:sparkles: Add working bluetooth receiver

1 files changed, 269 insertions, 0 deletions

diff --git a/source/main.cpp b/source/main.cpp
new file mode 100644
index 0000000..7687b45
--- /dev/null
+++ b/source/main.cpp
@@ -0,0 +1,269 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 British Broadcasting Corporation.
+This software is provided by Lancaster University by arrangement with the BBC.
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+#include <MicroBit.h>
+#include "MicroBitUARTService.h"
+#include "HoverBitController.h"
+#include "Screen.h"
+
+MicroBit uBit;
+MicroBitUARTService *uart;
+HoverBitController controller;
+
+bool bConnected = false;
+
+bool batteryEmpty = false;
+bool bCapLogoIsPressed = false;
+int batteryMilliVolt = 3700;
+unsigned long tmpTimer;
+bool bBLEIndicator = false;
+
+DisplayMainScreenMode displayMainScreenMode = GRAPHS;
+
+void onConnected(MicroBitEvent) {
+    bConnected = 1;
+    uBit.audio.setVolume(255);
+    uBit.audio.soundExpressions.play(ManagedString("giggle"));
+
+    // mobile app will send ASCII strings terminated with the colon character
+    ManagedString eom(":");
+
+    while (bConnected) {
+        ManagedString msg = uart->readUntil(eom);
+        char command = msg.substring(0, 1).toCharArray()[0];
+        int value = atoi(msg.substring(1, msg.length() - 1).toCharArray());
+
+        if (command == 'R') {
+            controller.Roll(value);
+            if (displayMainScreenMode == OFF) {
+                uBit.display.scroll(controller.Roll());
+            }
+        } else if (command == 'T') {
+            controller.Throttle(value);
+            if (displayMainScreenMode == OFF) {
+                uBit.display.scroll(controller.Throttle());
+            }
+        } else if (command == 'A') {
+            controller.Arm(value == 1);
+            if (displayMainScreenMode == OFF) {
+                uBit.display.scroll(controller.Arm());
+            }
+        } else if (command == 'S') {
+            controller.Servo1(value);
+            if (displayMainScreenMode == OFF) {
+                uBit.display.scroll(controller.Servo1());
+            }
+        } else {
+            uBit.display.scroll(command);
+        }
+    }
+
+}
+
+void onDisconnected(MicroBitEvent) {
+    bConnected = 0;
+    uBit.audio.soundExpressions.play(ManagedString("sad"));
+}
+
+void iconBatteryDead() {
+    MicroBitImage img(strBattDead);
+    uBit.display.print(img);
+}
+
+void iconBatteryLow() {
+    MicroBitImage img(strBattLow);
+    uBit.display.print(img);
+}
+
+void lowBattery() {
+    if (batteryEmpty) {
+        iconBatteryDead();
+    } else if (batteryMilliVolt > BATTERY_LOW_LIMIT - 50){
+        iconBatteryLow();
+    } else {
+        iconBatteryDead();
+    }
+}
+
+void iconBatteryCharging() {
+    int low = 0;
+    int high = 3;
+    if (batteryMilliVolt >= 4200) {
+        low = 3;
+    } else if (batteryMilliVolt >= 4040) {
+        low = 2;
+    } else if (batteryMilliVolt >= 3900) {
+        low = 1;
+    }
+
+    for (int i = low; i <= high; i++) {
+        MicroBitImage img(strBattLevel[i]);
+        uBit.display.print(img);
+        uBit.sleep(400);
+    }
+}
+
+void batteryLevelFullScreen() {
+    int level = 0;
+    if (controller.Arm()) {
+        level = (((batteryMilliVolt - 3400) * 3) / 500);
+    } else {
+        level = (((batteryMilliVolt - 3700) * 3) / 500);
+    }
+    if (level < 0) { level = 0; }
+    if (level > 3) { level = 3; }
+    MicroBitImage img(strBattLevel[level]);
+    uBit.display.print(img);
+}
+
+void plotYLine(int y1, int y2, int x) {
+    /**
+     * Draw a line along the Y axis. y1: first pixel, y2: last pixel
+     */
+
+    if (y1 >= y2) {
+        for (int y = y2; y <= y1; y++) {
+            uBit.display.image.setPixelValue(x, y, 255);
+        }
+    }
+    else if (y1 < y2) {
+        for (int y = y1; y <= y2; y++) {
