HandDriverUPM/HandDriver/SDK/Android Bluetooth SDK/CoreScripts/UDE_API.cs

using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using UnityEngine;
using static Pc2McuProto;

public static class UDE_API
{
    private const string package_name = "cn.wch.ch9140lib";

    static AndroidJavaClass UnityPlayer;
    static AndroidJavaObject CurrentActivity;
    static AndroidJavaObject App;
    static AndroidJavaClass CH9140BluetoothManager;
    static AndroidJavaObject ManagerInstance;

    static ConcurrentDictionary<string, string> DeviceMacDir; //线程保护的字典,key是蓝牙名,value是mac地址

    static ConcurrentDictionary<string, UDE_Device> DeviceDir;

    private static bool isSearchVaild = true; //是否准许搜索设备

    static ConcurrentDictionary<string, bool> DeviceConnectState;


    /// <summary>
    /// 初始化
    /// </summary>
    public static void UDE_Init()
    {
        DeviceConnectState = new ConcurrentDictionary<string, bool>();
        DeviceMacDir = new ConcurrentDictionary<string, string>();
        DeviceDir = new ConcurrentDictionary<string, UDE_Device>();

        // UnityPlayer = new AndroidJavaClass("com.unity3d.player.UnityPlayer");
        // CurrentActivity = UnityPlayer.GetStatic<AndroidJavaObject>("currentActivity");
        // App = CurrentActivity.Call<AndroidJavaObject>("getApplication");
        //
        // CH9140BluetoothManager = new AndroidJavaClass(package_name + ".CH9140BluetoothManager");
        // ManagerInstance = CH9140BluetoothManager.CallStatic<AndroidJavaObject>("getInstance");
        //
        // ManagerInstance.Call("init", App);
        BluetoothLEHardwareInterface.Initialize(true, false, () => { },
            (error) => { Debug.LogError($"UDE Init Faild ,{error}"); });
        //registerSerialModemNotify();
        Debug.Log("UDE:" + "Init Success!!");
    }


    /// <summary>
    /// 启动搜索设备
    /// </summary>
    public static void StartEnumDevices()
    {
        DeviceDir.Clear();
        BluetoothLEHardwareInterface.ScanForPeripheralsWithServices(null, (address, name) =>
        {
            if (name.Contains("UDST"))
            {
                Debug.Log("UDE:" + $"Enum Result {name}");

                if (string.IsNullOrEmpty(address))
                {
                    Debug.Log("UDE:" + "Device is Invalid!！");
                    //LogUtil.d("该设备不是合法设备");
                    return;
                }

                RegisterDevice(name, address);
            }
        }, null);
        // EnumResult enumResult = new EnumResult();//创建一个回调对象
        // Debug.Log("UDE:" + "Start Enum Devices!!");
        // ManagerInstance.Call("startEnumDevices", enumResult);
        // Debug.Log("UDE:" + "Start Enum Devices Success!!");
    }

    /// <summary>
    /// 停止搜索设备
    /// </summary>
    public static void StopEnumDevices()
    {
        BluetoothLEHardwareInterface.StopScan();
        Debug.Log("UDE:" + "Stop Enum Deivces!!");
    }

    /// <summary>
    /// 注册设备
    /// </summary>
    /// <param name="name">设备名</param>
    /// <param name="mac">地址</param>
    private static void RegisterDevice(string name, string mac)
    {
        if (DeviceMacDir.ContainsKey(name))
        {
            DeviceMacDir[name] = mac;
            return;
        }

        DeviceMacDir.TryAdd(name, mac);
        UDE_Device device = new UDE_Device();
        DeviceDir.TryAdd(mac, device);
    }

    /// <summary>
    /// 取消注册设备
    /// </summary>
    /// <param name="name">需要取消的设备名</param>
    /// <returns></returns>
    public static bool UnRegisterDevice(string name)
    {
        string mac = DeviceMacDir[name];
        bool result = DeviceDir.TryRemove(mac, out UDE_Device _);
        result &= DeviceMacDir.TryRemove(name, out string _);
        return result;
    }

