diff --git a/src/main.cpp b/src/main.cpp index 78d6761..f71c8e4 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -1,6 +1,8 @@ #include #include "IRIS_Method.h" +#include "vsmd_parser.h" +VSMDParser parser; #define DEBUG_TX_PIN 17 // TX #define DEBUG_RX_PIN 16 // RX @@ -57,16 +59,17 @@ void processJsonCommand(const char* jsonString); void processStringCommand(const char* stringData); void sendJsonResponse(const char* cmd, const char* status, int value = -1); void sendStringResponse(const char* response); -void handleConfigCommand(JsonObject& doc); -void handleEnableCommand(); -void handleOffCommand(); -void handleMoveCommand(); -void handlePositionCommand(int value); -void handleRelativeMoveCommand(int value); -void handlePulsePerSecondCommand(int value = -1); -void handleOriginCommand(); -void handleStopCommand(); -void handleZeroCommand(const char* value); +void handle_cfg_cmd(); +void handle_ena_cmd(); +void handle_off_cmd(); +void handle_mov_cmd(); +void handle_pos_cmd(int value); +void handle_rmv_cmd(int value); +void handle_pps_cmd(int value = -1); +void handle_org_cmd(); +void handle_stp_cmd(); +void handle_zero_cmd(const char* value); +void handle_dev_cmd(); void printDeviceStatus(); void setup() { @@ -77,7 +80,7 @@ void setup() { Serial.begin(115200); DebugSerial.println("VSMD INIT"); - DebugSerial.println("Commands: cfg, ena, off, mov, pos, rmv, pps, org, stp, zero"); + DebugSerial.println("Commands:dev, cfg, ena, off, mov, pos, rmv, pps, org, stp, zero"); printDeviceStatus(); } @@ -85,6 +88,22 @@ void loop() { if (DebugSerial.available() > 0) { int bytesRead = DebugSerial.readBytes(receiveBuffer, sizeof(receiveBuffer)); + // // 添加调试信息 + // DebugSerial.print("Bytes read: "); + // DebugSerial.println(bytesRead); + // DebugSerial.print("Raw data: "); + // for(int i = 0; i < bytesRead; i++) { + // DebugSerial.print(receiveBuffer[i], HEX); + // DebugSerial.print(" "); + // } + // DebugSerial.println(); + + // bytesProcessed = IRIS_Cut_Befor_Header(receiveBuffer, bytesRead); + + // // 添加更多调试信息 + // DebugSerial.print("Bytes after header cut: "); + // DebugSerial.println(bytesProcessed); + bytesProcessed = IRIS_Cut_Befor_Header(receiveBuffer, bytesRead); if (bytesProcessed > 0) { @@ -148,44 +167,51 @@ void processJsonCommand(const char* jsonString) { return; } - const char* cmd = doc["cmd"]; - if (cmd == nullptr) { - sendJsonResponse("error", "NO_CMD_FIELD"); + // 使用 command 字段替代 cmd + const char* command = doc["command"]; + if (command == nullptr) { + sendJsonResponse("error", "NO_COMMAND_FIELD"); return; } - // 根据cmd执行相应操作 - if (strcmp(cmd, "cfg") == 0) { - JsonObject configObj = doc.as(); - handleConfigCommand(configObj); - } else if (strcmp(cmd, "ena") == 0) { - handleEnableCommand(); - } else if (strcmp(cmd, "off") == 0) { - handleOffCommand(); - } else if (strcmp(cmd, "mov") == 0) { - handleMoveCommand(); - } else if (strcmp(cmd, "pos") == 0) { - int value = doc["value"] | 0; - handlePositionCommand(value); - } else if (strcmp(cmd, "rmv") == 0) { - int value = doc["value"] | 0; - handleRelativeMoveCommand(value); - } else if (strcmp(cmd, "pps") == 0) { - if (doc.containsKey("value")) { - int value = doc["value"]; - handlePulsePerSecondCommand(value); + // 获取 PA 参数对象（可选） + JsonObject