#installation After looking at both pyblue vs bluepy, settled upon bluepy. So bluepy needs to be installed. The code in this repo depends upon a slight update to the bluepy library, which will hopefully be integrated eventually. Until this pull-request is approved, the following fork can be used: https://github.com/omer-qadir/bluepy

playerOverBle

Interface layer to translate player server (ref player/stage) from TCP to BLE

Run RTT client to observe debug printfs from Devkit

https://devzone.nordicsemi.com/question/83524/how-to-use-rtt-viewer-or-similar-on-gnulinux/ https://devzone.nordicsemi.com/question/44790/rtt-on-os-x/

1. In a shell type "JLinkExe -device nrf52 -if swd -speed 4000"

2. type "connect"

3. in another shell run "JLinkRTTClient" This shell will display debugs

Setup Makefile based compilation in Ubuntu

https://devzone.nordicsemi.com/tutorials/7/

(Don't need this -- will use Virtual box and windows client)

Devkit related tips

while debugging without roomba, connect pin 28 to VDD or 5V When the devkit is in normal state upon boot-up

• LED 5 appears constantly lit (although it is flickering very fast)
• LED 1 is blinking when waiting for connection
• LED 1 becomes constantly lit if a connection is established
• the cortex goes to sleep after a certain time of not receiving any connections and then LED 1 is off. hit reset.

Python Bluetooth libraries

PyBlueZ: Python BLE related

https://github.com/karulis/pybluez

Extention to bluez. PyBlueZ python scripts use gattlib which doesn't seem to have very good documentation. Reading https://github.com/matthewelse/pygattlib/blob/master/src/gattlib.cpp to decode what the various arguments mean for each function some rudimentary documentation here: https://bitbucket.org/OscarAcena/pygattlib/overview

gitWorkspace/pybluez/examples/advanced

this folder contains basic bluetooth code (not BLE code)

gitWorkspace/pybluez/examples/ble

this folder contains BLE related example code. This code is slightly modified from source

• read_name.py: requester.connect() is given optional argument 'random' (random channel rather than public channel) otherwise connection request fails with devkit
• scan.py: discover takes timeout value in seconds. This is increased otherwise it reads too few

The scan.py needs to be executed as root.

gitWorkspace/pygattlib/examples

this folder contains BLE related example code. Better than pybluez/examples/ble. It will also need the same modifications as for pybluez (above).

bluePy: Python BLE related

Install from my own fork unless original authors accept pull request IanHarvey/bluepy#180 https://github.com/omer-qadir/bluepy

https://github.com/IanHarvey/bluepy

also extension to bluez

some library documentation here http://ianharvey.github.io/bluepy-doc/

libPlayerC over py

• http://player-stage-manual.readthedocs.io/en/stable/CONTROLLER_PYCPP/
• http://player-stage-manual.readthedocs.io/en/stable/CONTROLLER_PYC/
• http://playerstage.sourceforge.net/doc/Player-1.6.5/player-html/group__player__clientlib__libplayerc__py.php

TODO

• Implement TCP layer to receive packets from player client