    /// <summary>
    /// 获取设备名的集合
    /// </summary>
    /// <returns></returns>
    public static List<string> GetDeviceList()
    {
        return DeviceMacDir.Keys.ToList();
    }

    /// <summary>
    /// 按照名字开启设备
    /// </summary>
    /// <param name="name"></param>
    public static bool OpenDeviceByName(string name, Action<string, bool> action = null)
    {
        if (!DeviceMacDir.ContainsKey(name))
        {
            return false;
        }

        string mac = DeviceMacDir[name];

        DeviceDir[mac].OpenDevice(mac, action);
        SetConnectByMac(mac, false);
        return true;
    }

    /// <summary>
    /// 按照名字关闭设备
    /// </summary>
    /// <param name="name"></param>
    public static bool CloseDeviceByName(string name)
    {
        if (!DeviceMacDir.ContainsKey(name))
        {
            return false;
        }

        string mac = DeviceMacDir[name];
        DeviceDir[mac].CloseDevice(mac, true);
        return true;
    }

    public static string GetDeviceDataByName(string name)
    {
        if (DeviceMacDir == null || !DeviceMacDir.ContainsKey(name))
        {
            return null;
        }

        string mac = DeviceMacDir[name];
        Debug.Log($"name :{name},mac:{mac}");
        return DeviceDir[mac].GetDeviceData();
    }

    public static int GetDeviceBatteryByName(string name)
    {
        if (DeviceMacDir == null || !DeviceMacDir.ContainsKey(name))
        {
            return 0;
        }

        string mac = DeviceMacDir[name];
        Debug.Log($"name :{name},mac:{mac}");
        return DeviceDir[mac].GetBatteryType();
    }

    /// <summary>
    /// 开启接收蓝牙数据
    /// </summary>
    public static void Pc2Mcu_StartReceive(string name)
    {
        if (name == null)
        {
            return;
        }

        if (!DeviceMacDir.ContainsKey(name))
        {
            return;
        }

        string mac = DeviceMacDir[name];

        DeviceDir[mac].Pc2Mcu_StartReceive(mac);
    }

    /// <summary>
    /// 停止接收蓝牙数据
    /// </summary>
    public static void Pc2Mcu_StopReceive(string name)
    {
        if (!DeviceMacDir.ContainsKey(name))
        {
            return;
        }

        string mac = DeviceMacDir[name];
        DeviceDir[mac].Pc2Mcu_StopReceive(mac);
    }

    /// <summary>
    /// 
    /// </summary>
    public static void Pc2Mcu_StringData(string name)
    {
        if (!DeviceMacDir.ContainsKey(name))
        {
            return;
        }

        string mac = DeviceMacDir[name];
        DeviceDir[mac].Pc2Mcu_StringData(mac);
    }

    /// <summary>
    /// 发送振动反馈
    /// </summary>
    public static void Pc2Mcu_SendVibration(string name, byte address, byte time, byte stren)
    {
        if (!DeviceMacDir.ContainsKey(name))
        {
            return;
        }
        string mac = DeviceMacDir[name];
        DeviceDir[mac].Pc2Mcu_SendVibration(mac, address, time, stren);
    }

    /// <summary>
    /// 启动心跳
    /// </summary>
    public static void OnHeartBeat(string name)
    {
        if (name == null)
        {
            return;
        }

        if (!DeviceMacDir.ContainsKey(name))
        {
            return;
        }

        string mac = DeviceMacDir[name];
        DeviceDir[mac].OnHeartBeat(mac);
        Debug.Log($"[HeartBeat] in {DateTime.Now.ToString("G")}");
    }

