CatsPlay Experience implemented

Removed NimBLE-Arduino as it is no longer going to be supported on ESP32 CPUs. See h2zero/NimBLE-Arduino#685. Implemented BLE device-to-device communication using JSON encoded data. Later I will put the message handling code into BLEMessaging.cpp and .h. Inveigle starts a CatsPlay experience based on RSSI distance values from BLE.cpp. BLE now runs a server and client on the device - same for a nearby device.  Inveigle uses  BLE to see if it received a Pounce from another cat. CatsPlay experience SetUp determines the heading to the other device and plays 1 of 8 videos where the cat looks to the other cat. Run will let the user make a TOF gesture to send a Pounce method to the other device, and making no gestures after 10 seconds runs TearDown to show the cat video ending the play. In a future update BLE shares the local RTC time between devices. If one device has valid time them the other one uses the same. I'm doing this just in case the device is not tracking GPS satellites, nor using NTP over Wifi, so the watch wearer doesn't have to set the time.

Author: frankcohen

src/BLE.cpp

@@ -2,71 +2,80 @@
 #define _BLE_
 
 #include "Arduino.h"
-#include <WiFi.h>
-#include <SPI.h>
-#include <SD.h>
-
-#include <NimBLEDevice.h>
 
 #include "config.h"
 #include "secrets.h"
 
+#include <BLEDevice.h>
+#include <BLEUtils.h>
+#include <BLEServer.h>
+#include <BLE2902.h>
+#include <ArduinoJson.h>
+
 #include "Logger.h"
-#include "Accelerometer.h"
-#include <Arduino_GFX_Library.h>
-#include <JPEGDEC.h>
+#include "TOF.h"
 #include "Compass.h"
 
-#define maxDistanceReadings 3
+// Define BLEServerClass
+class BLEServerClass 
+{ 
+  public:
+    BLEServerClass();
+
+    void begin();
+    void handleClientData();
+    void sendJsonData(String jsonData);
+
+    int getLatestHeading();
+    void setLatestHeading( int myh );
+    bool isPounced();
+
+    BLEServer* pServer;
+    BLEService* pService;
+    BLECharacteristic* pCharacteristic;
+    BLEClient* pClient;
+    BLERemoteCharacteristic* pRemoteCharacteristic;
+    BLEAdvertising* pAdvertising;
+
+    class MyServerCallbacks : public BLEServerCallbacks {
+        void onConnect(BLEServer* pServer) override;
+        void onDisconnect(BLEServer* pServer) override;
+    };
+
+    class MyCharacteristicCallbacks : public BLECharacteristicCallbacks {
+        void onWrite(BLECharacteristic* pCharacteristic) override;
+    };
 
-class BLE
+  private:
+    bool bleStarted;
+};
+
+
+// Define BLEClientClass
+class BLEClientClass 
 {
   public:
-    BLE();
+    BLEClientClass();
     void begin();
     void loop();
-    String getMessage();
-    void setMessage( String heading );
-    bool connectToServer();
-    bool getServerValue();
-    bool lookingTowardsEachOther( float avgDistance );
-    void setRemoteHeading( float myh );
-    float getRemoteHeading();
-    void setLocalHeading( float myd );
-    float getLocalHeading();
-    bool matchHeading( float measured_angle );
-    bool isStarted();
+    void handleClientData();
+    void sendJsonData(String jsonData);
+    int getDistance();
+    void sendPounce();
 
-  private:
-    TaskHandle_t bleInitTaskHandle;
-    static void bleInitTaskWrapper(void * parameter);
-    void bleInitTask();
+    BLEClient* pClient;
+    BLERemoteCharacteristic* pRemoteCharacteristic;
 
-    void areDevicesPointedToEachOther();
-    void showCatFaceDirection( int pose );
-    uint8_t* loadFileToBuffer( String filePath );
+    class MyClientCallbacks : public BLEClientCallbacks {
+        void onConnect(BLEClient* pClient) override;
+        void onDisconnect(BLEClient* pClient) override;
+    };
 
-    bool bleStarted;
+  private:
+    int latestrssi;
+    unsigned long sendHeadingTimer;
+    unsigned long checkRSSItimer;
 
-    std::string devname;
-    int msgCounter;
-    unsigned long serverWaitTime;
-    unsigned long clientWaitTime;
-    String message;
-
-    NimBLECharacteristic* pHeadingCharacteristic;
-    NimBLEServer* pServer;
-    NimBLEClient* pClient;
-
-    int runningDistance [ maxDistanceReadings ];
-    float localHeading;
-    float remoteHeading;
-    String hottercolder;
-    float oldAverageDistance;
-    long showWaitTime;
-    long fileSize;
-
-    JPEGDEC jpeg;
 };
 
 #endif // _BLE_

src/BLE.h

@@ -8,14 +8,24 @@
  (c) Frank Cohen, All rights reserved. [email protected]
  Read the license in the license.txt file that comes with this code.
 
