void Update()
{
if (_timeout > 0f)
{
_timeout -= Time.deltaTime;
if (_timeout <= 0f)
{
_timeout = 0f;
if (state == State.Scan)
{
// 端末のBLE機能変数を取得
BLEService.Instance.RequestDevice((_device) =>
{
device = _device;
string[] uuids = { SERVICE_UUID };
// 検索対象デバイスをtoioのサービスIDに絞って検索
device.Scan(uuids, true, (_peripheral) =>
{
// 一台発見したら接続モードへ変更
peripheral = _peripheral;
Debug.LogFormat("peripheral.device_name: {0}, peripheral.device_address: {1}", peripheral.device_name, peripheral.device_address);
device.StopScan();
SetState(State.Connect, 1f);
});
}
);
}
if (state == State.Connect)
{
// peripheral(デバイス)に接続して全てのcharacteristic(機能)を取得
peripheral.Connect((chara) =>
{
characteristicTable[chara.characteristicUUID] = chara;
// 全てのcharacteristicへの接続を確認
if (characteristicTable.Count == 8)
{
SetState(State.Subscribe, 1f);
}
});
}
if (state == State.Subscribe)
{
// 座標や角度を定期受信出来るように購読開始
characteristicTable[CHARACTERISTIC_ID].StartNotifications(action: Recv_Id);
SetState(State.Control, 1f);
}
if (state == State.Control)
{
// コアキューブ通信仕様に沿ってパケット送信
// https://toio.github.io/toio-spec/docs/2.0.0/ble_motor#時間指定付きモーター制御
byte[] buff = { 2, 1, 1, 100, 2, 1, 70, 100 };
// モーターcharacteristicに対してパケット送信
characteristicTable[CHARACTERISTIC_MOTOR].WriteValue(data: buff, withResponse: false);
// 送信処理を50ミリ秒間隔で実行
SetState(State.Control, 0.05f);
}
}
}
}
public async UniTask <BLEPeripheralInterface> NearestScan()
{
Dictionary <string, BLEPeripheralInterface> peripheralTable = new Dictionary <string, BLEPeripheralInterface>();
List <BLEPeripheralInterface> peripheralList = new List <BLEPeripheralInterface>();
bool errorflg = false;
Action foundCallback = (() =>
{
string[] uuids = { CubeReal.SERVICE_ID };
this.device.Scan(uuids, true, (peripheral) =>
{
if (null == peripheral)
{
errorflg = true;
return;
}
if (!this.connectedPeripheralTable.ContainsKey(peripheral.device_address) && !peripheralTable.ContainsKey(peripheral.device_address))
{
if (this.peripheralDatabase.ContainsKey(peripheral.device_address))
{
peripheral = this.peripheralDatabase[peripheral.device_address];
}
else
{
this.peripheralDatabase.Add(peripheral.device_address, peripheral);
peripheral.AddConnectionListener("CubeScanner.RealImpl", this.OnConnectionEvent);
}
peripheralList.Add(peripheral);
peripheralTable.Add(peripheral.device_address, peripheral);
}
});
});
this.StartScanning(foundCallback);
await UniTask.Delay(1000);
while (true)
{
await UniTask.Delay(300);
if (errorflg)
{
this.isScanning = false;
if (null != device)
{
device.StopScan();
}
return(null);
}
if (0 < peripheralList.Count)
{
break;
}
}
peripheralList.Sort((a, b) => 0 < (b.rssi - a.rssi) ? 1 : -1);
this.isScanning = false;
if (null != device)
{
device.StopScan();
}
return(peripheralList[0]);
}