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build(kiwii): 适配最新 AAR v1.3.0 接口

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pNexus
2026-06-12 17:47:19 +08:00
parent 7040752c3f
commit 883c040c30
9 changed files with 115 additions and 37 deletions
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app/build.gradle.kts
+1 -1
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@@ -38,7 +38,7 @@ android {
}
dependencies {
implementation(files("libs/unity-bridge.aar"))
implementation(files("libs/unity-bridge-aar-debug-v1.3.0.aar"))
implementation("androidx.core:core-ktx:1.12.0")
implementation("androidx.appcompat:appcompat:1.6.1")
implementation("androidx.fragment:fragment-ktx:1.6.2")
app/libs/unity-bridge-aar-debug-v1.3.0.aar
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app/libs/unity-bridge.aar
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app/src/main/java/com/kiwii/controlpanel/data/BridgeRepository.kt
+6 -15
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@@ -36,23 +36,21 @@ class BridgeRepository {
fun getLatestPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestPoseFrameJson()
fun getLatestBodyPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestBodyPoseFrameJson()
fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLatestLeftHandleIMU()
fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLeftHandleIMULatest()
fun getLeftHandleIMUQueue(): Array<FloatArray> {
val latest = KiwiiRuntimeClientBridge.getLatestLeftHandleIMU()
val latest = KiwiiRuntimeClientBridge.getLeftHandleIMULatest()
return if (latest.isEmpty()) emptyArray() else arrayOf(latest)
}
fun submitLeftStaticEffect(effectId: Int): String = KiwiiRuntimeClientBridge.submitLeftStaticEffect(effectId)
fun submitLeftHeStream(streamId: Int, payload: String): String =
KiwiiRuntimeClientBridge.submitLeftHeStream(buildHeStreamPatternJson(streamId, payload))
KiwiiRuntimeClientBridge.submitLeftHeStream(streamId, payload)
fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLatestRightHandleIMU()
fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getRightHandleIMULatest()
fun getRightHandleIMUQueue(): Array<FloatArray> {
val latest = KiwiiRuntimeClientBridge.getLatestRightHandleIMU()
val latest = KiwiiRuntimeClientBridge.getRightHandleIMULatest()
return if (latest.isEmpty()) emptyArray() else arrayOf(latest)
}
fun submitRightStaticEffect(effectId: Int): String = KiwiiRuntimeClientBridge.submitRightStaticEffect(effectId)
fun submitRightHeStream(streamId: Int, payload: String): String =
KiwiiRuntimeClientBridge.submitRightHeStream(buildHeStreamPatternJson(streamId, payload))
KiwiiRuntimeClientBridge.submitRightHeStream(streamId, payload)
fun getHandleStateJson(): String = KiwiiRuntimeClientBridge.getHandleStateJson()
@@ -68,13 +66,6 @@ class BridgeRepository {
fun submitDeviceCommandDryRun(command: String): String = KiwiiRuntimeClientBridge.submitDeviceCommandDryRun(command)
fun getDeviceCommandStateJson(): String = KiwiiRuntimeClientBridge.getDeviceCommandStateJson()
private fun buildHeStreamPatternJson(streamId: Int, payload: String): String {
val trimmed = payload.trim()
if (trimmed.startsWith("{")) return trimmed
val escaped = payload.replace("\\", "\\\\").replace("\"", "\\\"")
return "{\"streamId\":$streamId,\"payload\":\"$escaped\"}"
}
suspend fun <T> callAsync(block: () -> T): OperationResult<T> = withContext(Dispatchers.IO) {
try {
val result = block()
app/src/main/java/com/kiwii/controlpanel/ui/components/LeftHandleOps.kt
-10
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@@ -30,16 +30,6 @@ class LeftHandleOps(
}
})
layout.addView(createSection("Haptics"))
val effectInput = createParameterInput("Effect ID (int)", android.text.InputType.TYPE_CLASS_NUMBER)
val staticEffectAction = createButton("submitLeftStaticEffect") {
val id = effectInput.text.toString().toIntOrNull() ?: 0
viewModel.executeOperation(ComponentType.LEFT_HANDLE, "submitLeftStaticEffect", "effectId=$id") {
viewModel.bridgeRepo.submitLeftStaticEffect(id)
}
}
layout.addView(createParameterActionRow(staticEffectAction, effectInput))
val streamIdInput = createParameterInput("Stream ID (int)", android.text.InputType.TYPE_CLASS_NUMBER)
val payloadInput = createParameterInput("Payload (String)", android.text.InputType.TYPE_CLASS_TEXT)
val heStreamAction = createButton("submitLeftHeStream") {
app/src/main/java/com/kiwii/controlpanel/ui/components/RightHandleOps.kt
-10
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@@ -30,16 +30,6 @@ class RightHandleOps(
}
})
layout.addView(createSection("Haptics"))
val effectInput = createParameterInput("Effect ID (int)", android.text.InputType.TYPE_CLASS_NUMBER)
val staticEffectAction = createButton("submitRightStaticEffect") {
val id = effectInput.text.toString().toIntOrNull() ?: 0
viewModel.executeOperation(ComponentType.RIGHT_HANDLE, "submitRightStaticEffect", "effectId=$id") {
