.gitignore

+*.iml
+.gradle
+/local.properties
+/.idea/caches
+/.idea/libraries
+/.idea/modules.xml
+/.idea/workspace.xml
+/.idea/navEditor.xml
+/.idea/assetWizardSettings.xml
+.DS_Store
+/build
+/captures
+.externalNativeBuild
+.cxx
+local.properties

.idea/compiler.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CompilerConfiguration">
+    <bytecodeTargetLevel target="21" />
+  </component>
+</project>
\ No newline at end of file

.idea/deploymentTargetSelector.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="deploymentTargetSelector">
+    <selectionStates>
+      <SelectionState runConfigName="app">
+        <option name="selectionMode" value="DROPDOWN" />
+      </SelectionState>
+    </selectionStates>
+  </component>
+</project>
\ No newline at end of file

.idea/gradle.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="GradleMigrationSettings" migrationVersion="1" />
+  <component name="GradleSettings">
+    <option name="linkedExternalProjectsSettings">
+      <GradleProjectSettings>
+        <option name="testRunner" value="CHOOSE_PER_TEST" />
+        <option name="externalProjectPath" value="$PROJECT_DIR$" />
+        <option name="gradleJvm" value="#GRADLE_LOCAL_JAVA_HOME" />
+        <option name="modules">
+          <set>
+            <option value="$PROJECT_DIR$" />
+            <option value="$PROJECT_DIR$/app" />
+          </set>
+        </option>
+        <option name="resolveExternalAnnotations" value="false" />
+      </GradleProjectSettings>
+    </option>
+  </component>
+</project>
\ No newline at end of file

.idea/kotlinc.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="KotlinJpsPluginSettings">
+    <option name="version" value="1.9.24" />
+  </component>
+</project>
\ No newline at end of file

.idea/migrations.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectMigrations">
+    <option name="MigrateToGradleLocalJavaHome">
+      <set>
+        <option value="$PROJECT_DIR$" />
+      </set>
+    </option>
+  </component>
+</project>
\ No newline at end of file

.idea/misc.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ExternalStorageConfigurationManager" enabled="true" />
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_21" default="true" project-jdk-name="jbr-21" project-jdk-type="JavaSDK">
+    <output url="file://$PROJECT_DIR$/build/classes" />
+  </component>
+  <component name="ProjectType">
+    <option name="id" value="Android" />
+  </component>
+</project>
\ No newline at end of file

.idea/runConfigurations.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="RunConfigurationProducerService">
+    <option name="ignoredProducers">
+      <set>
+        <option value="com.intellij.execution.junit.AbstractAllInDirectoryConfigurationProducer" />
+        <option value="com.intellij.execution.junit.AllInPackageConfigurationProducer" />
+        <option value="com.intellij.execution.junit.PatternConfigurationProducer" />
+        <option value="com.intellij.execution.junit.TestInClassConfigurationProducer" />
+        <option value="com.intellij.execution.junit.UniqueIdConfigurationProducer" />
+        <option value="com.intellij.execution.junit.testDiscovery.JUnitTestDiscoveryConfigurationProducer" />
+        <option value="org.jetbrains.kotlin.idea.junit.KotlinJUnitRunConfigurationProducer" />
+        <option value="org.jetbrains.kotlin.idea.junit.KotlinPatternConfigurationProducer" />
+      </set>
+    </option>
+  </component>
+</project>
\ No newline at end of file

