-
Notifications
You must be signed in to change notification settings - Fork 0
/
rpi.c
447 lines (385 loc) · 11.3 KB
/
rpi.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <bluetooth/bluetooth.h>
#include <bluetooth/rfcomm.h>
#include <bluetooth/sdp.h>
#include <bluetooth/sdp_lib.h>
#include <wiringPi.h>
#include <wiringSerial.h>
#define SIZE 256
#define STDIN 0
#define BAUD 115200
// bluetooth
void setup_rfcomm(uint32_t *svc_uuid_int);
void accept_rfcomm();
sdp_session_t *register_service(uint8_t rfcomm_port, uint32_t *svc_uuid_int);
void *read_rfcomm(void* buff_rfcomm1);
void *write_rfcomm(void* buffer1);
void close_rfcomm();
// TCP/IP
void setup_ip(int port_no);
void accept_ip();
void *read_ip(void* buff_ip1);
void *write_ip(void* buffer1);
void close_ip();
// Serial
void setup_serial(int baud, char *device);
void read_serial(char *buff_serial);
void write_serial(char *buffer);
void close_serial();
int fd_ip_server, fd_rfcomm_server;
int fd_ip=-1, fd_rfcomm=-1, fd_serial=-1;
int port_num=5000;
fd_set readfds;
uint32_t svc_uuid_int[] = { 0x01110000, 0x00100000, 0x80000080, 0xFB349B5F };
int main(int argc, char *argv[]){
char buff_ip[SIZE] = "", buff_rfcomm[SIZE] = "", buff_serial[SIZE] = "";
char buffer[20] = "";
char temp_buff[SIZE] = "";
char device[20] = "/dev/ttyACM0";
struct timeval tv;
tv.tv_sec = 2;
tv.tv_usec = 0;
FD_ZERO(&readfds);
printf("Program start up!\n");
printf("%s\n",device);
setup_serial(BAUD, device);
setup_rfcomm(svc_uuid_int);
setup_ip(port_num);
bzero(buff_serial,sizeof(buff_serial));
fflush(stdin);
FD_SET(STDIN, &readfds);
fd_set readfds_temp;
while(1) {
readfds_temp = readfds;
select(FD_SETSIZE, &readfds_temp, NULL, NULL, &tv);
if (FD_ISSET(STDIN, &readfds_temp)){
scanf("%s", buffer);
//fgets(buffer, sizeof(buffer),stdin);
char *pos;
if ((pos=strchr(buffer,'\n'))!=NULL)
*pos ='\0';
if(strcmp(buffer, "quit")==0){
break;
}
if (buffer[0] == '/' && buffer[2]!='\0')
{
if (buffer[1] == 'b')
{
write_rfcomm(&buffer[2]);
}
if (buffer[1] == 't')
{
write_ip(&buffer[2]);
}
if (buffer[1] == 's' && buffer[2])
{
strcat(buffer,"\n");
write_serial(&buffer[2]);
}
bzero(buffer,sizeof(buffer));
}
}
if (FD_ISSET(fd_rfcomm_server, &readfds_temp)){
accept_rfcomm();
}
if (FD_ISSET(fd_ip_server, &readfds_temp)){
accept_ip();
}
if (fd_rfcomm > 0 && fd_ip > 0 && fd_serial > 0){
if (FD_ISSET(fd_rfcomm, &readfds_temp)){
read_rfcomm(buff_rfcomm);
strcpy(temp_buff,buff_rfcomm);
strcat(temp_buff,"\n");
write_ip(buff_rfcomm);
write_serial(temp_buff);
bzero(temp_buff,sizeof(buff_rfcomm));
bzero(buff_rfcomm,sizeof(buff_rfcomm));
}
if (FD_ISSET(fd_serial, &readfds_temp)){
read_serial(buff_serial);
write_ip(buff_serial);
bzero(buff_serial,sizeof(buff_serial));
}
if (FD_ISSET(fd_ip, &readfds_temp)){
read_ip(buff_ip);
if(buff_ip[0] == 'a') {
write_rfcomm(buff_ip);
bzero(buff_ip,sizeof(buff_ip));
} else {
strcat(buff_ip,"\n");
write_serial(buff_ip);
bzero(buff_ip,sizeof(buff_ip));
}
}
}
}
close_ip();
close_rfcomm();
close_serial();
printf("Programm terminating...\n");
}
void setup_rfcomm(uint32_t *svc_uuid_int){
struct sockaddr_rc addr_server = { 0 };
int port;
// m_bt_dev_id is the first available bluetooth adapter
int m_bt_dev_id = hci_get_route(NULL);
if (m_bt_dev_id <0)
{
perror("No available Bluetooth adapter found");
}
// allocate bluetooth rfcomm socket
