2 * Copyright (c) 2017 Samsung Electronics Co., Ltd.
4 * Contact: Jeonghoon Park <jh1979.park@samsung.com>
6 * Licensed under the Flora License, Version 1.1 (the License);
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
10 * http://floralicense.org/license/
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an AS IS BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
24 #include <service_app.h>
29 #include "cloud/cloud_communication.h"
30 #include "messages/message_manager.h"
31 #include "controller_connection_manager.h"
32 #include "lap_counter/lap_counter.h"
35 #define ENABLE_MOTOR 1
36 #define STERING_SERVO_CENTER 340
37 #define STERING_SERVO_RANGE 125
39 #define MAX_UDP_INPUT 10000
41 #define CONFIG_GRP_CAR "Car"
42 #define CONFIG_GRP_STEERING "Steering"
43 #define CONFIG_GRP_CAMERA "Camera"
44 #define CONFIG_GRP_ENGINE "Engine"
45 #define CONFIG_GRP_RPI "Rpi"
47 #define CONFIG_KEY_ID "Id"
48 #define CONFIG_KEY_NAME "Name"
50 #define CONFIG_KEY_STEERING_CENTER "Center"
51 #define CONFIG_KEY_STEERING_RANGE "Range"
52 #define CONFIG_KEY_CAMERA_AZIMUTH_CENTER "Azimuth.Center"
53 #define CONFIG_KEY_CAMERA_AZIMUTH_RANGE "Azimuth.Range"
54 #define CONFIG_KEY_CAMERA_ELEVATION_MIN "Elevation.Min"
55 #define CONFIG_KEY_CAMERA_ELEVATION_MAX "Elevation.Max"
56 #define CONFIG_KEY_CAMERA_ENGINE_MIN "Min"
57 #define CONFIG_KEY_CAMERA_ENGINE_MAX "Max"
59 #define CONFIG_KEY_RPI_PIN_STERING "Stering"
60 #define CONFIG_KEY_RPI_PIN_CAMERA_AZIMUTH "Azimuth"
61 #define CONFIG_KEY_RPI_PIN_CAMERA_ELEVATION "Elevation"
63 #define CONFIG_KEY_RPI_PIN_ENGINE_1_FORWARD "1.forward"
64 #define CONFIG_KEY_RPI_PIN_ENGINE_1_BACK "1.back"
65 #define CONFIG_KEY_RPI_ENGINE_CHANNEL_1 "Channel.1"
66 #define CONFIG_KEY_RPI_PIN_ENGINE_2_FORWARD "2.forward"
67 #define CONFIG_KEY_RPI_PIN_ENGINE_2_BACK "2.back"
68 #define CONFIG_KEY_RPI_ENGINE_CHANNEL_2 "Channel.2"
70 #define CLOUD_REQUESTS_FREQUENCY 15
72 #define ELEVATION_MIN 200
73 #define ELEVATION_MAX 400
74 #define AZIMUTH_MIN 200
75 #define AZIMUTH_MAX 700
77 #define CONFIG_LED_STATE_KEY_INIT "init"
78 #define CONFIG_DEFAULT_LED_3BIT_INIT 1, 1, 0
79 #define CONFIG_DEFAULT_LED_24BIT_INIT 255, 32, 0
81 #define CONFIG_LED_STATE_KEY_OFF "off"
82 #define CONFIG_DEFAULT_LED_3BIT_OFF 0, 0, 0
83 #define CONFIG_DEFAULT_LED_24BIT_OFF 0, 0, 0
91 typedef struct app_data_s {
94 unsigned int dir_state;
95 const char *user_name;
101 int camera_azimuth_center;
102 int camera_azimuth_range;
104 int camera_elevation_min;
105 int camera_elevation_max;
115 int engine_1_forward_pin;
116 int engine_1_back_pin;
117 int engine_1_channel;
119 int engine_2_forward_pin;
120 int engine_2_back_pin;
121 int engine_2_channel;
124 static app_data s_info = {
125 .stering_center = STERING_SERVO_CENTER,
126 .stering_range = STERING_SERVO_RANGE,
128 .camera_azimuth_center = (AZIMUTH_MAX + AZIMUTH_MIN) /2,
129 .camera_azimuth_range = AZIMUTH_MAX - ((AZIMUTH_MAX + AZIMUTH_MIN) /2),
131 .camera_elevation_min = ELEVATION_MIN,
132 .camera_elevation_max = ELEVATION_MAX,
142 .engine_1_forward_pin = 6,
143 .engine_1_back_pin = 5,
144 .engine_1_channel = 5,
146 .engine_2_forward_pin = 21,
147 .engine_2_back_pin = 20,
148 .engine_2_channel = 4,
151 static void _initialize_components(app_data *ad);
152 static void _initialize_config();
154 static void service_app_lang_changed(app_event_info_h event_info, void *user_data)
159 static void service_app_region_changed(app_event_info_h event_info, void *user_data)