.idea/vcs.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file

app/.gitignore

+/build
\ No newline at end of file

app/build.gradle.kts

+import java.util.regex.Pattern.compile
+
+plugins {
+    alias(libs.plugins.android.application)
+    alias(libs.plugins.kotlin.android)
+}
+
+android {
+    namespace = "com.kedda.carApp"
+    compileSdk = 35
+
+    defaultConfig {
+        applicationId = "com.kedda.carApp"
+        minSdk = 24
+        targetSdk = 33
+        versionCode = 1
+        versionName = "1.0"
+
+        testInstrumentationRunner = "androidx.test.runner.AndroidJUnitRunner"
+    }
+
+    buildTypes {
+        release {
+            isMinifyEnabled = false
+            proguardFiles(
+                getDefaultProguardFile("proguard-android-optimize.txt"),
+                "proguard-rules.pro"
+            )
+        }
+    }
+    compileOptions {
+        sourceCompatibility = JavaVersion.VERSION_11
+        targetCompatibility = JavaVersion.VERSION_11
+    }
+    kotlinOptions {
+        jvmTarget = "11"
+    }
+}
+
+dependencies {
+    implementation(libs.androidx.core.ktx)
+    implementation(libs.androidx.appcompat)
+    implementation(libs.material)
+    implementation(libs.androidx.activity)
+    implementation(libs.androidx.constraintlayout)
+    implementation(libs.androidx.material3.android)
+    implementation(libs.androidx.runtime.android)
+    implementation(libs.androidx.activity.ktx)
+    testImplementation(libs.junit)
+    androidTestImplementation(libs.androidx.junit)
+    androidTestImplementation(libs.androidx.espresso.core)
+    implementation(platform(libs.androidx.compose.bom))
+
+
+}

app/proguard-rules.pro

+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile
\ No newline at end of file

app/src/main/AndroidManifest.xml

+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools">
+
+    <uses-permission android:name="android.permission.BLUETOOTH"/>
+    <uses-permission android:name="android.permission.BLUETOOTH_ADMIN"/>
+    <uses-permission android:name="android.permission.BLUETOOTH_SCAN" />
+    <uses-permission android:name="android.permission.BLUETOOTH_CONNECT" />
+    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
+    <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" />
+    <uses-permission android:name="android.permission.BLUETOOTH_SCAN" />
+    <uses-permission android:name="android.permission.BLUETOOTH_CONNECT" />
+    <application
+        android:allowBackup="true"
+        android:dataExtractionRules="@xml/data_extraction_rules"
+        android:fullBackupContent="@xml/backup_rules"
+        android:icon="@mipmap/ic_launcher"
+        android:label="@string/carApp"
+        android:roundIcon="@mipmap/ic_launcher_round"
+        android:supportsRtl="true"
+        android:theme="@style/Theme.ImDying"
+        tools:targetApi="31">
+        <activity
+            android:name=".MainActivity"
+            android:exported="true">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+        </activity>
+        <activity android:name = ".ControlActivity"/>
+        <activity android:name=".VoiceControlActivity"
+
+        />
+
+    </application>
+
+</manifest>
\ No newline at end of file

