feat: basic frame

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

@@ -1,184 +0,0 @@
-package icu.fur93.esp32_car
-
-import android.bluetooth.BluetoothGatt
-import android.bluetooth.BluetoothGattCharacteristic
-import android.util.Log
-import androidx.compose.runtime.State
-import androidx.compose.runtime.mutableStateOf
-import androidx.room.util.copy
-
-class CarCommand {
-    companion object {
-        // 数据包头尾定义
-        const val PACKET_T_HEAD = 0x00u
-        const val PACKET_T_TAIL = 0xFFu
-        const val PACKET_R_HEAD = 0x01u
-        const val PACKET_R_TAIL = 0xFEu
-        const val PACKET_MAX_LENGTH = 32u // 数据包最大长度
-
-        // 指令定义
-        const val CMD_GET_BT_STATUS = 0x10u
-        const val CMD_GET_SPIFFS_STATUS = 0x11u
-        const val CMD_GET_DISTANCE = 0x12u
-        const val CMD_MOTOR_MOVE_CONTROL = 0x20u
-        const val CMD_MOTOR_STEER_CONTROL = 0x21u
-        const val CMD_MOTOR_SINGLE_CONTROL = 0x22u
-        const val CMD_MOTOR_ROTATE_CONTROL = 0x23u
-        const val CMD_MOTOR_XYR_CONTROL = 0x24u
-        const val CMD_DEMO_PID = 0xf0u
-        const val CMD_DEMO_PATH = 0xf1u
-
-        const val CMD_STATUS_MOTOR = 0xE0u
-    }
-}
-
-data class MotorState(
-    var pwm: UInt = 0u,
-    var in1: UInt = 0u,
-    var in2: UInt = 0u
-)
-
-data class CarState(
-    var controlState: CarControlState = CarControlState(),
-    var motorAState: MotorState = MotorState(),
-    var motorBState: MotorState = MotorState(),
-    var motorCState: MotorState = MotorState(),
-    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())
-    val carState: State<CarState> = _carState
-    
-    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,
-        motorB: MotorState? = null,
-        motorC: MotorState? = null,
-        motorD: MotorState? = null
-    ) {
-        _carState.value.motorAState = motorA ?: _carState.value.motorAState
-        _carState.value.motorBState = motorB ?: _carState.value.motorBState
-        _carState.value.motorCState = motorC ?: _carState.value.motorCState
-        _carState.value.motorDState = motorD ?: _carState.value.motorDState
-    }
-
-    private fun sendCommand(command: ByteArray) {
-        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()))
-    }
-
-    fun moveBackward(speed: Int = 255) {
-        sendCommand(byteArrayOf(CarCommand.PACKET_T_HEAD.toByte(), 0x06, CarCommand.CMD_MOTOR_MOVE_CONTROL.toByte(), 0x02, speed.toByte(), CarCommand.PACKET_T_TAIL.toByte()))
-    }
-
-    fun turnLeft(speed: Int = 255) {
-        sendCommand(byteArrayOf(CarCommand.PACKET_T_HEAD.toByte(), 0x06, CarCommand.CMD_MOTOR_STEER_CONTROL.toByte(), 0x00, speed.toByte(), CarCommand.PACKET_T_TAIL.toByte()))
-    }
-
-    fun turnRight(speed: Int = 255) {
-        sendCommand(byteArrayOf(CarCommand.PACKET_T_HEAD.toByte(), 0x06, CarCommand.CMD_MOTOR_STEER_CONTROL.toByte(), 0x01, speed.toByte(), CarCommand.PACKET_T_TAIL.toByte()))
-    }
-
-    fun stop() {
-        sendCommand(byteArrayOf(CarCommand.PACKET_T_HEAD.toByte(), 0x06, CarCommand.CMD_MOTOR_MOVE_CONTROL.toByte(), 0x00, 0x00, CarCommand.PACKET_T_TAIL.toByte()))
-    }
-
-    fun sendXYR(x: Int, y: Int, r: Int) {
-        sendCommand(byteArrayOf(CarCommand.PACKET_T_HEAD.toByte(), 0x07, CarCommand.CMD_MOTOR_XYR_CONTROL.toByte(), x.toByte(), y.toByte(), r.toByte(), CarCommand.PACKET_T_TAIL.toByte()))
-    }
-
-    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() && 
-            packet.size == packet[1].toUByte().toInt() && 
-            packet[packet[1].toUByte().toInt() - 1].toUByte() == CarCommand.PACKET_R_TAIL.toUByte()) {
-            val command = packet[2].toUByte()
-            val data = packet.sliceArray(3 until packet[1].toUByte().toInt() - 1)
-
-            Log.d("CarController", "command: 0x%02X".format(command.toInt() and 0xFF))
-
-            // 解析数据包
-            when (command.toUInt()) {
-                // `01 0C E0 电机A_IN_1_2 电机A_PWM 电机B_IN_1_2 电机B_PWM 电机C_IN_1_2 电机C_PWM 电机D_IN_1_2 电机D_PWM FE`
-                CarCommand.CMD_STATUS_MOTOR -> {
-
-                    Log.d("CarController", "status motor data: ${data.joinToString(" ") { "0x%02X".format(it) }}")
-
-                    // 创建新的状态对象
-                    _carState.value = _carState.value.copy(
-                        motorAState = MotorState(
-                            pwm = data[1].toUByte().toUInt(),
-                            in1 = data[0].toUByte().toUInt() and 1u,
-                            in2 = (data[0].toUByte().toUInt() shr 1) and 1u
-                        ),
-                        motorBState = MotorState(
-                            pwm = data[3].toUByte().toUInt(),
-                            in1 = data[2].toUByte().toUInt() and 1u,
-                            in2 = (data[2].toUByte().toUInt() shr 1) and 1u
-                        ),
-                        motorCState = MotorState(
-                            pwm = data[5].toUByte().toUInt(),
-                            in1 = data[4].toUByte().toUInt() and 1u,
-                            in2 = (data[4].toUByte().toUInt() shr 1) and 1u
-                        ),
-                        motorDState = MotorState(
-                            pwm = data[7].toUByte().toUInt(),
-                            in1 = data[6].toUByte().toUInt() and 1u,
-                            in2 = (data[6].toUByte().toUInt() shr 1) and 1u
-                        )
-                    )
-                }
-            }
-        }
-    }
-
-    // 清除日志
-    fun clearLogs() {
-        _logs.value = emptyList()
-    }
-}
-
-class CarControlState {
-    public var speed: UInt = 0u
-    public var direction: UInt = 0u
-}

