VESC: added battery indicator

app/src/main/java/nodomain/freeyourgadget/gadgetbridge/activities/devicesettings/DeviceSettingsPreferenceConst.java

@@ -184,6 +184,9 @@ public class DeviceSettingsPreferenceConst {
     public static final String PREF_UM25_SHOW_THRESHOLD_NOTIFICATION = "um25_current_threshold_notify";
     public static final String PREF_UM25_SHOW_THRESHOLD = "um25_current_threshold";
 
+    public static final String PREF_VESC_MINIMUM_VOLTAGE = "vesc_minimum_battery_voltage";
+    public static final String PREF_VESC_MAXIMUM_VOLTAGE = "vesc_maximum_battery_voltage";
+
     public static final String PREF_SOUNDS = "sounds";
     public static final String PREF_AUTH_KEY = "authkey";
     public static final String PREF_USER_FITNESS_GOAL = "fitness_goal";

app/src/main/java/nodomain/freeyourgadget/gadgetbridge/devices/vesc/VescControlActivity.java

@@ -73,7 +73,7 @@ public class VescControlActivity extends AbstractGBActivity {
 
     private void restoreValues(){
         rpmEditText.setText(String.valueOf(preferences.getInt(PREFS_KEY_LAST_RPM, 0)));
-        breakCurrentEditText.setText(String.valueOf(preferences.getInt(PREFS_KEY_LAST_BREAK_CURRENT, 0)));
+        breakCurrentEditText.setText(String.valueOf(preferences.getInt(PREFS_KEY_LAST_BREAK_CURRENT, 0) / 1000));
     }
 
     @Override
@@ -184,7 +184,11 @@ public class VescControlActivity extends AbstractGBActivity {
                     currentBreakCurrentMa = 0;
                     return;
                 }
+                try {
                     VescControlActivity.this.currentBreakCurrentMa = Integer.parseInt(text) * 1000;
+                }catch (NumberFormatException e){
+                    VescControlActivity.this.currentBreakCurrentMa = 0;
+                }
             }
         });
 

app/src/main/java/nodomain/freeyourgadget/gadgetbridge/devices/vesc/VescCoordinator.java

@@ -24,6 +24,7 @@ import android.os.ParcelUuid;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
+import nodomain.freeyourgadget.gadgetbridge.R;
 import nodomain.freeyourgadget.gadgetbridge.GBException;
 import nodomain.freeyourgadget.gadgetbridge.devices.AbstractDeviceCoordinator;
 import nodomain.freeyourgadget.gadgetbridge.devices.InstallHandler;
@@ -38,9 +39,11 @@ import nodomain.freeyourgadget.gadgetbridge.model.DeviceType;
 public class VescCoordinator extends AbstractDeviceCoordinator {
     public final static String UUID_SERVICE_SERIAL_HM10 = "0000ffe0-0000-1000-8000-00805f9b34fb";
     public final static String UUID_CHARACTERISTIC_SERIAL_TX_HM10 = "0000ffe1-0000-1000-8000-00805f9b34fb";
+    public final static String UUID_CHARACTERISTIC_SERIAL_RX_HM10 = "0000ffe1-0000-1000-8000-00805f9b34fb";
 
     public final static String UUID_SERVICE_SERIAL_NRF = "0000ffe0-0000-1000-8000-00805f9b34fb";
     public final static String UUID_CHARACTERISTIC_SERIAL_TX_NRF = "0000ffe0-0000-1000-8000-00805f9b34fb";
+    public final static String UUID_CHARACTERISTIC_SERIAL_RX_NRF = "0000ffe1-0000-1000-8000-00805f9b34fb";
 
 
     @Override
@@ -48,6 +51,13 @@ public class VescCoordinator extends AbstractDeviceCoordinator {
 
