refactor: ui

.idea/deploymentTargetSelector.xml

@@ -4,10 +4,10 @@
     <selectionStates>
       <SelectionState runConfigName="app">
         <option name="selectionMode" value="DROPDOWN" />
-        <DropdownSelection timestamp="2024-12-19T11:42:03.594785900Z">
+        <DropdownSelection timestamp="2024-12-23T14:50:39.475020900Z">
           <Target type="DEFAULT_BOOT">
             <handle>
-              <DeviceId pluginId="Default" identifier="serial=192.168.31.62:42449;connection=c8a0adf4" />
+              <DeviceId pluginId="PhysicalDevice" identifier="serial=9753497c" />
             </handle>
           </Target>
         </DropdownSelection>

app/build.gradle.kts

@@ -60,6 +60,7 @@ dependencies {
     implementation(libs.androidx.ui.tooling.preview)
     implementation(libs.androidx.material3)
     implementation(libs.androidx.room.ktx)
+    implementation(libs.androidx.navigation.compose)
     testImplementation(libs.junit)
     androidTestImplementation(libs.androidx.junit)
     androidTestImplementation(libs.androidx.espresso.core)

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

@@ -30,13 +30,27 @@ import androidx.compose.runtime.*
 import androidx.compose.ui.Alignment
 import androidx.compose.ui.Modifier
 import androidx.compose.ui.graphics.graphicsLayer
+import androidx.compose.ui.graphics.toArgb
+import androidx.compose.ui.platform.LocalContext
 import androidx.compose.ui.unit.dp
 import androidx.core.app.ActivityCompat
+import androidx.core.content.ContextCompat
 import androidx.core.view.WindowCompat
 import androidx.core.view.WindowInsetsCompat
 import androidx.core.view.WindowInsetsControllerCompat
+import androidx.navigation.compose.NavHost
+import androidx.navigation.compose.composable
+import androidx.navigation.compose.rememberNavController
+import icu.fur93.esp32_car.page.ControlGamepadModePage
+import icu.fur93.esp32_car.page.ControlPage
+import icu.fur93.esp32_car.page.ControlPathfinderModePage
+import icu.fur93.esp32_car.page.ControlSingleJoystickModePage
+import icu.fur93.esp32_car.page.GamepadScreen
+import icu.fur93.esp32_car.page.HomePage
+import icu.fur93.esp32_car.page.SettingsPage
 import icu.fur93.esp32_car.ui.component.Joystick
 import icu.fur93.esp32_car.ui.component.JoystickState
+import icu.fur93.esp32_car.ui.theme.Esp32carTheme
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
 import java.util.UUID
@@ -86,15 +100,17 @@ class MainActivity : ComponentActivity() {
                 WindowManager.LayoutParams.LAYOUT_IN_DISPLAY_CUTOUT_MODE_SHORT_EDGES
         }
 
-        // 隐藏状态栏和导航栏
+//        window.statusBarColor = ContextCompat
-        WindowInsetsControllerCompat(window, window.decorView).let { controller ->
+//
-            controller.hide(WindowInsetsCompat.Type.systemBars())
+//        // 隐藏状态栏和导航栏
-            controller.systemBarsBehavior =
+//        WindowInsetsControllerCompat(window, window.decorView).let { controller ->
-                WindowInsetsControllerCompat.BEHAVIOR_SHOW_TRANSIENT_BARS_BY_SWIPE
+//            controller.hide(WindowInsetsCompat.Type.systemBars())
-        }
+//            controller.systemBarsBehavior =
-
+//                WindowInsetsControllerCompat.BEHAVIOR_SHOW_TRANSIENT_BARS_BY_SWIPE
-        // 设置横屏
+//        }
-        requestedOrientation = ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE
+//
+//        // 设置横屏
+//        requestedOrientation = ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE
 
