PID contrllers settings page was added

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 ->

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*/ }
+        )
+    }
+}

app/src/main/java/com/helible/pilot/components/pidSettings/PidSettingsPage.kt

@@ -18,6 +18,7 @@ import androidx.compose.material3.DropdownMenu
 import androidx.compose.material3.DropdownMenuItem
 import androidx.compose.material3.ExperimentalMaterial3Api
 import androidx.compose.material3.Icon
+import androidx.compose.material3.MaterialTheme
 import androidx.compose.material3.OutlinedTextField
 import androidx.compose.material3.Text
 import androidx.compose.runtime.Composable
@@ -30,12 +31,14 @@ import androidx.compose.ui.Alignment
 import androidx.compose.ui.Modifier
 import androidx.compose.ui.geometry.Size
 import androidx.compose.ui.layout.onGloballyPositioned
+import androidx.compose.ui.platform.LocalContext
 import androidx.compose.ui.platform.LocalDensity
 import androidx.compose.ui.text.input.KeyboardType
 import androidx.compose.ui.text.style.TextAlign
 import androidx.compose.ui.tooling.preview.Preview
 import androidx.compose.ui.unit.dp
 import androidx.compose.ui.unit.toSize
+import com.helible.pilot.R
 import com.helible.pilot.components.BlankPage
 import com.helible.pilot.dataclasses.DeviceState
 import com.helible.pilot.dataclasses.DeviceStatus
@@ -55,8 +58,9 @@ fun PidSettingsPage(
         var pValue by remember { mutableStateOf("") }
         var iValue by remember { mutableStateOf("") }
         var dValue by remember { mutableStateOf("") }
-        var selectedRegulator by remember { mutableStateOf(1) }
+        var selectedRegulator by remember { mutableStateOf("") }
-        val dropdownMenuItems = listOf("PID 1", "PID 2", "PID 3")
+        val dropdownMenuItems =
+            listOf("Контроллер высоты", "Контроллер крена", "Контроллер рысканья")
 
         LaunchedEffect(null) {
             requestPidSettings()
@@ -64,21 +68,23 @@ fun PidSettingsPage(
         LaunchedEffect(deviceState?.pidSettings) {
             if (deviceState?.pidSettings != null) {
                 val pidSettings = deviceState.pidSettings
-                when(selectedRegulator){
+                when (selectedRegulator) {
-                    1 -> {
+                    dropdownMenuItems[0] -> {
-                        pidSettings.p1.p.toString().also { pValue = it }
+                        pidSettings.heightControllerParams.p.toString().also { pValue = it }
-                        pidSettings.p1.i.toString().also { iValue = it }
+                        pidSettings.heightControllerParams.i.toString().also { iValue = it }
-                        pidSettings.p1.d.toString().also { dValue = it }
+                        pidSettings.heightControllerParams.d.toString().also { dValue = it }
                     }
-                    2 -> {
+
-                        pidSettings.p2.p.toString().also { pValue = it }
+                    dropdownMenuItems[1] -> {
-                        pidSettings.p2.i.toString().also { iValue = it }
+                        pidSettings.yawControllerParams.p.toString().also { pValue = it }
-                        pidSettings.p2.d.toString().also { dValue = it }
+                        pidSettings.yawControllerParams.i.toString().also { iValue = it }
+                        pidSettings.yawControllerParams.d.toString().also { dValue = it }
                     }
-                    3 -> {
+
-                        pidSettings.p3.p.toString().also { pValue = it }
+                    dropdownMenuItems[2] -> {
-                        pidSettings.p3.i.toString().also { iValue = it }
+                        pidSettings.pitchControllerParams.p.toString().also { pValue = it }
-                        pidSettings.p3.d.toString().also { dValue = it }
+                        pidSettings.pitchControllerParams.i.toString().also { iValue = it }
+                        pidSettings.pitchControllerParams.d.toString().also { dValue = it }
                     }
                 }
             }
@@ -87,7 +93,6 @@ fun PidSettingsPage(
             horizontalAlignment = Alignment.CenterHorizontally,
             modifier = Modifier
                 .fillMaxWidth()
-                .padding(10.dp)
         )
         {
             if (deviceState?.status != DeviceStatus.Idle) {
@@ -96,13 +101,32 @@ fun PidSettingsPage(
                     textAlign = TextAlign.Center
                 )
             } else if (deviceState.pidSettings == null) {
-                Column {
                 CircularProgressIndicator(modifier = Modifier.padding(10.dp))
                 Text(text = "Синхронизация...")
-                }
             } else {
                 val pidSettings = deviceState.pidSettings
 
