Joystick & Pid Configuration

Flexible PID configuration and joysticks were added

.idea/deploymentTargetDropDown.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="deploymentTargetDropDown">
+    <value>
+      <entry key="app">
+        <State />
+      </entry>
+    </value>
+  </component>
+</project>

.idea/gradle.xml

@@ -4,16 +4,15 @@
   <component name="GradleSettings">
     <option name="linkedExternalProjectsSettings">
       <GradleProjectSettings>
-        <option name="testRunner" value="GRADLE" />
-        <option name="distributionType" value="DEFAULT_WRAPPED" />
         <option name="externalProjectPath" value="$PROJECT_DIR$" />
-        <option name="gradleJvm" value="jbr-17" />
+        <option name="gradleJvm" value="#GRADLE_LOCAL_JAVA_HOME" />
         <option name="modules">
           <set>
             <option value="$PROJECT_DIR$" />
             <option value="$PROJECT_DIR$/app" />
           </set>
         </option>
+        <option name="resolveExternalAnnotations" value="false" />
       </GradleProjectSettings>
     </option>
   </component>

.idea/kotlinc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="KotlinJpsPluginSettings">
-    <option name="version" value="1.6.10" />
+    <option name="version" value="1.8.10" />
   </component>
 </project>

.idea/migrations.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectMigrations">
+    <option name="MigrateToGradleLocalJavaHome">
+      <set>
+        <option value="$PROJECT_DIR$" />
+      </set>
+    </option>
+  </component>
+</project>

app/build.gradle.kts

@@ -1,8 +1,6 @@
 plugins {
     id("com.android.application")
     id("org.jetbrains.kotlin.android")
-    id("com.google.devtools.ksp").version("1.6.10-1.0.4")
-    id("org.jlleitschuh.gradle.ktlint").version("12.0.3")
 }
 
 android {
@@ -65,6 +63,7 @@ dependencies {
     implementation("androidx.constraintlayout:constraintlayout-compose:1.0.1")
     implementation("androidx.navigation:navigation-compose:2.6.0")
     implementation("com.squareup.moshi:moshi-kotlin:1.14.0")
+    implementation("com.github.manalkaff:JetStick:1.2")
 
     testImplementation("junit:junit:4.13.2")
     androidTestImplementation("androidx.test.ext:junit:1.1.5")

app/src/main/AndroidManifest.xml

@@ -40,12 +40,12 @@
         android:label="@string/app_name"
         android:roundIcon="@mipmap/ic_launcher_round"
         android:supportsRtl="true"
-        android:theme="@style/Theme.Testblue"
+        android:theme="@style/Theme.Main"
         tools:targetApi="31">
         <activity
             android:name="com.helible.pilot.MainActivity"
             android:exported="true"
-            android:theme="@style/Theme.Testblue">
+            android:theme="@style/Theme.Main">
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
                 <category android:name="android.intent.category.LAUNCHER" />

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

@@ -6,10 +6,8 @@ import android.widget.Toast
 import androidx.activity.ComponentActivity
 import androidx.activity.compose.BackHandler
 import androidx.activity.compose.setContent
-import androidx.compose.material3.Button
 import androidx.compose.material3.MaterialTheme
 import androidx.compose.material3.Surface
-import androidx.compose.material3.Text
 import androidx.compose.runtime.LaunchedEffect
 import androidx.compose.runtime.collectAsState
 import androidx.compose.runtime.getValue
@@ -17,8 +15,12 @@ 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.NotImplementedPage
+import com.helible.pilot.components.console.ConsolePage
 import com.helible.pilot.components.deviceScreen.DeviceControlScreen
 import com.helible.pilot.components.deviceScreen.defaultDeviceActionsList
+import com.helible.pilot.components.pidSettings.PidSettingsPage
 import com.helible.pilot.components.scannerScreen.ScannerScreen
 import com.helible.pilot.permissions.PermissionsLauncher
 import com.helible.pilot.permissions.PermissionsRequest
@@ -33,11 +35,7 @@ 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 +44,7 @@ class MainActivity : ComponentActivity() {
         PreferencesViewModel(preferences)
     }
 