         // 检查并请求所有必要的权限
         val requiredPermissions = arrayOf(
@@ -122,24 +138,15 @@ class MainActivity : ComponentActivity() {
         }
 
         setContent {
-            GamepadScreen(
+            Esp32carTheme {
-                deviceList = deviceList,
+//                GamepadScreen(
-                isConnected = isConnected.value,
+//                    deviceList = deviceList,
-                onStartScan = ::startBleScan,
+//                    isConnected = isConnected.value,
-                onConnect = ::connectToDevice,
+//                    onStartScan = ::startBleScan,
-                carController = carController
+//                    onConnect = ::connectToDevice,
-            )
+//                    carController = carController
-        }
+//                )
-    }
+                App()
-
-    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
             }
         }
     }
@@ -306,273 +313,21 @@ class MainActivity : ComponentActivity() {
 }
 
 @Composable
-fun ControlJoystick(
+fun App() {
-    modifier: Modifier,
+    val activity = LocalContext.current as MainActivity
-    carController: CarController,
+    activity.window.statusBarColor = MaterialTheme.colorScheme.background.toArgb()
-    joystickState: JoystickState,
-    onJoystickStateChange: (JoystickState) -> Unit
-) {
-    // 记住上一次发送的状态和时间
-    val lastSentState = remember { mutableStateOf(JoystickState()) }
-    val lastSentTime = remember { mutableStateOf(0L) }
-    
-    // 用于停止命令重发的计数器
-    val stopCommandCount = remember { mutableStateOf(0) }
-    val coroutineScope = rememberCoroutineScope()
 
-    Joystick(
+    val navController = rememberNavController()
-        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)
-            
-            // 更新上次发送的状态和时间
-            lastSentState.value = state
-            lastSentTime.value = currentTime
-        }
-    }
-}
 
-@Composable
+    NavHost(
-fun GamepadScreen(
+        navController = navController,
-    deviceList: List<ScanResult>,
+        startDestination = Route.Home.route
-    isConnected: Boolean,
+    ) {
-    onStartScan: () -> Unit,
+        composable(Route.Home.route) { HomePage(navController) }
-    onConnect: (ScanResult) -> Unit,
+        composable(Route.Control.route) { ControlPage(navController) }
-    carController: CarController
+        composable(Route.Settings.route) { SettingsPage(navController) }
-) {
+        composable(Route.ControlPathfinderMode.route) { ControlPathfinderModePage(navController) }
-    var showDeviceList by remember { mutableStateOf(false) }
+        composable(Route.ControlSingleJoystickMode.route) { ControlSingleJoystickModePage(navController) }
-    var sliderValue by remember { mutableStateOf(0f) }
+        composable(Route.ControlGamepadMode.route) { ControlGamepadModePage(navController) }
-    var joystickState by remember { mutableStateOf(JoystickState()) }
-
-    Box(modifier = Modifier.fillMaxSize()) {
-        Column(modifier = Modifier.fillMaxWidth()) {
-            // 电机状态显示区域
-            Row(
-                modifier = Modifier
-                    .fillMaxWidth()
-                    .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 {
-                    Text("电机A")
-                    Text("PWM: ${carController.carState.value.motorAState.pwm}")
-                    Text("IN1: ${carController.carState.value.motorAState.in1}")
-                    Text("IN2: ${carController.carState.value.motorAState.in2}")
-                }
-
-                // 电机B状态
-                Column {
-                    Text("电机B")
-                    Text("PWM: ${carController.carState.value.motorBState.pwm}")
-                    Text("IN1: ${carController.carState.value.motorBState.in1}")
-                    Text("IN2: ${carController.carState.value.motorBState.in2}")
-                }
-
-                // 电机C状态
-                Column {
-                    Text("电机C")
-                    Text("PWM: ${carController.carState.value.motorCState.pwm}")
-                    Text("IN1: ${carController.carState.value.motorCState.in1}")
-                    Text("IN2: ${carController.carState.value.motorCState.in2}")
-                }
-
-                // 电机D状态
-                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 },
-                ) {
-                    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)
-                        .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)
-                    )
-                }
-            }
-        }
-
-        // 设备列表对话框
-        if (showDeviceList) {
-            AlertDialog(
-                onDismissRequest = { showDeviceList = false },
-                title = { Text("选择设备") },
-                text = {
-                    // 设备列表
-                    LazyColumn {
-                        items(deviceList) { device ->
-                            TextButton(
-                                onClick = {
-                                    onConnect(device)
-                                    showDeviceList = false
-                                },
-                                modifier = Modifier.fillMaxWidth()
-                            ) {
-                                Column(
-                                    modifier = Modifier.fillMaxWidth(),
-                                    horizontalAlignment = Alignment.Start
-                                ) {
-                                    Text(device.device.name ?: "未知设备")
-                                    Text(
-                                        device.device.address,
-                                        style = MaterialTheme.typography.bodySmall
-                                    )
-                                }
-                            }
-                        }
-                    }
-                },
-                dismissButton = {
-                    TextButton(onClick = { onStartScan() }) {
-                        Text("扫描设备")
-                    }
-                },
-                confirmButton = {
-                    TextButton(onClick = { showDeviceList = false }) {
-                        Text("取消")
-                    }
-                }
-            )
-        }
     }
 }

