void OnGUI()
{
GUI.skin.textArea.fontSize = 10;
GUI.skin.button.fontSize = 32;
GUI.skin.toggle.fontSize = 32;
GUI.skin.label.fontSize = 32;
string data = "";
data += StateToString(_state) + "\n";
if (_connected)
{
if (_state == States.None)
{
if (_dataBytes != null)
{
data += "getting bytes\n";
data += BluetoothBytes.MakeFromBytes(_dataBytes).ToHex();
}
}
}
GUI.TextArea(new Rect(0, Screen.height - 200, Screen.width, 200), data);
}
public static int InfoForNodeSequence(string nodeIdSequence, BluetoothBytes rawData, int infoStartIndex, int infoLengthInBytes)
{
byte[] rawDataBytes = rawData.ToBytes();
int nodeIndex = rawData.FindHex(nodeIdSequence);
byte[] nodeInfoBytes = new byte[infoLengthInBytes];
for (int i = 0; i < infoLengthInBytes; i++)
{
nodeInfoBytes[i] = rawDataBytes[nodeIndex + infoStartIndex + nodeIdSequence.Length / 2 + i];
}
return(BluetoothBytes.BytesToInt(nodeInfoBytes));
}
public static int[] Position(BluetoothBytes bluetoothBytes, int startIndex = 1, int coordinateByteLength = 4)
{
List <byte> bytes = bluetoothBytes.ToBytes().ToList();
List <int> coords = new List <int>();
for (int i = startIndex; i < bytes.Count - 1; i += coordinateByteLength)
{
coords.Add(BluetoothBytes.BytesToInt(bytes.GetRange(i, coordinateByteLength).ToArray()));
}
coords.Add(bytes.Last());
return(coords.ToArray());
}
void GetAnchorDistancesForTestPoint(int testPointIndex)
{
BluetoothConnector.States bluetoothConnectorAction = BluetoothConnector.currentAction();
bool bluetoothConnectorSuccess = BluetoothConnector.actionSuccessful();
if (bluetoothConnectorAction == BluetoothConnector.States.Subscribe && bluetoothConnectorSuccess)
{
BluetoothBytes bluetoothBytes = CurrentBluetoothBytes();
foreach (string anchorName in AnchorNames)
{
int distance = DistanceUtil.DistanceToNode(anchorName, bluetoothBytes);
anchorToTestPoints[anchorName][testPointIndex] = (double)distance;
}
}
}
IEnumerator PushAnchorPositions()
{
BluetoothConnector.Disconnect();
yield return(new WaitUntil(() => BluetoothConnector.currentState() == BluetoothConnector.States.Disconnected));
BluetoothConnector.Reset();
foreach (string anchorName in AnchorNames)
{
Debug.Log("pushing anchor " + anchorName);
BluetoothBytes positionBytes = BluetoothBytes.MakeFromLocation((int)anchorPositions[anchorName][0], (int)anchorPositions[anchorName][1], (int)anchorPositions[anchorName][2], 100);
Debug.Log("would push " + positionBytes.ToHex());
byte[] anchorPositionBytes = positionBytes.ToBytes();
BluetoothConnector.InitializeAction(anchorName, ServiceUUID, WriteCharacteristic, BluetoothConnector.States.Write, bytesToWrite: anchorPositionBytes);
BluetoothConnector.StartProcess();
yield return(new WaitUntil(() => BluetoothConnector.actionSuccessful()));
BluetoothConnector.Disconnect();
yield return(new WaitUntil(() => BluetoothConnector.currentState() == BluetoothConnector.States.Disconnected));
BluetoothConnector.Reset();
}
}
public static BluetoothBytes MakeFromLocation(int x, int y, int z, int quality)
{
BluetoothBytes newBluetoothBytes = new BluetoothBytes(x, y, z, quality);
return(newBluetoothBytes);
}
public static BluetoothBytes MakeFromBytes(byte[] bytes)
{
BluetoothBytes newBluetoothBytes = new BluetoothBytes(bytes);
return(newBluetoothBytes);
}
public static BluetoothBytes MakeFromHex(string _hexString)
{
BluetoothBytes newBluetoothBytes = new BluetoothBytes(_hexString);
return(newBluetoothBytes);
}
/*
* void shiftAnchorCoordinatesToPositive()
* {
* double minX = double.MaxValue;
* double minY = double.MaxValue;
* foreach (string anchorName in AnchorNames)
* {
* if (anchorPositions[anchorName][0] > minX)
* minX = anchorPositions[anchorName][0];
* minX = anchorPositions[anchorName][0];
* if (anchorPositions[anchorName][1] > minY)
* minY = anchorPositions[anchorName][1];
* minY = anchorPositions[anchorName][1];
* }
* if (minX < 0)
* foreach (string anchorName in AnchorNames)
* {
* anchorPositions[anchorName][0] += -minX;
* testAnchorPositions[anchorName][0] += -minX;
* }
* if (minY < 0)
* foreach (string anchorName in AnchorNames)
* {
* anchorPositions[anchorName][1] += -minY;
* testAnchorPositions[anchorName][1] += -minY;
* }
* }
*/
BluetoothBytes CurrentBluetoothBytes()
{
return(BluetoothBytes.MakeFromBytes(BluetoothConnector.currentBytes()));
}
public static int QualityToNode(string nodeName, BluetoothBytes distanceData)
{
//Debug.Log(distanceData.ToHex());
return(InfoForNodeSequence(NodeNameToNodeId(nodeName), distanceData, 4, 1));
}
public static int DistanceToNode(string nodeName, BluetoothBytes distanceData)
{
return(InfoForNodeSequence(NodeNameToNodeId(nodeName), distanceData, 0, 4));
}
