我的pi崩溃后，我一直在尝试建立与Hc-06 BT模块的蓝牙连接。我过去成功完成了此操作，但由于pi崩溃而丢失了原始程序。我相信我已经按照每个教程的每个步骤进行了操作，但是不知何故。
到目前为止，我做了什么： 我做到了：
sudo killall Xvfb
sudo killall java
sudo rfcomm bind rfcomm0 20：14：04：15：23：75 //是，这里的地址是正确的
sudo xvfb-run /home/pi/Documents/application.linux-armv6hf/piTrain
我正在使用的应用程序是一个处理草图。我开发了一个功能以连接到蓝牙模块。 BT背后的设备是arduino nano。整体是一个手动控制器（<-代码中串行对象的名称）。处理草图还通过USB连接到另一个arduino nano。此连接已经过测试，性能良好。草图充当2之间的桥梁。
现在我的记忆告诉我，执行以下代码行可以建立连接：
handController = new Serial( this , "/dev/rfcomm0" , 9600 );
它不再这样做了，所以显然我忘记了要做的事情。
握手功能：
void handShaking() {
int b;
if( handController.available() > 0 ) {
if( handControllerConnected == false ) {
handControllerConnected = true;
println("connection with handcontroller established!");
}
b = handController.read();
dccCentral.write( b );
println("controller: " + (char) b );
handControllerTimeout = millis() + 5000 ;
}
if(dccCentral.available() > 0 ) {
b = dccCentral.read();
handController.write( b );
println("central: " + (char) b );
}
if( millis() > handControllerTimeout ) {
if( handControllerConnected == true ) {
handControllerConnected = false;
println("connection with hand controller lost!");
handControllerTimeout = millis() + 5000 ;
}
else {
try {
handController.stop();
}
catch ( NullPointerException e) {
println(" error terminating connection ");
}
try {
handController = new Serial( this , "/dev/rfcomm0" , 9600 );
handController.write('$');
handController.write('$');
handController.write('9');
println("attempting to connect with hand controller...");
}
catch(Exception e){
println("error cannot set up hand controller connection");
}
handControllerTimeout = millis() + 10000 ;
}
}
}
在我调用handController.stop（）之后，每隔10秒就会有效地调用下一行 新的Serial（this，“ / dev / rfcomm0”，9600）; 程序的输出：
pi@raspberrypi:~ $ ./boot.sh
Can't create device: Device or resource busy
0 /dev/rfcomm0
1 /dev/serial1
2 /dev/ttyAMA0
3 /dev/ttyUSB0
setting up connecton with DCC central
12
respons = hello
respons confirmed, connection with DCC central established
setting up connecton with RS485 bus
connecton set up!
rs485 bus cleared
central:
central: B
central: a
central: s
central:
central:
central:
connection with hand controller lost!
attempting to connect with hand controller...
attempting to connect with hand controller...
