Getting started with controlling LEGO using Swift

by h.crane

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Hiromu Tsuruta / Shinichiro Oba Getting started with controlling LEGO using Swift try! Swift Tokyo 2024 Workshop

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　　　　　　　　　　　　　　　　　　　　　　　　　　　　・Rakuten Group, Inc 　　　　　　　　　　　　　　　　・Rakuma 　　　　　　・iOS Developer 　　　・Developer Relations 　　　　　　　　　　　　　　　　　　　　　　　　　　　・Twitter：@hcrane14 Tech Lead

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Workshop Contents • About Bluetooth • About Bluetooth LE • About GATT • About Core Bluetooth • Demonstrate littleBits STAR WARS R2-D2

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What do you associate with Bluetooth ? ϒϧʔτΡʔε͔ΒԿΛ࿈૝͢Δʁ

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What is Bluetooth ?

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About Bluetooth • Wireless communication technology ɹແઢ௨৴ٕज़ͷͻͱͭ Quoteɿhttps://k-tai.sharp.co.jp/appli/useful/10sen/01bluetooth.html • Communication standard designed for short distances ɹ୹ڑ཭޲͖ͷ௨৴ن֨

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In 1997, Jim Kardach of Intel proposed the name “Bluetooth”. 1997೥ɺΠϯςϧͷδϜɾέϧμοΫ͕  ʮϒϧʔτΡʔεʯͱ͍͏໊લΛఏҊͨ͠ɻ Quoteɿhttps://commons.wikimedia.org/wiki/File:Jim_Kardach_Mr_Bluetooh.png

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Why ?

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Nordic Countries ๺Ԥ

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Nordic Countries Quoteɿhttps://nordiclifescience.org/diﬀerent-covid-19-strategies-in-the-nordic-countries/

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Harald Gormsen Blåtand Quoteɿhttps://www.thoughtco.com/harald-bluetooth-proﬁle-1788985 • King of Denmark in the 10th century ɹ̍̌ੈلͷσϯϚʔΫԦ • Uniﬁed Norway and Denmark ɹϊϧ΢ΣʔͱσϯϚʔΫΛ౷Ұͨ͠ ϋϥϧυɾΰϧϜηϯɾϒϩλϯ

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Quoteɿhttps://www.thoughtco.com/harald-bluetooth-proﬁle-1788985 Harald had a blue tooth Harald Gormsen Blåtand ϋϥϧυɾΰϧϜηϯɾϒϩλϯ

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Harald Gormsen Blåtand Quoteɿhttps://www.thoughtco.com/harald-bluetooth-proﬁle-1788985 His nickname is ’Blåtan’ χοΫωʔϜ͸੨ࣃԦͩͬͨ ϋϥϧυɾΰϧϜηϯɾϒϩλϯ → ’Blåtan’ = blue tooth ɹϒϩλϯ = ੨͍ࣃ

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Quoteɿhttps://commons.wikimedia.org/wiki/File:Jim_Kardach_Mr_Bluetooh.png He chose this name because he hoped that Bluetooth would unify communication protocols like King Harald united countries. ൴͕͜ͷ໊લΛબΜͩͷ͸ɺϋϥϧυԦ͕ࠃΛ౷ Ұͨ͠Α͏ʹɺϒϧʔτΡʔε͕௨৴ϓϩτίϧ Λ౷Ұ͢Δ͜ͱΛ๬Μ͔ͩΒͰ͋Δɻ

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Quoteɿhttps://twitter.com/Bluetooth_Japan/status/1138135930974326784 The logo is a combination of the runic letters "H" and "B" from Harald Blåtand initials. ϩΰ͸ϋϥϧυɾϒϩλϯͷΠχγϟϧͰɺϧʔϯจࣈͷʮHʯͱʮBʯΛ૊Έ߹Θͤͨ΋ͷɻ Bluetooth logo

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Bluetooth History

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Bluetooth History Quoteɿhttps://www.tjsys.co.jp/focuson/clme-bluetooth/index_j.htm Bluetooth 4.0

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Bluetooth Low Energy (Bluetooth LE)

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Bluetooth Classic and Bluetooth Low Energy Quoteɿhttps://www.global-tag.com/bluetooth-low-energy-ble-overview/ Bluetooth Classic Bluetooth Low Energy Versions 4.x and later are generally referred to as Bluetooth LE, but also include Bluetooth Classic. 4.xҎ߱ͷόʔδϣϯ͸ҰൠʹBluetooth LEͱݺ͹ΕΔ͕ɺBluetooth Classic΋ؚ·Ε͍ͯΔɻ

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Bluetooth LE is fantastic

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What is the difference ? Bluetooth Classic Bluetooth Low Energy

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ᶃ Connectivity ௨৴

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Quoteɿhttps://www.musen-connect.co.jp/blog/course/product/analyze-bluetooth-pairing-problems-with-protocol-analyzer/ Bluetooth 1.x, 2.x 3.x Bluetooth 4.x, 5.x Active Scan Passive Scan ΞΫςΟϒεΩϟϯ ύογϒεΩϟϯ Communication flow of Bluetooth