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

@@ -0,0 +1,10 @@
+package icu.fur93.esp32_car
+
+sealed class Route(val route: String) {
+    data object Home : Route("home")
+    data object Control : Route("control")
+    data object Settings : Route("settings")
+    data object ControlPathfinderMode : Route("control_pathfinder_mode")
+    data object ControlSingleJoystickMode : Route("control_single_joystick_mode")
+    data object ControlGamepadMode : Route("control_gamepad_mode")
+}

app/src/main/java/icu/fur93/esp32_car/page/ControlGamepadModePage.kt

@@ -0,0 +1,14 @@
+package icu.fur93.esp32_car.page
+
+import androidx.compose.runtime.Composable
+import androidx.navigation.NavController
+import icu.fur93.esp32_car.ui.layout.ControlModeLayout
+
+@Composable
+fun ControlGamepadModePage(navController: NavController) {
+    ControlModeLayout(
+        content = {
+        },
+        onBack = { navController.navigateUp() }
+    )
+}

app/src/main/java/icu/fur93/esp32_car/page/ControlGyroscopeModePage.kt

@@ -0,0 +1,14 @@
+package icu.fur93.esp32_car.page
+
+import androidx.compose.runtime.Composable
+import androidx.navigation.NavController
+import icu.fur93.esp32_car.ui.layout.ControlModeLayout
+
+@Composable
+fun ControlGyroscopeModePage(navController: NavController) {
+    ControlModeLayout(
+        content = {
+        },
+        onBack = { navController.navigateUp() }
+    )
+}

app/src/main/java/icu/fur93/esp32_car/page/ControlPage.kt

@@ -0,0 +1,21 @@
+package icu.fur93.esp32_car.page
+
+import androidx.compose.runtime.Composable
+import androidx.navigation.NavHostController
+import icu.fur93.esp32_car.Route
+import icu.fur93.esp32_car.ui.component.BottomNavigationBar
+import icu.fur93.esp32_car.ui.layout.MainLayout
+
+@Composable
+fun ControlPage(navController: NavHostController) {
+    MainLayout(
+        content = {
+        },
+        bottomBar = {
+            BottomNavigationBar(
+                currentRoute = Route.Control.route,
+                navController = navController
+            )
+        }
+    )
+}

app/src/main/java/icu/fur93/esp32_car/page/ControlPathfinderModePage.kt

@@ -0,0 +1,14 @@
+package icu.fur93.esp32_car.page
+
+import androidx.compose.runtime.Composable
+import androidx.navigation.NavController
+import icu.fur93.esp32_car.ui.layout.ControlModeLayout
+
+@Composable
+fun ControlPathfinderModePage(navController: NavController) {
+    ControlModeLayout(
+        content = {
+        },
+        onBack = { navController.navigateUp() }
+    )
+}