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

@@ -1,6 +1,7 @@
 package icu.fur93.esp32_car
 
 import android.Manifest
+import android.annotation.SuppressLint
 import android.bluetooth.BluetoothAdapter
 import android.bluetooth.BluetoothGatt
 import android.bluetooth.BluetoothGattCallback
@@ -11,7 +12,6 @@ import android.bluetooth.le.ScanCallback
 import android.bluetooth.le.ScanFilter
 import android.bluetooth.le.ScanResult
 import android.bluetooth.le.ScanSettings
-import android.content.pm.ActivityInfo
 import android.content.pm.PackageManager
 import android.os.Build
 import android.os.Bundle
@@ -22,22 +22,16 @@ import android.util.Log
 import android.view.WindowManager
 import androidx.activity.ComponentActivity
 import androidx.activity.compose.setContent
+import androidx.activity.viewModels
 import androidx.compose.foundation.layout.*
-import androidx.compose.foundation.lazy.LazyColumn
-import androidx.compose.foundation.lazy.items
 import androidx.compose.material3.*
 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.lifecycle.ViewModel
-import androidx.core.view.WindowCompat
+import androidx.lifecycle.ViewModelProvider
-import androidx.core.view.WindowInsetsCompat
+import androidx.lifecycle.lifecycleScope
-import androidx.core.view.WindowInsetsControllerCompat
 import androidx.navigation.compose.NavHost
 import androidx.navigation.compose.composable
 import androidx.navigation.compose.rememberNavController
@@ -45,50 +39,29 @@ 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.repository.BluetoothRepositoryImpl
-import icu.fur93.esp32_car.ui.component.JoystickState
 import icu.fur93.esp32_car.ui.theme.Esp32carTheme
-import kotlinx.coroutines.delay
+import icu.fur93.esp32_car.viewmodel.CarControlUseCase
-import kotlinx.coroutines.launch
+import icu.fur93.esp32_car.viewmodel.CarViewModel
 import java.util.UUID
-import java.text.SimpleDateFormat
-import java.util.Date
-import java.util.Locale
 
 class MainActivity : ComponentActivity() {
-    private val serviceUUID = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
+    private val bluetoothRepository by lazy {
-    private val rxCharUUID = "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
+        BluetoothRepositoryImpl(this, lifecycleScope)
-    private val txCharUUID = "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
-
-    private var bleScanner: BluetoothLeScanner? = null
-
-    // 将deviceList移动到Activity作用域内并使用MutableList
-    private val deviceList = mutableListOf<ScanResult>()
-
-    // 添加可观察的连接状态
-    private val _isConnected = mutableStateOf(false)
-    val isConnected: State<Boolean> = _isConnected
-
-    private val scanCallback = object : ScanCallback() {
-        override fun onScanResult(callbackType: Int, result: ScanResult) {
-            super.onScanResult(callbackType, result)
-            Log.d("MainActivity", "onScanResult: ${result.device.name} - ${result.device.address}")
-            if (!deviceList.any { it.device.address == result.device.address }) {
-                deviceList.add(result)
-            }
-        }
-
-        override fun onScanFailed(errorCode: Int) {
-            super.onScanFailed(errorCode)
-            Log.e("MainActivity", "扫描失败，错误码: $errorCode")
-        }
     }
 
-    private val carController by lazy {
+    private val carControlUseCase by lazy {
-        CarController { }
+        CarControlUseCase(bluetoothRepository)
+    }
+
+    private val viewModel by viewModels<CarViewModel> {
+        object : ViewModelProvider.Factory {
+            override fun <T : ViewModel> create(modelClass: Class<T>): T {
+                return CarViewModel(carControlUseCase, bluetoothRepository) as T
+            }
+        }
     }
 
     override fun onCreate(savedInstanceState: Bundle?) {
@@ -100,18 +73,6 @@ class MainActivity : ComponentActivity() {
                 WindowManager.LayoutParams.LAYOUT_IN_DISPLAY_CUTOUT_MODE_SHORT_EDGES
         }
 
-//        window.statusBarColor = ContextCompat
-//
-//        // 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
-
         // 检查并请求所有必要的权限
         val requiredPermissions = arrayOf(
             Manifest.permission.BLUETOOTH_SCAN,
@@ -130,158 +91,15 @@ class MainActivity : ComponentActivity() {
                 missingPermissions.toTypedArray(),
                 BLUETOOTH_PERMISSION_REQUEST_CODE
             )
-        } else {
-            // 如果已经有所有权限，直接开始扫描
-            val bluetoothAdapter = BluetoothAdapter.getDefaultAdapter()
-            bleScanner = bluetoothAdapter?.bluetoothLeScanner
-            startBleScan()
         }
 
         setContent {
             Esp32carTheme {
-//                GamepadScreen(
+                App(viewModel)
-//                    deviceList = deviceList,
-//                    isConnected = isConnected.value,
-//                    onStartScan = ::startBleScan,
-//                    onConnect = ::connectToDevice,
-//                    carController = carController
-//                )
-                App()
             }
         }
     }
 