    /// <summary>
    /// 是否连接
    /// </summary>
    /// <returns></returns>
    public static bool IsCon()
    {
        bool result = false;

        foreach (var item in DeviceConnectState.Values)
        {
            //Debug.Log("---iscon---" + item.ToString() + "//" + item.Value.IsCon);
            result |= item;
        }

        return result;
    }

    public static void SetMTU(string name, int mtu)
    {
        if (!DeviceMacDir.ContainsKey(name))
        {
            return;
        }

        string mac = DeviceMacDir[name];
        DeviceDir[mac].SetMtu(mac, mtu);
    }

    public static void SetMTUByMac(string mac, int mtu)
    {
        if (!DeviceDir.ContainsKey(mac))
        {
            return;
        }

        DeviceDir[mac].SetMtu(mac, mtu);
    }

    /// <summary>
    /// 获取最大传输单元
    /// </summary>
    /// <returns></returns>
    public static int GetMTUByMac(string mac)
    {
        if (!DeviceDir.ContainsKey(mac))
        {
            return -1;
        }

        return DeviceDir[mac].GetMTU(mac);
    }


    public static bool SetSerialBaudByMac(string mac)
    {
        if (!DeviceMacDir.ContainsKey(mac))
        {
            return false;
        }

        return DeviceDir[mac].SetSerialBaud(mac);
    }

    /// <summary>
    /// 设置串行调制解调器
    /// </summary>
    /// <returns></returns>
    public static bool SetSerialModemByMac(string mac)
    {
        if (!DeviceMacDir.ContainsKey(mac))
        {
            return false;
        }

        return DeviceDir[mac].SetSerialModem(mac);
    }

    public static void SetSearchVaild(bool flag)
    {
        isSearchVaild = flag;
    }

    public static bool IsSupportedFirmware()
    {
        return ManagerInstance.Call<bool>("isSupportedFirmware");
    }

    public static bool IsSearchVaild()
    {
        return isSearchVaild;
    }

    public static bool CheckConnectByName(string Device_name)
    {
        if (Device_name == string.Empty || !DeviceMacDir.ContainsKey(Device_name))
        {
            return false;
        }

        string mac = DeviceMacDir[Device_name];
        if (!DeviceDir.ContainsKey(mac))
        {
            return false;
        }

        return DeviceDir[mac].IsConnect;
    }

    public static void SetConnectByMac(string mac, bool connect)
    {
        DeviceConnectState[mac] = connect;
    }

    
    public static int GetTransferFrequency(string name)
    {
        if (!DeviceMacDir.ContainsKey(name))
        {
            return 0;
        }
        string mac = DeviceMacDir[name];
        return DeviceDir[mac].Transfer_freq;
    }

    /// <summary>
    /// 开启搜索的回调
    /// </summary>
    public class EnumResult : AndroidJavaProxy
    {
        public EnumResult() : base("cn.wch.ch9140lib.callback.EnumResult")
        {
        }

        public void onResult(AndroidJavaObject device, int var2, byte[] var3)
        {
            Debug.Log("UDE:" + $"onResult!!");

            string name = device.Call<string>("getName");

            string mac = device.Call<string>("getAddress");
            Debug.Log("UDE:" + $"Enum Result {name}");

            if (string.IsNullOrEmpty(mac))
            {
                Debug.Log("UDE:" + "Device is Invalid!！");
                //LogUtil.d("该设备不是合法设备");
                return;
            }

            RegisterDevice(name, mac);
            //UDE_API.StopEnumDevices();
            //UDE_API.OpenDevice(mac);
        }
    }
}

public class UDE_Device
{
    ConcurrentDictionary<string, string> DeviceDir; //线程保护的字典,key是蓝牙名,value是mac地址

    private string data_s;

    private readonly string serivce_uuid = "8653000a-43e6-47b7-9cb0-5fc21d4ae340";
    private readonly string write_character_uuid = "8653000c-43e6-47b7-9cb0-5fc21d4ae340";
    private readonly string read_character_uuid = "8653000b-43e6-47b7-9cb0-5fc21d4ae340";


    int index = 0;

