ラズパイ同士でBluetooth経由で通信を行う手法を後輩が纏めてくれたので、僕がQiitaにてまとめる。
1. 環境構築
Bluetoothドライバのインストール
$ sudo apt install bluetooth
関連パッケージのインストール
$ sudo apt install libusb-dev
$ sudo apt install libdbus-1-dev
$ sudo apt install libglib2.0-dev
$ sudo apt install libudev-dev
$ sudo apt install libical-dev
$ sudo apt install libreadline-dev
$ sudo apt install libdbus-glib-1-dev
$ sudo apt install libbluetooth-dev
BlueZのインストール
$ wget http://www.kernel.org/pub/linux/bluetooth/bluez-5.45.tar.xz
$ xz -dv bluez-5.45.tar.xz
$ tar -xf bluez-5.45.tar
$ cd bluez-5.45/
$ ./configure --enable-experimental
$ make
$ sudo make install
$ sudo pip install pybluez
makeは割と長い。
オプションを付けて、make -j4でmakeしても良い。
-j4は４コア使用。
2. ペアリングを行う
まずserver側のmacアドレスを確認する。
server側のRaspberryPiにて
$ hciconfig
hci0: Type: BR/EDR Bus: USB
BD Address: B8:27:EB:B9:40:6E ACL MTU: 1021:8 SCO MTU: 64:1
UP RUNNING PSCAN
RX bytes:1724 acl:0 sco:0 events:92 errors:0
TX bytes:1364 acl:0 sco:0 commands:87 errors:0
BD Address: B8:27:EB:B9:40:6Eがmacアドレス。
server側でBluetoothが検索されるのを許可する
$ bluetoothctl
[bluetooth] # discoverable on
Changing discoverable on succeesed
[CHG] Controller B8:27:EB:B9:40:6E Discoverable : yes
[bluetooth] #
client側でペアリング
$ bluetoothctl
[bluetooth] # pair B8:27:EB:B9:40:6E
Attempting to pair with B8:27:EB:B9:40:6E ←成功
Device B8:27:EB:B9:40:6E not available ←失敗 失敗しても根気強くやろう
3. Pyhtonプログラムにて通信
client側
client.py
# -*- coding: utf-8 -*-
import time
import bluetooth
PORT =1
server_socket=bluetooth.BluetoothSocket( bluetooth.RFCOMM )
print "connect..."
server_socket.bind( ("",PORT ))
server_socket.listen(1)
client_socket,address = server_socket.accept()
print "connection success!!"
while 1:
try:
data = client_socket.recv(1024)
print "receive [%s]" % data
print '\n'
except KeyboardInterrupt:
client_socket.close()
server_socket.close()
break
except:
print "error"
print '\n'
client_socket.close()
server_socket.close()
break
server側
メインプログラム
Main.py
# -*- coding: utf-8 -*-
# Main.py
from RN42 import RN42
from time import sleep
import RPi.GPIO as GPIO
import sys
import time
class Main:
#""" Main Class """
# Setting & Connect
ras = RN42("ras", "B8:27:EB:B9:40:6E", 1)
ras.connectBluetooth(ras.bdAddr,ras.port)
print "Entering main loop now"
while 1:
try:
ras.sock.send("Hello World")
print "data send"
time.sleep(1)
except KeyboardInterrupt:
ras.disconnect(ras.sock)
通信部をまとめたライブラリ
RN42.py
# -*- coding: utf-8 -*-
# RN42.py
from time import sleep
import sys
import bluetooth
class RN42:
def __init__(self, name, addr, num):
""" Arduino with RN42"""
self.__name = name #Set Name
self.__bdAddr = addr #the address form the Arduino RN42
self.__port = num #Connect Port (RaspberryPi to Arduino)
self.__sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM) #config
@property
def name(self):
pass
@name.getter
def name(self):
return self.__name
@name.setter
def name(self,name):
self.__name = name
@property
def bdAddr(self):
pass
@bdAddr.getter
def bdAddr(self):
return self.__bdAddr
@bdAddr.setter
def bdAddr(self,value):
self.__bdAddr = value
return
@property
def port(self):
pass
@port.getter
def port(self):
return self.__port
@port.setter
def port(self,value):
self.__port = value
return
@property
def sock(self):
pass
@sock.getter
def sock(self):
return self.__sock
@sock.setter
def sock(self, value):
self.__sock = value
def reConnect(self, addr, num):
self.__bdAddr = addr #the address form the Arduino RN42
self.__port = num #Connect Port (RaspberryPi to Arduino)
self.__sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM) #config
def connectBluetooth(self, bdAddr, port):
while(1):
try:
print self.__name + " : Connect......"
self.__sock.connect((bdAddr,port))
sleep(2)
print self.__name + " : Successful Connected!!!"
break
except bluetooth.BluetoothError :
print self.name + " : connecting failed"
print "try connecting"
self.reConnect(bdAddr, port)
sleep(0.5)
except KeyboardInterrupt:
break
def disConnect(self,sock):
sock.close()
serverとclientで実行すればHello Worldが送られ続ける。