//成功发送返回0，错误返回1
unsigned char SendMessage_TextMode (const unsigned char *Context, const unsigned char *PhoneNumber)
{
unsigned char retval;
unsigned char tempbuff[30];
retval = SendAtCommand_UntillSuccess ("AT+CMGF=1\r");
if (retval == SendAtCommand_ERROR) return 1;
strcpy ( (char *) tempbuff, "AT+CMGS=\""); //AT+CMGS="15112475662"\r
strcat ( (char *) tempbuff, (const char *) PhoneNumber);
strcat ( (char *) tempbuff, "\"\r");
retval = send_at_cmd_and_receive (tempbuff, sizeof (tempbuff) - 1, 2000, ">");
printf ("SendAtCmdre=%s\r\n", tempbuff);
if (retval != TCP_OK) return 1;
send_at_cmd (Context);
send_at_cmd ("\x1a");
retval = ReadDatasFromSIM300_OKstr (tempbuff, sizeof (tempbuff) - 1, 10, "OK");
printf ("SendAtCmdre=%s\r\n", tempbuff);
return retval;
}
static char PhoneHandleCall(char *msg)
{
u8 phonebuff[20];
u8 atcmd[50];
EFILE efile;
struct phoneleixing *ph;
ph=(struct phoneleixing *)msg;
clear_lcd();
phonebuff[0]=EepromFile_Open(file_phonebook,&efile);
memset(phonebuff,0,sizeof(phonebuff));
if(ph->leixin==0)EepromFile_Seek(&efile,10+ph->numPhone*98+12,EepromFile_SEEK_SET);
else EepromFile_Seek(&efile,10+ph->numPhone*98+12+18,EepromFile_SEEK_SET);
EepromFile_read(phonebuff,18,&efile);
DrawTitle_to_row_Language2(2,"正在拨号...","Dialing...");
strcpy((char *)atcmd,"ATD");
strcat((char *)atcmd,(const char *)phonebuff);
strcat((char *)atcmd,";\r");
send_at_cmd(atcmd);
//text_out_to_row_x_Language2(1,25,phonebuff,phonebuff);
phonebuff[0]=Waitkey_TillKeyPress();
send_at_cmd("ATH\r");
return phonebuff[0];
}
/**
* send AT*COMWDG command
* 发送唤醒连接线程函数
*
* @解释：根据开发文档说明，前后两个指令间时间间隔低于2s,因此需要发送AT*COMWDG来维持基站与无人机的连接
* @author: blyde
* @update: 2015.7.11
**/
int Ardrone::send_wakeup_cmd()
{
char cmd[100];
int delay = 0;
int ret = 0;
if( !isInit_)
return C_ERROR;
std::cout<<"__wakeupThread start "<<std::endl;
while ( true)
{
// keep Ardrone wake up
Sleep(40);
send_at_cmd(last_at_cmd_);
delay++;
if (delay >= 4)
{
delay = 0;
sprintf_s( cmd, "AT*COMWDG=%d\r", nextSeq());
ret = send_at_cmd( cmd);
if ( ret == C_ERROR)
{
std::cout<<"__send_at_cmd error"<<std::endl;
return C_ERROR;
}
}
}
}
static char PhoneHandleSendcolormassage(char *msg)
{
#if 1
return(abeyant(NULL));
#else
char tempbuff[1024];
char PhoneNumber[30],time[30],context[512];
char atcmd[20]={"AT+CMGR="};
static char k=1;
char j;
#ifdef DEBUG_PRINTF
ReceiveMessageDecode("+CMGR: 1,,154\r0891683108705505F04405A10180F60008016002907294238A0500030002015C0A656C76845BA26237FF1A60A85F53524D5E1062374F59989D003100330034002E003700355143FF0C51764E2D57FA672C5E1062374F59989D003100320039002E003400385143FF0C8D6090015E1062374F59989D0035002E003200375143FF0C4E0B6B2167087ED365E54E3A0031003665E5FF0C67096548671F81F3003200300031\rOK",PhoneNumber,time,context,"+CMGL:");
#endif
my_itoa(&atcmd[8],k);k++;
strcat(atcmd,"\r");
memset(tempbuff,0,sizeof(tempbuff));
memset(PhoneNumber,0,PhoneNumberSize);