app/src/main/java/com/kedda/carApp/BluetoothManager.kt

+import android.Manifest
+import android.bluetooth.BluetoothAdapter
+import android.bluetooth.BluetoothDevice
+import android.bluetooth.BluetoothSocket
+import android.content.Context
+import android.content.pm.PackageManager
+import android.os.Build
+import android.util.Log
+import android.widget.Toast
+import androidx.annotation.RequiresApi
+import androidx.core.app.ActivityCompat
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.withContext
+import java.io.IOException
+import java.util.*
+
+object BluetoothManager {
+    var bluetoothSocket: BluetoothSocket? = null
+    var isConnected: Boolean = false
+
+    @RequiresApi(Build.VERSION_CODES.GINGERBREAD_MR1)
+    suspend fun connectToDevice(context: Context, device: BluetoothDevice, uuid: UUID): Boolean {
+        return withContext(Dispatchers.IO) {
+            try {
+                // Check for Bluetooth permissions (handle this in the calling Activity)
+                if (ActivityCompat.checkSelfPermission(
+                        context,
+                        Manifest.permission.BLUETOOTH_CONNECT
+                    ) != PackageManager.PERMISSION_GRANTED
+                ) {
+                    Log.e("BluetoothManager", "Missing BLUETOOTH_CONNECT permission")
+                    return@withContext false // return false
+                }
+
+                if (bluetoothSocket == null || !isConnected) {
+                    bluetoothSocket = device.createInsecureRfcommSocketToServiceRecord(uuid)
+                    BluetoothAdapter.getDefaultAdapter()?.cancelDiscovery()
+                    bluetoothSocket?.connect()
+                    isConnected = true
+                    Toast.makeText(context, "Connected to device", Toast.LENGTH_SHORT).show()
+                    Log.e("BluetoothManager", "Connected to device: $device")
+                }
+                true
+            } catch (e: IOException) {
+                e.printStackTrace()
+                isConnected = false
+                Log.e("BluetoothManager", "Connection failed: ${e.message}")
+                false
+            }
+        }
+    }
+
+    suspend fun disconnect(): Boolean {
+        return withContext(Dispatchers.IO) {
+            try {
+                bluetoothSocket?.close()
+                bluetoothSocket = null
+                isConnected = false
+                true
+            } catch (e: IOException) {
+                e.printStackTrace()
+                false
+            }
+        }
+    }
+
+    suspend fun sendCommand(command: String): Boolean {
+        return withContext(Dispatchers.IO) {
+            try {
+                bluetoothSocket?.outputStream?.write(command.toByteArray())
+                true
+            } catch (e: IOException) {
+                e.printStackTrace()
+                false
+            }
+        }
+    }
+}

