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fujiwing2017

fujiwing2017: Commit

Bluetoothスタートを実装

--- branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/GlobalVariable.cpp (revision 41)

+++ branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/GlobalVariable.cpp (revision 42)

		@@ -15,6 +15,8 @@
15	15	CGlobalVariable::CGlobalVariable()
16	16	{
17	17	timestamp = 0;
	18	+ global_bluetooth = NULL;
	19	+ global_bluetooth_cmd = false;
18	20	}
19	21
20	22	CGlobalVariable::~CGlobalVariable()

--- branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/GlobalVariable.h (revision 41)

+++ branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/GlobalVariable.h (revision 42)

		@@ -212,6 +212,8 @@
212	212	void plusTimeStamp();
213	213
214	214	uint16_t global_rgb_value[FilLength];
	215	+ FILE* global_bluetooth;
	216	+ bool global_bluetooth_cmd;
215	217
216	218	private:
217	219	int timestamp;

--- branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/Work/Detection/SensorDetection/CTouchSensorDetection.cpp (revision 41)

+++ branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/Work/Detection/SensorDetection/CTouchSensorDetection.cpp (revision 42)

		@@ -41,7 +41,12 @@
41	41
42	42	// 指定時間以上押した後、離されたタイミングで終了.
43	43	if(m_bDetected)
	44	+ {
	45	+ m_bDetected = false; // 次回呼び出し時のために初期化.
44	46	return true;
	47	+ }
	48	+
	49	+ m_bDetected = false; // 離されたらfalseに
45	50	}
46	51	break;
47	52

		@@ -60,5 +65,22 @@
60	65	if(iTime >= MSEC500)
61	66	m_bDetected = true;
62	67
	68	+
	69	+ // Bluetooth検知.
	70	+ bool* pBT_CMD = &(CGlobalVariable::getInstance()->global_bluetooth_cmd);
	71	+ if (*pBT_CMD == true)
	72	+ {
	73	+ // タッチセンサ押された状態でBT受け取るとバグるので、Releasedに初期化してから終わる.
	74	+ m_State = TOUCH_RELEASED;
	75	+ m_bDetected = false;
	76	+
	77	+ *pBT_CMD = false;
	78	+
	79	+ // BluetoothタスクKill.
	80	+ ev3_stp_cyc(BLUETOOTH_RECIEVE_CYCLE_TASK);
	81	+
	82	+ return true;
	83	+ }
	84	+
63	85	return false;
64	86	}

--- branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/app.cpp (revision 41)

+++ branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/app.cpp (revision 42)

		@@ -158,11 +158,15 @@
158	158	//ev3_lcd_draw_string("Reset Complete! ", 0, CALIB_FONT_HEIGHT*2);
159	159	//tslp_tsk(500); /* 10msecウェイト */
160	160
	161	+ // Bluetooth起動.
	162	+ CGlobalVariable::getInstance()->global_bluetooth = ev3_serial_open_file(EV3_SERIAL_BT);
	163	+
161	164	//************************************************************
162	165	// 子タスク起動
163	166	//************************************************************
164	167	ev3_sta_cyc(MAIN_CYCLE_TASK);
165	168	ev3_sta_cyc(SAVE_RGB_FILTER_RESULT_CYCLE_TASK);
	169	+ ev3_sta_cyc(BLUETOOTH_RECIEVE_CYCLE_TASK);
166	170	//ev3_sta_cyc(TAIL_TASK);
167	171
168	172	//************************************************************

		@@ -175,6 +179,7 @@
175	179	//************************************************************
176	180	ev3_stp_cyc(MAIN_CYCLE_TASK);
177	181	ev3_stp_cyc(SAVE_RGB_FILTER_RESULT_CYCLE_TASK);
	182	+ ev3_stp_cyc(BLUETOOTH_RECIEVE_CYCLE_TASK); // Bluetoothは生きてた時用にいちおう.
178	183	//ev3_stp_cyc(TAIL_TASK);
179	184
180	185	//************************************************************

		@@ -381,9 +386,19 @@
381	386	void bluetooth_receive_task(intptr_t exinf){
382	387
383	388	//ここにBluetoothとの通信に関すること記述.
384		-
385		-
386		-
	389	+ FILE* pBT = CGlobalVariable::getInstance()->global_bluetooth;
	390	+ bool* pBT_CMD = &(CGlobalVariable::getInstance()->global_bluetooth_cmd);
	391	+
	392	+ uint8_t c = fgetc(pBT); /* 受信 */
	393	+ switch(c)
	394	+ {
	395	+ case '1':
	396	+ *pBT_CMD = true;
	397	+ break;
	398	+ default:
	399	+ break;
	400	+ }
	401	+ fputc(c, pBT); /* エコーバック */
387	402	}
388	403
389	404	/// <summary>