- Experience lets the user set the time for the internal RTC
+ Experience finds nearby devices and lets them pounce on each other
+
+Next up I am incorporating the ble code into the ReflectionsOfFrank project. There will be two classes: BLE.cpp and BLEMessaging.cpp
+BLEMessaging will provide the message level tasks
+Inveigle will start a CatsPlay experience based on RSSI distance values from BLE.cpp
+CatsPlay experience is going to be big. SetUp will determine the heading to the other cat and play 1 of 8 videos where the cat looks to the other cat. Run will let the user make a TOF gesture to send a Pounce method to the other cat, and making no gestures after 10 seconds runs TearDown to show the cat video ending the play
+Inveigle will also call BLEmessaging to see if it received a Pounce from another cat
 
 */
 
 #include "Experience_CatsPlay.h"
 
 extern LOGGER logger;   // Defined in ReflectionsOfFrank.ino
 extern Video video;
+extern BLEServerClass bleServer;
+extern BLEClientClass bleClient;
+extern TOF tof;
+extern Compass compass;
 
 void Experience_CatsPlay::init()
 {
@@ -24,23 +34,130 @@ void Experience_CatsPlay::init()
   teardownComplete = false;
   stopped = false;
   idle = false;
+
+  setupVidplayed = false;
+
 } 
 
+float Experience_CatsPlay::calculateBearing( float headingA, float headingB, float rssi ) 
+{
+  // RSSI to distance conversion (requires calibration)
+  float distance = pow(10, (rssi + 40) / (-20)); // Example formula
+
+  // Assuming both boards are in the same plane for simplicity
+  // Calculate relative angle (assume 2D plane)
+  float angle = atan2(sin(headingB - headingA), cos(headingB - headingA)) * (180 / PI);
+
+  // Calculate bearing from A to B
+  float bearingAB = fmod(angle - headingA + 360, 360);
+
+  return bearingAB;
+}
+
 void Experience_CatsPlay::setup() 
 {
-  video.startVideo( CatsPlay_video );
-  setSetupComplete(true);  // Signal that setup is complete
+  if ( ! setupVidplayed )
+  {
+    setupVidplayed = true;
+    video.startVideo( CatsPlayFound_video );
+  }
+
+  if ( video.getStatus() == 0 )
+  {
+    directionTimer = millis();
+    overallTimer = millis();
+    setSetupComplete(true);  // Signal that setup is complete
+  }
 }
 
 void Experience_CatsPlay::run() 
 {
-  setRunComplete(true);  // Signal run complete
+  // Determine direction
+
+  if ( millis() - directionTimer > 2000 )
+  {
+    directionTimer = millis();
+    
+    float headingA = compass.getHeading();
+    float headingB =   bleServer.getLatestHeading();
+    
+    // Placeholder RSSI value (should be obtained via BLE communication)
+    float rssi = bleClient.getDistance();
+
+    // Calculate bearing from A to B
+    float bearingAB = calculateBearing(headingA, headingB, rssi);
+
+    Serial.print( "Bearing from A to B: " );
+    Serial.println( bearingAB );
+
+    // Show video of cat's face pointing to other cat
+
+    if ( ( bearingAB > 0 ) && ( bearingAB < 360 ) )
+    {
+      switch ( int ( ( bearingAB / ( 360 / 8 ) ) + 1 ) )
+      {
+        case 1:
+          video.startVideo( CatsPlay1_video );
+          break;
+        case 2:
+          video.startVideo( CatsPlay1_video );
+          break;
+        case 3:
+          video.startVideo( CatsPlay1_video );
+          break;
+        case 4:
+          video.startVideo( CatsPlay1_video );
+          break;
+        case 5:
+          video.startVideo( CatsPlay1_video );
+          break;
+        case 6:
+          video.startVideo( CatsPlay1_video );
+          break;
+        case 7:
+          video.startVideo( CatsPlay1_video );
+          break;
+        case 8:
+          video.startVideo( CatsPlay1_video );
+          break;
+      }
+    }
+  }
+
+  // Pounce gesture made? Send pounce message
+
+  if ( bleServer.isPounced() )
+  {
+    Serial.println( "CatsPlay pounced" );
+
+    // Pounce gesture message received?
+    video.startVideo( Pounce_video );
+  }
+
+  // Play time done?
+
+  if ( millis() - overallTimer > 30000 )
+  {
+    setRunComplete(true);  // Signal run complete
+  }
+
+  // User gestured a pounce to the connected cat
+
+  int mygs = tof.getGesture();
+  if ( mygs == TOF::None ) return;
+
+  Serial.print( "CatsPlay detects TOF gesture " );
+  Serial.print( mygs );
+  Serial.println( " sending pounce");
+
+  bleClient.sendPounce();
 }
 
