파란크리스마스

평소에 라즈베리파이를 가지고 여러가지 시도 해보았는데,
아이씨뱅규에서 라즈베리파이를 이용한 무상체험단 모집을 하고 있어서 소개합니다.

최근에 OpenCV를 배우면서 무엇을 해볼까 고민중이었는데, 라즈베리파이, 파이카메라, RC카가 하나로 만들어진 제품을 찾고 있었는데, 초음파 센서에 라인트레이서 모듈까지 RC로 구현하고 싶은 모든게 다 있는것 같습니다.

OpenCV를 이용한 라이트레이싱이나 손가락 인식을 이용한 RC카 제어를 해봐야겠습니다.

https://www.youtube.com/watch?v=MX2p7SqF3iY

출처 : Raspberry Pi: Control WS2812B (NeoPixels) With Bluetooth LE
Eclipse Kura™ Documentation
The Pi4J Project

Bluetooth 모듈이 내장된 블루이노2로 BLE 송신하고, 라즈베리파이3의 Bluetooth 모듈로 수신 받아 데이터처리 해보았습니다.

블루이노2 코드

#include <RFduinoBLE.h>

int Potent=2;
boolean is_connect;

void setup() {
  // put your setup code here, to run once:
  RFduinoBLE.deviceName = "bluexmas";

  // this is the data we want to appear in the advertisement
  //RFduinoBLE.advertisementData = "My BLE LED";
  
  //RFduinoBLE.advertisementInterval = MILLISECONDS(300);
  //RFduinoBLE.txPowerLevel = -20;  // (-20dbM to +4 dBm)
    
  Serial.begin(9600);  
  Serial.println("Start Test");      // With more than 15 characters thie Start Test keeps happening

  // start the BLE stack
  RFduinoBLE.begin();  
}

void loop() {
  char BPM_lcd[10];
  
  RFduino_ULPDelay(100);  
  // Switch to lower power mode
  //RFduino_ULPDelay(INFINITE);
  //RFduino_ULPDelay( SECONDS(1) ); //sample once per second

  if (is_connect) {
    int sensorValue = analogRead(Potent);
    Serial.println(sensorValue);             // debug value

    //sprintf(BPM_lcd, "%10d", sensorValue);
    //lcd.println(BPM_lcd);     
    
    RFduinoBLE.sendInt(sensorValue);  //sends the char array
  }
}

void RFduinoBLE_onConnect() {
  // Debug message printed to Serial interface
  Serial.println("RFduino connected");
  is_connect = true;
}

void RFduinoBLE_onDisconnect() { 
  // Debug message printed to Serial interface
  Serial.println("RFduino disconnected");
  is_connect = false;
}

void RFduinoBLE_onReceive(char *data, int len) {
  // Debug message printed to Serial interface
  Serial.println("Data received: ");
  for(int i=0;i<len;i++)
    Serial.print(data[i]);
    Serial.println();
    Serial.println(data);
}

Blueinno.java

BLE 관련 코드만 보기 편하게 하기 위해서 모터 제어 관련 코드는 빼고 블루이노2와 통신하는 부분만 공개

package ble.blueinno2;

import java.util.List;
import java.util.Scanner;

import org.eclipse.kura.KuraException;
import org.eclipse.kura.bluetooth.BluetoothDevice;
import org.eclipse.kura.bluetooth.BluetoothGatt;
import org.eclipse.kura.bluetooth.BluetoothGattService;
import org.eclipse.kura.bluetooth.BluetoothLeNotificationListener;
import org.eclipse.kura.bluetooth.BluetoothLeScanListener;
import org.eclipse.kura.linux.bluetooth.util.BluetoothProcess;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

public class Blueinno implements BluetoothLeNotificationListener, BluetoothLeScanListener {
	
	private static final Logger logger = LoggerFactory.getLogger(BluetoothProcess.class);

	private BluetoothGatt m_bluetoothGatt;
	private BluetoothDevice m_device;
	private boolean m_connected;

	public Blueinno(BluetoothDevice bluetoothDevice) {
		// m_device = bluetoothDevice;
		m_connected = false;
	}

	public BluetoothDevice getBluetoothDevice() {
		return m_device;
	}

	public void setBluetoothDevice(BluetoothDevice device) {
		m_device = device;
	}

	public boolean isConnected() {
		return m_connected;
	}

	public boolean connect(BluetoothLeNotificationListener listener) throws KuraException {
		m_bluetoothGatt = m_device.getBluetoothGatt();
		logger.info("접속시도");
		boolean connected = m_bluetoothGatt.connect();
		if (connected) {
			m_bluetoothGatt.setBluetoothLeNotificationListener(listener);
			logger.info("리스너등록");
			m_connected = true;
			return true;
		} else {
			// If connect command is not executed, close gatttool
			m_bluetoothGatt.disconnect();
			m_connected = false;
			return false;
		}
	}

	public void disconnect() {
		if (m_bluetoothGatt != null) {
			m_bluetoothGatt.disconnect();
			m_connected = false;
		}
	}

