320 lines
13 KiB
Kotlin
320 lines
13 KiB
Kotlin
package com.helible.pilot.components
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import android.util.Log
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import androidx.compose.foundation.clickable
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import androidx.compose.foundation.layout.Arrangement
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import androidx.compose.foundation.layout.Column
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import androidx.compose.foundation.layout.Row
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import androidx.compose.foundation.layout.fillMaxWidth
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import androidx.compose.foundation.layout.padding
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import androidx.compose.foundation.layout.width
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import androidx.compose.foundation.text.KeyboardOptions
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import androidx.compose.material.icons.Icons
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import androidx.compose.material.icons.filled.KeyboardArrowDown
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import androidx.compose.material.icons.filled.KeyboardArrowUp
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import androidx.compose.material3.Button
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import androidx.compose.material3.CircularProgressIndicator
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import androidx.compose.material3.DropdownMenu
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import androidx.compose.material3.DropdownMenuItem
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import androidx.compose.material3.ExperimentalMaterial3Api
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import androidx.compose.material3.Icon
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import androidx.compose.material3.MaterialTheme
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import androidx.compose.material3.OutlinedTextField
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import androidx.compose.material3.Text
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import androidx.compose.runtime.Composable
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import androidx.compose.runtime.LaunchedEffect
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import androidx.compose.runtime.getValue
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import androidx.compose.runtime.mutableStateOf
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import androidx.compose.runtime.remember
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import androidx.compose.runtime.setValue
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import androidx.compose.ui.Alignment
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import androidx.compose.ui.Modifier
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import androidx.compose.ui.geometry.Size
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import androidx.compose.ui.layout.onGloballyPositioned
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import androidx.compose.ui.platform.LocalContext
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import androidx.compose.ui.platform.LocalDensity
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import androidx.compose.ui.text.input.KeyboardType
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import androidx.compose.ui.text.style.TextAlign
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import androidx.compose.ui.tooling.preview.Preview
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import androidx.compose.ui.unit.dp
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import androidx.compose.ui.unit.toSize
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import com.helible.pilot.R
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import com.helible.pilot.dataclasses.DeviceState
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import com.helible.pilot.dataclasses.DeviceStatus
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import com.helible.pilot.dataclasses.PidParams
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import com.helible.pilot.dataclasses.PidSettings
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@OptIn(ExperimentalMaterial3Api::class)
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@Composable
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fun PidSettingsPage(
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title: String,
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navigateBack: () -> Unit,
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requestPidSettings: () -> Unit,
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setPidSettings: (PidSettings) -> Unit,
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deviceState: DeviceState?,
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) {
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BlankPage(title = title, navigateBack = navigateBack) {
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var pValue by remember { mutableStateOf("") }
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var iValue by remember { mutableStateOf("") }
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var dValue by remember { mutableStateOf("") }
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val dropdownMenuItems =
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listOf("Контроллер высоты", "Контроллер тангажа", "Контроллер рысканья")
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var selectedRegulator by remember { mutableStateOf(dropdownMenuItems[0]) }
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LaunchedEffect(null) {
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requestPidSettings()
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}
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LaunchedEffect(deviceState?.pidSettings) {
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if (deviceState?.pidSettings != null) {
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val pidSettings = deviceState.pidSettings
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when (selectedRegulator) {
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dropdownMenuItems[0] -> {
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pidSettings.heightControllerParams.p.toString().also { pValue = it }
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pidSettings.heightControllerParams.i.toString().also { iValue = it }
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pidSettings.heightControllerParams.d.toString().also { dValue = it }
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}
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dropdownMenuItems[1] -> {
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pidSettings.yawControllerParams.p.toString().also { pValue = it }
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pidSettings.yawControllerParams.i.toString().also { iValue = it }
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pidSettings.yawControllerParams.d.toString().also { dValue = it }
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}
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dropdownMenuItems[2] -> {
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pidSettings.pitchControllerParams.p.toString().also { pValue = it }
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pidSettings.pitchControllerParams.i.toString().also { iValue = it }
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pidSettings.pitchControllerParams.d.toString().also { dValue = it }
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}
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}
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}
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}
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Column(
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horizontalAlignment = Alignment.CenterHorizontally,
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modifier = Modifier
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.fillMaxWidth()
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)
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{
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if (deviceState?.status != DeviceStatus.Idle) {
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Text(
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text = "Этот раздел доступен только с подключенным заряженным бездействующим устройством.",
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textAlign = TextAlign.Center
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)
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} else if (deviceState.pidSettings == null) {
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CircularProgressIndicator(modifier = Modifier.padding(10.dp))
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Text(text = "Синхронизация...")