fd_rfcomm_server = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
if(fd_rfcomm_server < 0){
perror("ERROR opening bluetooth socket.\n");
} else {
addr_server.rc_family = AF_BLUETOOTH;
addr_server.rc_bdaddr = *BDADDR_ANY;
for(port = 1; port < 30; port++){
addr_server.rc_channel = port;
if(bind(fd_rfcomm_server,
(struct sockaddr *)&addr_server,
sizeof(addr_server)) == 0)
break;
}
sdp_session_t* session = register_service((uint8_t)port, svc_uuid_int);
FD_SET(fd_rfcomm_server, &readfds);
listen(fd_rfcomm_server, 1);
printf("Listening to channel %d for bluetooth connection.\n", port);
}
}
void accept_rfcomm(){
struct sockaddr_rc addr_client = { 0 };
socklen_t opt = sizeof(addr_client);
char mac_client[256] = "";
int fd_temp;
if((fd_temp= accept(fd_rfcomm_server, (struct sockaddr *)&addr_client, &opt)) >= 0){
fd_rfcomm = fd_temp;
FD_SET(fd_rfcomm, &readfds);
ba2str(&addr_client.rc_bdaddr, mac_client);
printf("Accept bluetooth connection from %s\n", mac_client);
}
}
void *read_rfcomm(void* buff_rfcomm1){
char* buff_rfcomm = (char*)buff_rfcomm1;
int read_bluetooth;
read_bluetooth = read(fd_rfcomm,buff_rfcomm,SIZE);
if(read_bluetooth>0){
printf("Receive from Bluetooth: %s\n", buff_rfcomm);
}
else {
printf("Disconnected from BT.\n");
//close(fd_rfcomm);
close_rfcomm(); // close rfcomm to allow reconnections
FD_CLR(fd_rfcomm, &readfds);
fd_rfcomm = 0;
}
}
void *write_rfcomm(void* buffer1){
char* buffer = (char*)buffer1;
int write_bluetooth;
if(strlen(buffer) > 0 ){
write_bluetooth = write(fd_rfcomm, buffer, strlen(buffer));
if(write_bluetooth > 0){
printf("Write to Bluetooth: %s\n", buffer);
bzero(buffer,strlen(buffer));
}
else {
printf("Disconnected from BT.\n");
close_rfcomm(); // close rfcomm to allow reconnections
FD_CLR(fd_rfcomm, &readfds);
fd_rfcomm = 0;
setup_rfcomm(svc_uuid_int); //re-setup rfcomm
}
}
}
// close socket
void close_rfcomm(){
if (fd_rfcomm)
close(fd_rfcomm);
if (fd_rfcomm_server)
close(fd_rfcomm_server);
printf("Closed Bluetooth connection.\n");
}
void setup_ip(int port_no){
struct sockaddr_in addr_server = { 0 };
int iSetOptions = 1;
// create server socket
fd_ip_server = socket(AF_INET, SOCK_STREAM, 0);
if(fd_ip_server < 0){
perror("ERROR opening ip socket.\n");
} else {
if (setsockopt(fd_ip_server,SOL_SOCKET,SO_REUSEADDR,&iSetOptions,sizeof(int)) == -1)
{
perror("ERROR unable to set socket options.\n");
}
addr_server.sin_family = AF_INET;
addr_server.sin_addr.s_addr = INADDR_ANY;
addr_server.sin_port = htons(port_no);
if(bind(fd_ip_server, (struct sockaddr *) &addr_server, sizeof(addr_server)) < 0) {
perror("ERROR on binding.\n");
}
else{
listen(fd_ip_server,5);
FD_SET(fd_ip_server, &readfds);
printf("Listen to port 5000 for ip socket connection.\n", port_no);
}
}
}
void accept_ip(){
// waiting for client connection
struct sockaddr_in addr_client = { 0 };
int len_client = sizeof(addr_client);
int fd_temp;
if((fd_temp = accept(fd_ip_server,
(struct sockaddr *) &addr_client,
&len_client)) >= 0)
{
fd_ip = fd_temp;
FD_SET(fd_ip, &readfds);
printf("Accept ip socket connection from PC\n");
}
}
void *read_ip(void* buff_ip1){
char *buff_ip = (char *)buff_ip1;
int read_ip;
read_ip = read(fd_ip,buff_ip,SIZE);
if(read_ip>0) {
printf("Receive from PC: %s\n", buff_ip);
}
else {
printf("Disconnected from PC.\n");
close(fd_ip);
FD_CLR(fd_ip, &readfds);
fd_ip = -1;
}
}
void *write_ip(void* buffer1){
