Rotors test page was added

2024-03-08 23:05:38 +07:00
parent 0763c2e1df
commit c8abfd94c3
4 changed files with 227 additions and 11 deletions
--- a/app/src/main/java/com/helible/pilot/MainActivity.kt
+++ b/app/src/main/java/com/helible/pilot/MainActivity.kt
@@ -17,6 +17,7 @@ import androidx.navigation.compose.composable
 import androidx.navigation.compose.rememberNavController
 import com.helible.pilot.components.CalibrationPage
 import com.helible.pilot.components.NotImplementedPage
+import com.helible.pilot.components.RotorsTestPage
 import com.helible.pilot.components.console.ConsolePage
 import com.helible.pilot.components.deviceScreen.DeviceControlScreen
 import com.helible.pilot.components.deviceScreen.defaultDeviceActionsList
@@ -62,6 +63,7 @@ class MainActivity : ComponentActivity() {

            val bluetoothState by bluetoothViewModel.state.collectAsState()
            val selectedDevice by bluetoothViewModel.selectedDevice.collectAsState()
+            val rotorsDuty by bluetoothViewModel.rotorsDuty.collectAsState()

            LaunchedEffect(key1 = null) {
                permissionLauncher.launch()
@@ -165,10 +167,23 @@ class MainActivity : ComponentActivity() {
                        }
                        composable("motor_test/{title}")
                        { backStackEntry ->
-                            NotImplementedPage(
+                            RotorsTestPage(
                                title = backStackEntry.arguments?.getString("title") ?: "null",
-                                navigateBack = { navController.popBackStack() }
+                                rotorsDuty = rotorsDuty,
+                                setRotorsDuty = { bluetoothViewModel.setRotorsDuty(it) },
+                                startTelemetrySending = { bluetoothViewModel.startRotorsConfigurationTelemetry() },
+                                stopRotors = { bluetoothViewModel.stopRotors() },
+                                navigateBack = {
+                                    navController.popBackStack()
+                                    bluetoothViewModel.stopRotorsConfigurationTelemetry()
+                                    bluetoothViewModel.stopRotors()
+                                }
                            )
+                            BackHandler {
+                                navController.popBackStack()
+                                bluetoothViewModel.stopRotorsConfigurationTelemetry()
+                                bluetoothViewModel.stopRotors()
+                            }
                        }
                        composable("pid_settings/{title}")
                        { backStackEntry ->
--- a/app/src/main/java/com/helible/pilot/components/RotorsTestPage.kt
+++ b/app/src/main/java/com/helible/pilot/components/RotorsTestPage.kt
@@ -0,0 +1,118 @@
+package com.helible.pilot.components
+
+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.FloatingActionButton
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.Slider
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.LaunchedEffect
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.text.style.TextAlign
+import androidx.compose.ui.tooling.preview.Preview
+import androidx.compose.ui.unit.dp
+import com.helible.pilot.dataclasses.RotorsDuty
+import com.helible.pilot.ui.theme.TestblueTheme
+
+@Composable
+fun RotorsTestPage(
+    title: String,
+    rotorsDuty: RotorsDuty,
+    setRotorsDuty: (duty: RotorsDuty) -> Unit,
+    startTelemetrySending: () -> Unit,
+    stopRotors: () -> Unit,
+    navigateBack: () -> Unit,
+) {
+    BlankPage(title = title, navigateBack = navigateBack) {
+        Column(
+            modifier = Modifier
+                .fillMaxWidth()
+                .padding(10.dp),
+            horizontalAlignment = Alignment.CenterHorizontally,
+            verticalArrangement = Arrangement.spacedBy(10.dp)
+        ) {
+            LaunchedEffect(null) {
+                startTelemetrySending()
+            }
+            Text(
+                text = "R1",
+                style = MaterialTheme.typography.titleLarge,
+                modifier = Modifier.padding(top = 10.dp)
+            )
+            Slider(
+                value = rotorsDuty.r1.toFloat(),
+                onValueChange = { setRotorsDuty(rotorsDuty.copy(r1 = it.toInt().toShort())) },
+                valueRange = 0f..5000f,
+                steps = 10
+            )
+            Text(
+                text = "При перемещении слайдера вправо ротор 1 должен вращаться против часовой стрелки, если смотреть сверху.",
+                textAlign = TextAlign.Center
+            )
+
+            Text(
+                text = "R2",
