public async UniTask <Cube> Connect(BLEPeripheralInterface peripheral)
{
try
{
while (this.isConnecting)
{
await UniTask.Delay(100);
}
this.isConnecting = true;
bool success = await this.ConnectPeripheral(peripheral);
if (!success)
{
return(null);
}
var cube = new CubeUnity(peripheral as UnityPeripheral);
cube.Initialize();
this.isConnecting = false;
return(cube);
}
catch (System.Exception e)
{
Debug.LogError(e);
this.isConnecting = false;
return(null);
}
}
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 <Cube> Connect(BLEPeripheralInterface peripheral)
{
try
{
while (this.isConnecting)
{
await UniTask.Delay(100);
}
this.isConnecting = true;
var characteristicTable = await this.ConnectCharacteristics(peripheral);
var version = await this.GetProtocolVersion(characteristicTable[CubeReal.CHARACTERISTIC_CONFIG]);
CubeReal cube = null;
switch (version)
{
case "2.0.0":
cube = new CubeReal_ver2_0_0(peripheral);
break;
case "2.1.0":
cube = new CubeReal_ver2_1_0(peripheral);
break;
case "2.2.0":
cube = new CubeReal_ver2_2_0(peripheral);
break;
case "2.3.0":
cube = new CubeReal_ver2_3_0(peripheral);
break;
default:
// Basically, BLE protocol version has backward compatibility,
// so consider unknown version as the latest version.
//
// TODO:
// - patch(build) number can be ignored (should be?)
// - major number should be checked
cube = new CubeReal_ver2_3_0(peripheral);
break;
}
await cube.Initialize(characteristicTable);
this.isConnecting = false;
return(cube);
}
catch (System.Exception e)
{
Debug.LogError(e);
this.isConnecting = false;
return(null);
}
}
public CubeReal(BLEPeripheralInterface peripheral)
{
this.peripheral = peripheral;
this.isPressed = false; // 初期値:非押下
this.isSloped = false; // 初期値:水平
this.isCollisionDetected = false; // 初期値:非衝突
this.battery = 100;
// idが無効となったため、addrで代用
this.id = addr;
}
public CubeReal(BLEPeripheralInterface peripheral, Dictionary <string, BLECharacteristicInterface> characteristicTable)
{
this.peripheral = peripheral;
this.characteristicTable = characteristicTable;
this.isPressed = false; // 初期値:非押下
this.isSloped = false; // 初期値:水平
this.isCollisionDetected = false; // 初期値:非衝突
this.battery = 100;
// idが無効となったため、addrで代用
this.id = addr;
}
public async UniTask <Cube> Connect(BLEPeripheralInterface peripheral)
{
var uniperipheral = peripheral as UnityPeripheral;
var cube = new CubeUnity(uniperipheral.obj);
while (!cube.isConnected)
{
await UniTask.Delay(50);
}
cube.Init();
return(cube as Cube);
}
protected virtual async UniTask <bool> ConnectPeripheral(BLEPeripheralInterface peripheral)
{
float startTime = Time.time;
peripheral.Connect(null);
while (true)
{
if (peripheral.isConnected)
{
return(true);
}
if (startTime < Time.time - 10.0f)
{
return(false);
}
await UniTask.Delay(100);
}
}
public async UniTask ReConnect(Cube cube, BLEPeripheralInterface peripheral)
{
try
{
while (this.isConnecting)
{
await UniTask.Delay(100);
}
this.isConnecting = true;
var characteristicTable = await this.ConnectCharacteristics(peripheral);
await(cube as CubeReal).StartNotifications();
this.isConnecting = false;
}
catch (System.Exception)
{
this.isConnecting = false;
}
}
private void OnConnectionEvent(BLEPeripheralInterface peripheral)
{
if (peripheral.isConnected)
{
if (!this.connectedPeripheralTable.ContainsKey(peripheral.device_address))
{
this.connectedPeripheralTable.Add(peripheral.device_address, peripheral);
}
}
else
{
if (this.connectedPeripheralTable.ContainsKey(peripheral.device_address))
{
this.connectedPeripheralTable.Remove(peripheral.device_address);
}
if (!this.isScanning && this.autoRunning)
{
this.NearScanAsync(this.satisfiedNumForAsync, this.coroutineObject, this.callback, this.autoRunning);
}
}
}
// --- private methods ---
protected async void OnPeripheralScanned(BLEPeripheralInterface peripheral)
{
if (null == this.connecter)
{
this.connecter = new CubeConnecter();
}
if (this.cubeTable.ContainsKey(peripheral.device_address))
{
var cube = this.cubeTable[peripheral.device_address];
await this.connecter.ReConnect(cube, peripheral);
this.connectedAction(cube, new CONNECTION_STATUS(CONNECTION_STATUS.RE_CONNECTED));
}
else
{
var cube = await this.connecter.Connect(peripheral);
this.AddCube(cube);
if (null != this.connectedAction)
{
this.connectedAction(cube, new CONNECTION_STATUS(CONNECTION_STATUS.NEW_CONNECTED));
}
}
}
public CubeReal_ver2_0_0(BLEPeripheralInterface peripheral) : base(peripheral)
{
}
public void ConnectionNotify(BLEPeripheralInterface peri)
{
this.callback.Notify(peri);
}
public async UniTask ReConnect(Cube cube, BLEPeripheralInterface peripheral)
{
await this.impl.ReConnect(cube);
}
public async UniTask <Cube> Connect(BLEPeripheralInterface peripheral)
{
return(await this.impl.Connect(peripheral));
}
/// <summary>
/// CoreCubeの操作に必要な全ての機能と接続.
/// </summary>
protected virtual async UniTask <Dictionary <string, BLECharacteristicInterface> > ConnectCharacteristics(BLEPeripheralInterface peripheral, float waitSeconds = 10.0f)
{
float startTime = Time.time;
var characteristicTable = new Dictionary <string, BLECharacteristicInterface>();
characteristicTable.Add(CubeReal.CHARACTERISTIC_CONFIG, null);
characteristicTable.Add(CubeReal.CHARACTERISTIC_ID, null);
characteristicTable.Add(CubeReal.CHARACTERISTIC_SENSOR, null);
characteristicTable.Add(CubeReal.CHARACTERISTIC_BUTTON, null);
characteristicTable.Add(CubeReal.CHARACTERISTIC_BATTERY, null);
characteristicTable.Add(CubeReal.CHARACTERISTIC_MOTOR, null);
characteristicTable.Add(CubeReal.CHARACTERISTIC_LIGHT, null);
characteristicTable.Add(CubeReal.CHARACTERISTIC_SOUND, null);
peripheral.Connect((chara) =>
{
if (chara.serviceUUID == CubeReal.SERVICE_ID)
{
characteristicTable[chara.characteristicUUID] = chara;
}
});
bool isBreak = true;
while (true)
{
await UniTask.Delay(100);
isBreak = true;
foreach (var chara in characteristicTable.Values)
{
if (null == chara)
{
isBreak = false;
break;
}
}
if (isBreak)
{
break;
}
if (waitSeconds < (Time.time - startTime))
{
return(null);
}
}
return(characteristicTable);
}
public CubeReal_ver2_0_0(BLEPeripheralInterface peripheral, Dictionary <string, BLECharacteristicInterface> characteristicTable)
: base(peripheral, characteristicTable)
{
}
