src/app.c

   1 /*
   2  * Copyright (c) 2017 Samsung Electronics Co., Ltd.
   3  *
   4  * Contact: Jeonghoon Park <jh1979.park@samsung.com>
   5  *
   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
   9  *
  10  * http://floralicense.org/license/
  11  *
  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.
  17  */
  18
  19 #include <stdio.h>
  20 #include <stdlib.h>
  21 #include <unistd.h>
  22 #include <math.h>
  23 #include <glib.h>
  24 #include <service_app.h>
  25 #include "log.h"
  26 #include "resource.h"
  27 #include "net-util.h"
  28 #include "config.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"
  33 #include "command.h"
  34
  35 #define ENABLE_MOTOR 1
  36 #define STERING_SERVO_CENTER 340
  37 #define STERING_SERVO_RANGE 125
  38
  39 #define MAX_UDP_INPUT 10000
  40
  41 #define CONFIG_GRP_CAR "Car"
  42 #define CONFIG_KEY_ID "Id"
  43 #define CONFIG_KEY_NAME "Name"
  44 #define CLOUD_REQUESTS_FREQUENCY 15
  45 #define AZIMUTH_SERVO_PIN 15
  46 #define ELEVATION_SERVO_PIN 14
  47
  48 #define ELEVATION_MIN 200
  49 #define ELEVATION_MAX 400
  50 #define AZIMUTH_MIN 200
  51 #define AZIMUTH_MAX 700
  52
  53 enum {
  54         DIR_STATE_S,
  55         DIR_STATE_F,
  56         DIR_STATE_B,
  57 };
  58
  59 typedef struct app_data_s {
  60         unsigned int f_value;
  61         unsigned int r_value;
  62         unsigned int dir_state;
  63         const char *user_name;
  64         guint idle_h;
  65 } app_data;
  66
  67 static void _initialize_components(app_data *ad);
  68 static void _initialize_config();
  69
  70 static void service_app_lang_changed(app_event_info_h event_info, void *user_data)
  71 {
  72         return;
  73 }
  74
  75 static void service_app_region_changed(app_event_info_h event_info, void *user_data)
  76 {
  77         return;
  78 }
  79
  80 static void service_app_low_battery(app_event_info_h event_info, void *user_data)
  81 {
  82         _E("low battery! exit app");
  83         service_app_exit();
  84
  85         return;
  86 }
  87
  88 static void service_app_low_memory(app_event_info_h event_info, void *user_data)
  89 {
  90         return;
  91 }
  92
  93 static inline double __map_round(double val)
  94 {
  95         return floor(val + 0.5);
  96 }
  97
  98 static int __map_range_val(int v_min, int v_max, int d_min, int d_max, int val)
  99 {
 100         int rval = 0;
 101         double slope = 0;
 102         slope = 1.0 * (d_max - d_min) / (v_max - v_min);
 103
 104         rval = d_min + __map_round(slope * (val - v_min));
 105
 106         return rval;
 107 }
 108
 109 static inline int ___map_speed_val(int speed)
 110 {
 111         return __map_range_val(-MAX_UDP_INPUT, MAX_UDP_INPUT, -4095, 4095, speed);
 112 }
 113
 114 static inline int ___map_servo_val(int servo)
 115 {
 116         return __map_range_val(-MAX_UDP_INPUT, MAX_UDP_INPUT, STERING_SERVO_CENTER - STERING_SERVO_RANGE, STERING_SERVO_CENTER + STERING_SERVO_RANGE, servo);
 117 }
 118
 119 static int __driving_motors(int servo, int speed)
 120 {
 121         int val_speed;
 122         int val_servo;
 123
 124         val_servo = ___map_servo_val(servo);
 125         val_speed = ___map_speed_val(speed);
 126
 127         _D("control motor - servo[%4d : %4d], speed[%4d : %4d]",
 128                 servo, val_servo, speed, val_speed);
 129 #if ENABLE_MOTOR
 130         resource_set_servo_motor_value(0, val_servo);
 131         resource_set_motor_driver_L298N_speed(MOTOR_ID_1, val_speed);