app/src/main/java/icu/fur93/esp32_car/page/ControlSingleJoystickMode.kt

@@ -0,0 +1,14 @@
+package icu.fur93.esp32_car.page
+
+import androidx.compose.runtime.Composable
+import androidx.navigation.NavController
+import icu.fur93.esp32_car.ui.layout.ControlModeLayout
+
+@Composable
+fun ControlSingleJoystickModePage(navController: NavController) {
+    ControlModeLayout(
+        content = {
+        },
+        onBack = { navController.navigateUp() }
+    )
+}

app/src/main/java/icu/fur93/esp32_car/page/HomePage.kt

@@ -0,0 +1,125 @@
+package icu.fur93.esp32_car.page
+
+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.lazy.grid.GridCells
+import androidx.compose.foundation.lazy.grid.LazyVerticalGrid
+import androidx.compose.material3.Button
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.ui.Modifier
+import androidx.navigation.NavHostController
+import icu.fur93.esp32_car.Route
+import icu.fur93.esp32_car.ui.component.BottomNavigationBar
+import icu.fur93.esp32_car.ui.component.CardItem
+import icu.fur93.esp32_car.ui.component.PageTitle
+import icu.fur93.esp32_car.ui.component.StatusCard
+import icu.fur93.esp32_car.ui.component.StatusCardItemText
+import icu.fur93.esp32_car.ui.layout.MainLayout
+
+@Composable
+fun HomePage(navController: NavHostController) {
+    MainLayout(
+        content = {
+            PageTitle("标题还没想好")
+//            HomePageConnectedStatusCard()
+            HomePageUnconnectedStatusCard()
+        },
+        bottomBar = {
+            BottomNavigationBar(
+                currentRoute = Route.Home.route,
+                navController = navController
+            )
+        }
+    )
+}
+
+@Composable
+fun HomePageConnectedStatusCard() {
+    StatusCard(
+        cardItems = listOf(
+            CardItem(
+                title = "当前连接",
+                content = {
+                    StatusCardItemText("名称  Name")
+                    StatusCardItemText("Mac  XX:XX:XX:XX:XX:XX")
+                    StatusCardItemText("版本  001")
+                }
+            ),
+            CardItem(
+                title = "电机状态",
+                content = {
+                    LazyVerticalGrid(
+                        columns = GridCells.Fixed(2)
+                    ) {
+                        item {
+                            StatusCardItemText("A  0 1 255")
+                        }
+                        item {
+                            StatusCardItemText("D  0 1 255")
+                        }
+                        item {
+                            StatusCardItemText("B  1 0 255")
+                        }
+                        item {
+                            StatusCardItemText("C  1 0 255")
+                        }
+                    }
+                }
+            ),
+            CardItem(
+                title = "红外模块状态",
+                content = {
+                    Row(
+                        modifier = Modifier.fillMaxWidth(),
+                        horizontalArrangement = Arrangement.SpaceBetween
+                    ) {
+                        listOf(0, 0, 0, 0, 0).forEach { status ->
+                            StatusCardItemText(status.toString())
+                        }
+                    }
+                }
+            ),
+            CardItem(
+                title = "超声波状态",
+                content = {
+                    Row(
+                        modifier = Modifier.fillMaxWidth()
+                    ) {
+                        Column(Modifier.weight(1f)) {
+                            StatusCardItemText("舵机角度  90")
+                        }
+                        Column(Modifier.weight(1f)) {
+                            StatusCardItemText("舵机角度  20mm")
+                        }
+                    }
+                }
+            )
+        )
+    )
+}
+
+@Composable
+fun HomePageUnconnectedStatusCard() {
+    StatusCard(
+        cardItems = listOf(
+            CardItem(
+                title = "设备未连接",
+                content = {
+                    StatusCardItemText("请先连接设备")
+                }
+            )
+        ),
+        bottomControl = {
+            Button(
+                onClick = {
+
+                }
+            ) {
+                Text("连接设备")
+            }
+        }
+    )
+}