+                style = MaterialTheme.typography.titleLarge,
+                modifier = Modifier.padding(top = 10.dp)
+            )
+            Slider(
+                value = rotorsDuty.r2.toFloat(),
+                onValueChange = { setRotorsDuty(rotorsDuty.copy(r2 = it.toInt().toShort())) },
+                valueRange = -5000f..5000f,
+                steps = 10
+            )
+            Text(
+                text = "При перемещении слайдера вправо ротор 1 должен вращаться по часовой стрелке, если смотреть сверху.",
+                textAlign = TextAlign.Center
+            )
+
+            Text(
+                text = "R3",
+                style = MaterialTheme.typography.titleLarge,
+                modifier = Modifier.padding(top = 10.dp)
+            )
+            Slider(
+                value = rotorsDuty.r3.toFloat(),
+                onValueChange = { setRotorsDuty(rotorsDuty.copy(r3 = it.toInt().toShort())) },
+                valueRange = 0f..5000f,
+                steps = 10
+            )
+            Text(
+                text = "При отклонении слайдера вправо от центра ротор 1 должен вращаться по часовой стрелке, а при отклонении влево - против часовой, если смотреть сверху.",
+                textAlign = TextAlign.Center
+            )
+            FloatingActionButton(
+                onClick = { stopRotors() },
+                containerColor = Color(245, 47, 7),
+                modifier = Modifier.padding(top = 10.dp)
+            ) {
+                Text(
+                    text = "СТОП",
+                    style = MaterialTheme.typography.headlineLarge,
+                    color = Color.White,
+                    modifier = Modifier.padding(10.dp)
+                )
+            }
+        }
+    }
+}
+
+@Preview(showBackground = true)
+@Composable
+fun RotorsTestPagePreview() {
+    TestblueTheme {
+        RotorsTestPage(
+            title = "Тестирование моторов",
+            rotorsDuty = RotorsDuty(5, 5, 5),
+            setRotorsDuty = { _ -> },
+            startTelemetrySending = {},
+            stopRotors = {},
+            navigateBack = { /*TODO*/ }
+        )
+    }
+}
--- a/app/src/main/java/com/helible/pilot/dataclasses/RotorsDuty.kt
+++ b/app/src/main/java/com/helible/pilot/dataclasses/RotorsDuty.kt
@@ -0,0 +1,10 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.JsonClass
+
+@JsonClass(generateAdapter = true)
+data class RotorsDuty(
+    val r1: Short,
+    val r2: Short,
+    val r3: Short
+)
--- a/app/src/main/java/com/helible/pilot/viewmodels/BluetoothViewModel.kt
+++ b/app/src/main/java/com/helible/pilot/viewmodels/BluetoothViewModel.kt
@@ -14,11 +14,14 @@ 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.helible.pilot.dataclasses.RotorsDuty
+import com.helible.pilot.dataclasses.StopMessage
 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
+import kotlinx.coroutines.delay
 import kotlinx.coroutines.flow.Flow
 import kotlinx.coroutines.flow.MutableStateFlow
 import kotlinx.coroutines.flow.SharingStarted
@@ -26,6 +29,7 @@ import kotlinx.coroutines.flow.StateFlow
 import kotlinx.coroutines.flow.asStateFlow
 import kotlinx.coroutines.flow.catch
 import kotlinx.coroutines.flow.combine
+import kotlinx.coroutines.flow.flow
 import kotlinx.coroutines.flow.launchIn
 import kotlinx.coroutines.flow.onEach
 import kotlinx.coroutines.flow.stateIn
@@ -49,14 +53,28 @@ class BluetoothViewModel(
                pairedBluetoothDevices = pairedDevices
            )
        }.stateIn(viewModelScope, SharingStarted.WhileSubscribed(5000), _state.value)
+    private val _rotorsDuty: MutableStateFlow<RotorsDuty> = MutableStateFlow(RotorsDuty(0, 0, 0))
+    private val _isRotorsTelemetryEnabled: MutableStateFlow<Boolean> = MutableStateFlow(false)
+
+    val rotorsDuty: StateFlow<RotorsDuty>
+        get() = _rotorsDuty.asStateFlow()
+
+    private var rotorsTelemetryJob: Job? = null
    private var deviceConnectionJob: Job? = null
-    private val moshi = Moshi.Builder().add(KotlinJsonAdapterFactory()).add(DeviceStatusJsonAdapter()).build()
+
+    private val moshi =
+        Moshi.Builder().add(KotlinJsonAdapterFactory()).add(DeviceStatusJsonAdapter()).build()
    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)
+    private val pidSittingsRequiredMessageAdapter =
+        moshi.adapter(PidSettingRequiredMessage::class.java)
+    private val rotorDutyMessageAdapter = moshi.adapter(RotorsDuty::class.java)
+    private val stopAllRotorsMessageAdapter = moshi.adapter(StopMessage::class.java)
+
    companion object {
-        const val messageDelimeter = "\n"
+        const val messageDelimiter = "\n"
+        const val telemetryPauseDuractionMs: Long = 100
    }