164 static void service_app_low_battery(app_event_info_h event_info, void *user_data)
166 _E("low battery! exit app");
172 static void service_app_low_memory(app_event_info_h event_info, void *user_data)
177 static inline double __map_round(double val)
179 return floor(val + 0.5);
182 static int __map_range_val(int v_min, int v_max, int d_min, int d_max, int val)
186 slope = 1.0 * (d_max - d_min) / (v_max - v_min);
188 rval = d_min + __map_round(slope * (val - v_min));
193 static inline int ___map_speed_val(int speed)
195 return __map_range_val(-MAX_UDP_INPUT, MAX_UDP_INPUT, s_info.engine_min, s_info.engine_max, speed);
198 static inline int ___map_servo_val(int servo)
200 return __map_range_val(-MAX_UDP_INPUT, MAX_UDP_INPUT,
201 s_info.stering_center - s_info.stering_range,
202 s_info.stering_center + s_info.stering_range, servo);
205 static int __driving_motors(int servo, int speed)
210 val_servo = ___map_servo_val(servo);
211 val_speed = ___map_speed_val(speed);
213 _D("control motor - servo[%4d : %4d], speed[%4d : %4d]",
214 servo, val_servo, speed, val_speed);
216 resource_set_servo_motor_value(0, val_servo);
217 resource_set_motor_driver_L298N_speed(MOTOR_ID_1, val_speed);
218 resource_set_motor_driver_L298N_speed(MOTOR_ID_2, val_speed);
224 static void __camera(int azimuth, int elevation)
226 int val_azimuth = __map_range_val(-MAX_UDP_INPUT, MAX_UDP_INPUT,
227 s_info.camera_azimuth_center - s_info.camera_azimuth_range,
228 s_info.camera_azimuth_center + s_info.camera_azimuth_range, azimuth);
230 int val_elevation = __map_range_val(0, MAX_UDP_INPUT, s_info.camera_elevation_min, s_info.camera_elevation_max, elevation); // No need to look upside down
232 _D("camera - azimuth[%4d : %4d], elevation[%4d : %4d]", azimuth, val_azimuth, elevation, val_elevation);
234 resource_set_servo_motor_value(s_info.elevation_pin, val_elevation);
235 resource_set_servo_motor_value(s_info.azimuth_pin, val_azimuth);
239 static void __command_received_cb(command_s command) {
240 switch(command.type) {
241 case COMMAND_TYPE_DRIVE:
242 __driving_motors(command.data.steering.direction, command.data.steering.speed);
244 case COMMAND_TYPE_CAMERA:
245 __camera(command.data.camera_position.camera_azimuth, command.data.camera_position.camera_elevation);
247 case COMMAND_TYPE_DRIVE_AND_CAMERA:
248 __driving_motors(command.data.steering_and_camera.direction, command.data.steering_and_camera.speed);
249 __camera(command.data.steering_and_camera.camera_azimuth, command.data.steering_and_camera.camera_elevation);
251 case COMMAND_TYPE_NONE:
254 _E("Unknown command type");
259 static void __user_name_received_cb(const char *name)
261 _D("User name received: %s", name);
262 lap_counter_set_user_name(name);
263 lap_counter_set_start_lap();
266 static void _initialize_config()
274 gboolean modified = false;
276 if (config_get_string(CONFIG_GRP_CAR, CONFIG_KEY_ID, &id) != 0) {
277 char *uuid = g_uuid_string_random();
278 config_set_string(CONFIG_GRP_CAR, CONFIG_KEY_ID, uuid);
283 char *uuid = g_uuid_string_random();
284 modified |= config_get_string_or_set_default(CONFIG_GRP_CAR, CONFIG_KEY_ID, uuid, &id);
287 modified |= config_get_string_or_set_default(CONFIG_GRP_CAR, CONFIG_KEY_NAME, "Pink Car", &name);
289 modified |= config_get_int_with_default(CONFIG_GRP_STEERING, CONFIG_KEY_STEERING_CENTER, s_info.stering_center, &s_info.stering_center);
290 modified |= config_get_int_with_default(CONFIG_GRP_STEERING, CONFIG_KEY_STEERING_RANGE, s_info.stering_range, &s_info.stering_range);
