update for new rust implementation of the microcontroller

lib/xiao_connector/cubit/xiao_connector_cubit.dart

@@ -27,10 +27,6 @@ class XiaoConnectorCubit extends Cubit<XiaoConnectorState> {
   late final Box<CapturePoint> _capturePointsBox;
   late final Box<CaptureBox> _captureBoxes;
 
-  bool gotRotation = false;
-  bool gotAcceleration = false;
-  bool gotTimeStamp = false;
-
   int _rotX = 0;
   int _rotY = 0;
   int _rotZ = 0;
@@ -111,31 +107,52 @@ class XiaoConnectorCubit extends Cubit<XiaoConnectorState> {
         .where(
           (c) =>
               c.characteristicUuid ==
-              Guid('19B10000-E8F2-537E-4F6C-D104768A1217'),
+              Guid('19B10000-E8F2-537E-4F6C-D104768A1216'),
         )
         .first;
 
     final data = await accelService.read();
     print(data);
 
-    // accelService.onValueReceived((data) {});
+    final gyroX = fromBytesToInt32(data[0], data[1], data[2], data[3]);
+    final gyroY = fromBytesToInt32(data[4], data[5], data[6], data[7]);
+    final gyroZ = fromBytesToInt32(data[8], data[9], data[10], data[11]);
+
+    final accelX = fromBytesToInt32(data[12], data[13], data[14], data[15]);
+    final accelY = fromBytesToInt32(data[16], data[17], data[18], data[19]);
+    final accelZ = fromBytesToInt32(data[20], data[21], data[22], data[23]);
+
+    final timeStamp = fromBytesToInt64(
+      data[24],
+      data[25],
+      data[26],
+      data[27],
+      data[28],
+      data[29],
+      data[30],
+      data[31],
+    );
+
+    print('GYRO x:$gyroX, y:$gyroY, z:$gyroZ');
+    print('ACCEL x:$accelX, y:$accelY, z:$accelZ');
+    print('TIMESTAMP: ${DateTime.fromMicrosecondsSinceEpoch(timeStamp)}');
   }
 
-  Future<void> setCapturingOn() async {
+  Future<void> setCapturing({required bool on}) async {
     final senseService = _services
         .where(
-          (s) => s.serviceUuid == Guid('4c534d36-4453-3354-5253-657276696365'),
+          (s) => s.serviceUuid == Guid('19B10000-E8F2-537E-4F6C-D104768A1214'),
         )
         .first
         .characteristics
         .where(
           (c) =>
               c.characteristicUuid ==
-              Guid('63617074-7572-696E-6753-657276696365'),
+              Guid('19B10000-E8F2-537E-4F6C-D104768A1215'),
         )
         .first;
 
-    await senseService.write([1]);
+    await senseService.write([if (on) 1 else 0]);
   }
 
   Uint8List int64BigEndianBytes(int value) =>
@@ -144,7 +161,7 @@ class XiaoConnectorCubit extends Cubit<XiaoConnectorState> {
   Future<void> setTime(int millisSinceEpoch) async {
     final senseService = _services
         .where(
-          (s) => s.serviceUuid == Guid('4c534d36-4453-3354-5253-657276696365'),
+          (s) => s.serviceUuid == Guid('19B10000-E8F2-537E-4F6C-D104768A1214'),
         )
         .first
         .characteristics
@@ -162,77 +179,61 @@ class XiaoConnectorCubit extends Cubit<XiaoConnectorState> {
   Future<void> startCapturing() async {
     _senseService = _services
         .where(
-          (s) => s.serviceUuid == Guid('4c534d36-4453-3354-5253-657276696365'),
+          (s) => s.serviceUuid == Guid('19B10000-E8F2-537E-4F6C-D104768A1214'),
         )
         .first
         .characteristics
         .where(
           (c) =>
               c.characteristicUuid ==
-              Guid('61636365-6c65-7261-7469-6f6e44617461'),
+              Guid('19B10000-E8F2-537E-4F6C-D104768A1216'),
         )
         .first;
 