memset(time,0,sizeof(time));
memset(context,0,sizeof(context));
#ifdef DEBUG_PRINTF
printf("atcmd=%s\n",atcmd);
#endif
send_at_cmd(atcmd);
if(SendATReadDatasFromSIM300(fd_ttyS1,tempbuff,3,0)==OK){
ReceiveMessageDecode(tempbuff,PhoneNumber,time,context,"+CMGR:");
}
#endif
}
/**
* receive navigation data
* 接收导航数据线程函数
*
* @解释：根据开发手册P41，需要完成类似于三次握手协议，先发一个激活数据报，
* 然后配置无人机，才能让无人机向基站发送数据报
* 可以使用WireShark2 检测数据报是否发到本机上
* @author: blyde
* @update: 2015.7.11
**/
int Ardrone::receiveNavData()
{
if( !isInit_)
return C_ERROR;
SOCKET socketNav = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
sockaddr_in navSin;
navSin.sin_family = AF_INET;
navSin.sin_port = htons(NAVDATA_PORT);
navSin.sin_addr.s_addr = inet_addr(ARDRONE_IP);
int lenNavSin = sizeof(navSin);
// 激活指令发往NAVDATA_PORT 端口
const char trigger[4] = { 0x01, 0x00, 0x00, 0x00 };
int ret = sendto(socketNav, trigger, strlen(trigger), 0, (sockaddr *)&navSin, lenNavSin);
if (ret == SOCKET_ERROR)
{
std::cout<<"__send trigger flag error"<<std::endl;
return C_ERROR;
}
printf_s("Sent trigger flag to UDP port : %d \n", NAVDATA_PORT);
// 配置指令发往AT_PORT 端口
char initCmd[100];
sprintf_s(initCmd, "AT*CONFIG=%d,\"general:navdata_demo\",\"TRUE\"\r", nextSeq());
ret = send_at_cmd(initCmd);
if ( ret == C_ERROR)
{
std::cout<<"__send initCmd error"<<std::endl;
return C_ERROR;
}
// 接收数据包
MemoryLibrary::Buffer navDataBuffer; // 二进制数据缓冲区
char recv[1024] = { 0 }; // 数据包接收数组
int lenRecv = 0;
int delay = 0;
std::cout<<"__receiveNavData start "<<std::endl;
while ( true)
{
// 获取导航数据包
lenRecv = recvfrom(socketNav, recv, 1024, 0, (struct sockaddr*)&navSin, &lenNavSin);
delay++;
if (delay >= 5)
{
delay = 0;
printf("received %d bytes\n", lenRecv);
// 分析数据包，得到导航数据
navDataBuffer.Set(recv, lenRecv);
ret = parseNavData(navDataBuffer);
if ( ret == C_ERROR)
{
std::cout<<"__parseNavData() error"<<std::endl;
return C_ERROR;
}
}
}
}
unsigned char send_at_cmd_and_return_NotResposeKey(const unsigned char * cmd,int ms,const unsigned char *okstr,const unsigned char *errstr)
{
unsigned char tempbuff[1024];
int i,ret,size,pos;
unsigned char retval;
retval=TCP_SendAtTimeout;
printf("SEND_AT:%s\n",cmd); //设置加CIP 头,执行了这个指令sim900B 把接收的数据以打包的方式从串口输出。+IPD,1460:数据
SetAutoExitTime(0);
ms/=20;
send_at_cmd(cmd);
for(pos=i=0,size=sizeof(tempbuff);i<ms;i++)
{
ret= ReadDatasFromtty(fd_ttyS1,tempbuff+pos,size,0,20000);
if(ret)
{
pos+=ret;
size-=ret;
}
else
{
if(strstr((char const*)tempbuff,(char const*)okstr)){retval=TCP_OK;break;}
if(strstr((char const*)tempbuff,(char const*)errstr)){retval=TCP_ERROR;break;}
}
}
printf("SEND_AT_Re:%s\n",tempbuff);
return retval;
}
/**
* send AT*REF command
* 发送AT*REF控制指令
*
* @param: cmdFormat % 指令格式
* @author: blyde
* @update: 2015.7.11
**/
int Ardrone::send_cmd( const char* cmdFormat)
{
char cmd[100];
sprintf_s( cmd, cmdFormat, nextSeq());
int ret = send_at_cmd( cmd);