 void Experience_CatsPlay::teardown() 
 {
   if ( video.getStatus() == 0 )
   {
+    video.startVideo( Sleep_video );
     setTeardownComplete( true );  // Signal teardown complete
   }
 }

src/Experience_CatsPlay.cpp

@@ -6,6 +6,9 @@
 
 #include "Experience.h"
 
+#include "BLE.h"
+#include "Compass.h"
+
 #include "Logger.h"
 #include "Video.h"
 #include "TimeService.h"
@@ -18,7 +21,11 @@ class Experience_CatsPlay : public Experience {
     void init() override;
 
   private:
-    
+    bool setupVidplayed;
+    unsigned long directionTimer;
+    unsigned long overallTimer;
+    float calculateBearing( float headingA, float headingB, float rssi );
+
 };
 
 #endif // Experience_CatsPlay

src/Experience_CatsPlay.h

@@ -0,0 +1,46 @@
+/*
+ Reflections, mobile connected entertainment device
+
+ Repository is at https://github.com/frankcohen/ReflectionsOS
+ Includes board wiring directions, server side components, examples, support
+
+ Licensed under GPL v3 Open Source Software
+ (c) Frank Cohen, All rights reserved. [email protected]
+ Read the license in the license.txt file that comes with this code.
+
+ Experience lets the user set the time for the internal RTC
+
+*/
+
+#include "Experience_Pounce.h"
+
+extern LOGGER logger;   // Defined in ReflectionsOfFrank.ino
+extern Video video;
+
+void Experience_Pounce::init()
+{
+  setupComplete = false;
+  runComplete = false;
+  teardownComplete = false;
+  stopped = false;
+  idle = false;
+} 
+
+void Experience_Pounce::setup() 
+{
+  video.startVideo( Pounce_video );
+  setSetupComplete(true);  // Signal that setup is complete
+}
+
+void Experience_Pounce::run() 
+{
+  setRunComplete(true);  // Signal run complete
+}
+
+void Experience_Pounce::teardown() {
+  // Teardown code for Experience_Awake
+  if ( video.getStatus() == 0 )
+  {
+    setTeardownComplete( true );  // Signal teardown complete
+  }
+}

src/Experience_Pounce.cpp

@@ -0,0 +1,24 @@
+// Experience1.h
+#ifndef Experience_Pounce_H
+#define Experience_Pounce_H
+
+#include <Arduino.h>
+
+#include "Experience.h"
+
+#include "Logger.h"
+#include "Video.h"
+#include "TimeService.h"
+
+class Experience_Pounce : public Experience {
+  public:
+    void setup() override;
+    void run() override;
+    void teardown() override;
+    void init() override;
+
+  private:
+    
+};
+
+#endif // Experience_Pounce_H

src/Experience_Pounce.h

@@ -50,9 +50,9 @@ void Experience_Sleep::teardown()
   Serial.println( "Sleep TEARDOWN" );
 
   // Put cat to deep sleep
-  // esp_deep_sleep_start();
+  esp_deep_sleep_start();
 
-  Serial.println( "Sleep after sleep start" );
+  Serial.println( "Sleep after sleep" );
 
   setTeardownComplete( true );  // Signal teardown complete
 }