liaison bluetooth entre gros robot -> panneau ou gros robot -> petit robot
Fork of liaison_Bluetooth by
LiaisonBluetooth.cpp@1:ea044def4e89, 2018-04-11 (annotated)
- Committer:
- duperoux_j
- Date:
- Wed Apr 11 12:33:54 2018 +0000
- Revision:
- 1:ea044def4e89
- Parent:
- Liaison_Bluetooth_panneau_grosRob.cpp@0:f39d89bfe442
- Child:
- 2:4fc77e5b08e9
refactor names;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
duperoux_j | 1:ea044def4e89 | 1 | #include "LiaisonBluetooth/LiaisonBluetooth.h" |
duperoux_j | 0:f39d89bfe442 | 2 | |
duperoux_j | 0:f39d89bfe442 | 3 | LiaisonBluetooth::LiaisonBluetooth(Serial bluetooth, DigitalIn state) : m_bluetooth(bluetooth), m_state(state) { |
duperoux_j | 0:f39d89bfe442 | 4 | } |
duperoux_j | 0:f39d89bfe442 | 5 | |
duperoux_j | 0:f39d89bfe442 | 6 | bool LiaisonBluetooth::paquet_en_attente() { |
duperoux_j | 0:f39d89bfe442 | 7 | while (m_bluetooth.readable() && m_state) { |
duperoux_j | 0:f39d89bfe442 | 8 | if (m_bluetooth.getc() == MARQUEUR_DEBUT_TRAME) { |
duperoux_j | 0:f39d89bfe442 | 9 | return true; |
duperoux_j | 0:f39d89bfe442 | 10 | } |
duperoux_j | 0:f39d89bfe442 | 11 | } |
duperoux_j | 0:f39d89bfe442 | 12 | |
duperoux_j | 0:f39d89bfe442 | 13 | return false; |
duperoux_j | 0:f39d89bfe442 | 14 | } |
duperoux_j | 0:f39d89bfe442 | 15 | |
duperoux_j | 0:f39d89bfe442 | 16 | PaquetDomotique *LiaisonBluetooth::lire() { |
duperoux_j | 0:f39d89bfe442 | 17 | char identifiant = 0; |
duperoux_j | 0:f39d89bfe442 | 18 | if (m_bluetooth.readable() && m_state) { |
duperoux_j | 0:f39d89bfe442 | 19 | identifiant = m_bluetooth.getc(); |
duperoux_j | 0:f39d89bfe442 | 20 | } else return NULL; |
duperoux_j | 0:f39d89bfe442 | 21 | |
duperoux_j | 0:f39d89bfe442 | 22 | char buffer_longueur_paquet[8]; |
duperoux_j | 0:f39d89bfe442 | 23 | for (int i = 0 ; i < 8 ; i++) { |
duperoux_j | 0:f39d89bfe442 | 24 | if (m_bluetooth.readable() && m_state) { |
duperoux_j | 0:f39d89bfe442 | 25 | buffer_longueur_paquet[i] = m_bluetooth.getc(); |
duperoux_j | 0:f39d89bfe442 | 26 | } else return NULL; |
duperoux_j | 0:f39d89bfe442 | 27 | } |
duperoux_j | 0:f39d89bfe442 | 28 | int longueur_paquet = convertir_4char_en_int(buffer_longueur_paquet); |
duperoux_j | 0:f39d89bfe442 | 29 | |
duperoux_j | 0:f39d89bfe442 | 30 | char buffer_data[longueur_paquet]; |
duperoux_j | 0:f39d89bfe442 | 31 | int index = 0; |
duperoux_j | 0:f39d89bfe442 | 32 | while (index < longueur_paquet-1) { |
duperoux_j | 0:f39d89bfe442 | 33 | if (m_bluetooth.readable() && m_state) { |
duperoux_j | 0:f39d89bfe442 | 34 | char c = m_bluetooth.getc(); |
duperoux_j | 0:f39d89bfe442 | 35 | |
duperoux_j | 0:f39d89bfe442 | 36 | if (c == MARQUEUR_FIN_TRAME) |
duperoux_j | 0:f39d89bfe442 | 37 | return NULL; |
duperoux_j | 0:f39d89bfe442 | 38 | |
duperoux_j | 0:f39d89bfe442 | 39 | buffer_data[index++] = c; |
duperoux_j | 0:f39d89bfe442 | 40 | } else return NULL; |
duperoux_j | 0:f39d89bfe442 | 41 | } |
duperoux_j | 0:f39d89bfe442 | 42 | |
duperoux_j | 0:f39d89bfe442 | 43 | return creer_paquetdomotique(identifiant, buffer_data); |
