slambb_smartbow-infrared/Assets/InfraredCamera/Scripts/ConnetDevicesSingle.cs

using System.Collections.Generic;
using UnityEngine;
using ArduinoBluetoothAPI;
using System;
using System.Text;
using UnityEngine.UI;
using DG.Tweening;
using System.Collections;

namespace InfraredManager
{
    public class ConnetDevicesSingle : MonoBehaviour
    {
        #region 
        #endregion
        #region 连接弓箭蓝牙部分
        private BluetoothHelper bluetoothHelperBow;
        public BluetoothHelper mBluetoothHelperBow
        {
            get
            {
                return bluetoothHelperBow;
            }
        }
        private BluetoothHelperCharacteristic characteristicWriteBow;
        private BluetoothHelperService bluetoothServiceBow;
        private string bowTargetDeviceName = "Bbow_20210501";
        private string bowDeviceName = "";
        string bowDeviceService = "0000fff0";
        string bowDeviceCharacteristicWrite = "0000fff2";
        string bowDeviceCharacteristicNotify = "0000fff1";
        private bool isBowScanning;
        public bool mIsBowScanning
        {
            get
            {
                return isBowScanning;
            }
        }
        private bool isBowConnecting;
        public bool mIsBowConnecting
        {
            get
            {
                return isBowConnecting;
            }
        }
        private string data;


        private int _receivedDataCount = 0;
        public string macAddress = null;
        private string inputStr = "";

        #endregion

        private LinkedList<BluetoothDevice> devices;

        #region log输出
        public Action<string> OnLogAction;
        void logOutBow(string text)
        {
            Debug.Log("logOutBow:" + text);
            OnLogAction?.Invoke(text);
        }
        #endregion

        public static ConnetDevicesSingle ins;

        //默认关闭准心
        public bool bCrosshair = false;

        #region 红外Demo相关监听操作
        public Action<Vector3> posAction;
        public Action<int> infraredShootAction;
        public Action<bool> crosshairAction;
        #endregion

        void Awake()
        {
            //初始化
            ins = this;
            Debug.Log("ConnetDevicesSingle！");
            OnUpdateState();
        }
        //获取一次初始值
        public void OnInitConfig()
        {

        }
        public void OnUpdateState()
        {

        }

        public void ButtonShoot()
        {



            posAction?.Invoke(new Vector3(1 * Screen.width, 1 * Screen.height, 0));
            //调用游戏中的射箭接口
            if (ArmBow.ins)
            {
                ArmBow.ins.ADS_fire(true);
            }
            else
            {
                OnGameShoot?.Invoke(10);
            }
        }

        public void onShowCrosshair()
        {
            //显示游戏光标
            PlayerPrefs.SetInt("CrossHairImageActive", 1);
            bCrosshair = true;
            crosshairAction?.Invoke(true);

        }
        public void onHideCrosshair()
        {
            //隐藏游戏光标
            PlayerPrefs.SetInt("CrossHairImageActive", 0);
            bCrosshair = false;
            crosshairAction?.Invoke(false);


        }
        // Start is called before the first frame update
        void Start()
        {
            
        }
        public void ConnectBLE()
        {
            logOutBow("连接蓝牙 BluetoothHelperAndroid");

            if (BluetoothHelperAndroid.IsBluetoothEnabled() == false)
            {
                Debug.Log("蓝牙未打开！");
                logOutBow("蓝牙未打开!");
                return;
            }

            if (BluetoothHelperAndroid.RequestBluetoothPermissions(ConnectBLE, (permission) => {
                if (permission.Contains("LOCATION"))
                {
                    logOutBow("LOCATION 权限未开！");
                }
                else if (permission.Contains("BLUETOOTH"))
                {
                    logOutBow("蓝牙权限未开！");
                }
            })) return;

