Data tranfering improvement

app/src/main/java/com/helible/pilot/Kproto.kt

@@ -1,23 +0,0 @@
-package com.helible.pilot
-
-// Todo: add checksum
-// Todo: add arguments names
-
-data class KMessage(
-    val r1: UShort,
-    val r2: UShort,
-    val r3: UShort,
-    val emergStop: Boolean,
-    val alarm: Boolean,
-)
-
-fun KMessage.toByteArray(): ByteArray {
-    return "$$r1;$r2;$r3;$emergStop;$alarm\r\n".encodeToByteArray()
-}
-
-fun String.toKMessage(): KMessage {
-    // TODO: implement
-    return KMessage(
-        0u, 0u, 0u, emergStop = false, alarm = false
-    )
-}

app/src/main/java/com/helible/pilot/MainActivity.kt

@@ -17,6 +17,7 @@ import androidx.lifecycle.viewmodel.compose.viewModel
 import androidx.navigation.compose.NavHost
 import androidx.navigation.compose.composable
 import androidx.navigation.compose.rememberNavController
+import com.helible.pilot.components.CalibrationPage
 import com.helible.pilot.components.deviceScreen.DeviceControlScreen
 import com.helible.pilot.components.deviceScreen.defaultDeviceActionsList
 import com.helible.pilot.components.scannerScreen.ScannerScreen
@@ -33,11 +34,7 @@ import com.helible.pilot.viewmodels.SavedPreferencesImpl
 
 
 class MainActivity : ComponentActivity() {
-    // TODO: device screen logic
-    // TODO: constrain text size
-    // TODO: add Bluetooth telemetry...
     // TODO: move text strings to resources
-    // TODO: review permissions logic
 
     private val preferences by lazy {
         SavedPreferencesImpl(getSharedPreferences(packageName, MODE_PRIVATE))
@@ -46,6 +43,7 @@ class MainActivity : ComponentActivity() {
         PreferencesViewModel(preferences)
     }
 
+    @ExperimentalStdlibApi
     override fun onCreate(savedInstanceState: Bundle?) {
         super.onCreate(savedInstanceState)
         setContent {
@@ -68,14 +66,6 @@ class MainActivity : ComponentActivity() {
                 permissionLauncher.launch()
             }
 
-
-            LaunchedEffect(key1 = bluetoothState) {
-                if (bluetoothState.isConnected) {
-                    Toast.makeText(applicationContext, "Подключение завершено", Toast.LENGTH_SHORT)
-                        .show()
-                }
-            }
-
             val navController = rememberNavController()
 
             LaunchedEffect(key1 = bluetoothState.errorMessage) {
@@ -168,7 +158,9 @@ class MainActivity : ComponentActivity() {
                         }
                         composable("imu_calibration/{title}")
                         { backStackEntry ->
-                            NotImplementedPage(
+                            CalibrationPage(
+                                deviceStatus = bluetoothState.deviceState?.status,
+                                startCalibration = { bluetoothViewModel.startImuCalibration() },
                                 title = backStackEntry.arguments?.getString("title") ?: "null",
                                 navigateBack = { navController.popBackStack() }
                             )

app/src/main/java/com/helible/pilot/components/CalibrationPage.kt

@@ -0,0 +1,84 @@
+package com.helible.pilot.components
+
+import android.widget.Spinner
+import androidx.compose.foundation.layout.Arrangement
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.padding
+import androidx.compose.material3.Button
+import androidx.compose.material3.CircularProgressIndicator
+import androidx.compose.material3.FloatingActionButton
+import androidx.compose.material3.Icon
+import androidx.compose.material3.IconButton
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.Surface
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.platform.LocalContext
+import androidx.compose.ui.res.painterResource
+import androidx.compose.ui.text.style.TextAlign
+import androidx.compose.ui.tooling.preview.Preview
+import androidx.compose.ui.unit.dp
+import com.helible.pilot.R
+import com.helible.pilot.dataclasses.BluetoothUiState
+import com.helible.pilot.dataclasses.ChangedDeviceStatus
+import com.helible.pilot.dataclasses.DeviceState
+import com.helible.pilot.dataclasses.DeviceStatus
+
+@Composable
+fun CalibrationPage(
+    deviceStatus: DeviceStatus?,
+    title: String,
+    startCalibration: () -> Unit,
+    navigateBack: () -> Unit
+) {
+    BlankPage(title = title, navigateBack = navigateBack) {
+        Column(modifier = Modifier.fillMaxWidth(), horizontalAlignment = Alignment.CenterHorizontally) {
+            Text(
+                text = LocalContext.current.getString(R.string.calibration_description),
+                color = MaterialTheme.colorScheme.onSecondaryContainer,
+                textAlign = TextAlign.Center,
+                modifier = Modifier
+                    .fillMaxWidth()
+                    .padding(10.dp)
+            )
+            Button(
+                enabled = deviceStatus != DeviceStatus.IsImuCalibration,
+                onClick = startCalibration,
+                modifier = Modifier.padding(10.dp)
+            ) {
+                if(deviceStatus != DeviceStatus.IsImuCalibration) {
+                    Icon(
+                        painter = painterResource(id = R.drawable.tune),
+                        contentDescription = null,
+                        modifier = Modifier.padding(3.dp)
+                    )
+                    Text(
+                        text = "Начать калибровку"
+                    )
+                } else {
+                    CircularProgressIndicator ()
+                    Text(
+                        text = "Калибровка...",
+                        modifier = Modifier.padding(5.dp)
+                    )
+                }
+            }
+        }
+    }
+}
+
+@Preview
+@Composable
+fun CalibrationPagePreview() {
+    Surface {
+        CalibrationPage(
+            DeviceStatus.IsImuCalibration,
+            title = "Калибровка гироскопа и акселерометра",
+            startCalibration = {},
+            navigateBack = {}
+        )
+    }
+}

