feat: basic joystick feature

.idea/misc.xml

@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="ExternalStorageConfigurationManager" enabled="true" />
   <component name="ProjectRootManager" version="2" languageLevel="JDK_17" default="true" project-jdk-name="jbr-17" project-jdk-type="JavaSDK">

app/src/main/AndroidManifest.xml

@@ -29,7 +29,8 @@
             android:name=".MainActivity"
             android:exported="true"
             android:label="@string/app_name"
-            android:theme="@style/Theme.Esp32car">
+            android:theme="@style/Theme.Esp32car"
+            android:windowSoftInputMode="adjustResize">
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
 

app/src/main/java/icu/fur93/esp32_car/CarController.kt

@@ -46,6 +46,19 @@ data class CarState(
     var motorDState: MotorState = MotorState()
 )
 
+enum class LogDirection {
+    SEND,    // 发送
+    RECEIVE  // 接收
+}
+
+
+// 添加日志数据类
+data class LogEntry(
+    val timestamp: Long = System.currentTimeMillis(),
+    val direction: LogDirection,  // "发送" 或 "接收"
+    val data: String
+)
+
 class CarController(private val onStateChange: () -> Unit) {
     // 使用 MutableState 来存储小车状态
     private val _carState = mutableStateOf(CarState())
@@ -54,6 +67,10 @@ class CarController(private val onStateChange: () -> Unit) {
     var bluetoothGatt: BluetoothGatt? = null
     var rxCharacteristic: BluetoothGattCharacteristic? = null
 
+    // 添加日志列表状态
+    private val _logs = mutableStateOf<List<LogEntry>>(emptyList())
+    val logs: State<List<LogEntry>> = _logs
+    
     // 更新电机状态的方法
     private fun updateMotorState(
         motorA: MotorState? = null,
@@ -68,11 +85,18 @@ class CarController(private val onStateChange: () -> Unit) {
     }
 
     private fun sendCommand(command: ByteArray) {
-      rxCharacteristic?.let { characteristic ->
-          characteristic.value = command;
-          bluetoothGatt?.writeCharacteristic(characteristic)
-      }
-  }
+        rxCharacteristic?.let { characteristic ->
+            characteristic.value = command
+            bluetoothGatt?.writeCharacteristic(characteristic)
+            
+            // 添加发送日志
+            _logs.value = _logs.value + LogEntry(
+                direction = LogDirection.SEND,
+                data = command.joinToString(" ") { "0x%02X".format(it) }
+            )
+        }
+    }
+
     fun moveForward(speed: Int = 255) {
         sendCommand(byteArrayOf(CarCommand.PACKET_T_HEAD.toByte(), 0x06, CarCommand.CMD_MOTOR_MOVE_CONTROL.toByte(), 0x01, speed.toByte(), CarCommand.PACKET_T_TAIL.toByte()))
     }
@@ -98,6 +122,11 @@ class CarController(private val onStateChange: () -> Unit) {
     }
 
     fun onReceivePacket(packet: ByteArray) {
+        // 添加接收日志
+        _logs.value = _logs.value + LogEntry(
+            direction = LogDirection.RECEIVE,
+            data = packet.joinToString(" ") { "0x%02X".format(it) }
+        )
 
         // 判断数据包格式时使用 toUByte()
         if (packet[0].toUByte() == CarCommand.PACKET_R_HEAD.toUByte() && 
@@ -142,6 +171,11 @@ class CarController(private val onStateChange: () -> Unit) {
             }
         }
     }
+
+    // 清除日志
+    fun clearLogs() {
+        _logs.value = emptyList()
+    }
 }
 
 class CarControlState {

app/src/main/java/icu/fur93/esp32_car/MainActivity.kt

@@ -30,12 +30,17 @@ import androidx.compose.ui.Modifier
 import androidx.compose.ui.graphics.graphicsLayer
 import androidx.compose.ui.unit.dp
 import androidx.core.app.ActivityCompat
+import androidx.core.view.WindowCompat
+import androidx.core.view.WindowInsetsCompat
+import androidx.core.view.WindowInsetsControllerCompat
 import icu.fur93.esp32_car.ui.component.Joystick
-import icu.fur93.esp32_car.ui.component.JoystickDemo
 import icu.fur93.esp32_car.ui.component.JoystickState
-import icu.fur93.esp32_car.ui.component.format
 import java.util.UUID
-import kotlin.math.PI
+import java.text.SimpleDateFormat
+import java.util.Date
+import java.util.Locale
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
 
 class MainActivity : ComponentActivity() {
     private val serviceUUID = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
@@ -73,6 +78,16 @@ class MainActivity : ComponentActivity() {
     override fun onCreate(savedInstanceState: Bundle?) {
         super.onCreate(savedInstanceState)
 