            data = "";
            try
            {


                BluetoothHelper.BLE = true;
                bluetoothHelperBow = BluetoothHelper.GetNewInstance();
                bluetoothHelperBow.OnConnected += OnConnected;
                bluetoothHelperBow.OnConnectionFailed += OnConnectionFailed;
                bluetoothHelperBow.OnScanEnded += OnScanEnded2;
                bluetoothHelperBow.OnCharacteristicChanged += (helper, value, characteristic) =>
                {
                    //if (helper != bluetoothHelperBow) return;

                    byte[] bytes = value;
                    //九轴数据反馈
                    //Debug.Log("Hex:"+ ToHexStrFromByte(bytes) +" ,长度:"+ bytes.Length);

                    if (inputStr == "M") ParseMacAddress(value);

                    if (bytes.Length != 27 && bytes.Length != 39)
                    {
                        if (bytes.Length == 2)
                        {
                            if (bytes[0] == 0x66 && bytes[1] == 0x31)
                            {
                                //短按功能键
                                logOutBow("短按功能键");
                            }
                            else if (bytes[0] == 0x66 && bytes[1] == 0x32)
                            {
                                //长按功能键
                                logOutBow("长按功能键");
                            }
                            else if (bytes[1] == 10)
                            {
                                //电量
                                logOutBow("电量:"+ bytes[0]);
                            }
                        }
                        else if (bytes[0] == 0x5b)
                        {
                           // Debug.Log("射箭:" + bytes.ToString());
                            //logOutBow("射箭");
                            //红外线检测到射箭
                            OnInfraredDataReceived(bytes);
                        }
                    }

                    if (inputStr != "") {
                        Debug.Log("清除指令："+ inputStr);
                        inputStr = "";
                    }
                };

            }
            catch (Exception e)
            {
                Debug.LogError(e);
            }


            StartCoroutine(delayStartBle());
        }

        //Bow扫描结束
        void OnScanEnded2(BluetoothHelper helper, LinkedList<BluetoothDevice> nearbyDevices)
        {
            Debug.Log("2 ended " + nearbyDevices.Count);
            logOutBow("2 ended " + nearbyDevices.Count);
            if (nearbyDevices.Count == 0)
            {
                isBowScanning = helper.ScanNearbyDevices();
                return;
            }
            isBowScanning = false;
            foreach (BluetoothDevice device in nearbyDevices)
            {
                Debug.Log(device.DeviceName);
                if (device.DeviceName == bowTargetDeviceName)
                {
                    logOutBow("匹配设备 " + device.DeviceName);
                    bowDeviceName = bowTargetDeviceName;
                    helper.setDeviceName(bowDeviceName);
                    helper.Connect();
                    isBowConnecting = true;
                }
            }
        }

        void OnConnected(BluetoothHelper helper)
        {
            if (helper.getId() == bluetoothHelperBow.getId())
            {
                Debug.Log("2 连接成功:" + helper.getDeviceName());
                logOutBow("弓箭 连接成功:" + helper.getDeviceName());
                isBowConnecting = false;
                foreach (BluetoothHelperService service in helper.getGattServices())
                {
                    if (service.getName().ToLower().StartsWith(bowDeviceService))
                    {
                        bluetoothServiceBow = service;
                        foreach (BluetoothHelperCharacteristic characteristic in service.getCharacteristics())
                        {
                            if (characteristic.getName().ToLower().StartsWith(bowDeviceCharacteristicWrite))
                            {
                                characteristicWriteBow = characteristic;
                            }
                            else if (characteristic.getName().ToLower().StartsWith(bowDeviceCharacteristicNotify))
                            {
                                BluetoothHelperCharacteristic ch = new BluetoothHelperCharacteristic(characteristic.getName());
                                ch.setService(bluetoothServiceBow.getName());
                                bluetoothHelperBow.Subscribe(ch);
                            }
                        }
                    }
                }

                StartCoroutine(InitWhenConnected());
            }

        }

        void OnConnectionFailed(BluetoothHelper helper)
        {

            Debug.Log("Connection lost");
            if (helper.getId() == bluetoothHelperBow.getId())
            {
                isBowConnecting = false;
                _receivedDataCount = 0;
                macAddress = null;
                moduleInited = false;
                logOutBow("弓箭断开连接");
            }
        }

