private void handleBleConnecting()
{
BleApi.Service service = new BleApi.Service();
BleApi.ScanStatus status;
do
{
status = BleApi.PollService(out service, false);
if (status == BleApi.ScanStatus.AVAILABLE)
{
Debug.Log("Found service: " + service.uuid);
string uuid = service.uuid.Replace("{", null).Replace("}", null);
if (uuid.Equals(SERVICE_UUID, StringComparison.OrdinalIgnoreCase))
{
/* Service found, subscribe to updates from TX char */
BleApi.SubscribeCharacteristic(truetouchDevice.id, SERVICE_UUID, TX_CHAR_UUID, false);
state = BleState.CONNECTED;
Debug.Log("Connected to TrueTouch");
return;
}
}
else if (status == BleApi.ScanStatus.FINISHED)
{
/* Couldn't find target service on the device */
errorString = "Could not find NUS service on TrueTouch";
state = BleState.ERROR;
}
} while (status == BleApi.ScanStatus.AVAILABLE);
}
/** Search for the TrueTouch device. */
private void handleBleScanning()
{
BleApi.DeviceUpdate device = new BleApi.DeviceUpdate();
BleApi.ScanStatus status;
do
{
status = BleApi.PollDevice(ref device, false);
if (status == BleApi.ScanStatus.AVAILABLE)
{
Debug.Log("Found device: " + device.name + " | " + device.id);
if (device.name.Equals(DEVICE_NAME, StringComparison.OrdinalIgnoreCase))
{
/* TrueTouch found, scan for the desired service UUID */
BleApi.StopDeviceScan();
truetouchDevice = device;
BleApi.ScanServices(truetouchDevice.id);
state = BleState.CONNECTING;
Debug.Log("Scanning TrueTouch's services");
return;
}
}
else if (status == BleApi.ScanStatus.FINISHED)
{
/* Ran out of devices without finding target device */
errorString = "Could not find TrueTouch";
state = BleState.ERROR;
}
} while (status == BleApi.ScanStatus.AVAILABLE);
}
private void handleBleIdle()
{
/* Entering here must mean an error happened; just try to restart */
BleApi.StartDeviceScan();
state = BleState.SCANNING;
Debug.Log("Restart scanning for devices");
}
// Start is called before the first frame update
void Start()
{
/* Start scanning */
BleApi.StartDeviceScan();
state = BleState.SCANNING;
Debug.Log("Scanning for devices");
InvokeRepeating("executeHandUpdate", SendRateSeconds, SendRateSeconds);
}
/** Queue an update to be sent to the remote device. All queued updates are formatted
* into a BLE message and sent at the start of each frame. */
public void UpdateFinger(Finger finger, UpdateType type, byte pwm = 0)
{
switch (type)
{
case UpdateType.PULSE_SOLENOID:
solenoidsToPulse.Add(finger);
break;
case UpdateType.SET_ERM: {
HashSet <Finger> set;
/* If this finger was previously updated, negate that */
foreach (KeyValuePair <byte, HashSet <Finger> > entry in ermUpdates)
{
if (entry.Value.Contains(finger) && entry.Key != pwm)
{
entry.Value.Remove(finger);
}
else if (entry.Value.Contains(finger))
{
/* Same finger, same PWM, nothing to be done */
return;
}
}
/* New finger or PWM */
if (ermUpdates.ContainsKey(pwm))
{
if (!ermUpdates.TryGetValue(pwm, out set))
{
errorString = "Couldn't get value from ermUpdates";
state = BleState.ERROR;
}
else
{
set.Add(finger); // don't care if it succeeds or not
}
}
else
{
set = new HashSet <Finger>();
set.Add(finger);
ermUpdates.Add(pwm, set);
}
}
break;
}
}
private void handleBleError()
{
Debug.Log("Encountered Error: " + errorString);
errorString = "None";
state = BleState.IDLE;
}
