Updating bluetooth

include/bluetooth.hpp

@@ -7,10 +7,13 @@
 
 #include <string>
 
+#include "fsm.hpp"
+
 #define SERVICE_UUID "f88918be-312c-4a9b-a7a2-97db83b2e3a9"
 #define FEN_CHAR_UUID "82ca99da-f6c3-4eb7-ac2d-ea12cac9af5c"
 #define REED_SWITCH_CHAR_UUID "3f7ebdc2-6d63-426f-a2ad-8d10c450743f"
 #define STATE_CHAR_UUID "1a100eac-62c1-4c73-955c-55c97f4c57be"
+#define MOVE_CHAR_UUID "27dc4447-33d4-4e8a-88fa-c683d4545d47"
 #define CMD_CHAR_UUID "b375a4f9-2c61-47ab-a14e-3dbacdb9c25d"
 
 class BluetoothManager {
@@ -19,13 +22,15 @@ class BluetoothManager {
     void begin(const char* deviceName);
     void setFEN(const std::string& fen);
     void setReedSwitchValue(uint64_t value);
-    void setFSMState(const std::string& state);
+    void setFSMState(const FSMState state);
+    void setMove(const Move move);
 
    private:
     BLEServer* pServer = nullptr;
     BLEService* pService = nullptr;
     BLECharacteristic* fenChar = nullptr;
     BLECharacteristic* reedSwitchChar = nullptr;
     BLECharacteristic* stateChar = nullptr;
+    BLECharacteristic* moveChar = nullptr;
     // bool deviceConnected = false;
 };

include/board.hpp

@@ -19,6 +19,7 @@ class Board {
 
    public:
     Board(HBot* hbot, Magnet* magnet);
+    void init();
 
     void calibrate(int speed = CALIBRATION_SPEED);
     void move(std::vector<MoveStep> steps, int speed = DEFAULT_SPEED);

include/fsm.hpp

@@ -2,7 +2,7 @@
 
 #include "chess.hpp"
 
-enum State {
+enum FSMState : int {
     Idle,
     FriendlyPU,
     EnemyPU,
@@ -15,7 +15,9 @@ enum State {
     MoveComplete
 };
 
+std::string fsm_state_string(FSMState state);
+
 typedef struct {
     int memory[3];
     int length;
-} State_Memory;
+} State_Memory;

include/hbot.hpp

@@ -26,6 +26,7 @@ class HBot {
 
    public:
     HBot(Motor* leftMotor, Motor* rightMotor, int switchPin);
+    void init();
 
     bool inBounds(Position position);
 

include/indicator.hpp

@@ -24,6 +24,7 @@ class Indicator {
     const int blue_pin;
 
     Indicator(int red_pin, int green_pin, int blue_pin);
+    void init();
 
     void set(Color state);
 };

include/magnet.hpp

@@ -10,6 +10,7 @@ class Magnet {
     const Coord offset;
 
     Magnet(int pin, Coord offset);
+    void init();
 
     void enable();
     void disable();

include/motor.hpp

@@ -16,6 +16,7 @@ class Motor {
     const int stepsPerRevolution;
 
     Motor(int enablePin, int dirPin, int stepPin, int stepsPerRevolution);
+    void init();
     void reset();
 
     void enable();

include/reed.hpp

@@ -0,0 +1,18 @@
+#pragma once
+
+#include <stdint.h>
+
+class Reed {
+   public:
+    const int outClk;
+    const int outData;
+    const int outLch;
+    const int inClk;
+    const int inData;
+    const int inLch;
+
+    Reed(int outClk, int outData, int outLch, int inClk, int inData, int inLch);
+    void init();
+
+    uint64_t read();
+};

lib/chess/include/chess.hpp

@@ -53,6 +53,8 @@ typedef struct {
     Move best_move;
 } Search_Info;
 
+std::string square_to_string(Square square);
+
 class Chess {
    private:
     int board_array[129] = {  // 0x88 board + centers positional scores

lib/chess/src/chess.cpp

@@ -542,7 +542,7 @@ std::string Chess::get_fen() {
     std::string fen = "";
     int empty_count = 0;
 
-    for (int i = 0; i < 63; i++) {
+    for (int i = 0; i < 64; i++) {
         char piece = square_char(i);
         if (piece == '.') {
             empty_count++;
@@ -564,7 +564,27 @@ std::string Chess::get_fen() {
         }
     }
 
+    // side to move
     fen += side == WHITE ? " w" : " b";
-    // Append castling rights, en passant, etc.
+
+    // castling rights
+    fen += " KQkq";
+
+    // en passant
+    fen += en_passant == 128 ? " -" : " " + square_to_string(en_passant);
+
+    // halfmove clock
+    fen += " 0";
+
+    // fullmove number
+    fen += " 1";
+
     return fen;
 }
+
+std::string square_to_string(Square square) {
+    std::string str = "";
+    str += 'a' + (square & 7);
+    str += '1' + 7 - (square >> 4);
+    return str;
+}

src/bin/ble.cpp

@@ -3,20 +3,25 @@
 #include <string>
 
 #include "bluetooth.hpp"
+#include "indicator.hpp"
 
