals("m", meter.symbol)
-        assertEquals(1.0, meter.conversionFactorToSI)
-        assertEquals(Dimension(length = 1.0), meter.dimension)
-
-        val kilogram = Units.kilogram
-        assertEquals("kilogram", kilogram.name)
-        assertEquals("kg", kilogram.symbol)
-        assertEquals(1.0, kilogram.conversionFactorToSI)
-        assertEquals(Dimension(mass = 1.0), kilogram.dimension)
-
-        val second = Units.second
-        assertEquals("second", second.name)
-        assertEquals("s", second.symbol)
-        assertEquals(1.0, second.conversionFactorToSI)
-        assertEquals(Dimension(time = 1.0), second.dimension)
-    }
-
-    @Test
-    fun testArithmeticOperationsOnUnits() {
-        val meter = Units.meter
-        val second = Units.second
-        val kilogram = Units.kilogram
-
-        val velocityUnit = meter / second
-        assertEquals(Dimension(length = 1.0, time = -1.0), velocityUnit.dimension)
-        assertEquals("m/s", velocityUnit.symbol)
-
-        val accelerationUnit = meter / (second * second)
-        assertEquals(Dimension(length = 1.0, time = -2.0), accelerationUnit.dimension)
-        assertEquals("m/s^2", accelerationUnit.symbol)
-
-        val forceUnit = kilogram * accelerationUnit
-        assertEquals(Dimension(mass = 1.0, length = 1.0, time = -2.0), forceUnit.dimension)
-        assertEquals("kg*m/s^2", forceUnit.symbol)
-    }
-
-    @Test
-    fun testUnitCompatibilityForAdditionAndSubtraction() {
-        val meter = Units.meter
-        val kilogram = Units.kilogram
-
-        // Correct addition
-        val length1 = meter
-        val length2 = meter
-        assertEquals(length1.dimension, length2.dimension)
-
-        // Incorrect addition should throw exception
-        val mass = kilogram
-        val exception = assertFailsWith<IllegalArgumentException> {
-            if (length1.dimension != mass.dimension) {
-                throw IllegalArgumentException("Units are not compatible for addition.")
-            }
-        }
-        assertEquals("Units are not compatible for addition.", exception.message)
-    }
-
-    @Test
-    fun testUnitConversion() {
-        val kilometer = PhysicalUnit("kilometer", "km", 1000.0, Units.meter.dimension)
-        val centimeter = PhysicalUnit("centimeter", "cm", 0.01, Units.meter.dimension)
-
-        // Convert 1 km to meters
-        val kmInMeters = 1.0 * kilometer.conversionFactorToSI
-        assertEquals(1000.0, kmInMeters)
-
-        // Convert 100 cm to meters
-        val cmInMeters = 100.0 * centimeter.conversionFactorToSI
-        assertEquals(1.0, cmInMeters)
-    }
-}

controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/UtilitiesTest.kt

@@ -0,0 +1,88 @@
+package space.kscience.controls.constructor
+
+import kotlin.test.Test
+import kotlin.test.assertEquals
+import kotlinx.coroutines.test.runTest
+import space.kscience.controls.spec.*
+import space.kscience.dataforge.context.Context
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.boolean
+import space.kscience.dataforge.meta.number
+
+
+class UtilitiesTest {
+
+    class SensorSpec : DeviceSpec<SensorDevice>() {
+        val temperature by doubleProperty(
+            name = "temperature",
+            read = { propertyName ->
+                getTemperature()
+            },
+            write = { propertyName, value ->
+                setTemperature(value)
+            }
+        )
+
+        val isActive by booleanProperty(
+            name = "isActive",
+            read = { propertyName ->
+                isActive()
+            },
+            write = { propertyName, value ->
+                setActive(value)
+            }
+        )
+    }
+
+    class SensorDevice(
+        context: Context,
+        meta: Meta = Meta.EMPTY
+    ) : DeviceBySpec<SensorDevice>(SensorSpec(), context, meta) {
+        private var _temperature: Double = 25.0
+        private var _isActive: Boolean = true
+
+        suspend fun getTemperature(): Double = _temperature
+        suspend fun setTemperature(value: Double) {
+            _temperature = value
+        }
+
+        suspend fun isActive(): Boolean = _isActive
+        suspend fun setActive(value: Boolean) {
+            _isActive = value
+        }
+
+        override fun toString(): String = "SensorDevice"
+    }
+
+    @Test
+    fun testDoublePropertyUtility() = runTest {
+        val context = Context("TestContext")
+        val sensor = SensorDevice(context)
+
+        sensor.start()
+
+        sensor.writeProperty("temperature", Meta(30.0))
+
+        val tempMeta = sensor.readProperty("temperature")
+        val temperature = tempMeta.value?.number?.toDouble()
+        assertEquals(30.0, temperature)
+
+        sensor.stop()
+    }
+
+    @Test
+    fun testBooleanPropertyUtility() = runTest {
+        val context = Context("TestContext")
+        val sensor = SensorDevice(context)
+
+        sensor.start()
+
+        sensor.writeProperty("isActive", Meta(false))
+
+        val activeMeta = sensor.readProperty("isActive")
+        val isActive = activeMeta.value?.boolean
+        assertEquals(false, isActive)
+
+        sensor.stop()
+    }
+}

