void main(void)
{
init();
nx_systick_wait_ms(5000);
/*
vDisplaySensorsValues();
U32 pos1=0;
U32 pos2=0;
vForwardStop(&pos1,&pos2,500);
nx_systick_wait_ms(1000);
vTurnRight(&pos1,&pos2);
nx_systick_wait_ms(1000);
vForwardStop(&pos1,&pos2,250);
nx_systick_wait_ms(1000);
vTurnLeft(&pos1,&pos2);
nx_systick_wait_ms(1000);
vForwardStop(&pos1,&pos2,250);
nx_systick_wait_ms(1000);
vTurnRight(&pos1,&pos2);
nx_systick_wait_ms(1000);
vForwardStop(&pos1,&pos2,250);
nx_systick_wait_ms(1000);
vTurnRight(&pos1,&pos2);
nx_systick_wait_ms(1000);
vForwardStop(&pos1,&pos2,500);
nx_systick_wait_ms(1000);
vTurnRight(&pos1,&pos2);
nx_systick_wait_ms(1000);
vForwardStop(&pos1,&pos2,250);
nx_systick_wait_ms(1000);
vTurnLeft(&pos1,&pos2);
nx_systick_wait_ms(1000);
vForwardStop(&pos1,&pos2,250);
*/
nx_display_cursor_set_pos(0, 5);
nx_display_string("en attente");
while (!quit) {
if (!nx_bt_stream_opened() || nx_bt_connection_pending())
bt_wait_connection();
else
{
nx_sound_freq(DO, 200);
nx_sound_freq(DO, 200);
nx_sound_freq(DO, 200);
handle_cmd();
}
}
die();
}
void tests_bt(void) {
U16 i;
U16 lng = 0;
int port_handle __attribute__ ((unused));
int connection_handle = -1;
int bleh = -1;
char buffer[BT_PACKET_SIZE];
port_handle = -1;
for (i = 0 ; i < BT_PACKET_SIZE ; i++)
buffer[i] = 0;
lng = 0;
nx_bt_init();
hello();
nx_display_cursor_set_pos(0, 0);
nx_display_string("Setting discoverable ...");
nx_bt_set_friendly_name("Tulipe");
nx_bt_set_discoverable(TRUE);
port_handle = nx_bt_open_port();
nx_display_clear();
nx_display_cursor_set_pos(0, 0);
nx_display_string("Waiting connection ...");
while(TRUE) {
for (i = 0 ;
i < 800 && (!nx_bt_stream_opened() || nx_bt_stream_data_read() < 2);
i++)
{
if (connection_handle >= 0) {
nx_display_cursor_set_pos(0, 2);
nx_display_string("Waiting command ...");
}
if (nx_bt_has_dev_waiting_for_pin()) {
nx_bt_send_pin("1234");
} else if (nx_bt_connection_pending()) {
nx_bt_accept_connection(TRUE);
while ( (bleh = nx_bt_connection_established()) < 0)
nx_systick_wait_ms(100);
connection_handle = bleh;
nx_bt_debug();
nx_bt_stream_open(connection_handle);
nx_bt_debug();
nx_bt_stream_read((U8 *)&buffer, 2); /* we read the packet size first */
nx_display_cursor_set_pos(0, 4);
}
nx_bt_debug();
nx_systick_wait_ms(100);
}
if (!nx_bt_stream_opened() || i >= 800)
break;
lng = buffer[0] + (buffer[1] << 8);
nx_display_clear();
nx_display_cursor_set_pos(0, 0);
nx_display_string("Reading ...");
nx_display_cursor_set_pos(0, 1);
nx_display_uint(lng);
nx_bt_stream_read((U8 *)&buffer, lng);
for(i = 0;
nx_bt_stream_opened() && nx_bt_stream_data_read() < lng && i < 100;
i++)
nx_systick_wait_ms(100);
if (!nx_bt_stream_opened() || i >= 100)
break;
/* Start interpreting */
i = tests_command(buffer);
nx_bt_stream_read((U8 *)&buffer, 2);
if (i == 2) {
break;
}
/*
if (i == 1) {
nx_bt_stream_write((U8 *)CMD_UNKNOWN, sizeof(CMD_UNKNOWN)-1);
}
if (i == 0) {
nx_bt_stream_write((U8 *)CMD_OK, sizeof(CMD_OK)-1);
}
*/
nx_systick_wait_ms(100);
nx_display_clear();
}
if (nx_bt_stream_opened())
nx_bt_stream_close();
nx_systick_wait_ms(1000);
nx_bt_debug();
goodbye();
}