只要Wi-Fi不会崩溃，这种情况就会持续下去。
与众不同的一件事是我的工作方法。飞机坠毁后，我希望Rpi尽可能“哑巴”。我在Windows PC上以VS代码对处理草图进行编码。我使用processing-java命令行工具导出草图。使用scp，我将整个文件夹传输到rpi，然后运行启动脚本。
也许这确实意味着一些有用的东西：
pi@raspberrypi:~ $ sudo rfcomm connect hci0 20:14:04:15:23:75
Can't connect RFCOMM socket: Connection reset by peer
pi@raspberrypi:~ $ sudo rfcomm connect rfcomm0 20:14:04:15:23:75
Can't connect RFCOMM socket: Connection refused
上次蓝牙连接是在公园散步，它只是...起作用。
有人可以告诉我我忘记或做错了什么吗？
编辑： 额外信息。在蓝牙程序中，我得到了这个输出。连接后我快速运行信息，仍然会自动断开连接
[bluetooth]# connect 20:14:04:15:23:75
Attempting to connect to 20:14:04:15:23:75
[CHG] Device 20:14:04:15:23:75 Connected: yes
[CHG] Device 20:14:04:15:23:75 ServicesResolved: yes
Failed to connect: org.bluez.Error.NotAvailable
[Hand Controller]# info 20:14:04:15:23:75
Device 20:14:04:15:23:75 (public)
Name: Hand Controller
Alias: Hand Controller
Class: 0x00001f00
Paired: yes
Trusted: yes
Blocked: no
Connected: yes
LegacyPairing: yes
UUID: Serial Port (00001101-0000-1000-8000-00805f9b34fb)
[CHG] Device 20:14:04:15:23:75 ServicesResolved: no
[CHG] Device 20:14:04:15:23:75 Connected: no
[bluetooth]# info 20:14:04:15:23:75
Device 20:14:04:15:23:75 (public)
Name: Hand Controller
Alias: Hand Controller
Class: 0x00001f00
Paired: yes
Trusted: yes
Blocked: no
Connected: no
LegacyPairing: yes
UUID: Serial Port (00001101-0000-1000-8000-00805f9b34fb)
[bluetooth]#
答案 0 :(得分：0)
我按照以下说明安装了arduino和HC-06模块： https://www.aranacorp.com/en/arduino-and-bluetooth-module-hc-06/
使用以下草图将其连接起来
#include <SoftwareSerial.h>
SoftwareSerial hc06(2,3);
String cmd="";
float sensor_val=0;
void setup(){
//Initialize Serial Monitor
Serial.begin(9600);
//Initialize Bluetooth Serial Port
hc06.begin(9600);
}
void loop(){
//Read data from HC06
while(hc06.available()>0){
cmd+=(char)hc06.read();
}
//Select function with cmd
if(cmd!=""){
Serial.print("Command recieved : ");
Serial.println(cmd);
// We expect ON or OFF from bluetooth
if(cmd=="ON"){
Serial.println("Function is on");
}else if(cmd=="OFF"){
Serial.println("Function is off");
}else{
Serial.println("Function is off by default");
}
cmd=""; //reset cmd
}
// Simulate sensor measurement
sensor_val=(float)random(256); // random number between 0 and 255
//Write sensor data to HC06
hc06.print(sensor_val);
delay(100);
}
然后在我的Raspberry Pi上执行以下操作以将Raspberry Pi与HC-06配对：
$ bluetoothctl
Agent registered
[bluetooth]# scan on
Discovery started
[CHG] Device 00:00:12:06:53:92 LegacyPairing: no
[CHG] Device 00:00:12:06:53:92 Name: HC-06
[CHG] Device 00:00:12:06:53:92 Alias: HC-06
[bluetooth]# scan off
[bluetooth]# pair 00:00:12:06:53:92
Attempting to pair with 00:00:12:06:53:92
[CHG] Device 00:00:12:06:53:92 Connected: yes
Request PIN code
[agent] Enter PIN code: 1234
[CHG] Device 00:00:12:06:53:92 UUIDs: 00001101-0000-1000-8000-00805f9b34fb
[CHG] Device 00:00:12:06:53:92 ServicesResolved: yes
[CHG] Device 00:00:12:06:53:92 Paired: yes
Pairing successful
[CHG] Device 00:00:12:06:53:92 ServicesResolved: no
[CHG] Device 00:00:12:06:53:92 Connected: no
[bluetooth]#
我已经安装了Blue Dot Python库，所以我用它来创建Bluetooth串行客户端。
我使用了位于https://bluedot.readthedocs.io/en/latest/btcommapi.html#bluetoothclient的文档来创建以下内容：
from bluedot.btcomm import BluetoothClient
from signal import pause
def data_received(data):
print(data)
c = BluetoothClient("00:00:12:06:53:92", data_received)
c.send("ON")
pause()
“ ON”命令出现在Arduino上，随机生成的数字出现在我的Raspberry上
$ python hc06.py
09.00
8
.00
83.00
79.00
81.00
2
48.00