controls-constructor/src/commonTest/kotlin/space/kscience/controls/constructor/VariablesTest.kt

@@ -1,41 +0,0 @@
-package space.kscience.controls.constructor
-
-import kotlin.test.Test
-import kotlin.test.assertEquals
-import kotlin.test.assertFailsWith
-import kotlin.test.assertNull
-import space.kscience.controls.constructor.dsl.core.units.Units
-import space.kscience.controls.constructor.dsl.core.variables.ParameterVariable
-import space.kscience.controls.constructor.dsl.core.variables.Variable
-
-class VariablesTest {
-
-    @Test
-    fun testCreationOfVariablesAndParameters() {
-        val length = Variable("length", Units.meter)
-        assertEquals("length", length.name)
-        assertEquals(Units.meter, length.unit)
-        assertNull(length.value)
-
-        val mass = ParameterVariable("mass", Units.kilogram, value = 10.0)
-        assertEquals("mass", mass.name)
-        assertEquals(Units.kilogram, mass.unit)
-        assertEquals(10.0, mass.value)
-    }
-
-    @Test
-    fun testSettingAndGettingValuesOfVariablesAndParameters() {
-        val speed = Variable("speed", Units.meter / Units.second)
-        speed.value = 15.0
-        assertEquals(15.0, speed.value)
-
-        val density = ParameterVariable("density", Units.kilogram / Units.meter.pow(3.0), value = 1000.0)
-        assertEquals(1000.0, density.value)
-
-        // Attempt to create a parameter with value outside the allowed range
-        val exception = assertFailsWith<IllegalArgumentException> {
-            ParameterVariable("temperature", Units.kelvin, value = -10.0, min = 0.0)
-        }
-        assertEquals("Value of parameter temperature is less than minimum allowed value.", exception.message)
-    }
-}

controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBase.kt

@@ -50,6 +50,13 @@ public abstract class DeviceBase<D : Device>(
     final override val meta: Meta = Meta.EMPTY,
 ) : CachingDevice {
 
+    private val stateLock = Mutex()
+
+    /**
+     * Logical state store
+     */
+    private val logicalState: MutableMap<String, Meta?> = HashMap()
+
     /**
      * Collection of property specifications
      */
@@ -89,20 +96,12 @@ public abstract class DeviceBase<D : Device>(
                 }
     )
 
-
-    /**
-     * Logical state store
-     */
-    private val logicalState: HashMap<String, Meta?> = HashMap()
-
     public override val messageFlow: SharedFlow<DeviceMessage> get() = sharedMessageFlow
 
     @Suppress("UNCHECKED_CAST")
     internal val self: D
         get() = this as D
 
-    private val stateLock = Mutex()
-
     /**
      * Update logical property state and notify listeners
      */

controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceBySpec.kt

@@ -2,7 +2,7 @@ package space.kscience.controls.spec
 
 import space.kscience.controls.api.Device
 import space.kscience.dataforge.context.Context
-import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.*
 
 /**
  * A device generated from specification
@@ -16,14 +16,36 @@ 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
 
+    // Map to store instances of nested devices
+    private val _nestedDevices = hashMapOf<String, Device>()
+
+    // Provide access to nested devices
+    public val nestedDevices: Map<String, Device> get() = _nestedDevices
+
     override suspend fun onStart(): Unit = with(spec) {
+        for ((name, deviceSpec) in spec.nestedDeviceSpecs) {
+            val nestedDevice = createNestedDevice(deviceSpec, name)
+            _nestedDevices[name] = nestedDevice
+            nestedDevice.start()
+        }
         self.onOpen()
     }
 
     override suspend fun onStop(): Unit = with(spec){
+        for (device in _nestedDevices.values) {
+            device.stop()
+        }
         self.onClose()
     }
 
 
     override fun toString(): String = "Device(spec=$spec)"
+
+    private fun <ND : Device> createNestedDevice(deviceSpec: DeviceSpec<ND>, name: String): ND {
+        // Create an instance of the nested device.
+        val nestedMeta = meta[name] ?: Meta.EMPTY
+        val nestedDevice = deviceSpec.createDevice(context, nestedMeta)
+        return nestedDevice
+    }
+
 }

