yichael_smartbow/Assets/BowArrow/Scripts/Bluetooth/BluetoothD.cs

using ArduinoBluetoothAPI;
using System;
using UnityEngine;

public class BluetoothD : MonoBehaviour
{
    
    BluetoothHelper bluetoothHelper;
    private bool btnCanClick = true;
    private float roll = 0;
    private float pitch = 0;
    private float yaw = 0;
    private float baseX = 0;//EulerAngleX
    private float baseY = 0;//EulerAngleY
    private float baseZ = 0;//EulerAngleY
    private int ReceiveDataCount = 0;
    private bool hasSetBasePoint = false;
    public static GameObject controlTarget;

    public static BluetoothD ins;

    void Start() 
    {
        ins = this;
        try {
            BluetoothHelper.BLE = false;
            bluetoothHelper = BluetoothHelper.GetNewInstance("HC-06");
            bluetoothHelper.setFixedLengthBasedStream(11);

            bluetoothHelper.OnConnected += (BluetoothHelper helper) =>
            {
                Log("连接成功");
                bluetoothHelper.StartListening();
                Log("开始采集信息\n" + bluetoothHelper.getDeviceName());
            };
            bluetoothHelper.OnConnectionFailed += (BluetoothHelper helper) =>
            {
                btnCanClick = true;
                Log("连接失败");
            };
            bluetoothHelper.OnDataReceived += (BluetoothHelper helper) =>
            {
                byte[] bytes = helper.ReadBytes();
                if (bytes[1] == 89) {
                    float q1 = TwoByteToFloat(bytes[3], bytes[2]);
                    float q2 = TwoByteToFloat(bytes[5], bytes[4]);
                    float q3 = TwoByteToFloat(bytes[7], bytes[6]);
                    float q4 = TwoByteToFloat(bytes[9], bytes[8]);
                    q1 = q1 / 32768;
                    q2 = q2 / 32768;
                    q3 = q3 / 32768;
                    q4 = q4 / 32768;
                    q2 = 0f - q2;
                    q3 = 0f - q3;
                    ReceiveDataCount++;

                    if (controlTarget != null) {
                        controlTarget.transform.rotation = new Quaternion(q2, q1, q3, q4);
                        pitch = controlTarget.transform.eulerAngles.x;
                        yaw = controlTarget.transform.eulerAngles.y;
                        roll = controlTarget.transform.eulerAngles.z;
                        controlTarget.transform.eulerAngles = new Vector3(controlTarget.transform.eulerAngles.x + baseX, controlTarget.transform.eulerAngles.y + baseY, controlTarget.transform.eulerAngles.z + baseZ);
                    }

                    Log(q1 + ", " + q2 + ", " + q3 + ", " + q4);
                }
            };
        } catch (Exception e) {
            Debug.Log(e.Message);
            Log("请打开蓝牙");
        }
        this.Invoke("Connect", 1);
    }

    void OnDestroy() 
    {
        if (bluetoothHelper != null) {
            bluetoothHelper.Disconnect();
        }
    }

    public void SetBasePoint() 
    {
        baseX = -pitch;
        baseY = 90 -yaw;
        baseZ = -90 -roll ;
        if (ReceiveDataCount > 10) {
            hasSetBasePoint = true;
        }
    }

    public void AutoSetBasePoint() 
    {
        if (!hasSetBasePoint && ReceiveDataCount > 10 && (roll > 87 && roll < 93) && (pitch < 3 || pitch > 357)) {
            SetBasePoint();
        }
    }

    public void Connect()
    {
        if (!btnCanClick) {
            return;
        }
        btnCanClick = false;
        try {
            if (bluetoothHelper != null) {
                bluetoothHelper.Connect();
                Log("正在扫描设备");
            } else {
                btnCanClick = true;
                Log("蓝牙初始化失败");
            }
        } catch (Exception e) {
            btnCanClick = true;
            Debug.Log(e.Message);
            Log("请先配对蓝牙");
        }
    }

    float TwoByteToFloat(byte b1, byte b2) 
    {
        ushort twoByte = (ushort) (b1 * 256 + b2);
        short shortNum = (short) twoByte;
        return (float) shortNum; 
    }

    void Log(string text) 
    {
        
    }
}