Updated coderacer lib - supports now Bluetooth

Arduino/libraries/CodeRacer/CodeRacer.cpp

@@ -1,6 +1,8 @@
 // the compiler switch for an ESP8266 is looking like this: #elif defined(ARDUINO_ARCH_ESP8266)
 #include "CodeRacer.h"
 
+using namespace std;
+
 /**	@brief CodeRace constructor without pins. All pins settings taken from the coderacer header file 
 *		@return nothing
 */
@@ -68,6 +70,11 @@ CodeRacer::CodeRacer(uint8_t button_pin , uint8_t 	servo_pin,
 void CodeRacer::begin() {
 
 	// init of variables and objects
+	_bluetoothcreated = false;
+	_bt_stopOnLostConnection_timeout_ms = 0;
+	_bt_lastmessagereceived = millis();
+	_bt_ignoremsgs.clear();
+	_bt_onlymsgs.clear();
 
 	_servo_dummy = new Servo();		// the dummy is needed so far to avoid conflicts with analog write
 	_servo = new Servo();
@@ -490,6 +497,142 @@ void CodeRacer::kitt()
 
 /**	@} */ // end of group lowerlevelfun
 
+
+//**************************************
+//*** Bluetooth											 ***
+//**************************************
+/**	@defgroup lowerlevelbluetooth Lower level bluetooth methods
+*		@{
+*/
+/**	@brief starting the bluetooth service for the coderacer if not already started
+*		@param	name		the device will be listed by that name in your bluetooth device lists
+*		@return	nothing
+*/
+void CodeRacer::bt_start(String name)
+{
+	if (false == _bluetoothcreated) {
+		_BTSerial = new BluetoothSerial();
+		_BTSerial->begin(name);
+		_bluetoothcreated = true;
+	}
+}
+
+/**	@brief enables the code to stop if there was no incoming message for the specified time. This will be checked everytime bt_getXXX or bt_msgavailable is called.
+*		@param timeout after that duration of milliseconds without an incoming bluetooth message the coderacer will be stopped. 0 means this stoppinf is disabled.
+*		@return	nothing
+*/
+void CodeRacer::bt_enable_stopOnLostConnection(unsigned long timeout)
+{
+	_bt_stopOnLostConnection_timeout_ms = timeout;
+}
+
+/**	@brief enables the code to stop if there was no incoming message for 1 second. This will be checked everytime bt_getXXX or bt_msgavailable is called.
+*		@return	nothing
+*/
+void CodeRacer::bt_enable_stopOnLostConnection()
+{
+	_bt_stopOnLostConnection_timeout_ms = 1000;
+}
+
+/**	@brief Disables the code to stop if there was no incoming message for a certain duration of time.
+*		@return	nothing
+*/
+void CodeRacer::bt_disable_stopOnLostConnection()
+{
+	_bt_stopOnLostConnection_timeout_ms = 0;
+}
+
+/**	@brief gets the bluetooth message string until a delimiter of 0 
+*		@return	will return the string. If nothing is availbale or the service is not started it will return an empty string.
+*/
+String CodeRacer::bt_getString()
+{
+	return bt_getString(0);
+}
+
+/**	@brief gets the bluetooth message string until a specified delimiter
+*		@return	will return the string. If nothing is availbale or the service is not started it will return an empty string.
+*/
+String CodeRacer::bt_getString(uint8_t delimiterbyte)
+{
+	String readstring = "";
+	if (bt_msgavailable())
+	{
+		readstring = _BTSerial->readStringUntil(delimiterbyte); 
+		if (find(_bt_ignoremsgs.begin(), _bt_ignoremsgs.end(), readstring) != _bt_ignoremsgs.end())
+		{
+			readstring = "";
+		}
+	}
+	return(readstring);
+}
+
+/**	@brief add a String to a list of Strings that will be ignored if this is received via blue tooth. Ignores means - it will be read from the pipe but not returned to user code. But it will reset the message timeout counter.
+*		@param	stringtoignore   the String that has to be ignored. Will be added to the internal list if not already there.
+*/
+void CodeRacer::bt_addStringToIgnoreList(String stringtoignore)
+{
+	std::vector<String>::iterator it;
+	if (stringtoignore.length() > 0)
+	{
+		it = find(_bt_ignoremsgs.begin(), _bt_ignoremsgs.end() ,stringtoignore);
+		if (it == _bt_ignoremsgs.end())
+		{
+			_bt_ignoremsgs.push_back(stringtoignore);
+		}
+	}
+}
+
+/**	@brief removes a String from the list of Strings that will be ignored if this is received via blue tooth. Ignores means - it will be read from the pipe but not returned to user code. But it will reset the message timeout counter.
+*		@param	stringtoignore   the String that has to be removed from the ignore list.
+*/
+void CodeRacer::bt_removeStringFromIgnoreList(String stringtoignore)
+{
+	std::vector<String>::iterator it;
+	if (stringtoignore.length() > 0)
+	{
+		it = find(_bt_ignoremsgs.begin(), _bt_ignoremsgs.end(), stringtoignore);
+		if (it != _bt_ignoremsgs.end())
+		{
+			_bt_ignoremsgs.erase(it);
+		}
+	}
+}
+
+/**	@brief Clears the list of Strings that will be ignored if this is received via blue tooth. All elements of the list will be deleted from the list.
+*/
+void CodeRacer::bt_clearIgnoreList()
+{
+	_bt_ignoremsgs.clear();
+}
+
+
+/**	@brief checks if a bluetooth is available. Will also stop the coderacer if there was nor message received for a certain time - and if stopping was enabled .
+*		@return	true if a message is available , false if not message is available or the service was not started
+*/
+bool CodeRacer::bt_msgavailable()
+{
+	bool rc = false;
+	if (true == _bluetoothcreated) {
+		if(_BTSerial->available())
+		{
+			rc = true;
+			_bt_lastmessagereceived = millis();
+		}
+		if (_bt_stopOnLostConnection_timeout_ms > 0)
+		{
+			if ((millis() - _bt_lastmessagereceived) > _bt_stopOnLostConnection_timeout_ms)
+			{
+				stop_driving();
+			}
+		}
+
+	}
+	return rc;
+}
+
+/**	@} */ // end of group lowerlevelbluetooth
+
 //**************************************
 //*** Servo drive lower level control ***
 //**************************************