return ret;
}
unsigned char send_at_cmd_and_return(const unsigned char * cmd,int ms,const unsigned char *okstr,const unsigned char *errstr)
{
unsigned char tempbuff[1024];
int i,ret,size,pos;
unsigned char retval;
retval=TCP_SendAtTimeout;
kmy_USART2ReceiveReset();
SetAutoExitTime(0);
ms/=20;
send_at_cmd(cmd);
for(pos=i=0,size=sizeof(tempbuff);i<ms;i++)
{
ret= ReadDatasFromtty(fd_ttyS1,tempbuff+pos,size,0,20000);
if(ret)
{
pos+=ret;
size-=ret;
}
else
{
if(strstr((char const*)tempbuff,(char const*)okstr)){retval=TCP_OK;break;}
if(errstr!=NULL){if(strstr((char const*)tempbuff,(char const*)errstr)){retval=TCP_ERROR;break;}}
}
}
printf("SEND_AT_Re:%s\n",tempbuff);
return retval;
}
unsigned char SendAtCommand_UntillSuccess(unsigned char *cmd)
{
char tempbuff[100];
int i,ret,size,pos,ms=2000;
char cnt=0;
AgainExecute:
send_at_cmd(cmd);
ms/=10;
for(pos=i=0,size=sizeof(tempbuff);i<ms;i++)
{
ret= ReadDatasFromtty(fd_ttyS1,(u8*)(tempbuff+pos),size,0,10000);
if(ret)
{
pos+=ret;
size-=ret;
}
else
{
if(strstr(tempbuff,"OK"))return SendAtCommand_OK;
if(strstr(tempbuff,"ERROR"))return SendAtCommand_ERROR;
}
}
if(cnt++<5)goto AgainExecute;
return SendAtCommand_ERROR;
}
/**
* send AT*PCMD command
* 发送飞行控制指令，指令规则请翻阅开发手册
*
* @param: enable % 能否控制
* @param: roll % 我忘了，帮我补上吧，嘻嘻
* @param: pitch %
* @param: gaz %
* @param: yaw %
*
* @author: blyde
* @update: 2015.7.11
**/
int Ardrone::send_pcmd(int enable, float roll, float pitch, float gaz, float yaw)
{
char cmd[100];
sprintf_s(cmd, "AT*PCMD=%d,%d,%d,%d,%d,%d\r", nextSeq(),
enable, float2Int(roll), float2Int(pitch), float2Int(gaz), float2Int(yaw));
int ret = send_at_cmd( cmd);
return ret;
}
/************************************光标在手机处菜单**********************************************/
static char PhoneHandleCall(char *msg)
{
u8 phonebuff[20];
u8 atcmd[50];
EFILE efile;
struct phoneleixing *ph;
ph=(struct phoneleixing *)msg;
clear_lcd();
/*fp=fopen("PhoneBook","rb");
if(fp!=NULL){ //如果有记录，则先把记录读到phonebuff 。
#ifdef DEBUG_PRINTF
printf("open PhoneBook success!!\n");
#endif
}else{
#ifdef DEBUG_PRINTF
printf("open PhoneBook failure!!\n");
#endif
return KEY_ReturnPrevious;
}*/
phonebuff[0]=EepromFile_Open(file_phonebook,&efile);
memset(phonebuff,0,sizeof(phonebuff));
/*if(ph->leixin==0)fseek(fp,10+ph->numPhone*98+12,SEEK_SET);
else fseek(fp,10+ph->numPhone*98+12+18,SEEK_SET);
fread(phonebuff,18,1,fp);*/
if(ph->leixin==0)EepromFile_Seek(&efile,10+ph->numPhone*98+12,EepromFile_SEEK_SET);
else EepromFile_Seek(&efile,10+ph->numPhone*98+12+18,EepromFile_SEEK_SET);
EepromFile_read(phonebuff,18,&efile);
DrawTitle_to_row_Language2(2,"正在拨号...","Dialing...");
strcpy((char *)atcmd,"ATD");
strcat((char *)atcmd,(const char *)phonebuff);
strcat((char *)atcmd,";\r");
send_at_cmd(atcmd);
//text_out_to_row_x_Language2(1,25,phonebuff,phonebuff);
phonebuff[0]=Waitkey_TillKeyPress();