app/src/main/java/com/kedda/carApp/ControlAvtivity.kt

+package com.kedda.carApp
+
+import android.annotation.SuppressLint
+import android.bluetooth.BluetoothAdapter
+import android.bluetooth.BluetoothDevice
+import android.content.Intent
+import android.os.Bundle
+import android.os.Handler
+import android.os.Looper
+import android.os.SystemClock
+import android.util.Log
+import android.view.MotionEvent
+import android.widget.Button
+import android.widget.Switch
+import android.widget.Toast
+import androidx.appcompat.widget.AppCompatImageButton
+import androidx.lifecycle.lifecycleScope
+import kotlinx.coroutines.launch
+import java.text.SimpleDateFormat
+import java.util.Date
+import java.util.Locale
+import java.util.UUID
+
+class ControlActivity : MainActivity() {
+
+    companion object {
+        var m_myUUID: UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB")
+        lateinit var m_bluetoothAdapter: BluetoothAdapter
+        lateinit var m_address: String
+    }
+
+    private var commandHandler: Handler? = null
+    private var commandRunnable: Runnable? = null
+
+    // Time formatter for precise timestamps
+    private val timeFormatter = SimpleDateFormat("HH:mm:ss.SSS", Locale.getDefault())
+
+    @SuppressLint("UseSwitchCompatOrMaterialCode", "WrongViewCast", "MissingInflatedId")
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+        setContentView(R.layout.control_layout)
+
+        m_address = intent.getStringExtra(EXTRA_ADDRESS).toString()
+        m_bluetoothAdapter = BluetoothAdapter.getDefaultAdapter()
+
+        val device: BluetoothDevice? = m_bluetoothAdapter.getRemoteDevice(m_address)
+
+        // Move Bluetooth connection to a coroutine
+        if (device != null) {
+            lifecycleScope.launch {
+                val success = BluetoothManager.connectToDevice(this@ControlActivity, device, m_myUUID)
+                if (!success) {
+                    logWithTime("Connection failed in ControlActivity", isError = true)
+                    val intent = Intent(this@ControlActivity, MainActivity::class.java)
+                    intent.putExtra(EXTRA_ADDRESS, m_address)
+                    startActivity(intent)
+                    finish()
+                }
+            }
+        } else {
+            logWithTime("Bluetooth device not found", isError = true)
+            Toast.makeText(this, "Bluetooth Device Not Found", Toast.LENGTH_SHORT).show()
+        }
+
+        val switchLayout = findViewById<Switch>(R.id.switch1)
+        switchLayout.isChecked = false
+
+        switchLayout.setOnCheckedChangeListener { _, isChecked ->
+            if (isChecked) {
+                logWithTime("Voice mode switch activated")
+                lifecycleScope.launch {
+                    BluetoothManager.sendCommand("VoiceModeAccessed\n")
+                }
+                val intent = Intent(this, VoiceControlActivity::class.java)
+                intent.putExtra(EXTRA_ADDRESS, m_address)
+                startActivity(intent)
+                finish()
+            } else {
+                logWithTime("Button mode switch activated")
+                lifecycleScope.launch {
+                    BluetoothManager.sendCommand("ButtonModeAccessed\n")
+                }
+            }
+        }
+
+        // Setting button movement commands
+        setupMovementButton(findViewById(R.id.forwardButton), "forwards\n")
+        setupMovementButton(findViewById(R.id.backwardsdButton), "backwards\n")
+        setupMovementButton(findViewById(R.id.leftButton), "left\n")
+        setupMovementButton(findViewById(R.id.rightButton), "right\n")
+        setupMovementButton(findViewById(R.id.findRocketButton), "FindRocket\n")
+
+        // Setting stop button
+        val controlStop = findViewById<AppCompatImageButton>(R.id.stopButton)