+    @ExperimentalStdlibApi
     override fun onCreate(savedInstanceState: Bundle?) {
         super.onCreate(savedInstanceState)
         setContent {
@@ -68,14 +67,6 @@ 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) {
@@ -151,13 +142,10 @@ class MainActivity : ComponentActivity() {
                         }
                         composable("console/{title}")
                         { backStackEntry ->
-                            NotImplementedPage(
+                            ConsolePage(
                                 title = backStackEntry.arguments?.getString("title") ?: "null",
                                 navigateBack = { navController.popBackStack() }
                             )
-                            Button(onClick = { bluetoothViewModel.sendHelloWorld() }) {
-                                Text("Click me!")
-                            }
                         }
                         composable("codeblocks/{title}")
                         { backStackEntry ->
@@ -168,7 +156,9 @@ 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() }
                             )
@@ -182,10 +172,20 @@ class MainActivity : ComponentActivity() {
                         }
                         composable("pid_settings/{title}")
                         { backStackEntry ->
-                            NotImplementedPage(
+                            PidSettingsPage(
                                 title = backStackEntry.arguments?.getString("title") ?: "null",
-                                navigateBack = { navController.popBackStack() }
+                                navigateBack = {
+                                    navController.popBackStack()
+                                    bluetoothViewModel.clearPidSettings()
+                                },
+                                requestPidSettings = { bluetoothViewModel.requestPidSettings() },
+                                setPidSettings = {settings -> bluetoothViewModel.applyPidSettings(settings)},
+                                deviceState = bluetoothState.deviceState
                             )
+                            BackHandler {
+                                navController.popBackStack()
+                                bluetoothViewModel.clearPidSettings()
+                            }
                         }
                         composable("reports/{title}")
                         { backStackEntry ->

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/NotImplementedPage.kt

@@ -1,4 +1,4 @@
-package com.helible.pilot
+package com.helible.pilot.components
 
 import androidx.compose.foundation.layout.Column
 import androidx.compose.foundation.layout.fillMaxWidth

app/src/main/java/com/helible/pilot/components/console/ConsoleScreen.kt

@@ -0,0 +1,33 @@
+package com.helible.pilot.components.console
+
+import android.util.Log
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.padding
+import androidx.compose.runtime.Composable
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.unit.dp
+import androidx.compose.ui.viewinterop.AndroidView
+import com.helible.pilot.components.BlankPage
+import com.helible.pilot.dataclasses.DeviceStatus
+import com.manalkaff.jetstick.JoyStick
+
+@Composable
+fun ConsolePage(
+    title: String,
+    navigateBack: () -> Unit
+) {
+    BlankPage(title = title, navigateBack = navigateBack) {
+        Column(modifier = Modifier.fillMaxWidth(), horizontalAlignment = Alignment.CenterHorizontally) {
+            JoyStick(
+                Modifier.padding(30.dp),
+                size = 150.dp,
+                dotSize = 30.dp
+            ){ x: Float, y: Float ->
+                Log.d("JoyStick", "$x, $y")
+            }
+
+        }
+    }
+}

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/components/pidSettings/PidSettingsPage.kt