app/src/main/java/icu/fur93/esp32_car/page/LegacyControlPage.kt

@@ -0,0 +1,314 @@
+package icu.fur93.esp32_car.page
+
+import android.bluetooth.le.ScanResult
+import androidx.compose.foundation.layout.Arrangement
+import androidx.compose.foundation.layout.Box
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.Row
+import androidx.compose.foundation.layout.fillMaxHeight
+import androidx.compose.foundation.layout.fillMaxSize
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.height
+import androidx.compose.foundation.layout.padding
+import androidx.compose.foundation.layout.width
+import androidx.compose.foundation.lazy.LazyColumn
+import androidx.compose.foundation.lazy.items
+import androidx.compose.material3.AlertDialog
+import androidx.compose.material3.Button
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.Slider
+import androidx.compose.material3.Text
+import androidx.compose.material3.TextButton
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.getValue
+import androidx.compose.runtime.mutableStateOf
+import androidx.compose.runtime.remember
+import androidx.compose.runtime.rememberCoroutineScope
+import androidx.compose.runtime.setValue
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.graphics.graphicsLayer
+import androidx.compose.ui.unit.dp
+import icu.fur93.esp32_car.CarController
+import icu.fur93.esp32_car.LogDirection
+import icu.fur93.esp32_car.ui.component.Joystick
+import icu.fur93.esp32_car.ui.component.JoystickState
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
+import java.text.SimpleDateFormat
+import java.util.Date
+import java.util.Locale
+
+
+@Composable
+fun ControlJoystick(
+    modifier: Modifier,
+    carController: CarController,
+    joystickState: JoystickState,
+    onJoystickStateChange: (JoystickState) -> Unit
+) {
+    // 记住上一次发送的状态和时间
+    val lastSentState = remember { mutableStateOf(JoystickState()) }
+    val lastSentTime = remember { mutableStateOf(0L) }
+
+    // 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)
+
+            // 更新上次发送的状态和时间
+            lastSentState.value = state
+            lastSentTime.value = currentTime
+        }
+    }
+}
+
+@Composable
+fun GamepadScreen(
+    deviceList: List<ScanResult>,
+    isConnected: Boolean,
+    onStartScan: () -> Unit,
+    onConnect: (ScanResult) -> Unit,
+    carController: CarController
+) {
+    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()) {
+            // 电机状态显示区域
+            Row(
+                modifier = Modifier
+                    .fillMaxWidth()
+                    .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 {
+                    Text("电机A")
+                    Text("PWM: ${carController.carState.value.motorAState.pwm}")
+                    Text("IN1: ${carController.carState.value.motorAState.in1}")
+                    Text("IN2: ${carController.carState.value.motorAState.in2}")
+                }
+
+                // 电机B状态
+                Column {
+                    Text("电机B")
+                    Text("PWM: ${carController.carState.value.motorBState.pwm}")
+                    Text("IN1: ${carController.carState.value.motorBState.in1}")
+                    Text("IN2: ${carController.carState.value.motorBState.in2}")
+                }
+
+                // 电机C状态
+                Column {
+                    Text("电机C")
+                    Text("PWM: ${carController.carState.value.motorCState.pwm}")
+                    Text("IN1: ${carController.carState.value.motorCState.in1}")
+                    Text("IN2: ${carController.carState.value.motorCState.in2}")
+                }
+
+                // 电机D状态
+                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 },
+                ) {
+                    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)
+                        .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)
+                    )
+                }
+            }
+        }
+
+        // 设备列表对话框
+        if (showDeviceList) {
+            AlertDialog(
+                onDismissRequest = { showDeviceList = false },
+                title = { Text("选择设备") },
+                text = {
+                    // 设备列表
+                    LazyColumn {
+                        items(deviceList) { device ->
+                            TextButton(
+                                onClick = {
+                                    onConnect(device)
+                                    showDeviceList = false
+                                },
+                                modifier = Modifier.fillMaxWidth()
+                            ) {
+                                Column(
+                                    modifier = Modifier.fillMaxWidth(),
+                                    horizontalAlignment = Alignment.Start
+                                ) {
+                                    Text(device.device.name ?: "未知设备")
+                                    Text(
+                                        device.device.address,
+                                        style = MaterialTheme.typography.bodySmall
+                                    )
+                                }
+                            }
+                        }
+                    }
+                },
+                dismissButton = {
+                    TextButton(onClick = { onStartScan() }) {
+                        Text("扫描设备")
+                    }
+                },
+                confirmButton = {
+                    TextButton(onClick = { showDeviceList = false }) {
+                        Text("取消")
+                    }
+                }
+            )
+        }
+    }
+}