params = doc["PA"]; + + // 根据command执行相应操作 + if (strcmp(command, "cfg") == 0) { + handle_cfg_cmd(); + } else if (strcmp(command, "ena") == 0) { + handle_ena_cmd(); + } else if (strcmp(command, "off") == 0) { + handle_off_cmd(); + } else if (strcmp(command, "mov") == 0) { + handle_mov_cmd(); + } else if (strcmp(command, "pos") == 0) { + // 修正：正确的类型转换 + int value = params.containsKey("value") ? params["value"].as() : 0; + handle_pos_cmd(value); + } else if (strcmp(command, "rmv") == 0) { + int value = params.containsKey("value") ? params["value"].as() : 0; + handle_rmv_cmd(value); + } else if (strcmp(command, "pps") == 0) { + if (params.containsKey("value")) { + int value = params["value"].as(); + handle_pps_cmd(value); } else { - handlePulsePerSecondCommand(); + handle_pps_cmd(); } - } else if (strcmp(cmd, "org") == 0) { - handleOriginCommand(); - } else if (strcmp(cmd, "stp") == 0) { - handleStopCommand(); - } else if (strcmp(cmd, "zero") == 0) { - const char* value = doc["value"] | ""; - handleZeroCommand(value); + } else if (strcmp(command, "org") == 0) { + handle_org_cmd(); + } else if (strcmp(command, "stp") == 0) { + handle_stp_cmd(); + } else if (strcmp(command, "zero") == 0) { + // 修正：正确的字符串类型转换 + const char* value = params.containsKey("value") ? params["value"].as() : ""; + handle_zero_cmd(value); + } else if (strcmp(command, "dev") == 0) { + handle_dev_cmd(); } else { - sendJsonResponse(cmd, "UNKNOWN_COMMAND"); + sendJsonResponse(command, "UNKNOWN_COMMAND"); } } @@ -195,31 +221,34 @@ void processStringCommand(const char* stringData) { sendStringResponse(response.c_str()); } -void sendJsonResponse(const char* cmd, const char* status, int value) { +void sendJsonResponse(const char* command, const char* status, int value) { StaticJsonDocument responseDoc; - responseDoc["cmd"] = cmd; - responseDoc["status"] = status; + // 修改：使用新的JSON格式 + responseDoc["command"] = command; // 使用 command 替代 cmd + responseDoc["ST"] = status; // 使用 ST 替代 status + + // 如果有参数值，添加到 PA 对象中 if (value != -1) { - responseDoc["value"] = value; + JsonObject params = responseDoc.createNestedObject("PA"); + params["value"] = value; } - // 设备状态信息 - responseDoc["enabled"] = deviceEnabled; - responseDoc["position"] = currentPosition; - responseDoc["moving"] = isMoving; + // 可选：添加其他信息 + responseDoc["Other"] = ""; char jsonResponse[JSON_BUFFER_SIZE]; serializeJson(responseDoc, jsonResponse, sizeof(jsonResponse)); // 打包并发送JSON响应 + DebugSerial.print("JSON Response: "); packedLength = IRIS_Protocol_Pack(0x00, strlen(jsonResponse), (uint8_t*)jsonResponse, sendBuffer); DebugSerial.write(sendBuffer, packedLength); - DebugSerial.println(); + // DebugSerial.println(); - DebugSerial.print("Sent JSON Response: "); - DebugSerial.println(jsonResponse); + // DebugSerial.print("Sent JSON Response: "); + // DebugSerial.println(jsonResponse); } void sendStringResponse(const char* response) { @@ -231,134 +260,45 @@ void sendStringResponse(const char* response) { DebugSerial.println(response); } -void handleConfigCommand(JsonObject& doc) { - DebugSerial.println("Processing configuration command..."); +void handle_cfg_cmd() { + DebugSerial.println("Configuration requested"); + Serial.println("cfg\n"); + // 返回配置相关信息 + sendJsonResponse("cfg", "OK"); +} + +// void handle_dev_cmd() { +// DebugSerial.println("dev_requested"); +// Serial.println("dev\n"); + +// //test VSMD数据 +// uint8_t testData[] = { +// 0xFF, 0x00, 0x01, 0x56, 0x53, 0x4D, 0x44, 0x31, 0x34, 0x32, 0x2D, 0x30, 0x32, 0x35, 0x54, 0x2D, 0x31, 0x2E, 0x31, 0x2E, 0x30, 0x32, 0x30, 0x2E, 0x32, 0x31, 0x31, 0x31, 0x31, 0x35, 0x00, 0x42, 0xFE +// }; +// // 解析 +// DebugSerial.println("Parsing VSMD test data:"); +// parser.parse(testData, sizeof(testData)); +// // 返回设备相关信息 +// sendJsonResponse("dev", "OK"); +// } +void handle_dev_cmd() { + DebugSerial.println("dev_requested"); + Serial.println("dev\n"); - // 创建响应JSON对象 + // vsmd test data + uint8_t testData[] = { + 0xFF, 0x00, 0x01, 0x56, 0x53, 0x4D, 0x44, 0x31, 0x34, 0x32, 0x2D, 0x30, 0x32, 0x35, 0x54, 0x2D,0x31, 0x2E, 0x31, 0x2E, 0x30, 0x32, 0x30, 0x2E, 0x32, 0x31, 0x31, 0x31, 0x31, 0x35, 0x00, 0x42, 0xFE + }; + + // parseInfo获取解析结果 + String deviceInfo = parser.parseInfo(testData, sizeof(testData)); + + // 创建带有解析数据的JSON响应 StaticJsonDocument responseDoc; - responseDoc["cmd"] = "cfg"; - responseDoc["status"] = "OK"; + responseDoc["command"] = "dev"; + responseDoc["ST"] = "OK"; + responseDoc["Other"] = deviceInfo; - // 添加设备状态信息 - responseDoc["enabled"] = deviceEnabled; - responseDoc["position"] = currentPosition; - responseDoc["moving"] = isMoving; - - // 创建配置参数对象 - JsonObject configParams = responseDoc.createNestedObject("config"); - - // 处理配置参数 - if (doc.containsKey("params")) { - JsonObject params = doc["params"]; - - // 更新配置参数并添加到响应中 - if (params.containsKey("cfg zmd")) { - deviceConfig.zmd = params["cfg zmd"]; - configParams["cfg zmd"] = deviceConfig.zmd; - } - if (params.containsKey("cfg snr")) { - deviceConfig.snr = params["cfg snr"]; - configParams["cfg snr"] = deviceConfig.snr; - } - if (params.containsKey("cfg osv")) { - deviceConfig.osv = params["cfg osv"]; - configParams["cfg osv"] = deviceConfig.osv; - } - if (params.containsKey("cfg zsd")) { - deviceConfig.zsd = params["cfg zsd"]; - configParams["cfg zsd"] = deviceConfig.zsd; - } - if (params.containsKey("cfg zsp")) { - deviceConfig.zsp = params["cfg zsp"]; - configParams["cfg zsp"] = deviceConfig.zsp; - } - if (params.containsKey("cfg dmd")) { - deviceConfig.dmd = params["cfg dmd"]; - configParams["cfg dmd"] = deviceConfig.dmd; - } - if (params.containsKey("cfg dar")) { - deviceConfig.dar = params["cfg dar"]; - configParams["cfg dar"] = deviceConfig.dar; - } - if (params.containsKey("cfg msr")) { - deviceConfig.msr = params["cfg msr"]; - configParams["cfg msr"] = deviceConfig.msr; - } - if (params.containsKey("cfg msv")) { - deviceConfig.msv = params["cfg msv"]; - configParams["cfg msv"] = deviceConfig.msv; - } - if (params.containsKey("cfg psr")) { - deviceConfig.psr = params["cfg psr"]; - configParams["cfg psr"] = deviceConfig.psr; - } - if (params.containsKey("cfg psv")) { - deviceConfig.psv = params["cfg psv"]; - configParams["cfg psv"] = deviceConfig.psv; - } - if (params.containsKey("cfg bdr")) { - deviceConfig.bdr = params["cfg bdr"]; - configParams["cfg bdr"] = deviceConfig.bdr; - } - if (params.containsKey("cfg cid")) { - deviceConfig.cid = params["cfg cid"]; - configParams["cfg cid"] = deviceConfig.cid; - } - if (params.containsKey("cfg