+        controlStop.setOnClickListener {
+            logWithTime("Stop button pressed")
+            lifecycleScope.launch {
+                BluetoothManager.sendCommand("motorstop\n")
+            }
+        }
+
+        // setting the gripper buttons
+        val grabButton = findViewById<Button>(R.id.graspButton)
+        grabButton.setOnClickListener {
+            logWithTime("Grab button pressed")
+            lifecycleScope.launch {
+                BluetoothManager.sendCommand("grabrocket\n")
+            }
+        }
+
+        val release = findViewById<Button>(R.id.releaseButton)
+        release.setOnClickListener {
+            logWithTime("Release button pressed")
+            lifecycleScope.launch {
+                BluetoothManager.sendCommand("releaserocket\n")
+            }
+        }
+
+        // Setting disconnect button
+        val disconnectButton = findViewById<Button>(R.id.disconnectButton)
+        disconnectButton.setOnClickListener {
+            logWithTime("Disconnect button pressed")
+            lifecycleScope.launch {
+                BluetoothManager.disconnect()
+                val intent = Intent(this@ControlActivity, MainActivity::class.java)
+                intent.putExtra(EXTRA_ADDRESS, m_address)
+                startActivity(intent)
+                logWithTime("Disconnected from device")
+                finish()
+            }
+        }
+    }
+
+    // Helper function to log with timestamp
+    private fun logWithTime(message: String, isError: Boolean = false) {
+        val timestamp = timeFormatter.format(Date())
+        val logMessage = "[$timestamp] $message"
+        if (isError) {
+            Log.e("ControlActivity", logMessage)
+        } else {
+            Log.d("ControlActivity", logMessage)
+        }
+    }
+
+    // If button pressed send command continuously while pressed
+    @SuppressLint("ClickableViewAccessibility")
+    private fun setupMovementButton(button: AppCompatImageButton, command: String) {
+        button.setOnTouchListener { _, motionEvent ->
+            when (motionEvent.action) {
+                MotionEvent.ACTION_DOWN -> {
+                    val pressTime = SystemClock.elapsedRealtimeNanos()
+                    val pressTimestamp = timeFormatter.format(Date())
+                    logWithTime("PRESSED - Button: ${button.contentDescription} - Command: $command - SystemNanos: $pressTime")
+                    startSendingCommand(command)
+                    true
+                }
+                MotionEvent.ACTION_UP -> {
+                    val releaseTime = SystemClock.elapsedRealtimeNanos()
+                    val releaseTimestamp = timeFormatter.format(Date())
+                    logWithTime("RELEASED - Button: ${button.contentDescription} - Command: $command - SystemNanos: $releaseTime")
+                    stopSendingCommand()
+                    true
+                }
+                else -> false
+            }
+        }
+    }
+
+    // Start sending command every 100ms
+    private fun startSendingCommand(command: String) {
+        commandHandler = Handler(Looper.getMainLooper())
+        commandRunnable = object : Runnable {
+            override fun run() {
+                lifecycleScope.launch {
+                    BluetoothManager.sendCommand(command)
+                    logWithTime("SENDING - Command: $command")
+                }
+                commandHandler?.postDelayed(this, 1000) // Send command every 100ms
+            }
+        }
+        commandHandler?.post(commandRunnable!!)
+    }
+
+    // Stop sending command
+    private fun stopSendingCommand() {
+        logWithTime("STOPPED - Command sending")
+        commandHandler?.removeCallbacks(commandRunnable ?: return)
+        commandHandler = null
+    }
+}
\ No newline at end of file

