liaison bluetooth entre gros robot -> panneau ou gros robot -> petit robot
Fork of liaison_Bluetooth by
LiaisonBluetooth.cpp@14:7118ea22e01f, 2018-05-07 (annotated)
- Committer:
- duperoux_j
- Date:
- Mon May 07 13:43:57 2018 +0000
- Revision:
- 14:7118ea22e01f
- Parent:
- 13:20c2439438dd
- Child:
- 15:7d159715eb14
added short send / conversion
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
duperoux_j | 12:77e75c977993 | 1 | #include "liaison_Bluetooth/LiaisonBluetooth.h" |
duperoux_j | 0:f39d89bfe442 | 2 | |
duperoux_j | 2:4fc77e5b08e9 | 3 | /* |
duperoux_j | 2:4fc77e5b08e9 | 4 | if (action_robot_2) { |
duperoux_j | 2:4fc77e5b08e9 | 5 | char *score_char_array = convertir_int_en_4char(score_total); |
duperoux_j | 3:46a9b9c1e1c0 | 6 | paquet_domotique_envoyer(0x30, 4, score_char_array); |
duperoux_j | 4:642635655630 | 7 | delete []score_char_array; |
duperoux_j | 2:4fc77e5b08e9 | 8 | } |
duperoux_j | 2:4fc77e5b08e9 | 9 | */ |
duperoux_j | 2:4fc77e5b08e9 | 10 | |
duperoux_j | 7:543d5548dbb9 | 11 | LiaisonBluetooth::LiaisonBluetooth(Serial *bluetooth, Serial *pc) : m_bluetooth(bluetooth), m_state(true), m_pc(pc) |
duperoux_j | 2:4fc77e5b08e9 | 12 | { |
duperoux_j | 0:f39d89bfe442 | 13 | } |
duperoux_j | 0:f39d89bfe442 | 14 | |
duperoux_j | 2:4fc77e5b08e9 | 15 | bool LiaisonBluetooth::paquet_en_attente() |
duperoux_j | 2:4fc77e5b08e9 | 16 | { |
duperoux_j | 5:be0c602be047 | 17 | char c; |
duperoux_j | 3:46a9b9c1e1c0 | 18 | while (m_bluetooth->readable() && m_state) { |
duperoux_j | 5:be0c602be047 | 19 | c = m_bluetooth->getc(); |
duperoux_j | 5:be0c602be047 | 20 | if (c == MARQUEUR_DEBUT_TRAME) { |
duperoux_j | 0:f39d89bfe442 | 21 | return true; |
duperoux_j | 0:f39d89bfe442 | 22 | } |
duperoux_j | 0:f39d89bfe442 | 23 | } |
duperoux_j | 0:f39d89bfe442 | 24 | |
duperoux_j | 0:f39d89bfe442 | 25 | return false; |
duperoux_j | 0:f39d89bfe442 | 26 | } |
duperoux_j | 0:f39d89bfe442 | 27 | |
duperoux_j | 2:4fc77e5b08e9 | 28 | PaquetDomotique *LiaisonBluetooth::lire() |
duperoux_j | 2:4fc77e5b08e9 | 29 | { |
duperoux_j | 0:f39d89bfe442 | 30 | char identifiant = 0; |
duperoux_j | 5:be0c602be047 | 31 | |
duperoux_j | 5:be0c602be047 | 32 | wait_ms(10); |
duperoux_j | 5:be0c602be047 | 33 | |
duperoux_j | 3:46a9b9c1e1c0 | 34 | if (m_bluetooth->readable() && m_state) { |
duperoux_j | 3:46a9b9c1e1c0 | 35 | identifiant = m_bluetooth->getc(); |
duperoux_j | 7:543d5548dbb9 | 36 | } else { m_pc->printf("error identifiant %d\n", identifiant); return NULL; } |
duperoux_j | 2:4fc77e5b08e9 | 37 | |
duperoux_j | 5:be0c602be047 | 38 | char buffer_longueur_paquet[4]; |
