BlueZ_bluebonnet

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Jetbrains全家桶1年46，售后保障稳定

一、BlueZ在ubuntu PC上的基础应用

1、bluez的安装及基本功能

dong@ubuntu:~/bluez$ ls
bluez-5.47.tar.xz SPP-loopback.py
dong@ubuntu:~/bluez$ tar xvf bluez-5.47.tar.xz
dong@ubuntu:~/bluez/bluez-5.47$ ./configure –prefix=/usr –mandir=/usr/share/man –sysconfdir=/etc –localstatedir=/var
make
make install

装完bluez，然后插上蓝牙适配器就可以测试了，如果不能启动就注销或者重启一下电脑。

2、bluez配对
dong@ubuntu:~/bluez/bluez-5.47$ cd test/
dong@ubuntu:~/bluez/bluez-5.47/test$ python simple-agent
Agent registered

然后可以用手机蓝牙助手(Bluetooth spp pro/蓝牙串口助手 Pro)来扫描配对蓝牙适配器，ubuntu上的simple-agent会弹出配对确认信息，输入yes回车完成配对

simple-agent是通过主从机之间的交互来实现的，可以实现加密配对。

3、bluez spp蓝牙透传demo

SPP-loopback.py和bluez5-spp-example分别是用python和c语言实现的SPP Demo

如果是ubuntu版本太低，安装bluez可能会缺一些库文件，装上库文件即可，可以参考http://blog.csdn.net/twy76/article/details/23851587

PC上也可以用图形工具来配置蓝牙，blueman-applet比较方便。

4、BlueZ文件共享

示例：BlueZ设备（这里是ubuntu PC）与手机之间的文件收发

dong@dong-ubuntu:~$ lsusb
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 004: ID 0a12:0001 Cambridge Silicon Radio, Ltd Bluetooth Dongle (HCI mode)
Bus 001 Device 002: ID 17ef:6019 Lenovo 
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
dong@dong-ubuntu:~$ hciconfig -a
hci0:    Type: BR/EDR  Bus: USB
    BD Address: 00:1A:7D:DA:71:13  ACL MTU: 310:10  SCO MTU: 64:8
    UP RUNNING PSCAN ISCAN 
    RX bytes:1932 acl:0 sco:0 events:125 errors:0
    TX bytes:4107 acl:0 sco:0 commands:125 errors:0
    Features: 0xff 0xff 0x8f 0xfe 0xdb 0xff 0x5b 0x87
    Packet type: DM1 DM3 DM5 DH1 DH3 DH5 HV1 HV2 HV3 
    Link policy: RSWITCH HOLD SNIFF PARK 
    Link mode: SLAVE ACCEPT 
    Name: 'BlueZ 5.47'
    Class: 0x0c0104
    Service Classes: Rendering, Capturing
    Device Class: Computer, Desktop workstation
    HCI Version: 4.0 (0x6)  Revision: 0x22bb
    LMP Version: 4.0 (0x6)  Subversion: 0x22bb
    Manufacturer: Cambridge Silicon Radio (10)

dong@dong-ubuntu:~$ hcitool scan
Scanning ...
    00:19:86:00:12:12    ZHDZXD
    00:90:A2:CC:57:D8    ZHDGIS
    50:68:0A:42:C5:67    wifitest
    E4:46:DA:6E:8D:85    小米手机
    44:C3:46:56:2E:50    Honor 8 Lite
dong@dong-ubuntu:~$ sdptool browse E4:46:DA:6E:8D:85
Browsing E4:46:DA:6E:8D:85 ...
Service RecHandle: 0x10000
Service Class ID List:
  "Generic Attribute" (0x1801)
Protocol Descriptor List:
  "L2CAP" (0x0100)
    PSM: 31
  "ATT" (0x0007)
    uint16: 0x0001
    uint16: 0x0005
...
...

Browsing E4:46:DA:6E:8D:85 ...
Service Search failed: Invalid argument
Service Name: OBEX Object Push
Service RecHandle: 0x1000b
Service Class ID List:
  "OBEX Object Push" (0x1105)
Protocol Descriptor List:
  "L2CAP" (0x0100)
  "RFCOMM" (0x0003)
    Channel: 6
  "OBEX" (0x0008)
Profile Descriptor List:
  "OBEX Object Push" (0x1105)
    Version: 0x0102
Browsing E4:46:DA:6E:8D:85 ...
Service Search failed: Invalid argument

//send file to moble
dong@dong-ubuntu:~$ obex_test -b E4:46:DA:6E:8D:85 6
Using Bluetooth RFCOMM transport
OBEX Interactive test client/server.
> c
Made some progress...
Connect OK!
Version: 0x10. Flags: 0x00
> x
PUSH file> test.txt
name=test.txt, size=5
Going to send test.txt(test.txt), 5 bytes
Filling stream!
Filling stream!
Made some progress...
Made some progress...
PUT successful!
> q

dong@dong-ubuntu:~$ sudo sdptool add OPUSH
OBEX Object Push service registered
dong@dong-ubuntu:~$ sudo sdptool browse local
Browsing FF:FF:FF:00:00:00 ...
Service RecHandle: 0x10000
Service Class ID List:
  "PnP Information" (0x1200)
Profile Descriptor List:
  "PnP Information" (0x1200)
    Version: 0x0103
...
...