 132         resource_set_motor_driver_L298N_speed(MOTOR_ID_2, val_speed);
 133 #endif
 134
 135         return 0;
 136 }
 137
 138 static void __camera(int azimuth, int elevation)
 139 {
 140         int val_azimuth = __map_range_val(-MAX_UDP_INPUT, MAX_UDP_INPUT, AZIMUTH_MIN, AZIMUTH_MAX, azimuth);
 141         int val_elevation = __map_range_val(0, MAX_UDP_INPUT, ELEVATION_MIN, ELEVATION_MAX, elevation); // No need to look upside down
 142
 143         _D("camera - azimuth[%4d : %4d], elevation[%4d : %4d]", azimuth, val_azimuth, elevation, val_elevation);
 144 #if ENABLE_MOTOR
 145         resource_set_servo_motor_value(ELEVATION_SERVO_PIN, val_elevation);
 146         resource_set_servo_motor_value(AZIMUTH_SERVO_PIN, val_azimuth);
 147 #endif
 148 }
 149
 150 static void __command_received_cb(command_s command) {
 151         switch(command.type) {
 152         case COMMAND_TYPE_DRIVE:
 153                 __driving_motors(command.data.steering.direction, command.data.steering.speed);
 154                 break;
 155         case COMMAND_TYPE_CAMERA:
 156                 __camera(command.data.camera_position.camera_azimuth, command.data.camera_position.camera_elevation);
 157                 break;
 158         case COMMAND_TYPE_DRIVE_AND_CAMERA:
 159                 __driving_motors(command.data.steering_and_camera.direction, command.data.steering_and_camera.speed);
 160                 __camera(command.data.steering_and_camera.camera_azimuth, command.data.steering_and_camera.camera_elevation);
 161                 break;
 162         case COMMAND_TYPE_NONE:
 163                 break;
 164         default:
 165                 _E("Unknown command type");
 166                 break;
 167         }
 168 }
 169
 170 static void __user_name_received_cb(const char *name) {
 171         lap_counter_set_user_name(name);
 172 }
 173
 174 static void _initialize_config()
 175 {
 176         net_util_init();
 177
 178         config_init();
 179
 180         char *id = NULL;
 181         char *name = NULL;
 182         gboolean modified = false;
 183         if (config_get_string(CONFIG_GRP_CAR, CONFIG_KEY_ID, &id) != 0) {
 184                 char *uuid = g_uuid_string_random();
 185                 config_set_string(CONFIG_GRP_CAR, CONFIG_KEY_ID, uuid);
 186                 g_free(uuid);
 187                 modified = true;
 188         }
 189         if (config_get_string(CONFIG_GRP_CAR, CONFIG_KEY_NAME, &id) != 0) {
 190                 config_set_string(CONFIG_GRP_CAR, CONFIG_KEY_NAME, "Passerati");
 191                 modified = true;
 192         }
 193         if (modified == true) {
 194                 config_save();
 195         }
 196         free(id);
 197         free(name);
 198 }
 199
 200 static void _initialize_components(app_data *ad)
 201 {
 202         net_util_init();
 203         _initialize_config();
 204         cloud_communication_init();
 205         message_manager_init();
 206         controller_connection_manager_listen();
 207         lap_counter_init();
 208 }
 209
 210 static bool service_app_create(void *data)
 211 {
 212         int ret = 0;
 213         app_data *ad = data;
 214
 215         /*
 216          * if you want to use default configuration,
 217          * Do not need to call resource_set_motor_driver_L298N_configuration(),
 218          *
 219         */
 220 #if ENABLE_MOTOR
 221         ret = resource_set_motor_driver_L298N_configuration(MOTOR_ID_1, 19, 16, 5);
 222         if (ret) {