        IEnumerator delayStartBle() {
            yield return new WaitForSeconds(1.0f);
            OnBowScanNearbyDevices();
        }
        //Connect bow ble
        public void OnBowScanNearbyDevices()
        {
            if (bluetoothHelperBow == null)
            {
                return;
            }
            if (!bluetoothHelperBow.isConnected() && !isBowScanning && !isBowConnecting)
            {
                //未连接，未扫描，不是连接中
                if (BluetoothHelperAndroid.IsBluetoothEnabled() == false)
                {
                    Debug.Log("exception1");
                    logOutBow("蓝牙未打开");
                    return;
                }

                if (BluetoothHelperAndroid.RequestBluetoothPermissions(() =>
                {
                    //开始扫描。调用最后一个bluetoothHelperBow扫描即可
                    isBowScanning = bluetoothHelperBow.ScanNearbyDevices();
                    logOutBow("开始扫描连接！");
                }, (permission) =>
                {
                    if (permission.Contains("LOCATION"))
                    {
                        Debug.LogError("Exception：LOCATION");
                        logOutBow("Exception：LOCATION");
                    }
                    else if (permission.Contains("BLUETOOTH"))
                    {
                        Debug.LogError("Exception： BLUETOOTH");
                        logOutBow("Exception：BLUETOOTH");
                    }
                })) return;
                isBowScanning = bluetoothHelperBow.ScanNearbyDevices();
                logOutBow("开始扫描连接！");
            }
            else if (!bluetoothHelperBow.isConnected() && isBowScanning)
            {
                //扫描中
                logOutBow("扫描中...");
            }
            else if (bluetoothHelperBow.isConnected())
            {
                logOutBow("断开Bow连接");
                //已连接，断开连接
                bluetoothHelperBow.Disconnect();
            }
        }


        private void Update()
        {
            LoopHandleCommands();
        }

        void OnDestroy()
        {

            if (bluetoothHelperBow != null)
            {
                bluetoothHelperBow.Disconnect();
                OnDisconnect();
            }

        }

        /// <summary>
        /// 字节数组转16进制字符串：空格分隔
        /// </summary>
        /// <param name="byteDatas"></param>
        /// <returns></returns>
        public string ToHexStrFromByte(byte[] byteDatas)
        {
            StringBuilder builder = new StringBuilder();
            for (int i = 0; i < byteDatas.Length; i++)
            {
                builder.Append(string.Format("{0:X2} ", byteDatas[i]));
            }
            return builder.ToString().Trim();
        }
        /// <summary>
        /// 字符串转16进制
        /// </summary>
        /// <param name="input">要转格式的字符串</param>

        public byte[] Convert16(string strText)
        {
            strText = strText.Replace(" ", "");
            strText = strText.Replace(" ", "");
            Debug.Log(strText);
            byte[] bText = new byte[strText.Length / 2];
            for (int i = 0; i < strText.Length / 2; i++)
            {
                bText[i] = Convert.ToByte(Convert.ToInt32(strText.Substring(i * 2, 2), 16));
            }
            return bText;
        }




        string getBytesToIndex(byte[] bytes, int index)
        {
            StringBuilder builderCrosshair = new StringBuilder();
            builderCrosshair.Append(string.Format("{0:X2}", bytes[index]));
            return builderCrosshair.ToString().Trim();
        }
        float onVectorValue(byte[] bytes, int startIndex)
        {
            //整数部分
            string intPartHex = string.Format("{0:X2}", bytes[startIndex]).ToString().Trim(); ;
            int intPartNumber = Convert.ToInt32(intPartHex, 16);
            StringBuilder builder = new StringBuilder();
            for (int i = 0; i < 2; i++)
            {
                builder.Append(string.Format("{0:X2}", bytes[i + startIndex + 1]));
            }
            string dataHex = builder.ToString().Trim();
            int decimalPartNumber = Convert.ToInt32(dataHex, 16);
            return intPartNumber + (float)decimalPartNumber / 32768;
        }