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Ϛελʔ εϨʔϒ Bluetooth Classic (1.x, 2.x, 3.x) ᶃ Inquiry Slave (Child) Master (Parent) ᶄ Response Note: The ﬂow is a bit more complex, but has been omitted. ࣮ࡍͷϑϩʔ͸΋͏গ͠ෳࡶ͕ͩলུ͍ͯ͠Δɻ Active Scan ᶅ Connection

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Central (Parent) Peripheral (Child) ηϯτϥϧ ϖϦϑΣϥϧ Bluetooth LE (4.x, 5.x) Note: The ﬂow is a bit more complex, but has been omitted. ࣮ࡍͷϑϩʔ͸΋͏গ͠ෳࡶ͕ͩলུ͍ͯ͠Δɻ Passive Scan ᶄ Receive ᶅ Connection ᶃ Broadcast

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Swift can handle Bluetooth easily than before They look the same in the diagram, but... Swift ͰҎલΑΓ΋؆୯ʹϒϧʔτΡʔεΛѻ͑ΔΑ͏ʹͳͬͨ ਤͰ͸ಉ͡Α͏ʹݟ͑·͕͢...

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ᶄ Simultaneous Connections ಉ࣌઀ଓ

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Bluetooth Classic (1.0~) Pairing Connection One device can only establish one pairing. 1ͭͷσόΠεཱ͕֬Ͱ͖ΔϖΞϦϯά͸1͚ͭͩɻ

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Bluetooth Classic (2.1~) Pairing Connection Pairing One device can have multiple pairings (limited), but only one connection at a time. 1୆ͷσόΠεͰෳ਺ͷϖΞϦϯάʢ੍ݶ͋Γʣ͕Մೳ͕ͩɺҰ౓ʹ઀ଓͰ͖Δͷ͸1ͭͷΈɻ

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Bluetooth LE (4.x~) Pairing Connection Pairing Connection One device can have multiple pairings, and multiple connection at a time. 1୆ͷσόΠεͰෳ਺ͷϖΞϦϯά͕ՄೳͰɺҰ౓ʹෳ਺ͷ઀ଓ͕Ͱ͖Δɻ

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ᶅ Communication Profile ௨৴ϓϩϑΝΠϧ

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Connection Communication Profile ϓϩϑΝΠϧɿBluetoothσόΠεؒͷ௨৴΍σʔλަ׵Λఆٛ͢Δ࢓༷ Proﬁle: Speciﬁcations for communication and data exchange between Bluetooth devices

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Before Bluetooth LE emerged… Hands-Free Profile Advanced Audio Distribution Profile Human Interface Device Profile Serial Port Profile Bluetooth LE ͕ग़Δલ͸… There were several profiles, each requiring customized implementation ͍͔ͭ͘ͷϓϩϑΝΠϧ͕͋Γɺن֨͝ͱʹݸผʹ࣮૷͕ඞཁͩͬͨɻ

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After Bluetooth LE emerged… Generic Attribute Profile ʢGATTʣ Note: Not all Bluetooth LE uses GATT. ͢΂ͯͷBluetooth LE͕GATTΛ࢖༻͍ͯ͠ΔΘ͚Ͱ͸ͳ͍ɻ Bluetooth LE ͕ग़͔ͯΒ͸… GATT has unified profiles and made implementation easier. GATTʹن͕֨౷Ұ͞Εͯɺ؆୯ʹͳͬͨɻ

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What is GATT ?

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About GATT GATT Service Characteristic Declaration Value Descriptor (Optional) Feature Attribute Bluetooth௨৴ʹඞཁͳ৘ใ Information required for communication between Bluetooth devices ʨ ػೳ ଐੑ

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Permissions Quoteɿhttps://devzone.nordicsemi.com/f/nordic-q-a/64286/basic-concept-of-sending-and-receiving-data-with-ble Read Write Notify

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GATT Example Quoteɿhttps://www.microchip.com/en-us/solutions/medical/demonstrations-and-design-ﬁles/wearable-heart-rate-monitor Peripheral (Child) Central (Parent) GATT Wearable Heart Rate Monitor

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GATT Example Quoteɿhttps://developerhelp.microchip.com/xwiki/bin/view/applications/ble/introduction/bluetooth-architecture/bluetooth-host-layer/bluetooth-generic-attribute-proﬁle-gatt/Data-Organization/ ʨ ʨ ʨ

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littleBits STAR WARS R2-D2 Quoteɿ https://www.littlebits-jp.com/single-post/2018/04/10

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Quoteɿhttps://www.littlebits-jp.com/single-post/2018/04/10 littleBits STAR WARS R2-D2 littleBits was acquired, and the app is no longer downloadable ϦτϧϏοπ͸ങऩ͞ΕɺΞϓϦ͸μ΢ϯϩʔυͰ͖ͳ͘ͳͬͯ͠·ͬͨ

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DroidKit / crane-hiromu @ GitHub