app/src/main/java/com/kedda/carApp/MainActivity.kt

+package com.kedda.carApp
+import BluetoothManager
+import android.app.Activity
+import android.Manifest
+import android.annotation.SuppressLint
+import android.bluetooth.BluetoothAdapter
+import android.bluetooth.BluetoothDevice
+import android.content.Intent
+import android.content.pm.PackageManager
+import android.os.Build
+import android.os.Bundle
+import android.widget.Toast
+import android.util.Log
+
+import androidx.activity.enableEdgeToEdge
+import androidx.appcompat.app.AppCompatActivity
+import androidx.core.app.ActivityCompat
+import android.widget.ArrayAdapter
+import android.widget.Button
+import android.widget.ListView
+import androidx.annotation.RequiresApi
+
+import com.kedda.carApp.ControlActivity.Companion.m_address
+import com.kedda.carApp.ControlActivity.Companion.m_myUUID
+import androidx.appcompat.widget.AppCompatImageButton
+import androidx.lifecycle.lifecycleScope
+import kotlinx.coroutines.launch
+open class MainActivity : AppCompatActivity() {
+
+    private var m_bluetoothAdapter: BluetoothAdapter? = null
+    private lateinit var m_pairedDevices: Set<BluetoothDevice>
+    private val REQUEST_ENABLE_BLUETOOTH = 1
+    private val REQUEST_PERMISSIONS = 2
+
+
+    companion object {
+        const val EXTRA_ADDRESS: String = "ESP32-BT-CARRR"
+    }
+
+    @RequiresApi(Build.VERSION_CODES.S)
+    @SuppressLint("MissingInflatedId", "MissingPermission")
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+        enableEdgeToEdge()
+        setContentView(R.layout.activity_main)
+        m_bluetoothAdapter = BluetoothAdapter.getDefaultAdapter()
+
+        if (m_bluetoothAdapter == null) {
+            //Toast.makeText(this, "Device does not support Bluetooth", Toast.LENGTH_SHORT).show()
+            val intent = Intent(this, MainActivity::class.java)
+            intent.putExtra(EXTRA_ADDRESS, m_address)
+            startActivity(intent)
+            finish()
+            return
+        }
+        checkPermissions()
+
+        if (!m_bluetoothAdapter!!.isEnabled) {
+            val enableBluetoothIntent = Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE)
+            startActivityForResult(enableBluetoothIntent, REQUEST_ENABLE_BLUETOOTH)
+        } else {
+            pairedDeviceList()
+        }
+
+        val selectDeviceRefresh = findViewById<Button>(R.id.select_device_refresh)
+        selectDeviceRefresh.setOnClickListener { pairedDeviceList() }
+    }
+
+    @RequiresApi(Build.VERSION_CODES.S)
+    private fun checkPermissions() {
+        val permissionsNeeded = mutableListOf(
+            Manifest.permission.BLUETOOTH,
+            Manifest.permission.BLUETOOTH_SCAN,
+            Manifest.permission.BLUETOOTH_CONNECT,
+            Manifest.permission.ACCESS_FINE_LOCATION,
+            Manifest.permission.ACCESS_COARSE_LOCATION
+        )
+
+        val permissionsToRequest = permissionsNeeded.filter {
+            ActivityCompat.checkSelfPermission(this, it) != PackageManager.PERMISSION_GRANTED
+        }
+
+        if (permissionsToRequest.isNotEmpty()) {
+            ActivityCompat.requestPermissions(this, permissionsToRequest.toTypedArray(), REQUEST_PERMISSIONS)
+        } else {
+            pairedDeviceList()
+            //Toast.makeText(this, "Permissions already granted", Toast.LENGTH_SHORT).show()
+        }
+    }
+
+
+    // Inside pairedDeviceList function
+    private fun pairedDeviceList() {
+        m_pairedDevices = m_bluetoothAdapter!!.bondedDevices
+        val list = ArrayList<String>()
+
+        if (m_pairedDevices.isNotEmpty()) {
+            for (device in m_pairedDevices) {
+                if (ActivityCompat.checkSelfPermission(
+                        this,
+                        Manifest.permission.BLUETOOTH_CONNECT
+                    ) != PackageManager.PERMISSION_GRANTED
+                ) {
+                    return
+                }
+                list.add("${device.name} - ${device.address}")
+                Log.i("device", "Device found: ${device.name} - ${device.address}")
+            }
+        } else {
+           // Toast.makeText(this, "No paired devices", Toast.LENGTH_SHORT).show()
+        }
+        val adapter = ArrayAdapter(this, android.R.layout.simple_list_item_1, list)
+        val deviceListView = findViewById<ListView>(R.id.select_device_list)
+        deviceListView.adapter = adapter
+
+        // Set an on item click listener for the list
+        deviceListView.setOnItemClickListener { _, _, position, _ ->
+            val selectedDevice = m_pairedDevices.elementAt(position) // Get BluetoothDevice object
+            m_address = selectedDevice.address // Initialize m_address with the selected device's address
+            lifecycleScope.launch {
+                BluetoothManager.connectToDevice(this@MainActivity, selectedDevice, m_myUUID)
+                if(!BluetoothManager.isConnected) {
+                    Log.e("MainActivity", "Connection failed in MainActivity")
+                    Toast.makeText(this@MainActivity, "Bluetooth Connection Failed", Toast.LENGTH_SHORT).show()
+                    val intent = Intent(this@MainActivity, MainActivity::class.java)
+                    intent.putExtra(EXTRA_ADDRESS, m_address)
+                    startActivity(intent)
+                    finish()
+                }
+                val intent = Intent(this@MainActivity, ControlActivity::class.java)
+                intent.putExtra(EXTRA_ADDRESS, m_address)
+                startActivity(intent)
+                finish()
+            }
+
+
+        }
+    }
+
+    override fun onActivityResult(requestCode: Int, resultCode: Int, data: Intent?) {
+        super.onActivityResult(requestCode, resultCode, data)
+        if (requestCode == REQUEST_ENABLE_BLUETOOTH) {
+            if (resultCode == Activity.RESULT_OK) {
+                //.makeText(this, "Bluetooth has been enabled", Toast.LENGTH_SHORT).show()
+                pairedDeviceList() // Just refresh instead of restarting activity
+            } else {
+                //Toast.makeText(this, "Bluetooth enabling has been cancelled", Toast.LENGTH_SHORT).show()
+            }
+        }
+    }
+
+
+    override fun onRequestPermissionsResult(requestCode: Int, permissions: Array<out String>, grantResults: IntArray) {
+        super.onRequestPermissionsResult(requestCode, permissions, grantResults)
+        if (requestCode == REQUEST_PERMISSIONS) {
+            if (grantResults.isNotEmpty() && grantResults.all { it == PackageManager.PERMISSION_GRANTED }) {
+                pairedDeviceList()
+            } else {
+                //Toast.makeText(this, "Permissions denied", Toast.LENGTH_SHORT).show()
+            }
+        }
+    }
+}
+
+