+            uBit.display.image.setPixelValue(x, y, 255);
+        }
+    }
+}
+
+void nextMainScreenDisplayMode() {
+    uBit.display.clear();
+    switch (displayMainScreenMode) {
+        case GRAPHS:
+            displayMainScreenMode = BATTERY;
+            break;
+        case BATTERY:
+            displayMainScreenMode = OFF;
+            break;
+        case OFF:
+            displayMainScreenMode = GRAPHS;
+            break;
+    }
+}
+
+void mainScreen() {
+    // uBit.display.clear();
+    bool bDelayElapsed = (uBit.systemTime() - tmpTimer) > 1000;
+    if (bDelayElapsed) { tmpTimer = uBit.systemTime(); }
+
+    switch (displayMainScreenMode) {
+        case OFF:
+            break;
+        case BATTERY:
+            uBit.display.clear();
+            batteryLevelFullScreen();
+            break;
+        case GRAPHS:
+        default:
+            uBit.display.clear();
+            if (batteryMilliVolt > 100) {
+                if (controller.Arm()) {
+                    plotYLine(0, (((batteryMilliVolt - 3400) * 4) / 500), 4);
+                } else {
+                    plotYLine(0, (((batteryMilliVolt - 3700) * 4) / 500), 4);
+                }
+            }
+            break;
+    }
+
+    if (bConnected) {
+        uBit.display.image.setPixelValue(0, 0, 255);
+    } else {
+        if (bDelayElapsed) { bBLEIndicator = !bBLEIndicator; }
+        if (bBLEIndicator) {
+            uBit.display.image.setPixelValue(0, 0, 0);
+        } else {
+            uBit.display.image.setPixelValue(0, 0, 255);
+        }
+    }
+}
+
+void onButtonA_press(MicroBitEvent e) {
+    controller.Roll(controller.Roll() + 3);
+}
+void onButtonB_press(MicroBitEvent e) {
+    controller.Roll(controller.Roll() - 3);
+}
+
+int main() {
+    uBit.init();
+    tmpTimer = uBit.systemTime();
+
+    // Setup serial for Spektsat communication with air:bit board
+    uBit.serial.setBaud(115200);
+    uBit.serial.redirect(uBit.io.P1, uBit.io.P2);
+
+    /* Initialize hover:bit controller module
+     * the init procedure have to be run within 100ms after air:bit power up */
+    controller.init(&uBit);
+
+    // Setup listeners
+    uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_CONNECTED, onConnected);
+    uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_DISCONNECTED, onDisconnected);
+    uBit.messageBus.listen(MICROBIT_ID_BUTTON_A, MICROBIT_BUTTON_EVT_CLICK, onButtonA_press);
+    uBit.messageBus.listen(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, onButtonB_press);
+
+    // uartService
+    // Note GATT table size increased from default in MicroBitConfig.h
+    // #define MICROBIT_SD_GATT_TABLE_SIZE             0x500
+    uart = new MicroBitUARTService(*uBit.ble, 32, 32);
+
+    uBit.audio.soundExpressions.play(ManagedString("hello"));
+
+    while (1) {
+        batteryMilliVolt = controller.getBatteryVoltage();
+
+        if (uBit.logo.isPressed()) {
+            if (!bCapLogoIsPressed) {
+                bCapLogoIsPressed = true;
+                nextMainScreenDisplayMode();
+            }
+        } else if (bCapLogoIsPressed ){
+            bCapLogoIsPressed = false;
+        }
+
+        if ((((&uBit.io.P0)->getAnalogValue()) < 600) && (((&uBit.io.P0)->getAnalogValue()) >= 400)) {
+            iconBatteryCharging();
+        } else if (controller.BatteryEmpty() || (batteryMilliVolt < BATTERY_LOW_LIMIT && (&uBit.io.P0)->getAnalogValue() > 300)) {
+            lowBattery();
+        } else {
+            mainScreen();
+        }
+
+        controller.HoverControl();
+        uBit.sleep(20);
+    }
+
+    // If main exits, there may still be other fibers running or registered event handlers etc.
+    // Simply release this fiber, which will mean we enter the scheduler. Worse case, we then
+    // sit in the idle task forever, in a power efficient sleep.
+    release_fiber();
+}