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littleBits STAR WARS R2-D2 - GATT GATT Service FW Version Bitsnap Control Audio Upload ʹ Operation Feature ʹ ʹ Firmware Feature Voice Record Feature ΦϖϨʔγϣϯػೳ ϑΝʔϜ΢ΣΞػೳ ΦʔσΟΦػೳ Demo

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Core Bluetooth iOS͓ΑͼApple͕ఏڙ͢ΔଞͷΦϖϨʔςΟϯάɾγεςϜʹ͓͚ΔBluetooth௨৴ͷͨΊͷϑϨʔϜϫʔΫ Framework for Bluetooth communication in iOS and other Apple-provided operating systems Peripheral (Child) ϖϦϑΣϥϧ ηϯτϥϧ Central (Parent)

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CBPeripheralDelegate Core Bluetooth Protocols for handling events related to devices acting as a ‘Peripheral’ ϖϦϑΣϥϧͱͯ͠ಈ࡞͢ΔσόΠεʹؔ࿈͢ΔΠϕϯτ Λॲཧ͢ΔͨΊͷϓϩτίϧ Peripheral (Child) ϖϦϑΣϥϧ ηϯτϥϧ Central (Parent) CBCentralManagerDelegate Protocols for handling events related to devices acting as a ‘Central’ ηϯτϥϧͱͯ͠ಈ࡞͢ΔσόΠεʹؔ࿈͢ΔΠϕϯτ Λॲཧ͢ΔͨΊͷϓϩτίϧ

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CBCentralManagerDelegate CBPeripheralDelegate Example code Central (Parent) Peripheral (Child) ηϯτϥϧ ϖϦϑΣϥϧ Control peripheral Handle peripheral Handle central Control central

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Quoteɿhttps://medium.com/macoclock/core-bluetooth-ble-swift-d2e7b84ea98e

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Peripheral (Child) ϖϦϑΣϥϧ Quoteɿhttps://www.musen-connect.co.jp/blog/course/trial-production/ble-beginner-2/ Step 1 - Receive advertisement packet ηϯτϥϧ Central (Parent) packet packet packet packet packet

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Quoteɿhttps://www.musen-connect.co.jp/blog/course/trial-production/ble-beginner-2/ Step 1 - Receive advertisement packet packet packet packet packet packet Scan Result

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Quoteɿhttps://www.musen-connect.co.jp/blog/course/trial-production/ble-beginner-2/ Step 1 - Receive advertisement packet packet packet packet packet packet ηϯτϥϧͷपғʹ͋Δ͢΂ͯͷBluetooth LEσόΠε͕ݕग़͞ΕΔͷͰɺඞཁͳσόΠε͚ͩΛ୳͢ɻ It detects all Bluetooth LE devices around Central, so it only looks for the ones it needs.

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Step 2 - Establish a connection Peripheral (Child) ϖϦϑΣϥϧ ηϯτϥϧ Central (Parent)

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Step 2 - Establish a connection Peripheral (Child) ϖϦϑΣϥϧ ηϯτϥϧ Central (Parent) CBPeripheralDelegate

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Service FW Version Bitsnap Control Audio Upload ʹ Operation Feature ʹ ʹ Firmware Feature Voice Record Feature ΦϖϨʔγϣϯػೳ ϑΝʔϜ΢ΣΞػೳ ΦʔσΟΦػೳ Step 3 - Discover Service

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Peripheral (Child) ϖϦϑΣϥϧ ηϯτϥϧ Central (Parent) Step 3 - Discover service

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Peripheral (Child) ϖϦϑΣϥϧ ηϯτϥϧ Central (Parent) Step 3 - Discover service

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Service FW Version Bitsnap Control Audio Upload ʹ Operation Feature ʹ ʹ Firmware Feature Voice Record Feature ΦϖϨʔγϣϯػೳ ϑΝʔϜ΢ΣΞػೳ ΦʔσΟΦػೳ Step 4 - Discover characteristics

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Peripheral (Child) ϖϦϑΣϥϧ ηϯτϥϧ Central (Parent) Step 4 - Discover characteristics

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Peripheral (Child) ϖϦϑΣϥϧ ηϯτϥϧ Central (Parent) Step 4 - Discover characteristics FW Version Bitsnap Control Audio Upload ! ! " Filter UUID

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Peripheral (Child) ϖϦϑΣϥϧ ηϯτϥϧ Central (Parent) Permission - Write value

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Example Write Value - Sound [0x1E, 0x01, 0x00, 0xE1, 0xF0] [0x1E, 0x01, 0x01, 0xF1, 0xD1] [0x1E, 0x01, 0x02, 0xC1, 0xB2] Sound Type Sound Command

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Other examples [0x12, 0x03, 0x00, 0x00, 0xFF, 0xD2, 0x6C] [0x12, 0x03, 0xFF, 0x00, 0x00, 0x03, 0xFF] Color Command Color Type [0x14, 0x02, 0x02, 0xFF, 0x65, 0x9D] [0x14, 0x02, 0x02, 0x99, 0x69, 0xFD] Move Command Move Type Move Speed