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Xamarin: add nordic uart over ble
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@meee1
meee1 committed Aug 20, 2024
1 parent dd993ee commit 6808118
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Showing 4 changed files with 362 additions and 3 deletions.
329 changes: 327 additions & 2 deletions ExtLibs/Xamarin/Xamarin.Android/BTDevice.cs
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Original file line number Diff line number Diff line change
@@ -1,14 +1,21 @@
using System;
using System.Collections.Generic;
using System.Drawing.Drawing2D;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using Android.Bluetooth;
using Android.Bluetooth.LE;
using Android.Runtime;
using Android.Util;
using BruTile.Wms;
using Java.Nio;
using Java.Util;
using MissionPlanner.ArduPilot;
using MissionPlanner.Comms;
using static Android.Renderscripts.Sampler;

namespace Xamarin.Droid
{
Expand All @@ -20,7 +27,7 @@ public async Task<List<DeviceInfo>> GetDeviceInfoList()
// Get the local Bluetooth adapter
var btAdapter = BluetoothAdapter.DefaultAdapter;

if (btAdapter != null)
if (btAdapter != null && btAdapter.IsEnabled)
{
// Get a set of currently paired devices
var pairedDevices = btAdapter.BondedDevices;
Expand All @@ -33,7 +40,10 @@ public async Task<List<DeviceInfo>> GetDeviceInfoList()
Log.Info("MP", "{0} {1} {2} {3} {4}", device.Name, device.Address, device.Type, device.Class,
device.BondState);
if (device.Type == BluetoothDeviceType.Le)
{
result.Add(new DeviceInfo() { board = "BLE_" + device.Name, hardwareid = device.Address});
continue;
}
result.Add(new DeviceInfo() {board = "BT_" + device.Name, hardwareid = device.Address});
}
}
Expand All @@ -44,7 +54,322 @@ public async Task<List<DeviceInfo>> GetDeviceInfoList()

public async Task<ICommsSerial> GetBT(DeviceInfo first)
{
return new BTSerial(first);
if (first.board.StartsWith("BLE_"))
{
return new BTSerialBLE(first);
}
else
{
return new BTSerial(first);
}
}
}

public class BTSerialBLE : Stream, ICommsSerial
{
MemoryStream readbuffer = new MemoryStream(1024 * 10);

// nordic uart
public static UUID CCCD = UUID.FromString("00002902-0000-1000-8000-00805f9b34fb");
public static UUID RX_SERVICE_UUID = UUID.FromString("6e400001-b5a3-f393-e0a9-e50e24dcca9e");
public static UUID RX_CHAR_UUID = UUID.FromString("6e400002-b5a3-f393-e0a9-e50e24dcca9e");
public static UUID TX_CHAR_UUID = UUID.FromString("6e400003-b5a3-f393-e0a9-e50e24dcca9e");

public BTSerialBLE(DeviceInfo first)
{
_first = first;
PortName = first.name;
}

public Stream BaseStream => this;

public int BaudRate { get; set; }

public int BytesToRead { get; set; }

public int BytesToWrite { get; set; }

public int DataBits { get; set; }
public bool DtrEnable { get; set; }

private BluetoothGatt mBluetoothGatt;

public bool IsOpen { get; private set; }

private DeviceInfo _first;

public string PortName { get; set; }
public int ReadBufferSize { get; set; }
public bool RtsEnable { get; set; }
public int WriteBufferSize { get; set; }

public override bool CanRead => true;

public override bool CanSeek => false;

public override bool CanWrite => true;

public override long Length { get; }

public override long Position {get;set; }
public int ReadTimeout { get; set; }
public int WriteTimeout { get; set; }

public void DiscardInBuffer()
{

}

public override void Flush()
{

}

public void Open()
{
Log.Info("MP", "Open {0} {1}", _first.name, _first.hardwareid);
BluetoothAdapter bluetoothAdapter = BluetoothAdapter.DefaultAdapter;
BluetoothDevice device = bluetoothAdapter.GetRemoteDevice(_first.hardwareid);

mBluetoothGatt = device.ConnectGatt(null, false, new BluetoothGattCallback(this));

Thread.Sleep(1000);

IsOpen = true;
}

public override int Read(byte[] buffer, int offset, int count)
{
if (buffer == null) throw new ArgumentNullException(nameof(buffer));
if (offset < 0) throw new ArgumentOutOfRangeException(nameof(offset));
if (count < 0) throw new ArgumentOutOfRangeException(nameof(count));

var deadline = DateTime.Now.AddMilliseconds(ReadTimeout);
while (BytesToRead < count && DateTime.Now < deadline)
{
Thread.Sleep(1);
}

if (ReadTimeout > 0 && BytesToRead == 0)
{
throw new TimeoutException("No data in serial buffer");
}

var read = Math.Min(count, BytesToRead);

lock (readbuffer)
{
read = readbuffer.Read(buffer, offset, read);
BytesToRead -= read;
}

return read;
}

public override int ReadByte()
{
var ans = new byte[] { 0 };
var count = Read(ans, 0, 1);
return count > 0 ? ans[0] : -1;
}

public int ReadChar()
{
return ReadByte();
}

public string ReadExisting()
{
StringBuilder build = new StringBuilder();
for (int a = 0; a < BytesToRead; a++)
build.Append((char)ReadByte());
return build.ToString();
}

public string ReadLine()
{
var temp = new byte[4000];
var count = 0;
var timeout = 0;

while (timeout <= 100)
{
if (!IsOpen) break;
if (BytesToRead > 0)
{
var letter = (byte)ReadByte();

temp[count] = letter;

if (letter == '\n') // normal line
break;

count++;
if (count == temp.Length)
break;
timeout = 0;
}
else
{
timeout++;
Thread.Sleep(5);
}
}

return Encoding.ASCII.GetString(temp, 0, count + 1);
}


public override long Seek(long offset, SeekOrigin origin)
{
return BaseStream.Seek(offset, origin);
}

public override void SetLength(long value)
{
BaseStream.SetLength(value);
}

public void toggleDTR()
{

}


public override void Write(byte[] buffer, int offset, int count)
{
// rx from nordic side
BluetoothGattService RxService = mBluetoothGatt.GetService(RX_SERVICE_UUID);
BluetoothGattCharacteristic RxChar = RxService.GetCharacteristic(RX_CHAR_UUID);