+                Column(modifier = Modifier.padding(horizontal = 10.dp).padding(bottom = 10.dp)) {
+                    Text(
+                        "Рекомендации по настройке ПИД регуляторов",
+                        style = MaterialTheme.typography.titleMedium,
+                        modifier = Modifier
+                            .padding(vertical = 10.dp)
+                    )
+                    Text(
+                        text = LocalContext.current.getString(R.string.p_pid_value_description),
+                        style = MaterialTheme.typography.bodyMedium
+                    )
+                    Text(
+                        text = LocalContext.current.getString(R.string.i_pid_value_description),
+                        style = MaterialTheme.typography.bodyMedium
+                    )
+                    Text(
+                        text = LocalContext.current.getString(R.string.d_pid_value_description),
+                        style = MaterialTheme.typography.bodyMedium
+                    )
+                }
+
                 OutlinedDropdownMenu(
                     label = "ПИД регулятор",
                     suggestions = dropdownMenuItems,
@@ -110,22 +134,24 @@ fun PidSettingsPage(
                         Log.i("BluetoothVM", selected)
                         when (dropdownMenuItems.indexOf(selected)) {
                             0 -> {
-                                selectedRegulator = 1
+                                selectedRegulator = dropdownMenuItems[0]
-                                pidSettings.p1.p.toString().also { pValue = it }
+                                pidSettings.heightControllerParams.p.toString().also { pValue = it }
-                                pidSettings.p1.i.toString().also { iValue = it }
+                                pidSettings.heightControllerParams.i.toString().also { iValue = it }
-                                pidSettings.p1.d.toString().also { dValue = it }
+                                pidSettings.heightControllerParams.d.toString().also { dValue = it }
                             }
+
                             1 -> {
-                                selectedRegulator = 2
+                                selectedRegulator = dropdownMenuItems[1]
-                                pidSettings.p2.p.toString().also { pValue = it }
+                                pidSettings.yawControllerParams.p.toString().also { pValue = it }
-                                pidSettings.p2.i.toString().also { iValue = it }
+                                pidSettings.yawControllerParams.i.toString().also { iValue = it }
-                                pidSettings.p2.d.toString().also { dValue = it }
+                                pidSettings.yawControllerParams.d.toString().also { dValue = it }
                             }
+
                             2 -> {
-                                selectedRegulator = 3
+                                selectedRegulator = dropdownMenuItems[2]
-                                pidSettings.p3.p.toString().also { pValue = it }
+                                pidSettings.pitchControllerParams.p.toString().also { pValue = it }
-                                pidSettings.p3.i.toString().also { iValue = it }
+                                pidSettings.pitchControllerParams.i.toString().also { iValue = it }
-                                pidSettings.p3.d.toString().also { dValue = it }
+                                pidSettings.pitchControllerParams.d.toString().also { dValue = it }
                             }
                         }
                     },
@@ -167,23 +193,35 @@ fun PidSettingsPage(
                 Button(
                     onClick = {
                         when (selectedRegulator) {
-                            1 -> {
+                            dropdownMenuItems[0] -> {
                                 val newPidSettings = pidSettings.copy(
-                                    p1 = PidParams(p.toFloat(), i.toFloat(), d.toFloat())
+                                    heightControllerParams = PidParams(
+                                        p.toFloat(),
+                                        i.toFloat(),
+                                        d.toFloat()
+                                    )
                                 )
                                 setPidSettings(newPidSettings)
                             }
 
-                            2 -> {
+                            dropdownMenuItems[1] -> {
                                 val newPidSettings = pidSettings.copy(
-                                    p2 = PidParams(p.toFloat(), i.toFloat(), d.toFloat())
+                                    yawControllerParams = PidParams(
+                                        p.toFloat(),
+                                        i.toFloat(),
+                                        d.toFloat()
+                                    )
                                 )
                                 setPidSettings(newPidSettings)
                             }
 
-                            3 -> {
+                            dropdownMenuItems[2] -> {
                                 val newPidSettings = pidSettings.copy(
-                                    p3 = PidParams(p.toFloat(), i.toFloat(), d.toFloat())
+                                    pitchControllerParams = PidParams(
+                                        p.toFloat(),
+                                        i.toFloat(),
+                                        d.toFloat()
+                                    )
                                 )
                                 setPidSettings(newPidSettings)
                             }
@@ -199,7 +237,7 @@ fun PidSettingsPage(
 }
 
 private fun isValidValue(k: String): Boolean {
-    return k.toFloatOrNull() != null && k.toFloat() >= 0f && k.toFloat() <= 2f
+    return k.toFloatOrNull() != null && k.toFloat() >= 0f && k.toFloat() <= 15f
 }
 
 @Preview(showBackground = true)

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

@@ -1,10 +1,11 @@
 package com.helible.pilot.dataclasses
 
+import com.squareup.moshi.Json
 import com.squareup.moshi.JsonClass
 
 @JsonClass(generateAdapter = true)
 data class PidSettings (
-    val p1: PidParams,
+    @Json(name = "p1") val heightControllerParams: PidParams,
-    val p2: PidParams,
+    @Json(name = "p2") val yawControllerParams: PidParams,
-    val p3: PidParams
+    @Json(name = "p3") val pitchControllerParams: PidParams
 )

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
+)

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

@@ -0,0 +1,8 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.JsonClass
+
+@JsonClass(generateAdapter = true)
+data class StopMessage(
+    val stop: Boolean = true
+)

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) }
+            }
+        }
+    }
 }

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

@@ -1,4 +1,7 @@
 <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>
+    <string name="p_pid_value_description">Сначала подберите значение коэффицента P, которое балансирует между слишком низкой и слишком высокой чувствительностью.</string>
+    <string name="i_pid_value_description">Затем подберите значение коэффицента I, которое уберёт нежелательный дрейв, но не повлияет на отзывчивость.</string>
+    <string name="d_pid_value_description">После установите значение коэффицента D таким образом, чтобы обеспечить более стабильное и плавное управление.</string>
 </resources>