mcs")) { - deviceConfig.mcs = params["cfg mcs"]; - configParams["cfg mcs"] = deviceConfig.mcs; - } - if (params.containsKey("cfg spd")) { - deviceConfig.spd = params["cfg spd"]; - configParams["cfg spd"] = deviceConfig.spd; - } - if (params.containsKey("cfg acc")) { - deviceConfig.acc = params["cfg acc"]; - configParams["cfg acc"] = deviceConfig.acc; - } - if (params.containsKey("cfg dec")) { - deviceConfig.dec = params["cfg dec"]; - configParams["cfg dec"] = deviceConfig.dec; - } - if (params.containsKey("cfg cra")) { - deviceConfig.cra = params["cfg cra"]; - configParams["cfg cra"] = deviceConfig.cra; - } - if (params.containsKey("cfg crn")) { - deviceConfig.crn = params["cfg crn"]; - configParams["cfg crn"] = deviceConfig.crn; - } - if (params.containsKey("cfg crh")) { - deviceConfig.crh = params["cfg crh"]; - configParams["cfg crh"] = deviceConfig.crh; - } - - DebugSerial.println("Configuration updated successfully"); - } else { - // 如果没有params，返回所有当前配置 - configParams["cfg zmd"] = deviceConfig.zmd; - configParams["cfg snr"] = deviceConfig.snr; - configParams["cfg osv"] = deviceConfig.osv; - configParams["cfg zsd"] = deviceConfig.zsd; - configParams["cfg zsp"] = deviceConfig.zsp; - configParams["cfg dmd"] = deviceConfig.dmd; - configParams["cfg dar"] = deviceConfig.dar; - configParams["cfg msr"] = deviceConfig.msr; - configParams["cfg msv"] = deviceConfig.msv; - configParams["cfg psr"] = deviceConfig.psr; - configParams["cfg psv"] = deviceConfig.psv; - configParams["cfg bdr"] = deviceConfig.bdr; - configParams["cfg cid"] = deviceConfig.cid; - configParams["cfg mcs"] = deviceConfig.mcs; - configParams["cfg spd"] = deviceConfig.spd; - configParams["cfg acc"] = deviceConfig.acc; - configParams["cfg dec"] = deviceConfig.dec; - configParams["cfg cra"] = deviceConfig.cra; - configParams["cfg crn"] = deviceConfig.crn; - configParams["cfg crh"] = deviceConfig.crh; - } - - // 序列化并发送响应 char jsonResponse[JSON_BUFFER_SIZE]; serializeJson(responseDoc, jsonResponse, sizeof(jsonResponse)); @@ -366,18 +306,20 @@ void handleConfigCommand(JsonObject& doc) { packedLength = IRIS_Protocol_Pack(0x00, strlen(jsonResponse), (uint8_t*)jsonResponse, sendBuffer); DebugSerial.write(sendBuffer, packedLength); - DebugSerial.print("Sent Config Response: "); + DebugSerial.println(); + + DebugSerial.print("Sent JSON Response: "); DebugSerial.println(jsonResponse); } -void handleEnableCommand() { +void handle_ena_cmd() { deviceEnabled = true; DebugSerial.println("Device enabled"); Serial.print("ena\n"); sendJsonResponse("ena", "OK"); } -void handleOffCommand() { +void handle_off_cmd() { deviceEnabled = false; isMoving = false; DebugSerial.println("Device disabled"); @@ -385,7 +327,7 @@ void handleOffCommand() { sendJsonResponse("off", "OK"); } -void handleMoveCommand() { +void handle_mov_cmd() { if (!deviceEnabled) { sendJsonResponse("mov", "DEVICE_DISABLED"); return; @@ -397,7 +339,7 @@ void handleMoveCommand() { sendJsonResponse("mov", "OK"); } -void handlePositionCommand(int value) { +void handle_pos_cmd(int value) { if (!deviceEnabled) { sendJsonResponse("pos", "DEVICE_DISABLED"); return; @@ -410,7 +352,7 @@ void handlePositionCommand(int value) { sendJsonResponse("pos", "OK", value); } -void handleRelativeMoveCommand(int