     }
 
+    @Override
+    public int[] getSupportedDeviceSpecificSettings(GBDevice device) {
+        return new int[]{
+            R.xml.devicesettings_vesc
+        };
+    }
+
     @Override
     public DeviceType getSupportedType(GBDeviceCandidate candidate) {
         ParcelUuid[] uuids = candidate.getServiceUuids();
@@ -77,7 +87,7 @@ public class VescCoordinator extends AbstractDeviceCoordinator {
 
     @Override
     public boolean supportsActivityDataFetching() {
-        return false;
+        return true;
     }
 
     @Override

app/src/main/java/nodomain/freeyourgadget/gadgetbridge/service/devices/vesc/CommandType.java

@@ -17,17 +17,47 @@
 package nodomain.freeyourgadget.gadgetbridge.service.devices.vesc;
 
 public enum CommandType {
-    SET_CURRENT((byte) 0x06),
+    COMM_FW_VERSION,
-    SET_CURRENT_BRAKE((byte) 0x07),
+    COMM_JUMP_TO_BOOTLOADER,
-    SET_RPM((byte) 0x08),
+    COMM_ERASE_NEW_APP,
+    COMM_WRITE_NEW_APP_DATA,
+    COMM_GET_VALUES,
+    COMM_SET_DUTY,
+    COMM_SET_CURRENT,
+    COMM_SET_CURRENT_BRAKE,
+    COMM_SET_RPM,
+    COMM_SET_POS,
+    COMM_SET_HANDBRAKE,
+    COMM_SET_DETECT,
+    COMM_SET_SERVO_POS,
+    COMM_SET_MCCONF,
+    COMM_GET_MCCONF,
+    COMM_GET_MCCONF_DEFAULT,
+    COMM_SET_APPCONF,
+    COMM_GET_APPCONF,
+    COMM_GET_APPCONF_DEFAULT,
+    COMM_SAMPLE_PRINT,
+    COMM_TERMINAL_CMD,
+    COMM_PRINT,
+    COMM_ROTOR_POSITION,
+    COMM_EXPERIMENT_SAMPLE,
+    COMM_DETECT_MOTOR_PARAM,
+    COMM_DETECT_MOTOR_R_L,
+    COMM_DETECT_MOTOR_FLUX_LINKAGE,
+    COMM_DETECT_ENCODER,
+    COMM_DETECT_HALL_FOC,
+    COMM_REBOOT,
+    COMM_ALIVE,
+    COMM_GET_DECODED_PPM,
+    COMM_GET_DECODED_ADC,
+    COMM_GET_DECODED_CHUK,
+    COMM_FORWARD_CAN,
+    COMM_SET_CHUCK_DATA,
+    COMM_CUSTOM_APP_DATA,
+    COMM_NRF_START_PAIRING
     ;
-    byte commandByte;
-
-    CommandType(byte commandByte){
-        this.commandByte = commandByte;
-    }
 
     public byte getCommandByte(){
-        return this.commandByte;
+        return (byte) this.ordinal();
     }
 }

app/src/main/java/nodomain/freeyourgadget/gadgetbridge/service/devices/vesc/VescDeviceSupport.java

@@ -16,11 +16,14 @@
     along with this program.  If not, see <http://www.gnu.org/licenses/>. */
 package nodomain.freeyourgadget.gadgetbridge.service.devices.vesc;
 
+import android.bluetooth.BluetoothGatt;
 import android.bluetooth.BluetoothGattCharacteristic;
+import android.bluetooth.BluetoothGattDescriptor;
 import android.content.BroadcastReceiver;
 import android.content.Context;
 import android.content.Intent;
 import android.content.IntentFilter;
+import android.content.SharedPreferences;
 
 import androidx.localbroadcastmanager.content.LocalBroadcastManager;
 
@@ -28,8 +31,11 @@ import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
 import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 import java.util.UUID;
 
