*/
#include <stdio.h>
+#include <stdlib.h>
#include <unistd.h>
+#include <math.h>
#include <glib.h>
#include <service_app.h>
#include "log.h"
-#include "dc_motor.h"
#include "resource.h"
+#include "receiver.h"
+#include "message.h"
+#include "connection_manager.h"
+#include "net-util.h"
+#include "config.h"
+#include "cloud/cloud_communication.h"
+#include "messages/message_manager.h"
+#include "controller_connection_manager.h"
+#include "command.h"
+
+#define ENABLE_MOTOR 1
+
+#define CONFIG_GRP_CAR "Car"
+#define CONFIG_KEY_ID "Id"
+#define CONFIG_KEY_NAME "Name"
+#define CLOUD_REQUESTS_FREQUENCY 15
enum {
DIR_STATE_S,
unsigned int f_value;
unsigned int r_value;
unsigned int dir_state;
+ guint idle_h;
} app_data;
-#define FRONT_PIN 21
-#define REAR_PIN 4
+static void _initialize_components(app_data *ad);
+static void _initialize_config();
static void service_app_lang_changed(app_event_info_h event_info, void *user_data)
{
static void service_app_low_battery(app_event_info_h event_info, void *user_data)
{
+ _E("low battery! exit app");
+ service_app_exit();
+
return;
}
return;
}
-static void ___________control_motor(app_data *ad)
+static inline double __map_round(double val)
{
- _D("control motor, state(%u), f_val(%u), r_val(%u)",
- ad->dir_state, ad->f_value, ad->r_value);
+ return floor(val + 0.5);
+}
+static int __map_range_val(int d_max, int d_min, int v_max, int v_min, int val)
+{
+ int rval = 0;
+ double slope = 0;
+ slope = 1.0 * (d_max - d_min) / (v_max - v_min);
- switch (ad->dir_state) {
- case DIR_STATE_F:
- if (ad->f_value) {
- if (ad->r_value) {
- ad->dir_state = DIR_STATE_S;
- dc_motor_speed_set(DC_MOTOR_ID_L, 0);
- dc_motor_speed_set(DC_MOTOR_ID_R, 0);
- } else {
- ad->dir_state = DIR_STATE_B;
- dc_motor_speed_set(DC_MOTOR_ID_L, -2000);
- dc_motor_speed_set(DC_MOTOR_ID_R, -2000);
- }
- }
- break;
- case DIR_STATE_B:
- if (ad->r_value) {
- if (ad->f_value) {
- ad->dir_state = DIR_STATE_S;
- dc_motor_speed_set(DC_MOTOR_ID_L, 0);
- dc_motor_speed_set(DC_MOTOR_ID_R, 0);
- } else {
- ad->dir_state = DIR_STATE_F;
- dc_motor_speed_set(DC_MOTOR_ID_L, 2000);
- dc_motor_speed_set(DC_MOTOR_ID_R, 2000);
- }
- }
- break;
- case DIR_STATE_S:
- if (!ad->f_value) {
- ad->dir_state = DIR_STATE_F;
- dc_motor_speed_set(DC_MOTOR_ID_L, 2000);
- dc_motor_speed_set(DC_MOTOR_ID_R, 2000);
- } else if (!ad->r_value) {
- ad->dir_state = DIR_STATE_B;
- dc_motor_speed_set(DC_MOTOR_ID_L, -2000);
- dc_motor_speed_set(DC_MOTOR_ID_R, -2000);
- }
- break;
- }
+ rval = d_min + __map_round(slope * (val - v_min));
- return;
+ return rval;
}
-static void _front_ioa_sensor_changed_cb(unsigned int value, void *data)
+static int ___map_speed_val(int speed)
{
- app_data *ad = data;
+ static const int motor_max = 4095;
+ static const int motor_min = -4095;
+ static const int speed_max = 1000;
+ static const int speed_min = -1000;
- _D("FRONT has obstacle!");
+ return __map_range_val(motor_max, motor_min,
+ speed_max, speed_min, speed);
+}
- ad->f_value = value;
+static int ___map_servo_val(int servo)
+{
+ static const int motor_max = 500;
+ static const int motor_min = 400;
+ static const int servo_max = 1000;
+ static const int servo_min = -1000;
- ___________control_motor(ad);
+ return __map_range_val(motor_max, motor_min,
+ servo_max, servo_min, servo);
+}
- return;
+
+static int __driving_motors(int servo, int speed)
+{
+ int val_speed;
+ int val_servo;
+
+ val_servo = ___map_servo_val(servo);
+ val_speed = ___map_speed_val(speed);
+
+ _D("control motor - servo[%4d : %4d], speed[%4d : %4d]",
+ servo, val_servo, speed, val_speed);
+#if ENABLE_MOTOR
+ resource_set_servo_motor_value(0, val_servo);
+ resource_set_motor_driver_L298N_speed(MOTOR_ID_1, val_speed);
+ resource_set_motor_driver_L298N_speed(MOTOR_ID_2, val_speed);
+#endif
+
+ return 0;
}
-static void _back_ioa_sensor_changed_cb(unsigned int value, void *data)
+static gboolean __message_dispatcher(gpointer user_data)
{
- app_data *ad = data;
+ message_s *msg = NULL;
+
+ do {
+ msg = message_pop_from_inqueue();
+ if (msg) {
+ switch (msg->cmd) {
+ case MESSAGE_CMD_HELLO:
+ /* TODO : say hello to sender */
+ break;
+ case MESSAGE_CMD_CALIBRATION:
+ /* TODO : set calibration mode */
+ break;
+ case MESSAGE_CMD_DRIVE:
+ /* TODO : driving car */
