You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
274 lines
10 KiB
274 lines
10 KiB
#include "ble_parse_data.h"
|
|
|
|
#include "motor_drive.h"
|
|
|
|
#define BLE_PARSE_DATA_TAG "BLE_PARSE_DATA"
|
|
|
|
#define cmd_length_set_position 5
|
|
#define cmd_length_get_status 2
|
|
#define cmd_length_set_motor_current_size 2
|
|
#define cmd_length_set_motor_to_position 5
|
|
static double encoder_befor_num;
|
|
|
|
static bluetooth_processer_t *parse_bluetooth_processer;
|
|
uint8_t bluetooth_rx_buffer_len = 0;
|
|
|
|
void constructor_bluetooth_processer(bluetooth_processer_t *bluetooth_processer) { parse_bluetooth_processer = bluetooth_processer; }
|
|
|
|
void bluetooth_gatts_try_process_data() {
|
|
cJSON *json_tmp;
|
|
// cJSON *ch;
|
|
//开始接收
|
|
if (parse_bluetooth_processer->bluetooth_rx_buffer_start_receving) {
|
|
//开启定时器
|
|
parse_bluetooth_processer->port_delay_ms(parse_bluetooth_processer->bluetooth_baundrate_one_packet_delay_ms);
|
|
// port_timer_delay_ms(kbluetooth_baundrate_one_packet_delay_ms);
|
|
parse_bluetooth_processer->bluetooth_rx_buffer_processing = true;
|
|
|
|
//打印输出
|
|
// ESP_LOGI(BLE_PARSE_DATA_TAG, "%s", parse_bluetooth_processer->bluetooth_processer_rx_buf);
|
|
|
|
//验证解析数据是否正确
|
|
if (parse_rxbuffer_and_validation_data(&json_tmp)) {
|
|
// JSON解析到结构体，如果order更改表示有指令传输进来，并且更改指令标志位(cmd_flag)为true
|
|
if (parse_json_to_struct(json_tmp->child)) {
|
|
ESP_LOGI(BLE_PARSE_DATA_TAG, "order:%s ,index:%d speedLevel:%d position:%f direction:%d", parse_bluetooth_processer->order, parse_bluetooth_processer->index,
|
|
parse_bluetooth_processer->speedLevel, parse_bluetooth_processer->position, parse_bluetooth_processer->direction);
|
|
if (strcmp(parse_bluetooth_processer->order, set_position) == 0) {
|
|
parse_bluetooth_processer->auto_report_flag = true;
|
|
ESP_LOGI(BLE_PARSE_DATA_TAG, set_position);
|
|
|
|
encoder_befor_num = motor_drive_read_encoder();
|
|
if (encoder_befor_num >= 0) {
|
|
if (motor_drive_set_packages_ctr(parse_bluetooth_processer->position, parse_bluetooth_processer->direction) == 0) {
|
|
ets_delay_us(50000);
|
|
if (encoder_befor_num == motor_drive_read_encoder()) {
|
|
ESP_LOGW(BLE_PARSE_DATA_TAG, "motor no turning");
|
|
} else {
|
|
ESP_LOGI(BLE_PARSE_DATA_TAG, "motor turning");
|
|
}
|
|
}
|
|
}
|
|
|
|
// receipt_json_set_position();
|
|
}
|
|
if (strcmp(parse_bluetooth_processer->order, get_status) == 0) {
|
|
ESP_LOGI(BLE_PARSE_DATA_TAG, get_status);
|
|
receipt_json_get_status();
|
|
}
|
|
if (strcmp(parse_bluetooth_processer->order, set_motor_current_size) == 0) {
|
|
ESP_LOGI(BLE_PARSE_DATA_TAG, set_motor_current_size);
|
|
motor_drive_set_motor_current_size();
|
|
// receipt_json_get_status();
|
|
}
|
|
if (strcmp(parse_bluetooth_processer->order, set_motor_to_position) == 0) {
|
|
ESP_LOGI(BLE_PARSE_DATA_TAG, set_motor_to_position);
|
|
motor_drive_set_motor_to_angle(parse_bluetooth_processer->direction, parse_bluetooth_processer->position, //
|
|
parse_bluetooth_processer->speedLevel);
|
|
// receipt_json_get_status();
|
|
}
|
|
}
|
|
}
|
|
|
|
//释放空间
|
|
cJSON_Delete(json_tmp);
|
|
// buffer置0
|
|
buffer_all_init();
|
|
//未在处理数据
|
|
parse_bluetooth_processer->cmd_flag = false;
|
|
parse_bluetooth_processer->bluetooth_rx_buffer_start_receving = false;
|
|
parse_bluetooth_processer->bluetooth_rx_buffer_processing = false;
|
|
}
|
|
}
|
|
|
|
