sensory_array / Mbed 2 deprecated mbed_bluetooth_master

Dependencies:   USBDevice mbed

robotLibrary.cpp@0:65886aef87b1, 2015-03-13 (annotated)

Committer:
rkk
Date:
Fri Mar 13 20:04:01 2015 +0000
Revision:
0:65886aef87b1
slave functionality works

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rkk 0:65886aef87b1 1 #include "robotLibrary.h"
rkk 0:65886aef87b1 2
rkk 0:65886aef87b1 3 //USBSerial console1; // tx, rx
rkk 0:65886aef87b1 4 Serial console1(USBTX, USBRX); // tx, rx
rkk 0:65886aef87b1 5 //Serial btslave(p9,p10); // tx, rx
rkk 0:65886aef87b1 6 Serial bt(p13,p14); // tx, rx
rkk 0:65886aef87b1 7
rkk 0:65886aef87b1 8 char bluetoothData[50];
rkk 0:65886aef87b1 9 bool bluetoothConnected;
rkk 0:65886aef87b1 10 bool validBluetoothData;
rkk 0:65886aef87b1 11
rkk 0:65886aef87b1 12 // Read data from the bluetooth
rkk 0:65886aef87b1 13 // Stores data in the bluetoothData array
rkk 0:65886aef87b1 14 // Messages must end in the null termination character ('\0')
rkk 0:65886aef87b1 15 // Will return true if a complete bluetooth message has been received (and thus if the data in bluetoothData is valid)
rkk 0:65886aef87b1 16 // This method DOES NOT BLOCK
rkk 0:65886aef87b1 17 // it will read as long as data is available and then stop, whether or not the message is complete
rkk 0:65886aef87b1 18 // at the next call, it will continue reading and adding to the array until '\0' is received
rkk 0:65886aef87b1 19 // Thus, this method is meant to be called once per loop
rkk 0:65886aef87b1 20 bool getBluetoothData()
rkk 0:65886aef87b1 21 {
rkk 0:65886aef87b1 22 if(validBluetoothData) // reset array
rkk 0:65886aef87b1 23 {
rkk 0:65886aef87b1 24 for(int i = 0; i < 50; i++)
rkk 0:65886aef87b1 25 bluetoothData[i] = '\0';
rkk 0:65886aef87b1 26 validBluetoothData = false;
rkk 0:65886aef87b1 27 }
rkk 0:65886aef87b1 28
rkk 0:65886aef87b1 29 if(!bluetoothAvailable())
rkk 0:65886aef87b1 30 return false;
rkk 0:65886aef87b1 31
rkk 0:65886aef87b1 32 int index = length(bluetoothData);
rkk 0:65886aef87b1 33 while(bluetoothAvailable() && !validBluetoothData)
rkk 0:65886aef87b1 34 {
rkk 0:65886aef87b1 35 bluetoothData[index++] = getBluetoothChar();
rkk 0:65886aef87b1 36 validBluetoothData = (bluetoothData[index-1] == '\0');
rkk 0:65886aef87b1 37 }
rkk 0:65886aef87b1 38 if(validBluetoothData)
rkk 0:65886aef87b1 39 {
rkk 0:65886aef87b1 40 // If it is a heartbeat, respond to it now
rkk 0:65886aef87b1 41 if(equals(bluetoothData, "?"))
rkk 0:65886aef87b1 42 {
rkk 0:65886aef87b1 43 sendBluetoothData("?");
rkk 0:65886aef87b1 44 bluetoothData[0] = '\0';
rkk 0:65886aef87b1 45 validBluetoothData = false;
rkk 0:65886aef87b1 46 return false;
rkk 0:65886aef87b1 47 }
rkk 0:65886aef87b1 48 robotPrintDebug("Got BT data <"); robotPrintDebug(bluetoothData); robotPrintlnDebug(">\0");
rkk 0:65886aef87b1 49 }
rkk 0:65886aef87b1 50 return validBluetoothData;
rkk 0:65886aef87b1 51 }
rkk 0:65886aef87b1 52
rkk 0:65886aef87b1 53 // This method is similar to the above method, except that this version DOES BLOCK
rkk 0:65886aef87b1 54 // It will keep trying to read until a complete message has been receieved or a timeout is reached
rkk 0:65886aef87b1 55 // Returns true if a valid message was received
rkk 0:65886aef87b1 56 //bool getBluetoothData()
rkk 0:65886aef87b1 57 //{
rkk 0:65886aef87b1 58 // bluetoothData[0] = '\0';
rkk 0:65886aef87b1 59 // if(!bluetoothAvailable())
rkk 0:65886aef87b1 60 // return false;
rkk 0:65886aef87b1 61 // int timeout = 50;
rkk 0:65886aef87b1 62 // int index = 0;