char *buffer = (char *)buffer1;
int write_ip;
if(strlen(buffer)>0) {
strcat(buffer, "\n");
write_ip = write(fd_ip, buffer, strlen(buffer));
if (write_ip > 0) {
printf("Write to PC: %s", buffer);
bzero(buffer,strlen(buffer));
}
else {
printf("Disconnected from PC.\n");
close(fd_ip);
FD_CLR(fd_ip, &readfds);
fd_ip = -1;
setup_ip(port_num);
}
}
}
void close_ip(){
if (fd_ip)
close(fd_ip);
if (fd_ip_server)
close(fd_ip_server);
printf("Close ip socket connection.\n");
}
sdp_session_t *register_service(uint8_t rfcomm_port, uint32_t *svc_uuid_int){
const char *service_name = "Bluetooth Insecure";
const char *service_dsc = "For bluetooth connection";
const char *service_prov = "Bluetooth";
uuid_t svc_uuid,
svc_class_uuid,
root_uuid,
l2cap_uuid,
rfcomm_uuid;
sdp_list_t *svc_class_list = 0,
*profile_list = 0,
*root_list = 0,
*l2cap_list = 0,
*rfcomm_list = 0,
*proto_list = 0,
*access_proto_list = 0;
sdp_data_t *channel = 0;
sdp_profile_desc_t profile;
sdp_record_t record = { 0 };
sdp_session_t *session = 0;
sdp_uuid128_create(&svc_uuid, &svc_uuid_int);
sdp_set_service_id(&record, svc_uuid);
sdp_uuid16_create(&svc_class_uuid, SERIAL_PORT_SVCLASS_ID);
svc_class_list = sdp_list_append(0, &svc_class_uuid);
sdp_set_service_classes(&record, svc_class_list);
sdp_uuid16_create(&profile.uuid, SERIAL_PORT_PROFILE_ID);
profile.version = 0x0100;
profile_list = sdp_list_append(0, &profile);
sdp_set_profile_descs(&record, profile_list);
sdp_uuid16_create(&root_uuid, PUBLIC_BROWSE_GROUP);
root_list = sdp_list_append(0, &root_uuid);
sdp_set_browse_groups(&record, root_list);
sdp_uuid16_create(&l2cap_uuid, L2CAP_UUID);
l2cap_list = sdp_list_append(0, &l2cap_uuid);
proto_list = sdp_list_append(0, l2cap_list);
sdp_uuid16_create(&rfcomm_uuid, RFCOMM_UUID);
channel = sdp_data_alloc(SDP_UINT8, &rfcomm_port);
rfcomm_list = sdp_list_append(0, &rfcomm_uuid);
sdp_list_append(rfcomm_list, channel);
sdp_list_append(proto_list, rfcomm_list);
access_proto_list = sdp_list_append(0, proto_list);
sdp_set_access_protos(&record, access_proto_list);
sdp_set_info_attr(&record, service_name, service_prov, service_dsc);
session = sdp_connect(BDADDR_ANY, BDADDR_LOCAL, 0);
sdp_record_register(session, &record, 0);
sdp_data_free(channel);
sdp_list_free(l2cap_list, 0);
sdp_list_free(rfcomm_list, 0);
sdp_list_free(root_list, 0);
sdp_list_free(access_proto_list, 0);
sdp_list_free(proto_list, 0);
sdp_list_free(svc_class_list, 0);
sdp_list_free(profile_list, 0);
return session;
}
void setup_serial(int baud, char *device){
fd_serial = serialOpen(device, baud);
if(fd_serial < 0){
perror("ERROR opening serial device.\n");
} else {
FD_SET(fd_serial, &readfds);
printf("Serial port connection established.\n");
}
}
void read_serial(char *buff_serial){
int index = 0;
char newChar;
newChar = serialGetchar(fd_serial);
if(newChar != 'X') return;
buff_serial[0] = newChar;
index++;
while(1){
if(serialDataAvail(fd_serial)){
newChar = serialGetchar(fd_serial);
if(newChar == '\n'){
buff_serial[index] = '\0';
printf("Receive from Serial:%s\n",buff_serial);
fflush(stdout);
break;
} else {
buff_serial[index] = newChar;
index ++;
}
}
}
}
void write_serial(char *buffer){
if(strlen(buffer)>0 && buffer[0]!='\n'){
serialPuts(fd_serial, buffer);
printf("Write to Serial: %s\n", buffer);
}
}
void close_serial(){
if (fd_serial)
serialClose(fd_serial);
printf("Close serial port.\n");
}