+ __driving_motors(msg->servo, msg->speed);
+ break;
+ case MESSAGE_CMD_BYE:
+ __driving_motors(0, 0);
+ break;
+ }
+ }
+ free(msg);
+ } while (msg);
+
+ return TRUE;
+}
+
+static void __camera(int azimuth, int elevation)
+{
+ //TODO: Camera steering
+}
+
+static void __command_received_cb(command_s command) {
+ switch(command.type) {
+ case COMMAND_TYPE_DRIVE:
+ __driving_motors(command.data.steering.direction, command.data.steering.speed);
+ break;
+ case COMMAND_TYPE_CAMERA:
+ __camera(command.data.camera_position.camera_azimuth, command.data.camera_position.camera_elevation);
+ break;
+ case COMMAND_TYPE_DRIVE_AND_CAMERA:
+ __driving_motors(command.data.steering_and_camera.direction, command.data.steering_and_camera.speed);
+ __camera(command.data.steering_and_camera.camera_azimuth, command.data.steering_and_camera.camera_elevation);
+ break;
+ case COMMAND_TYPE_NONE:
+ break;
+ default:
+ _E("Unknown command type");
+ break;
+ }
+}
+
+static void __conn_state_changed_cb(connection_state_e state,
+ const char *ip, void* user_data)
+{
+ app_data *ad = user_data;
+
+ _D("connection state changed : %d", state);
- _D("BACK has obstacle!");
+ if (state == CONNECTION_STATE_CONNECTED) {
+ receiver_start(RECEIVER_TYPE_UDP);
- ad->r_value = value;
+ } else {
+ receiver_stop(RECEIVER_TYPE_UDP);
- ___________control_motor(ad);
+ if (ad->idle_h) {
+ g_source_remove(ad->idle_h);
+ ad->idle_h = 0;
+ }
+ __driving_motors(0, 0);
+ }
return;
}
+static void _initialize_config()
+{
+ config_init();
+ char *id = NULL;
+ char *name = NULL;
+ gboolean modified = false;
+ if (config_get_string(CONFIG_GRP_CAR, CONFIG_KEY_ID, &id) != 0) {
+ char *uuid = g_uuid_string_random();
+ config_set_string(CONFIG_GRP_CAR, CONFIG_KEY_ID, uuid);
+ g_free(uuid);
+ modified = true;
+ }
+ if (config_get_string(CONFIG_GRP_CAR, CONFIG_KEY_NAME, &id) != 0) {
+ config_set_string(CONFIG_GRP_CAR, CONFIG_KEY_NAME, "Passerati");
+ modified = true;
+ }
+ if (modified == true) {
+ config_save();
+ }
+ free(id);
+ free(name);
+}
+
+static void _initialize_components(app_data *ad)
+{
+ net_util_init();
+ _initialize_config();
+ cloud_communication_init();
+ message_manager_init();
+ controller_connection_manager_listen();
+}
+
static bool service_app_create(void *data)
{
int ret = 0;
+ app_data *ad = data;
- ret = dc_motor_init();
+ /*
+ * if you want to use default configuration,
+ * Do not need to call resource_set_motor_driver_L298N_configuration(),
+ *
+ */
+#if ENABLE_MOTOR
+ ret = resource_set_motor_driver_L298N_configuration(MOTOR_ID_1, 19, 16, 5);
+ if (ret) {
+ _E("resource_set_motor_driver_L298N_configuration()");
+ service_app_exit();
+ }
+ ret = resource_set_motor_driver_L298N_configuration(MOTOR_ID_2, 26, 20, 4);
if (ret) {
- _E("failed init motor, terminating this application");
+ _E("resource_set_motor_driver_L298N_configuration()");
service_app_exit();
}
+#endif
+
+ _initialize_components(ad);
+ cloud_communication_start(CLOUD_REQUESTS_FREQUENCY);
+
+ controller_connection_manager_set_command_received_cb(__command_received_cb);
return true;
}
static void service_app_control(app_control_h app_control, void *data)
{
- app_data *ad = data;
- int ret;
- resource_read_infrared_obstacle_avoidance_sensor(FRONT_PIN, &ad->f_value);
- resource_read_infrared_obstacle_avoidance_sensor(REAR_PIN, &ad->r_value);
-
- resource_set_infrared_obstacle_avoidance_sensor_interrupted_cb(FRONT_PIN, _front_ioa_sensor_changed_cb, ad);
- resource_set_infrared_obstacle_avoidance_sensor_interrupted_cb(REAR_PIN, _back_ioa_sensor_changed_cb, ad);
-
- ___________control_motor(ad);
+#if ENABLE_MOTOR
+ /* set speed 0, to reduce delay of initializing motor driver */
+ resource_set_motor_driver_L298N_speed(MOTOR_ID_1, 0);
+ resource_set_motor_driver_L298N_speed(MOTOR_ID_2, 0);
+ resource_set_servo_motor_value(0, 450);
+#endif
return;
}
{
app_data *ad = data;
- dc_motor_fini();
+ if (ad->idle_h)
+ g_source_remove(ad->idle_h);
+
+
+ controller_connection_manager_release();
+ message_manager_shutdown();
+
+ cloud_communication_stop();
+ cloud_communication_fini();
+ config_shutdown();
+ net_util_fini();
+
+ resource_close_all();
log_file_close();
_D("Bye ~");
return 0;
}
-
projects / apps / native / gear-racing-car.git / blobdiff