app/src/main/java/com/kedda/carApp/VoiceControlActivity.kt

+package com.kedda.carApp
+
+
+import android.annotation.SuppressLint
+import android.app.Activity
+import android.bluetooth.BluetoothAdapter
+import android.content.Intent
+import android.os.Bundle
+import android.speech.RecognizerIntent
+import android.util.Log
+import android.widget.ImageButton
+import android.widget.Switch
+import android.widget.TextView
+import android.widget.Toast
+import java.io.IOException
+import java.util.Locale
+
+
+import android.os.Build
+import androidx.activity.result.ActivityResultLauncher
+import androidx.activity.result.contract.ActivityResultContracts
+import androidx.annotation.RequiresApi
+import androidx.lifecycle.lifecycleScope
+import com.kedda.carApp.ControlActivity.Companion.m_bluetoothAdapter
+import kotlinx.coroutines.launch
+
+
+class VoiceControlActivity : MainActivity() {
+
+    companion object {
+
+        lateinit var m_address: String
+    }
+    private lateinit var speechRecognitionLauncher: ActivityResultLauncher<Intent>
+
+    @RequiresApi(Build.VERSION_CODES.ECLAIR)
+    @SuppressLint("UseSwitchCompatOrMaterialCode")
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+        setContentView(R.layout.voice_recognizer)
+        m_address = intent.getStringExtra(EXTRA_ADDRESS).toString()
+
+        m_bluetoothAdapter = BluetoothAdapter.getDefaultAdapter()
+
+
+        val switch_layout = findViewById<Switch>(R.id.switch1)
+        switch_layout.isChecked = true
+        // Switch to ControlActivity when switched off
+
+        // Handle switch toggle
+        switch_layout.setOnCheckedChangeListener { _, isChecked ->
+
+
+            if (!isChecked) {
+                // Switch to button control mode
+                lifecycleScope.launch {
+                    BluetoothManager.sendCommand("ButtonModeAccessed\n")
+                }
+                  //  Toast.makeText(this, "Switching to voice Button Mode", Toast.LENGTH_SHORT).show()
+                if (!isFinishing) {  // Check if activity is not finishing
+                    val intent = Intent(this, ControlActivity::class.java)
+                    intent.putExtra(EXTRA_ADDRESS, m_address)
+                    startActivity(intent)
+                    finish()  // Close the current activity
+                }
+
+            }
+
+        }
+
+        // Handle voice button click event
+        val voiceButton = findViewById<ImageButton>(R.id.voiceButton)
+        voiceButton.setOnClickListener {
+            speak();
+        }
+
+        // Initialize speech recognition launcher and send the commands to the device
+        speechRecognitionLauncher = registerForActivityResult(ActivityResultContracts.StartActivityForResult()) { result ->
+            if (result.resultCode == Activity.RESULT_OK) {
+                try{
+                    val resultData = result.data?.getStringArrayListExtra(RecognizerIntent.EXTRA_RESULTS)
+                    resultData?.get(0)?.let { recognizedText ->
+                        val speechText = findViewById<TextView>(R.id.instructionText)
+                        speechText.text = recognizedText
+                        // Send the recognized text as a command
+                        lifecycleScope.launch {
+                            BluetoothManager.sendCommand(recognizedText)
+                        }
+
+                    }
+                }catch (e: IOException){
+                    Log.e("voice command line 91", "command not sent :(", e)
+
+                }
+
+            }
+        }
+    }
+    // speak function to start speech recognition launcher and send the commands to the device
+    private fun speak() {
+        val mIntent = Intent(RecognizerIntent.ACTION_RECOGNIZE_SPEECH)
+        mIntent.putExtra(RecognizerIntent.EXTRA_LANGUAGE_MODEL,
+            RecognizerIntent.LANGUAGE_MODEL_FREE_FORM)
+        mIntent.putExtra(RecognizerIntent.EXTRA_LANGUAGE,
+            Locale.getDefault())
+        mIntent.putExtra(RecognizerIntent.EXTRA_PROMPT, "Hi, speak something")
+        speechRecognitionLauncher.launch(mIntent)
+    }
+
+
+
+}
\ No newline at end of file