    List<byte> one_buff = new List<byte>();
    private int buff_len = int.MaxValue;


    private int count = 0;

    public int Transfer_freq;

    private DateTime last_time;
    public bool IsConnect = false;
    public Action<string, bool> ConnectListener;

    private int last_battery = 0;

    private int _batteryType = 0;

    public int BatteryType
    {
        get => _batteryType;
        set
        {
            _batteryType = value;
        }
    }

    /// <summary>
    /// 开启设备
    /// </summary>
    /// <param name="mac">设备地址</param>
    public void OpenDevice(string mac, Action<string, bool> action = null)
    {
        ConnectListener = action;
        Debug.Log("UDE:" + $"Start Open Device {mac} !!");
        BluetoothLEHardwareInterface.ConnectToPeripheral(mac, (address) => { }, null,
            (address, service, characteristic) =>
            {
                Debug.Log("UDE:" + $"{address} Connect Success!!!");
                IsConnect = true;
                Pc2Mcu_StartReceive(mac);
                ConnectListener?.Invoke(address, IsConnect);
            });
        UDE_API.SetSearchVaild(false);
    }

    /// <summary>
    /// 蓝牙读取数据解析
    /// </summary>
    /// <param name="read_buff_list">蓝牙数据链表</param>
    private void ReadBuffAnalysis(List<byte> read_buff_list)
    {

        byte[] read_buff = read_buff_list.ToArray();
        StringBuilder msg = new StringBuilder();
        Mcu2PcProto mcu2PcProto = new Mcu2PcProto();
        mcu2PcProto.crc = read_buff[read_buff.Length - 1];
        if (mcu2PcProto.crc != Pc2McuProto.check_num(read_buff, read_buff.Length))
        {
            return;
        }

        if (read_buff[0] != 0xAA)
        {
            return;
        }

        if (read_buff[1] != 0x55)
        {
            return;
        }

        
        mcu2PcProto.Address = read_buff[2];
        mcu2PcProto.CommandType = read_buff[3];
        mcu2PcProto.DataType = read_buff[4];
        mcu2PcProto.DataLength = read_buff[5];
        byte[] decrypt_data = new byte[mcu2PcProto.DataLength];
        Array.Copy(read_buff, 6, decrypt_data, 0, decrypt_data.Length);

        decrypt(decrypt_data, (short)decrypt_data.Length);

        if (mcu2PcProto.CommandType == CommandType.BATTERY_VOLTAGE_DATA)
        {
            short[] int16arry = new short[1];
            ConvertByte2Int16Aarry(decrypt_data, 0, 1, out int16arry);
            short battery = int16arry[0];

            int battery_type;
            if (battery <= 2180)
            {
                battery_type = 1;
            }
            else if (battery <= 2290)
            {
                battery_type = 2;
            }
            else if (battery <= 2350)
            {
                battery_type = 3;
            }
            else if (battery <= 2500)
            {
                battery_type = 4;
            }
            else
            {
                battery_type = 5;
            }

            if (battery_type > last_battery)
            {
                if (battery <= 2200)
                {
                    battery_type = 1;
                }
                else if (battery <= 2310)
                {
                    battery_type = 2;
                }
                else if (battery <= 2370)
                {
                    battery_type = 3;
                }
                else if (battery <= 2520)
                {
                    battery_type = 4;
                }
                else
                {
                    battery_type = 5;
                }
            }

            last_battery = battery_type;
            _batteryType = battery_type;

            return;
        }

        if (mcu2PcProto.CommandType == CommandType.ADC_IMU_16)
        {

            ConvertByte2Int16Aarry(decrypt_data, 0, mcu2PcProto.DataLength / 2, out mcu2PcProto.AngleDatas);

            for (int i = 0; i < mcu2PcProto.AngleDatas.Length; i++)
            {
                msg.Append(mcu2PcProto.AngleDatas[i]);
                if (i != mcu2PcProto.AngleDatas.Length - 1)
                {
                    msg.Append(",");
                }
            }

            if (last_time == null)
            {
                last_time = DateTime.Now;
            }
            data_s = msg.ToString();
            count++;
            if (DateTime.Now - last_time > TimeSpan.FromSeconds(1))
            {
                Transfer_freq = count;
                count = 0;
                last_time = DateTime.Now;
            }
        }