+        // 设置全屏显示
+        WindowCompat.setDecorFitsSystemWindows(window, false)
+
+        // 隐藏状态栏和导航栏
+        WindowInsetsControllerCompat(window, window.decorView).let { controller ->
+            controller.hide(WindowInsetsCompat.Type.systemBars())
+            controller.systemBarsBehavior =
+                WindowInsetsControllerCompat.BEHAVIOR_SHOW_TRANSIENT_BARS_BY_SWIPE
+        }
+
         // 设置横屏
         requestedOrientation = ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE
 
@@ -112,6 +127,18 @@ class MainActivity : ComponentActivity() {
         }
     }
 
+    override fun onWindowFocusChanged(hasFocus: Boolean) {
+        super.onWindowFocusChanged(hasFocus)
+        if (hasFocus) {
+            // 重新应用全屏设置
+            WindowInsetsControllerCompat(window, window.decorView).let { controller ->
+                controller.hide(WindowInsetsCompat.Type.systemBars())
+                controller.systemBarsBehavior =
+                    WindowInsetsControllerCompat.BEHAVIOR_SHOW_TRANSIENT_BARS_BY_SWIPE
+            }
+        }
+    }
+
     private fun connectToDevice(result: ScanResult) {
         if (ActivityCompat.checkSelfPermission(
                 this,
@@ -148,10 +175,12 @@ class MainActivity : ComponentActivity() {
                 if (status == BluetoothGatt.GATT_SUCCESS) {
                     gatt?.getService(UUID.fromString(serviceUUID))?.let { service ->
                         carController.bluetoothGatt = gatt
-                        carController.rxCharacteristic = service.getCharacteristic(UUID.fromString(rxCharUUID))
+                        carController.rxCharacteristic =
+                            service.getCharacteristic(UUID.fromString(rxCharUUID))
 
                         // 注册通知监听器
-                        val txCharacteristic = service.getCharacteristic(UUID.fromString(txCharUUID))
+                        val txCharacteristic =
+                            service.getCharacteristic(UUID.fromString(txCharUUID))
                         gatt.setCharacteristicNotification(txCharacteristic, true)
                         txCharacteristic.descriptors.forEach { descriptor ->
                             descriptor.value = BluetoothGattDescriptor.ENABLE_NOTIFICATION_VALUE
@@ -273,31 +302,62 @@ class MainActivity : ComponentActivity() {
 
 @Composable
 fun ControlJoystick(
-    carController: CarController
+    modifier: Modifier,
+    carController: CarController,
+    joystickState: JoystickState,
+    onJoystickStateChange: (JoystickState) -> Unit
 ) {
-    var joystickState by remember { mutableStateOf(JoystickState()) }
+    // 记住上一次发送的状态和时间
+    val lastSentState = remember { mutableStateOf(JoystickState()) }
+    val lastSentTime = remember { mutableStateOf(0L) }
     
-    Column(
-        verticalArrangement = Arrangement.Center
-    ) {
-        Joystick(
-            modifier = Modifier.padding(16.dp),
-            size = 200f
-        ) { state ->
-            joystickState = state
-            // 在这里处理摇杆状态变化
-            // 发送蓝牙数据
-            val x = (state.x * 100).toInt()  // 转换为 -100 到 100
+    // 用于停止命令重发的计数器
+    val stopCommandCount = remember { mutableStateOf(0) }
+    val coroutineScope = rememberCoroutineScope()
+
+    Joystick(
+        modifier = modifier,
+        size = 350f
+    ) { state ->
+        // 更新状态
+        onJoystickStateChange(state)
+        
+        val currentTime = System.currentTimeMillis()
+        
+        // 检查是否是停止状态（摇杆回正）
+        val isStopCommand = state.x == 0f && state.y == 0f
+        
+        // 如果是停止命令，启动重发机制
+        // 否则检查时间间隔和状态变化
+        if (isStopCommand) {
+            if (stopCommandCount.value == 0) {
+                // 第一次发送停止命令
+                carController.stop()
+                stopCommandCount.value = 1
+                
+                // 启动延时重发
+                coroutineScope.launch {
+                    delay(50) // 延时50ms
+                    carController.stop() // 再次发送停止命令
+                    stopCommandCount.value = 2
+                    
+                    delay(50) // 再次延时50ms
+                    carController.stop() // 第三次发送停止命令
+                    stopCommandCount.value = 0 // 重置计数器
+                }
+            }
+        } else if ((state.x != lastSentState.value.x || state.y != lastSentState.value.y) &&
+                  currentTime - lastSentTime.value >= 50) {
+            // 非停止命令的正常处理
+            stopCommandCount.value = 0 // 重置停止命令计数器
+            val x = (state.x * 100).toInt()
             val y = (state.y * 100).toInt()
             carController.sendXYR(x, y, 0)
-            // sendBluetoothCommand(x, y, 0)  // R设为0
-        }
             