+import nodomain.freeyourgadget.gadgetbridge.GBApplication;
+import nodomain.freeyourgadget.gadgetbridge.activities.devicesettings.DeviceSettingsPreferenceConst;
 import nodomain.freeyourgadget.gadgetbridge.devices.vesc.VescCoordinator;
 import nodomain.freeyourgadget.gadgetbridge.impl.GBDevice;
 import nodomain.freeyourgadget.gadgetbridge.model.DeviceType;
@@ -38,21 +44,27 @@ import nodomain.freeyourgadget.gadgetbridge.service.btle.actions.SetDeviceStateA
 import nodomain.freeyourgadget.gadgetbridge.util.CheckSums;
 
 public class VescDeviceSupport extends VescBaseDeviceSupport {
-    BluetoothGattCharacteristic serialWriteCharacteristic;
+    BluetoothGattCharacteristic serialWriteCharacteristic, serialReadCharacteristic;
 
     public static final String COMMAND_SET_RPM = "nodomain.freeyourgadget.gadgetbridge.vesc.command.SET_RPM";
     public static final String COMMAND_SET_CURRENT = "nodomain.freeyourgadget.gadgetbridge.vesc.command.SET_CURRENT";
     public static final String COMMAND_SET_BREAK_CURRENT = "nodomain.freeyourgadget.gadgetbridge.vesc.command.SET_BREAK_CURRENT";
+    public static final String COMMAND_GET_VALUES = "nodomain.freeyourgadget.gadgetbridge.vesc.command.GET_VALUES";
     public static final String EXTRA_RPM = "EXTRA_RPM";
     public static final String EXTRA_CURRENT = "EXTRA_CURRENT";
+    public static final String EXTRA_VOLTAGE = "EXTRA_VOLTAGE";
+
+    public static final String ACTION_GOT_VALUES = "nodomain.freeyourgadget.gadgetbridge.vesc.action.GOT_VALUES";
 
     private Logger logger = LoggerFactory.getLogger(getClass());
 
     private DeviceType deviceType;
 
+    private ByteBuffer responseBuffer = ByteBuffer.allocate(100);
+
     public VescDeviceSupport(DeviceType type) {
         super();
-        logger.debug("VescDeviceSupport() {}", type);
+        responseBuffer.order(ByteOrder.BIG_ENDIAN);
 
         deviceType = type;
 
@@ -63,6 +75,12 @@ public class VescDeviceSupport extends VescBaseDeviceSupport{
         }
     }
 
+    @Override
+    public void onFetchRecordedData(int dataTypes) {
+        super.onFetchRecordedData(dataTypes);
+        getValues();
+    }
+
     @Override
     protected TransactionBuilder initializeDevice(TransactionBuilder builder) {
         logger.debug("initializing device");
@@ -73,13 +91,146 @@ public class VescDeviceSupport extends VescBaseDeviceSupport{
 
         if (deviceType == DeviceType.VESC_NRF) {
             this.serialWriteCharacteristic = getCharacteristic(UUID.fromString(VescCoordinator.UUID_CHARACTERISTIC_SERIAL_TX_NRF));
+            this.serialReadCharacteristic = getCharacteristic(UUID.fromString(VescCoordinator.UUID_CHARACTERISTIC_SERIAL_RX_NRF));
         } else if (deviceType == DeviceType.VESC_HM10) {
             this.serialWriteCharacteristic = getCharacteristic(UUID.fromString(VescCoordinator.UUID_CHARACTERISTIC_SERIAL_TX_HM10));
+            this.serialReadCharacteristic = getCharacteristic(UUID.fromString(VescCoordinator.UUID_CHARACTERISTIC_SERIAL_RX_HM10));
         }
 
+        builder.notify(this.serialReadCharacteristic, true);
+
         return builder.add(new SetDeviceStateAction(getDevice(), GBDevice.State.INITIALIZED, getContext()));
     }
 