-    private fun connectToDevice(result: ScanResult) {
-        if (ActivityCompat.checkSelfPermission(
-                this,
-                Manifest.permission.BLUETOOTH_CONNECT
-            ) != PackageManager.PERMISSION_GRANTED
-        ) {
-            ActivityCompat.requestPermissions(
-                this,
-                arrayOf(Manifest.permission.BLUETOOTH_CONNECT),
-                BLUETOOTH_PERMISSION_REQUEST_CODE
-            )
-            return
-        }
-
-        result.device.connectGatt(this, false, object : BluetoothGattCallback() {
-            override fun onConnectionStateChange(gatt: BluetoothGatt?, status: Int, newState: Int) {
-                super.onConnectionStateChange(gatt, status, newState)
-                when (newState) {
-                    BluetoothGatt.STATE_CONNECTED -> {
-                        carController.bluetoothGatt = gatt
-                        _isConnected.value = true
-                        gatt?.discoverServices()
-                    }
-
-                    BluetoothGatt.STATE_DISCONNECTED -> {
-                        _isConnected.value = false
-                        carController.bluetoothGatt = null
-                    }
-                }
-            }
-
-            override fun onServicesDiscovered(gatt: BluetoothGatt?, status: Int) {
-                super.onServicesDiscovered(gatt, status)
-                if (status == BluetoothGatt.GATT_SUCCESS) {
-                    gatt?.getService(UUID.fromString(serviceUUID))?.let { service ->
-                        carController.bluetoothGatt = gatt
-                        carController.rxCharacteristic =
-                            service.getCharacteristic(UUID.fromString(rxCharUUID))
-
-                        // 注册通知监听器
-                        val txCharacteristic =
-                            service.getCharacteristic(UUID.fromString(txCharUUID))
-                        gatt.setCharacteristicNotification(txCharacteristic, true)
-                        txCharacteristic.descriptors.forEach { descriptor ->
-                            descriptor.value = BluetoothGattDescriptor.ENABLE_NOTIFICATION_VALUE
-                            gatt.writeDescriptor(descriptor)
-                        }
-                    }
-                }
-            }
-
-            override fun onCharacteristicChanged(
-                gatt: BluetoothGatt,
-                characteristic: BluetoothGattCharacteristic,
-                value: ByteArray
-            ) {
-                super.onCharacteristicChanged(gatt, characteristic, value)
-                if (characteristic.uuid == UUID.fromString(txCharUUID)) {
-                    carController.onReceivePacket(value)
-                }
-            }
-        })
-    }
-
-    private fun startBleScan() {
-        if (ActivityCompat.checkSelfPermission(
-                this,
-                Manifest.permission.BLUETOOTH_SCAN
-            ) != PackageManager.PERMISSION_GRANTED
-        ) {
-            ActivityCompat.requestPermissions(
-                this,
-                arrayOf(
-                    Manifest.permission.BLUETOOTH_SCAN,
-                    Manifest.permission.ACCESS_FINE_LOCATION
-                ),
-                BLUETOOTH_PERMISSION_REQUEST_CODE
-            )
-            return
-        }
-
-        // 先停止当前扫描
-        try {
-            bleScanner?.stopScan(scanCallback)
-        } catch (e: Exception) {
-            Log.e("MainActivity", "停止扫描失败: ${e.message}")
-        }
-
-        // 清空之前的扫描结果
-        deviceList.clear()
-
-        Log.d("MainActivity", "开始扫描...")
-
-        // 添加UUID过滤器
-        val scanFilter = ScanFilter.Builder()
-            .setServiceUuid(ParcelUuid.fromString(serviceUUID))
-            .build()
-
-        val scanSettings = ScanSettings.Builder()
-            .setScanMode(ScanSettings.SCAN_MODE_LOW_LATENCY)
-            .build()
-
-        try {
-//            bleScanner?.startScan(listOf(scanFilter), scanSettings, scanCallback)
-            bleScanner?.startScan(scanCallback)
-        } catch (e: Exception) {
-            Log.e("MainActivity", "开始扫描失败: ${e.message}")
-        }
-
-        // 10秒后停止扫描
-        Handler(Looper.getMainLooper()).postDelayed({
-            stopBleScan()
-            Log.d("MainActivity", "停止扫描，发现 ${deviceList.size} 个设备")
-        }, 10000)
-    }
-
-    private fun stopBleScan() {
-        if (ActivityCompat.checkSelfPermission(
-                this,
-                Manifest.permission.BLUETOOTH_SCAN
-            ) != PackageManager.PERMISSION_GRANTED
-        ) {
-            return
-        }
-        try {
-            bleScanner?.stopScan(scanCallback)
-        } catch (e: Exception) {
-            Log.e("MainActivity", "停止扫描失败: ${e.message}")
-        }
-    }
-
     // 添加权限请求结果处理
     override fun onRequestPermissionsResult(
         requestCode: Int,
@@ -292,28 +110,19 @@ class MainActivity : ComponentActivity() {
         if (requestCode == BLUETOOTH_PERMISSION_REQUEST_CODE) {
             if (grantResults.all { it == PackageManager.PERMISSION_GRANTED }) {
                 Log.d("MainActivity", "所有权限已获得")
-                // 权限获得后重新初始化蓝牙
-                val bluetoothAdapter = BluetoothAdapter.getDefaultAdapter()
-                bleScanner = bluetoothAdapter?.bluetoothLeScanner
             } else {
                 Log.e("MainActivity", "部分权限未获得")
             }
         }
     }
 
-    override fun onDestroy() {
-        super.onDestroy()
-        // 确保在Activity销毁时停止扫描
-        stopBleScan()
-    }
-
     companion object {
         private const val BLUETOOTH_PERMISSION_REQUEST_CODE = 1
     }
 }
 
 @Composable
-fun App() {
+fun App(viewModel: CarViewModel) {
     val activity = LocalContext.current as MainActivity
     activity.window.statusBarColor = MaterialTheme.colorScheme.background.toArgb()
 
@@ -323,9 +132,9 @@ fun App() {
         navController = navController,
         startDestination = Route.Home.route
     ) {
-        composable(Route.Home.route) { HomePage(navController) }
+        composable(Route.Home.route) { HomePage(navController, viewModel) }
-        composable(Route.Control.route) { ControlPage(navController) }
+        composable(Route.Control.route) { ControlPage(navController, viewModel) }
-        composable(Route.Settings.route) { SettingsPage(navController) }
+        composable(Route.Settings.route) { SettingsPage(navController, viewModel) }
         composable(Route.ControlPathfinderMode.route) { ControlPathfinderModePage(navController) }
         composable(Route.ControlSingleJoystickMode.route) { ControlSingleJoystickModePage(navController) }
         composable(Route.ControlGamepadMode.route) { ControlGamepadModePage(navController) }

app/src/main/java/icu/fur93/esp32_car/entity/BleDevice.kt

@@ -0,0 +1,18 @@
+package icu.fur93.esp32_car.entity
+
+import android.bluetooth.BluetoothDevice
+
+data class BleDevice(
+    val device: BluetoothDevice,
+    val rssi: Int,
+    val scanRecord: ByteArray? = null
+) {
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+        other as BleDevice
+        return device.address == other.device.address
+    }
+
+    override fun hashCode(): Int = device.address.hashCode()
+}

app/src/main/java/icu/fur93/esp32_car/entity/ConnectedDeviceInfo.kt

@@ -0,0 +1,7 @@
+package icu.fur93.esp32_car.entity
+
+data class ConnectedDeviceInfo(
+    val name: String = "",
+    val address: String = "",
+    val version: String = ""
+)

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

@@ -3,8 +3,9 @@ package icu.fur93.esp32_car.page
 import androidx.compose.foundation.layout.Column
 import androidx.compose.foundation.layout.Spacer
 import androidx.compose.foundation.layout.height
-import androidx.compose.foundation.layout.padding
 import androidx.compose.runtime.Composable
+import androidx.compose.runtime.collectAsState
+import androidx.compose.runtime.getValue
 import androidx.compose.ui.Modifier
 import androidx.compose.ui.graphics.vector.ImageVector
 import androidx.compose.ui.res.vectorResource
@@ -12,20 +13,29 @@ import androidx.compose.ui.unit.dp
 import androidx.navigation.NavHostController
 import icu.fur93.esp32_car.R
 import icu.fur93.esp32_car.Route
+import icu.fur93.esp32_car.repository.ConnectionState
+import icu.fur93.esp32_car.ui.card.UnconnectedStatusCard
 import icu.fur93.esp32_car.ui.component.BottomNavigationBar
 import icu.fur93.esp32_car.ui.component.CardButtonGroup
 import icu.fur93.esp32_car.ui.component.CardButtonItem
 import icu.fur93.esp32_car.ui.component.PageTitle
 import icu.fur93.esp32_car.ui.layout.MainLayout
 import icu.fur93.esp32_car.ui.theme.LayoutContentModifier
+import icu.fur93.esp32_car.viewmodel.CarViewModel
 
 @Composable
-fun ControlPage(navController: NavHostController) {
+fun ControlPage(navController: NavHostController, viewModel: CarViewModel) {
+    val connectionState by viewModel.connectionState.collectAsState()
+
     MainLayout(
         content = {
             Column (LayoutContentModifier) {
                 PageTitle("控制")
-                ControlPageStatusCard()
+                if (connectionState == ConnectionState.CONNECTED) {
+                    ControlPageStatusCard()
+                } else {
+                    UnconnectedStatusCard(viewModel)
+                }
             }
         },
         bottomBar = {