292 modified |= config_get_int_with_default(CONFIG_GRP_CAMERA, CONFIG_KEY_CAMERA_AZIMUTH_CENTER, s_info.camera_azimuth_center, &s_info.camera_azimuth_center);
293 modified |= config_get_int_with_default(CONFIG_GRP_CAMERA, CONFIG_KEY_CAMERA_AZIMUTH_RANGE, s_info.camera_azimuth_range, &s_info.camera_azimuth_range);
294 modified |= config_get_int_with_default(CONFIG_GRP_CAMERA, CONFIG_KEY_CAMERA_ELEVATION_MIN, s_info.camera_elevation_min, &s_info.camera_elevation_min);
295 modified |= config_get_int_with_default(CONFIG_GRP_CAMERA, CONFIG_KEY_CAMERA_ELEVATION_MAX, s_info.camera_elevation_max, &s_info.camera_elevation_max);
297 modified |= config_get_int_with_default(CONFIG_GRP_ENGINE, CONFIG_KEY_CAMERA_ENGINE_MIN, s_info.engine_min, &s_info.engine_min);
298 modified |= config_get_int_with_default(CONFIG_GRP_ENGINE, CONFIG_KEY_CAMERA_ENGINE_MAX, s_info.engine_max, &s_info.engine_max);
300 modified |= config_get_int_with_default(CONFIG_GRP_RPI, CONFIG_KEY_RPI_PIN_STERING, s_info.stering_pin, &s_info.stering_pin);
301 modified |= config_get_int_with_default(CONFIG_GRP_RPI, CONFIG_KEY_RPI_PIN_CAMERA_AZIMUTH, s_info.azimuth_pin, &s_info.azimuth_pin);
302 modified |= config_get_int_with_default(CONFIG_GRP_RPI, CONFIG_KEY_RPI_PIN_CAMERA_ELEVATION, s_info.elevation_pin, &s_info.elevation_pin);
304 modified |= config_get_int_with_default(CONFIG_GRP_RPI, CONFIG_KEY_RPI_PIN_ENGINE_1_FORWARD, s_info.engine_1_forward_pin, &s_info.engine_1_forward_pin);
305 modified |= config_get_int_with_default(CONFIG_GRP_RPI, CONFIG_KEY_RPI_PIN_ENGINE_1_BACK, s_info.engine_1_back_pin, &s_info.engine_1_back_pin);
306 modified |= config_get_int_with_default(CONFIG_GRP_RPI, CONFIG_KEY_RPI_ENGINE_CHANNEL_1, s_info.engine_1_channel, &s_info.engine_1_channel);
308 modified |= config_get_int_with_default(CONFIG_GRP_RPI, CONFIG_KEY_RPI_PIN_ENGINE_2_FORWARD, s_info.engine_2_forward_pin, &s_info.engine_2_forward_pin);
309 modified |= config_get_int_with_default(CONFIG_GRP_RPI, CONFIG_KEY_RPI_PIN_ENGINE_2_BACK, s_info.engine_2_back_pin, &s_info.engine_2_back_pin);
310 modified |= config_get_int_with_default(CONFIG_GRP_RPI, CONFIG_KEY_RPI_ENGINE_CHANNEL_2, s_info.engine_2_channel, &s_info.engine_2_channel);
312 if (modified == true) {
320 static void _initialize_components(app_data *ad)
325 _initialize_config();
326 cloud_communication_init();
327 message_manager_init();
328 controller_connection_manager_listen();
333 _D("Car settings: Stering[%d +/- %d] Engine[%d - %d], CamAzimuth[%d +/- %d], CamElev[%d - %d]",
334 s_info.stering_center, s_info.stering_range,
335 s_info.engine_min, s_info.engine_max,
336 s_info.camera_azimuth_center, s_info.camera_azimuth_range,
337 s_info.camera_elevation_min, s_info.camera_elevation_max);
339 _D("RPI: Stering[%d], Azimuth[%d], Elev[%d]; ENG_1[%d, %d, %d]; ENG_2[%d, %d, %d];",
340 s_info.stering_pin, s_info.azimuth_pin, s_info.elevation_pin,
341 s_info.engine_1_forward_pin, s_info.engine_1_back_pin, s_info.engine_1_channel,
342 s_info.engine_2_forward_pin, s_info.engine_2_back_pin, s_info.engine_2_channel);
347 static bool service_app_create(void *data)
354 _D("-----------------------=======================================================================-----------------------");
355 _D("-----------------------=======================================================================-----------------------");
356 _D("-----------------------============================== APP %s %s ==============================-----------------------", __DATE__, __TIME__);