+    @Override
+    public boolean onDescriptorWrite(BluetoothGatt gatt, BluetoothGattDescriptor descriptor, int status) {
+        super.onDescriptorWrite(gatt, descriptor, status);
+        getValues();
+
+        return true;
+    }
+
+    @Override
+    public boolean onCharacteristicChanged(BluetoothGatt gatt, BluetoothGattCharacteristic characteristic) {
+        handleRxCharacteristic(characteristic);
+
+        return true;
+    }
+
+    private void handleRxCharacteristic(BluetoothGattCharacteristic characteristic) {
+        if (characteristic != serialReadCharacteristic) return;
+
+        responseBuffer.put(characteristic.getValue());
+        short length = 0;
+        int oldPosition = responseBuffer.position();
+        responseBuffer.position(0);
+        byte lengthType = responseBuffer.get();
+        if (lengthType == 2) {
+            length = responseBuffer.get();
+        } else if (lengthType == 3) {
+            length = responseBuffer.getShort();
+        } else {
+            return;
+        }
+        if (length == oldPosition - 5) {
+            // whole message transmitted
+            responseBuffer.position(oldPosition);
+            handleResponseBuffer(responseBuffer);
+
+            oldPosition = 0;
+        }
+        responseBuffer.position(oldPosition);
+    }
+
+    private void handleResponseBuffer(ByteBuffer responseBuffer) {
+        int bufferLength = responseBuffer.position();
+        int payloadStartPosition = responseBuffer.get(0);
+
+        byte[] payload = new byte[bufferLength - 3 - payloadStartPosition];
+        System.arraycopy(responseBuffer.array(), payloadStartPosition, payload, 0, payload.length);
+
+        int actualCrc = CheckSums.getCRC16(payload, 0);
+        int expectedCrc = responseBuffer.getShort(bufferLength - 3);
+
+        byte responseType = payload[0];
+        if (responseType == 0x04) {
+            handleResponseValues(responseBuffer);
+        }
+    }
+
+    private void handleResponseValues(ByteBuffer valueBuffer) {
+        valueBuffer.position(3);
+        float temp_mos = buffer_get_float16(valueBuffer, 1e1);
+        float temp_motor = buffer_get_float16(valueBuffer, 1e1);
+        float current_motor = buffer_get_float32(valueBuffer, 1e2);
+        float current_in = buffer_get_float32(valueBuffer, 1e2);
+        float id = buffer_get_float32(valueBuffer, 1e2);
+        float iq = buffer_get_float32(valueBuffer, 1e2);
+        float duty_now = buffer_get_float16(valueBuffer, 1e3);
+        float rpm = buffer_get_float32(valueBuffer, 1e0);
+        float v_in = buffer_get_float16(valueBuffer, 1e1);
+        float amp_hours = buffer_get_float32(valueBuffer, 1e4);
+        float amp_hours_charged = buffer_get_float32(valueBuffer, 1e4);
+        float watt_hours = buffer_get_float32(valueBuffer, 1e4);
+        float watt_hours_charged = buffer_get_float32(valueBuffer, 1e4);
+        float tachometer = buffer_get_int32(valueBuffer);
+        float tachometer_abs = buffer_get_int32(valueBuffer);
+
+        handleBatteryVoltage(v_in);
+
+        Intent intent = new Intent(ACTION_GOT_VALUES);
+        intent.putExtra(EXTRA_VOLTAGE, v_in);
+    }
+
+
+
+    void handleBatteryVoltage(float voltage){
+        SharedPreferences prefs = GBApplication.getDeviceSpecificSharedPrefs(getDevice().getAddress());
+        float minimalVoltage = Float.parseFloat(prefs.getString(DeviceSettingsPreferenceConst.PREF_VESC_MINIMUM_VOLTAGE, "-1"));
+        float maximalVoltage = Float.parseFloat(prefs.getString(DeviceSettingsPreferenceConst.PREF_VESC_MAXIMUM_VOLTAGE, "-1"));
+
+        if(minimalVoltage == -1){
+            return;
+        }
+        if(maximalVoltage == -1){
+            return;
+        }
+
+        float voltageAboveMinimum = voltage - minimalVoltage;
+        float voltageRange = maximalVoltage - minimalVoltage;
+        float fullness = voltageAboveMinimum / voltageRange;
+
+        int fullnessPercent = (int)(fullness * 100);
+        fullnessPercent = Math.max(fullnessPercent, 0);
+        fullnessPercent = Math.min(fullnessPercent, 100);
+
+        getDevice().setBatteryLevel(fullnessPercent);
+        getDevice().setBatteryVoltage(voltage);
+        getDevice().sendDeviceUpdateIntent(getContext());
+    }
+
+    float buffer_get_float16(ByteBuffer buffer, double scale){
+        return (float) (buffer.getShort() / scale);
+    }
+
+    float buffer_get_float32(ByteBuffer buffer, double scale){
+        return (float) (buffer.getInt() / scale);
+    }
+
+    int buffer_get_int32(ByteBuffer buffer){
+        return buffer.getInt();
+    }
+
+    @Override
+    public void onTestNewFunction() {
+        getValues();
+        // getDecodedADC();
+    }
+
+    private void getDecodedADC() {
+        buildAndQueryPacket(CommandType.COMM_GET_DECODED_ADC);
+    }
+
     private void initBroadcast() {
         LocalBroadcastManager broadcastManager = LocalBroadcastManager.getInstance(getContext());
 
