liaison bluetooth entre gros robot -> panneau ou gros robot -> petit robot
Fork of liaison_Bluetooth by
LiaisonBluetooth.cpp
- Committer:
- duperoux_j
- Date:
- 2018-04-13
- Revision:
- 8:4b5a472a8f94
- Parent:
- 7:543d5548dbb9
- Child:
- 9:f69c70d1bd2d
- Child:
- 10:f5ad5e892d20
File content as of revision 8:4b5a472a8f94:
#include "LiaisonBluetooth/LiaisonBluetooth.h" /* if (action_robot_2) { char *score_char_array = convertir_int_en_4char(score_total); paquet_domotique_envoyer(0x30, 4, score_char_array); delete []score_char_array; } */ LiaisonBluetooth::LiaisonBluetooth(Serial *bluetooth, Serial *pc) : m_bluetooth(bluetooth), m_state(true), m_pc(pc) { } bool LiaisonBluetooth::paquet_en_attente() { char c; while (m_bluetooth->readable() && m_state) { c = m_bluetooth->getc(); if (c == MARQUEUR_DEBUT_TRAME) { return true; } } return false; } PaquetDomotique *LiaisonBluetooth::lire() { char identifiant = 0; wait_ms(10); if (m_bluetooth->readable() && m_state) { identifiant = m_bluetooth->getc(); } else { m_pc->printf("error identifiant %d\n", identifiant); return NULL; } char buffer_longueur_paquet[4]; for (int i = 0 ; i < 4 ; i++) { if (m_bluetooth->readable() && m_state) { buffer_longueur_paquet[i] = m_bluetooth->getc(); } else { m_pc->printf("error buffer_longueur_paquet %d\n", i); return NULL; } } unsigned short longueur_paquet = atoi(buffer_longueur_paquet); m_pc->printf("longueur %d\n", longueur_paquet); wait_ms(10); char buffer_data[longueur_paquet]; int index = 0; while (index < longueur_paquet) { if (m_bluetooth->readable() && m_state) { char c = m_bluetooth->getc(); m_pc->printf("%x\n", c); if (c == MARQUEUR_FIN_TRAME) { m_pc->printf("error MARQUEUR_FIN_TRAME %d\n", index); return NULL; } buffer_data[index++] = c; } else { m_pc->printf("buffer_data\n"); return NULL; } } return creer_paquetdomotique(identifiant, longueur_paquet, buffer_data); } void LiaisonBluetooth::envoyer(char idenfitiant, int longueur_data, char *data) { m_bluetooth->putc(MARQUEUR_DEBUT_TRAME); m_bluetooth->putc(idenfitiant); //char *longueur_buffer = convertir_int_en_4char(longueur_data); char str[4]; sprintf(str,"%d", longueur_data); for (int i = 0 ; i < 4 ; i++) { m_bluetooth->putc(str[i]); } for (int i = 0 ; i < longueur_data ; i++) { m_bluetooth->putc(data[i]); } m_bluetooth->putc(MARQUEUR_FIN_TRAME); } PaquetDomotique *creer_paquetdomotique(int identifiant, unsigned int longueur_data, char *data) { PaquetDomotique *paquet = (PaquetDomotique*)malloc(sizeof(PaquetDomotique)); paquet->identifiant = identifiant; paquet->data = (char*)malloc(sizeof(char)*longueur_data); memset(paquet->data, 0, longueur_data); strcpy(paquet->data, data); paquet->longueur = longueur_data; return paquet; } void detruire_paquetdomotique(PaquetDomotique *paquet) { free(paquet->data); free(paquet); } char *convertir_int_en_4char(unsigned int integer) { char *data = new char[4]; data[3] = (integer>>24) & 0xFF; data[2] = (integer>>16) & 0xFF; data[1] = (integer>>8) & 0xFF; data[0] = integer & 0xFF; return data; } unsigned int convertir_4char_en_int(char data[4]) { return (data[3] << 24) | (data[2] << 16) | (data[1] << 8) | data[0]; }