        #region 自动进入/退出休眠状态, 这里做程指令发送队列，为了控制连续发送指令的间隔，避免硬件收不到或处理不过来
        public bool moduleInited;
        private string _connectedHandlerID = "";
        IEnumerator InitWhenConnected()
        {
            string myConnectedHandlerID = Guid.NewGuid().ToString();
            _connectedHandlerID = myConnectedHandlerID;
            yield return new WaitForSecondsRealtime(2.2f);
            Queue<string> cmds = new Queue<string>(new string[] { "M", "b", "b", "1"});
            while (cmds.Count > 0)
            {
                if ( myConnectedHandlerID != _connectedHandlerID) yield break;
                string cmd = cmds.Dequeue();
                onWriteDataToBow(cmd);
                yield return new WaitForSecondsRealtime(0.3f);
            }
            if ( myConnectedHandlerID != _connectedHandlerID) yield break;
            //StartCoroutine(LoopRequestBattery(myConnectedHandlerID));
            moduleInited = true;
            //smartBowHelper.InvokeOnBluetoothModuleInited();
            StartCoroutine(RequestShoot(myConnectedHandlerID));

        }
        IEnumerator RequestShoot(string myConnectedHandlerID)
        {
            yield return new WaitForSeconds(1.0f);
            if (myConnectedHandlerID == _connectedHandlerID) {
                AddCommandToQueue("w");
                StartCoroutine(RequestAxis(myConnectedHandlerID));
            }
        }
        IEnumerator RequestAxis(string myConnectedHandlerID)
        {
            yield return new WaitForSeconds(1.0f);
            if (myConnectedHandlerID == _connectedHandlerID)
            {
                AddCommandToQueue("3");
            }
        }
        private List<string> _commands = new List<string>();
        void LoopHandleCommands()
        {
            if (bluetoothHelperBow == null) return;
            if (!bluetoothHelperBow.isConnected() || !moduleInited)
            {
                if (_commands.Count > 0) _commands.Clear();
                return;
            }
            if (Time.realtimeSinceStartup - _lastWriteDataTime < 0.2f) return;
            if (_commands.Count == 0) return;
            string cmd = _commands[0];
            _commands.RemoveAt(0);
            onWriteDataToBow(cmd);
        }
        bool AddCommandToQueue(string cmd)
        {
            if (bluetoothHelperBow == null) return false;
            if (!bluetoothHelperBow.isConnected() || !moduleInited) return false;
            //如果待插入的指令跟队尾的指令一样，就不要插入了，因为冗余的指令无意义
            if (_commands.Count > 0 && _commands[_commands.Count - 1].Equals(cmd)) return true;
            _commands.Add(cmd);
            return true;
        }
        public void RequestMac()
        {
            macAddress = null;
             AddCommandToQueue("M");
        }

        public void RequestBattery1()
        {
             AddCommandToQueue("b");
        }

        public void Request1()
        {
             AddCommandToQueue("1");
        }

        public void RequestOpen9Axis()
        {
             AddCommandToQueue("3");
        }

        public void RequestClose9Axis()
        {
             AddCommandToQueue("4");
        }

        public void RequestOpenInfrared()
        {
             AddCommandToQueue("w");
        }

        public void RequestCloseInfrared()
        {
             AddCommandToQueue("s");
        }

        #endregion
        #region 弓箭部分代码操作
        public Action<float> OnGameShoot;
        //[NonSerialized] public byte byteTime1;
        //[NonSerialized] public byte byteTime2;
        /**通过红外线数据进行射击 */
  
        /// <summary>
        /// 游戏里箭的速度
        /// </summary>
        public float gameArrowSpeed = 0;
        /// <summary>
        /// 上一次的射击数据ID
        /// </summary>
        private int _lastShootID = -1;