Service Name: OBEX Object Push
Service RecHandle: 0x10008
Service Class ID List:
  "OBEX Object Push" (0x1105)
Protocol Descriptor List:
  "L2CAP" (0x0100)
  "RFCOMM" (0x0003)
    Channel: 9
  "OBEX" (0x0008)
Profile Descriptor List:
  "OBEX Object Push" (0x1105)
    Version: 0x0100

//receive file from moble
dong@dong-ubuntu:~$ obex_test -b local 9
Using Bluetooth RFCOMM transport
OBEX Interactive test client/server.
> s
OBEX_HandleInput() returned 1
Unknown event 0b!
connect_server()
connect_server() Skipped header c0
Made some progress...
Server request finished!
server_done() Command (00) has now finished
OBEX_HandleInput() returned 1
Made some progress...
OBEX_HandleInput() returned 1
Made some progress...
OBEX_HandleInput() returned 1
Made some progress...
OBEX_HandleInput() returned 1
...
...
Made some progress...
OBEX_HandleInput() returned 1
put_server()
put_server() Found name
put_server() Skipped header 42
put_server() Skipped header c3
put_server() Found body
Filename = Screenshot_2017-12-19-15-44-49-059_com.baidu.searchbox.png
Wrote Screenshot_2017-12-19-15-44-49-059_com.baidu.searchbox.png (257776 bytes)
Made some progress...
Server request finished!
server_done() Command (02) has now finished
OBEX_HandleInput() returned 1
Unknown event 0b!
We got a disconnect-request
Made some progress...
Server request finished!
Disconnect done!
OBEX_HandleInput() returned 1
>

Jetbrains全家桶1年46，售后保障稳定

二、BlueZ在ARM上的基础应用

1、BlueZ移植

BlueZ依赖的第三方库比较多，编译起来很繁琐，给每个库都创建一个config.sh文件，并设置777权限，

创建安装目录/usr/local/bluez，也设置777权限，

如下依次运行每个库的配置文件./config.sh可完整的编译出ARM的可执行文件。

编译环境

ubuntu + linaro gcc

gcc编译器https://www.linaro.org/downloads/

硬件环境

CPU: Cortex A5

Bluetooth: wg7813(bluetooth和wifi的复合模块，芯片是TI的wl18xx)

移植主要参考这个wiki，依赖库的版本最好也按wiki里的版本，一堆开源库，不同版本会有冲突，wiki里的版本是一次编译通过，配合如下脚本。

http://wiki.beyondlogic.org/index.php?title=Cross_Compiling_BlueZ_Bluetooth_tools_for_ARM

1) zlib-1.2.8

#!/bin/bash
cd /home/dong/bluez/zlib-1.2.8
CC=arm-linux-gnueabihf-gcc \
AR=arm-linux-gnueabihf-ar \
RANLIB=arm-linux-gnueabihf-ranlib \
./configure --prefix=/usr/local/bluez

make
if [ $? == 0 ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

zlib第一次还不能运行脚本，一步一步来，其他库都能通过脚本自动化编译，安装。

Download, cross compile and install the zlib compression libraries. Configure doesn’t accept the –host parameter (reports unknown option), so you need to hack the makefile.

wget http://zlib.net/zlib-1.2.8.tar.gz
tar -xzf zlib-1.2.8.tar.gz
cd zlib-1.2.8/
./configure --prefix=/usr/local/bluez

Edit the makefile and prefix the build tools with arm-linux-gnueabi-.

