Diff: robotLibrary.cpp

Revision:

0:e005e19869fc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robotLibrary.cpp	Fri Mar 13 19:59:36 2015 +0000
@@ -0,0 +1,136 @@
+#include "robotLibrary.h"
+
+USBSerial console1; // tx, rx
+Serial bt(p9,p10); // tx, rx
+char bluetoothData[50];
+bool bluetoothConnected;
+bool validBluetoothData;
+
+// Read data from the bluetooth
+// Stores data in the bluetoothData array
+// Messages must end in the null termination character ('\0')
+// Will return true if a complete bluetooth message has been received (and thus if the data in bluetoothData is valid)
+// This method DOES NOT BLOCK
+//   it will read as long as data is available and then stop, whether or not the message is complete
+//   at the next call, it will continue reading and adding to the array until '\0' is received
+//  Thus, this method is meant to be called once per loop
+bool getBluetoothData()
+{
+  if(validBluetoothData) // reset array
+  {
+    for(int i = 0; i < 50; i++)
+      bluetoothData[i] = '\0';
+    validBluetoothData = false;
+  }
+
+  if(!bluetoothAvailable())
+    return false;
+
+  int index = length(bluetoothData);
+  while(bluetoothAvailable() && !validBluetoothData)
+  {
+    bluetoothData[index++] = getBluetoothChar();
+    validBluetoothData = (bluetoothData[index-1] == '\0');
+  }
+  if(validBluetoothData)
+  {
+    // If it is a heartbeat, respond to it now
+    if(equals(bluetoothData, "?"))
+    {
+      sendBluetoothData("?");
+      bluetoothData[0] = '\0';
+      validBluetoothData = false;
+      return false;
+    }
+    robotPrintDebug("Got BT data <"); robotPrintDebug(bluetoothData); robotPrintlnDebug(">\0");
+  }
+  return validBluetoothData;
+}
+
+// This method is similar to the above method, except that this version DOES BLOCK
+// It will keep trying to read until a complete message has been receieved or a timeout is reached
+// Returns true if a valid message was received
+//bool getBluetoothData()
+//{
+//  bluetoothData[0] = '\0';
+//  if(!bluetoothAvailable())
+//    return false;
+//  int timeout = 50;
+//  int index = 0;
+//  bool terminated = false;
+//  unsigned long start = millis();
+//  while(!terminated && millis() - start < timeout)
+//  {
+//    while(!bluetoothAvailable() && millis() - start < timeout);
+//    bluetoothData[index++] = getBluetoothChar();
+//    start = millis();
+//    terminated = (bluetoothData[index-1] == '\0');
+//  }
+//  if(index > 0 && bluetoothData[index-1] != '\0')
+//    bluetoothData[index] = '\0';
+//  // If it is a heartbeat, respond to it now
+//  if(equals(bluetoothData, "?"))
+//  {
+//    sendBluetoothData("?");
+//    bluetoothData[0] = '\0';
+//    return false;
+//  }
+//  robotPrintDebug("Got BT data <"); robotPrintDebug(bluetoothData); robotPrintlnDebug(">");
+//  return true;
+//}
+
+// Returns the value of bluetoothConnected
+// This variable must be set somewhere, probably in processBluetoothData
+bool isBluetoothConnected()
+{
+  return bluetoothConnected;
+}
+
+// Read bluetooth data and then process it
+void processBluetoothData()
+{
+  if(!getBluetoothData())
+    return;
+  // DO SOMETHING WITH bluetoothData HERE
+  // If it is a valid message, set bluetoothConnected = true
+  bluetoothConnected = true;
+}
+
+char* returnBluetoothData(){
+  return bluetoothData;
+}
+
+bool isBluetoothDataValid()
+{
+  return validBluetoothData;
+}
+
+void robotLoop()
+{
+  //robotPrintlnDebug();
+  processBluetoothData();
+}
+
+void robotSetup()
+{
+  bt.baud(9600);
+  //sendBluetoothData("AT+NAME");
+  //sendBluetoothData("myRobotBT");
+  bluetoothConnected = false;
+  validBluetoothData = false;
+  bluetoothData[0] = '\0';
+}
+
+void sendBluetoothData(const char* data)
+{
+  robotPrintDebug("Sending BT data <"); robotPrintDebug(data); robotPrintlnDebug(">");
+  int index = 0;
+  for(; index < length(data); index++)
+    {
+      sendBluetoothChar(data[index]);
+      wait_ms(5);
+    }
+  if(data[index-1] != '\0')
+    sendBluetoothChar('\0');
+  robotPrintDebug("Sent BT data <"); robotPrintDebug(data); robotPrintlnDebug(">");
+}
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