    }

    /// <summary>
    /// 解密算法 解密得原始数据
    /// </summary>
    void decrypt(byte[] arr, short len)
    {
        for (int i = 0; i < len; i++)
        {
            arr[i] ^= 0x01;
            arr[i] ^= 0x80;
        }
    }

    /// <summary>
    /// 将Byte类型数据转换为Ini类型数据
    /// </summary>
    public void ConvertByte2Int16Aarry(byte[] buff, int byte_index, int int_length, out short[] data)
    {
        data = new short[int_length];
        for (int i = 0; i < int_length; i++)
        {
            Array.Reverse(buff, byte_index, 2);
            data[i] = BitConverter.ToInt16(buff, byte_index);
            byte_index += 2;
        }
    }


    /// <summary>
    /// 关闭设备
    /// </summary>
    public void CloseDevice(string mac, bool force)
    {
        BluetoothLEHardwareInterface.DisconnectPeripheral(mac,
            (address) => { Debug.Log("UDE:" + $"Close Device {address}"); 
            IsConnect = false;
            ConnectListener?.Invoke(address, IsConnect);
        });
    }

    /// <summary>
    /// 设置传递数据的宽度
    /// </summary>
    /// <param name="mtu"></param>
    private void SetMTU(string mac, int mtu)
    {
        BluetoothLEHardwareInterface.RequestMtu(mac, mtu,
            (address, mtu1) => { Debug.Log("UDE:" + $"Set MTU Success {mtu1}!!"); });
        //  ManagerInstance.Call("setMTU", mac,mtu, mtu_callback);
    }

    public void SetMtu(string mac, int mtu)
    {
        SetMTU(mac, mtu);
    }

    /// <summary>
    /// 获取最大传输单元
    /// </summary>
    /// <returns></returns>
    public int GetMTU(string mac)
    {
        return 200;
    }

    /// <summary>
    /// 发送给下位机的实际方法
    /// </summary>
    /// <param name="data"></param>
    /// <param name="length"></param>
    /// <returns></returns>
    private int Write(string mac, byte[] data, int length)
    {
        int len = 0;
        BluetoothLEHardwareInterface.WriteCharacteristic(mac, serivce_uuid, write_character_uuid, data, length, true,
            (address) =>
            {
                UDE_API.SetConnectByMac(address, true);
                UDE_API.SetSearchVaild(true);
                Debug.Log("<color=red>开启了蓝牙</color>:" + $"当前连接状态{true}");
                SetMTU(address, 200);

                Debug.Log("UDE:" + $"Write Success {mac} {address}!!");
                BluetoothLEHardwareInterface.SubscribeCharacteristic(mac, serivce_uuid, read_character_uuid,
                    (characteristic) => { }, (characteristic, bytes) =>
                    {
                        try
                        {
                            for (int i = 0; i < bytes.Length; i++)
                            {
                                if (index == 0)
                                {
                                    if (bytes[i] != 0xAA)
                                    {
                                        continue;
                                    }
                                }

                                if (index == 1)
                                {
                                    if (bytes[i] != 0x55)
                                    {
                                        one_buff.Clear();
                                        index = 0;
                                        continue;
                                    }
                                }

                                one_buff.Add(bytes[i]);

                                if (index == 5)
                                {
                                    buff_len = bytes[i];
                                }


