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VoDkA12

Member

Registered: 2012-03-20

Posts: 5

[SOLVED] Problem with bluetooth connecting to E-puck robot

Hey, I previously (~2 years ago) got some E-puck robots to work over bluetooth using Arch. That was pre-Bluez5 days, and now I am having problems connecting them. I need to connect to them to be able to send a HEX file.

I have the proper libraries & tools:

$ sudo pacman -Q | grep blue
blueman 2.0.3-1
bluez 5.37-2
bluez-firmware 1.2-8
bluez-hid2hci 5.37-2
bluez-libs 5.37-2
bluez-plugins 5.37-2
bluez-qt 5.19.0-1
bluez-utils 5.37-2
gnome-bluetooth 3.18.2-1
python-pybluez 0.20-4
python2-pybluez 0.20-4

I used to be able to use Blueman to discover, trust, pair, connect and send files to the E-pucks. Now I can only seem to discover, trust and pair them; not connect or send files.

$ lsusb
Bus 002 Device 003: ID 03f0:231d Hewlett-Packard Broadcom 2070 Bluetooth Combo

$ lspci
02:00.0 Network controller: Broadcom Corporation BCM43225 802.11b/g/n (rev 01)

$ hciconfig
hci0:	Type: BR/EDR  Bus: USB
	BD Address: 00:27:13:7A:30:1C  ACL MTU: 1021:8  SCO MTU: 64:1
	UP RUNNING PSCAN 
	RX bytes:26444 acl:555 sco:0 events:1490 errors:0
	TX bytes:176577 acl:1064 sco:0 commands:783 errors:0

$ hcitool dev
Devices: hci0	00:27:13:7A:30:1C

As I stated using Blueman I can discover, trust and pair the devices. It even creates /dev/rfcomm links when trying to connect. Initially I thought it was a problem in my setup, but when using Blueman to connect to my mobile and send the same file, there is no problem. It works flawlessly.

To make matters more interesting using bluetoothctl also gives strange results:

$ systemctl stop bluetooth.service
$ systemctl start bluetooth.service
$ rfkill unblock bluetooth
$ bluetoothctl
[NEW] Controller 00:27:13:7A:30:1C rutger-laptop-0 [default]
[NEW] Device 50:F5:20:45:52:5C GT-I8190
[bluetooth]# list
Controller 00:27:13:7A:30:1C rutger-laptop-0 [default]
[bluetooth]# agent on
Agent registered
[bluetooth]# default-agent
Default agent request successful
[bluetooth]# power on
Changing power on succeeded
[bluetooth]# pairable on
Changing pairable on succeeded
[bluetooth]# discoverable on
Changing discoverable on succeeded
[CHG] Controller 00:27:13:7A:30:1C Discoverable: yes
[bluetooth]# scan on
Discovery started
[CHG] Controller 00:27:13:7A:30:1C Discovering: yes
[NEW] Device 10:00:E8:AD:77:F8 e-puck_2193
[bluetooth]# pair 10:00:E8:AD:77:F8
Attempting to pair with 10:00:E8:AD:77:F8
[CHG] Device 10:00:E8:AD:77:F8 Connected: yes
Request PIN code
[agent] Enter PIN code: 2193
[CHG] Device 10:00:E8:AD:77:F8 UUIDs: 00001101-0000-1000-8000-00805f9b34fb
[CHG] Device 10:00:E8:AD:77:F8 Paired: yes
Pairing successful
[CHG] Device 10:00:E8:AD:77:F8 Connected: no
[bluetooth]# trust 10:00:E8:AD:77:F8
[CHG] Device 10:00:E8:AD:77:F8 Trusted: yes
Changing 10:00:E8:AD:77:F8 trust succeeded
[bluetooth]# connect 10:00:E8:AD:77:F8
Attempting to connect to 10:00:E8:AD:77:F8
[CHG] Device 10:00:E8:AD:77:F8 Connected: yes
Failed to connect: org.bluez.Error.NotAvailable
[CHG] Device 10:00:E8:AD:77:F8 Connected: no
[bluetooth]# info 10:00:E8:AD:77:F8
Device 10:00:E8:AD:77:F8
	Name: e-puck_2193
	Alias: e-puck_2193
	Paired: yes
	Trusted: yes
	Blocked: no
	Connected: no
	LegacyPairing: yes
	UUID: Serial Port               (00001101-0000-1000-8000-00805f9b34fb)
	RSSI: -63

Tried also starting bluetoothctl -a. Removing and adding device doesn't work. Tried running it via sudo, also no luck.

So my question is, how come I can connect other bluetooth devices succesfully, but not these robots, which I could before? Btw - I tried a number of them, is not just the one giving me a problem. Both grep & journalctl -f are not giving me anything useful.

Last edited by VoDkA12 (2016-03-17 13:19:24)

VoDkA12

Member

Registered: 2012-03-20

Posts: 5

Re: [SOLVED] Problem with bluetooth connecting to E-puck robot

Nevermind I have found a work around to the issue.

I was using an old perl script called epuckuploader inconjunction with Blueman. I could make tty /dev/rfcommX connections using Blueman, but was unable to upload using this old script or Blueman's bluetooth-sendto command.

Instead I use Blueman to make the tty /dev/rfcommX connections and then use the new epuckuploadbt program 1 2

Appears not that my setup or BlueZ is wrong, just that the E-puck robots require a newer script to be able to upload the HEX file.