app/src/main/java/com/helible/pilot/components/deviceScreen/DeviceBadge.kt

@@ -19,6 +19,7 @@ import androidx.compose.material3.Text
 import androidx.compose.runtime.Composable
 import androidx.compose.ui.Alignment
 import androidx.compose.ui.Modifier
+import androidx.compose.ui.graphics.Color
 import androidx.compose.ui.graphics.graphicsLayer
 import androidx.compose.ui.res.painterResource
 import androidx.compose.ui.text.font.FontWeight
@@ -26,6 +27,7 @@ import androidx.compose.ui.tooling.preview.Preview
 import androidx.compose.ui.unit.dp
 import com.helible.pilot.R
 import com.helible.pilot.dataclasses.BluetoothUiState
+import com.helible.pilot.dataclasses.DeviceStatus
 import com.helible.pilot.viewmodels.AppPreferences
 
 @Composable
@@ -65,7 +67,19 @@ fun DeviceBadge(
                     fontWeight = FontWeight.Bold
                 )
                 DeviceConnectionStatus(bluetoothUiState)
-                Text(text = "Заряд батареи: 79%")
+                if(bluetoothUiState.isConnected) {
+                    val deviceStatus = bluetoothUiState.deviceState?.status
+                    if (deviceStatus != null) {
+                        Text(text = "Заряд батареи: ${bluetoothUiState.deviceState.batteryCharge}%")
+                        if (deviceStatus == DeviceStatus.ChargeRequired) {
+                            Text(text = "Аккумулятор разряжен", color = Color.Red)
+                        } else {
+                            Text(text = deviceStatus.description())
+                        }
+                    } else {
+                        Text(text = "Ожиданием рукопожатия...")
+                    }
+                }
             }
             Box(
                 contentAlignment = Alignment.CenterEnd,

app/src/main/java/com/helible/pilot/components/deviceScreen/DeviceConnectionStatus.kt

@@ -51,6 +51,8 @@ fun DeviceConnectionStatus(bluetoothState: BluetoothUiState) {
                     .padding(2.dp)
             )
             Text("Подключение...")
+        } else {
+            Text("Попытка подключения не удалась.")
         }
     }
 }

app/src/main/java/com/helible/pilot/controllers/BluetoothController.kt

@@ -15,8 +15,8 @@ import android.util.Log
 import android.widget.Toast
 import androidx.activity.ComponentActivity
 import com.helible.pilot.viewmodels.BluetoothDataTransferService
-import com.helible.pilot.KMessage
 import com.helible.pilot.dataclasses.BluetoothDeviceDomain
+import com.helible.pilot.dataclasses.DeviceState
 import com.helible.pilot.receivers.BluetoothAdapterStateReceiver
 import com.helible.pilot.receivers.BluetoothStateReceiver
 import kotlinx.coroutines.CoroutineScope
@@ -40,7 +40,7 @@ import java.util.UUID
 
 sealed interface ConnectionResult {
     object ConnectionEstablished : ConnectionResult
-    data class TransferSucceded(val message: String) : ConnectionResult
+    data class TransferSucceded(val message: DeviceState) : ConnectionResult
     data class Error(val message: String) : ConnectionResult
 }
 