-        // 显示摇杆状态（可选）
-        Text("X: ${joystickState.x.format(2)}")
-        Text("Y: ${joystickState.y.format(2)}")
-        Text("Angle: ${(joystickState.angle * 180 / PI)}°")
-        Text("Distance: ${joystickState.distance.format(2)}")
+            // 更新上次发送的状态和时间
+            lastSentState.value = state
+            lastSentTime.value = currentTime
+        }
     }
 }
 
@@ -311,6 +371,7 @@ fun GamepadScreen(
 ) {
     var showDeviceList by remember { mutableStateOf(false) }
     var sliderValue by remember { mutableStateOf(0f) }
+    var joystickState by remember { mutableStateOf(JoystickState()) }
 
     Box(modifier = Modifier.fillMaxSize()) {
         Column(modifier = Modifier.fillMaxWidth()) {
@@ -321,8 +382,15 @@ fun GamepadScreen(
                     .padding(8.dp),
                 horizontalArrangement = Arrangement.SpaceEvenly
             ) {
+                // 摇杆状态显示
+                Column {
+                    Text("摇杆")
+                    Text("X: %.2f".format(joystickState.x))
+                    Text("Y: %.2f".format(joystickState.y))
+                }
+
                 // 电机A状态
-                Column(horizontalAlignment = Alignment.CenterHorizontally) {
+                Column {
                     Text("电机A")
                     Text("PWM: ${carController.carState.value.motorAState.pwm}")
                     Text("IN1: ${carController.carState.value.motorAState.in1}")
@@ -330,7 +398,7 @@ fun GamepadScreen(
                 }
 
                 // 电机B状态
-                Column(horizontalAlignment = Alignment.CenterHorizontally) {
+                Column {
                     Text("电机B")
                     Text("PWM: ${carController.carState.value.motorBState.pwm}")
                     Text("IN1: ${carController.carState.value.motorBState.in1}")
@@ -338,7 +406,7 @@ fun GamepadScreen(
                 }
 
                 // 电机C状态
-                Column(horizontalAlignment = Alignment.CenterHorizontally) {
+                Column {
                     Text("电机C")
                     Text("PWM: ${carController.carState.value.motorCState.pwm}")
                     Text("IN1: ${carController.carState.value.motorCState.in1}")
@@ -346,78 +414,116 @@ fun GamepadScreen(
                 }
 
                 // 电机D状态
-                Column(horizontalAlignment = Alignment.CenterHorizontally) {
+                Column {
                     Text("电机D")
                     Text("PWM: ${carController.carState.value.motorDState.pwm}")
                     Text("IN1: ${carController.carState.value.motorDState.in1}")
                     Text("IN2: ${carController.carState.value.motorDState.in2}")
                 }
-            }
-        }
 
-        // 设备选择按钮
-        Button(
-            onClick = { showDeviceList = true },
-            modifier = Modifier
-                .align(Alignment.TopEnd)
-                .padding(16.dp)
-        ) {
-            Text(if (isConnected) "已连接" else "选择设备")
-        }
-
-        // 方向控制布局
-        Row(
-            modifier = Modifier.fillMaxSize(),
-            horizontalArrangement = Arrangement.SpaceEvenly,
-            verticalAlignment = Alignment.CenterVertically
-        ) {
-            // 左侧控制区
-            Column(
-                horizontalAlignment = Alignment.CenterHorizontally,
-                verticalArrangement = Arrangement.Center,
-                modifier = Modifier.weight(1f)
-            ) {
-                Row(
-                    horizontalArrangement = Arrangement.spacedBy(16.dp),
-                    modifier = Modifier.padding(vertical = 16.dp)
+                // 设备选择<E98089><E68BA9><EFBFBD>钮
+                Button(
+                    onClick = { showDeviceList = true },
                 ) {
-//                    Button(onClick = { carController.turnLeft() }) {
-//                        Text("左转")
-//                    }
-//                    Button(onClick = { carController.turnRight() }) {
-//                        Text("右转")
-//                    }
-                    ControlJoystick(carController)
+                    Text(if (isConnected) "已连接" else "选择设备")
                 }
             }
 
