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Joystick & Pid Configuration

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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
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112
app/src/main/java/com/helible/pilot/viewmodels/BluetoothViewModel.kt
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@@ -8,8 +8,14 @@ import com.helible.pilot.controllers.ConnectionResult
import com.helible.pilot.dataclasses.BluetoothDevice
import com.helible.pilot.dataclasses.BluetoothUiState
import com.helible.pilot.dataclasses.ChangedDeviceStatus
import com.helible.pilot.dataclasses.DeviceState
import com.helible.pilot.dataclasses.DeviceStatus
import com.helible.pilot.dataclasses.DeviceStatusJsonAdapter
import com.helible.pilot.dataclasses.MessageType
import com.helible.pilot.dataclasses.PidSettingRequiredMessage
import com.helible.pilot.dataclasses.PidSettings
import com.squareup.moshi.JsonDataException
import com.squareup.moshi.JsonEncodingException
import com.squareup.moshi.Moshi
import com.squareup.moshi.kotlin.reflect.KotlinJsonAdapterFactory
import kotlinx.coroutines.Job
@@ -25,7 +31,6 @@ 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,
@@ -46,7 +51,10 @@ class BluetoothViewModel(
}.stateIn(viewModelScope, SharingStarted.WhileSubscribed(5000), _state.value)
private var deviceConnectionJob: Job? = null
private val moshi = Moshi.Builder().add(KotlinJsonAdapterFactory()).add(DeviceStatusJsonAdapter()).build()
private val newStatusMessageAdapter = moshi.adapter(ChangedDeviceStatus::class.java)
private val statusMessageAdapter = moshi.adapter(ChangedDeviceStatus::class.java)
private val deviceStateMessageAdapter = moshi.adapter(DeviceState::class.java)
private val pidSittingsMessageAdapter = moshi.adapter(PidSettings::class.java)
private val pidSittingsRequiredMessageAdapter = moshi.adapter(PidSettingRequiredMessage::class.java)
init {
bluetoothController.isConnected.onEach { isConnected ->
@@ -94,10 +102,35 @@ class BluetoothViewModel(
}
is ConnectionResult.TransferSucceded -> {
_state.update {
it.copy(
deviceState = result.message
)
try {
when (result.message.type) {
MessageType.PidSettings -> {
val newPidSettings =
pidSittingsMessageAdapter.fromJson(result.message.data)
_state.update {
it.copy(
deviceState = it.deviceState?.copy(pidSettings = newPidSettings)
)
}
}
MessageType.UpdateMessage -> {
val newDeviceState =
deviceStateMessageAdapter.fromJson(result.message.data)
if (newDeviceState != null) {
_state.update {
it.copy(
deviceState = newDeviceState.copy(pidSettings = it.deviceState?.pidSettings)
)
}
}
}
}
} catch (e: JsonDataException) {
Log.e("BluetoothVM", "Failed to parse message: ${result.message.data}")
} catch (e: JsonEncodingException) {
Log.e("BluetoothVM", "Failed to decode message: ${result.message.data}")
}
}
@@ -113,13 +146,18 @@ class BluetoothViewModel(
}
}
.catch { throwable ->
Log.e("BluetoothController", "Error occured while data transfer: ${throwable.message}")
Log.e(
"BluetoothController",
"Error occured while data transfer: ${throwable.message}"
)
bluetoothController.closeConnection()
_state.update { it.copy(
isConnected = false,
isConnecting = false,
deviceState = null
) }
_state.update {
it.copy(
isConnected = false,
isConnecting = false,
deviceState = null
)
}
}
.launchIn(viewModelScope)
}
@@ -176,15 +214,59 @@ class BluetoothViewModel(
fun startImuCalibration() {
viewModelScope.launch {
val message = newStatusMessageAdapter.toJson(
val message = statusMessageAdapter.toJson(
ChangedDeviceStatus(DeviceStatus.IsImuCalibration)
) + "\n\r"
val success = bluetoothController.trySendMessage(
val isSuccess = bluetoothController.trySendMessage(
message.toByteArray()
)
if(!success) {
if(!isSuccess) {
Log.e("BluetoothVM", "Failed to start IMU calibration: $message")
} else {
_state.update {
it.copy(
deviceState = it.deviceState?.copy(status = DeviceStatus.IsImuCalibration)
)
}
}
}
}
fun requestPidSettings() {
viewModelScope.launch {
val message = pidSittingsRequiredMessageAdapter.toJson(PidSettingRequiredMessage(true)) + "\n\r"
Log.i("BluetoothVM", "Requested PID settings: $message")
val isSuccess = bluetoothController.trySendMessage(
message.toByteArray()
)
if(!isSuccess) {
Log.e("BluetoothVM", "Failed to request PID settings: $message")
}
}
}
fun applyPidSettings(pidSettings: PidSettings) {
viewModelScope.launch {
val message = pidSittingsMessageAdapter.toJson(pidSettings) + "\n\r"
val isSuccess = bluetoothController.trySendMessage(message.toByteArray())
if(!isSuccess) {
Log.e("BluetoothVM", "Failed to request PID settings: $message")
_state.update {
it.copy(errorMessage = "Не удалось обновить значения PID")
}
} else {
_state.update {
it.copy(deviceState = it.deviceState?.copy(pidSettings = pidSettings))
}
}
}
}
fun clearPidSettings() {
Log.i("BluetoothVM", "PidSettings cleared")
_state.update {
it.copy(deviceState = it.deviceState?.copy(pidSettings = null))
}
Log.i("BluetoothVM", "PidSettings: ${_state.value.deviceState?.pidSettings}")
}
}