 // Global variable to store FEN string
 std::string startFen =
     "rnbqkbnr/pppppppp/8/8/8/8/PPPPPPPP/RNBQKBNR w KQkq - 0 1";
 std::string otherFen =
     "rnbqkbnr/pp1ppppp/8/2p5/4P3/5N2/PPPP1PPP/RNBQKB1R b KQkq - 1 2";
 
+Indicator indicator(LED_RED, LED_GREEN, LED_BLUE);
+
 BluetoothManager* ble;
 uint64_t reedSwitchValue;
 
 void setup() {
     Serial.begin(9600);
     ble = new BluetoothManager();
     ble->begin("Gambit");
+    indicator.init();
+    indicator.set(Color::RED);
 
     reedSwitchValue = 0;
 }

src/bin/main.cpp

@@ -4,6 +4,7 @@
 
 #include "bluetooth.hpp"
 #include "controller.hpp"
+#include "fsm.hpp"
 
 Indicator indicator(LED_RED, LED_GREEN, LED_BLUE);
 
@@ -56,14 +57,8 @@ void replay() {
     }
 }
 
-// BluetoothManager* ble;
 uint64_t reedSwitchValue;
 
-std::string currentFEN =
-    "rnbqkbnr/pppppppp/8/8/8/8/PPPPPPPP/RNBQKBNR w KQkq - 0 1";
-std::string other =
-    "rnbqkbnr/pp1ppppp/8/2p5/4P3/5N2/PPPP1PPP/RNBQKB1R b KQkq - 1 2";
-
 void setup() {
     Serial.begin(9600);
     delay(1000);  // wait for serial monitor
@@ -73,22 +68,23 @@ void setup() {
 
     // Serial.println("Starting...");
     controller.init();
-    // controller.calibrate();
+    controller.calibrate();
+    ble.setFSMState(FSMState::Idle);
+    // upMagnet.enable();
     // indicator.init();
     // Serial.println("Calibrated");
     // Move move = {SQD2, SQE3, WPAWN | WHITE, WPAWN, BPAWN | BLACK, SQE3};
     // Move move = {SQC3, SQE4, KNIGHT | WHITE, KNIGHT};
     // Move move = chess.parse_move("a2a4", WHITE);
     // controller.makeMove(move, 500);
+    // board.gotoSquare(SQB4);
+    // hbot.gotoPosition({250, 0});
     replay();
 }
 
 void loop() {
     ble.setReedSwitchValue(reedSwitchValue);
     reedSwitchValue++;
-    // ble.setFEN(chess.get_fen());
     ble.setFEN(chess.get_fen());
     delay(1000);
-    ble.setFEN(other);
-    delay(1000);
 }

src/bluetooth.cpp

@@ -37,6 +37,12 @@ void BluetoothManager::begin(const char* deviceName) {
         BLECharacteristic::PROPERTY_READ | BLECharacteristic::PROPERTY_NOTIFY);
     stateChar->addDescriptor(new BLE2902());
 
+    moveChar = pService->createCharacteristic(
+        MOVE_CHAR_UUID, BLECharacteristic::PROPERTY_READ |
+                            BLECharacteristic::PROPERTY_WRITE |
+                            BLECharacteristic::PROPERTY_NOTIFY);
+    moveChar->addDescriptor(new BLE2902());
+
     pService->start();
 
     // BLEAdvertising* pAdvertising = BLEDevice::getAdvertising();
@@ -60,9 +66,18 @@ void BluetoothManager::setReedSwitchValue(uint64_t value) {
     }
 }
 
-void BluetoothManager::setFSMState(const std::string& state) {
+void BluetoothManager::setFSMState(const FSMState state) {
     if (stateChar != nullptr) {
-        stateChar->setValue(state.c_str());
+        std::string stateStr = fsm_state_string(state);
+        stateChar->setValue(stateStr.c_str());
         stateChar->notify();
     }
 }
+
+void BluetoothManager::setMove(const Move move) {
+    if (moveChar != nullptr) {
+        std::string moveStr = square_to_string(move.source_square) +
+                              square_to_string(move.target_square);
+        moveChar->notify();
+    }
+}

src/board.cpp

@@ -4,6 +4,11 @@
 
 Board::Board(HBot* hbot, Magnet* magnet) : hbot(hbot), magnet(magnet) {}
 
+void Board::init() {
+    hbot->init();
+    magnet->init();
+}
+
 void Board::calibrate(int speed) { hbot->calibrate(speed); }
 
 void Board::gotoSquare(Square square, int speed) {

src/controller.cpp

@@ -1,10 +1,14 @@
 #include "controller.hpp"
 
+#include <Arduino.h>
+
 Controller::Controller(Board* board, Chess* chess, Indicator* indicator,
                        BluetoothManager* bluetooth)
     : board(board), chess(chess), indicator(indicator), bluetooth(bluetooth) {}
 
 void Controller::init() {
+    board->init();
+    indicator->init();
     indicator->set(Color::RED);
     bluetooth->begin("Gambit");
     bluetooth->setFEN(chess->get_fen());
@@ -21,7 +25,8 @@ void Controller::makeMove(Move move, int speed) {
     indicator->set(Color::BLUE);
     chess->make_move(move);
     bluetooth->setFEN(chess->get_fen());
-    board->move(steps, speed);
+    Serial.println(chess->get_fen().c_str());
+    // board->move(steps, speed);
     // should do comparision between chess and matrix
     indicator->set(Color::GREEN);
 }