 223                 _E("resource_set_motor_driver_L298N_configuration()");
 224                 service_app_exit();
 225         }
 226         ret = resource_set_motor_driver_L298N_configuration(MOTOR_ID_2, 26, 20, 4);
 227         if (ret) {
 228                 _E("resource_set_motor_driver_L298N_configuration()");
 229                 service_app_exit();
 230         }
 231 #endif
 232
 233         _initialize_components(ad);
 234         cloud_communication_start(CLOUD_REQUESTS_FREQUENCY);
 235
 236         controller_connection_manager_set_command_received_cb(__command_received_cb);
 237         controller_connection_manager_set_user_name_received_cb(__user_name_received_cb);
 238
 239         return true;
 240 }
 241
 242 static void service_app_control(app_control_h app_control, void *data)
 243 {
 244
 245 #if ENABLE_MOTOR
 246         /* set speed 0, to reduce delay of initializing motor driver */
 247         resource_set_motor_driver_L298N_speed(MOTOR_ID_1, 0);
 248         resource_set_motor_driver_L298N_speed(MOTOR_ID_2, 0);
 249         resource_set_servo_motor_value(0, 450);
 250         resource_set_servo_motor_value(ELEVATION_SERVO_PIN, ELEVATION_MIN);
 251         resource_set_servo_motor_value(AZIMUTH_SERVO_PIN, (AZIMUTH_MIN + AZIMUTH_MAX) / 2);
 252 #endif
 253
 254         return;
 255 }
 256
 257 static void service_app_terminate(void *data)
 258 {
 259         app_data *ad = data;
 260
 261         resource_set_servo_motor_value(0, STERING_SERVO_CENTER);
 262         resource_set_servo_motor_value(ELEVATION_SERVO_PIN, ELEVATION_MIN);
 263         resource_set_servo_motor_value(AZIMUTH_SERVO_PIN, (AZIMUTH_MIN + AZIMUTH_MAX) / 2);
 264
 265         if (ad->idle_h)
 266                 g_source_remove(ad->idle_h);
 267
 268         lap_counter_shutdown();
 269         controller_connection_manager_release();
 270         message_manager_shutdown();
 271
 272         cloud_communication_stop();
 273         cloud_communication_fini();
 274         config_shutdown();
 275         net_util_fini();
 276
 277         resource_close_all();
 278         log_file_close();
 279
 280         _D("Bye ~");
 281
 282         return;
 283 }
 284
 285 int main(int argc, char* argv[])
 286 {
 287         app_data *ad = NULL;
 288         int ret = 0;
 289         service_app_lifecycle_callback_s event_callback;
 290         app_event_handler_h handlers[5] = {NULL, };
 291
 292         log_type_set(LOG_TYPE_DLOG);
 293
 294         ad = calloc(1, sizeof(app_data));
 295         retv_if(!ad, -1);
 296
 297         event_callback.create = service_app_create;
 298         event_callback.terminate = service_app_terminate;
 299         event_callback.app_control = service_app_control;
 300
 301         service_app_add_event_handler(&handlers[APP_EVENT_LOW_BATTERY],
 302                 APP_EVENT_LOW_BATTERY, service_app_low_battery, &ad);
 303         service_app_add_event_handler(&handlers[APP_EVENT_LOW_MEMORY],
 304                 APP_EVENT_LOW_MEMORY, service_app_low_memory, &ad);
 305         service_app_add_event_handler(&handlers[APP_EVENT_LANGUAGE_CHANGED],
 306                 APP_EVENT_LANGUAGE_CHANGED, service_app_lang_changed, &ad);
 307         service_app_add_event_handler(&handlers[APP_EVENT_REGION_FORMAT_CHANGED],
 308                 APP_EVENT_REGION_FORMAT_CHANGED, service_app_region_changed, &ad);
 309
 310         ret = service_app_main(argc, argv, &event_callback, ad);
 311         if (ret)
 312                 _E("failed to start app");
 313
 314         return 0;
 315 }