357 _D("-----------------------=======================================================================-----------------------");
358 _D("-----------------------=======================================================================-----------------------");
360 _initialize_components(ad);
363 * if you want to use default configuration,
364 * Do not need to call resource_set_motor_driver_L298N_configuration(),
368 ret = resource_set_motor_driver_L298N_configuration(MOTOR_ID_1, s_info.engine_1_forward_pin, s_info.engine_1_back_pin, s_info.engine_1_channel);
370 _E("resource_set_motor_driver_L298N_configuration()");
373 ret = resource_set_motor_driver_L298N_configuration(MOTOR_ID_2, s_info.engine_2_forward_pin, s_info.engine_2_back_pin, s_info.engine_2_channel);
375 _E("resource_set_motor_driver_L298N_configuration()");
380 resource_lap_counter_init();
381 cloud_communication_start(CLOUD_REQUESTS_FREQUENCY);
383 controller_connection_manager_set_command_received_cb(__command_received_cb);
384 controller_connection_manager_set_user_name_received_cb(__user_name_received_cb);
386 resource_led_set_rgb_colors(CONFIG_LED_STATE_KEY_INIT,
387 CONFIG_DEFAULT_LED_3BIT_INIT,
388 CONFIG_DEFAULT_LED_24BIT_INIT,
395 static void service_app_control(app_control_h app_control, void *data)
400 /* set speed 0, to reduce delay of initializing motor driver */
401 resource_set_motor_driver_L298N_speed(MOTOR_ID_1, 0);
402 resource_set_motor_driver_L298N_speed(MOTOR_ID_2, 0);
403 resource_set_servo_motor_value(s_info.stering_pin, s_info.stering_center);
404 resource_set_servo_motor_value(s_info.elevation_pin, s_info.camera_elevation_min);
405 resource_set_servo_motor_value(s_info.azimuth_pin, s_info.camera_azimuth_center);
412 static void service_app_terminate(void *data)
415 resource_led_set_rgb_colors(CONFIG_LED_STATE_KEY_OFF,
416 CONFIG_DEFAULT_LED_3BIT_OFF,
417 CONFIG_DEFAULT_LED_24BIT_OFF,
420 resource_set_servo_motor_value(s_info.stering_pin, s_info.stering_center);
421 resource_set_servo_motor_value(s_info.elevation_pin, s_info.camera_elevation_min);
422 resource_set_servo_motor_value(s_info.azimuth_pin, s_info.camera_azimuth_center);
424 resource_lap_counter_destroy();
425 resource_led_destroy();
428 g_source_remove(ad->idle_h);
430 lap_counter_shutdown();
431 controller_connection_manager_release();
432 message_manager_shutdown();
434 cloud_communication_stop();
435 cloud_communication_fini();
439 resource_close_all();
447 int main(int argc, char* argv[])
451 service_app_lifecycle_callback_s event_callback;
452 app_event_handler_h handlers[5] = {NULL, };
454 log_type_set(LOG_TYPE_DLOG);
456 ad = calloc(1, sizeof(app_data));
459 event_callback.create = service_app_create;
460 event_callback.terminate = service_app_terminate;
461 event_callback.app_control = service_app_control;
463 service_app_add_event_handler(&handlers[APP_EVENT_LOW_BATTERY],
464 APP_EVENT_LOW_BATTERY, service_app_low_battery, &ad);
465 service_app_add_event_handler(&handlers[APP_EVENT_LOW_MEMORY],
466 APP_EVENT_LOW_MEMORY, service_app_low_memory, &ad);
467 service_app_add_event_handler(&handlers[APP_EVENT_LANGUAGE_CHANGED],
468 APP_EVENT_LANGUAGE_CHANGED, service_app_lang_changed, &ad);
469 service_app_add_event_handler(&handlers[APP_EVENT_REGION_FORMAT_CHANGED],
470 APP_EVENT_REGION_FORMAT_CHANGED, service_app_region_changed, &ad);
472 ret = service_app_main(argc, argv, &event_callback, ad);
474 _E("failed to start app");