feat(connector): add pre-run command before tests

connector/composeApp/src/desktopMain/kotlin/InterfaceState.kt

@@ -6,6 +6,8 @@ class InterfaceState : KoinComponent {
     var projectId: Int? = null
     var procedureId: Int? = null
     var testId: Int? = null
+    var altitude: Int? = null
+    var speed: Int? = null
 
     val projectSelected: Boolean
         get() = projectId != null

connector/composeApp/src/desktopMain/kotlin/tab/procedure/ListProcedures.kt

@@ -8,6 +8,8 @@ import androidx.compose.foundation.lazy.LazyColumn
 import androidx.compose.foundation.lazy.items
 import androidx.compose.foundation.lazy.rememberLazyListState
 import androidx.compose.foundation.rememberScrollbarAdapter
+import androidx.compose.foundation.selection.toggleable
+import androidx.compose.foundation.shape.RoundedCornerShape
 import androidx.compose.material.icons.Icons
 import androidx.compose.material.icons.outlined.Add
 import androidx.compose.material.icons.outlined.Edit
@@ -16,6 +18,9 @@ import androidx.compose.material3.*
 import androidx.compose.runtime.*
 import androidx.compose.ui.Alignment
 import androidx.compose.ui.Modifier
+import androidx.compose.ui.semantics.Role
+import androidx.compose.ui.unit.dp
+import androidx.compose.ui.window.Dialog
 import cafe.adriel.voyager.core.screen.Screen
 import cafe.adriel.voyager.koin.getScreenModel
 import cafe.adriel.voyager.navigator.LocalNavigator
@@ -33,6 +38,8 @@ import tab.test.SimulatorTest
 class ListProcedures (
     private val procedures: List<Procedure>
 ) : Screen {
+    private val optionInput = mutableStateListOf("", "", "")
+
     @Composable
     override fun Content() {
         val navigator = LocalNavigator.currentOrThrow
@@ -132,6 +139,7 @@ class ListProcedures (
         onDismissRequest: () -> Unit
     ) {
         val tabNavigator = LocalTabNavigator.current
+        var openRunDialog by remember { mutableStateOf(false) }
 