	/*
	 * Discover services
	 */
	public List<BluetoothGattService> discoverServices() {
		return m_bluetoothGatt.getServices();
	}

	@Override
	public void onScanFailed(int errorCode) {
		// TODO Auto-generated method stub
		System.out.println("error = " + errorCode);
	}

	@Override
	public void onScanResults(List<BluetoothDevice> devices) {
		logger.info("onScanResults = " + devices.size());

		for (BluetoothDevice device : devices) {
			logger.info("Found Bluetooth Device " + device.getName() + " [" + device.getAdress() + "]");
		}
		
		System.out.print("ble address > ");
		Scanner scanner = new Scanner(System.in);
		String blc_address = scanner.next();
		
		BluetoothDevice nurum_device = null;
		for (BluetoothDevice device : devices) {
			if (device.getAdress().equals(blc_address)) {
				nurum_device = device;
			}
		}
		
		if (nurum_device != null) {
			//ble_nurum = new Blueinno(nurum_device);
			this.setBluetoothDevice(nurum_device);
			try {
				if (this.connect(this)) {
					System.out.println("ble connect");
					
					Runnable aa = new Runnable() {
						
						@Override
						public void run() {
							while (true) {
								try {
									String sensorValue = m_bluetoothGatt.readCharacteristicValue("0x000e");
									System.out.println(sensorValue);
									
									// 모터제어
									// 생략
								} catch (KuraException e1) {
									e1.printStackTrace();
								}
								try {
									Thread.sleep(100);
								} catch (Exception e) {
									
								}
							}
						}
					};
					
					Thread bb = new Thread(aa);
					bb.start();
				}
			} catch (KuraException e) {
				// TODO Auto-generated catch block
				e.printStackTrace();
			}
		}
	}
	
	@Override
	public void onDataReceived(String handle, String value) {
		System.out.println("handle: " + handle + " value: " + value);
	}
}

BlueinnoMain.java

package ble.blueinno2;

import org.apache.log4j.Level;
import org.apache.log4j.Logger;
import org.eclipse.kura.linux.bluetooth.le.BluetoothLeScanner;

public class BlueinnoMain {
	
	Logger logger = Logger.getLogger(this.getClass());

	private Blueinno blueinno = null;
	
	public static void main(String[] args) throws Exception {
		BlueinnoMain bletest = new BlueinnoMain();
		bletest.init();
		bletest.startScan();
	}
	
	public void init() {
		Logger.getRootLogger().setLevel(Level.DEBUG);
		logger.info("초기화");
		blueinno = new Blueinno();
	}

	public void startScan() throws InterruptedException {
		BluetoothLeScanner m_bls = new BluetoothLeScanner();
		m_bls.startScan("hci0", blueinno);
		Thread.sleep(10000);
		m_bls.killScan();
	}
}

실행

출처 : Eclipse Kura™ Documentation
The Pi4J Project

라즈베리파이2에 BLE 동글이와 BLE 스마트 버튼인 nurum으로 클릭 이벤트를 받아서
GPIO를 이용해서 LED를 컨트롤 해보았습니다.

BleNurum class

package bletest;

import java.util.List;

import org.eclipse.kura.KuraException;
import org.eclipse.kura.bluetooth.BluetoothDevice;
import org.eclipse.kura.bluetooth.BluetoothGatt;
import org.eclipse.kura.bluetooth.BluetoothGattService;
import org.eclipse.kura.bluetooth.BluetoothLeNotificationListener;

public class BleNurum {

	private BluetoothGatt m_bluetoothGatt;
	private BluetoothDevice m_device;
	private boolean m_connected;

	public BleNurum(BluetoothDevice bluetoothDevice) {
		m_device = bluetoothDevice;
		m_connected = false;
	}

	public BluetoothDevice getBluetoothDevice() {
		return m_device;
	}

	public void setBluetoothDevice(BluetoothDevice device) {
		m_device = device;
	}

	public boolean isConnected() {
		return m_connected;
	}

	public boolean connect(BluetoothLeNotificationListener listener) throws KuraException {
		m_bluetoothGatt = m_device.getBluetoothGatt();
		boolean connected = m_bluetoothGatt.connect();
		if (connected) {
			m_bluetoothGatt.setBluetoothLeNotificationListener(listener);
			m_connected = true;
			return true;
		} else {
			// If connect command is not executed, close gatttool
			m_bluetoothGatt.disconnect();
			m_connected = false;
			return false;
		}
	}

	public void disconnect() {
		if (m_bluetoothGatt != null) {
			m_bluetoothGatt.disconnect();
			m_connected = false;
		}
	}

