add wheel steering mode change dialog

Alexandr · radomir9720 · commit bb270a5aa520 · 2025-02-17T10:21:19.000+03:00
diff --git a/lib/app/scopes/flows/selected_data_source_scope.dart b/lib/app/scopes/flows/selected_data_source_scope.dart
@@ -198,6 +198,12 @@ class SelectedDataSourceScope extends AutoRouter {
                   generalDataCubit: context.read(),
                 ),
               ),
+              BlocProvider(
+                create: (context) => ChangeWheelSteeringBloc(
+                  dataSource: context.read(),
+                  generalDataCubit: context.read(),
+                ),
+              ),
               BlocProvider(
                 create: (context) =>
                     LaunchAppCubit(appsService: context.read()),
diff --git a/lib/domain/data_source/blocs/change_wheel_steering_bloc.dart b/lib/domain/data_source/blocs/change_wheel_steering_bloc.dart
@@ -0,0 +1,67 @@
+import 'package:flutter_bloc/flutter_bloc.dart';
+import 'package:freezed_annotation/freezed_annotation.dart';
+import 'package:pixel_app_flutter/domain/data_source/data_source.dart';
+import 'package:pixel_app_flutter/domain/data_source/models/package/outgoing/outgoing_data_source_packages.dart';
+import 'package:pixel_app_flutter/domain/data_source/models/package_data/package_data.dart';
+import 'package:re_seedwork/re_seedwork.dart';
+
+part 'change_wheel_steering_bloc.freezed.dart';
+
+@freezed
+class ChangeWheelSteeringEvent extends EffectEvent with _$ChangeWheelSteeringEvent {
+  const factory ChangeWheelSteeringEvent.change(WheelSteering newValue) = _Change;
+}
+
+typedef ChangeWheelSteeringState = AsyncData<WheelSteering, Object>;
+
+class ChangeWheelSteeringBloc extends Bloc<ChangeWheelSteeringEvent, ChangeWheelSteeringState>
+    with BlocEventHandlerMixin {
+  ChangeWheelSteeringBloc({
+    required this.dataSource,
+    required this.generalDataCubit,
+  }) : super(const ChangeWheelSteeringState.initial(WheelSteering.free)) {
+    on<_Change>(_onChange);
+  }
+
+  @visibleForTesting
+  static const List<DataSourceParameterId> kParameterIds = [
+    DataSourceParameterId.wheelSteering(),
+  ];
+
+  @protected
+  final DataSource dataSource;
+
+  @protected
+  final GeneralDataCubit generalDataCubit;
+
+  Future<void> _onChange(
+    _Change event,
+    Emitter<AsyncData<WheelSteering, Object>> emit,
+  ) async {
+    emit(AsyncData.loading(event.newValue));
+
+    try {
+      final future = generalDataCubit.stream
+          .firstWhere((element) => element.wheelSteering == event.newValue)
+          .timeout(const Duration(seconds: 2));
+      for (final parameterId in kParameterIds) {
+        final res = await dataSource.sendPackage(
+          OutgoingSetValuePackage(
+            parameterId: parameterId,
+            setValueBody: SetInt8Body(value: event.newValue.id),
+          ),
+        );
+        if (res.isError) {
+          return emit(AsyncData.failure(generalDataCubit.state.wheelSteering));
+        }
+      }
+      await future;
+
+      emit(AsyncData.success(event.newValue));
+    } on Object catch (_) {
+      emit(AsyncData.failure(generalDataCubit.state.wheelSteering));
+
+      rethrow;
+    }
+  }
+}
diff --git a/lib/domain/data_source/blocs/general_data_cubit.dart b/lib/domain/data_source/blocs/general_data_cubit.dart
@@ -5,6 +5,7 @@ import 'package:pixel_app_flutter/domain/app/app.dart';
 import 'package:pixel_app_flutter/domain/data_source/data_source.dart';
 import 'package:pixel_app_flutter/domain/data_source/models/package/incoming/battery_percent.dart';
 import 'package:pixel_app_flutter/domain/data_source/models/package/incoming/incoming_data_source_packages.dart';
+import 'package:pixel_app_flutter/domain/data_source/models/package/incoming/wheelSteering.dart';
 import 'package:pixel_app_flutter/domain/data_source/models/package_data/package_data.dart';
 import 'package:re_seedwork/re_seedwork.dart';
 