CC=arm-linux-gnueabihf-gcc
LDSHARED=arm-linux-gnueabihf-gcc -shared -Wl,-soname,libz.so.1,--version-script,zlib.map
CPP=arm-linux-gnueabihf-gcc -E
AR=arm-linux-gnueabihf-ar
RANLIB=arm-linux-gnueabihf-ranlib

Make and install:

make
make install

2) libffi-3.0.13

#!/bin/bash
./configure --host=arm-linux-gnueabihf --prefix=/usr/local/bluez

make
if [ $? == 0 ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

3) glib-2.40.0

#!/bin/bash
./configure --host=arm-linux-gnueabihf \
LIBFFI_CFLAGS="-I/usr/local/bluez/lib/libffi-3.0.13/include" \
LIBFFI_LIBS="-lffi -L/usr/local/bluez/lib" \
ZLIB_CFLAGS="-I/usr/local/bluez/include" \
ZLIB_LIBS="-lz -L/usr/local/bluez/lib" \
--prefix=/usr/local/bluez PKG_CONFIG_PATH=/usr/local/bluez/lib/pkgconfig  glib_cv_stack_grows=no glib_cv_uscore=yes ac_cv_func_posix_getpwuid_r=yes ac_cv_func_posix_getgrgid_r=yes

make
if [ $? == 0 ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

报错configure: error: Could not find a glib-genmarshal in your PATH，缺了libglib2.0-dev

sudo apt-get install libglib2.0-dev

4) expat-2.1.0

#!/bin/bash
./configure --host=arm-linux-gnueabihf --prefix=/usr/local/bluez

make
if [ $? == 0 ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

5) dbus-1.8.0

#!/bin/bash
./configure --host=arm-linux-gnueabihf --prefix=/usr/local/bluez PKG_CONFIG_PATH=/usr/local/bluez/lib/pkgconfig \
--disable-tests \
--sysconfdir=/usr/local/bluez/etc                    \
--localstatedir=/usr/local/bluez/var                 \
--enable-user-session                \
--disable-doxygen-docs               \
--disable-xml-docs                   \
--disable-static                     \
--docdir=/usr/local/bluez/share/doc/dbus-1.8.0   \
--with-console-auth-dir=/usr/local/bluez/var/run/console \
--with-system-pid-file=/usr/local/bluez/var/run/dbus/pid \
--with-system-socket=/usr/local/bluez/var/run/dbus/system_bus_socket \
CPPFLAGS='-I/usr/local/bluez/include/' \
CFLAGS='-I/usr/local/bluez/include/' \
LDFLAGS='-L/usr/local/bluez/lib'

make
if [ $? == 0 ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

6) libical-1.0

#!/bin/bash
export CC=arm-linux-gnueabihf-gcc
export CXX=arm-linux-gnueabihf-g++
cmake -DCMAKE_INSTALL_PREFIX=/usr/local/bluez

make
if [ $? == 0 ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

7) ncurses-5.9

#!/bin/bash
cd /home/dong/bluez/ncurses-5.9
./configure --prefix=/usr/local/bluez --with-shared \
CC=arm-linux-gnueabihf-gcc \
CXX=arm-linux-gnueabihf-g++ \
--host=arm-linux-gnueabihf

make
if [ $? == 0 ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

8) readline-6.3

#!/bin/bash
./configure --host=arm-linux-gnueabihf --prefix=/usr/local/bluez bash_cv_wcwidth_broken=yes \
PKG_CONFIG_PATH=/usr/local/bluez/lib/pkgconfig \
CPPFLAGS='-I/usr/local/bluez/include/' \
CFLAGS='-I/usr/local/bluez/include/' \
LDFLAGS='-lncurses -L/usr/local/bluez/lib'

#make SHLIB_LIBS=-lncurses
make
if [ $? == 0 ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

9) bluez-5.18

#!/bin/bash
./configure --host=arm-linux-gnueabihf \
--prefix=/usr/local/bluez \
CC="arm-linux-gnueabihf-gcc \
-L/usr/local/bluez/lib \
-I/usr/local/bluez/include \
-I/usr/local/bluez/include/glib-2.0 \
-I/usr/local/bluez/include/dbus-1.0 \
-I/usr/local/bluez/lib/glib-2.0/include \
-I/usr/local/bluez/lib/dbus-1.0/include \
-I/usr/local/bluez/lib/libffi-3.0.13/include " \
PKG_CONFIG_PATH=/usr/local/bluez/lib/pkgconfig \
CPPFLAGS='-I/usr/local/bluez/include/' \
CFLAGS='-I/usr/local/bluez/include/' \
LDFLAGS='-lrt -lreadline -lncurses -L/usr/local/bluez/lib' \
--disable-systemd --disable-udev --disable-cups --enable-library 

make
if [ $? == 0 ]; then
    make install
else
    echo -e "\n\tmake fail\n"
fi

再次说明版本务必要匹配，否则会冲突，怎么检查版本匹配，暂时不清楚，新版本库匹配在下面这网站去找，下面两个版本都有匹配好的BlueZ Dependencies

BlueZ-5.46

http://www.linuxfromscratch.org/blfs/view/stable/general/bluez.html

BlueZ-5.48

http://www.linuxfromscratch.org/blfs/view/svn/general/bluez.html

2、板载bluez调试

1）linux内核配置bluetooth驱动参考 http://blog.csdn.net/new_abc/article/details/7639326 (bluetooth和wifi)
[*]Networking support —>