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

@@ -1,11 +1,12 @@
 package icu.fur93.esp32_car.page
 
 import androidx.compose.foundation.layout.Column
-import androidx.compose.foundation.layout.padding
 import androidx.compose.runtime.Composable
-import androidx.compose.ui.Modifier
+import androidx.compose.runtime.collectAsState
+import androidx.compose.runtime.getValue
 import androidx.navigation.NavHostController
 import icu.fur93.esp32_car.Route
+import icu.fur93.esp32_car.repository.ConnectionState
 import icu.fur93.esp32_car.ui.card.UnconnectedStatusCard
 import icu.fur93.esp32_car.ui.carditem.StatusCardInfo
 import icu.fur93.esp32_car.ui.carditem.StatusCardInfraredStatus
@@ -16,15 +17,21 @@ import icu.fur93.esp32_car.ui.component.PageTitle
 import icu.fur93.esp32_car.ui.component.StatusCard
 import icu.fur93.esp32_car.ui.layout.MainLayout
 import icu.fur93.esp32_car.ui.theme.LayoutContentModifier
+import icu.fur93.esp32_car.viewmodel.CarViewModel
 
 @Composable
-fun HomePage(navController: NavHostController) {
+fun HomePage(navController: NavHostController, viewModel: CarViewModel) {
+    val connectionState by viewModel.connectionState.collectAsState()
+
     MainLayout(
         content = {
-            Column (LayoutContentModifier) {
+            Column(LayoutContentModifier) {
                 PageTitle("标题还没想好")
-                HomePageStatusCard()
+                if (connectionState == ConnectionState.CONNECTED) {
-//            UnconnectedStatusCard()
+                    HomePageStatusCard(viewModel)
+                } else {
+                    UnconnectedStatusCard(viewModel)
+                }
             }
         },
         bottomBar = {
@@ -37,14 +44,16 @@ fun HomePage(navController: NavHostController) {
 }
 
 @Composable
-fun HomePageStatusCard() {
+fun HomePageStatusCard(viewModel: CarViewModel) {
+    val deviceInfo by viewModel.deviceInfo.collectAsState()
+    val carState by viewModel.carState.collectAsState()
+    
     StatusCard(
         cardItems = listOf(
-            StatusCardInfo(),
+            StatusCardInfo(deviceInfo),
-            StatusCardMotorStatus(),
+            StatusCardMotorStatus(carState),
-            StatusCardInfraredStatus(),
+            StatusCardInfraredStatus(carState.infraredState),
-            StatusCardUltrasoundStatus()
+            StatusCardUltrasoundStatus(carState.ultrasoundState)
         )
     )
 }
-

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

@@ -29,8 +29,6 @@ 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

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

@@ -1,27 +1,39 @@
 package icu.fur93.esp32_car.page
 
+import androidx.compose.foundation.clickable
 import androidx.compose.foundation.layout.Column
 import androidx.compose.foundation.layout.padding
 import androidx.compose.foundation.lazy.LazyColumn
+import androidx.compose.material3.AlertDialog
 import androidx.compose.material3.Icon
 import androidx.compose.material3.ListItem
 import androidx.compose.material3.Switch
 import androidx.compose.material3.Text
+import androidx.compose.material3.TextButton
 import androidx.compose.runtime.Composable
+import androidx.compose.runtime.collectAsState
+import androidx.compose.runtime.getValue
+import androidx.compose.runtime.mutableStateOf
+import androidx.compose.runtime.remember
+import androidx.compose.runtime.setValue
 import androidx.compose.ui.Modifier
 import androidx.compose.ui.graphics.vector.ImageVector
 import androidx.compose.ui.res.vectorResource
 import androidx.navigation.NavHostController
 import icu.fur93.esp32_car.R
 import icu.fur93.esp32_car.Route
+import icu.fur93.esp32_car.repository.BluetoothRepositoryImpl
+import icu.fur93.esp32_car.repository.ConnectionState
 import icu.fur93.esp32_car.ui.component.BottomNavigationBar
 import icu.fur93.esp32_car.ui.component.PageTitle
+import icu.fur93.esp32_car.ui.dialog.BleDeviceScanDialog
 import icu.fur93.esp32_car.ui.layout.MainLayout
 import icu.fur93.esp32_car.ui.theme.LayoutContentPadding
 import icu.fur93.esp32_car.ui.theme.LayoutTopPadding
+import icu.fur93.esp32_car.viewmodel.CarViewModel
 
 @Composable
-fun SettingsPage(navController: NavHostController) {
+fun SettingsPage(navController: NavHostController, viewModel: CarViewModel) {
     MainLayout(
         content = {
             Column {
@@ -34,7 +46,7 @@ fun SettingsPage(navController: NavHostController) {
                 ) {
                     PageTitle("设置")
                 }
-                SettingsList()
+                SettingsList(viewModel)
             }
         },
         bottomBar = {
@@ -47,16 +59,10 @@ fun SettingsPage(navController: NavHostController) {
 }
 
 @Composable
-fun SettingsList() {
+fun SettingsList(viewModel: CarViewModel) {
     LazyColumn {
         item {
-            ListItem(
+            SettingConnectDeviceItem(viewModel)
-                headlineContent = { Text("连接设备") },
-                supportingContent = { Text("已连接") },
-                trailingContent = {
-                    Icon(ImageVector.vectorResource(R.drawable.arrow_right_24), "连接设备")
-                }
-            )
         }
         item {
             ListItem(
@@ -80,5 +86,74 @@ fun SettingsList() {
                 }
             )
         }
+        item {
+            ListItem(
+                headlineContent = { Text("PID 参数") },
+                trailingContent = {
+                    Icon(ImageVector.vectorResource(R.drawable.arrow_right_24), "PID 参数")
+                }
+            )
+        }
+    }
+}
+
+@Composable
+fun SettingConnectDeviceItem(viewModel: CarViewModel) {
+    var showScanDialog by remember { mutableStateOf(false) }
+    var showDisconnectDialog by remember { mutableStateOf(false) }
+    
+    val connectionState by viewModel.connectionState.collectAsState()
+    val deviceInfo by viewModel.deviceInfo.collectAsState()
+
+
+    ListItem(
+        headlineContent = { Text("连接设备") },
+        supportingContent = { if (connectionState == ConnectionState.CONNECTED) Text("已连接") else Text("未连接") },
+        trailingContent = {
+            Icon(
+                ImageVector.vectorResource(R.drawable.arrow_right_24),
+                contentDescription = "连接设备"
+            )
+        },
+        modifier = Modifier.clickable {
+            if (connectionState == ConnectionState.CONNECTED) {
+                showDisconnectDialog = true
+            } else if (connectionState == ConnectionState.DISCONNECTED) {
+                showScanDialog = true
+            }
+        }
+    )
+
+    // 扫描设备对话框
+    BleDeviceScanDialog(
+        isVisible = showScanDialog,
+        onDismiss = { showScanDialog = false },
+        viewModel = viewModel
+    )
+
+    // 断开连接确认对话框
+    if (showDisconnectDialog) {
+        AlertDialog(
+            onDismissRequest = { showDisconnectDialog = false },
+            title = { Text("断开连接") },
+            text = { Text("确定要断开与 ${deviceInfo.name} 的连接吗？") },
+            confirmButton = {
+                TextButton(
+                    onClick = {
+                        (viewModel.repository as BluetoothRepositoryImpl).disconnect()
+                        showDisconnectDialog = false
+                    }
+                ) {
+                    Text("确定")
+                }
+            },
+            dismissButton = {
+                TextButton(
+                    onClick = { showDisconnectDialog = false }
+                ) {
+                    Text("取消")
+                }
+            }
+        )
     }
 }