                                if (index >= buff_len + 6 && buff_len != Int32.MaxValue)
                                {
                                    ReadBuffAnalysis(one_buff);
                                    one_buff.Clear();
                                    index = 0;
                                    buff_len = int.MaxValue;
                                }
                                else
                                {
                                    index++;
                                }
                            }
                        }
                        catch (Exception)
                        {
                            throw;
                        }
                    });
                //mac = address;
            });
        //Debug.Log("UDE:" + $"Write Data Length {length}");
        return len;
    }

    /// <summary>
    /// 设置串行波特率
    /// </summary>
    /// <returns></returns>
    public bool SetSerialBaud(string mac)
    {
        Debug.Log("UDE:" + " Set Serial Baud!!");
        return false;
    }

    /// <summary>
    /// 设置串行调制解调器
    /// </summary>
    /// <returns></returns>
    public bool SetSerialModem(string mac)
    {
        Debug.Log("UDE:" + "Set Serial Modem!!");
        return false;
    }

    private void registerSerialModemNotify()
    {
        //ModemStatus modemStatus = new ModemStatus();
        //ManagerInstance.Call("registerSerialModemNotify", modemStatus);
        Debug.Log("UDE:" + "registerSerialModemNotify Success!!");
    }

    /// <summary>
    /// 获取解析出的数据字符串
    /// </summary>
    /// <returns></returns>
    public string GetDeviceData()
    {
        return data_s;
    }

    /// <summary>
    /// 获取电量
    /// </summary>
    /// <returns></returns>
    public int GetBatteryType()
    {
        return BatteryType;
    }

    /// <summary>
    /// 开启接收蓝牙数据
    /// </summary>
    public void Pc2Mcu_StartReceive(string mac)
    {
        SendMessage(mac, Pc2McuProto.HumanAddress.LeftPalm, Pc2McuProto.CommandType.ADC_IMU_16,
            new byte[] { 0x02, 0x43, 0x56 });
    }

    /// <summary>
    /// 停止接收蓝牙数据
    /// </summary>
    public void Pc2Mcu_StopReceive(string mac)
    {
        SendMessage(mac, Pc2McuProto.HumanAddress.LeftPalm, Pc2McuProto.CommandType.StopDataReceive,
            new byte[] { 0x01 });
    }

    /// <summary>
    /// 接收字符串数据
    /// </summary>
    public void Pc2Mcu_StringData(string mac)
    {
        SendMessage(mac, Pc2McuProto.HumanAddress.LeftPalm, 0xD0,
            new byte[] { 0x01 });
    }

    /// <summary>
    /// 发送振动反馈
    /// </summary>
    public void Pc2Mcu_SendVibration(string mac, byte address, byte time, byte stren)
    {
        SendMessage(mac, Pc2McuProto.HumanAddress.LeftPalm, Pc2McuProto.CommandType.SHAKE_CONTROLLER_COMMAND,
            new byte[] { address, 0x00,time, stren });
    }

    /// <summary>
    /// 启动心跳
    /// </summary>
    public void OnHeartBeat(string mac)
    {
        SendMessage(mac, Pc2McuProto.HumanAddress.LeftPalm, Pc2McuProto.CommandType.HeartBeat, new byte[] { 0x42 });
        Debug.Log($"[HeartBeat] in {DateTime.Now.ToString("G")}");
    }


    private void SendMessage(string mac, byte humanAddress, byte commandType, byte[] data)
    {
        byte[] message = new byte[6 + data.Length];
        message[0] = 0x55;
        message[1] = 0xAA;
        message[2] = humanAddress;
        message[3] = commandType;
        message[4] = (byte)data.Length;
        for (int i = 0; i < data.Length; i++)
        {
            message[5 + i] = data[i];
        }

        byte crc = Pc2McuProto.check_num(message, message.Length);
        int crc_index = message.Length - 1;
        message[crc_index] = crc;

        try
        {
            int result = Write(mac, message, message.Length);
            Debug.Log($"UDE: Write Result---{mac} {message.Length}");
        }
        catch (Exception e)
        {
            Debug.LogError(e);
        }
    }
}