AMiRo-OS

#include <ch.hpp>

#include <hal.h>

#include <string.h>

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

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

#include <global.hpp>

using namespace chibios_rt;

using namespace amiro;

extern Global global;

/*

 * Class constructor

 */

BluetoothIwrap::BluetoothIwrap(UARTDriver* uart) :

  BaseStaticThread<128>(), transport(uart), profiles{},

  mailbox(mailboxBuffer, BLUETOOTH_IWRAP_MAILBOX_SIZE), connAddr{0} {

  iwrapblock = 0;

}

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

msg_t BluetoothIwrap::main(void) {

  setName("BluetoothIwrap");

  // To set the receive mailbox[9] for plain communication (WT12->host)

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

  transport.start(NORMALPRIO);

  while (!this->shouldTerminate()) {

    iwrapReceive();

  }

  return RDY_OK;

}

/*

 * Member functions

 */

msg_t BluetoothIwrap::iwrapReceive() {

  BluetoothDescriptor* descriptor = NULL;

  const char* buffer;

  size_t length;

  msg_t msg;

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

  if (msg == RDY_RESET)

    return RDY_RESET;

  buffer = (const char*)descriptor->bluetoothDescriptorGetPayload();

  length = descriptor->bluetoothDescriptorGetPayloadLength();

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

    // print out received chars

    chSequentialStreamPut((BaseSequentialStream*) &global.sercanmux1, buffer[i]);

  }

  // reset block

  iwrapblock = 0;

  // if RING or CONNECT event is received, then look for profile with correct MAC-address and connect.

  if (strstr(buffer, "CONNECT ") && (strstr(buffer, " RFCOMM 1") || strstr(buffer, " L2CAP 1"))) {

  // if CONNECT event serial RFCOMM 1 or wiimote (control) L2CAP 11 or wiimote (data) L2CAP 13

    for (int i = 0; i < 8; i++) {

      if ((profiles[i].addr != NULL) && strstr(connAddr, profiles[i].addr)) {

        BluetoothProfile* bp =  &(profiles[i]);

        bp->linkid = buffer[8] - '0';     // look for linkid and convert linkid to int

        (((BluetoothConnector*)(bp->connector))->*(bp->connect))(bp->linkid);

        break;

      }

    }

  } else if (strstr(buffer, "RING") && strstr(buffer, "1 RFCOMM ")) {

  // if RING event (be called by other device) in 1 RFCOMM mode

    for (int i = 0; i < 8; i++) {

      if ((profiles[i].addr != NULL) && (strstr(buffer, profiles[i].addr) || strstr(profiles[i].addr, "free"))) {

        BluetoothProfile* bp =  &(profiles[i]);

        bp->linkid  = buffer[5] - '0';    // look for linkid and convert linkid to int

        (((BluetoothConnector*)(bp->connector))->*(bp->connect))(bp->linkid );

        break;

      }

    }

  } else if (strstr(buffer, "NO CARRIER ") && strstr(buffer, "ERROR ")) {

  // if NO CARRIER ERROR 0 event, then look for profile and disconnect

    uint8_t linkid = buffer[11] - '0';

    for (int i = 0; i < 8; i++) {

      if ((profiles[i].addr != NULL) && (profiles[i].linkid == linkid)) {

        BluetoothProfile* bp =  &(profiles[i]);

        bp->linkid = 0xFF;

        (((BluetoothConnector*)(bp->connector))->*(bp->disconnect))();

        break;

      }

    }

  }

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

  if (msg == RDY_RESET)

    return RDY_RESET;

  return RDY_OK;

}

msg_t BluetoothIwrap::iwrapTransmit(uint8_t linkid, const uint8_t* txdata, size_t length) {

  BluetoothDescriptor* descriptor = NULL;

  uint8_t *buffer;

  msg_t msg;

  msg = transport.bluetoothTransportGetStorageMailbox()->fetch((msg_t*) &descriptor, TIME_INFINITE);

  if (msg == RDY_RESET)

    return RDY_RESET;

  buffer = descriptor->bluetoothDescriptorGetPayload();

  memcpy(buffer, txdata, length);

  descriptor->bluetoothDescriptorSetLinkId(linkid);

  descriptor->bluetoothDescriptorSetPayloadLength(length);

  msg = transport.bluetoothTransportGetTransmitMailbox()->post((msg_t) descriptor, TIME_INFINITE);

  if (msg == RDY_RESET)

    return RDY_RESET;

  return RDY_OK;

}

void BluetoothIwrap::bluetoothIwrapSendCommand(const char* cmd) {

  // Wait until another previous command finished.

  while(iwrapblock == 1) {

    BaseThread::sleep(MS2ST(500));

  }

  iwrapblock = 1;

  if (strstr(cmd, "CALL ") && (strstr(cmd, " RFCOMM") || strstr(cmd, " L2CAP"))) {

    memcpy(connAddr, cmd+5, 17);

  }

  size_t length = strlen(cmd);

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

//    chSequentialStreamPut((BaseSequentialStream*) &global.sercanmux1, cmd[i]);   // To display the command

  // To send the string command to WT12 bluetooth chip

  iwrapTransmit(HOST_IWRAP_PLAIN_LINKID,(uint8_t*) cmd, length);

  // Clear iwrapblock flag because these commands don't return an answer

  if(strstr(cmd, "SET BT NAME") || strstr(cmd, "SET BT AUTH") || strstr(cmd, "SET BT SSP")

    || strstr(cmd, "SET BT PAGEMODE") || strstr(cmd, "SET BT PAIR *")

    || strstr(cmd, "SET CONTROL MUX") || (strstr(cmd, "SET") && strlen(cmd) == 3)) {

    iwrapblock = 0;

  }

  BaseThread::sleep(MS2ST(500));

}