@@ -61,6 +61,7 @@ interface BluetoothController {
     fun onDestroy()
 }
 
+@ExperimentalStdlibApi
 class AndroidBluetoothController(private val context: Context) : BluetoothController {
 
     private val bluetoothManager by lazy {
@@ -228,21 +229,26 @@ class AndroidBluetoothController(private val context: Context) : BluetoothContro
                 try {
                     socket.connect()
                     emit(ConnectionResult.ConnectionEstablished)
-                    BluetoothDataTransferService(socket).also { it ->
+                    BluetoothDataTransferService(socket).also {
                         dataTransferService = it
                         emitAll(
                             it.listenForIncomingMessages()
-                                .map { ConnectionResult.TransferSucceded(it) }
+                                .map { deviceState ->
+                                    ConnectionResult.TransferSucceded(deviceState)
+                                }
                         )
                     }
                 } catch (e: IOException) {
                     socket.close()
                     currentClientSocket = null
-                    Log.e("BluetoothController", e.toString())
+                    Log.e("BluetoothController", "I/O exception: e")
                     emit(ConnectionResult.Error("Connection was interrupted"))
                 }
             }
-        }.onCompletion { closeConnection() }.flowOn(Dispatchers.IO)
+        }.onCompletion {
+            Log.i("BluetoothController", "Connection closed on flow completion.")
+            closeConnection()
+        }.flowOn(Dispatchers.IO)
     }
 
     override suspend fun trySendMessage(message: ByteArray): Boolean {

app/src/main/java/com/helible/pilot/dataclasses/BluetoothUiState.kt

@@ -9,4 +9,5 @@ data class BluetoothUiState(
     val errorMessage: String? = null,
     val scannedBluetoothDevices: List<BluetoothDevice> = emptyList(),
     val pairedBluetoothDevices: List<BluetoothDevice> = emptyList(),
+    val deviceState: DeviceState? = null
 )

app/src/main/java/com/helible/pilot/dataclasses/ChangedDeviceStatus.kt

@@ -0,0 +1,6 @@
+package com.helible.pilot.dataclasses
+
+
+data class ChangedDeviceStatus(
+    val status: DeviceStatus
+)

app/src/main/java/com/helible/pilot/dataclasses/DeviceState.kt

@@ -0,0 +1,15 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.Json
+import com.squareup.moshi.JsonClass
+
+@JsonClass(generateAdapter = true)
+data class DeviceState(
+    val status: DeviceStatus = DeviceStatus.ChargeRequired,
+    @Json(name = "charge") val batteryCharge: Int = 10,
+    val flightHeight: Float = 0f,
+    @Json(name = "y") val yaw: Float = 0f,
+    @Json(name = "p") val pitch: Float = 0f,
+    @Json(name = "r") val roll: Float = 0f,
+    @Json(name = "zIn") val zInertial: Float = 0f,
+)

app/src/main/java/com/helible/pilot/dataclasses/DeviceStatus.kt

@@ -0,0 +1,21 @@
+package com.helible.pilot.dataclasses
+
+enum class DeviceStatus {
+    Idle,
+    IsPreparingForTakeoff,
+    IsFlying,
+    IsBoarding,
+    IsImuCalibration,
+    ChargeRequired;
+
+    fun description(): String {
+        return when (this) {
+            Idle -> "Готово к работе"
+            IsPreparingForTakeoff -> "Подготовка к полёту"
+            IsFlying -> "В полёте"
+            IsBoarding -> "Посадка"
+            IsImuCalibration -> "Калибровка..."
+            ChargeRequired -> "Аккумулятор разряжен"
+        }
+    }
+}

app/src/main/java/com/helible/pilot/dataclasses/DeviceStatusJsonAdapter.kt

@@ -0,0 +1,22 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.FromJson
+import com.squareup.moshi.JsonDataException
+import com.squareup.moshi.ToJson
+
+class DeviceStatusJsonAdapter {
+    @FromJson
+    fun fromJson(deviceStatus: String): DeviceStatus {
+        try {
+            val index: UInt = deviceStatus.toUInt()
+            return DeviceStatus.values()[index.toInt()]
+        } catch (e: IndexOutOfBoundsException) {
+            throw JsonDataException("Impossible conversation from String to DeviceStatus")
+        }
+    }
+
+    @ToJson
+    fun toJson(deviceStatus: DeviceStatus): String {
+        return DeviceStatus.values().indexOf(deviceStatus).toString()
+    }
+}