Arduino/libraries/CodeRacer/CodeRacer.h

@@ -2,6 +2,13 @@
 #include <algorithm>					// std::swap
 #include <ESP32Servo.h>				// Servo drive support for ESP32
 #include "esp32-hal-ledc.h"		// Part of ESP32 board files - Analog output
+#include "BluetoothSerial.h"	// Bluetooth enablement - part of ESP or standart Arduino lib
+#include <vector>							// support for vectors
+#include <string>
+
+#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
+#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
+#endif
 
 #ifndef __CodeRacer_H__
 #define __CodeRacer_H__
@@ -56,6 +63,9 @@
 #define H_LED_LEFT_PIN 33 
 #define H_LED_RIGHT_PIN 27
 
+
+using namespace std;
+
 static volatile bool coderracer_activ = false;;
 static volatile unsigned long button_last_pressed_at_ms = millis();
 
@@ -75,6 +85,14 @@ class CodeRacer {
 
   private:
 
+		//bluetooth
+		std::vector<String> _bt_ignoremsgs;
+		std::vector<String> _bt_onlymsgs;
+		bool _bluetoothcreated;
+		unsigned long _bt_stopOnLostConnection_timeout_ms;
+		unsigned long _bt_lastmessagereceived;
+		BluetoothSerial* _BTSerial;
+
 		//pins
 		uint8_t _button_pin;
 		uint8_t _servo_pin;
@@ -131,7 +149,7 @@ class CodeRacer {
 		static void _set_button_state();
 		void _analog_write(uint8_t pin, uint8_t speed);
 		unsigned long _servo_set_position(uint8_t position);
-
+				
 	public:
 		//properties
 		bool coderacer_fun_enabled;
@@ -187,6 +205,17 @@ class CodeRacer {
 		void start_stop_at_min_distance(unsigned long min_distance_cm);
 		void stop_stop_at_min_distance();
 
+		// Bluetooth
+		void bt_enable_stopOnLostConnection();
+		void bt_enable_stopOnLostConnection(unsigned long timeout);
+		void bt_disable_stopOnLostConnection();
+		void bt_start(String name);
+		String bt_getString();
+		String bt_getString(uint8_t delimiterbyte);
+		bool bt_msgavailable();
+		void bt_addStringToIgnoreList(String stringtoignore);
+		void bt_clearIgnoreList();
+		void bt_removeStringFromIgnoreList(String stringtoignore);
 
 		// LEDs
 		void set_leds_left_stop_frwd_right(ledstate leftled, ledstate stopled, ledstate frwdled, ledstate rightled);