RxChar.SetValue(buffer.Skip(offset).Take(count).ToArray());
bool status = mBluetoothGatt.WriteCharacteristic(RxChar);

Log.Debug("MP", "Write {0} {1} {2}", status, buffer.Length, count);
}

public void Write(string text)
{
Write(ASCIIEncoding.ASCII.GetBytes(text), 0, text.Length);
}

public void WriteLine(string text)
{
text += '\n';
Write(ASCIIEncoding.ASCII.GetBytes(text), 0, text.Length);
}

public void Close()
{
mBluetoothGatt?.Close();
}

public void Dispose()
{
Close();
}

private class BluetoothGattCallback : global::Android.Bluetooth.BluetoothGattCallback
{
public BTSerialBLE BTSerialBLE { get; }

public BluetoothGattCallback(BTSerialBLE bTSerialBLE)
{
BTSerialBLE = bTSerialBLE;
}

public override void OnConnectionStateChange(BluetoothGatt gatt, [GeneratedEnum] GattStatus status, [GeneratedEnum] ProfileState newState)
{
Log.Info("MP", "OnConnectionStateChange {0} - {1}", newState, status);
base.OnConnectionStateChange(gatt, status, newState);

if (newState == ProfileState.Connected)
{
gatt.DiscoverServices();
}
else if (newState == ProfileState.Disconnected)
{
BTSerialBLE.IsOpen = false;
}
}

public override void OnServicesDiscovered(BluetoothGatt gatt, [GeneratedEnum] GattStatus status)
{
Log.Info("MP", "OnServicesDiscovered {0}", status);
base.OnServicesDiscovered(gatt, status);

BluetoothGattService RxService = BTSerialBLE.mBluetoothGatt.GetService(RX_SERVICE_UUID);
if (RxService != null)
{
BluetoothGattCharacteristic TxChar = RxService.GetCharacteristic(TX_CHAR_UUID);
if (TxChar != null)
{
BTSerialBLE.mBluetoothGatt.SetCharacteristicNotification(TxChar, true);
BluetoothGattDescriptor descriptor = TxChar.GetDescriptor(CCCD);
descriptor.SetValue(BluetoothGattDescriptor.EnableNotificationValue.ToArray());
BTSerialBLE.mBluetoothGatt.WriteDescriptor(descriptor);
}
else
Log.Info("MP", "OnServicesDiscovered GetService fail");
}
else
Log.Info("MP", "OnServicesDiscovered GetCharacteristic fail");

Log.Info("MP", "OnServicesDiscovered Done");
}

public override void OnCharacteristicRead(BluetoothGatt gatt, BluetoothGattCharacteristic characteristic, [GeneratedEnum] GattStatus status)
{
Log.Info("MP", "OnCharacteristicRead {0} {1}", characteristic.Uuid, status);
base.OnCharacteristicRead(gatt, characteristic, status);

update(characteristic);
}

private void update(BluetoothGattCharacteristic characteristic)
{
Log.Debug("MP", "update {0} {1}", characteristic.Uuid, TX_CHAR_UUID.Equals(characteristic.Uuid));
if (TX_CHAR_UUID.Equals(characteristic.Uuid))
{
lock (BTSerialBLE.readbuffer)
{
var buffer = characteristic.GetValue();
var len = buffer.Length;
if (BTSerialBLE.readbuffer.Position == BTSerialBLE.readbuffer.Length && BTSerialBLE.readbuffer.Length > 0)
{
//clear it
BTSerialBLE.readbuffer.SetLength(0);
// add data
BTSerialBLE.readbuffer.Write(buffer, 0, len);
// set readback start point
BTSerialBLE.readbuffer.Position = 0;
// update toread
BTSerialBLE.BytesToRead += len;
Log.Debug("BTSerial", "BytesToRead1 " + BTSerialBLE.BytesToRead);
}
else
{
var pos = BTSerialBLE.readbuffer.Position;
// goto end
BTSerialBLE.readbuffer.Seek(0, SeekOrigin.End);
//write
BTSerialBLE.readbuffer.Write(buffer, 0, len);
// seek back to readpos
BTSerialBLE.readbuffer.Seek(pos, SeekOrigin.Begin);
BTSerialBLE.BytesToRead += len;
Log.Debug("BTSerial", "BytesToRead2 " + BTSerialBLE.BytesToRead);
}
}
}
}

public override void OnCharacteristicChanged(BluetoothGatt gatt, BluetoothGattCharacteristic characteristic)
{
Log.Info("MP", "OnCharacteristicChanged {0}", characteristic.Uuid);
base.OnCharacteristicChanged(gatt, characteristic);

update(characteristic);
}
}
}

Expand Down
2 changes: 1 addition & 1 deletion ExtLibs/Xamarin/Xamarin/GCSViews/WinForms.xaml.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,7 @@ public WinForms()
}
else
{
if (s.StartsWith("BT_"))
if (s.StartsWith("BT_") || s.StartsWith("BLE_"))
{
var bt = await Test.BlueToothDevice.GetDeviceInfoList();

Expand Down
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