feat: joystick

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

@@ -24,6 +24,7 @@ class CarCommand {
         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
 
@@ -73,23 +74,27 @@ class CarController(private val onStateChange: () -> Unit) {
       }
   }
     fun moveForward(speed: Int = 255) {
-        sendCommand(byteArrayOf(0x00, 0x06, 0x20, 0x01, speed.toByte(), 0xff.toByte()))
+        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(0x00, 0x06, 0x20, 0x02, speed.toByte(), 0xff.toByte()))
+        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(0x00, 0x06, 0x21, 0x00, speed.toByte(), 0xff.toByte()))
+        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(0x00, 0x06, 0x20, 0x01, speed.toByte(), 0xff.toByte()))
+        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(0x00, 0x06, 0x20, 0x00, 0x00, 0xff.toByte()))
+        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) {

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

@@ -30,7 +30,12 @@ import androidx.compose.ui.Modifier
 import androidx.compose.ui.graphics.graphicsLayer
 import androidx.compose.ui.unit.dp
 import androidx.core.app.ActivityCompat
+import icu.fur93.esp32_car.ui.component.Joystick
+import icu.fur93.esp32_car.ui.component.JoystickDemo
+import icu.fur93.esp32_car.ui.component.JoystickState
+import icu.fur93.esp32_car.ui.component.format
 import java.util.UUID
+import kotlin.math.PI
 
 class MainActivity : ComponentActivity() {
     private val serviceUUID = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
@@ -266,6 +271,36 @@ class MainActivity : ComponentActivity() {
     }
 }
 
+@Composable
+fun ControlJoystick(
+    carController: CarController
+) {
+    var joystickState by remember { mutableStateOf(JoystickState()) }
+
+    Column(
+        verticalArrangement = Arrangement.Center
+    ) {
+        Joystick(
+            modifier = Modifier.padding(16.dp),
+            size = 200f
+        ) { state ->
+            joystickState = state
+            // 在这里处理摇杆状态变化
+            // 发送蓝牙数据
+            val x = (state.x * 100).toInt()  // 转换为 -100 到 100
+            val y = (state.y * 100).toInt()
+            carController.sendXYR(x, y, 0)
+            // sendBluetoothCommand(x, y, 0)  // R设为0
+        }
+
+        // 显示摇杆状态（可选）
+        Text("X: ${joystickState.x.format(2)}")
+        Text("Y: ${joystickState.y.format(2)}")
+        Text("Angle: ${(joystickState.angle * 180 / PI)}°")
+        Text("Distance: ${joystickState.distance.format(2)}")
+    }
+}
+
 @Composable
 fun GamepadScreen(
     deviceList: List<ScanResult>,
@@ -346,12 +381,13 @@ fun GamepadScreen(
                     horizontalArrangement = Arrangement.spacedBy(16.dp),
                     modifier = Modifier.padding(vertical = 16.dp)
                 ) {
-                    Button(onClick = { carController.turnLeft() }) { 
+//                    Button(onClick = { carController.turnLeft() }) {
-                        Text("左转") 
+//                        Text("左转")
-                    }
+//                    }
-                    Button(onClick = { carController.turnRight() }) { 
+//                    Button(onClick = { carController.turnRight() }) {
-                        Text("右转") 
+//                        Text("右转")
-                    }
+//                    }
+                    ControlJoystick(carController)
                 }
             }
 