Arduino/libraries/CodeRacer/examples/SimpleBTCoderacer/SimpleBTCoderacer.ino

@@ -0,0 +1,56 @@
+
+// Full API description of the coderacer.h can be found here: https://fenoglio.pages.itsblue.de/coderacer/
+// Repository with all needed data and users guide is here: https://git.itsblue.de/Fenoglio/coderacer/tree/master
+// An example for a application to control the coderacer via bluetooth can be found here: 
+//   - this app was developed with MIT App Inventor and can be uploaded to your account to rework it.
+
+#include <CodeRacer.h>
+
+CodeRacer coderacer;
+String recvddata = "";                                      //Variable in der der Bluetooth Befehl gespeichert wird
+
+void setup() {
+  Serial.begin(115200);
+  coderacer.begin();
+  coderacer.bt_start("CodeRacer");                          //Bluetooth für den Coderacer anschalten 
+  coderacer.bt_enable_stopOnLostConnection();               //Coderacer anhalten, wenn 1 Sekunde nichts per Bluetooth empfangen wurde
+  coderacer.bt_addStringToIgnoreList(".");                  //das "." Zeichen wird beim empfangen ignoriert
+}
+
+void loop() {
+  // Prüfen ob Bluetooth Nachrichten angekommen sind und die gleich abholen ...
+  recvddata = coderacer.bt_getString();                   //die Nachtricht merken (sie steht jetzt in recvdata und kann später benutzt werden)
+  if (recvddata != "")                                    //wenn eine Nachricht empfangen wurde, in der was drin steht ... 
+  {
+      Serial.println(recvddata);
+
+      if(recvddata == "stop")
+      {
+        coderacer.stop_driving();
+      }
+  
+      if(recvddata == "vor")
+      {
+        coderacer.drive_forward(255,255);
+      }
+
+      if(recvddata.startsWith("rueck"))
+      {
+        coderacer.drive_backward(255,255);
+      }
+
+      if(recvddata.startsWith("links"))
+      {
+        coderacer.turn_left();
+      }
+
+      if(recvddata.startsWith("rechts"))
+      {
+         coderacer.turn_right();
+      }
+  }
+  
+  delay(20);
+}
+
+

Arduino/libraries/CodeRacer/examples/esp32_coderacer_beispiel/esp32_coderacer_beispiel.ino

@@ -3,24 +3,6 @@
 //----- settings for the ultrasonic sensor -----
 #define US_STOP_ABSTAND_CM 20     // if distance goes below that - stop the racer
 
-//----- {CODES}RACER API -> online: https://doc.itsblue.de/Fenoglio/coderacer/Doku/Doxygen/html/
-//-- Some main higher level methods listed below
-// void CodeRacer::stop_driving ()                  Stops the racer and sets status LEDs
-// void CodeRacer::drive_forward ()                 Sets the speed and the directions of both drives so that it will move forward. 
-// void CodeRacer::drive_backward ()                Sets the speed and the directions of both drives so that it will move backward.
-// void CodeRacer::turn_left ()                     Will turn the racer to the left for the internally stored time in ms and with the internally stored speed.
-// void CodeRacer::turn_right ()                    Will turn the racer to the right for the internally stored time in ms and with the internally stored speed. 
-// void CodeRacer::start_stop_at_min_distance ()    Enables to stopp the racer if during a distance measurement the measured distance is smaller then the internally stored minimal distance. 
-// void CodeRacer::stop_stop_at_min_distance ()     Disables to stopp the racer if during a distance measurement the measured distance is smaller then the specified minimal distance. 
-// bool CodeRacer::start_stop ()                    This will return if the codracer is in active mode or not. 
-// void CodeRacer::servo_set_to_right ()            Drives the servo to the postion that is defined by #servo_right_pos.
-// void CodeRacer::servo_set_to_left ()             Drives the servo to the postion that is defined by #servo_left_pos. 
-// void CodeRacer::servo_set_to_center ()           Drives the servo to the postion that is defined by #servo_center_pos.
-// uint8_t CodeRacer::servo_position ()             Get the actual position of the servo.
-// unsigned long CodeRacer::usonic_measure_cm ()    Measures the distance to the next object in front of the ultra sonic sensor in cm. 
-// 
-// ... there are much more ... read the online API for more details.
-
 //----- variables we need 
 unsigned long distance_cm = 0; 
 

Arduino/libraries/CodeRacer/keywords.txt

@@ -0,0 +1,15 @@
+CodeRacer KEYWORD1
+begin KEYWORD2
+servo_einstellungen KEYWORD2
+motor_einstellungen KEYWORD2
+anhalten  KEYWORD2
+normal_tempo  KEYWORD2
+vorwaerts KEYWORD2
+links KEYWORD2
+rechts  KEYWORD2
+servo_rechts  KEYWORD2
+servo_links KEYWORD2
+servo_mitte KEYWORD2
+abstand_messen  KEYWORD2
+servo_schwenk KEYWORD2
+start_stop  KEYWORD2