Subject:
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Re: Bluetooth Comm Problem
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Newsgroups:
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lugnet.robotics.nxt
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Date:
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Fri, 16 Feb 2007 03:09:22 GMT
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Viewed:
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13929 times
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Dick,
Thanks! I tried it out tonight and got consistent messages from the PC. You
were correct about having to continually do message reads until I get
something. I didn't have to do the wait for a second STAT_COMM_PENDING (32)
or the 200 ms wait. I just had to keep reading until I got a NO_ERR (0) and
then there was always a message received. I printed out the result when I
didn't get a NO_ERR or STAT_COMM_PENDING to see what would show up and, as
expected, I always got STAT_MSG_EMPTY_MAILBOX (64). I would get about 100 of
these before actually receiving each message. Here is the entire program:
#include "NXTDefs.h"
dseg segment
msg_out byte[] 'Hi.'
msg_in byte[]
count1 uword 0
count2 uword 0
result uword
dseg ends
thread main
strtoarr msg_out, msg_out
replace msg_out, msg_out, 2, 0 // Null terminate
Forever:
RemoteMessageWrite(1, 0, msg_out, result) // Send via BT (conn=1, queue=0)
WaitMsgWrite:
BluetoothStatus(1, result) // check status
brcmp EQ, WaitMsgWrite, result, STAT_COMM_PENDING // Gone out yet?
// Now read response (response from PC is "OKn"
// where n is incremented each time Hi is sent)
WaitMsgRead:
ReceiveMessage(0, 1, msg_in, result) // queue=0
brcmp EQ, MsgReceived, result, NO_ERR // Received Message
brcmp EQ, WaitMsgRead, result, STAT_COMM_PENDING // Gone out yet?
// If we get here, no message received
// See what the result code was
TextOut(0,LCD_LINE1,0,'result=')
NumOut(50,LCD_LINE1,0,result)
// See how many times we get here
add count1, count1, 1
TextOut(0,LCD_LINE2,0,'count=')
NumOut(50,LCD_LINE2,0,count1)
jmp WaitMsgRead // Wait some more
MsgReceived:
// Got a message, print it and the count
// to see if it matches count from PC
TextOut(50,LCD_LINE4,0,msg_in)
add count2, count2, 1
TextOut(0,LCD_LINE5,0,'count=')
NumOut(50,LCD_LINE5,0,count2)
wait 1000 // Just so it doesn't go so fast
jmp Forever
endt
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Message has 1 Reply:
 | | Re: Bluetooth Comm Problem
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| (...) Dick and David, Thanks for posting this conversation here. Even though I'm not participating directly, I am reading it and as I'm touching up the Bluetooth support for pbLua right now, this has given me invaluable insight into how the (...) (18 years ago, 16-Feb-07, to lugnet.robotics.nxt)
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Message is in Reply To:
| | RE: Bluetooth Comm Problem
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| The NXT-G firmware implementation for mailbox messaging is extremely funky. I don't think your code is working properly for this implementation. You need to be continuously calling "ReadMessage" and only check for "a message was found" error code. (...) (18 years ago, 14-Feb-07, to lugnet.robotics.nxt)
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