-    dataCapturingSubscription = _senseService.onValueReceived.listen((value) {
+    dataCapturingSubscription = _senseService.onValueReceived.listen((data) {
       // rotation
-      if (value.last == 1) {
-        _rotX = fromBytesToInt32(value[0], value[1], value[2], value[3]);
-        _rotY = fromBytesToInt32(value[4], value[5], value[6], value[7]);
-        _rotZ = fromBytesToInt32(value[8], value[9], value[10], value[11]);
-        gotRotation = true;
-      }
+      _rotX = fromBytesToInt32(data[0], data[1], data[2], data[3]);
+      _rotY = fromBytesToInt32(data[4], data[5], data[6], data[7]);
+      _rotZ = fromBytesToInt32(data[8], data[9], data[10], data[11]);
 
-      // acceleration
-      if (value.last == 2) {
-        _accX = fromBytesToInt32(value[0], value[1], value[2], value[3]);
-        _accY = fromBytesToInt32(value[4], value[5], value[6], value[7]);
-        _accZ = fromBytesToInt32(value[8], value[9], value[10], value[11]);
-        gotAcceleration = true;
-      }
+      _accX = fromBytesToInt32(data[12], data[13], data[14], data[15]);
+      _accY = fromBytesToInt32(data[16], data[17], data[18], data[19]);
+      _accZ = fromBytesToInt32(data[20], data[21], data[22], data[23]);
 
-      if (value.last == 3) {
-        final timeStamp = fromBytesToInt64(
-          value[0],
-          value[1],
-          value[2],
-          value[3],
-          value[4],
-          value[5],
-          value[6],
-          value[7],
-        );
-        _millisecondsSinceEpochSend = timeStamp;
-        gotTimeStamp = true;
-      }
+      final timeStamp = fromBytesToInt64(
+        data[24],
+        data[25],
+        data[26],
+        data[27],
+        data[28],
+        data[29],
+        data[30],
+        data[31],
+      );
+      _millisecondsSinceEpochSend = timeStamp;
 
-      if (gotAcceleration && gotRotation && gotTimeStamp) {
-        final capturePoint = CapturePoint(
-          type: _captureType,
-          uuid: _uuid,
-          rotationX: _rotX,
-          rotationY: _rotY,
-          rotationZ: _rotZ,
-          accelerationX: _accX,
-          accelerationY: _accY,
-          accelerationZ: _accZ,
-          millisecondsSinceEpochReceived:
-              DateTime.now().toUtc().millisecondsSinceEpoch,
-          millisecondsSinceEpochSend: _millisecondsSinceEpochSend,
-        );
-        emit(state.copyWith(lastCapturedPoint: capturePoint));
+      final capturePoint = CapturePoint(
+        type: _captureType,
+        uuid: _uuid,
+        rotationX: _rotX,
+        rotationY: _rotY,
+        rotationZ: _rotZ,
+        accelerationX: _accX,
+        accelerationY: _accY,
+        accelerationZ: _accZ,
+        millisecondsSinceEpochReceived:
+            DateTime.now().toUtc().millisecondsSinceEpoch,
+        millisecondsSinceEpochSend: _millisecondsSinceEpochSend,
+      );
+      emit(state.copyWith(lastCapturedPoint: capturePoint));
 
-        if (isRecording) {
-          _writeToObjectBox(capturePoint: capturePoint);
-        }
-
-        gotAcceleration = false;
-        gotRotation = false;
-        gotTimeStamp = false;
+      if (isRecording) {
+        _writeToObjectBox(capturePoint: capturePoint);
       }
     });
-    await setCapturingOn();
+    await setCapturing(on: true);
 
-    await setTime(DateTime.now().millisecondsSinceEpoch);
+    // await setTime(DateTime.now().millisecondsSinceEpoch);
 
     device.cancelWhenDisconnected(dataCapturingSubscription);
 
@@ -246,6 +247,8 @@ class XiaoConnectorCubit extends Cubit<XiaoConnectorState> {
 
     await _senseService.setNotifyValue(false);
 
+    await setCapturing(on: false);
+
     emit(state.copyWith(status: XiaoConnectorStatus.connected));
   }