void start_receive_data_to_buffer(uint16_t length, uint8_t *value) {
|
|
parse_bluetooth_processer->bluetooth_rx_buffer_start_receving = true;
|
|
timer_set_counter_value(TIMER_GROUP_0, TIMER_0, 0);
|
|
//判断是否buffer越界
|
|
if ((length + bluetooth_rx_buffer_len) > profile_b_buffer_size) {
|
|
return;
|
|
}
|
|
|
|
if (!parse_bluetooth_processer->bluetooth_rx_buffer_processing) {
|
|
//写入到buffer
|
|
for (int i = 0; i < length; i++) {
|
|
parse_bluetooth_processer->bluetooth_processer_rx_buf[bluetooth_rx_buffer_len++] = value[i];
|
|
}
|
|
}
|
|
}
|
|
|
|
void buffer_all_init() {
|
|
bluetooth_rx_buffer_len = 0;
|
|
memset(parse_bluetooth_processer->bluetooth_processer_rx_buf, 0, profile_b_buffer_size);
|
|
}
|
|
|
|
bool parse_rxbuffer_and_validation_data(cJSON **json_tmp) {
|
|
*json_tmp = cJSON_Parse(parse_bluetooth_processer->bluetooth_processer_rx_buf);
|
|
if (*json_tmp == NULL) {
|
|
ESP_LOGE(BLE_PARSE_DATA_TAG, "parse rxbuffer null or redundant symbol ',','{' ");
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
bool parse_json_to_struct(cJSON *ch) {
|
|
uint8_t cmd_length = 0;
|
|
while (ch != NULL) {
|
|
// ESP_LOGI(BLE_PARSE_DATA_TAG, "%s", ch->string);
|
|
if (strcmp(ch->string, "order") == 0) {
|
|
parse_bluetooth_processer->order = ch->valuestring;
|
|
|
|
if (strcmp(ch->valuestring, set_position) == 0) {
|
|
cmd_length = cmd_length_set_position;
|
|
}
|
|
if (strcmp(ch->valuestring, get_status) == 0) {
|
|
cmd_length = cmd_length_get_status;
|
|
}
|
|
if (strcmp(ch->valuestring, set_motor_current_size) == 0) {
|
|
cmd_length = cmd_length_set_motor_current_size;
|
|
}
|
|
if (strcmp(ch->valuestring, set_motor_to_position) == 0) {
|
|
cmd_length = cmd_length_set_motor_to_position;
|
|
}
|
|
|
|
cmd_length--;
|
|
}
|
|
if (strcmp(ch->string, "index") == 0) {
|
|
parse_bluetooth_processer->index = ch->valueint;
|
|
cmd_length--;
|
|
}
|
|
if (strcmp(ch->string, "speedLevel") == 0) {
|
|
parse_bluetooth_processer->speedLevel = ch->valueint;
|
|
cmd_length--;
|
|
}
|
|
if (strcmp(ch->string, "position") == 0) {
|
|
parse_bluetooth_processer->position = ch->valuedouble;
|
|
cmd_length--;
|
|
}
|
|
if (strcmp(ch->string, "direction") == 0) {
|
|
parse_bluetooth_processer->direction = ch->valueint;
|
|
cmd_length--;
|
|
}
|
|
ch = ch->next;
|
|
}
|
|
|
|
if (cmd_length == 0) {
|
|
parse_bluetooth_processer->cmd_flag = true;
|
|
} else {
|
|
ESP_LOGE(BLE_PARSE_DATA_TAG, "JSON directive missing or exceeded");
|
|
}
|
|
|
|
return parse_bluetooth_processer->cmd_flag;
|
|
}
|
|
|
|
bool validation_param(cJSON *object, char *param) {
|
|
cJSON *current_element = object->child;
|
|
|
|
while (current_element->string != NULL) {
|
|
if (current_element->string == param) {
|
|
return true;
|
|
}
|
|
current_element = current_element->next;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
void receipt_json_set_position() {
|
|
cJSON *pRoot = cJSON_CreateObject(); //创建一个对象
|
|
if (!pRoot) {
|
|
return;
|
|
}
|
|
|
|
cJSON_AddStringToObject(pRoot, "order", "receipt"); //添加一个节点
|
|
cJSON_AddNumberToObject(pRoot, "code", parse_bluetooth_processer->code);
|
|
cJSON_AddStringToObject(pRoot, "info", "success");
|
|
cJSON_AddNumberToObject(pRoot, "index", parse_bluetooth_processer->index);
|
|
char *szJson = cJSON_Print(pRoot);
|
|
|
|
if (szJson != NULL) {
|
|
ESP_LOGI(BLE_PARSE_DATA_TAG, "%s", szJson);
|
|
|
|
free(szJson);