app/src/main/java/icu/fur93/esp32_car/page/SettingsPage.kt

@@ -0,0 +1,21 @@
+package icu.fur93.esp32_car.page
+
+import androidx.compose.runtime.Composable
+import androidx.navigation.NavHostController
+import icu.fur93.esp32_car.Route
+import icu.fur93.esp32_car.ui.component.BottomNavigationBar
+import icu.fur93.esp32_car.ui.layout.MainLayout
+
+@Composable
+fun SettingsPage(navController: NavHostController) {
+    MainLayout(
+        content = {
+        },
+        bottomBar = {
+            BottomNavigationBar(
+                currentRoute = Route.Settings.route,
+                navController = navController
+            )
+        }
+    )
+}

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

@@ -0,0 +1,62 @@
+package icu.fur93.esp32_car.ui.component
+
+import androidx.compose.material.icons.Icons
+import androidx.compose.material.icons.automirrored.filled.Send
+import androidx.compose.material.icons.filled.Home
+import androidx.compose.material.icons.filled.Settings
+import androidx.compose.material3.Icon
+import androidx.compose.material3.NavigationBar
+import androidx.compose.material3.NavigationBarItem
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.ui.graphics.vector.ImageVector
+import androidx.navigation.NavHostController
+import androidx.navigation.NavOptions
+import icu.fur93.esp32_car.Route
+
+data class BottomNavigationItem(
+    val title: String,
+    val icon: ImageVector,
+    val selectedIcon: ImageVector,
+    val route: Route
+)
+
+@Composable
+fun BottomNavigationBar(
+    currentRoute: String,
+    navController: NavHostController
+) {
+    val navItems = listOf(
+        BottomNavigationItem(
+            title = "主页",
+            icon = Icons.Default.Home,
+            selectedIcon = Icons.Default.Home,
+            route = Route.Home
+        ),
+        BottomNavigationItem(
+            title = "控制",
+            icon = Icons.AutoMirrored.Filled.Send,
+            selectedIcon = Icons.AutoMirrored.Filled.Send,
+            route = Route.Control
+        ),
+        BottomNavigationItem(
+            title = "设置",
+            icon = Icons.Default.Settings,
+            selectedIcon = Icons.Default.Settings,
+            route = Route.Settings
+        )
+    )
+
+    NavigationBar() {
+        navItems.forEachIndexed{ _, item ->
+            NavigationBarItem(
+                icon = { Icon(if (currentRoute == item.route.route) item.selectedIcon else item.icon, item.title) },
+                label = { Text(item.title) },
+                selected = currentRoute == item.route.route,
+                onClick = {
+                    navController.navigate(item.route.route)
+                }
+            )
+        }
+    }
+}

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

@@ -3,6 +3,7 @@ package icu.fur93.esp32_car.ui.component
 import androidx.compose.foundation.Canvas
 import androidx.compose.foundation.gestures.detectDragGestures
 import androidx.compose.foundation.layout.*
+import androidx.compose.material3.MaterialTheme
 import androidx.compose.material3.Text
 import androidx.compose.runtime.*
 import androidx.compose.ui.Modifier
@@ -38,6 +39,9 @@ fun Joystick(
     val radius = size / 2
     val innerRadius = radius * 0.4f
 