app/src/main/java/icu/fur93/esp32_car/repository/BluetoothRepository.kt

@@ -0,0 +1,245 @@
+package icu.fur93.esp32_car.repository
+
+import android.annotation.SuppressLint
+import android.bluetooth.BluetoothAdapter
+import android.bluetooth.BluetoothDevice
+import android.bluetooth.BluetoothGatt
+import android.bluetooth.BluetoothGattCallback
+import android.bluetooth.BluetoothGattCharacteristic
+import android.bluetooth.BluetoothManager
+import android.bluetooth.BluetoothProfile
+import android.bluetooth.le.ScanCallback
+import android.bluetooth.le.ScanResult
+import android.bluetooth.le.ScanSettings
+import android.content.Context
+import icu.fur93.esp32_car.entity.BleDevice
+import icu.fur93.esp32_car.viewmodel.CarCommands
+import icu.fur93.esp32_car.viewmodel.CarState
+import icu.fur93.esp32_car.viewmodel.LogDirection
+import icu.fur93.esp32_car.viewmodel.LogEntry
+import icu.fur93.esp32_car.viewmodel.MotorState
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.flow.Flow
+import kotlinx.coroutines.flow.MutableStateFlow
+import kotlinx.coroutines.flow.StateFlow
+import kotlinx.coroutines.flow.asStateFlow
+import kotlinx.coroutines.launch
+
+// 蓝牙通信接口
+interface BluetoothRepository {
+    fun sendCommand(command: ByteArray)
+    fun observeCarState(): Flow<CarState>
+    fun observeLogs(): Flow<List<LogEntry>>
+    fun clearLogs()
+}
+
+// 添加连接状态枚举
+enum class ConnectionState {
+    DISCONNECTED,
+    CONNECTING,
+    CONNECTED,
+    DISCONNECTING
+}
+
+// 蓝牙通信实现
+class BluetoothRepositoryImpl(
+    private val context: Context,
+    private val scope: CoroutineScope
+) : BluetoothRepository {
+    private var bluetoothGatt: BluetoothGatt? = null
+    private var rxCharacteristic: BluetoothGattCharacteristic? = null
+
+    private val _carState = MutableStateFlow(CarState())
+    private val _logs = MutableStateFlow<List<LogEntry>>(emptyList())
+
+    private val bluetoothAdapter: BluetoothAdapter? =
+        (context.getSystemService(Context.BLUETOOTH_SERVICE) as BluetoothManager).adapter
+
+    private val _scanResults = MutableStateFlow<List<BleDevice>>(emptyList())
+    val scanResults: StateFlow<List<BleDevice>> = _scanResults.asStateFlow()
+
+    private val _isScanning = MutableStateFlow(false)
+    val isScanning: StateFlow<Boolean> = _isScanning.asStateFlow()
+
+    // 连接状态流
+    private val _connectionState = MutableStateFlow(ConnectionState.DISCONNECTED)
+    val connectionState: StateFlow<ConnectionState> = _connectionState.asStateFlow()
+
+    private val scanCallback = object : ScanCallback() {
+        override fun onScanResult(callbackType: Int, result: ScanResult) {
+            val bleDevice = BleDevice(
+                device = result.device,
+                rssi = result.rssi,
+                scanRecord = result.scanRecord?.bytes
+            )
+
+            val currentList = _scanResults.value.toMutableList()
+            val index = currentList.indexOfFirst { it.device.address == bleDevice.device.address }
+
+            if (index >= 0) {
+                currentList[index] = bleDevice
+            } else {
+                currentList.add(bleDevice)
+            }
+
+            // 按信号强度排序
+            _scanResults.value = currentList.sortedByDescending { it.rssi }
+        }
+    }
+
+    @SuppressLint("MissingPermission")
+    fun startScan() {
+        if (_isScanning.value) return
+
+        _scanResults.value = emptyList()
+        _isScanning.value = true
+
+        val scanner = bluetoothAdapter?.bluetoothLeScanner
+        val settings = ScanSettings.Builder()
+            .setScanMode(ScanSettings.SCAN_MODE_LOW_LATENCY)
+            .build()
+
+        scanner?.startScan(null, settings, scanCallback)
+
+        // 10秒后自动停止扫描
+        scope.launch {
+            delay(10000)
+            stopScan()
+        }
+    }
+
+    @SuppressLint("MissingPermission")
+    fun stopScan() {
+        if (!_isScanning.value) return
+
+        _isScanning.value = false
+        bluetoothAdapter?.bluetoothLeScanner?.stopScan(scanCallback)
+    }
+
+    @SuppressLint("MissingPermission")
+    fun connectToDevice(device: BluetoothDevice) {
+        _connectionState.value = ConnectionState.CONNECTING
+        
+        device.connectGatt(
+            context,
+            false,
+            object : BluetoothGattCallback() {
+                override fun onConnectionStateChange(
+                    gatt: BluetoothGatt,
+                    status: Int,
+                    newState: Int
+                ) {
+                    when (newState) {
+                        BluetoothProfile.STATE_CONNECTED -> {
+                            bluetoothGatt = gatt
+                            _connectionState.value = ConnectionState.CONNECTED
+                            scope.launch(Dispatchers.Main) {
+                                gatt.discoverServices()
+                            }
+                        }
+                        BluetoothProfile.STATE_CONNECTING -> {
+                            _connectionState.value = ConnectionState.CONNECTING
+                        }
+                        BluetoothProfile.STATE_DISCONNECTING -> {
+                            _connectionState.value = ConnectionState.DISCONNECTING
+                        }
+                        BluetoothProfile.STATE_DISCONNECTED -> {
+                            bluetoothGatt = null
+                            rxCharacteristic = null
+                            _connectionState.value = ConnectionState.DISCONNECTED
+                        }
+                    }
+                }
+
+                override fun onServicesDiscovered(gatt: BluetoothGatt, status: Int) {
+                    if (status == BluetoothGatt.GATT_SUCCESS) {
+                        // 找到特定的服务和特征
+                        gatt.services?.forEach { service ->
+                            service.characteristics?.forEach { characteristic ->
+                                // 这里需要根据你的设备具体的UUID来匹配
+                                if (characteristic.uuid.toString() == "YOUR_CHARACTERISTIC_UUID") {
+                                    rxCharacteristic = characteristic
+                                }
+                            }
+                        }
+                    }
+                }
+
+                override fun onCharacteristicChanged(
+                    gatt: BluetoothGatt,
+                    characteristic: BluetoothGattCharacteristic,
+                    value: ByteArray
+                ) {
+                    onReceivePacket(value)
+                }
+            }
+        )
+    }
+
+    @SuppressLint("MissingPermission")
+    override fun sendCommand(command: ByteArray) {
+        rxCharacteristic?.let { characteristic ->
+            characteristic.value = command
+            bluetoothGatt?.writeCharacteristic(characteristic)
+            addLog(LogDirection.SEND, command)
+        }
+    }
+
+    override fun observeCarState(): Flow<CarState> = _carState.asStateFlow()
+    override fun observeLogs(): Flow<List<LogEntry>> = _logs.asStateFlow()
+    override fun clearLogs() {
+        _logs.value = emptyList()
+    }
+
+    private fun addLog(direction: LogDirection, data: ByteArray) {
+        _logs.value += LogEntry(
+            direction = direction,
+            data = data.joinToString(" ") { "0x%02X".format(it) }
+        )
+    }
+
+    fun onReceivePacket(packet: ByteArray) {
+        addLog(LogDirection.RECEIVE, packet)
+        parsePacket(packet)
+    }
+
+    private fun parsePacket(packet: ByteArray) {
+        if (!isValidPacket(packet)) return
+
+        when (packet[2].toUByte().toUInt()) {
+            CarCommands.CMD_STATUS_MOTOR -> updateMotorStatus(packet)
+        }
+    }
+
+    private fun isValidPacket(packet: ByteArray): Boolean =
+        packet[0].toUByte() == CarCommands.PACKET_R_HEAD.toUByte() &&
+                packet.size == packet[1].toUByte().toInt() &&
+                packet[packet[1].toUByte().toInt() - 1].toUByte() == CarCommands.PACKET_R_TAIL.toUByte()
+
+    private fun updateMotorStatus(packet: ByteArray) {
+        val data = packet.sliceArray(3 until packet[1].toUByte().toInt() - 1)
+        _carState.value = _carState.value.copy(
+            motorAState = createMotorState(data, 0),
+            motorBState = createMotorState(data, 2),
+            motorCState = createMotorState(data, 4),
+            motorDState = createMotorState(data, 6)
+        )
+    }
+
+    private fun createMotorState(data: ByteArray, offset: Int) = MotorState(
+        pwm = data[offset + 1].toUByte().toUInt(),
+        in1 = data[offset].toUByte().toUInt() and 1u,
+        in2 = (data[offset].toUByte().toUInt() shr 1) and 1u
+    )
+
+    // 断开连接方法
+    @SuppressLint("MissingPermission")
+    fun disconnect() {
+        bluetoothGatt?.let { gatt ->
+            _connectionState.value = ConnectionState.DISCONNECTING
+            gatt.disconnect()
+        }
+    }
+}

