ETUtility.cpp

   1 #include "ETUtility.h"
   2 #include "Lcd.h"
   3 #include "Bluetooth.h"
   4 #include "BTConnection.h"
   5 #include "TouchSensor.h"
   6 #include "ETTailControl.h"
   7 #include "Speaker.h"
   8 #include "tsprintf.h"
   9
  10 using namespace ecrobot;
  11
  12 //#define PASS_KEY
  13 /* 固有のパスキーを設定してください */
  14 const char* ecrobot::ETBluetoothString::PASS_KEY = "1234";
  15 /* リモートスタートコマンド */
  16 const char ecrobot::ETBluetoothString::CMD_START = '1';
  17 /* リモートストップコマンド */
  18 const char ecrobot::ETBluetoothString::CMD_STOP  = '9';
  19
  20 bool ETUtilityStuff::IsBluetoothReceived(char cmd)
  21 {
  22         int i;
  23     /* Bluetooth通信用データ受信バッファ */
  24     char rx_buf[BT_MAX_RX_BUF_SIZE];
  25         unsigned int rx_len;
  26         unsigned char come = 0;
  27
  28         for (i=0; i<BT_MAX_RX_BUF_SIZE; i++)
  29         {
  30                 rx_buf[i] = 0; /* 受信バッファをクリア */
  31         }
  32
  33         rx_len = ecrobot_read_bt(rx_buf, 0, BT_MAX_RX_BUF_SIZE);
  34         if (rx_len > 0)
  35         {
  36                 /* 受信データあり */
  37                 if (rx_buf[0] == cmd)
  38                 {
  39                         come = 1; /* コマンド受信 */
  40                 }
  41                 ecrobot_send_bt(rx_buf, 0, rx_len); /* 受信データをエコーバック */
  42         }
  43
  44         return (BOOL)come;
  45 }
  46
  47 bool ETUtilityStuff::Istouched(ecrobot::TouchSensor& touch,ecrobot::ETTailControl& tailcontroler)
  48 {
  49     tailcontroler.Control();
  50     if(touch.isPressed()){
  51             systick_wait_ms(30);
  52         while(touch.isPressed()){
  53             tailcontroler.Control();
  54         }
  55             systick_wait_ms(30);
  56         return true;
  57     }
  58     return false;
  59 }
  60
  61 void ETUtilityStuff::Waitstart(ecrobot::TouchSensor& touch,ecrobot::ETTailControl& tailcontroler,char cmd)
  62 {
  63     /* タッチセンサが押されるまで、待ち続ける */
  64     while(1){
  65             if (Istouched(touch,tailcontroler)){
  66                     break;
  67             }
  68             if (IsBluetoothReceived(ETBluetoothString::CMD_START)){
  69                     break;
  70             }
  71     }
  72 }
  73
  74 void ETUtilityStuff::DisplayCalibResult(Lcd& lcd,
  75                                         Speaker& speaker,
  76                                         char* disp,
  77                                         const unsigned long offset,
  78                                         const int tone,
  79                                         const unsigned long y)
  80 {
  81         char str[16+1];
  82         tsprintf(str,disp,offset);
  83         lcd.cursor(0,y);
  84         lcd.putf("s",str);
  85         lcd.disp();
  86         speaker.playTone(tone,100,50);
  87 }
  88