@@ -15,6 +16,7 @@ typedef _IntValueModifier = (
 
 extension _SequenceExt on Sequence<IntWithStatus> {
   static int avgFold(int a, int b) => a + b;
+
   static int maxFold(int a, int b) => a > b ? a : b;
 
   static _IntValueModifier avg =
@@ -50,6 +52,7 @@ final class GeneralDataState with EquatableMixin {
     required this.odometer,
     required this.speed,
     required this.gear,
+    required this.wheelSteering,
   });
 
   GeneralDataState.initial({
@@ -70,7 +73,8 @@ final class GeneralDataState with EquatableMixin {
         gear = Sequence.fill(
           hardwareCount.motors,
           MotorGear.unknown,
-        );
+        ),
+        wheelSteering = WheelSteering.free;
 
   factory GeneralDataState.fromMap(Map<String, dynamic> map) {
     return GeneralDataState(
@@ -88,6 +92,7 @@ final class GeneralDataState with EquatableMixin {
       gear: Sequence.fromIterable(
         map.tryParseAndMapList('gear', MotorGear.fromId),
       ),
+      wheelSteering: map.parseAndMap('wheelSteering', WheelSteering.fromId),
     );
   }
 
@@ -97,6 +102,7 @@ final class GeneralDataState with EquatableMixin {
   final Sequence<IntWithStatus> speed;
   final Sequence<MotorGear> gear;
   final Sequence<IntWithStatus> batteryPercent;
+  final WheelSteering wheelSteering;
 
   // TODO(Radomir): hardcoded temporarily because there is only one battery
   // at the moment, and the merged value(mean) is irrelevant
@@ -120,20 +126,16 @@ final class GeneralDataState with EquatableMixin {
   }
 
   @override
-  List<Object?> get props => [
-        power,
-        batteryPercent,
-        odometer,
-        speed,
-        gear,
-      ];
+  List<Object?> get props =>
+      [power, batteryPercent, odometer, speed, gear, wheelSteering];
 
   GeneralDataState copyWith({
     Sequence<IntWithStatus>? power,
     Sequence<IntWithStatus>? batteryPercent,
     IntWithStatus? odometer,
     Sequence<IntWithStatus>? speed,
     Sequence<MotorGear>? gear,
+    WheelSteering? wheelSteering,
   }) {
     return GeneralDataState(
       hardwareCount: hardwareCount,
@@ -142,6 +144,7 @@ final class GeneralDataState with EquatableMixin {
       odometer: odometer ?? this.odometer,
       speed: speed ?? this.speed,
       gear: gear ?? this.gear,
+      wheelSteering: wheelSteering ?? this.wheelSteering,
     );
   }
 
@@ -153,6 +156,7 @@ final class GeneralDataState with EquatableMixin {
       'odometer': odometer.toMap(),
       'speed': [for (final e in speed) e.toMap()],
       'gear': [for (final e in gear) e.id],
+      'wheelSteering': wheelSteering.id,
     };
   }
 }
@@ -216,6 +220,14 @@ class GeneralDataCubit extends Cubit<GeneralDataState> with ConsumerBlocMixin {
               odometer: IntWithStatus.fromBytesConvertible(model, km),
             ),
           );
+        })
+        ..voidOnModel<Uint8WithStatusBody,
+            WheelSteeringIncomingDataSourcePackage>((model) {
+          emit(
+            state.copyWith(
+              wheelSteering: WheelSteering.fromId(model.value) ,
+            ),
+          );
         });
     });
   }
@@ -234,6 +246,7 @@ class GeneralDataCubit extends Cubit<GeneralDataState> with ConsumerBlocMixin {
     const DataSourceParameterId.batteryPercent2(),
     const DataSourceParameterId.batteryPower1(),
     const DataSourceParameterId.batteryPower2(),
+    const DataSourceParameterId.wheelSteering(),
   };
 
   @protected
diff --git a/lib/domain/data_source/data_source.dart b/lib/domain/data_source/data_source.dart
@@ -1,6 +1,7 @@
 // blocs
 export 'blocs/battery_data_cubit.dart';
 export 'blocs/change_gear_bloc.dart';
+export 'blocs/change_wheel_steering_bloc.dart';
 export 'blocs/data_source_authorization_cubit.dart';
 export 'blocs/data_source_connect_bloc.dart';
 export 'blocs/data_source_connection_status_cubit.dart';
diff --git a/lib/domain/data_source/models/data_source_parameter_id.dart b/lib/domain/data_source/models/data_source_parameter_id.dart
@@ -136,6 +136,9 @@ abstract class DataSourceParameterId {
   const factory DataSourceParameterId.transmission4() =
       Transmission4ParameterId;
 