app/src/main/java/icu/fur93/esp32_car/ui/card/UnconnectedStatusCard.kt

@@ -3,12 +3,20 @@ package icu.fur93.esp32_car.ui.card
 import androidx.compose.material3.Button
 import androidx.compose.material3.Text
 import androidx.compose.runtime.Composable
+import androidx.compose.runtime.getValue
+import androidx.compose.runtime.mutableStateOf
+import androidx.compose.runtime.remember
+import androidx.compose.runtime.setValue
 import icu.fur93.esp32_car.ui.component.CardItem
 import icu.fur93.esp32_car.ui.component.StatusCard
 import icu.fur93.esp32_car.ui.component.StatusCardItemText
+import icu.fur93.esp32_car.ui.dialog.BleDeviceScanDialog
+import icu.fur93.esp32_car.viewmodel.CarViewModel
 
 @Composable
-fun UnconnectedStatusCard() {
+fun UnconnectedStatusCard(viewModel: CarViewModel) {
+    var showScanDialog by remember { mutableStateOf(false) }
+
     StatusCard(
         cardItems = listOf(
             CardItem(
@@ -21,11 +29,17 @@ fun UnconnectedStatusCard() {
         bottomControl = {
             Button(
                 onClick = {
-
+                    showScanDialog = true
                 }
             ) {
                 Text("连接设备")
             }
         }
     )
+
+    BleDeviceScanDialog(
+        isVisible = showScanDialog,
+        onDismiss = { showScanDialog = false },
+        viewModel = viewModel
+    )
 }

app/src/main/java/icu/fur93/esp32_car/ui/carditem/StatusCardInfo.kt

@@ -2,18 +2,19 @@ package icu.fur93.esp32_car.ui.carditem
 
 import android.annotation.SuppressLint
 import androidx.compose.runtime.Composable
+import icu.fur93.esp32_car.entity.ConnectedDeviceInfo
 import icu.fur93.esp32_car.ui.component.CardItem
 import icu.fur93.esp32_car.ui.component.StatusCardItemText
 
 @SuppressLint("ComposableNaming")
 @Composable
-fun StatusCardInfo () : CardItem {
+fun StatusCardInfo(deviceInfo: ConnectedDeviceInfo) : CardItem {
     return CardItem(
         title = "当前连接",
         content = {
-            StatusCardItemText("名称  Name")
+            StatusCardItemText("名称  ${deviceInfo.name}")
-            StatusCardItemText("Mac  XX:XX:XX:XX:XX:XX")
+            StatusCardItemText("Mac  ${deviceInfo.address}")
-            StatusCardItemText("版本  001")
+            StatusCardItemText("版本  ${deviceInfo.version}")
         }
     )
 }

app/src/main/java/icu/fur93/esp32_car/ui/carditem/StatusCardInfraredStatus.kt

@@ -8,20 +8,25 @@ import androidx.compose.runtime.Composable
 import androidx.compose.ui.Modifier
 import icu.fur93.esp32_car.ui.component.CardItem
 import icu.fur93.esp32_car.ui.component.StatusCardItemText
+import icu.fur93.esp32_car.viewmodel.InfraredState
 
 @SuppressLint("ComposableNaming")
 @Composable
-fun StatusCardInfraredStatus () : CardItem {
+fun StatusCardInfraredStatus(infraredState: InfraredState): CardItem {
     return CardItem(
         title = "红外模块状态",
         content = {
-            Row(
+            if (infraredState.enable) {
-                modifier = Modifier.fillMaxWidth(),
+                Row(
-                horizontalArrangement = Arrangement.SpaceBetween
+                    modifier = Modifier.fillMaxWidth(),
-            ) {
+                    horizontalArrangement = Arrangement.SpaceBetween
-                listOf(0, 0, 0, 0, 0).forEach { status ->
+                ) {
-                    StatusCardItemText(status.toString())
+                    infraredState.statusList.forEach { status ->
+                        StatusCardItemText(status.toString())
+                    }
                 }
+            } else {
+                StatusCardItemText("未启用")
             }
         }
     )

app/src/main/java/icu/fur93/esp32_car/ui/carditem/StatusCardUltrasoundStatus.kt

@@ -8,22 +8,27 @@ import androidx.compose.runtime.Composable
 import androidx.compose.ui.Modifier
 import icu.fur93.esp32_car.ui.component.CardItem
 import icu.fur93.esp32_car.ui.component.StatusCardItemText
+import icu.fur93.esp32_car.viewmodel.UltrasoundState
 