	/*
	 * Discover services
	 */
	public List<BluetoothGattService> discoverServices() {
		return m_bluetoothGatt.getServices();
	}
}

BleTestMain class

package bletest;

import java.nio.ByteBuffer;
import java.util.List;
import java.util.Scanner;

import org.eclipse.kura.KuraException;
import org.eclipse.kura.bluetooth.BluetoothDevice;
import org.eclipse.kura.bluetooth.BluetoothLeNotificationListener;
import org.eclipse.kura.bluetooth.BluetoothLeScanListener;
import org.eclipse.kura.linux.bluetooth.le.BluetoothLeScanner;

import com.pi4j.io.gpio.GpioController;
import com.pi4j.io.gpio.GpioFactory;
import com.pi4j.io.gpio.GpioPinDigitalOutput;
import com.pi4j.io.gpio.PinState;
import com.pi4j.io.gpio.RaspiPin;

public class BleTestMain implements BluetoothLeScanListener, BluetoothLeNotificationListener {
	
	private BleNurum ble_nurum = null;
	private GpioController gpio = null;
	private GpioPinDigitalOutput led_01 = null;
	private GpioPinDigitalOutput led_02 = null;
	
	public static void main(String[] args) throws Exception {
		BleTestMain bletest = new BleTestMain();
		bletest.init();
		bletest.startScan();
	}
	
	public void init() {
		// create gpio controller
		gpio = GpioFactory.getInstance();
		led_01 = gpio.provisionDigitalOutputPin(RaspiPin.GPIO_08, "Red LED", PinState.HIGH);
		led_02 = gpio.provisionDigitalOutputPin(RaspiPin.GPIO_09, "Blue LED", PinState.HIGH);
		// set shutdown state for this pin
		led_01.setShutdownOptions(true, PinState.LOW);
		led_02.setShutdownOptions(true, PinState.LOW);
		led_01.low();
		led_02.low();
	}

	public void startScan() throws InterruptedException {
		BluetoothLeScanner m_bls = new BluetoothLeScanner();
		m_bls.startScan("hci0", this);

		Thread.sleep(3000);

		m_bls.killScan();
	}

	@Override
	public void onScanFailed(int errorCode) {
		// TODO Auto-generated method stub
		System.out.println("error = " + errorCode);
	}

	@Override
	public void onScanResults(List<BluetoothDevice> devices) {
		System.out.println("onScanResults = " + devices.size());

		for (BluetoothDevice device : devices) {
			System.out.println("Found Bluetooth Device " + device.getName() + " [" + device.getAdress() + "]");
		}
		
		System.out.print("ble address > ");
		Scanner scanner = new Scanner(System.in);
		String blc_address = scanner.next();
		
		BluetoothDevice nurum_device = null;
		for (BluetoothDevice device : devices) {
			if (device.getAdress().equals(blc_address)) {
				nurum_device = device;
			}
		}
		
		if (nurum_device != null) {
			ble_nurum = new BleNurum(nurum_device);
			try {
				if (ble_nurum.connect(this)) {
					System.out.println("ble connect");
				}
			} catch (KuraException e) {
				// TODO Auto-generated catch block
				e.printStackTrace();
			}
		}
	}
	
	public static byte[] decode(String hex) {

		String[] list = hex.split("(?<=\\G.{2})");
		ByteBuffer buffer = ByteBuffer.allocate(list.length);
		System.out.println(list.length);
		for (String str : list)
			buffer.put(Byte.parseByte(str, 16));

		return buffer.array();

	}

	@Override
	public void onDataReceived(String handle, String value) {
		String val = new String( decode(value.replaceAll("\\p{Z}", "")) );
		
		System.out.println("handle: " + handle + " value: " + value + " / " + val);
		
		if (val.equals("!1")) {
			led_01.toggle();
		}
		
		if (val.equals("!2")) {
			led_02.toggle();
		}
		
		if (val.equals("!3")) {
			led_01.low();
			led_02.low();
		}		
		
		if (val.equals("!H")) {
			ble_nurum.disconnect();
			gpio.shutdown();
			System.exit(1);
		}
	}
}

실행