    init {
@@ -210,11 +228,11 @@ class BluetoothViewModel(
        viewModelScope.launch {
            val message = statusMessageAdapter.toJson(
                ChangedDeviceStatus(DeviceStatus.IsImuCalibration)
-            ) + messageDelimeter
+            ) + messageDelimiter
            val isSuccess = bluetoothController.trySendMessage(
                message.toByteArray()
            )
-            if(!isSuccess) {
+            if (!isSuccess) {
                Log.e("BluetoothVM", "Failed to start IMU calibration: $message")
            } else {
                _state.update {
@@ -228,12 +246,13 @@ class BluetoothViewModel(

    fun requestPidSettings() {
        viewModelScope.launch {
-            val message = pidSittingsRequiredMessageAdapter.toJson(PidSettingRequiredMessage(true)) + messageDelimeter
+            val message =
+                pidSittingsRequiredMessageAdapter.toJson(PidSettingRequiredMessage(true)) + messageDelimiter
            Log.i("BluetoothVM", "Requested PID settings: $message")
            val isSuccess = bluetoothController.trySendMessage(
                message.toByteArray()
            )
-            if(!isSuccess) {
+            if (!isSuccess) {
                Log.e("BluetoothVM", "Failed to request PID settings: $message")
            }
        }
@@ -241,9 +260,9 @@ class BluetoothViewModel(

    fun applyPidSettings(pidSettings: PidSettings) {
        viewModelScope.launch {
-            val message = pidSittingsMessageAdapter.toJson(pidSettings) + messageDelimeter
+            val message = pidSittingsMessageAdapter.toJson(pidSettings) + messageDelimiter
            val isSuccess = bluetoothController.trySendMessage(message.toByteArray())
-            if(!isSuccess) {
+            if (!isSuccess) {
                Log.e("BluetoothVM", "Failed to request PID settings: $message")
                _state.update {
                    it.copy(errorMessage = "Не удалось обновить значения PID")
@@ -263,4 +282,58 @@ class BluetoothViewModel(
        }
        Log.i("BluetoothVM", "PidSettings: ${_state.value.deviceState?.pidSettings}")
    }
+
+    private fun sendRotorsDuty() {
+        viewModelScope.launch {
+            val message = rotorDutyMessageAdapter.toJson(
+                _rotorsDuty.value
+            ) + messageDelimiter
+            val isSuccess = bluetoothController.trySendMessage(
+                message.toByteArray()
+            )
+            if (!isSuccess) {
+                Log.e("BluetoothVM", "Failed to send rotors telemetry: $message")
+            }
+        }
+    }
+
+    fun startRotorsConfigurationTelemetry() {
+        Log.i("BluetoothVM", "Start send rotors configuration telemetry...")
+        if(_isRotorsTelemetryEnabled.value) return
+        _isRotorsTelemetryEnabled.update { true }
+        flow {
+            while(_isRotorsTelemetryEnabled.value) {
+                emit(Unit)
+                delay(telemetryPauseDuractionMs)
+            }
+        }.onEach{
+            sendRotorsDuty()
+            Log.d("BluetoothVM", "Sended rotors telemetry")
+        }.launchIn(viewModelScope)
+    }
+
+    fun stopRotorsConfigurationTelemetry() {
+        Log.i("BluetoothVM", "Stop send rotors configuration periodically...")
+        rotorsTelemetryJob = null
+        _isRotorsTelemetryEnabled.update { false }
+    }
+
+    fun setRotorsDuty(newRotorsDuty: RotorsDuty) {
+        _rotorsDuty.update { newRotorsDuty }
+    }
+
+    fun stopRotors() {
+        viewModelScope.launch {
+            val message = stopAllRotorsMessageAdapter.toJson(StopMessage()) + messageDelimiter
+            val isSuccess = bluetoothController.trySendMessage(message.toByteArray())
+            if (!isSuccess) {
+                Log.e("BluetoothVM", "Failed to stop all rotors: $message")
+                _state.update {
+                    it.copy(errorMessage = "Не удалось остановить моторы!")
+                }
+            } else {
+                _rotorsDuty.update { RotorsDuty(0, 0, 0) }
+            }
+        }
+    }
 }