+  const factory DataSourceParameterId.wheelSteering() =
+  WheelSteeringParameterId;
+
   const factory DataSourceParameterId.motorTemperature1() =
       MotorTemperature1ParameterId;
   const factory DataSourceParameterId.motorTemperature2() =
@@ -269,6 +272,8 @@ abstract class DataSourceParameterId {
   bool get isTransmission3 => this is Transmission3ParameterId;
   bool get isTransmission4 => this is Transmission4ParameterId;
 
+  bool get isWheelSteering => this is WheelSteeringParameterId;
+
   bool get isMotorTemperature1 => this is MotorTemperature1ParameterId;
   bool get isMotorTemperature2 => this is MotorTemperature2ParameterId;
   bool get isMotorTemperature3 => this is MotorTemperature3ParameterId;
@@ -372,6 +377,7 @@ abstract class DataSourceParameterId {
       DataSourceParameterId.transmission2(),
       DataSourceParameterId.transmission3(),
       DataSourceParameterId.transmission4(),
+      DataSourceParameterId.wheelSteering(),
       DataSourceParameterId.motorTemperature1(),
       DataSourceParameterId.motorTemperature2(),
       DataSourceParameterId.motorTemperature3(),
@@ -671,6 +677,10 @@ class Transmission4ParameterId extends DataSourceParameterId {
   const Transmission4ParameterId() : super(0x0137);
 }
 