duperoux_j | 5:be0c602be047 | 39 | for (int i = 0 ; i < 4 ; i++) { |
duperoux_j | 3:46a9b9c1e1c0 | 40 | if (m_bluetooth->readable() && m_state) { |
duperoux_j | 3:46a9b9c1e1c0 | 41 | buffer_longueur_paquet[i] = m_bluetooth->getc(); |
duperoux_j | 7:543d5548dbb9 | 42 | } else { m_pc->printf("error buffer_longueur_paquet %d\n", i); return NULL; } |
duperoux_j | 0:f39d89bfe442 | 43 | } |
duperoux_j | 5:be0c602be047 | 44 | unsigned short longueur_paquet = atoi(buffer_longueur_paquet); |
duperoux_j | 5:be0c602be047 | 45 | |
duperoux_j | 13:20c2439438dd | 46 | //m_pc->printf("longueur %d\n", longueur_paquet); |
duperoux_j | 5:be0c602be047 | 47 | |
duperoux_j | 5:be0c602be047 | 48 | wait_ms(10); |
duperoux_j | 5:be0c602be047 | 49 | |
duperoux_j | 0:f39d89bfe442 | 50 | char buffer_data[longueur_paquet]; |
duperoux_j | 0:f39d89bfe442 | 51 | int index = 0; |
duperoux_j | 5:be0c602be047 | 52 | while (index < longueur_paquet) { |
duperoux_j | 3:46a9b9c1e1c0 | 53 | if (m_bluetooth->readable() && m_state) { |
duperoux_j | 3:46a9b9c1e1c0 | 54 | char c = m_bluetooth->getc(); |
duperoux_j | 5:be0c602be047 | 55 | |
duperoux_j | 13:20c2439438dd | 56 | //m_pc->printf("%x\n", c); |
duperoux_j | 5:be0c602be047 | 57 | |
duperoux_j | 5:be0c602be047 | 58 | if (c == MARQUEUR_FIN_TRAME) { |
duperoux_j | 7:543d5548dbb9 | 59 | m_pc->printf("error MARQUEUR_FIN_TRAME %d\n", index); |
duperoux_j | 0:f39d89bfe442 | 60 | return NULL; |
duperoux_j | 5:be0c602be047 | 61 | } |
duperoux_j | 2:4fc77e5b08e9 | 62 | |
duperoux_j | 0:f39d89bfe442 | 63 | buffer_data[index++] = c; |
duperoux_j | 7:543d5548dbb9 | 64 | } else { m_pc->printf("buffer_data\n"); return NULL; } |
duperoux_j | 0:f39d89bfe442 | 65 | } |
duperoux_j | 7:543d5548dbb9 | 66 | |
duperoux_j | 7:543d5548dbb9 | 67 | |
duperoux_j | 5:be0c602be047 | 68 | return creer_paquetdomotique(identifiant, longueur_paquet, buffer_data); |
duperoux_j | 0:f39d89bfe442 | 69 | } |
duperoux_j | 0:f39d89bfe442 | 70 | |
duperoux_j | 2:4fc77e5b08e9 | 71 | void LiaisonBluetooth::envoyer(char idenfitiant, int longueur_data, char *data) |
duperoux_j | 2:4fc77e5b08e9 | 72 | { |
duperoux_j | 8:4b5a472a8f94 | 73 | m_bluetooth->putc(MARQUEUR_DEBUT_TRAME); |
duperoux_j | 8:4b5a472a8f94 | 74 | m_bluetooth->putc(idenfitiant); |
duperoux_j | 2:4fc77e5b08e9 | 75 | |
duperoux_j | 6:91cf94ff46ed | 76 | //char *longueur_buffer = convertir_int_en_4char(longueur_data); |
Sitkah | 10:f5ad5e892d20 | 77 | char str[4]={0,0,0,0}; |
duperoux_j | 6:91cf94ff46ed | 78 | sprintf(str,"%d", longueur_data); |