@@ -87,10 +238,17 @@ public class VescDeviceSupport extends VescBaseDeviceSupport{
         filter.addAction(COMMAND_SET_RPM);
         filter.addAction(COMMAND_SET_CURRENT);
         filter.addAction(COMMAND_SET_BREAK_CURRENT);
+        filter.addAction(COMMAND_GET_VALUES);
 
         broadcastManager.registerReceiver(commandReceiver, filter);
     }
 
+    @Override
+    public void dispose() {
+        super.dispose();
+        LocalBroadcastManager.getInstance(getContext()).unregisterReceiver(commandReceiver);
+    }
+
     BroadcastReceiver commandReceiver = new BroadcastReceiver() {
         @Override
         public void onReceive(Context context, Intent intent) {
@@ -106,20 +264,26 @@ public class VescDeviceSupport extends VescBaseDeviceSupport{
                 VescDeviceSupport.this.setCurrent(
                         intent.getIntExtra(EXTRA_CURRENT, 0)
                 );
+            } else if (intent.getAction().equals(COMMAND_GET_VALUES)) {
+                VescDeviceSupport.this.getValues();
             }
         }
     };
 
     public void setCurrent(int currentMillisAmperes) {
-        buildAndQueryPacket(CommandType.SET_CURRENT, currentMillisAmperes);
+        buildAndQueryPacket(CommandType.COMM_SET_CURRENT, currentMillisAmperes);
     }
 
     public void setBreakCurrent(int breakCurrentMillisAmperes) {
-        buildAndQueryPacket(CommandType.SET_CURRENT_BRAKE, breakCurrentMillisAmperes);
+        buildAndQueryPacket(CommandType.COMM_SET_CURRENT_BRAKE, breakCurrentMillisAmperes);
+    }
+
+    public void getValues() {
+        buildAndQueryPacket(CommandType.COMM_GET_VALUES);
     }
 
     public void setRPM(int rpm) {
-        buildAndQueryPacket(CommandType.SET_RPM, rpm);
+        buildAndQueryPacket(CommandType.COMM_SET_RPM, rpm);
     }
 
     public void buildAndQueryPacket(CommandType commandType, Object... args) {

app/src/main/res/xml/devicesettings_vesc.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="utf-8"?>
+<PreferenceScreen
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto">
+
+    <EditTextPreference
+        android:title="Minimum battery voltage"
+        android:key="vesc_minimum_battery_voltage"
+        android:inputType="number"
+        app:useSimpleSummaryProvider="true" />
+
+    <EditTextPreference
+        android:title="Maximum battery voltage"
+        android:key="vesc_maximum_battery_voltage"
+        android:inputType="number"
+        app:useSimpleSummaryProvider="true" />
+
+</PreferenceScreen>