<*> Bluetooth subsystem support —> //蓝牙子系统必须选择

<*> L2CAP protocol suppor //逻辑链路控制和适配协议。

<*> SCO links support //蓝牙语音和耳机支持

<*> RFCOMM protocol suppor //面向流的传输协议，支持拨号网络等

[*] RFCOMM TTY support

<*> BNEP protocol support //蓝牙网络封装协议，自组网支持

[*] Multicast filter support //蓝牙多播，支持支持BNEP

[*] Protocol filter support //蓝牙多播，支持支持支持BNEP

<*> HIDP protocol support //基本支持协议

Bluetoothdevice drivers —>

<*>HCI USB driver //USB蓝牙模块支持

<*>HCIUART driver //基于串口，CF卡或PCMCIA的蓝牙

<*>HCI BlueFRITZ! USB driver

<*>HCI VHCI (Virtual HCI device) driver

其余的选项，根据自己的蓝牙设备进行调整。

2）移植完的bluez，把安装文件拷贝到板子上，只需要dbus和bluez的安装文件，总共应该不超过5M，我的在/usr/local/bluez，然后添加环境变量。

拷贝几个库文件，添加messagebus用户，还是参考刚才的wiki

addgroup -S messagebus
adduser -S messagebus -G messagebus

http://wiki.beyondlogic.org/index.php?title=Cross_Compiling_BlueZ_Bluetooth_tools_for_ARM

可以试试hciconfig, hcitool, dbus-deamon等工具是否正常，正常了就移植成功了。

板子内存紧张可以用nfs挂载的方式来调试，挂载好了，环境变量设置到挂载的路径就可以了。

先安装好nfs服务器

https://jingyan.baidu.com/article/e5c39bf5abc8f739d76033be.html

开发板挂载ubuntu,在ubuntu用户目录下的nfs目录中准备好文件

在开发板上挂载ubuntu
mkdir /mnt/bluez
#在开发板端挂载板子网卡，这里用的USB模拟的网卡，挂载到usb0，真实的网卡就不需要模拟这一步了。

modprobe g_multi.ko file=/dev/mmcblk0p5,/dev/mmcblk0p6 ro=0,0 luns=2 stall=0 removable=1,1 iSerialNumber=3000111
ifconfig usb0 192.168.10.2

在ubuntu端打开网卡
ifconfig enp0s20f0u2 192.168.10.6 netmask 255.255.255.0
ifconfig enp0s20f0u2 up 192.168.10.6
#在开发板端挂载ubuntu上的nfs服务器
mount -t nfs -o nolock 192.168.10.6:/home/dong/nfs /mnt
#umount -t nfs -a nolock 192.168.10.6:/home/dong/nfs /mnt

开发板添加环境变量
#add path
export PATH=/mnt/bluez/bin:$PATH
export LD_LIBRARY_PATH=/mnt/bluez/lib:$LD_LIBRARY_PATH

或者在/etc/profile里添加环境变量永久生效

export PATH=\
/bin:\
/sbin:\
/usr/bin:\
/usr/sbin:\
/usr/bin/X11:\
/usr/local/bin:\
/mnt/bluez/bin:\

export LD_LIBRARY_PATH=/mnt/bluez/lib:$LD_LIBRARY_PATH

source /etc/profile

创建并运行脚本文件bluez.init.sh，运行成功就可以用手机搜到BlueZ-5.18的蓝牙设备

#power on
echo 49 > /sys/class/gpio/export
echo out > /sys/class/gpio/gpio49/direction
echo 0 > /sys/class/gpio/gpio49/value
sleep 0.2
echo 1 > /sys/class/gpio/gpio49/value
sleep 0.2

#load firmware
hciattach -s 115200 /dev/ttyS2 texas 115200 flow

hciconfig hci0 up                                                                             
sleep 0.1                                                                                     
hciconfig hci0 iscan                                                                          
sleep 0.1

rm -rf /usr/local/bluez/var/run/dbus/pid                                                                         

dbus-daemon --system                                                              
sleep 0.2                                                                                    
bluetoothd &                                                                     
sleep 1                                                                                                                                                            
hciconfig hci0 iscan

有时候环境变量写到配置文件会失效，程序运行会从系统库目录/lib /usr/lib查找库文件，不从我们配置的/mnt/bluez/lib目录里找

运行临时环境变量配置指令即可生效

export PATH=/mnt/bluez/bin:$PATH
export LD_LIBRARY_PATH=/mnt/bluez/lib:$LD_LIBRARY_PATH