+    val surfaceColor = MaterialTheme.colorScheme.surfaceDim
+    val primaryColor = MaterialTheme.colorScheme.primary
+
     // 创建摇杆
     Canvas(
         modifier = modifier
@@ -77,10 +81,10 @@ fun Joystick(
         }
 
         // 绘制底部圆形
-        drawJoystickBase(centerPoint, radius)
+        drawJoystickBase(centerPoint, radius, surfaceColor)
 
         // 绘制摇杆
-        drawJoystickKnob(stickPosition, innerRadius)
+        drawJoystickKnob(stickPosition, innerRadius, primaryColor)
     }
 }
 
@@ -134,18 +138,18 @@ private fun calculateJoystickState(
 }
 
 // 绘制底部圆形
-private fun DrawScope.drawJoystickBase(center: Offset, radius: Float) {
+private fun DrawScope.drawJoystickBase(center: Offset, radius: Float, color: Color) {
     drawCircle(
-        color = Color.Gray.copy(alpha = 0.3f),
+        color = color,
         radius = radius,
         center = center
     )
 }
 
 // 绘制摇杆球
-private fun DrawScope.drawJoystickKnob(position: Offset, radius: Float) {
+private fun DrawScope.drawJoystickKnob(position: Offset, radius: Float, color: Color) {
     drawCircle(
-        color = Color.Blue.copy(alpha = 0.5f),
+        color = color,
         radius = radius,
         center = position
     )

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

@@ -0,0 +1,37 @@
+package icu.fur93.esp32_car.ui.component
+
+import android.annotation.SuppressLint
+import androidx.compose.foundation.layout.Spacer
+import androidx.compose.foundation.layout.height
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.text.TextStyle
+import androidx.compose.ui.text.font.FontWeight
+import androidx.compose.ui.unit.dp
+import androidx.compose.ui.unit.sp
+import icu.fur93.esp32_car.ui.theme.PageTitleTextStyle
+
+@Composable
+fun PageTitle(
+    text: String,
+    @SuppressLint("ModifierParameter") modifier: Modifier? = null
+) {
+    if (modifier != null) {
+        Text(
+            text = text,
+            style = PageTitleTextStyle,
+            modifier = modifier
+        )
+    } else {
+        Text(
+            text = text,
+            style = TextStyle(
+                fontSize = 32.sp,
+                fontWeight = FontWeight.Black
+            )
+        )
+        Spacer(Modifier.height(24.dp))
+    }
+
+}

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

@@ -0,0 +1,68 @@
+package icu.fur93.esp32_car.ui.component
+
+import androidx.compose.foundation.layout.Arrangement
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.Row
+import androidx.compose.foundation.layout.Spacer
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.height
+import androidx.compose.foundation.layout.padding
+import androidx.compose.material3.Card
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.unit.dp
+import icu.fur93.esp32_car.ui.theme.CardTypography
+
+data class CardItem(
+    val title: String,
+    val content: @Composable () -> Unit
+)
+
+@Composable
+fun StatusCard(
+    cardItems: List<CardItem>,
+    bottomControl: @Composable() (() -> Unit?)? = null
+) {
+    Card (Modifier.fillMaxWidth()) {
+        Column(Modifier.fillMaxWidth().padding(20.dp)) {
+            cardItems.forEachIndexed { index, item ->
+                StatusCardTitle(item.title)
+                Spacer(Modifier.height(2.dp))
+                item.content()
+                if (index != cardItems.size - 1) {
+                    Spacer(Modifier.height(16.dp))
+                }
+            }
+            if (bottomControl != null) {
+                Spacer(Modifier.height(20.dp))
+                Row (
+                    modifier = Modifier.fillMaxWidth(),
+                    horizontalArrangement = Arrangement.End
+                ) {
+                    bottomControl()
+                }
+            }
+        }
+    }
+}
+
+@Composable
+fun StatusCardTitle (
+    text: String
+) {
+    Text(
+        text = text,
+        style = CardTypography.TitleTextStyle
+    )
+}
+
+@Composable
+fun StatusCardItemText (
+    text: String
+) {
+    Text(
+        text = text,
+        style = CardTypography.ItemTextStyle
+    )
+}