app/src/main/java/com/helible/pilot/dataclasses/MessageTypes.kt

@@ -1,12 +0,0 @@
-package com.helible.pilot.dataclasses
-
-import com.squareup.moshi.JsonClass
-
-@JsonClass(generateAdapter = true)
-data class RotorsSpeedMessage(val r1: Short, val r2: Short, val r3: Short)
-
-@JsonClass(generateAdapter = true)
-data class EmergStopMessage(val emergStop: Boolean)
-
-@JsonClass(generateAdapter = true)
-data class AlarmStateMessage(val isAlarmOn: Boolean)

app/src/main/java/com/helible/pilot/viewmodels/BluetoothDataTransferService.kt

@@ -2,8 +2,12 @@ package com.helible.pilot.viewmodels
 
 import android.bluetooth.BluetoothSocket
 import android.util.Log
-import com.helible.pilot.KMessage
+import com.helible.pilot.dataclasses.DeviceState
-import com.helible.pilot.toKMessage
+import com.helible.pilot.dataclasses.DeviceStatusJsonAdapter
+import com.squareup.moshi.JsonEncodingException
+import com.squareup.moshi.Moshi
+import com.squareup.moshi.adapter
+import com.squareup.moshi.kotlin.reflect.KotlinJsonAdapterFactory
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.flow.Flow
 import kotlinx.coroutines.flow.flow
@@ -14,25 +18,42 @@ import java.io.IOException
 
 class TransferFailedException : IOException("Reading incoming data failed")
 
+@ExperimentalStdlibApi
 class BluetoothDataTransferService(
     private val socket: BluetoothSocket,
 ) {
-    fun listenForIncomingMessages(): Flow<String> {
+    fun listenForIncomingMessages(): Flow<DeviceState> {
+        val moshi = Moshi.Builder().add(DeviceStatusJsonAdapter()).add(KotlinJsonAdapterFactory()).build()
+        val deviceStateMessageAdapter = moshi.adapter<DeviceState>()
         return flow {
             if (!socket.isConnected)
                 return@flow
-            val buffer = ByteArray(128)
+            val buffer = ByteArray(512)
             while (true) {
                 val byteCount: Int = try {
                     socket.inputStream.read(buffer)
                 } catch (e: IOException) {
+                    Log.e("BluetoothController", "Failed to receive incoming data")
                     throw TransferFailedException()
                 }
-                val strData: String = buffer.decodeToString(endIndex = byteCount)
+
-                emit(
+                val messageData: String = buffer.decodeToString(endIndex = byteCount)
-                    strData
+                if (!messageData.endsWith("\n\r")) {
-                )
+                    Log.i("BluetoothController", "Package end isn't valid.")
-                Log.i("BluetoothController", "Received: ${strData.dropLast(2)}")
+                    Log.i("BluetoothController", messageData)
+
+                } else {
+                    val messageJson = messageData.dropLast(2)
+                    try {
+                        val deviceState = deviceStateMessageAdapter.fromJson(messageJson)!!
+                        emit(deviceState)
+                        Log.i("BluetoothController", "Received: $deviceState")
+                    } catch (e: NullPointerException) {
+                        Log.e("BluetoothController", "Nullable message received: $messageJson")
+                    } catch (e: JsonEncodingException) {
+                        Log.e("BluetoothController", "Invalid message received: $messageJson")
+                    }
+                }
             }
         }.flowOn(Dispatchers.IO)
     }
@@ -42,10 +63,11 @@ class BluetoothDataTransferService(
             try {
                 socket.outputStream.write(bytes)
             } catch (e: IOException) {
-                e.printStackTrace()
+                Log.e("BluetoothController", "Failed to write message: $e")
                 return@withContext false
             }
             true
         }
     }
 }
+

app/src/main/java/com/helible/pilot/viewmodels/BluetoothViewModel.kt

@@ -1,18 +1,18 @@
 package com.helible.pilot.viewmodels
 
+import android.util.Log
 import androidx.lifecycle.ViewModel
 import androidx.lifecycle.viewModelScope
 import com.helible.pilot.controllers.BluetoothController
 import com.helible.pilot.controllers.ConnectionResult
-import com.helible.pilot.dataclasses.AlarmStateMessage
 import com.helible.pilot.dataclasses.BluetoothDevice
 import com.helible.pilot.dataclasses.BluetoothUiState
-import com.helible.pilot.dataclasses.EmergStopMessage
+import com.helible.pilot.dataclasses.ChangedDeviceStatus
-import com.helible.pilot.dataclasses.RotorsSpeedMessage
+import com.helible.pilot.dataclasses.DeviceStatus
+import com.helible.pilot.dataclasses.DeviceStatusJsonAdapter
 import com.squareup.moshi.Moshi
 import com.squareup.moshi.kotlin.reflect.KotlinJsonAdapterFactory
 import kotlinx.coroutines.Job
-import kotlinx.coroutines.delay
 import kotlinx.coroutines.flow.Flow
 import kotlinx.coroutines.flow.MutableStateFlow
 import kotlinx.coroutines.flow.SharingStarted
@@ -25,6 +25,7 @@ import kotlinx.coroutines.flow.onEach
 import kotlinx.coroutines.flow.stateIn
 import kotlinx.coroutines.flow.update
 import kotlinx.coroutines.launch
+import java.time.LocalTime
 