3、python移植

新版本bluez的demo都是python写的，所以还需要把python也移植到板子上。
1)下载好Python-2.7.2.tgz和补丁文件Python-2.7.2-xcompile.patch
2)编译PC上运行的pgen
./configure

make python Parser/pgen

mv python hostpython

mv Parser/pgen Parser/hostpgen

make distclean

3)给Python-2.7.2打补丁
patch -p1 < Python-2.7.2-xcompile.patch

4)交叉编译，编译器arm-linux-gnueabihf-
CC=arm-linux-gnueabihf-gcc CXX=arm-linux-gnueabihf-g++ AR=arm-linux-gnueabihf-ar RANLIB=arm-linux-gnueabihf-ranlib ./configure –host=arm-linux-gnueabihf –build=x86_64-linux-gnu –prefix=/home/dong/_install

chmod 777 ./setup.py

如果空间紧张，可以更改Makefile,不需要debug，去掉-g，优化等级调成-o2
#OPT= -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes
OPT= -DNDEBUG -fwrapv -O2 -Wall -Wstrict-prototypes

make HOSTPYTHON=./hostpython HOSTPGEN=./Parser/hostpgen BLDSHARED=”arm-linux-gnueabihf-gcc -shared” CROSS_COMPILE=arm-linux-gnueabihf- CROSS_COMPILE_TARGET=yes HOSTARCH=arm-linux-gnueabihf BUILDARCH=x86_64-linux-gnu

make install HOSTPYTHON=./hostpython BLDSHARED=”arm-linux-gnueabihf-gcc -shared” CROSS_COMPILE=arm-linux-gnueabihf- CROSS_COMPILE_TARGET=yes prefix=/home/dong/_install

如果安装报错
python: Syntax error: word unexpected (expecting “)”)
将install-sh文件第一行#!/bin/sh改成#!/bin/bash

5)把安装目录下的文件复制到arm设备上，并吧Python路径添加到PATH中，然后执行测试
python /usr/local/python/lib/python2.7/test/test___all__.py

我的板内存空间紧张，先用nfs挂载来调试

转自
http://blog.csdn.net/xiwenfuor/article/details/38384687
http://blog.sina.com.cn/s/blog_609b4c0d01012j5q.html

我移植完了，发现这个blog写得很简洁。

https://blog.csdn.net/qq_28351465/article/details/54406180

4、板载python调试

python的库文件很大，还是跟上面调试bluez一样，采用nfs来调试

开发板添加环境变量
#add path
export PATH=/mnt/python/bin:$PATH
export LD_LIBRARY_PATH=/mnt/python/lib:$LD_LIBRARY_PATH

或者在/etc/profile里添加环境变量永久生效

export PATH=\
/bin:\
/sbin:\
/usr/bin:\
/usr/sbin:\
/usr/bin/X11:\
/usr/local/bin:\
/mnt/bluez/bin:\
/mnt/python/bin:\

export LD_LIBRARY_PATH=/mnt/bluez/lib:$LD_LIBRARY_PATH

export LD_LIBRARY_PATH=/mnt/python/lib:$LD_LIBRARY_PATH

source /etc/profile

挂载后运行python –V就可以看到python的版本信息了。

python /mnt/python/lib/python2.7/test/test___all__.py
运行结果
Following modules have no __all__ and have been ignored: [‘DocXMLRPCServer’, ‘HTMLParser’, ‘SimpleXMLRPCServer’, ‘UserDict’, ‘UserList’, ‘_LWPCookieJar’, ‘_MozillaCookieJar’, ‘__phello__.foo’, ‘abc’, ‘an]
Following modules failed to be imported: [‘ctypes.wintypes’, ‘dbhash’, ‘gzip’, ‘idlelib.AutoComplete’]
ok

———————————————————————-
Ran 1 test in 48.532s

5、运行simple-agent 或者 BlueZ SPP Demo
[root@sama5d3x /mnt]# python simple-agent
Traceback (most recent call last):
File “simple-agent”, line 7, in <module>
import dbus
ImportError: No module named dbus

缺了dbus模块
交叉编译dbus-python-1.2.4

折腾一天看见这个心碎了

https://www.zhihu.com/question/34573048

找了一圈，只能用buildroot来制作支持python的文件系统

http://www.at91.com/linux4sam/bin/view/Linux4SAM/BuildRootBuild

https://www.cnblogs.com/chencanjian/p/6060448.html

6、buildroot编译dbus-python库

进入buildroot根目录

make menuconfig

找到

dbus-python

gobject

其实不用像上面那样单独移植python也可以，就在buildroot里把python和需要的库都选上更方便，

buildroot还可以压缩库文件，还更省空间。

用yocto或者 OpenEmbedded来构建文件系统貌似也行，没有验证

make编译完就有了dbus-python库，运行python simple-agent，缺哪个库就拷贝哪个库，一共需要10几个吧。

库都不缺了，发现连接不上
dbus.SystemBus()