send_at_cmd("ATH\r");
return phonebuff[0];
}
/**
* initialize Ardrone(not use)
* 设置最大飞行高度，设置超声波频率等无人机参数预设
*
* @author: blyde
* @update: 2015.7.11
*/
int Ardrone::initArdrone()
{
char cmd[1024];
// 设置最大高度
sprintf_s( cmd, "AT*CONFIG=%d,\"control:altitude_max\",\"2000\"\r", nextSeq());
assert( send_at_cmd(cmd));
Sleep( INTERVAL);
// 设置超声波频率
sprintf_s( cmd, "AT*CONFIG=%d,\"pic:ultrasound_freq\",\"8\"\r", nextSeq());
assert( send_at_cmd( cmd));
Sleep( INTERVAL);
//flat trim
sprintf_s( cmd, "AT*FTRIM=%d\r", nextSeq());
assert( send_at_cmd(cmd));
Sleep( INTERVAL);
return C_OK;
}
unsigned char send_at_cmd_and_receive(unsigned char * CmdBuff,int CmdBuffSize,int Ms,const unsigned char *OkStr)
{
int i,ret,size,pos;
unsigned char retval=TCP_SendAtTimeout;
kmy_USART2ReceiveReset();
SetAutoExitTime(0);
Ms/=20;
send_at_cmd(CmdBuff);
*CmdBuff=0;
for(pos=i=0,size=CmdBuffSize;i<Ms;i++)
{
ret= ReadDatasFromtty(fd_ttyS1,CmdBuff+pos,size,0,20000);
if(ret)
{
pos+=ret;
size-=ret;
}
else
{
if(strstr((char const*)CmdBuff,(char const*)OkStr))break;
retval=GetKeyValue();
if(retval!=KEY_NONE)
{
if(retval==KEY_ReturnInitInterface||retval==KEY_ReturnPrevious){retval=TCP_UserSelfReturn;break;}
}
}
}
if(i<Ms)retval=TCP_OK;
printf("SendAtCmd receive-->%d %s\r\n",pos,CmdBuff);
return retval;
}
char GetIMEI(unsigned char *buff)
{
char rcv_buf[50];
char *p;
int i;
char retval;
send_at_cmd("AT+GSN\r");
retval=ReadDatasFromSIM300_OKstr((u8*)rcv_buf,sizeof(rcv_buf),2,"OK");
printf("rcv_buf=%s\n",rcv_buf);
p=rcv_buf;i=0;
while((*p<'0'||*p>'9')&&i<sizeof(rcv_buf)){p++;i++;}
for(i=0;i<24;i++){rcv_buf[i]=*p;p++;if(*p<'0'||*p>'9')break;}
i++;
rcv_buf[i]=0;
strcpy((char *)buff,rcv_buf);
return retval;
}
static unsigned char send_at_cmd_and_return_3errs(const unsigned char * cmd,int ms,const unsigned char *okstr,const unsigned char *errstr,const unsigned char *errstr2,const unsigned char *errstr3)
{
unsigned char tempbuff[200];
int i,ret,size,pos;
unsigned char retval;
unsigned char keyval;
kmy_USART2ReceiveReset();
retval=TCP_SendAtTimeout;
SetAutoExitTime(0);
ms/=20;
send_at_cmd(cmd);
for(pos=i=0,size=sizeof(tempbuff);i<ms;i++)
{
ret= ReadDatasFromtty(fd_ttyS1,tempbuff+pos,size,0,20000);
if(ret)
{
pos+=ret;
size-=ret;
}
else
{
if(strstr((char const*)tempbuff,(char const*)okstr)){retval=TCP_OK;break;}
if(strstr((char const*)tempbuff,(char const*)errstr)){retval=TCP_ERROR;break;}
if(strstr((char const*)tempbuff,(char const*)errstr2)){retval=TCP_ERROR2;break;}
if(strstr((char const*)tempbuff,(char const*)errstr3)){retval=TCP_ERROR3;break;}
keyval=GetKeyValue();
if(keyval==KEY_ReturnInitInterface||keyval==KEY_ReturnPrevious){retval=TCP_UserSelfReturn;break;}
}
}
printf("SEND_AT_Re:%s\n",tempbuff);
return retval;
}
//发送短信
char SendMessage (char *Msg, const char *Phone)
{
char sendbuff[1024];
char tempbuff[1024];
char temp[200];
char *pt, *ps;
char len;