-            // 右侧控制区
-            Column(
-                horizontalAlignment = Alignment.CenterHorizontally,
-                verticalArrangement = Arrangement.Center,
-                modifier = Modifier.weight(1f)
+            // 方向控制布局
+            Row(
+                modifier = Modifier.fillMaxSize(),
+                horizontalArrangement = Arrangement.SpaceEvenly,
+                verticalAlignment = Alignment.CenterVertically
             ) {
-                // 垂直滑杆
-                Slider(
-                    value = sliderValue,
-                    onValueChange = { newValue ->
-                        sliderValue = newValue
-                        val speed = (newValue * 255).toInt()
-                        if (speed > 0) {
-                            carController.moveForward(speed)
-                        } else if (speed < 0) {
-                            carController.moveBackward(-speed)
-                        } else {
-                            carController.stop()
-                        }
-                    },
-                    valueRange = -1f..1f,
+                // 左侧控制区
+                Column(
+                    horizontalAlignment = Alignment.CenterHorizontally,
+                    verticalArrangement = Arrangement.Center,
                     modifier = Modifier
-                        .height(20.dp)
-                        .width(200.dp)
-                        .padding(vertical = 16.dp)
-                        .graphicsLayer(rotationZ = 270f)
-                )
+                        .weight(1f)
+                        .fillMaxHeight()
+                ) {
+                    Row(
+                        horizontalArrangement = Arrangement.Center,
+                        verticalAlignment = Alignment.CenterVertically,
+                        modifier = Modifier
+                            .fillMaxWidth()
+                            .padding(vertical = 16.dp)
+                    ) {
+                        ControlJoystick(
+                            modifier = Modifier.padding(16.dp),
+                            carController = carController,
+                            joystickState = joystickState,
+                            onJoystickStateChange = { newState ->
+                                joystickState = newState
+                            }
+                        )
+                    }
+                }
+
+                // 中间 Log 区
+                // 用于显示发出的蓝牙指令
+                LazyColumn(
+                    modifier = Modifier
+                        .fillMaxSize()
+                        .padding(4.dp)
+                        .weight(1f),
+                    reverseLayout = true // 反转布局顺序
+                ) {
+                    items(carController.logs.value.filter { it.direction == LogDirection.SEND }.reversed()) { log ->
+                        Row(
+                            modifier = Modifier
+                                .fillMaxWidth()
+                                .padding(vertical = 2.dp),
+                            horizontalArrangement = Arrangement.SpaceBetween
+                        ) {
+                            Text(
+                                text = "[${SimpleDateFormat("HH:mm:ss.SSS", Locale.getDefault())
+                                    .format(Date(log.timestamp))}]",
+                                style = MaterialTheme.typography.bodySmall
+                            )
+                            Text(
+                                text = log.data,
+                                style = MaterialTheme.typography.bodySmall,
+                                modifier = Modifier.weight(1f)
+                            )
+                        }
+                    }
+                }
+
+                // 右侧控制区
+                Column(
+                    horizontalAlignment = Alignment.CenterHorizontally,
+                    verticalArrangement = Arrangement.Center,
+                    modifier = Modifier.weight(1f)
+                ) {
+                    // 垂直滑杆
+                    Slider(
+                        value = sliderValue,
+                        onValueChange = { newValue ->
+                            // 在0附近添加吸附效果
+                            val snapValue = when {
+                                newValue > -0.1f && newValue < 0.1f -> 0f
+                                else -> newValue
+                            }
+                            sliderValue = snapValue
+                            val speed = (snapValue * 255).toInt()
+                            if (speed > 0) {
+                                carController.moveForward(speed)
+                            } else if (speed < 0) {
+                                carController.moveBackward(-speed)
+                            } else {
+                                carController.stop()
+                            }
+                        },
+                        valueRange = -1f..1f,
+                        modifier = Modifier
+                            .height(10.dp)
+                            .width(200.dp)
+                            .padding(vertical = 16.dp)
+                            .graphicsLayer(rotationZ = 270f)
+                    )
+                }
             }
         }
 

app/src/main/java/icu/fur93/esp32_car/ui/component/Joystick.kt

@@ -151,34 +151,5 @@ private fun DrawScope.drawJoystickKnob(position: Offset, radius: Float) {
     )
 }
 
-// 使用示例
-@Composable
-fun JoystickDemo() {
-    Column(
-        modifier = Modifier.fillMaxSize(),
-        verticalArrangement = Arrangement.Center
-    ) {
-        var joystickState by remember { mutableStateOf(JoystickState()) }
-
-        Joystick(
-            modifier = Modifier.padding(16.dp),
-            size = 200f
-        ) { state ->
-            joystickState = state
-            // 在这里处理摇杆状态变化
-            // 发送蓝牙数据
-            val x = (state.x * 100).toInt()  // 转换为 -100 到 100
-            val y = (state.y * 100).toInt()
-            // sendBluetoothCommand(x, y, 0)  // R设为0
-        }
-
-        // 显示摇杆状态（可选）
-        Text("X: ${joystickState.x.format(2)}")
-        Text("Y: ${joystickState.y.format(2)}")
-        Text("Angle: ${(joystickState.angle * 180 / PI)}°")
-        Text("Distance: ${joystickState.distance.format(2)}")
-    }
-}
-
 // 格式化浮点数
 fun Float.format(digits: Int) = "%.${digits}f".format(this)