app/src/main/res/drawable-v24/ic_launcher_foreground.xml

+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:aapt="http://schemas.android.com/aapt"
+    android:width="108dp"
+    android:height="108dp"
+    android:viewportWidth="108"
+    android:viewportHeight="108">
+    <path android:pathData="M31,63.928c0,0 6.4,-11 12.1,-13.1c7.2,-2.6 26,-1.4 26,-1.4l38.1,38.1L107,108.928l-32,-1L31,63.928z">
+        <aapt:attr name="android:fillColor">
+            <gradient
+                android:endX="85.84757"
+                android:endY="92.4963"
+                android:startX="42.9492"
+                android:startY="49.59793"
+                android:type="linear">
+                <item
+                    android:color="#44000000"
+                    android:offset="0.0" />
+                <item
+                    android:color="#00000000"
+                    android:offset="1.0" />
+            </gradient>
+        </aapt:attr>
+    </path>
+    <path
+        android:fillColor="#FFFFFF"
+        android:fillType="nonZero"
+        android:pathData="M65.3,45.828l3.8,-6.6c0.2,-0.4 0.1,-0.9 -0.3,-1.1c-0.4,-0.2 -0.9,-0.1 -1.1,0.3l-3.9,6.7c-6.3,-2.8 -13.4,-2.8 -19.7,0l-3.9,-6.7c-0.2,-0.4 -0.7,-0.5 -1.1,-0.3C38.8,38.328 38.7,38.828 38.9,39.228l3.8,6.6C36.2,49.428 31.7,56.028 31,63.928h46C76.3,56.028 71.8,49.428 65.3,45.828zM43.4,57.328c-0.8,0 -1.5,-0.5 -1.8,-1.2c-0.3,-0.7 -0.1,-1.5 0.4,-2.1c0.5,-0.5 1.4,-0.7 2.1,-0.4c0.7,0.3 1.2,1 1.2,1.8C45.3,56.528 44.5,57.328 43.4,57.328L43.4,57.328zM64.6,57.328c-0.8,0 -1.5,-0.5 -1.8,-1.2s-0.1,-1.5 0.4,-2.1c0.5,-0.5 1.4,-0.7 2.1,-0.4c0.7,0.3 1.2,1 1.2,1.8C66.5,56.528 65.6,57.328 64.6,57.328L64.6,57.328z"
+        android:strokeWidth="1"
+        android:strokeColor="#00000000" />
+</vector>
\ No newline at end of file

app/src/main/res/drawable/baseline_arrow_circle_down_24.xml

+<vector xmlns:android="http://schemas.android.com/apk/res/android" android:height="24dp" android:tint="#636462" android:viewportHeight="24" android:viewportWidth="24" android:width="24dp">
+      
+    <path android:fillColor="@android:color/white" android:pathData="M12,4c4.41,0 8,3.59 8,8s-3.59,8 -8,8s-8,-3.59 -8,-8S7.59,4 12,4M12,2C6.48,2 2,6.48 2,12c0,5.52 4.48,10 10,10c5.52,0 10,-4.48 10,-10C22,6.48 17.52,2 12,2L12,2zM13,12l0,-4h-2l0,4H8l4,4l4,-4H13z"/>
+    
+</vector>