@@ -0,0 +1,283 @@
+package com.helible.pilot.components.pidSettings
+
+import android.util.Log
+import androidx.compose.foundation.clickable
+import androidx.compose.foundation.layout.Arrangement
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.Row
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.padding
+import androidx.compose.foundation.layout.width
+import androidx.compose.foundation.text.KeyboardOptions
+import androidx.compose.material.icons.Icons
+import androidx.compose.material.icons.filled.KeyboardArrowDown
+import androidx.compose.material.icons.filled.KeyboardArrowUp
+import androidx.compose.material3.Button
+import androidx.compose.material3.CircularProgressIndicator
+import androidx.compose.material3.DropdownMenu
+import androidx.compose.material3.DropdownMenuItem
+import androidx.compose.material3.ExperimentalMaterial3Api
+import androidx.compose.material3.Icon
+import androidx.compose.material3.OutlinedTextField
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.LaunchedEffect
+import androidx.compose.runtime.getValue
+import androidx.compose.runtime.mutableStateOf
+import androidx.compose.runtime.remember
+import androidx.compose.runtime.setValue
+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.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.components.BlankPage
+import com.helible.pilot.dataclasses.DeviceState
+import com.helible.pilot.dataclasses.DeviceStatus
+import com.helible.pilot.dataclasses.PidParams
+import com.helible.pilot.dataclasses.PidSettings
+
+@OptIn(ExperimentalMaterial3Api::class)
+@Composable
+fun PidSettingsPage(
+    title: String,
+    navigateBack: () -> Unit,
+    requestPidSettings: () -> Unit,
+    setPidSettings: (PidSettings) -> Unit,
+    deviceState: DeviceState?,
+) {
+    BlankPage(title = title, navigateBack = navigateBack) {
+        var pValue by remember { mutableStateOf("") }
+        var iValue by remember { mutableStateOf("") }
+        var dValue by remember { mutableStateOf("") }
+        var selectedRegulator by remember { mutableStateOf(1) }
+        val dropdownMenuItems = listOf("PID 1", "PID 2", "PID 3")
+
+        LaunchedEffect(null) {
+            requestPidSettings()
+        }
+        LaunchedEffect(deviceState?.pidSettings) {
+            if (deviceState?.pidSettings != null) {
+                val pidSettings = deviceState.pidSettings
+                when(selectedRegulator){
+                    1 -> {
+                        pidSettings.p1.p.toString().also { pValue = it }
+                        pidSettings.p1.i.toString().also { iValue = it }
+                        pidSettings.p1.d.toString().also { dValue = it }
+                    }
+                    2 -> {
+                        pidSettings.p2.p.toString().also { pValue = it }
+                        pidSettings.p2.i.toString().also { iValue = it }
+                        pidSettings.p2.d.toString().also { dValue = it }
+                    }
+                    3 -> {
+                        pidSettings.p3.p.toString().also { pValue = it }
+                        pidSettings.p3.i.toString().also { iValue = it }
+                        pidSettings.p3.d.toString().also { dValue = it }
+                    }
+                }
+            }
+        }
+        Column(
+            horizontalAlignment = Alignment.CenterHorizontally,
+            modifier = Modifier
+                .fillMaxWidth()
+                .padding(10.dp)
+        )
+        {
+            if (deviceState?.status != DeviceStatus.Idle) {
+                Text(
+                    text = "Этот раздел доступен только с подключенным заряженным бездействующим устройством.",
+                    textAlign = TextAlign.Center
+                )
+            } else if (deviceState.pidSettings == null) {
+                Column {
+                    CircularProgressIndicator(modifier = Modifier.padding(10.dp))
+                    Text(text = "Синхронизация...")
+                }
+            } else {
+                val pidSettings = deviceState.pidSettings
+
+                OutlinedDropdownMenu(
+                    label = "ПИД регулятор",
+                    suggestions = dropdownMenuItems,
+                    onChange = { selected ->
+                        Log.i("BluetoothVM", selected)
+                        when (dropdownMenuItems.indexOf(selected)) {
+                            0 -> {
+                                selectedRegulator = 1
+                                pidSettings.p1.p.toString().also { pValue = it }
+                                pidSettings.p1.i.toString().also { iValue = it }
+                                pidSettings.p1.d.toString().also { dValue = it }
+                            }
+                            1 -> {
+                                selectedRegulator = 2
+                                pidSettings.p2.p.toString().also { pValue = it }
+                                pidSettings.p2.i.toString().also { iValue = it }
+                                pidSettings.p2.d.toString().also { dValue = it }
+                            }
+                            2 -> {
+                                selectedRegulator = 3
+                                pidSettings.p3.p.toString().also { pValue = it }
+                                pidSettings.p3.i.toString().also { iValue = it }
+                                pidSettings.p3.d.toString().also { dValue = it }
+                            }
+                        }
+                    },
+                    modifier = Modifier.padding(10.dp)
+                )
+
+                Row(
+                    horizontalArrangement = Arrangement.spacedBy(10.dp),
+                    modifier = Modifier.padding(10.dp)
+                ) {
+                    OutlinedTextField(
+                        value = pValue,
+                        onValueChange = { pValue = it },
+                        label = { Text(text = "P") },
+                        keyboardOptions = KeyboardOptions(keyboardType = KeyboardType.Number),
+                        modifier = Modifier.weight(1f)
+                    )
+
+                    OutlinedTextField(
+                        value = iValue,
+                        onValueChange = { iValue = it },
+                        label = { Text(text = "I") },
+                        keyboardOptions = KeyboardOptions(keyboardType = KeyboardType.Number),
+                        modifier = Modifier.weight(1f)
+                    )
+
+                    OutlinedTextField(
+                        value = dValue,
+                        onValueChange = { dValue = it },
+                        label = { Text(text = "D") },
+                        keyboardOptions = KeyboardOptions(keyboardType = KeyboardType.Number),
+                        modifier = Modifier.weight(1f)
+                    )
+
+                }
+                val p = pValue
+                val i = iValue
+                val d = dValue
+                Button(
+                    onClick = {
+                        when (selectedRegulator) {
+                            1 -> {
+                                val newPidSettings = pidSettings.copy(
+                                    p1 = PidParams(p.toFloat(), i.toFloat(), d.toFloat())
+                                )
+                                setPidSettings(newPidSettings)
+                            }
+
+                            2 -> {
+                                val newPidSettings = pidSettings.copy(
+                                    p2 = PidParams(p.toFloat(), i.toFloat(), d.toFloat())
+                                )
+                                setPidSettings(newPidSettings)
+                            }
+
+                            3 -> {
+                                val newPidSettings = pidSettings.copy(
+                                    p3 = PidParams(p.toFloat(), i.toFloat(), d.toFloat())
+                                )
+                                setPidSettings(newPidSettings)
+                            }
+                        }
+                    },
+                    enabled = isValidValue(p) && isValidValue(i) && isValidValue(d)
+                ) {
+                    Text(text = "Применить")
+                }
+            }
+        }
+    }
+}
+
+private fun isValidValue(k: String): Boolean {
+    return k.toFloatOrNull() != null && k.toFloat() >= 0f && k.toFloat() <= 2f
+}
+
+@Preview(showBackground = true)
+@Composable
+fun PidSettingsPreview() {
+    PidSettingsPage(
+        title = "Настройки ПИД регуляторов",
+        navigateBack = { },
+        requestPidSettings = { },
+        setPidSettings = {},
+        deviceState = DeviceState(
+            status = DeviceStatus.Idle,
+            pidSettings = PidSettings(
+                PidParams(1f, 1f, 1f),
+                PidParams(1f, 1f, 1f),
+                PidParams(1f, 1f, 1f)
+            )
+        )
+    )
+}
+
+@Preview(showBackground = true)
+@Composable
+fun DropdownDemo() {
+    OutlinedDropdownMenu(label = "", suggestions = listOf("A", "B"), onChange = {})
+}
+
+@OptIn(ExperimentalMaterial3Api::class)
+@Composable
+fun OutlinedDropdownMenu(
+    label: String,
+    suggestions: List<String>,
+    onChange: (String) -> Unit,
+    modifier: Modifier = Modifier,
+) {
+    var expanded by remember { mutableStateOf(false) }
+    var selectedText by remember { mutableStateOf(suggestions.first()) }
+    var textfieldSize by remember { mutableStateOf(Size.Zero) }
+
+    val icon = if (expanded)
+        Icons.Filled.KeyboardArrowUp
+    else
+        Icons.Filled.KeyboardArrowDown
+
+
+    Column(modifier = modifier) {
+        OutlinedTextField(
+            value = selectedText,
+            onValueChange = {
+                selectedText = it
+            },
+            modifier = Modifier
+                .fillMaxWidth()
+                .onGloballyPositioned { coordinates ->
+                    // This value is used to assign to the DropDown the same width
+                    textfieldSize = coordinates.size.toSize()
+                },
+            label = { Text(label) },
+            trailingIcon = {
+                Icon(icon, "contentDescription",
+                    Modifier.clickable { expanded = !expanded })
+            }
+        )
+        DropdownMenu(
+            expanded = expanded,
+            onDismissRequest = { expanded = false },
+            modifier = Modifier
+                .width(with(LocalDensity.current) { textfieldSize.width.toDp() })
+        ) {
+            suggestions.forEach { label ->
+                DropdownMenuItem(onClick = {
+                    selectedText = label
+                    expanded = false
+                    onChange(selectedText)
+                },
+                    text = { Text(label) }
+                )
+            }
+        }
+    }
+}

