Merge pull request #4 from MiRoboticsLab/v1.3.0.0

V1.3.0.0

Author: ruheng

connector/config/wifi.toml

@@ -1,5 +1,4 @@
 [wifi]
-user_boots_first_time = false
 [wifi.ssid]
 password = "password"
 provider = "provider"

connector/config/wifirecord.toml

@@ -0,0 +1,4 @@
+[wifi]
+[wifi.ssid]
+type = "type"
+provider = "ip"

connector/include/connector/connector.hpp

@@ -42,6 +42,11 @@
 #include <std_msgs/msg/string.hpp>
 #include <std_msgs/msg/bool.hpp>
 
+#include <protocol/msg/wifi_info.hpp>
+#include <protocol/msg/notify_to_app.hpp>
+#include <protocol/msg/bluetooth_status.hpp>
+#include <protocol/msg/bledfu_progress.hpp>
+
 #include <protocol/msg/audio_play.hpp>
 #include <protocol/msg/connector_status.hpp>
 #include <protocol/msg/touch_status.hpp>
@@ -68,7 +73,7 @@ namespace cyberdog
 namespace interaction
 {
 namespace py = pybind11;
-static const unsigned int LINE_MAX_SIZE {16384};                      /*!< 行最大值:2kb */
+static const unsigned int LINE_MAX_SIZE {16384};  /*!< 行最大值:2kb */
 
 /*! \file       connector.hpp
     \brief      连接模块。
@@ -94,7 +99,13 @@ class Connector final : public rclcpp::Node
   using LedSrv = protocol::srv::LedExecute;                   /*!< [service 类型]LED 驱动服务 */
   using CameraSrv = protocol::srv::CameraService;             /*!< [service 类型]相机 驱动服务 */
 
-  using TimeType = std::chrono::time_point<std::chrono::system_clock>;      /*!< 超时 */
+  using NotifyToAppMsg = protocol::msg::NotifyToApp;  /*!< [topic 类型]通知APP连接状态消息 */
+  using WIFIINFOMSG = protocol::msg::WifiInfo;
+  using BLUETOOTHSTATUSMSG = protocol::msg::BluetoothStatus;
+  using ConnectorStatus = std_msgs::msg::String;
+  using BLEDfuProgressMsg = protocol::msg::BLEDFUProgress;
+
+  using TimeType = std::chrono::time_point<std::chrono::system_clock>;    /*!< 超时 */
   enum ShellEnum
   {
     shell = 1993,     /*!< 异常结束, 执行shell命令错误 */
@@ -110,16 +121,16 @@ class Connector final : public rclcpp::Node
     const std::function<uint(uint16_t)>,
     const std::function<uint(uint8_t)>,
     const std::function<uint(uint16_t)>,
-    const std::function<uint(
-      const std::string,
-      const std::string)>);                                   /*!< 初始化 */
+    const std::function<uint(const std::string, const std::string)>,
+    const std::function<bool(bool)>);                                   /*!< 初始化 */
 
 public:
   std::function<uint(uint16_t)> CtrlAudio;                    /*!< [客户端]控制语音 */
   std::function<uint(uint8_t)> CtrlCamera;                    /*!< [客户端]控制相机 */
   std::function<uint(uint16_t)> CtrlLed;                      /*!< [客户端]控制led */
   std::function<uint(const std::string, const std::string)>
   CtrlWifi;                                                   /*!< [客户端]控制wifi */
+  std::function<bool(bool)> CtrlAdvertising;                    /*!< [客户端]控制蓝牙 */
 
 private:
   bool InitPythonInterpreter();                               /*!< 初始化 python 解释器 */
@@ -183,6 +194,28 @@ class Connector final : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr touch_cb_group_ {nullptr};         /*!< [回调组] touch */
   rclcpp::CallbackGroup::SharedPtr img_cb_group_ {nullptr};           /*!< [回调组] img */
   rclcpp::CallbackGroup::SharedPtr pub_cb_group_ {nullptr};           /*!< [回调组] pub */
+
+  void APPSendWiFiCallback(const protocol::msg::WifiInfo::SharedPtr msg);
+  void AppConnectState(const std_msgs::msg::Bool msg);
+  void BtStatusCallback(const protocol::msg::BluetoothStatus::SharedPtr msg);
+  void BledfuProgressCallback(const BLEDfuProgressMsg::SharedPtr msg);
+  bool WriteToFile(
+    const std::string ssid,
+    const std::string ip,
+    const std::string type);
+
+  NotifyToAppMsg notify_to_app_msg_;
+  ConnectorStatus connector_status_msg_;
+  rclcpp::Subscription<WIFIINFOMSG>::SharedPtr wifi_info_sub_ {nullptr};
+  rclcpp::Publisher<NotifyToAppMsg>::SharedPtr notify_to_app_pub_ {nullptr};
+  rclcpp::Subscription<BLUETOOTHSTATUSMSG>::SharedPtr bluetooth_status_sub_ {nullptr};
+  rclcpp::Subscription<BLEDfuProgressMsg>::SharedPtr bledfu_progress_sub_ {nullptr};
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr connector_init_pub_ {nullptr};
+  std::string wifi_record_dir_ {""};   /*!< wifi 类型记录文件路径 */
+  bool connect_network_status = true;
+  int connect_code = -1;
+  bool bledfu_progress_status = true;
+  bool camera_callback_flag = false;
 };  // class Connector
 }  // namespace interaction
 }  // namespace cyberdog

connector/include/connector/ctrl_bluetooth.hpp

@@ -0,0 +1,69 @@
+// Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef CONNECTOR__CTRL_BLUETOOTH_HPP_
+#define CONNECTOR__CTRL_BLUETOOTH_HPP_
+
+#include <unistd.h>
+#include <string>
+#include <iostream>
+#include <sstream>
+#include <regex>
+#include <vector>
+#include <cstdlib>
+#include <cstdio>
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/wait_set.hpp"
+#include "cyberdog_common/cyberdog_log.hpp"
+#include "cyberdog_common/cyberdog_toml.hpp"
+#include "protocol/msg/audio_play.hpp"
+#include "protocol/msg/bluetooth_status.hpp"
+#include "protocol/srv/bms_cmd.hpp"
+#include "std_srvs/srv/trigger.hpp"
+
+namespace cyberdog
+{
+namespace interaction
+{
+class CtrlBluetooth final : public rclcpp::Node
+{
+public:
+  explicit CtrlBluetooth(const std::string name);
+  ~CtrlBluetooth();
+  bool CtrlAdvertising(bool enable);
+
+  bool WriteToFile(
+    const std::string ssid,
+    const std::string ip,
+    const std::string type);
+  bool IsConnectApp();
+
+private:
+  bool Init();
+  std::string runCommand(const std::string & cmd);
+  std::vector<std::string> parseConnectionsOutput(const std::string & output);
+  void BluetoothStatusCallback(
+    const protocol::msg::BluetoothStatus::SharedPtr msg);
+  bool DisconnectBluetooth();
+
+private:
+  int bluetooth_connect_status_ = -1;
+  int bluetooth_advertising_status_ = -1;
+
+  rclcpp::Subscription<protocol::msg::BluetoothStatus>::SharedPtr bluetooth_status_sub_ {nullptr};
+  rclcpp::Client<protocol::srv::BmsCmd>::SharedPtr control_advertise_client_ {nullptr};
+  rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr disconnect_app_bt_srv_ {nullptr};
+};  // class CtrlBluetooth
+}  // namespace interaction
+}  // namespace cyberdog
+#endif  // CONNECTOR__CTRL_BLUETOOTH_HPP_