controls-core/src/commonMain/kotlin/ru/mipt/npm/controls/api/DeviceMessage.kt

@@ -113,6 +113,8 @@ public data class GetDescriptionMessage(
 @SerialName("description")
 public data class DescriptionMessage(
     val description: Meta,
+    val properties: Collection<PropertyDescriptor>,
+    val actions: Collection<ActionDescriptor>,
     override val sourceDevice: Name,
     override val targetDevice: Name? = null,
     override val comment: String? = null,

controls-core/src/commonMain/kotlin/ru/mipt/npm/controls/controllers/deviceMessages.kt

@@ -5,11 +5,7 @@ import kotlinx.coroutines.flow.Flow
 import kotlinx.coroutines.flow.MutableSharedFlow
 import kotlinx.coroutines.flow.launchIn
 import kotlinx.coroutines.flow.onEach
-import kotlinx.serialization.json.Json
-import kotlinx.serialization.json.encodeToJsonElement
 import ru.mipt.npm.controls.api.*
-import space.kscience.dataforge.meta.Meta
-import space.kscience.dataforge.meta.toMeta
 import space.kscience.dataforge.names.Name
 import space.kscience.dataforge.names.plus
 
@@ -48,21 +44,10 @@ public suspend fun Device.respondMessage(deviceTarget: Name, request: DeviceMess
         }
 
         is GetDescriptionMessage -> {
-            val descriptionMeta = Meta {
-                "properties" put {
-                    propertyDescriptors.map { descriptor ->
-                        descriptor.name put Json.encodeToJsonElement(descriptor).toMeta()
-                    }
-                }
-                "actions" put {
-                    actionDescriptors.map { descriptor ->
-                        descriptor.name put Json.encodeToJsonElement(descriptor).toMeta()
-                    }
-                }
-            }
-
             DescriptionMessage(
-                description = descriptionMeta,
+                description = meta,
+                properties = propertyDescriptors,
+                actions = actionDescriptors,
                 sourceDevice = deviceTarget,
                 targetDevice = request.sourceDevice
             )

demo/car/src/main/kotlin/ru/mipt/npm/controls/demo/car/VirtualCar.kt

@@ -17,6 +17,7 @@ import space.kscience.dataforge.meta.get
 import space.kscience.dataforge.meta.transformations.MetaConverter
 import kotlin.math.pow
 import kotlin.time.Duration
+import kotlin.time.Duration.Companion.milliseconds
 import kotlin.time.ExperimentalTime
 
 data class Vector2D(var x: Double = 0.0, var y: Double = 0.0) : MetaRepr {
@@ -103,7 +104,7 @@ open class VirtualCar(context: Context, meta: Meta) : DeviceBySpec<VirtualCar>(I
         //initializing the clock
         timeState = Clock.System.now()
         //starting regular updates
-        doRecurring(Duration.milliseconds(100)) {
+        doRecurring(100.milliseconds) {
             update()
         }
     }

demo/src/main/kotlin/ru/mipt/npm/controls/demo/DemoDevice.kt

@@ -10,7 +10,7 @@ import space.kscience.dataforge.meta.descriptors.value
 import space.kscience.dataforge.meta.transformations.MetaConverter
 import space.kscience.dataforge.values.ValueType
 import java.time.Instant
-import kotlin.time.Duration
+import kotlin.time.Duration.Companion.milliseconds
 import kotlin.time.ExperimentalTime
 
 
@@ -27,7 +27,7 @@ class DemoDevice(context: Context, meta: Meta) : DeviceBySpec<DemoDevice>(DemoDe
             cosScale.read()
             timeScale.read()
         }
-        doRecurring(Duration.milliseconds(50)) {
+        doRecurring(50.milliseconds) {
             coordinates.read()
         }
     }

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.2-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.2-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

motors/src/main/kotlin/ru/mipt/npm/devices/pimotionmaster/PiMotionMasterDevice.kt

@@ -25,6 +25,7 @@ import space.kscience.dataforge.values.asValue
 import kotlin.collections.component1
 import kotlin.collections.component2
 import kotlin.time.Duration
+import kotlin.time.Duration.Companion.milliseconds
 
 class PiMotionMasterDevice(
     context: Context,
@@ -42,7 +43,7 @@ class PiMotionMasterDevice(
         }
     }
 
-    var timeoutValue: Duration = Duration.microseconds(200)
+    var timeoutValue: Duration = 200.milliseconds
 
     /**
      * Name-friendly accessor for axis

settings.gradle.kts

@@ -5,7 +5,7 @@ enableFeaturePreview("VERSION_CATALOGS")
 
 pluginManagement {
 
-    val toolsVersion = "0.10.5"
+    val toolsVersion = "0.10.7"
 
     repositories {
         maven("https://repo.kotlin.link")
@@ -29,7 +29,7 @@ dependencyResolutionManagement {
 
     versionCatalogs {
         create("npm") {
-            from("ru.mipt.npm:version-catalog:0.10.5")
+            from("ru.mipt.npm:version-catalog:0.10.7")
         }
     }
 }