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.GeneralMessage
 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: GeneralMessage) : 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.message}")
                     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/controllers/DeviceState.kt

@@ -1,9 +0,0 @@
-package com.helible.pilot.controllers
-
-data class DeviceState(
-    val isHandshakeWaiting: Boolean = true,
-    val isIMUCalibrating: Boolean = false,
-    val flightMode: Boolean = false,
-    val batteryCharge: Int?,
-    val flightHeight: Float?
-)

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 +1,16 @@
+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,
+    val pidSettings: PidSettings? = null
+)

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/GeneralMessage.kt

@@ -0,0 +1,7 @@
+package com.helible.pilot.dataclasses
+
+// This dataclass provide message content with its type without any markers
+data class GeneralMessage(
+    val type: MessageType,
+    val data: String
+)

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

@@ -0,0 +1,6 @@
+package com.helible.pilot.dataclasses
+
+enum class MessageType {
+    UpdateMessage,
+    PidSettings
+}

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/dataclasses/PidParams.kt

@@ -0,0 +1,10 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.JsonClass
+
+@JsonClass(generateAdapter = true)
+data class PidParams (
+    val p: Float,
+    val i: Float,
+    val d: Float
+)

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

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

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

@@ -0,0 +1,10 @@
+package com.helible.pilot.dataclasses
+
+import com.squareup.moshi.JsonClass
+
+@JsonClass(generateAdapter = true)
+data class PidSettings (
+    val p1: PidParams,
+    val p2: PidParams,
+    val p3: PidParams
+)