 @SuppressLint("ComposableNaming")
 @Composable
-fun StatusCardUltrasoundStatus () : CardItem {
+fun StatusCardUltrasoundStatus(ultrasoundState: UltrasoundState): CardItem {
     return CardItem(
         title = "超声波状态",
         content = {
-            Row(
+            if (ultrasoundState.enable) {
-                modifier = Modifier.fillMaxWidth()
+                Row(
-            ) {
+                    modifier = Modifier.fillMaxWidth()
-                Column(Modifier.weight(1f)) {
+                ) {
-                    StatusCardItemText("舵机角度  90")
+                    Column(Modifier.weight(1f)) {
-                }
+                        StatusCardItemText("舵机角度  ${ultrasoundState.servoAngle}")
-                Column(Modifier.weight(1f)) {
+                    }
-                    StatusCardItemText("舵机角度  20mm")
+                    Column(Modifier.weight(1f)) {
+                        StatusCardItemText("障碍距离  ${ultrasoundState.distance}")
+                    }
                 }
+            } else {
+                StatusCardItemText("未启用")
             }
         }
     )

app/src/main/java/icu/fur93/esp32_car/ui/carditem/StautsCardMotorStatus.kt

@@ -6,10 +6,11 @@ import androidx.compose.foundation.lazy.grid.LazyVerticalGrid
 import androidx.compose.runtime.Composable
 import icu.fur93.esp32_car.ui.component.CardItem
 import icu.fur93.esp32_car.ui.component.StatusCardItemText
+import icu.fur93.esp32_car.viewmodel.CarState
 
 @SuppressLint("ComposableNaming")
 @Composable
-fun StatusCardMotorStatus () : CardItem {
+fun StatusCardMotorStatus (carState: CarState) : CardItem {
     return CardItem(
         title = "电机状态",
         content = {
@@ -17,16 +18,16 @@ fun StatusCardMotorStatus () : CardItem {
                 columns = GridCells.Fixed(2)
             ) {
                 item {
-                    StatusCardItemText("A  0 1 255")
+                    StatusCardItemText("A  ${carState.motorAState.in1} ${carState.motorAState.in2} ${carState.motorAState.pwm}")
                 }
                 item {
-                    StatusCardItemText("D  0 1 255")
+                    StatusCardItemText("D  ${carState.motorDState.in1} ${carState.motorDState.in2} ${carState.motorDState.pwm}")
                 }
                 item {
-                    StatusCardItemText("B  1 0 255")
+                    StatusCardItemText("B  ${carState.motorBState.in1} ${carState.motorBState.in2} ${carState.motorBState.pwm}")
                 }
                 item {
-                    StatusCardItemText("C  1 0 255")
+                    StatusCardItemText("C  ${carState.motorCState.in1} ${carState.motorCState.in2} ${carState.motorCState.pwm}")
                 }
             }
         }

app/src/main/java/icu/fur93/esp32_car/ui/dialog/BleDeviceScanDialog.kt

@@ -0,0 +1,118 @@
+package icu.fur93.esp32_car.ui.dialog
+
+import android.annotation.SuppressLint
+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.size
+import androidx.compose.foundation.lazy.LazyColumn
+import androidx.compose.material3.AlertDialog
+import androidx.compose.material3.CircularProgressIndicator
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.Text
+import androidx.compose.material3.TextButton
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.collectAsState
+import androidx.compose.runtime.getValue
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.unit.dp
+import icu.fur93.esp32_car.entity.BleDevice
+import icu.fur93.esp32_car.viewmodel.CarViewModel
+
+@Composable
+fun BleDeviceScanDialog(
+    isVisible: Boolean,
+    onDismiss: () -> Unit,
+    viewModel: CarViewModel
+) {
+    val scanResults by viewModel.scanResults.collectAsState()
+    val isScanning by viewModel.isScanning.collectAsState()
+
+    if (isVisible) {
+        AlertDialog(
+            onDismissRequest = onDismiss,
+            title = {
+                Row(
+                    modifier = Modifier.fillMaxWidth(),
+                    horizontalArrangement = Arrangement.SpaceBetween,
+                    verticalAlignment = Alignment.CenterVertically
+                ) {
+                    Text("扫描蓝牙设备")
+                    if (isScanning) {
+                        CircularProgressIndicator(
+                            modifier = Modifier.size(24.dp),
+                            strokeWidth = 2.dp
+                        )
+                    }
+                }
+            },
+            text = {
+                LazyColumn {
+                    scanResults.forEach { bleDevice ->
+                        item {
+                            DeviceItem(
+                                bleDevice = bleDevice,
+                                onClick = {
+                                    viewModel.connectToDevice(bleDevice.device)
+                                    onDismiss()
+                                }
+                            )
+                        }
+                    }
+
+                }
+            },
+            confirmButton = {
+                TextButton(
+                    onClick = {
+                        if (isScanning) viewModel.stopScan()
+                        else viewModel.startScan()
+                    }
+                ) {
+                    Text(if (isScanning) "停止扫描" else "开始扫描")
+                }
+            },
+            dismissButton = {
+                TextButton(onClick = onDismiss) {
+                    Text("取消")
+                }
+            }
+        )
+    }
+}
+
+@SuppressLint("MissingPermission")
+@Composable
+private fun DeviceItem(
+    bleDevice: BleDevice,
+    onClick: () -> Unit
+) {
+    Row(
+        modifier = Modifier
+            .fillMaxWidth()
+            .clickable(onClick = onClick)
+            .padding(vertical = 8.dp),
+        horizontalArrangement = Arrangement.SpaceBetween,
+        verticalAlignment = Alignment.CenterVertically
+    ) {
+        Column {
+            Text(
+                text = bleDevice.device.name ?: "Unknown Device",
+                style = MaterialTheme.typography.bodyLarge
+            )
+            Text(
+                text = bleDevice.device.address,
+                style = MaterialTheme.typography.bodySmall,
+                color = MaterialTheme.colorScheme.onSurfaceVariant
+            )
+        }
+        Text(
+            text = "${bleDevice.rssi} dBm",
+            style = MaterialTheme.typography.bodyMedium
+        )
+    }
+}