        /// <summary>
        /// 当收到红外数据时
        /// </summary>
        /// <param name="bytes"></param>
        public void OnInfraredDataReceived(byte[] bytes)
        {
            //序号
            int id = bytes[1];
            if (id == _lastShootID) return; //因为硬件为了避免丢包，会连续发几条相同射击通知过来
            _lastShootID = id;
            //时区1耗时
            float time1 = bytes[2] * 0.1f;
            //时区2耗时
            float time2 = bytes[3] * 0.1f;
            //时区耗时总和
            float totalTime = time1 + time2;
            //校验和
            int sumCheck = (bytes[0] + bytes[1] + bytes[2] + bytes[3]) & 0xff;
            //校验和比较结果
            bool sumCheckRes = sumCheck == bytes[4];
            //实体箭速度
            float solidArrowSpeed = 0.05f / (totalTime / 1000f);
            //通过动能定理求箭的速度（实体箭质量*实体箭速度^2=游戏中箭的质量*游戏中箭的速度^2）
            gameArrowSpeed = Mathf.Sqrt(solidArrowSpeed * solidArrowSpeed * CommonConfig.arrowWeight / UserSettings.ins.actualArrowWeight);
            //打印
            string logInfo = $"序号{id}，时区1：{time1}毫秒，时区2：{time2}毫秒，校验：{sumCheckRes}，实体箭速度：{solidArrowSpeed}m/s，游戏箭速度：{gameArrowSpeed}m/s";
            logOutBow( logInfo);
            //收到正确的射箭数据，就回复硬件，否则n毫秒后硬件会认为丢包而进行重传
            if (sumCheckRes) ReplyInfraredShoot();
            //通知九轴算法，因为射箭抖动会使算法计算的姿态角产生误差
            //打开准心的时候，直接调用射击接口
            if (ArmBow.ins)
            {
                ArmBow.ins.ADS_fire(true, gameArrowSpeed);
            }
            else if (DuckHunter.SmartBowController.Instance)
            {
                DuckHunter.SmartBowController.Instance.OnShooting(gameArrowSpeed);
            }
            //smartBowHelper.InvokeOnShooting(gameArrowSpeed);
        }
        //断开弓箭连接
        void OnDisconnect()
        {
            //DestroyWhenDisconenct();
        }
        public void RequestBattery()
        {
            onWriteDataToBow("b");
        }
        //回复弓箭红外
        public void ReplyInfraredShoot()
        {
            onWriteDataToBow("I");
        }
        private float _lastWriteDataTime;
        public void onWriteDataToBow(string data)
        {
            BluetoothHelperCharacteristic ch = new BluetoothHelperCharacteristic(characteristicWriteBow.getName());
            ch.setService(bluetoothServiceBow.getName());
            bluetoothHelperBow.WriteCharacteristic(ch, data);
            _lastWriteDataTime = Time.realtimeSinceStartup;
            //logOutBow("onWriteDataToBow:"+data);
            inputStr = data;
        }


        void ParseMacAddress(byte[] bytes)
        {
            //logOutBow("ParseMacAddress!");
            string mac = System.Text.Encoding.ASCII.GetString(bytes);
            if (mac != null) mac = mac.Trim();
            if (CheckIsMacValid(mac))
            {
                macAddress = mac;
                logOutBow("MacAddress解析成功:"+ macAddress);
                //获取MacAddress对应的校准记录
    
            }
            else logOutBow("MacAddress解析失败");
        }

        bool CheckIsMacValid(string mac)
        {
            if (mac == null) return false;
            if (!mac.StartsWith("{")) return false;
            if (!mac.EndsWith("}")) return false;
            if (!mac.Contains(":")) return false;
            char[] validChars = { '{', '}', ':', '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F' };
            foreach (var c in mac.ToCharArray())
            {
                if (Array.IndexOf(validChars, c) == -1) return false;
            }
            if (mac.Length != 19) return false;
            string macNoneFrame = mac.Substring(1, mac.Length - 2);
            string[] macNoneFrameSplits = macNoneFrame.Split(':');
            if (macNoneFrameSplits.Length != 6) return false;
            foreach (var item in macNoneFrameSplits)
            {
                if (item.Length != 2) return false;
                foreach (var c in item.ToCharArray())
                    if (Array.IndexOf(validChars, c) < 3) return false;
            }
            return true;
        }
        #endregion
    }
}