[root@sama5d3x /mnt]# python
Python 2.7.2 (default, Jan 20 2018, 15:29:23) 
[GCC 4.7.3 20121205 (prerelease)] on linux4
Type "help", "copyright", "credits" or "license" for more information.
>>> from __future__ import absolute_import, print_function, unicode_literals
>>> import gobject as GObject
>>> import sys
>>> import dbus
>>> import dbus.service
>>> import dbus.mainloop.glib
>>> from optparse import OptionParser
>>> dbus.mainloop.glib.DBusGMainLoop(set_as_default=True)
<dbus.mainloop.NativeMainLoop object at 0x2ecc08>
>>> bus = dbus.SystemBus()
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/usr/lib/python2.7/site-packages/dbus/_dbus.py", line 194, in __new__
  File "/usr/lib/python2.7/site-packages/dbus/_dbus.py", line 100, in __new__
  File "/usr/lib/python2.7/site-packages/dbus/bus.py", line 122, in __new__
dbus.exceptions.DBusException: org.freedesktop.DBus.Error.FileNotFound: Failed to connect to socket /var/run/dbus/system_bus_socket: No such file or directory

连不上dbus的socket，就差一口气了……

突然发现dbus-1.8.0库编译的时候没打开–with-system-socket

参考http://www.linuxfromscratch.org/blfs/view/svn/general/dbus.html

./configure --prefix=/usr                        \
            --sysconfdir=/etc                    \
            --localstatedir=/var                 \
            --disable-doxygen-docs               \
            --disable-xml-docs                   \
            --disable-static                     \
            --docdir=/usr/share/doc/dbus-1.8.0 \
            --with-console-auth-dir=/run/console \
            --with-system-pid-file=/run/dbus/pid \
            --with-system-socket=/run/dbus/system_bus_socket &&
make

更改上面dbus-1.8.0的编译配置，上面已经改过来了，重新编译，再运行配对例子

[root@sama5d3x test]# hciconfig hci0 pscan
[root@sama5d3x test]# hciconfig hci0 noauth
[root@sama5d3x test]# python simple-agent
Agent registered
RequestConfirmation (/org/bluez/hci0/dev_E4_46_DA_6E_8D_85, 565038)
Confirm passkey (yes/no): yes
[root@sama5d3x test]# cd ..
[root@sama5d3x /mnt]# python SPP-loopback.py 
NewConnection(/org/bluez/hci0/dev_E4_46_DA_6E_8D_85, 9)
received: aaa
received: step by step
received: BlueZ SPP OK !

配对simple-agent和蓝牙透传SPP-loopback.py都正常，再把bluez和python库裁剪，整理好就可以植入产品里了。

SPP-loopback.py蓝牙串口透传例子是intel的Edison模块的，也可以用在这里。

intel edison bluetooth guide 这个文档比较完整。

http://download.intel.com/support/edison/sb/edisonbluetooth_331704004.pdf

我整理的启动脚本 bluez_init.sh

#power on
echo 49 > /sys/class/gpio/export
echo out > /sys/class/gpio/gpio49/direction
echo 0 > /sys/class/gpio/gpio49/value
sleep 0.2
echo 1 > /sys/class/gpio/gpio49/value
sleep 0.2

#load firmware
hciattach -s 115200 /dev/ttyS2 texas 115200 flow
sleep 1 
hciconfig hci0 up                                                                             
sleep 0.1                                                                                     
hciconfig hci0 iscan                                                                          
sleep 0.1

#add dbus dir
rm -r /usr/local/bluez/var/run/dbus
ln -s /run/dbus/ /usr/local/bluez/var/run/
rm -rf /usr/local/bluez/var/run/dbus/pid 
mkdir /run/dbus 

#boot bluez process                                                                       
dbus-daemon --system                                                              
sleep 1                                                                                    
bluetoothd &                                                                    
sleep 1 

#run user app                                                                        
python simple-agent &
sleep 0.1
python SPP-loopback.py &
sleep 0.1
hciconfig hci0 name "bluez_test"
hciconfig hci0 piscan

将bluez-5.18的simple-agent文件中配对认证注释掉,设备就不认证了

    def AuthorizeService(self, device, uuid):
        print("AuthorizeService (%s, %s)" % (device, uuid))
        #authorize = ask("Authorize connection (yes/no): ")
        #if (authorize == "yes"):
        #    return
        #raise Rejected("Connection rejected by user")
...
...