duperoux_j | 0:f39d89bfe442 | 44 | } |
duperoux_j | 0:f39d89bfe442 | 45 | |
duperoux_j | 0:f39d89bfe442 | 46 | void LiaisonBluetooth::envoyer(char idenfitiant, int longueur_data, char *data) { |
duperoux_j | 0:f39d89bfe442 | 47 | if (m_state && m_bluetooth.writeable()) { |
duperoux_j | 0:f39d89bfe442 | 48 | m_bluetooth.putc(idenfitiant); |
duperoux_j | 0:f39d89bfe442 | 49 | } |
duperoux_j | 0:f39d89bfe442 | 50 | |
duperoux_j | 0:f39d89bfe442 | 51 | char *longueur_buffer = convertir_int_en_4char(longueur_data); |
duperoux_j | 0:f39d89bfe442 | 52 | for (int i = 0 ; i < 4 ; i++) { |
duperoux_j | 0:f39d89bfe442 | 53 | if (m_state && m_bluetooth.writeable()) { |
duperoux_j | 0:f39d89bfe442 | 54 | m_bluetooth.putc(longueur_buffer[i]); |
duperoux_j | 0:f39d89bfe442 | 55 | } |
duperoux_j | 0:f39d89bfe442 | 56 | } |
duperoux_j | 0:f39d89bfe442 | 57 | |
duperoux_j | 0:f39d89bfe442 | 58 | for (int i = 0 ; i < longueur_data ; i++) { |
duperoux_j | 0:f39d89bfe442 | 59 | if (m_state && m_bluetooth.writeable()) { |
duperoux_j | 0:f39d89bfe442 | 60 | m_bluetooth.putc(data[i]); |
duperoux_j | 0:f39d89bfe442 | 61 | } |
duperoux_j | 0:f39d89bfe442 | 62 | } |
duperoux_j | 0:f39d89bfe442 | 63 | } |
duperoux_j | 0:f39d89bfe442 | 64 | |
duperoux_j | 0:f39d89bfe442 | 65 | |
duperoux_j | 0:f39d89bfe442 | 66 | PaquetDomotique *creer_paquetdomotique(int identifiant, char *data) { |
duperoux_j | 0:f39d89bfe442 | 67 | PaquetDomotique *paquet = (PaquetDomotique*)malloc(sizeof(PaquetDomotique)); |
duperoux_j | 0:f39d89bfe442 | 68 | paquet->identifiant = identifiant; |
duperoux_j | 0:f39d89bfe442 | 69 | |
duperoux_j | 0:f39d89bfe442 | 70 | paquet->data = (char*)malloc(sizeof(char)*strlen(data)); |
duperoux_j | 0:f39d89bfe442 | 71 | strcpy(paquet->data, data); |
duperoux_j | 0:f39d89bfe442 | 72 | |
duperoux_j | 0:f39d89bfe442 | 73 | return paquet; |
duperoux_j | 0:f39d89bfe442 | 74 | } |
duperoux_j | 0:f39d89bfe442 | 75 | void detruire_paquetdomotique(PaquetDomotique *paquet) { |
duperoux_j | 0:f39d89bfe442 | 76 | free(paquet->data); |
duperoux_j | 0:f39d89bfe442 | 77 | free(paquet); |
duperoux_j | 0:f39d89bfe442 | 78 | } |
duperoux_j | 0:f39d89bfe442 | 79 | |
duperoux_j | 0:f39d89bfe442 | 80 | char *convertir_int_en_4char(int integer) { |
duperoux_j | 0:f39d89bfe442 | 81 | char data[4]; |
duperoux_j | 0:f39d89bfe442 | 82 | |
duperoux_j | 0:f39d89bfe442 | 83 | data[3] = (integer>>24) & 0xFF; |
duperoux_j | 0:f39d89bfe442 | 84 | data[2] = (integer>>16) & 0xFF; |
duperoux_j | 0:f39d89bfe442 | 85 | data[1] = (integer>>8) & 0xFF; |
duperoux_j | 0:f39d89bfe442 | 86 | data[0] = integer & 0xFF; |
duperoux_j | 0:f39d89bfe442 | 87 | |
duperoux_j | 0:f39d89bfe442 | 88 | return data; |
duperoux_j | 0:f39d89bfe442 | 89 | } |
duperoux_j | 0:f39d89bfe442 | 90 | int convertir_4char_en_int(char data[4]) { |
duperoux_j | 0:f39d89bfe442 | 91 | return (data[0] << 24) | (data[1] << 16) | (data[2] << 8) | data[3]; |
duperoux_j | 0:f39d89bfe442 | 92 | } |