app/src/main/java/icu/fur93/esp32_car/ui/layout/ControlModeLayout.kt

@@ -0,0 +1,21 @@
+package icu.fur93.esp32_car.ui.layout
+
+import androidx.compose.foundation.layout.Box
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.fillMaxSize
+import androidx.compose.runtime.Composable
+import androidx.compose.ui.Modifier
+
+@Composable
+fun ControlModeLayout(
+    content: @Composable () -> Unit,
+    onBack: () -> Unit
+) {
+    Column(
+        modifier = Modifier.fillMaxSize()
+    ) {
+        Box(modifier = Modifier.weight(1f)) {
+            content()
+        }
+    }
+}

app/src/main/java/icu/fur93/esp32_car/ui/layout/MainLayout.kt

@@ -0,0 +1,27 @@
+package icu.fur93.esp32_car.ui.layout
+
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.fillMaxSize
+import androidx.compose.foundation.layout.padding
+import androidx.compose.material3.Scaffold
+import androidx.compose.runtime.Composable
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.unit.dp
+
+@Composable
+fun MainLayout(
+    content: @Composable () -> Unit,
+    bottomBar: @Composable () -> Unit
+) {
+    Column(
+        modifier = Modifier.fillMaxSize()
+    ) {
+        Scaffold(
+            bottomBar = bottomBar
+        ) { innerPadding ->
+            Column (Modifier.padding(innerPadding).padding(22.dp)) {
+                content()
+            }
+        }
+    }
+}

app/src/main/java/icu/fur93/esp32_car/ui/theme/Type.kt

@@ -14,7 +14,7 @@ val Typography = Typography(
         fontSize = 16.sp,
         lineHeight = 24.sp,
         letterSpacing = 0.5.sp
-    )
+    ),
     /* Other default text styles to override
     titleLarge = TextStyle(
         fontFamily = FontFamily.Default,
@@ -31,4 +31,20 @@ val Typography = Typography(
         letterSpacing = 0.5.sp
     )
     */
+)
+
+object CardTypography {
+    val TitleTextStyle = TextStyle(
+        fontSize = 18.sp,
+        fontWeight = FontWeight.SemiBold
+    )
+    val ItemTextStyle = TextStyle(
+        fontSize = 14.sp,
+        fontWeight = FontWeight.Medium
+    )
+}
+
+val PageTitleTextStyle = TextStyle(
+    fontSize = 32.sp,
+    fontWeight = FontWeight.Black
 )

app/src/main/java/icu/fur93/esp32_car/viewmodel/MainViewModel.kt

@@ -0,0 +1,2 @@
+package icu.fur93.esp32_car.viewmodel
+

gradle/libs.versions.toml

@@ -9,6 +9,7 @@ lifecycleRuntimeKtx = "2.8.6"
 activityCompose = "1.9.3"
 composeBom = "2024.04.01"
 roomKtx = "2.6.1"
+navigationCompose = "2.8.5"
 
 [libraries]
 androidx-core-ktx = { group = "androidx.core", name = "core-ktx", version.ref = "coreKtx" }
@@ -26,6 +27,7 @@ androidx-ui-test-manifest = { group = "androidx.compose.ui", name = "ui-test-man
 androidx-ui-test-junit4 = { group = "androidx.compose.ui", name = "ui-test-junit4" }
 androidx-material3 = { group = "androidx.compose.material3", name = "material3" }
 androidx-room-ktx = { group = "androidx.room", name = "room-ktx", version.ref = "roomKtx" }
+androidx-navigation-compose = { group = "androidx.navigation", name = "navigation-compose", version.ref = "navigationCompose" }
 
 [plugins]
 android-application = { id = "com.android.application", version.ref = "agp" }