AMiRo-OS

#include <ch.hpp>

#include <hal.h>

#include <amiro/bluetooth/bluetooth-serial.hpp>

using namespace chibios_rt;

using namespace amiro;

/*

 * Class constructor

 */

BluetoothSerial::BluetoothSerial(BLUETOOTH *bluetooth, uint8_t rxtx) :

  BaseStaticThread<128>(), serialConn(bluetooth, this, "SERIAL"),

  mailbox(mailboxBuffer, BLUETOOTH_SERIAL_MAILBOX_SIZE) {

  iwrap = &(bluetooth->iwrap);

  rx_tx = rxtx;

  linkId = 0xFF;

  stopflag = 0;

}

//----------------------------------------------------------------

msg_t BluetoothSerial::main(void) {

  setName("BluetoothSerial");

  while (!this->shouldTerminate()) {

    if (serialReceive())

      this->requestTerminate();

  }

  return RDY_OK;

}

/*

 * Member functions

 */

msg_t BluetoothSerial::serialReceive() {

  BluetoothDescriptor* recv_descriptor = NULL;

  uint8_t *buffer;

  size_t length;

  msg_t msg;

  msg = mailbox.fetch((msg_t*) &recv_descriptor, TIME_INFINITE);

  if ((msg == RDY_RESET) || stopflag)

    return RDY_RESET;

  buffer = recv_descriptor->bluetoothDescriptorGetPayload();

  length = recv_descriptor->bluetoothDescriptorGetPayloadLength();

  for (size_t i = 0; i < length; i++)

    chSequentialStreamPut((BaseSequentialStream*) &SD1, buffer[i]);

  msg = iwrap->transport.bluetoothTransportGetStorageMailbox()->post((msg_t) recv_descriptor, TIME_INFINITE);

  if ((msg == RDY_RESET) || stopflag)

    return RDY_RESET;

  return RDY_OK;

}

msg_t BluetoothSerial::serialTransmit(const uint8_t* serialdata, size_t length) {

  msg_t msg;

  if ((rx_tx & 0x01) && (linkId != 0xFF) && (!stopflag))

    msg = iwrap->iwrapTransmit(linkId, serialdata, length);

  else

    msg = RDY_RESET;

  return msg;

}

void BluetoothSerial::bluetoothSerialStart(uint8_t linkid) {

  linkId = linkid;

  iwrap->transport.bluetoothTransportSetReceiveMailbox(linkId, &this->mailbox);

  if ((rx_tx & 0x02)) { // && (!stopflag)) {

    this->start(NORMALPRIO);

  }

  stopflag = 0;

}

void BluetoothSerial::bluetoothSerialStop() {

  linkId = 0xFF;

  stopflag = 1;

  mailbox.post(RDY_RESET, TIME_INFINITE);        // TIME_IMMEDIATE TIME_INFINITE

}

bool BluetoothSerial::bluetoothSerialIsConnected() {

  if (linkId == 0xFF)

    return false;

  return true;

}

void BluetoothSerial::bluetoothSerialListen(const char *addr) {

  serialConn.bluetoothConnectorListen(addr);

}

void BluetoothSerial::bluetoothSerialConnect(const char *addr){

  serialConn.bluetoothConnectorConnect(addr);

}

void BluetoothSerial::bluetoothSerialDisconnect(const char *addr) {

  serialConn.bluetoothConnectorDisconnect(addr);

}