Merge pull request #17 from oroca/develop

스크래치 3.0 업데이트

examples/BLE/EduBot_App/EduBot_App.ino

@@ -6,6 +6,7 @@
 #include <image/EduBoy.h>
 
 
+//EduBot edubot;
 
 #define MOTOR_SERVICE_UUID                           "e005"
 #define MOTOR_CHARACTERISTIC_SET_STEP_UUID           "34443c33-3356-11e9-b210-d663bd873d93"
@@ -214,7 +215,7 @@ void hsvTorgb(float h_in, float s_in, float v_in, uint8_t &r_out, uint8_t &g_out
 class MyMiscSetColorLEDCallbacks: public BLECharacteristicCallbacks {
   void onWrite(BLECharacteristic *pCharacteristic) {
     std::string value = pCharacteristic->getValue();
-    if(value.length() == 6) {
+    if(value.length() == 6) {     
       uint8_t left_r = value[0];
       uint8_t left_g = value[1];
       uint8_t left_b = value[2];
@@ -242,7 +243,7 @@ class MyMiscSetColorLEDCallbacks: public BLECharacteristicCallbacks {
 class MyMiscPlaySoundCallbacks: public BLECharacteristicCallbacks {
   void onWrite(BLECharacteristic *pCharacteristic) {
     std::string value = pCharacteristic->getValue();
-    if(value.length() == 6) {
+    if(value.length() == 1) {
 
     }
   }
@@ -252,17 +253,24 @@ class MyMiscSetTextOLEDCallbacks: public BLECharacteristicCallbacks {
   void onWrite(BLECharacteristic *pCharacteristic) {
     std::string value = pCharacteristic->getValue();
 
-    display_text = value.c_str();
-    request_display_text = 1;   
+    if(value != "_!_!_!") {
+      display_text = value.c_str();
+      request_display_text = 1;
+    } 
+    else {
+      status_text_displayed = 1;
+    }
   }
 };
 
 class MyMiscSetImageOLEDCallbacks: public BLECharacteristicCallbacks {
   void onWrite(BLECharacteristic *pCharacteristic) {
     std::string value = pCharacteristic->getValue();
 
-    display_image_index = value[0];
-    request_display_image = 1;
+    if(value.length() == 1) {
+      display_image_index = value[0];
+      request_display_image = 1;
+    }
   }
 };
 
@@ -272,7 +280,7 @@ void setup() {
   edubot.begin(115200);
   Serial.println("===============\nStarting BLE work!");
 
-  BLEDevice::init("OROCA_EduBot");
+  BLEDevice::init("OROCA EduBot");
   BLEServer *mServer = BLEDevice::createServer();
   mServer->setCallbacks(new MyBLEServerCallbacks());
 
@@ -455,7 +463,7 @@ void loop() {
   status_led_count++;
   if(status_led_count > 50) {
     if(device_connected) {
-      edubot.ledOff();
+      edubot.ledOn();
 
       if(status_text_displayed) {
         edubot.lcd.setCursor(0, 32);
@@ -531,16 +539,17 @@ void loop() {
 
   // Update Sensors
   status_update_sensors_count++;
-  //if(status_update_sensors_count > 5) 
-  {
+  if(status_update_sensors_count > 5) {
 
     value_sensor_floor_sensors[0] = edubot.floor_sensor.getRightOut();
     value_sensor_floor_sensors[1] = edubot.floor_sensor.getRightIn();
     value_sensor_floor_sensors[2] = edubot.floor_sensor.getLeftIn();
     value_sensor_floor_sensors[3] = edubot.floor_sensor.getLeftOut();
+    mCharSensorFloorSensors->setValue((uint8_t*)&value_sensor_floor_sensors, 4);
 
     value_sensor_distance_sensors[0] = edubot.tof_L.distance_mm;
     value_sensor_distance_sensors[1] = edubot.tof_R.distance_mm;
+    mCharSensorDistanceSensors->setValue((uint8_t*)&value_sensor_distance_sensors, 4);
 
     value_sensor_imu_sensor[0] = (int16_t)(edubot.imu.getRoll()  * 100.0);
     value_sensor_imu_sensor[1] = (int16_t)(edubot.imu.getPitch() * 100.0);
@@ -552,11 +561,19 @@ void loop() {
     value_sensor_imu_sensor[7] = (int16_t)(edubot.imu.getGyroY() * 100.0);
     value_sensor_imu_sensor[8] = (int16_t)(edubot.imu.getGyroZ() * 100.0);
 