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} else {
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val pidSettings = deviceState.pidSettings
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Column(modifier = Modifier.padding(horizontal = 10.dp).padding(bottom = 10.dp)) {
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Text(
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"Рекомендации по настройке ПИД регуляторов",
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style = MaterialTheme.typography.titleMedium,
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modifier = Modifier
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.padding(vertical = 10.dp)
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)
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Text(
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text = LocalContext.current.getString(R.string.p_pid_value_description),
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style = MaterialTheme.typography.bodyMedium
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)
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Text(
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text = LocalContext.current.getString(R.string.i_pid_value_description),
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style = MaterialTheme.typography.bodyMedium
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)
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Text(
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text = LocalContext.current.getString(R.string.d_pid_value_description),
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style = MaterialTheme.typography.bodyMedium
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)
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}
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OutlinedDropdownMenu(
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label = "ПИД регулятор",
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suggestions = dropdownMenuItems,
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onChange = { selected ->
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Log.i("BluetoothVM", selected)
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when (dropdownMenuItems.indexOf(selected)) {
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0 -> {
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selectedRegulator = dropdownMenuItems[0]
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pidSettings.heightControllerParams.p.toString().also { pValue = it }
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pidSettings.heightControllerParams.i.toString().also { iValue = it }
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pidSettings.heightControllerParams.d.toString().also { dValue = it }
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}
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1 -> {
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selectedRegulator = dropdownMenuItems[1]
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pidSettings.yawControllerParams.p.toString().also { pValue = it }
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pidSettings.yawControllerParams.i.toString().also { iValue = it }
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pidSettings.yawControllerParams.d.toString().also { dValue = it }
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}
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2 -> {
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selectedRegulator = dropdownMenuItems[2]
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pidSettings.pitchControllerParams.p.toString().also { pValue = it }
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pidSettings.pitchControllerParams.i.toString().also { iValue = it }
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pidSettings.pitchControllerParams.d.toString().also { dValue = it }
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}
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}
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},
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modifier = Modifier.padding(10.dp)
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)
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Row(
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horizontalArrangement = Arrangement.spacedBy(10.dp),
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modifier = Modifier.padding(10.dp)
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) {
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OutlinedTextField(
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value = pValue,
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onValueChange = { pValue = it },
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label = { Text(text = "P") },
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keyboardOptions = KeyboardOptions(keyboardType = KeyboardType.Number),
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modifier = Modifier.weight(1f)
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)
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OutlinedTextField(
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value = iValue,
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onValueChange = { iValue = it },
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label = { Text(text = "I") },
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keyboardOptions = KeyboardOptions(keyboardType = KeyboardType.Number),
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modifier = Modifier.weight(1f)
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)
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OutlinedTextField(
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value = dValue,
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onValueChange = { dValue = it },
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label = { Text(text = "D") },
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keyboardOptions = KeyboardOptions(keyboardType = KeyboardType.Number),
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modifier = Modifier.weight(1f)
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)
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}
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val p = pValue
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val i = iValue
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val d = dValue
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Button(
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onClick = {
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when (dropdownMenuItems.indexOf(selectedRegulator)) {
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0 -> {
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val newPidSettings = pidSettings.copy(
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heightControllerParams = PidParams(
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p.toFloat(),
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i.toFloat(),
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d.toFloat()
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)
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)
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setPidSettings(newPidSettings)
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}
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1 -> {
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val newPidSettings = pidSettings.copy(
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yawControllerParams = PidParams(
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p.toFloat(),
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i.toFloat(),
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d.toFloat()
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)
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)
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setPidSettings(newPidSettings)
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}
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2 -> {
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val newPidSettings = pidSettings.copy(
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pitchControllerParams = PidParams(
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p.toFloat(),
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i.toFloat(),
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d.toFloat()
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)
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)
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setPidSettings(newPidSettings)
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}
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}
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},
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enabled = isValidValue(p) && isValidValue(i) && isValidValue(d)
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) {
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Text(text = "Применить")
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}
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}
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}
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}
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}
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private fun isValidValue(k: String): Boolean {
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return k.toFloatOrNull() != null && k.toFloat() >= 0f && k.toFloat() <= 15f
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}
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@Preview(showBackground = true)
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@Composable
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fun PidSettingsPreview() {
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PidSettingsPage(
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title = "Настройки ПИД регуляторов",
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navigateBack = { },
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requestPidSettings = { },
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setPidSettings = {},
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deviceState = DeviceState(
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status = DeviceStatus.Idle,
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pidSettings = PidSettings(
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PidParams(1f, 1f, 1f),
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PidParams(1f, 1f, 1f),
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PidParams(1f, 1f, 1f)
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)
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)
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)
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}
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@Preview(showBackground = true)
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@Composable
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fun DropdownDemo() {
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OutlinedDropdownMenu(label = "", suggestions = listOf("A", "B"), onChange = {})
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}
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@OptIn(ExperimentalMaterial3Api::class)
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@Composable
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fun OutlinedDropdownMenu(
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label: String,
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suggestions: List<String>,
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onChange: (String) -> Unit,
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modifier: Modifier = Modifier,
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) {
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var expanded by remember { mutableStateOf(false) }
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var selectedText by remember { mutableStateOf(suggestions.first()) }
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var textfieldSize by remember { mutableStateOf(Size.Zero) }
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val icon = if (expanded)
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Icons.Filled.KeyboardArrowUp
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else
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Icons.Filled.KeyboardArrowDown
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Column(modifier = modifier) {
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OutlinedTextField(
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value = selectedText,
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onValueChange = {
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selectedText = it
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},
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modifier = Modifier
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.fillMaxWidth()
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.onGloballyPositioned { coordinates ->
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// This value is used to assign to the DropDown the same width
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textfieldSize = coordinates.size.toSize()
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},
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label = { Text(label) },
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trailingIcon = {
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Icon(icon, "contentDescription",
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Modifier.clickable { expanded = !expanded })
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}
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)
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DropdownMenu(
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expanded = expanded,
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onDismissRequest = { expanded = false },
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modifier = Modifier
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.width(with(LocalDensity.current) { textfieldSize.width.toDp() })
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) {
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suggestions.forEach { label ->
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DropdownMenuItem(onClick = {
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selectedText = label
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expanded = false
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onChange(selectedText)
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},
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text = { Text(label) }
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)
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}
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}
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}
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} |