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

@@ -0,0 +1,6 @@
+package com.helible.pilot.dataclasses
+
+data class StickPosition (
+    val x: Float,
+    val y: Float
+)

app/src/main/java/com/helible/pilot/exceptions/TransferFailedException.kt

@@ -0,0 +1,5 @@
+package com.helible.pilot.exceptions
+
+import java.io.IOException
+
+class TransferFailedException : IOException("Reading incoming data failed")

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

@@ -2,8 +2,17 @@ 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.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
+import com.squareup.moshi.kotlin.reflect.KotlinJsonAdapterFactory
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.flow.Flow
 import kotlinx.coroutines.flow.flow
@@ -12,27 +21,37 @@ 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<String> {
+    fun listenForIncomingMessages(): Flow<GeneralMessage> {
         return flow {
             if (!socket.isConnected)
                 return@flow
-            val buffer = ByteArray(128)
+
+            val buffer = ByteArray(maxPackageSize)
             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)
+                var messageData: String = buffer.decodeToString(endIndex = byteCount)
-                emit(
+                val messageType: MessageType? = MessageType.values()
-                    strData
+                    .elementAtOrNull(messageData.split(";")[0].toInt())
-                )
+
-                Log.i("BluetoothController", "Received: ${strData.dropLast(2)}")
+                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)
+                }
             }
         }.flowOn(Dispatchers.IO)
     }
@@ -42,10 +61,11 @@ 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 +1,24 @@
 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.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
-import kotlinx.coroutines.delay
 import kotlinx.coroutines.flow.Flow
 import kotlinx.coroutines.flow.MutableStateFlow
 import kotlinx.coroutines.flow.SharingStarted
@@ -43,10 +49,12 @@ 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 statusMessageAdapter = moshi.adapter(ChangedDeviceStatus::class.java)
-    private val emergStopMessageAdapter = moshi.adapter(EmergStopMessage::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 ->
@@ -94,9 +102,36 @@ class BluetoothViewModel(
                 }
 
                 is ConnectionResult.TransferSucceded -> {
-                    _state.update { it.copy(
+                    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}")
+                    }
                 }
 
                 is ConnectionResult.Error -> {
@@ -111,19 +146,24 @@ class BluetoothViewModel(
             }
         }
             .catch { throwable ->
+                Log.e(
+                    "BluetoothController",
+                    "Error occured while data transfer: ${throwable.message}"
+                )
                 bluetoothController.closeConnection()
-                _state.update { it.copy(
+                _state.update {
-                    isConnected = false,
+                    it.copy(
-                    isConnecting = false
+                        isConnected = 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 +178,8 @@ class BluetoothViewModel(
         _state.update {
             it.copy(
                 isConnecting = false,
-                isConnected = false
+                isConnected = false,
+                deviceState = null
             )
         }
     }
@@ -170,4 +211,62 @@ class BluetoothViewModel(
             )
         }
     }
+
+    fun startImuCalibration() {
+        viewModelScope.launch {
+            val message = statusMessageAdapter.toJson(
+                ChangedDeviceStatus(DeviceStatus.IsImuCalibration)
+            ) + "\n\r"
+            val isSuccess = bluetoothController.trySendMessage(
+                message.toByteArray()
+            )
+            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}")
+    }
 }

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>

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

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
 
-    <style name="Theme.Testblue" parent="android:Theme.Material.Light.NoActionBar" />
+    <style name="Theme.Main" parent="android:Theme.Material.Light.NoActionBar" />
 </resources>

build.gradle.kts

@@ -1,6 +1,6 @@
 // Top-level build file where you can add configuration options common to all sub-projects/modules.
 plugins {
-    id("com.android.application") version "8.1.0" apply false
+    id("com.android.application") version "8.2.2" apply false
     id("org.jetbrains.kotlin.android") version "1.8.10" apply false
     id("org.jetbrains.kotlin.jvm") version "1.8.10" apply false
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 #Sun Aug 13 15:00:54 KRAT 2023
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.0-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.2-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

settings.gradle.kts

@@ -3,6 +3,7 @@ pluginManagement {
         google()
         mavenCentral()
         gradlePluginPortal()
+        maven(url = "https://jitpack.io")
     }
 }
 dependencyResolutionManagement {
@@ -10,6 +11,7 @@ dependencyResolutionManagement {
     repositories {
         google()
         mavenCentral()
+        maven(url = "https://jitpack.io")
     }
 }