    def RequestConfirmation(self, device, passkey):
        print("RequestConfirmation (%s, %06d)" % (device, passkey))
        #confirm = ask("Confirm passkey (yes/no): ")
        #if (confirm == "yes"):
        set_trusted(device)
        #    return
        #raise Rejected("Passkey doesn't match")

    @dbus.service.method(AGENT_INTERFACE,
                    in_signature="o", out_signature="")
    def RequestAuthorization(self, device):
        print("RequestAuthorization (%s)" % (device))
        #auth = ask("Authorize? (yes/no): ")
        #if (auth == "yes"):
        #    return
        #raise Rejected("Pairing rejected")

给板子上电，挂载好bluez和python的库文件，然后运行上面的启动脚本 ./bluez.init.sh

[root@sama5d3x /root]# mount -t nfs -o nolock 192.168.10.6:/home/dong/nfs /mnt
[root@sama5d3x /root]# cd /mnt/
[root@sama5d3x /mnt]# ./bluez.init.sh
Found a Texas Instruments’ chip!
Firmware file : /lib/firmware/ti-connectivity/TIInit_11.8.32.bts
Loaded BTS script version 1
Device setup complete
[root@sama5d3x /mnt]# Agent registered
RequestConfirmation (/org/bluez/hci0/dev_E4_46_DA_6E_8D_85, 345760)
NewConnection(/org/bluez/hci0/dev_E4_46_DA_6E_8D_85, 9)
received: step by step
received: step by step
received: step by step

7、python与c之间的交互

可以用的方式很多，共享内存，消息队列，管道，进程池或者直接封装接口互相调用函数。

搜一下就有了.下面是我找的共享内存机制

1) Python读取c语言进程的内存块

http://chl0000.iteye.com/blog/1915303

http://www.linuxidc.com/Linux/2012-03/57430.htm

2) python和c语言参数传递

c—>python
http://blog.csdn.net/JoeBlackzqq/article/details/10441017
http://blog.csdn.net/chenyulancn/article/details/8158168
python—>c
http://blog.csdn.net/mrcheny/article/details/79022973

3) 实例：导出python进程的数据

我这个项目需要导出python进程的数据给c进程处理

给c语言进程提供一个数据结构

bluetooth_data.c

#include <stdio.h>

struct bluetooth_t{    
    int status;
    char *buf;
};

int bluetooth_cb(struct bluetooth_t bluetooth)
{
        printf("bluetooth status:%d, bluetooth buf:%s \n", bluetooth.status,bluetooth.buf);
        return 0;
}

编译成so库文件

gcc/arm-linux-gnueabihf-gcc -o bluetooth_data.so -shared -fPIC bluetooth_data.c

然后python进程把需要的数据写到上面的数据结构

data_test.py

#!/usr/bin/python
import ctypes
from ctypes import *

class bluetooth(Structure):
        _fields_=[('status',c_int),('buf',c_char_p)]

if __name__ == "__main__":

    func = ctypes.cdll.LoadLibrary("./bluetooth_data.so")

    s = bluetooth()
    s.status = 1
    s.buf = bytes('hello,world')
    func.bluetooth_cb(s)

运行python data_test.py就可以打印出导出的数据

bluetooth status:1, bluetooth buf:hello，world.

8、bluez的BLE工作模式

只有bluez-5.xx以上版本才支持低功耗模式，配置跟普通模式有细微差别

我配置的BLE模式启动脚本 bluez_le_init.sh

#power on
echo 49 > /sys/class/gpio/export
echo out > /sys/class/gpio/gpio49/direction
echo 0 > /sys/class/gpio/gpio49/value
sleep 0.2
echo 1 > /sys/class/gpio/gpio49/value
sleep 0.2

#load firmware
hciattach -s 115200 /dev/ttyS2 texas 115200 flow
sleep 1 
hciconfig hci0 up                                                                             
sleep 0.1                                                                                     
hciconfig hci0 iscan                                                                          
sleep 0.1

#add dbus dir
rm -r /usr/local/bluez/var/run/dbus
ln -s /run/dbus/ /usr/local/bluez/var/run/
rm -rf /usr/local/bluez/var/run/dbus/pid 
mkdir /run/dbus 


#boot bluez process                                                                       
dbus-daemon --system                                                              
sleep 1                                                                                    
bluetoothd &                                                                    
sleep 1 