+    mCharSensorImuSensor->setValue((uint8_t*)&value_sensor_imu_sensor, 18);
+
+    if(device_connected) {
+      mCharSensorFloorSensors->notify(); 
+      mCharSensorDistanceSensors->notify(); 
+      mCharSensorImuSensor->notify();
+    }
+
     status_update_sensors_count = 0;    
   }
 
   status_update_all_count++;
-  if(status_update_all_count > 2) {
+  if(status_update_all_count > 5) {
     memcpy(&value_sensor_all_data[0], value_misc_status_info, 4);
     memcpy(&value_sensor_all_data[4], value_sensor_floor_sensors, 4);
     memcpy(&value_sensor_all_data[8], value_sensor_distance_sensors, 4);

examples/EduBot_Main/EduBot_Main.ino

@@ -1,47 +1,36 @@
 #include <EduBot.h>
 
 
-extern void scratch_setup();
-extern void scratch_loop();
-extern void linetrace_setup();
-extern void linetrace_loop();
-extern void stepmotor_setup();
-extern void stepmotor_loop();
-extern void getacc_setup();
-extern void getacc_loop();
-extern void getgyro_setup();
-extern void getgyro_loop();
-extern void getrpy_setup();
-extern void getrpy_loop();
-extern void tof_setup();
-extern void tof_loop();
-extern void audio_setup();
-extern void audio_loop();
-extern void neopixel_setup();
-extern void neopixel_loop();
-extern void irremote_setup();
-extern void irremote_loop();
-extern void battery_setup();
-extern void battery_loop();
-extern void bitblue_setup();
-extern void bitblue_loop();
+namespace AppScratch      { extern void setup(); extern void loop(); }
+namespace AppLineTrace    { extern void setup(); extern void loop(); }
+namespace AppStepMotor    { extern void setup(); extern void loop(); }
+namespace AppGetAcc       { extern void setup(); extern void loop(); }
+namespace AppGetGyro      { extern void setup(); extern void loop(); }
+namespace AppGetRpy       { extern void setup(); extern void loop(); }
+namespace AppTof          { extern void setup(); extern void loop(); }
+namespace AppAudio        { extern void setup(); extern void loop(); }
+namespace AppNeoPixel     { extern void setup(); extern void loop(); }
+namespace AppIrRemote     { extern void setup(); extern void loop(); }
+namespace AppBattery      { extern void setup(); extern void loop(); }
+namespace AppBitBlue      { extern void setup(); extern void loop(); }
+
 
 void setup() {
   // put your setup code here, to run once:
   edubot.begin(115200);
 
-  edubot.menuAdd("스크래치 3.0", scratch_setup, scratch_loop);
-  edubot.menuAdd("BitBlue", bitblue_setup, bitblue_loop);
-  edubot.menuAdd("LineTrace", linetrace_setup, linetrace_loop);
-  edubot.menuAdd("StepMotor", stepmotor_setup, stepmotor_loop);
-  edubot.menuAdd("GetAcc", getacc_setup, getacc_loop);
-  edubot.menuAdd("GetGyro", getgyro_setup, getgyro_loop);
-  edubot.menuAdd("GetRPY", getrpy_setup, getrpy_loop);
-  edubot.menuAdd("ToF", tof_setup, tof_loop);
-  edubot.menuAdd("Audio", audio_setup, audio_loop);  
-  edubot.menuAdd("NeoPixel", neopixel_setup, neopixel_loop);  
-  edubot.menuAdd("IrRemote", irremote_setup, irremote_loop);  
-  edubot.menuAdd("Battery", battery_setup, battery_loop);  
+  edubot.menuAdd("스크래치 3.0", AppScratch::setup,     AppScratch::loop);
+  edubot.menuAdd("BitBlue",     AppBitBlue::setup,     AppBitBlue::loop);
+  edubot.menuAdd("LineTrace",   AppLineTrace::setup,   AppLineTrace::loop);
+  edubot.menuAdd("StepMotor",   AppStepMotor::setup,   AppStepMotor::loop);
+  edubot.menuAdd("GetAcc",      AppGetAcc::setup,      AppGetAcc::loop);
+  edubot.menuAdd("GetGyro",     AppGetGyro::setup,     AppGetGyro::loop);
+  edubot.menuAdd("GetRPY",      AppGetRpy::setup,      AppGetRpy::loop);
+  edubot.menuAdd("ToF",         AppTof::setup,         AppTof::loop);
+  edubot.menuAdd("Audio",       AppAudio::setup,       AppAudio::loop);  
+  edubot.menuAdd("NeoPixel",    AppNeoPixel::setup,    AppNeoPixel::loop);  
+  edubot.menuAdd("IrRemote",    AppIrRemote::setup,    AppIrRemote::loop);  
+  edubot.menuAdd("Battery",     AppBattery::setup, AppBattery::loop);  
 }
 
 void loop() {

examples/EduBot_Main/src/Audio.cpp

@@ -1,17 +1,21 @@
 #include <EduBot.h>
 
 
+
+namespace AppAudio
+{
+
 extern const int16_t data[];
 
