Helicopter/HeliBLE
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Joystick & Pid Configuration

Browse Source 
Flexible PID configuration and joysticks were added
This commit is contained in:
Goga Coder
2024-02-28 23:41:30 +07:00
parent 3517414ec1
commit 5e0f2f1bb7
26 changed files with 534 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
app/src/main/java/com/helible/pilot/viewmodels/BluetoothDataTransferService.kt
View File

@@ -4,6 +4,11 @@ import android.bluetooth.BluetoothSocket
import android.util.Log
import com.helible.pilot.dataclasses.DeviceState
import com.helible.pilot.dataclasses.DeviceStatusJsonAdapter
import com.helible.pilot.dataclasses.GeneralMessage
import com.helible.pilot.dataclasses.MessageType
import com.helible.pilot.dataclasses.PidSettings
import com.helible.pilot.exceptions.TransferFailedException
import com.squareup.moshi.JsonDataException
import com.squareup.moshi.JsonEncodingException
import com.squareup.moshi.Moshi
import com.squareup.moshi.adapter
@@ -16,19 +21,18 @@ import kotlinx.coroutines.withContext
import java.io.IOException
class TransferFailedException : IOException("Reading incoming data failed")
const val maxPackageSize = 512; // bytes
@ExperimentalStdlibApi
class BluetoothDataTransferService(
private val socket: BluetoothSocket,
) {
fun listenForIncomingMessages(): Flow<DeviceState> {
val moshi = Moshi.Builder().add(DeviceStatusJsonAdapter()).add(KotlinJsonAdapterFactory()).build()
val deviceStateMessageAdapter = moshi.adapter<DeviceState>()
fun listenForIncomingMessages(): Flow<GeneralMessage> {
return flow {
if (!socket.isConnected)
return@flow
val buffer = ByteArray(512)
val buffer = ByteArray(maxPackageSize)
while (true) {
val byteCount: Int = try {
socket.inputStream.read(buffer)
@@ -36,23 +40,17 @@ class BluetoothDataTransferService(
Log.e("BluetoothController", "Failed to receive incoming data")
throw TransferFailedException()
}
var messageData: String = buffer.decodeToString(endIndex = byteCount)
val messageType: MessageType? = MessageType.values()
.elementAtOrNull(messageData.split(";")[0].toInt())
val messageData: String = buffer.decodeToString(endIndex = byteCount)
if (!messageData.endsWith("\n\r")) {
if (messageData.endsWith("\n\r") && messageType != null) {
messageData = messageData.dropLast(2).split(";")[1]
emit(GeneralMessage(messageType, messageData))
Log.d("BluetoothController", "Received: $messageData")
} else {
Log.i("BluetoothController", "Package end isn't valid.")
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)