viewModel.bridgeRepo.submitRightStaticEffect(id)
}
}
layout.addView(createParameterActionRow(staticEffectAction, effectInput))
val streamIdInput = createParameterInput("Stream ID (int)", android.text.InputType.TYPE_CLASS_NUMBER)
val payloadInput = createParameterInput("Payload (String)", android.text.InputType.TYPE_CLASS_TEXT)
val heStreamAction = createButton("submitRightHeStream") {
app/src/main/java/com/kiwii/controlpanel/ui/detail/ComponentDetailFragment.kt
+11 -1
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@@ -143,7 +143,7 @@ class ComponentDetailFragment : Fragment() {
viewModel.stateSnapshot.collect { snapshot ->
if (snapshot != null) {
latestStateText = JsonFormatter.format(snapshot.data)
val items = RuntimeHostStatusParser.parse(snapshot.data, viewModel.bridgeRepo.isBound())
val items = parseStateItems(snapshot.data)
.ifEmpty { listOf(StatItem("State", "Updated")) }
stateAdapter.submitList(items)
val sdf = SimpleDateFormat("HH:mm:ss", Locale.getDefault())
@@ -179,6 +179,16 @@ class ComponentDetailFragment : Fragment() {
}
}
private fun parseStateItems(json: String): List<StatItem> {
return if (componentType == ComponentType.MOTOR) {
MotorRuntimeStateParser.parse(json).ifEmpty {
RuntimeHostStatusParser.parse(json, viewModel.bridgeRepo.isBound())
}
} else {
RuntimeHostStatusParser.parse(json, viewModel.bridgeRepo.isBound())
}
}
private suspend fun observeLogs() {
viewModel.logEntries.collect { entries ->
val visibleEntries = entries.takeLast(80).ifEmpty {
app/src/main/java/com/kiwii/controlpanel/ui/detail/MotorRuntimeStateParser.kt
+48
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@@ -0,0 +1,48 @@
package com.kiwii.controlpanel.ui.detail
import com.kiwii.bridge.MotorRuntimeState
import java.util.Locale
/** 将 AAR 的 MotorRuntimeState 映射成详情页状态卡片。 */
object MotorRuntimeStateParser {
fun parse(json: String): List<StatItem> {
val state = try {
MotorRuntimeState.fromJson(json)
} catch (_: Throwable) {
return emptyList()
}
return listOf(
StatItem("Available", state.available.toString()),
StatItem("Last Key", formatKey(state.lastKey), "motor uplink key"),
StatItem("Runtime", formatFloat(state.runtimeSec), "s"),
StatItem("Current", formatFloat(state.currentA), "A"),
StatItem("Torque", formatFloat(state.torqueNm), "N.m"),
StatItem("Velocity Rad", formatFloat(state.velocityRadps), "rad/s"),
StatItem("Velocity", formatFloat(state.velocityMps), "m/s"),
StatItem("Position", formatFloat(state.positionRad), "rad"),
StatItem("Extension", formatFloat(state.extensionM), "m"),
StatItem("Voltage", formatFloat(state.voltageV), "V"),
StatItem("Temperature", formatFloat(state.tempC), "C"),
StatItem("Sys", state.sys.toString()),
StatItem("Merr", state.merr.toString()),
StatItem("OBD", state.obd.toString()),
StatItem("Seq ID", state.seqId.toString()),
StatItem("T Data", state.tDataUnixMs.toString(), "Unix ms"),
StatItem("Fault", state.faultSummary.ifBlank { "none" }),
StatItem("Host Arrival", state.hostArrivalNs.toString(), "ns"),
StatItem("Last Upload", state.lastUploadNs.toString(), "ns"),
StatItem("Data Age", state.dataAgeMs.toString(), "ms"),
StatItem("Raw Line", state.rawLine.compact(), "raw debug")
)
}
private fun formatKey(key: Int): String = String.format(Locale.US, "0x%02X (%d)", key, key)
private fun formatFloat(value: Float): String = String.format(Locale.US, "%.4f", value)
private fun String.compact(): String {
return if (length > 48) "${take(45)}..." else this
}
}
app/src/test/java/com/kiwii/controlpanel/MotorRuntimeStateParserTest.kt
+49
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@@ -0,0 +1,49 @@
package com.kiwii.controlpanel
import com.kiwii.controlpanel.ui.detail.MotorRuntimeStateParser
import org.junit.Assert.assertEquals
import org.junit.Assert.assertTrue
import org.junit.Test
class MotorRuntimeStateParserTest {
@Test
fun `parse maps new motor runtime fields`() {
val json = """
{
"contractVersion": "kiwii.motor-runtime-state.v1",
"available": true,
"lastKey": 175,
"runtimeSec": 12.5,
"currentA": 1.25,
"torqueNm": 2.5,
"velocityRadps": 3.5,
"velocityMps": 4.5,
"positionRad": 5.5,
"extensionM": 0.25,
"voltageV": 24.0,
"tempC": 36.5,
"sys": 7,
"merr": 8,
"obd": 9,
"seqId": 10,
"tDataUnixMs": 1710000000000,
"faultSummary": "ok",
"hostArrivalNs": 111,
"lastUploadNs": 222,
"dataAgeMs": 333,
"rawLine": "motor raw debug line",
"rawJson": "{\"available\":true}"
}
""".trimIndent()
val items = MotorRuntimeStateParser.parse(json)
assertEquals("true", items.first { it.label == "Available" }.value)
assertEquals("0xAF (175)", items.first { it.label == "Last Key" }.value)
assertEquals("12.5000", items.first { it.label == "Runtime" }.value)
assertEquals("ms", items.first { it.label == "Data Age" }.detail)
assertEquals("motor raw debug line", items.first { it.label == "Raw Line" }.value)
assertTrue(items.none { it.label == "Raw Json" })
}
}