value) { +void handle_rmv_cmd(int value) { if (!deviceEnabled) { sendJsonResponse("rmv", "DEVICE_DISABLED"); return; @@ -424,7 +366,7 @@ void handleRelativeMoveCommand(int value) { sendJsonResponse("rmv", "OK", currentPosition); } -void handlePulsePerSecondCommand(int value) { +void handle_pps_cmd(int value) { if (value == -1) { // SET PPS Serial.print("pps\n"); @@ -438,7 +380,7 @@ void handlePulsePerSecondCommand(int value) { } } -void handleOriginCommand() { +void handle_org_cmd() { if (!deviceEnabled) { sendJsonResponse("org", "DEVICE_DISABLED"); return; @@ -451,14 +393,14 @@ void handleOriginCommand() { sendJsonResponse("org", "OK", 0); } -void handleStopCommand() { +void handle_stp_cmd() { isMoving = false; DebugSerial.println("Movement stopped"); Serial.print("stp\n"); sendJsonResponse("stp", "OK"); } -void handleZeroCommand(const char* value) { +void handle_zero_cmd(const char* value) { if (strcmp(value, "start") == 0) { Serial.print("zero start\n"); isBackZero = true; diff --git a/src/vsmd_parser.cpp b/src/vsmd_parser.cpp index ba8c22f..8edf366 100644 --- a/src/vsmd_parser.cpp +++ b/src/vsmd_parser.cpp @@ -1,7 +1,7 @@ #include "vsmd_parser.h" #include "ble.h" -extern HardwareSerial debugSerial; +extern HardwareSerial DebugSerial; // BCC 校验函数 uint8_t VSMDParser::bcc_checksum(uint8_t* data, int size) { @@ -30,30 +30,218 @@ void VSMDParser::convert(uint8_t* data, value_info& info) { info.udata |= data[4]; } -// 解析函数 -// void VSMDParser::parse(uint8_t* data, int size) { -// // if (size < 10) { -// // debugSerial.println("data too short"); -// // return; -// // } +// VSMD 解析函数 +void VSMDParser::parse(uint8_t* data, int size) { + // if (size < 10) { + // DebugSerial.println("data too short"); + // return; + // } + if (data[0] == 0xFF && data[size - 1] == 0xFE) { + uint8_t checksum = bcc_checksum(&data[1], size - 3); + if (checksum == data[size - 2]) { + switch (data[2]) { + case 1: { // dev 01 + DebugSerial.print("dev:"); + int start = 0; + while (start < size && data[start] != 'V') start++; + if (start < size) { + int end = start; + while (end < size && data[end] >= 32 && data[end] < 127) end++; + for (int i = start; i < end; i++) { + DebugSerial.print((char)data[i]); + } + DebugSerial.println(); + } else { + DebugSerial.println("dev err"); + } + break; + } + case 2: { // sts 02 + float spd = 0; + int pos = 0; + uint32_t sts = 0; + value_info info; + + convert(&data[3], info); + spd = info.fdata; + + convert(&data[8], info); + pos = info.idata; + + convert(&data[13], info); + sts = info.udata; + + DebugSerial.print("Speed: "); + DebugSerial.print(spd); + DebugSerial.print(", Position: "); + DebugSerial.print(pos); + DebugSerial.print(", Status: "); + DebugSerial.println(sts); + + break; + } + case 3: { // cfg 03 + DebugSerial.print("cfg:"); + int payloadStart = 3; + int payloadEnd = size - 3; + + if (payloadStart < payloadEnd) { + for (int i = payloadStart; i < payloadEnd; i++) { + DebugSerial.print((char)data[i]); + } + DebugSerial.println(); + } else { + DebugSerial.println(" 数据长度不足"); + } + break; + } + case 4: { // demo 04 + DebugSerial.print("demo:"); + int payloadStart = 3; + int payloadEnd = size - 3; + + if (payloadStart < payloadEnd) { + for (int i = payloadStart; i < payloadEnd; i++) { + DebugSerial.print((char)data[i]); + } + DebugSerial.println(); + } else { + DebugSerial.println(" 数据长度不足"); + } + break; + } + default: + DebugSerial.print("Unknow cmd: "); + DebugSerial.println(data[2]); + break; + } + } else { + return; + DebugSerial.println("BCC ERROR"); + DebugSerial.print("CHECK BCC: "); + DebugSerial.println(checksum); + DebugSerial.print("RES BCC: "); + DebugSerial.println(data[size - 2], HEX); + } + } else { + DebugSerial.println("Head or Tail ERROR"); + DebugSerial.print("Receive Data: "); + for (int i = 0; i < size; i++) { + DebugSerial.print(data[i], HEX); + DebugSerial.print(" "); + } + DebugSerial.println(); + } +} + + +// 新增parseInfo函数,返回解析结果 +String VSMDParser::parseInfo(uint8_t* data, int size) { + String result = ""; + + if (data[0] == 0xFF && data[size - 1] == 0xFE) { + uint8_t checksum = bcc_checksum(&data[1], size - 3); + if (checksum == data[size - 2]) { + switch (data[2]) { + case 1: { // dev 01 + int start = 0; + while (start < size && data[start] != 'V') start++; + if (start < size) { + int end = start; + while (end < size && data[end] >= 32 && data[end] < 127) end++; + for (int i = start; i < end; i++) { + result += (char)data[i]; + } + } else { + result = "dev err"; + } + break; + } + case 2: { // sts 02 + float spd = 0; + int pos = 0; + uint32_t sts = 0; + value_info info; + + convert(&data[3], info); + spd = info.fdata; + + convert(&data[8], info); + pos = info.idata; + + convert(&data[13], info); + sts = info.udata; + + result = "Speed: " + String(spd) + ", Position: " + String(pos) + ", Status: " + String(sts); + break; + } + case 3: { // cfg 03 + int payloadStart = 3; + int payloadEnd = size - 3; + + if (payloadStart < payloadEnd) { + for (int i = payloadStart; i < payloadEnd; i++) { + result += (char)data[i]; + } + } else { + result = "数据长度不足"; + } + break; + } + case 4: { // demo 04 + int payloadStart = 3; + int payloadEnd = size - 3; + + if (payloadStart < payloadEnd) { + for (int i = payloadStart; i < payloadEnd; i++) { + result += (char)data[i]; + } + } else { + result = "Not enough data"; + } + break; + } + default: + result = "Unknown cmd: " + String(data[2]); + break; + } + } else { + result = "BCC ERROR"; + } + } else { + result = "Head or Tail ERROR"; + } + + return result; +} + +// ... existing code ... +// /**************************** ble read ************************************ */ +// void VSMDParser::parse(uint8_t* data, int size) { // if (data[0] == 0xFF && data[size - 1] == 0xFE) { // uint8_t checksum = bcc_checksum(&data[1], size - 3); // if (checksum == data[size - 2]) { // switch (data[2]) { // case 1: { // dev -// debugSerial.print("dev:"); +// String response = "dev:"; // int start = 0; // while (start < size && data[start] != 'V') start++; // if (start < size) { // int end = start; // while (end < size && data[end] >= 32 && data[end] < 127) end++; // for (int i = start; i < end; i++) { -// debugSerial.print((char)data[i]); +// response += (char)data[i]; // } -// debugSerial.println(); +// response += "\n"; // } else { -// debugSerial.println("dev err"); +// response += "dev err\n"; +// } + +// // 发送通过蓝牙 +// if (pCharacteristic) { +// pCharacteristic->setValue(response.c_str()); +// pCharacteristic->notify(); // } // break; // } @@ -71,202 +259,96 @@ void VSMDParser::convert(uint8_t* data, value_info& info) { // convert(&data[13], info); // sts = info.udata; - -// debugSerial.print("Speed: "); -// debugSerial.print(spd); -// debugSerial.print(", Position: "); -// debugSerial.print(pos); -// debugSerial.print(", Status: "); -// debugSerial.println(sts); +// String response = "Speed: " + String(spd) + ", Position: " + String(pos) + ", Status: " + String(sts) + "\n"; + +// // 发送通过蓝牙 +// if (pCharacteristic) { +// pCharacteristic->setValue(response.c_str()); +// pCharacteristic->notify(); +// } // break; // } // case 3: { // cfg -// debugSerial.print("cfg:"); +// String response = "cfg:"; // int payloadStart = 3; // int payloadEnd = size - 3; // if (payloadStart < payloadEnd) { // for (int i = payloadStart; i < payloadEnd; i++) { -// debugSerial.print((char)data[i]); +// response += (char)data[i]; // } -// debugSerial.println(); +// response += "\n"; // } else { -// debugSerial.println(" 数据长度不足"); +// response += " 数据长度不足\n"; +// } + +// // 发送通过蓝牙 +// if (pCharacteristic) { +// pCharacteristic->setValue(response.c_str()); +// pCharacteristic->notify(); // } // break; // } // case 4: { // demo -// debugSerial.print("demo:"); +// String response = "demo:"; // int payloadStart = 3; // int payloadEnd = size - 3; // if (payloadStart < payloadEnd) { // for (int i = payloadStart; i < payloadEnd; i++) { -// debugSerial.print((char)data[i]); +// response += (char)data[i]; // } -// debugSerial.println(); +// response += "\n"; // } else { -// debugSerial.println(" 数据长度不足"); +// response += " 数据长度不足\n"; +// } + +// // 发送通过蓝牙 +// if (pCharacteristic) { +// pCharacteristic->setValue(response.c_str()); +// pCharacteristic->notify(); // } // break; // } // default: -// debugSerial.print("未知命令: "); -// debugSerial.println(data[2]); +// String response = "未知命令: "; +// response += data[2]; +// response += "\n"; + +// // 发送通过蓝牙 +// if (pCharacteristic) { +// pCharacteristic->setValue(response.c_str()); +// pCharacteristic->notify(); +// } // break; // } // } else { -// return; -// debugSerial.println("BCC ERROR"); -// debugSerial.print("CHECK BCC: "); -// debugSerial.println(checksum); -// debugSerial.print("RES BCC: "); -// debugSerial.println(data[size - 2], HEX); +// // BCC 校验失败 +// String response = "BCC ERROR\nCHECK BCC: "; +// response += checksum; +// response += "\nRES BCC: "; +// response += data[size - 2], HEX; +// response += "\n"; + +// // 发送通过蓝牙 +// if (pCharacteristic) { +// pCharacteristic->setValue(response.c_str()); +// pCharacteristic->notify(); +// } // } // } else { -// debugSerial.println("Head or Tail ERROR"); -// debugSerial.print("Receive Data: "); +// String response = "Head or Tail ERROR\nReceive Data: "; // for (int i = 0; i < size; i++) { -// debugSerial.print(data[i], HEX); -// debugSerial.print(" "); +// response += data[i], HEX; +// response += " "; +// } +// response += "\n"; + +// // 发送通过蓝牙 +// if (pCharacteristic) { +// pCharacteristic->setValue(response.c_str()); +// pCharacteristic->notify(); // } -// debugSerial.println(); // } // } - -/**************************** ble read ************************************ */ -void VSMDParser::parse(uint8_t* data, int