duperoux_j | 0:f39d89bfe442 | 79 | for (int i = 0 ; i < 4 ; i++) { |
duperoux_j | 8:4b5a472a8f94 | 80 | m_bluetooth->putc(str[i]); |
duperoux_j | 0:f39d89bfe442 | 81 | } |
duperoux_j | 2:4fc77e5b08e9 | 82 | |
duperoux_j | 0:f39d89bfe442 | 83 | for (int i = 0 ; i < longueur_data ; i++) { |
duperoux_j | 8:4b5a472a8f94 | 84 | m_bluetooth->putc(data[i]); |
duperoux_j | 0:f39d89bfe442 | 85 | } |
duperoux_j | 5:be0c602be047 | 86 | |
duperoux_j | 8:4b5a472a8f94 | 87 | m_bluetooth->putc(MARQUEUR_FIN_TRAME); |
duperoux_j | 0:f39d89bfe442 | 88 | } |
duperoux_j | 0:f39d89bfe442 | 89 | |
duperoux_j | 14:7118ea22e01f | 90 | void envoyer_short(char indentifiant, short data) { |
duperoux_j | 14:7118ea22e01f | 91 | char buffer[7]; |
duperoux_j | 14:7118ea22e01f | 92 | memset(buffer, '\0', 7); |
duperoux_j | 14:7118ea22e01f | 93 | sprintf(buffer, "%hd", data); |
duperoux_j | 14:7118ea22e01f | 94 | envoyer(identifiant, 7, buffer); |
duperoux_j | 14:7118ea22e01f | 95 | } |
duperoux_j | 0:f39d89bfe442 | 96 | |
duperoux_j | 5:be0c602be047 | 97 | PaquetDomotique *creer_paquetdomotique(int identifiant, unsigned int longueur_data, char *data) |
duperoux_j | 2:4fc77e5b08e9 | 98 | { |
duperoux_j | 0:f39d89bfe442 | 99 | PaquetDomotique *paquet = (PaquetDomotique*)malloc(sizeof(PaquetDomotique)); |
duperoux_j | 0:f39d89bfe442 | 100 | paquet->identifiant = identifiant; |
duperoux_j | 2:4fc77e5b08e9 | 101 | |
duperoux_j | 5:be0c602be047 | 102 | paquet->data = (char*)malloc(sizeof(char)*longueur_data); |
duperoux_j | 5:be0c602be047 | 103 | memset(paquet->data, 0, longueur_data); |
duperoux_j | 0:f39d89bfe442 | 104 | strcpy(paquet->data, data); |
duperoux_j | 5:be0c602be047 | 105 | |
duperoux_j | 5:be0c602be047 | 106 | paquet->longueur = longueur_data; |
duperoux_j | 2:4fc77e5b08e9 | 107 | |
duperoux_j | 0:f39d89bfe442 | 108 | return paquet; |
duperoux_j | 0:f39d89bfe442 | 109 | } |
duperoux_j | 2:4fc77e5b08e9 | 110 | void detruire_paquetdomotique(PaquetDomotique *paquet) |
duperoux_j | 2:4fc77e5b08e9 | 111 | { |
duperoux_j | 0:f39d89bfe442 | 112 | free(paquet->data); |
duperoux_j | 0:f39d89bfe442 | 113 | free(paquet); |
duperoux_j | 0:f39d89bfe442 | 114 | } |
duperoux_j | 0:f39d89bfe442 | 115 | |
duperoux_j | 14:7118ea22e01f | 116 | short convertir_score(Paquet *paquet) { |
duperoux_j | 14:7118ea22e01f | 117 | char buff[20]; |
duperoux_j | 14:7118ea22e01f | 118 | memset(buff, '\0', 20); |
duperoux_j | 14:7118ea22e01f | 119 | strncpy(buff, paquet->data, paquet->longueur); |
duperoux_j | 14:7118ea22e01f | 120 | return atoi(buff); |
duperoux_j | 0:f39d89bfe442 | 121 | } |