controls-core/src/commonMain/kotlin/space/kscience/controls/spec/DeviceSpec.kt

@@ -2,6 +2,7 @@ package space.kscience.controls.spec
 
 import kotlinx.coroutines.withContext
 import space.kscience.controls.api.*
+import space.kscience.dataforge.context.Context
 import space.kscience.dataforge.meta.Meta
 import space.kscience.dataforge.meta.MetaConverter
 import space.kscience.dataforge.meta.descriptors.MetaDescriptor
@@ -20,15 +21,34 @@ public val MetaConverter.Companion.unit: MetaConverter<Unit> get() = UnitMetaCon
 
 @OptIn(InternalDeviceAPI::class)
 public abstract class DeviceSpec<D : Device> {
-    //initializing the metadata property for everyone
-    private val _properties = hashMapOf<String, DevicePropertySpec<D, *>>(
-        DeviceMetaPropertySpec.name to DeviceMetaPropertySpec
-    )
+    // Map to store properties
+    private val _properties = hashMapOf<String, DevicePropertySpec<D, *>>()
     public val properties: Map<String, DevicePropertySpec<D, *>> get() = _properties
 
-    private val _actions = HashMap<String, DeviceActionSpec<D, *, *>>()
+    // Map to store actions
+    private val _actions = hashMapOf<String, DeviceActionSpec<D, *, *>>()
     public val actions: Map<String, DeviceActionSpec<D, *, *>> get() = _actions
 
+    /**
+     * Registers a property in the spec.
+     */
+    public fun <T, P : DevicePropertySpec<D, T>> registerProperty(deviceProperty: P): P {
+        _properties[deviceProperty.name] = deviceProperty
+        return deviceProperty
+    }
+
+    // Map to store nested device specifications
+    private val _nestedDeviceSpecs = hashMapOf<String, DeviceSpec<*>>()
+    public val nestedDeviceSpecs: Map<String, DeviceSpec<*>> get() = _nestedDeviceSpecs
+
+
+    /**
+     * Registers an action in the spec.
+     */
+    public fun <I, O> registerAction(deviceAction: DeviceActionSpec<D, I, O>): DeviceActionSpec<D, I, O> {
+        _actions[deviceAction.name] = deviceAction
+        return deviceAction
+    }
 
     public open suspend fun D.onOpen() {
     }
@@ -36,12 +56,6 @@ public abstract class DeviceSpec<D : Device> {
     public open suspend fun D.onClose() {
     }
 
-
-    public fun <T, P : DevicePropertySpec<D, T>> registerProperty(deviceProperty: P): P {
-        _properties[deviceProperty.name] = deviceProperty
-        return deviceProperty
-    }
-
     public fun <T> property(
         converter: MetaConverter<T>,
         descriptorBuilder: PropertyDescriptor.() -> Unit = {},
@@ -110,12 +124,6 @@ public abstract class DeviceSpec<D : Device> {
             }
         }
 
-
-    public fun <I, O> registerAction(deviceAction: DeviceActionSpec<D, I, O>): DeviceActionSpec<D, I, O> {
-        _actions[deviceAction.name] = deviceAction
-        return deviceAction
-    }
-
     public fun <I, O> action(
         inputConverter: MetaConverter<I>,
         outputConverter: MetaConverter<O>,
@@ -156,6 +164,24 @@ public abstract class DeviceSpec<D : Device> {
                 deviceAction
             }
         }
+
+    public open fun createDevice(context: Context, meta: Meta): D {
+        // Since DeviceSpec<D> doesn't know how to create an instance of D,
+        // you need to override this method in subclasses.
+        throw NotImplementedError("createDevice must be implemented in subclasses")
+    }
+
+    public fun <ND : Device> device(
+        deviceSpec: DeviceSpec<ND>,
+        name: String? = null
+    ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DeviceSpec<ND>>> =
+        PropertyDelegateProvider { _, property ->
+            val deviceName = name ?: property.name
+            // Register the nested device spec
+            _nestedDeviceSpecs[deviceName] = deviceSpec
+            ReadOnlyProperty { _, _ -> deviceSpec }
+        }
+
 }
 
 /**

controls-core/src/commonMain/kotlin/space/kscience/controls/spec/propertySpecDelegates.kt

