kscience/controls-kt
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Dev #8

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altavir merged 78 commits from dev into master 2023-03-04 16:47:55 +03:00
Conversation 0 Commits 78 Files Changed 137 +17 -25
3 changed files with 17 additions and 25 deletions
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37
demo/car/src/main/kotlin/ru/mipt/npm/controls/demo/car/MagixVirtualCar.kt
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@ -4,21 +4,18 @@ import kotlinx.coroutines.flow.collect
import kotlinx.coroutines.launch
import ru.mipt.npm.controls.api.DeviceMessage
import ru.mipt.npm.controls.api.PropertyChangedMessage
import ru.mipt.npm.controls.spec.DeviceBySpec
import ru.mipt.npm.controls.spec.doRecurring
import ru.mipt.npm.magix.api.MagixEndpoint
import ru.mipt.npm.magix.rsocket.rSocketWithWebSockets
import space.kscience.dataforge.context.Context
import space.kscience.dataforge.context.Factory
import space.kscience.dataforge.meta.Meta
import space.kscience.dataforge.meta.get
import space.kscience.dataforge.meta.string
import space.kscience.dataforge.names.Name
import kotlin.time.Duration
import kotlin.time.ExperimentalTime
class MagixVirtualCar(private val magixEndpoint: MagixEndpoint<DeviceMessage>, context: Context, meta: Meta)
: DeviceBySpec<MagixVirtualCar>(IVirtualCar, context, meta), IVirtualCar {
override var speedState: Vector2D = Vector2D()
override var locationState: Vector2D = Vector2D()
override var accelerationState: Vector2D = Vector2D()
class MagixVirtualCar(context: Context, meta: Meta)
: VirtualCar(context, meta) {
private suspend fun MagixEndpoint<DeviceMessage>.startMagixVirtualCarUpdate() {
launch {
@ -26,9 +23,7 @@ class MagixVirtualCar(private val magixEndpoint: MagixEndpoint<DeviceMessage>, c
(magix.payload as? PropertyChangedMessage)?.let { message ->
if (message.sourceDevice == Name.parse("virtual-car")) {
when (message.property) {
"speed" -> speedState = Vector2D.metaToObject(message.value)
"location" -> locationState = Vector2D.metaToObject(message.value)
"acceleration" -> accelerationState = Vector2D.metaToObject(message.value)
"acceleration" -> IVirtualCar.acceleration.write(Vector2D.metaToObject(message.value))
}
}
}
@ -38,21 +33,19 @@ class MagixVirtualCar(private val magixEndpoint: MagixEndpoint<DeviceMessage>, c
@OptIn(ExperimentalTime::class)
override suspend fun open() {
super<DeviceBySpec>.open()
super.open()
val magixEndpoint = MagixEndpoint.rSocketWithWebSockets(
meta["magixServerHost"].string ?: "localhost",
DeviceMessage.serializer()
)
launch {
magixEndpoint.startMagixVirtualCarUpdate()
}
}
//starting regular updates
doRecurring(Duration.milliseconds(100)) {
IVirtualCar.speed.read()
IVirtualCar.location.read()
IVirtualCar.acceleration.read()
}
companion object : Factory<MagixVirtualCar> {
override fun invoke(meta: Meta, context: Context): MagixVirtualCar = MagixVirtualCar(context, meta)
}
}
class MagixVirtualCarFactory(private val magixEndpoint: MagixEndpoint<DeviceMessage>) : Factory<MagixVirtualCar> {
override fun invoke(meta: Meta, context: Context): MagixVirtualCar = MagixVirtualCar(magixEndpoint, context, meta)
}

2
demo/car/src/main/kotlin/ru/mipt/npm/controls/demo/car/VirtualCar.kt
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@ -38,7 +38,7 @@ data class Vector2D(var x: Double = 0.0, var y: Double = 0.0) : MetaRepr {
}
}
class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(IVirtualCar, context, meta), IVirtualCar {
open class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(IVirtualCar, context, meta), IVirtualCar {
private val timeScale = 1e-3
private val mass by meta.double(1000.0) // mass in kilograms

3
demo/car/src/main/kotlin/ru/mipt/npm/controls/demo/car/VirtualCarController.kt
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@ -36,8 +36,7 @@ class VirtualCarController : Controller(), ContextAware {
virtualCar = deviceManager.install("virtual-car", VirtualCar)
//starting magix event loop
magixServer = startMagixServer(enableRawRSocket = true, enableZmq = true)
val magixEndpoint = MagixEndpoint.rSocketWithWebSockets("localhost", DeviceMessage.serializer())
magixVirtualCar = deviceManager.install("magix-virtual-car", MagixVirtualCarFactory(magixEndpoint))
magixVirtualCar = deviceManager.install("magix-virtual-car", MagixVirtualCar)
//Launch device client and connect it to the server
val deviceEndpoint = MagixEndpoint.rSocketWithTcp("localhost", DeviceMessage.serializer())
deviceManager.connectToMagix(deviceEndpoint)