#run user app                                                                        
python simple-agent &
sleep 0.1

if false ; then
#Bluetooth SPP
python SPP-loopback.py &
else
#Bluetooth profile
hciconfig hci0 up
sleep 0.1
hciconfig hci0 leadv
fi

sleep 0.1
hciconfig hci0 name "bluez_test"
hciconfig hci0 piscan

用了个

if false ; then

…

else

…

把普通模式和BLE模式分开

给板子上电后运行./bluez.le.init.sh

找个蓝牙4.0的工具( 我用的BLE Tool )就能扫到BlueZ-5.18的设备, 读几个自带的特征值profile都正常。

9、蓝牙NFS挂载模式应用（nfs_debug）

首次运行需要配置相关系统参数

1)#配置内核蓝牙选项

2)#添加进程消息通道
addgroup -S messagebus
adduser -S messagebus -G messagebus

3#添加lp
vi /etc/group
lp:x:7:

4)#配置网卡
modprobe g_multi.ko file=/dev/mmcblk0p5,/dev/mmcblk0p6 ro=0,0 luns=2 stall=0 removable=1,1 iSerialNumber=3000111
ifconfig usb0 192.168.10.2

5)在ubuntu端打开网卡
不同主机生成的网卡名称可能不一样，ifconfig查看，这个是我的台式机，下面那个是我的笔记本
sudo ifconfig enp0s20f0u2 192.168.10.6 netmask 255.255.255.0
sudo ifconfig enp0s20f0u2 up 192.168.10.6

sudo ifconfig enp0s20f0u4 192.168.10.6 netmask 255.255.255.0
sudo ifconfig enp0s20f0u4 up 192.168.10.6

6)#在开发板端挂载ubuntu上的nfs服务器
mount -t nfs -o nolock 192.168.10.6:/home/dong/nfs /mnt/nfs
#umount -t nfs -a nolock 192.168.10.6:/home/dong/nfs /mnt/nfs

7)#添加环境变量

export PATH=\
/bin:\
/sbin:\
/usr/bin:\
/usr/sbin:\
/usr/bin/X11:\
/usr/local/bin:\
/mnt/nfs/bluez/bin:\
/mnt/nfs/python/bin:\

…

export LD_LIBRARY_PATH=/mnt/nfs/bluez/lib:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=/mnt/nfs/python/lib:$LD_LIBRARY_PATH

source /etc/profile

8）添加bluez配置文件
#cp -r /mnt/bluez /usr/local/
#cp -r /mnt/python /usr/local/
cp -r config/bluez /usr/local/

9) 启动蓝牙应用
./bluez.init.sh

10、蓝牙正式应用（readme）

蓝牙文件系统构建：

1) 配置内核蓝牙选项

2) 添加进程消息通道
addgroup -S messagebus
adduser -S messagebus -G messagebus

3) 添加lp
vi /etc/group
lp:x:7:

4) 拷贝库文件
cp -r bluez /usr/local/
cp -r python /usr/local/

5）拷贝应用程序
cp bluez.init.sh SPP-loopback.py /usr/local/project/
cp -r test /usr/local/project/

6）添加dbus软链接
rm -r /usr/local/bluez/var/run/dbus
ln -s /run/dbus/ /usr/local/bluez/var/run/

7）启动蓝牙进程bluez_init.sh

三、BLE4.0 Gatt-server

除了bluez的test目录python脚本 example-gatt-server（依赖的组件比较多，可能运行起来有点困难）

还有两种方案添加gatt自定义服务,都是开源的

一种是用bleno库，一种是go-server

我用的芯片不支持完整的BLE4.0，不能自定义用户profile 和 gatt service

一般完整支持BLE4.0或以上的芯片都是带flash的，需要更改蓝牙协议栈固件，能够作为IoT场景应用的蓝牙IC除了少部分通用芯片，大部分都是定制的专用芯片，像csr1000系列，TI的cc25xx cc26xx系列，nordic的rf51xx rf52xx系列等，都需要用厂商的专用工具来配置profile和gatt service.

下面参考文献是我收集的蓝牙自定义gatt-server方案和应用实例。

参考文献

1）RPi Bluetooth LE

2）用树莓派玩转蓝牙

3）A Node.js module for implementing BLE (Bluetooth Low Energy) peripherals

4）Package gatt provides a Bluetooth Low Energy GATT implementation

5）玩转BLE(3)_使用微信蓝牙精简协议伪造记步数据

6）Implementation of BLE peripheral using bleno

7）Python BLE GATT Server (peripheral)

8）Standalone D-Bus-based BlueZ BLE GATT server for C/C++

9）A custom Prosthetic GATT profile BLE Server / Peripheral implementation for prototyping and GA integration testing.

越折腾越深入，工作上做的产品最多也就用到这些内容，你愿意将业余时间花在蓝牙协议栈上面，深挖到底吗？对不起，我不舍得，就此打住！