 
-void audio_setup() {
+void setup() {
   // put your setup code here, to run once: 
   edubot.begin(115200);  
 
   edubot.audio.playBuff((uint8_t *)data, 19226*2, true);                                 
 }
 
-void audio_loop() {
+void loop() {
   // put your main code here, to run repeatedly:  
 
   edubot.lcd.clearDisplay();
@@ -2437,3 +2441,4 @@ const int16_t data[NUM_ELEMENTS] = {
   0,   0};// 19224-19225
 
 
+}

examples/EduBot_Main/src/Battery.cpp

@@ -2,13 +2,16 @@
 
 
 
-void battery_setup() {
+namespace AppBattery
+{
+
+void setup() {
   // put your setup code here, to run once:
 
   edubot.begin(115200);   
 }
 
-void battery_loop() {
+void loop() {
   // put your main code here, to run repeatedly
   float vol;
 
@@ -18,4 +21,6 @@ void battery_loop() {
   edubot.lcd.printf(0, 16,"%1.1f V", vol/10);
   edubot.lcd.display();
   delay(100);
+}
+
 }

examples/EduBot_Main/src/BitBlue.cpp

@@ -1,12 +1,14 @@
 /* Authors: byeongkyu, baram */
-
-#define EDUBOT_DRIVER_BLE
-
 #include <EduBot.h>
+#include <BLEDevice.h>
+#include <BLEUtils.h>
+#include <BLEServer.h>
+#include <BLE2902.h>
 #include <image/EduBoy.h>
 
 
-
+namespace AppBitBlue
+{
 
 #define HM10_SERVICE_UUID                  "0000ffe0-0000-1000-8000-00805f9b34fb"
 #define HM10_CHARACTERISTIC_UUID           "0000ffe1-0000-1000-8000-00805f9b34fb"
@@ -84,7 +86,7 @@ static void drawLcdConnected(bool connected);
 static void loopUpdate(bool run);
 
 
-void bitblue_setup() {
+void setup() {
   // put your setup code here, to run once:
   Serial.begin(115200);  
 
@@ -128,7 +130,7 @@ void bitblue_setup() {
 }
 
 
-void bitblue_loop() {
+void loop() {
   // put your main code here, to run repeatedly:
   static uint8_t state = 0;
   static bool pre_connected = device_connected;
@@ -243,3 +245,5 @@ void loopUpdate(bool run)
     }
   }
 }
+
+}

examples/EduBot_Main/src/GetAcc.cpp

@@ -1,14 +1,15 @@
 #include <EduBot.h>
 
 
+namespace AppGetAcc
+{
 
-
-void getacc_setup() {
+void setup() {
   // put your setup code here, to run once: 
   edubot.begin(115200);                                   
 }
 
-void getacc_loop() {
+void loop() {
   // put your main code here, to run repeatedly:
   static uint32_t pre_time; 
 
@@ -32,4 +33,6 @@ void getacc_loop() {
     Serial.print(edubot.imu.getAccZ());
     Serial.println();    
   }   
+}
+
 }

examples/EduBot_Main/src/GetGyro.cpp

@@ -2,12 +2,15 @@
 
 
 
-void getgyro_setup() {
+namespace AppGetGyro
+{
+
+void setup() {
   // put your setup code here, to run once:
   edubot.begin(115200);                                   
 }
 
-void getgyro_loop() {
+void loop() {
   // put your main code here, to run repeatedly:
   static uint32_t pre_time; 
 
@@ -31,4 +34,6 @@ void getgyro_loop() {
     Serial.print(edubot.imu.getGyroZ());
     Serial.println();    
   }   
+}
+
 }

examples/EduBot_Main/src/GetRPY.cpp

@@ -2,13 +2,15 @@
 
 
 
+namespace AppGetRpy
+{
 
-void getrpy_setup() {
+void setup() {
   // put your setup code here, to run once: 
   edubot.begin(115200);                                   
 }
 
-void getrpy_loop() {
+void loop() {
   // put your main code here, to run repeatedly:
   static uint32_t pre_time; 
 
@@ -31,4 +33,6 @@ void getrpy_loop() {
     Serial.print(edubot.imu.getYaw());
     Serial.println();    
   }   
+}
+
 }

examples/EduBot_Main/src/IrRemote.cpp

@@ -1,15 +1,17 @@
 #include <EduBot.h>
 
 
+namespace AppIrRemote
+{
 
-void irremote_setup() {
+void setup() {
   // put your setup code here, to run once:
 
   edubot.begin(115200);   
   edubot.tofEnd();                                
 }
 
-void irremote_loop() {
+void loop() {
   // put your main code here, to run repeatedly
 
   if (edubot.ir_remote.available() > 0)
@@ -27,4 +29,6 @@ void irremote_loop() {
     edubot.lcd.printf(0, 16,"0x%X", key_code);
     edubot.lcd.display();
   }
+}
+
 }