#include <WiFi.h>
#include <AsyncUDP.h> //引用以使用异步UDP
#include<Wire.h>

const char *ssid = "esp32";
const char *password = "12345678";

double kalZ;
AsyncUDP udp;                     //创建UDP对象
unsigned int localUdpPort = 2333; //本地端口号


unsigned int broadcastPort = localUdpPort;
//const char *broadcastData = "broadcast data";
 const uint8_t broadcastData[] = {"broadcast data"};

void onPacketCallBack(AsyncUDPPacket packet)
{
  Serial.print("UDP数据包来源类型: ");
  Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播"));
  Serial.print("远端地址及端口号: ");
  Serial.print(packet.remoteIP());
  Serial.print(":");
  Serial.println(packet.remotePort());
  Serial.print("目标地址及端口号: ");
  Serial.print(packet.localIP());
  Serial.print(":");
  Serial.println(packet.localPort());
  Serial.print("数据长度: ");
  Serial.println(packet.length());
  Serial.print("数据内容: ");
  Serial.write(packet.data(), packet.length());
  Serial.println();

//  packet.print("reply data");
//  broadcastPort = packet.remotePort();
}

void setup()
{
     Serial.begin(115200);
    // kalman mpu6050 init
    kalman_init();

  //wifi初始化
  WiFi.mode(WIFI_AP);
   while(!WiFi.softAP(ssid, password)){}; //启动AP
    Serial.println("AP启动成功");
  while (!udp.listen(localUdpPort)) //等待udp监听设置成功
  {
  }
  udp.onPacket(onPacketCallBack); //注册收到数据包事件
}
char s[255];
void loop()
{
   kalZ = kalman_read();
   Serial.print(kalZ);Serial.print("\t");
   sprintf(s, "%.2f", kalZ); //将100转为16进制表示的字符串
//   Serial.println(strlen(s));

  delay(10);

//  udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息

   IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址
   udp.writeTo((const unsigned char*)s, strlen(s), broadcastAddr, localUdpPort); //广播数据
}