         DropdownMenu(
             expanded = expanded,
@@ -152,12 +160,155 @@ class ListProcedures (
                 text = { Text("Run Test") },
                 onClick = {
                     viewModel.procedureId = procedure.id
-                    tabNavigator.current = SimulatorTest
+                    openRunDialog = true
                 },
                 leadingIcon = {
                     Icon(Icons.Outlined.PlayArrow, "Run Procedure Tests")
                 },
             )
         }
+
+        when {
+            openRunDialog -> {
+                BeforeStartDialog(
+                    onDismissRequest = { openRunDialog = false },
+                    onConfirmation = {
+                        openRunDialog = false
+                        viewModel.altitude = optionInput[0].toIntOrNull()
+                        viewModel.speed = optionInput[1].toIntOrNull()
+                        tabNavigator.current = SimulatorTest
+                    }
+                )
+            }
+        }
+    }
+
+    @OptIn(ExperimentalMaterial3Api::class)
+    @Composable
+    private fun BeforeStartDialog(
+        onDismissRequest: () -> Unit,
+        onConfirmation: () -> Unit,
+    ) {
+        var modeSelect by remember { mutableStateOf(0) }
+        val modeOptions = listOf("None", "Pre-Configure")
+
+        Dialog(onDismissRequest = { onDismissRequest() }) {
+            Card(
+                modifier = Modifier
+                    .fillMaxWidth()
+                    .padding(16.dp),
+                shape = RoundedCornerShape(16.dp),
+            ) {
+                Column(
+                    verticalArrangement = Arrangement.Center,
+                    horizontalAlignment = Alignment.CenterHorizontally
+                ) {
+                    Text(
+                        text = "Pre-Run Commands",
+                        style = MaterialTheme.typography.headlineSmall,
+                        modifier = Modifier.padding(16.dp)
+                    )
+
+                    MultiChoiceSegmentedButtonRow (
+                        modifier = Modifier.padding(8.dp)
+                    ) {
+                        modeOptions.forEachIndexed { index, label ->
+                            SegmentedButton(
+                                shape = SegmentedButtonDefaults.itemShape(
+                                    index = index,
+                                    count = modeOptions.size
+                                ),
+                                onCheckedChange = { modeSelect = index },
+                                checked = (index == modeSelect),
+                            ) {
+                                Text(label)
+                            }
+                        }
+                    }
+
+                    when {
+                        modeSelect == 1 -> {
+                            BeforeStartForm()
+                        }
+                    }
+
+                    Row(
+                        modifier = Modifier
+                            .fillMaxWidth(),
+                        horizontalArrangement = Arrangement.Center,
+                    ) {
+                        TextButton(
+                            onClick = { onConfirmation() },
+                            modifier = Modifier.padding(8.dp),
+                        ) {
+                            Text("Run")
+                        }
+
+                        TextButton(
+                            onClick = { onDismissRequest() },
+                            modifier = Modifier.padding(8.dp),
+                        ) {
+                            Text("Cancel")
+                        }
+                    }
+                }
+            }
+        }
+
+    }
+
+    @Composable
+    private fun BeforeStartForm() {
+        val checkedListState = remember { mutableStateListOf<Int>() }
+        val options = listOf("Set Altitude", "Set Speed", "Add Actions")
+
+        Column(
+            modifier = Modifier
+                .fillMaxWidth(0.9F),
+            verticalArrangement = Arrangement.Center,
+            horizontalAlignment = Alignment.CenterHorizontally
+        ) {
+            options.forEachIndexed { index, label ->
+                Row(
+                    modifier = Modifier
+                        .fillMaxWidth()
+                        .height(56.dp)
+                        .padding(8.dp)
+                        .toggleable(
+                            value = index in checkedListState,
+                            onValueChange = {
+                                if (index in checkedListState) {
+                                    checkedListState.remove(index)
+                                } else {
+                                    checkedListState.add(index)
+                                }
+                            },
+                            role = Role.Checkbox,
+                        ),
+                    verticalAlignment = Alignment.CenterVertically,
+                ) {
+                    Checkbox(
+                        checked = index in checkedListState,
+                        onCheckedChange = null,
+                    )
+                    Text(
+                        text = label,
+                        style = MaterialTheme.typography.bodyLarge,
+                    )
+                }
+                if (index in checkedListState) {
+                    OutlinedTextField(
+                        modifier = Modifier
+                            .fillMaxWidth()
+                            .padding(8.dp),
+                        value = optionInput[index],
+                        onValueChange = { optionInput[index] = it },
+                        label = { Text(options[index]) },
+                        singleLine = true
+                    )
+                }
+            }
+
+        }
     }
 }

connector/composeApp/src/desktopMain/kotlin/tab/test/TestScreenModel.kt

@@ -39,6 +39,16 @@ class TestScreenModel (
                 return@launch
             }
 
+            val altitude = interfaceState.altitude
+            if (altitude != null) {
+                val posi = DoubleArray(7) { -998.0 }
+                posi[2] = altitude.toDouble()
+                posi[6] = 0.0
+                xpc.setPOSI(posi)
+            }
+
+            delay(5000L)
+
             // Starts the test in the database
             interfaceState.testId = db.startTest(procedureId)
 

connector/shared/src/commonMain/kotlin/io/anthonyberg/connector/shared/xpc/XPC.kt

@@ -73,4 +73,12 @@ class XPC {
 
         return result
     }
+
+    fun getPOSI(): DoubleArray {
+        return xpc.getPOSI(0)
+    }
+
+    fun setPOSI(posi: DoubleArray) {
+        xpc.sendPOSI(posi, 0)
+    }
 }