|
|
}
|
|
|
|
cJSON_Delete(pRoot);
|
|
}
|
|
|
|
void receipt_json_get_status() {
|
|
cJSON *pRoot = cJSON_CreateObject(); //创建一个对象
|
|
if (!pRoot) {
|
|
return;
|
|
}
|
|
|
|
parse_bluetooth_processer->motor_drive_turn_flag = true;
|
|
|
|
cJSON_AddStringToObject(pRoot, "order", "receipt"); //添加一个节点
|
|
cJSON_AddNumberToObject(pRoot, "index", parse_bluetooth_processer->index);
|
|
cJSON_AddStringToObject(pRoot, "deviceState", parse_bluetooth_processer->deviceState);
|
|
cJSON_AddNumberToObject(pRoot, "deviceException", parse_bluetooth_processer->deviceException);
|
|
cJSON_AddStringToObject(pRoot, "deviceExceptionInfo", parse_bluetooth_processer->deviceExceptionInfo);
|
|
cJSON_AddNumberToObject(pRoot, "position", parse_bluetooth_processer->position);
|
|
|
|
char *szJson = cJSON_Print(pRoot);
|
|
|
|
if (szJson != NULL) {
|
|
ESP_LOGI(BLE_PARSE_DATA_TAG, "%s", szJson);
|
|
free(szJson);
|
|
}
|
|
|
|
cJSON_Delete(pRoot);
|
|
}
|
|
|
|
void bluetooth_auto_report_format_receipt() {
|
|
sprintf(parse_bluetooth_processer->bluetooth_processer_tx_buf, "{ \"order\": \"receipt\", \"index\": %d, \"speedLevel\": %d, \"position\": %.2lf, \"direction\": %d }", //
|
|
parse_bluetooth_processer->index, parse_bluetooth_processer->speedLevel, parse_bluetooth_processer->position, parse_bluetooth_processer->direction);
|
|
}
|
|
|
|
void bluetooth_tx_buffer_send_indicate(cb_t format) {
|
|
char temp_buffer[20] = {0};
|
|
uint8_t temp_lenght = 0;
|
|
uint8_t temp_count_total = 0;
|
|
uint8_t temp_last_count_not_15 = false;
|
|
uint8_t temp_count_remainder = 0;
|
|
uint8_t i = 0;
|
|
|
|
format();
|
|
|
|
temp_lenght = strlen(parse_bluetooth_processer->bluetooth_processer_tx_buf);
|
|
temp_count_total = temp_lenght / 15;
|
|
|
|
if ((temp_lenght % 15) != 0) {
|
|
temp_count_remainder = temp_lenght % 15;
|
|
temp_last_count_not_15 = true;
|
|
}
|
|
|
|
for (i = 0; i < temp_count_total; i++) {
|
|
string_copy_by_num(temp_buffer, parse_bluetooth_processer->bluetooth_processer_tx_buf, i, 15);
|
|
esp_ble_gatts_send_indicate(parse_bluetooth_processer->table_gatts_if_m, parse_bluetooth_processer->table_conn_id_m, //
|
|
parse_bluetooth_processer->table_handle_m, strlen(temp_buffer), (uint8_t *)temp_buffer, false);
|
|
}
|
|
if (temp_last_count_not_15 == true) {
|
|
string_copy_by_num(temp_buffer, parse_bluetooth_processer->bluetooth_processer_tx_buf, temp_count_total, temp_count_remainder);
|
|
esp_ble_gatts_send_indicate(parse_bluetooth_processer->table_gatts_if_m, parse_bluetooth_processer->table_conn_id_m, //
|
|
parse_bluetooth_processer->table_handle_m, strlen(temp_buffer), (uint8_t *)temp_buffer, false);
|
|
}
|
|
}
|
|
|
|
void string_copy_by_num(char *dest, const char *src, uint8_t count, uint8_t num) {
|
|
int i = 0;
|
|
memset(dest, '\0', 15);
|
|
if (dest == NULL || src == NULL || num == 0) {
|
|
/* code */
|
|
ESP_LOGW(BLE_PARSE_DATA_TAG, "string_copy_by_num function parameter is empty");
|
|
}
|
|
|
|
for (i = 0; i < num; i++) {
|
|
dest[i] = src[(count * 15) + i];
|
|
}
|
|
}
|
|
|
|
void bluetooth_active_notify(uint8_t *buffer, uint8_t buffer_size) {
|
|
if (parse_bluetooth_processer->table_handle_m != 0) {
|
|
esp_ble_gatts_send_indicate(parse_bluetooth_processer->table_gatts_if_m, parse_bluetooth_processer->table_conn_id_m, //
|
|
parse_bluetooth_processer->table_handle_m, buffer_size, buffer, false);
|
|
}
|
|
}
|