size) { - if (data[0] == 0xFF && data[size - 1] == 0xFE) { - uint8_t checksum = bcc_checksum(&data[1], size - 3); - if (checksum == data[size - 2]) { - switch (data[2]) { - case 1: { // dev - String response = "dev:"; - int start = 0; - while (start < size && data[start] != 'V') start++; - if (start < size) { - int end = start; - while (end < size && data[end] >= 32 && data[end] < 127) end++; - for (int i = start; i < end; i++) { - response += (char)data[i]; - } - response += "\n"; - } else { - response += "dev err\n"; - } - - // 发送通过蓝牙 - if (pCharacteristic) { - pCharacteristic->setValue(response.c_str()); - pCharacteristic->notify(); - } - break; - } - case 2: { // sts - float spd = 0; - int pos = 0; - uint32_t sts = 0; - value_info info; - - convert(&data[3], info); - spd = info.fdata; - - convert(&data[8], info); - pos = info.idata; - - convert(&data[13], info); - sts = info.udata; - - String response = "Speed: " + String(spd) + ", Position: " + String(pos) + ", Status: " + String(sts) + "\n"; - - // 发送通过蓝牙 - if (pCharacteristic) { - pCharacteristic->setValue(response.c_str()); - pCharacteristic->notify(); - } - break; - } - case 3: { // cfg - String response = "cfg:"; - int payloadStart = 3; - int payloadEnd = size - 3; - - if (payloadStart < payloadEnd) { - for (int i = payloadStart; i < payloadEnd; i++) { - response += (char)data[i]; - } - response += "\n"; - } else { - response += " 数据长度不足\n"; - } - - // 发送通过蓝牙 - if (pCharacteristic) { - pCharacteristic->setValue(response.c_str()); - pCharacteristic->notify(); - } - break; - } - case 4: { // demo - String response = "demo:"; - int payloadStart = 3; - int payloadEnd = size - 3; - - if (payloadStart < payloadEnd) { - for (int i = payloadStart; i < payloadEnd; i++) { - response += (char)data[i]; - } - response += "\n"; - } else { - response += " 数据长度不足\n"; - } - - // 发送通过蓝牙 - if (pCharacteristic) { - pCharacteristic->setValue(response.c_str()); - pCharacteristic->notify(); - } - break; - } - default: - String response = "未知命令: "; - response += data[2]; - response += "\n"; - - // 发送通过蓝牙 - if (pCharacteristic) { - pCharacteristic->setValue(response.c_str()); - pCharacteristic->notify(); - } - break; - } - } else { - // BCC 校验失败 - String response = "BCC ERROR\nCHECK BCC: "; - response += checksum; - response += "\nRES BCC: "; - response += data[size - 2], HEX; - response += "\n"; - - // 发送通过蓝牙 - if (pCharacteristic) { - pCharacteristic->setValue(response.c_str()); - pCharacteristic->notify(); - } - } - } else { - String response = "Head or Tail ERROR\nReceive Data: "; - for (int i = 0; i < size; i++) { - response += data[i], HEX; - response += " "; - } - response += "\n"; - - // 发送通过蓝牙 - if (pCharacteristic) { - pCharacteristic->setValue(response.c_str()); - pCharacteristic->notify(); - } - } -} diff --git a/src/vsmd_parser.h b/src/vsmd_parser.h index 7ee5b96..317bd2c 100644 --- a/src/vsmd_parser.h +++ b/src/vsmd_parser.h @@ -4,7 +4,6 @@ #include #include "ble.h" - // 联合体定义：用于数据转换 typedef union { float fdata; @@ -17,7 +16,8 @@ class VSMDParser { public: VSMDParser(); - void parse(uint8_t* data, int size); + void parse(uint8_t* data, int size); //串口打印 + String parseInfo(uint8_t* data, int size); // 新增方法,retuen Info private: // BCC校验函数