+class WheelSteeringParameterId extends DataSourceParameterId {
+  const WheelSteeringParameterId() : super(0x01A4);
+}
+
 class MotorTemperature1ParameterId extends DataSourceParameterId {
   const MotorTemperature1ParameterId() : super(0x011A);
 }
diff --git a/lib/domain/data_source/models/package/incoming/wheelSteering.dart b/lib/domain/data_source/models/package/incoming/wheelSteering.dart
@@ -0,0 +1,9 @@
+import 'package:pixel_app_flutter/domain/data_source/models/package/data_source_incoming_package.dart';
+
+class WheelSteeringIncomingDataSourcePackage
+    extends Uint8WithStatusIncomingDataSourcePackage {
+  WheelSteeringIncomingDataSourcePackage(super.source);
+
+  @override
+  bool get validParameterId => parameterId.isWheelSteering;
+}
diff --git a/lib/domain/data_source/models/package_data/implementations/wheel_steering.dart b/lib/domain/data_source/models/package_data/implementations/wheel_steering.dart
@@ -0,0 +1,97 @@
+import 'dart:math';
+
+import 'package:pixel_app_flutter/domain/data_source/extensions/int.dart';
+import 'package:pixel_app_flutter/domain/data_source/models/package_data/package_data.dart';
+import 'package:pixel_app_flutter/domain/data_source/models/package_data/wrappers/bytes_convertible_with_status.dart';
+
+enum WheelSteering {
+  free(0x00),
+  align(0x01),
+  fastTurn(0x02),
+  diagonal(0x03),
+  blocked(0x04);
+
+  const WheelSteering(this.id);
+  final int id;
+
+  static WheelSteering fromId(int id) {
+    return WheelSteering.values.firstWhere(
+      (element) => element.id == id,
+      orElse: () => WheelSteering.free,
+    );
+  }
+
+  R when<R>({
+    required R Function() free,
+    required R Function() align,
+    required R Function() fastTurn,
+    required R Function() diagonal,
+    required R Function() blocked,
+  }) {
+    return switch (this) {
+      WheelSteering.free => free(),
+      WheelSteering.align => align(),
+      WheelSteering.fastTurn => fastTurn(),
+      WheelSteering.diagonal => diagonal(),
+      WheelSteering.blocked => blocked(),
+    };
+  }
+
+  static WheelSteering get random => values[Random().nextInt(values.length)];
+}
+
+class WheelSteeringPacket extends IntBytesConvertibleWithStatus {
+  WheelSteeringPacket({
+    required this.wheelSteering,
+    required super.status,
+  }) : super(
+          value: _toUint8(
+            wheelSteering: wheelSteering,
+          ),
+        );
+
+  factory WheelSteeringPacket.unknown() => WheelSteeringPacket(
+        wheelSteering: WheelSteering.free,
+        status: PeriodicValueStatus.normal,
+      );
+
+  WheelSteeringPacket.fromId({
+    required this.wheelSteering,
+    required super.id,
+  }) : super.fromId(
+          value: _toUint8(
+            wheelSteering: wheelSteering,
+          ),
+        );
+
+  factory WheelSteeringPacket.builder(int functionId, int value) {
+    final bytes = value.toBytesUint8;
+
+    return WheelSteeringPacket.fromId(
+      id: functionId,
+      wheelSteering: WheelSteering.fromId(bytes[0]),
+    );
+  }
+
+  final WheelSteering wheelSteering;
+
+  static int _toUint8({
+    required WheelSteering wheelSteering,
+  }) {
+    return [
+      wheelSteering.id,
+    ].toIntFromUint8;
+  }
+
+  @override
+  List<Object?> get props => [
+        ...super.props,
+        wheelSteering,
+      ];
+
+  static Uint8WithStatusBytesConverter<WheelSteeringPacket> get converter =>
+      const Uint8WithStatusBytesConverter(WheelSteeringPacket.builder);
+
+  @override
+  BytesConverter<WheelSteeringPacket> get bytesConverter => converter;
+}
diff --git a/lib/domain/data_source/models/package_data/package_data.dart b/lib/domain/data_source/models/package_data/package_data.dart
@@ -25,6 +25,7 @@ export 'implementations/two_uint16_with_status_body.dart';
 export 'implementations/uint16_with_status_body.dart';
 export 'implementations/uint32_with_status_body.dart';
 export 'implementations/motor_gear_and_roll.dart';
+export 'implementations/wheel_steering.dart';
 export 'implementations/int16_with_status_body.dart';
 export 'implementations/set_int8_body.dart';
 export 'implementations/set_uint8_body.dart';
diff --git a/lib/l10n/arb/app_en.arb b/lib/l10n/arb/app_en.arb
@@ -290,6 +290,7 @@
   "boostGearShort": "B",
   "unknownGearShort": "U",
   "errorSwitchingGearMessage": "Error switching the gear",
+  "errorChangeWheelSteeringMessage": "Error switching wheels steering mode",
   "stopBeforeSwitchingGearMessage": "To switch the gear, you must first stop",
   "reverseMotorRollDirectionShort": "R",
   "unknownMotorRollDirectionShort": "U",
diff --git a/lib/l10n/arb/app_ru.arb b/lib/l10n/arb/app_ru.arb
@@ -290,6 +290,7 @@
   "boostGearShort": "B",
   "unknownGearShort": "U",
   "errorSwitchingGearMessage": "Ошибка переключения передачи",
+  "errorChangeWheelSteeringMessage": "Ошибка переключения режима поворота",
   "stopBeforeSwitchingGearMessage": "Для переключения передачи нужно сначала остановиться",
   "reverseMotorRollDirectionShort": "R",
   "unknownMotorRollDirectionShort": "U",
diff --git a/lib/presentation/routes/main_router.dart b/lib/presentation/routes/main_router.dart
@@ -31,6 +31,7 @@ import 'package:pixel_app_flutter/presentation/screens/developer_tools/widgets/i
 import 'package:pixel_app_flutter/presentation/screens/developer_tools/widgets/slider_dialog.dart';
 import 'package:pixel_app_flutter/presentation/screens/general/general_screen.dart';
 import 'package:pixel_app_flutter/presentation/screens/general/widgets/change_gear_dialog.dart';
+import 'package:pixel_app_flutter/presentation/screens/general/widgets/change_wheel_steering_dialog.dart';
 import 'package:pixel_app_flutter/presentation/screens/general/widgets/led_panel_switcher_dialog.dart';
 import 'package:pixel_app_flutter/presentation/screens/general/widgets/suspension_control_dialog.dart';
 import 'package:pixel_app_flutter/presentation/screens/home/home_screen.dart';
@@ -88,6 +89,11 @@ class MainRouter extends RootStackRouter {
               page: ChangeGearDialogRoute.page,
               customRouteBuilder: dialogRouteBuilder,
             ),
+            CustomRoute<WheelSteering>(
+              path: 'change-wheel-steering-dialog',
+              page: ChangeWheelSteeringDialogRoute.page,
+              customRouteBuilder: dialogRouteBuilder,
+            ),
           ],
         ),
         //
diff --git a/lib/presentation/screens/general/general_screen.dart b/lib/presentation/screens/general/general_screen.dart
diff --git a/lib/presentation/screens/general/widgets/change_wheel_steering_dialog.dart b/lib/presentation/screens/general/widgets/change_wheel_steering_dialog.dart
diff --git a/lib/presentation/screens/general/widgets/wheel_steering_symbol_widget.dart b/lib/presentation/screens/general/widgets/wheel_steering_symbol_widget.dart
diff --git a/lib/presentation/screens/general/widgets/wheel_steering_widget.dart b/lib/presentation/screens/general/widgets/wheel_steering_widget.dart