char PDUsendMode;
PDUsendMode = CheckBuffWhetherAllisAsccii (Msg);
memset (sendbuff, 0, sizeof (sendbuff) );
ps = sendbuff;
memset (tempbuff, 0, sizeof (tempbuff) ); //设置PDU mode
send_at_cmd ("AT+CMGF=0\r");
if (ReadDatasFromSIM300_OKstr ( (unsigned char *) tempbuff, sizeof (tempbuff), 3, "OK\r") != 0)
{
goto tuichu;
}
memset (tempbuff, 0, sizeof (tempbuff) ); //取短信中心号码
send_at_cmd ("AT+CSCA?\r");
if (ReadDatasFromSIM300_OKstr ( (unsigned char *) tempbuff, sizeof (tempbuff), 3, "OK\r") != 0)
{
goto tuichu;
}
pt = strstr (tempbuff, "+CSCA: \"+");
if (pt != NULL) pt += sizeof ("+CSCA: \"+") - 1;
else goto tuichu;
HaomaToMassageCode (temp, pt);
OneHexToTwoAsccii (&ps, strlen (temp) / 2 + 1); //A：短信息中心地址长度，2位十六进制数(1字节)。
OneHexToTwoAsccii (&ps, 0x91); //B：短信息中心号码类型，2位十六进制数。
My_strcpy_PointInc (&ps, temp); //C：短信息中心号码，B+C的长度将由A中的数据决定。
len = strlen (sendbuff);
OneHexToTwoAsccii (&ps, 0x11); //D：文件头字节，2位十六进制数。
OneHexToTwoAsccii (&ps, 0x00); //E：信息类型，2位十六进制数。
OneHexToTwoAsccii (&ps, strlen (Phone) + 2); //F：被叫号码长度，2位十六进制数。
OneHexToTwoAsccii (&ps, 0x91); //G：被叫号码类型，2位十六进制数，取值同B。
#ifdef MyChinaSelfTest
OneHexToTwoAsccii (&ps, 0x68);
#else
OneHexToTwoAsccii (&ps, 0x34); //+4369910797801奥地利国际区号
#endif
HaomaToMassageCode (temp, Phone);
My_strcpy_PointInc (&ps, temp); //H：被叫号码，长度由F中的数据决定。
OneHexToTwoAsccii (&ps, 0x00); //I：协议标识，2位十六进制数。
if (PDUsendMode == PDUsendMode7bit) //J：数据编码方案，2位十六进制数。08 用户信息编码方式(TP-DCS) UCS2编码
{
OneHexToTwoAsccii (&ps, 0x00);
}
else if (PDUsendMode == PDUsendMode8bit)
{
OneHexToTwoAsccii (&ps, 0x04);
}
else if (PDUsendMode == PDUsendModeUCS2)
{
OneHexToTwoAsccii (&ps, 0x08);
}
OneHexToTwoAsccii (&ps, 0x00); //K：有效期，2位十六进制数。
if (PDUsendMode == PDUsendMode7bit)
{
strcpy (tempbuff, Msg);
OneHexToTwoAsccii (&ps, strlen (tempbuff) ); //L：用户数据长度，2位十六进制数。
PDU7bitEncode (tempbuff); //M：用户数据，其长度由L中的数据决定。J中设定采用UCS2编码，这里是中英文的Unicode字符。
My_strcpy_PointInc (&ps, tempbuff);
}
else if (PDUsendMode == PDUsendMode8bit)
{
}
else if (PDUsendMode == PDUsendModeUCS2)
{
AsciiGB2312ToUCS2 (tempbuff, Msg);
OneHexToTwoAsccii (&ps, strlen (tempbuff) / 2); //L：用户数据长度，2位十六进制数。
My_strcpy_PointInc (&ps, tempbuff); //M：用户数据，其长度由L中的数据决定。J中设定采用UCS2编码，这里是中英文的Unicode字符。
}
My_strcpy_PointInc (&ps, "\x1a"); //加上0x1A
ps = temp;
len = (strlen (sendbuff) - len - 1) / 2;
My_strcpy_PointInc (&ps, "AT+CMGS="); //以PDU 模式开始发送短信
sprintf (ps, "%d", len);
strcat (temp, "\r");
send_at_cmd ( (const unsigned char*) temp);
memset (tempbuff, 0, sizeof (tempbuff) );
ReadDatasFromSIM300_OKstr ( (unsigned char *) tempbuff, sizeof (tempbuff) - 1024, 2, ">");
if (strstr (tempbuff, ">") )
{
send_at_cmd ( (const unsigned char *) sendbuff);
if (ReadDatasFromSIM300_OKstr ( (unsigned char *) tempbuff, sizeof (tempbuff) - 1024, 8, "OK\r") != 0)
{
goto tuichu;
}
}
else goto tuichu;
return Sim900B_ProccessOK;
tuichu:
return Sim900B_ProccessERROR;
}