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

@@ -0,0 +1,184 @@
+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.Text
+import androidx.compose.runtime.*
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.geometry.Offset
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.graphics.drawscope.DrawScope
+import androidx.compose.ui.input.pointer.pointerInput
+import androidx.compose.ui.unit.dp
+import kotlin.math.atan2
+import kotlin.math.hypot
+import kotlin.math.PI
+
+// 摇杆数据类
+data class JoystickState(
+    val x: Float = 0f,     // -1 到 1
+    val y: Float = 0f,     // -1 到 1
+    val angle: Float = 0f, // 角度（弧度）
+    val distance: Float = 0f // 0 到 1
+)
+
+@Composable
+fun Joystick(
+    modifier: Modifier = Modifier,
+    size: Float = 200f,
+    onJoystickMove: (JoystickState) -> Unit
+) {
+    // 状态管理
+    var centerPoint by remember { mutableStateOf(Offset.Zero) }
+    var stickPosition by remember { mutableStateOf(Offset.Zero) }
+    var isDragging by remember { mutableStateOf(false) }
+
+    // 计算实际尺寸
+    val radius = size / 2
+    val innerRadius = radius * 0.4f
+
+    // 创建摇杆
+    Canvas(
+        modifier = modifier
+            .size(size.dp)
+            .padding(8.dp)
+            .pointerInput(Unit) {
+                detectDragGestures(
+                    onDragStart = { offset ->
+                        isDragging = true
+                        centerPoint = Offset(size / 2, size / 2)
+                        updateStickPosition(offset, centerPoint, radius, innerRadius) { newPos ->
+                            stickPosition = newPos
+                            val state = calculateJoystickState(centerPoint, newPos, radius)
+                            onJoystickMove(state)
+                        }
+                    },
+                    onDrag = { change, _ ->
+                        updateStickPosition(change.position, centerPoint, radius, innerRadius) { newPos ->
+                            stickPosition = newPos
+                            val state = calculateJoystickState(centerPoint, newPos, radius)
+                            onJoystickMove(state)
+                        }
+                    },
+                    onDragEnd = {
+                        isDragging = false
+                        // 回到中心位置
+                        stickPosition = centerPoint
+                        onJoystickMove(JoystickState())
+                    }
+                )
+            }
+    ) {
+        // 初始化中心点
+        if (centerPoint == Offset.Zero) {
+            centerPoint = Offset(size / 2, size / 2)
+            stickPosition = centerPoint
+        }
+
+        // 绘制底部圆形
+        drawJoystickBase(centerPoint, radius)
+
+        // 绘制摇杆
+        drawJoystickKnob(stickPosition, innerRadius)
+    }
+}
+
+// 更新摇杆位置
+private fun updateStickPosition(
+    pointerPosition: Offset,
+    centerPoint: Offset,
+    maxRadius: Float,
+    knobRadius: Float,
+    onUpdate: (Offset) -> Unit
+) {
+    val distance = hypot(
+        pointerPosition.x - centerPoint.x,
+        pointerPosition.y - centerPoint.y
+    )
+
+    val newPosition = if (distance > maxRadius) {
+        // 限制在最大范围内
+        val angle = atan2(
+            pointerPosition.y - centerPoint.y,
+            pointerPosition.x - centerPoint.x
+        )
+        Offset(
+            centerPoint.x + (maxRadius * kotlin.math.cos(angle)),
+            centerPoint.y + (maxRadius * kotlin.math.sin(angle))
+        )
+    } else {
+        pointerPosition
+    }
+
+    onUpdate(newPosition)
+}
+
+// 计算摇杆状态
+private fun calculateJoystickState(
+    centerPoint: Offset,
+    stickPosition: Offset,
+    maxRadius: Float
+): JoystickState {
+    val deltaX = centerPoint.x - stickPosition.x
+    val deltaY = centerPoint.y - stickPosition.y
+    val distance = hypot(deltaX, deltaY)
+    val angle = atan2(deltaY, deltaX)
+
+    return JoystickState(
+        x = (deltaX / maxRadius).coerceIn(-1f, 1f),
+        y = (deltaY / maxRadius).coerceIn(-1f, 1f),
+        angle = angle.toFloat(),
+        distance = (distance / maxRadius).coerceIn(0f, 1f)
+    )
+}
+
+// 绘制底部圆形
+private fun DrawScope.drawJoystickBase(center: Offset, radius: Float) {
+    drawCircle(
+        color = Color.Gray.copy(alpha = 0.3f),
+        radius = radius,
+        center = center
+    )
+}
+
+// 绘制摇杆球
+private fun DrawScope.drawJoystickKnob(position: Offset, radius: Float) {
+    drawCircle(
+        color = Color.Blue.copy(alpha = 0.5f),
+        radius = radius,
+        center = position
+    )
+}
+
+// 使用示例
+@Composable
+fun JoystickDemo() {
+    Column(
+        modifier = Modifier.fillMaxSize(),
+        verticalArrangement = Arrangement.Center
+    ) {
+        var joystickState by remember { mutableStateOf(JoystickState()) }
+
+        Joystick(
+            modifier = Modifier.padding(16.dp),
+            size = 200f
+        ) { state ->
+            joystickState = state
+            // 在这里处理摇杆状态变化
+            // 发送蓝牙数据
+            val x = (state.x * 100).toInt()  // 转换为 -100 到 100
+            val y = (state.y * 100).toInt()
+            // sendBluetoothCommand(x, y, 0)  // R设为0
+        }
+
+        // 显示摇杆状态（可选）
+        Text("X: ${joystickState.x.format(2)}")
+        Text("Y: ${joystickState.y.format(2)}")
+        Text("Angle: ${(joystickState.angle * 180 / PI)}°")
+        Text("Distance: ${joystickState.distance.format(2)}")
+    }
+}
+
+// 格式化浮点数
+fun Float.format(digits: Int) = "%.${digits}f".format(this)