 class BluetoothViewModel(
     private val bluetoothController: BluetoothController,
@@ -43,10 +44,9 @@ class BluetoothViewModel(
                 pairedBluetoothDevices = pairedDevices
             )
         }.stateIn(viewModelScope, SharingStarted.WhileSubscribed(5000), _state.value)
-    private val moshi: Moshi = Moshi.Builder().addLast(KotlinJsonAdapterFactory()).build()
+    private var deviceConnectionJob: Job? = null
-    private val rotorsStateMessegeAdapter = moshi.adapter(RotorsSpeedMessage::class.java)
+    private val moshi = Moshi.Builder().add(KotlinJsonAdapterFactory()).add(DeviceStatusJsonAdapter()).build()
-    private val alarmStateMessageAdapter = moshi.adapter(AlarmStateMessage::class.java)
+    private val newStatusMessageAdapter = moshi.adapter(ChangedDeviceStatus::class.java)
-    private val emergStopMessageAdapter = moshi.adapter(EmergStopMessage::class.java)
 
     init {
         bluetoothController.isConnected.onEach { isConnected ->
@@ -94,9 +94,11 @@ class BluetoothViewModel(
                 }
 
                 is ConnectionResult.TransferSucceded -> {
-                    _state.update { it.copy(
+                    _state.update {
-
+                    it.copy(
-                    ) }
+                        deviceState = result.message
+                    )
+                    }
                 }
 
                 is ConnectionResult.Error -> {
@@ -111,19 +113,19 @@ class BluetoothViewModel(
             }
         }
             .catch { throwable ->
+                Log.e("BluetoothController", "Error occured while data transfer: ${throwable.message}")
                 bluetoothController.closeConnection()
                 _state.update { it.copy(
                     isConnected = false,
-                    isConnecting = false
+                    isConnecting = false,
+                    deviceState = null
                 ) }
             }
             .launchIn(viewModelScope)
     }
 
-    private var deviceConnectionJob: Job? = null
-
     fun connectToDevice(device: String) {
-        if (_state.value.isConnected and _state.value.isConnecting) {
+        if (_state.value.isConnected or _state.value.isConnecting) {
             return
         }
         _state.update { it.copy(isConnecting = true) }
@@ -138,7 +140,8 @@ class BluetoothViewModel(
         _state.update {
             it.copy(
                 isConnecting = false,
-                isConnected = false
+                isConnected = false,
+                deviceState = null
             )
         }
     }
@@ -170,4 +173,18 @@ class BluetoothViewModel(
             )
         }
     }
+
+    fun startImuCalibration() {
+        viewModelScope.launch {
+            val message = newStatusMessageAdapter.toJson(
+                ChangedDeviceStatus(DeviceStatus.IsImuCalibration)
+            ) + "\n\r"
+            val success = bluetoothController.trySendMessage(
+                message.toByteArray()
+            )
+            if(!success) {
+                Log.e("BluetoothVM", "Failed to start IMU calibration: $message")
+            }
+        }
+    }
 }

app/src/main/java/com/helible/pilot/viewmodels/BluetoothViewModelFactory.kt

@@ -5,6 +5,7 @@ import androidx.lifecycle.ViewModel
 import androidx.lifecycle.ViewModelProvider
 import com.helible.pilot.controllers.AndroidBluetoothController
 
+@ExperimentalStdlibApi
 @Suppress("UNCHECKED_CAST")
 class BluetoothViewModelFactory(private val context: Context) : ViewModelProvider.Factory {
     override fun <T : ViewModel> create(modelClass: Class<T>): T {

app/src/main/res/values/strings.xml

@@ -1,3 +1,4 @@
 <resources>
     <string name="app_name">Digital Pilot</string>
+    <string name="calibration_description">Расположите устройство на ровной горизонтальной поверхности, чтобы сани вертолета полностью лежали на ней. Нажмите кнопку калибровки ниже и ждите её окончания, не создавая тряски.</string>
 </resources>