void *send_msg()
{
fprintf(stderr, "Bluegiga comms thread started\n");
uint8_t device = 0, bt_msg_len = 0;
uint16_t diff = 0;
while (state != state_finish) {
if (action == action_broadcast) {
diff = (insert_idx[0] - extract_idx[0] + BUF_SIZE) % BUF_SIZE;
if (diff) {
ble_cmd_gap_end_procedure();
bt_msg_len = diff < 31 ? diff : 31;
//ble_cmd_attclient_attribute_write(device, drone_handle_measurement, bt_msg_len[device], &data_buf[device][extract_idx[device]]);
ble_cmd_gap_set_adv_data(0, bt_msg_len, &data_buf[0][extract_idx[0]]);
ble_cmd_gap_set_mode(gap_user_data, gap_non_connectable); //gap_set_mode($84, gap_scannable_non_connectable)
extract_idx[device] = (extract_idx[device] + bt_msg_len) % BUF_SIZE;
usleep(10000); // advertisement interval set at 320ms so pause for shorter before turning off
ble_cmd_gap_set_mode(0, 0); // stop advertising
ble_cmd_gap_discover(gap_discover_observation); // return to listening
usleep(5000);
}
} else {
device = 0;
while (ac_id[device] != -1 && device < 8) {
diff = (insert_idx[device] - extract_idx[device] + BUF_SIZE) % BUF_SIZE;
if (diff) {
bt_msg_len = diff < 19 ? diff : 19; // msg length in max 20 but one header byte added on bluegiga to lisa
//if (bt_msg_len > 18)
// fprintf(stderr,"Long msg: %d, buff size: %d\n", bt_msg_len, diff);
//ble_cmd_attclient_attribute_write(device, drone_handle_measurement, bt_msg_len[device], &data_buf[device][extract_idx[device]]);
uint16_t i = 0;
unsigned char buf[19];
for (i = 0; i < bt_msg_len; i++)
{
buf[i] = data_buf[device][extract_idx[device]];
extract_idx[device] = (extract_idx[device] + 1) % BUF_SIZE;
}
ble_cmd_attclient_write_command(device, drone_handle_measurement, bt_msg_len, buf);
}
device++;
} // next device
usleep(connection_interval * 1000 * 1.5); // send messages at max intervals of the connection interval, 2 safety factor
} // repeat
}
pthread_exit(NULL);
}
void *send_msg()
{
fprintf(stderr,"Bluegiga comms thread started\n");
uint8_t device = 0, bt_msg_len = 0;
uint16_t diff = 0;
while (state != state_finish) {
if (action == action_broadcast) {
diff = (insert_idx[0] - extract_idx[0] + 1024) % 1024;
if (diff) {
ble_cmd_gap_end_procedure();
bt_msg_len = diff < 31 ? diff : 31;
//ble_cmd_attclient_attribute_write(device, drone_handle_measurement, bt_msg_len[device], &data_buf[device][extract_idx[device]]);
ble_cmd_gap_set_adv_data(0, bt_msg_len, &data_buf[0][extract_idx[0]]);
ble_cmd_gap_set_mode(gap_user_data, gap_non_connectable); //gap_set_mode($84, gap_scannable_non_connectable)
extract_idx[device] = (extract_idx[device] + bt_msg_len) % 1024;
usleep(1000); // advertisement interval set at 320ms so pause for shorter before turning off
ble_cmd_gap_set_mode(0, 0); // stop advertising
ble_cmd_gap_discover(gap_discover_observation); // return to listening
usleep(5000);
}
} else {
device = 0;
while (ac_id[device] != -1 && device < 8) {
diff = (insert_idx[device] - extract_idx[device] + 1024) % 1024;
if (diff) {
bt_msg_len = diff < 27 ? diff : 27;
//if (bt_msg_len > 18)
// fprintf(stderr,"Long msg: %d, buff size: %d\n", bt_msg_len, diff);
//ble_cmd_attclient_attribute_write(device, drone_handle_measurement, bt_msg_len[device], &data_buf[device][extract_idx[device]]);
ble_cmd_attclient_write_command(device, drone_handle_measurement, bt_msg_len, &data_buf[device][extract_idx[device]]);
extract_idx[device] = (extract_idx[device] + bt_msg_len) % 1024;
}
device++;
usleep(10000); // ~100Hz, max spi speed on lisa
}
}
}
pthread_exit(NULL);
}