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

@@ -0,0 +1,195 @@
+package icu.fur93.esp32_car.viewmodel
+
+import android.annotation.SuppressLint
+import android.bluetooth.BluetoothDevice
+import androidx.lifecycle.ViewModel
+import androidx.lifecycle.viewModelScope
+import icu.fur93.esp32_car.entity.BleDevice
+import icu.fur93.esp32_car.entity.ConnectedDeviceInfo
+import icu.fur93.esp32_car.repository.BluetoothRepository
+import icu.fur93.esp32_car.repository.BluetoothRepositoryImpl
+import icu.fur93.esp32_car.repository.ConnectionState
+import kotlinx.coroutines.flow.MutableStateFlow
+import kotlinx.coroutines.flow.SharingStarted
+import kotlinx.coroutines.flow.StateFlow
+import kotlinx.coroutines.flow.asStateFlow
+import kotlinx.coroutines.flow.stateIn
+import kotlinx.coroutines.launch
+
+// 数据模型
+data class MotorState(
+    val pwm: UInt = 0u,
+    val in1: UInt = 0u,
+    val in2: UInt = 0u
+)
+
+data class InfraredState(
+    val enable: Boolean = false,
+    val statusList: List<UInt> = listOf()
+)
+
+data class UltrasoundState(
+    val enable: Boolean = false,
+    val servoAngle: UInt = 0u,
+    val distance: UInt = 0u
+)
+
+data class CarState(
+    val controlState: CarControlState = CarControlState(),
+    val motorAState: MotorState = MotorState(),
+    val motorBState: MotorState = MotorState(),
+    val motorCState: MotorState = MotorState(),
+    val motorDState: MotorState = MotorState(),
+    val infraredState: InfraredState = InfraredState(),
+    val ultrasoundState: UltrasoundState = UltrasoundState()
+)
+
+data class CarControlState(
+    val speed: UInt = 0u,
+    val direction: UInt = 0u
+)
+
+data class LogEntry(
+    val timestamp: Long = System.currentTimeMillis(),
+    val direction: LogDirection,
+    val data: String
+)
+
+enum class LogDirection {
+    SEND,
+    RECEIVE
+}
+
+// 命令常量
+object CarCommands {
+    const val PACKET_T_HEAD = 0x00u
+    const val PACKET_T_TAIL = 0xFFu
+    const val PACKET_R_HEAD = 0x01u
+    const val PACKET_R_TAIL = 0xFEu
+    const val PACKET_MAX_LENGTH = 32u
+
+    const val CMD_GET_BT_STATUS = 0x10u
+    const val CMD_GET_SPIFFS_STATUS = 0x11u
+    const val CMD_GET_DISTANCE = 0x12u
+    const val CMD_MOTOR_MOVE_CONTROL = 0x20u
+    const val CMD_MOTOR_STEER_CONTROL = 0x21u
+    const val CMD_MOTOR_SINGLE_CONTROL = 0x22u
+    const val CMD_MOTOR_ROTATE_CONTROL = 0x23u
+    const val CMD_MOTOR_XYR_CONTROL = 0x24u
+    const val CMD_DEMO_PID = 0xf0u
+    const val CMD_DEMO_PATH = 0xf1u
+    const val CMD_STATUS_MOTOR = 0xE0u
+}
+
+
+// 用例
+class CarControlUseCase(
+    private val repository: BluetoothRepository
+) {
+    fun moveForward(speed: Int = 255) = repository.sendCommand(
+        buildCommand(CarCommands.CMD_MOTOR_MOVE_CONTROL, 0x01, speed)
+    )
+
+    fun moveBackward(speed: Int = 255) = repository.sendCommand(
+        buildCommand(CarCommands.CMD_MOTOR_MOVE_CONTROL, 0x02, speed)
+    )
+
+    fun turnLeft(speed: Int = 255) = repository.sendCommand(
+        buildCommand(CarCommands.CMD_MOTOR_STEER_CONTROL, 0x00, speed)
+    )
+
+    fun turnRight(speed: Int = 255) = repository.sendCommand(
+        buildCommand(CarCommands.CMD_MOTOR_STEER_CONTROL, 0x01, speed)
+    )
+
+    fun stop() = repository.sendCommand(
+        buildCommand(CarCommands.CMD_MOTOR_MOVE_CONTROL, 0x00, 0x00)
+    )
+
+    fun sendXYR(x: Int, y: Int, r: Int) = repository.sendCommand(
+        byteArrayOf(
+            CarCommands.PACKET_T_HEAD.toByte(),
+            0x07,
+            CarCommands.CMD_MOTOR_XYR_CONTROL.toByte(),
+            x.toByte(),
+            y.toByte(),
+            r.toByte(),
+            CarCommands.PACKET_T_TAIL.toByte()
+        )
+    )
+
+    private fun buildCommand(cmd: UInt, param1: Int, param2: Int) = byteArrayOf(
+        CarCommands.PACKET_T_HEAD.toByte(),
+        0x06,
+        cmd.toByte(),
+        param1.toByte(),
+        param2.toByte(),
+        CarCommands.PACKET_T_TAIL.toByte()
+    )
+}
+
+class CarViewModel(
+    private val carControlUseCase: CarControlUseCase,
+    val repository: BluetoothRepository
+) : ViewModel() {
+    val scanResults: StateFlow<List<BleDevice>> =
+        (repository as BluetoothRepositoryImpl).scanResults
+
+    val isScanning: StateFlow<Boolean> =
+        (repository as BluetoothRepositoryImpl).isScanning
+
+    fun startScan() = (repository as BluetoothRepositoryImpl).startScan()
+    fun stopScan() = (repository as BluetoothRepositoryImpl).stopScan()
+    fun connectToDevice(device: BluetoothDevice) {
+        updateDeviceInfo(device)
+        (repository as BluetoothRepositoryImpl).connectToDevice(device)
+    }
+
+    val carState: StateFlow<CarState> = repository.observeCarState()
+        .stateIn(viewModelScope, SharingStarted.WhileSubscribed(), CarState())
+
+    val logs: StateFlow<List<LogEntry>> = repository.observeLogs()
+        .stateIn(viewModelScope, SharingStarted.WhileSubscribed(), emptyList())
+
+    // 设备信息状态
+    private val _deviceInfo = MutableStateFlow(ConnectedDeviceInfo())
+    val deviceInfo: StateFlow<ConnectedDeviceInfo> = _deviceInfo.asStateFlow()
+
+    val connectionState: StateFlow<ConnectionState> =
+        (repository as BluetoothRepositoryImpl).connectionState
+            .stateIn(
+                scope = viewModelScope,
+                started = SharingStarted.WhileSubscribed(5000),
+                initialValue = ConnectionState.DISCONNECTED
+            )
+
+    init {
+        // 监听连接状态变化
+        viewModelScope.launch {
+            connectionState.collect { state ->
+                if (state == ConnectionState.DISCONNECTED) {
+                    // 断开连接时清空设备信息
+                    _deviceInfo.value = ConnectedDeviceInfo()
+                }
+            }
+        }
+    }
+
+    // 更新设备信息的方法
+    @SuppressLint("MissingPermission")
+    fun updateDeviceInfo(device: BluetoothDevice) {
+        _deviceInfo.value = ConnectedDeviceInfo(
+            name = device.name ?: "未知设备",
+            address = device.address,
+            version = "001"
+        )
+    }
+
+    fun moveForward(speed: Int = 255) = carControlUseCase.moveForward(speed)
+    fun moveBackward(speed: Int = 255) = carControlUseCase.moveBackward(speed)
+    fun turnLeft(speed: Int = 255) = carControlUseCase.turnLeft(speed)
+    fun turnRight(speed: Int = 255) = carControlUseCase.turnRight(speed)
+    fun stop() = carControlUseCase.stop()
+    fun sendXYR(x: Int, y: Int, r: Int) = carControlUseCase.sendXYR(x, y, r)
+    fun clearLogs() = repository.clearLogs()
+}

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

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