rkk 0:65886aef87b1 63 // bool terminated = false;
rkk 0:65886aef87b1 64 // unsigned long start = millis();
rkk 0:65886aef87b1 65 // while(!terminated && millis() - start < timeout)
rkk 0:65886aef87b1 66 // {
rkk 0:65886aef87b1 67 // while(!bluetoothAvailable() && millis() - start < timeout);
rkk 0:65886aef87b1 68 // bluetoothData[index++] = getBluetoothChar();
rkk 0:65886aef87b1 69 // start = millis();
rkk 0:65886aef87b1 70 // terminated = (bluetoothData[index-1] == '\0');
rkk 0:65886aef87b1 71 // }
rkk 0:65886aef87b1 72 // if(index > 0 && bluetoothData[index-1] != '\0')
rkk 0:65886aef87b1 73 // bluetoothData[index] = '\0';
rkk 0:65886aef87b1 74 // // If it is a heartbeat, respond to it now
rkk 0:65886aef87b1 75 // if(equals(bluetoothData, "?"))
rkk 0:65886aef87b1 76 // {
rkk 0:65886aef87b1 77 // sendBluetoothData("?");
rkk 0:65886aef87b1 78 // bluetoothData[0] = '\0';
rkk 0:65886aef87b1 79 // return false;
rkk 0:65886aef87b1 80 // }
rkk 0:65886aef87b1 81 // robotPrintDebug("Got BT data <"); robotPrintDebug(bluetoothData); robotPrintlnDebug(">");
rkk 0:65886aef87b1 82 // return true;
rkk 0:65886aef87b1 83 //}
rkk 0:65886aef87b1 84
rkk 0:65886aef87b1 85 // Returns the value of bluetoothConnected
rkk 0:65886aef87b1 86 // This variable must be set somewhere, probably in processBluetoothData
rkk 0:65886aef87b1 87 bool isBluetoothConnected()
rkk 0:65886aef87b1 88 {
rkk 0:65886aef87b1 89 return bluetoothConnected;
rkk 0:65886aef87b1 90 }
rkk 0:65886aef87b1 91
rkk 0:65886aef87b1 92 // Read bluetooth data and then process it
rkk 0:65886aef87b1 93 void processBluetoothData()
rkk 0:65886aef87b1 94 {
rkk 0:65886aef87b1 95 if(!getBluetoothData())
rkk 0:65886aef87b1 96 return;
rkk 0:65886aef87b1 97 // DO SOMETHING WITH bluetoothData HERE
rkk 0:65886aef87b1 98 // If it is a valid message, set bluetoothConnected = true
rkk 0:65886aef87b1 99 bluetoothConnected = true;
rkk 0:65886aef87b1 100 }
rkk 0:65886aef87b1 101
rkk 0:65886aef87b1 102 char* returnBluetoothData(){
rkk 0:65886aef87b1 103 return bluetoothData;
rkk 0:65886aef87b1 104 }
rkk 0:65886aef87b1 105
rkk 0:65886aef87b1 106 bool isBluetoothDataValid()
rkk 0:65886aef87b1 107 {
rkk 0:65886aef87b1 108 return validBluetoothData;
rkk 0:65886aef87b1 109 }
rkk 0:65886aef87b1 110
rkk 0:65886aef87b1 111 void robotLoop()
rkk 0:65886aef87b1 112 {
rkk 0:65886aef87b1 113 //robotPrintlnDebug();
rkk 0:65886aef87b1 114 processBluetoothData();
rkk 0:65886aef87b1 115 }
rkk 0:65886aef87b1 116
rkk 0:65886aef87b1 117 void robotSetup()
rkk 0:65886aef87b1 118 {
rkk 0:65886aef87b1 119 bt.baud(9600);
rkk 0:65886aef87b1 120 //sendBluetoothData("AT+NAME");
rkk 0:65886aef87b1 121 //sendBluetoothData("myRobotBT");
rkk 0:65886aef87b1 122 bluetoothConnected = false;
rkk 0:65886aef87b1 123 validBluetoothData = false;
rkk 0:65886aef87b1 124 bluetoothData[0] = '\0';
rkk 0:65886aef87b1 125 }
rkk 0:65886aef87b1 126
rkk 0:65886aef87b1 127 void sendBluetoothData(const char* data)
rkk 0:65886aef87b1 128 {
rkk 0:65886aef87b1 129 robotPrintDebug("Sending BT data <"); robotPrintDebug(data); robotPrintlnDebug(">");
rkk 0:65886aef87b1 130 int index = 0;
rkk 0:65886aef87b1 131 for(; index < length(data); index++)
rkk 0:65886aef87b1 132 {
rkk 0:65886aef87b1 133 sendBluetoothChar(data[index]);
rkk 0:65886aef87b1 134 wait_ms(5);
rkk 0:65886aef87b1 135 }
rkk 0:65886aef87b1 136 if(data[index-1] != '\0')
rkk 0:65886aef87b1 137 sendBluetoothChar('\0');
rkk 0:65886aef87b1 138 robotPrintDebug("Sent BT data <"); robotPrintDebug(data); robotPrintlnDebug(">");
rkk 0:65886aef87b1 139 }