@@ -6,6 +6,8 @@ import space.kscience.controls.api.metaDescriptor
 import space.kscience.dataforge.meta.Meta
 import space.kscience.dataforge.meta.MetaConverter
 import space.kscience.dataforge.meta.ValueType
+import space.kscience.dataforge.meta.descriptors.MetaDescriptor
+import space.kscience.dataforge.meta.string
 import kotlin.properties.PropertyDelegateProvider
 import kotlin.properties.ReadOnlyProperty
 import kotlin.reflect.KMutableProperty1
@@ -192,3 +194,122 @@ public fun <D : Device> DeviceSpec<D>.metaProperty(
     write: suspend D.(propertyName: String, value: Meta) -> Unit
 ): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, MutableDevicePropertySpec<D, Meta>>> =
     mutableProperty(MetaConverter.meta, descriptorBuilder, name, read, write)
+
+public fun <D : Device> DeviceSpec<D>.doubleProperty(
+    description: String? = null,
+    name: String? = null,
+    read: suspend D.(String) -> Double?,
+    write: (suspend D.(String, Double) -> Unit)? = null
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, Double>>> {
+    val converter = MetaConverter.double
+    val descriptorBuilder: PropertyDescriptor.() -> Unit = {
+        this.description = description
+        metaDescriptor {
+            valueType(ValueType.NUMBER)
+        }
+    }
+    return if (write != null) {
+        mutableProperty(converter, descriptorBuilder, name, read, write)
+    } else {
+        property(converter, descriptorBuilder, name, read)
+    }
+}
+
+public fun <D : Device> DeviceSpec<D>.booleanProperty(
+    description: String? = null,
+    name: String? = null,
+    read: suspend D.(String) -> Boolean?,
+    write: (suspend D.(String, Boolean) -> Unit)? = null
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, Boolean>>> {
+    val converter = MetaConverter.boolean
+    val descriptorBuilder: PropertyDescriptor.() -> Unit = {
+        this.description = description
+        metaDescriptor {
+            valueType(ValueType.BOOLEAN)
+        }
+    }
+    return if (write != null) {
+        mutableProperty(converter, descriptorBuilder, name, read, write)
+    } else {
+        property(converter, descriptorBuilder, name, read)
+    }
+}
+
+public fun <D : Device> DeviceSpec<D>.stringProperty(
+    description: String? = null,
+    name: String? = null,
+    read: suspend D.(String) -> String?,
+    write: (suspend D.(String, String) -> Unit)? = null
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, String>>> {
+    val converter = MetaConverter.string
+    val descriptorBuilder: PropertyDescriptor.() -> Unit = {
+        this.description = description
+        metaDescriptor {
+            valueType(ValueType.STRING)
+        }
+    }
+    return if (write != null) {
+        mutableProperty(converter, descriptorBuilder, name, read, write)
+    } else {
+        property(converter, descriptorBuilder, name, read)
+    }
+}
+
+public fun <D : Device> DeviceSpec<D>.intProperty(
+    description: String? = null,
+    name: String? = null,
+    read: suspend D.(propertyName: String) -> Int?,
+    write: (suspend D.(propertyName: String, value: Int) -> Unit)? = null
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, Int>>> {
+    val converter = MetaConverter.int
+    val descriptorBuilder: PropertyDescriptor.() -> Unit = {
+        this.description = description
+        metaDescriptor {
+            valueType(ValueType.NUMBER)
+        }
+    }
+    return if (write != null) {
+        mutableProperty(converter, descriptorBuilder, name, read, write)
+    } else {
+        property(converter, descriptorBuilder, name, read)
+    }
+}
+
+public fun <E : Enum<E>, D : Device> DeviceSpec<D>.enumProperty(
+    enumValues: Array<E>,
+    descriptorBuilder: PropertyDescriptor.() -> Unit = {},
+    name: String? = null,
+    read: suspend D.(propertyName: String) -> E?,
+    write: (suspend D.(propertyName: String, value: E) -> Unit)? = null
+): PropertyDelegateProvider<DeviceSpec<D>, ReadOnlyProperty<DeviceSpec<D>, DevicePropertySpec<D, E>>> {
+    val converter = object : MetaConverter<E> {
+        override val descriptor: MetaDescriptor = MetaDescriptor {
+            valueType(ValueType.STRING)
+            allowedValues(enumValues.map { it.name })
+        }
+
+        override fun readOrNull(source: Meta): E? {
+            val value = source.string ?: return null
+            return enumValues.firstOrNull { it.name == value }
+        }
+
+        override fun convert(obj: E): Meta = Meta(obj.name)
+    }
+
+    return if (write != null) {
+        mutableProperty(
+            converter = converter,
+            descriptorBuilder = descriptorBuilder,
+            name = name,
+            read = read,
+            write = write
+        )
+    } else {
+        property(
+            converter = converter,
+            descriptorBuilder = descriptorBuilder,
+            name = name,
+            read = read
+        )
+    }
+}