Freenove ESP32 - Communication Protocols and Commands

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Chapter 15 Dog
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}
}
Receive commands by BLE.
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void onBleReceived(BLECharacteristic *pCharacteristic) {
std::string rxValue = pCharacteristic->getValue();
static String bleInputString = "";
if (rxValue.length() > 0) {
for (int i = 0; i < rxValue.length(); i++) {
bleInputString += rxValue[i];
if (rxValue[i] == '\n') {
enterMessageQueue(bleInputString);
bleInputString = "";
}
}
}
}
Receive commands by WiFi.
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void onWiFiCmdReceived(WiFiClient *client) {
static String wifiInputString = "";
while (client->available()) {
char rv[1024];
int ret = client->read((uint8_t *)rv, sizeof(rv));
for (int i = 0; i < ret; i++) {
wifiInputString += rv[i];
if (rv[i] == '\n') {
Serial.print(wifiInputString);
enterMessageQueue(wifiInputString);
wifiInputString = "";
}
}
}
}
Divide the commands into robot dog action commands and other commands according to the types and
send them into the corresponding message queue.
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void enterMessageQueue(String msg) {
Serial.print("msg : ");
Serial.print(msg);
switch (msg.charAt(0)) {
case ACTION_INSTALLATION:
case ACTION_CALIBRATE:
case ACTION_UP_DOWN:
case ACTION_BODY_HEIGHT:
case ACTION_MOVE_ANY:
case ACTION_TWIST: