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_GRP_STEERING "Steering"
  43 #define CONFIG_GRP_CAMERA "Camera"
  44 #define CONFIG_GRP_ENGINE "Engine"
  45 #define CONFIG_GRP_RPI "Rpi"
  46
  47 #define CONFIG_KEY_ID "Id"
  48 #define CONFIG_KEY_NAME "Name"
  49
  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"
  58
  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"
  62
  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"
  69
  70 #define CLOUD_REQUESTS_FREQUENCY 15
  71
  72 #define ELEVATION_MIN 200
  73 #define ELEVATION_MAX 400
  74 #define AZIMUTH_MIN 200
  75 #define AZIMUTH_MAX 700
  76
  77 enum {
  78         DIR_STATE_S,
  79         DIR_STATE_F,
  80         DIR_STATE_B,
  81 };
  82
  83 typedef struct app_data_s {
  84         unsigned int f_value;
  85         unsigned int r_value;
  86         unsigned int dir_state;
  87         const char *user_name;
  88         guint idle_h;
  89
  90         int stering_center;
  91         int stering_range;
  92
  93         int camera_azimuth_center;
  94         int camera_azimuth_range;
  95
  96         int camera_elevation_min;
  97         int camera_elevation_max;
  98
  99         int engine_min;
 100         int engine_max;
 101
 102         int stering_pin;
 103
 104         int elevation_pin;
 105         int azimuth_pin;
 106
 107         int engine_1_forward_pin;
 108         int engine_1_back_pin;
 109         int engine_1_channel;
 110
 111         int engine_2_forward_pin;
 112         int engine_2_back_pin;
 113         int engine_2_channel;
 114 } app_data;
 115
 116 static app_data s_info = {
 117                 .stering_center = STERING_SERVO_CENTER,
 118                 .stering_range = STERING_SERVO_RANGE,
 119
 120                 .camera_azimuth_center = (AZIMUTH_MAX + AZIMUTH_MIN) /2,
 121                 .camera_azimuth_range = AZIMUTH_MAX - ((AZIMUTH_MAX + AZIMUTH_MIN) /2),
 122
 123                 .camera_elevation_min = ELEVATION_MIN,
 124                 .camera_elevation_max = ELEVATION_MAX,
 125
 126                 .engine_min = -4095,
 127                 .engine_max = 4095,
 128
 129                 .stering_pin = 0,
 130
 131                 .elevation_pin = 14,
 132                 .azimuth_pin = 15,
 133
 134                 .engine_1_forward_pin = 19,
 135                 .engine_1_back_pin = 16,
 136                 .engine_1_channel = 5,
 137
 138                 .engine_2_forward_pin = 24,
 139                 .engine_2_back_pin = 20,
 140                 .engine_2_channel = 4,
 141 };
 142
 143 static void _initialize_components(app_data *ad);
 144 static void _initialize_config();
 145
 146 static void service_app_lang_changed(app_event_info_h event_info, void *user_data)
 147 {
 148         return;
 149 }
 150
 151 static void service_app_region_changed(app_event_info_h event_info, void *user_data)
 152 {
 153         return;
 154 }
 155
 156 static void service_app_low_battery(app_event_info_h event_info, void *user_data)
 157 {
 158         _E("low battery! exit app");
 159         service_app_exit();
 160
 161         return;
 162 }
 163
 164 static void service_app_low_memory(app_event_info_h event_info, void *user_data)
 165 {
 166         return;
 167 }
 168
 169 static inline double __map_round(double val)
 170 {
 171         return floor(val + 0.5);
 172 }
 173
 174 static int __map_range_val(int v_min, int v_max, int d_min, int d_max, int val)
 175 {
 176         int rval = 0;
 177         double slope = 0;
 178         slope = 1.0 * (d_max - d_min) / (v_max - v_min);
 179
 180         rval = d_min + __map_round(slope * (val - v_min));
 181
 182         return rval;
 183 }
 184
 185 static inline int ___map_speed_val(int speed)
 186 {
 187         return __map_range_val(-MAX_UDP_INPUT, MAX_UDP_INPUT, s_info.engine_min, s_info.engine_max, speed);
 188 }
 189
 190 static inline int ___map_servo_val(int servo)
 191 {
 192         return __map_range_val(-MAX_UDP_INPUT, MAX_UDP_INPUT,
 193                         s_info.stering_center - s_info.stering_range,
 194                         s_info.stering_center + s_info.stering_range, servo);
 195 }
 196
 197 static int __driving_motors(int servo, int speed)
 198 {
 199         int val_speed;
 200         int val_servo;
 201
 202         val_servo = ___map_servo_val(servo);
 203         val_speed = ___map_speed_val(speed);
 204
 205         _D("control motor - servo[%4d : %4d], speed[%4d : %4d]",
 206                 servo, val_servo, speed, val_speed);
 207 #if ENABLE_MOTOR
 208         resource_set_servo_motor_value(0, val_servo);
 209         resource_set_motor_driver_L298N_speed(MOTOR_ID_1, val_speed);
 210         resource_set_motor_driver_L298N_speed(MOTOR_ID_2, val_speed);
 211 #endif
 212
 213         return 0;
 214 }
 215
 216 static void __camera(int azimuth, int elevation)
 217 {
 218         int val_azimuth = __map_range_val(-MAX_UDP_INPUT, MAX_UDP_INPUT,
 219                         s_info.camera_azimuth_center - s_info.camera_azimuth_range,
 220                         s_info.camera_azimuth_center + s_info.camera_azimuth_range, azimuth);
 221
 222         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
 223
 224         _D("camera - azimuth[%4d : %4d], elevation[%4d : %4d]", azimuth, val_azimuth, elevation, val_elevation);
 225 #if ENABLE_MOTOR
 226         resource_set_servo_motor_value(s_info.elevation_pin, val_elevation);
 227         resource_set_servo_motor_value(s_info.azimuth_pin, val_azimuth);
 228 #endif
 229 }
 230
 231 static void __command_received_cb(command_s command) {
 232         switch(command.type) {
 233         case COMMAND_TYPE_DRIVE:
 234                 __driving_motors(command.data.steering.direction, command.data.steering.speed);
 235                 break;
 236         case COMMAND_TYPE_CAMERA:
 237                 __camera(command.data.camera_position.camera_azimuth, command.data.camera_position.camera_elevation);
 238                 break;
 239         case COMMAND_TYPE_DRIVE_AND_CAMERA:
 240                 __driving_motors(command.data.steering_and_camera.direction, command.data.steering_and_camera.speed);
 241                 __camera(command.data.steering_and_camera.camera_azimuth, command.data.steering_and_camera.camera_elevation);
 242                 break;
 243         case COMMAND_TYPE_NONE:
 244                 break;
 245         default:
 246                 _E("Unknown command type");
 247                 break;
 248         }
 249 }
 250
 251 static void __user_name_received_cb(const char *name)
 252 {
 253         _D("User name received: %s", name);
 254         lap_counter_set_user_name(name);
 255         lap_counter_set_start_lap();
 256 }
 257
 258 static void _initialize_config()
 259 {
 260         net_util_init();
 261
 262         config_init();
 263
 264         char *id = NULL;
 265         char *name = NULL;
 266         gboolean modified = false;
 267
 268         if (config_get_string(CONFIG_GRP_CAR, CONFIG_KEY_ID, &id) != 0) {
 269                 char *uuid = g_uuid_string_random();
 270                 config_set_string(CONFIG_GRP_CAR, CONFIG_KEY_ID, uuid);
 271                 g_free(uuid);
 272                 modified = true;
 273         }
 274
 275         char *uuid = g_uuid_string_random();
 276         modified |= config_get_string_or_set_default(CONFIG_GRP_CAR, CONFIG_KEY_ID, uuid, &id);
 277         g_free(uuid);
 278
 279         modified |= config_get_string_or_set_default(CONFIG_GRP_CAR, CONFIG_KEY_NAME, "Passerati", &name);
 280
 281         modified |= config_get_int_with_default(CONFIG_GRP_STEERING, CONFIG_KEY_STEERING_CENTER, s_info.stering_center, &s_info.stering_center);
 282         modified |= config_get_int_with_default(CONFIG_GRP_STEERING, CONFIG_KEY_STEERING_RANGE, s_info.stering_range, &s_info.stering_range);
 283
 284         modified |= config_get_int_with_default(CONFIG_GRP_CAMERA, CONFIG_KEY_CAMERA_AZIMUTH_CENTER, s_info.camera_azimuth_center, &s_info.camera_azimuth_center);
 285         modified |= config_get_int_with_default(CONFIG_GRP_CAMERA, CONFIG_KEY_CAMERA_AZIMUTH_RANGE, s_info.camera_azimuth_range, &s_info.camera_azimuth_range);
 286         modified |= config_get_int_with_default(CONFIG_GRP_CAMERA, CONFIG_KEY_CAMERA_ELEVATION_MIN, s_info.camera_elevation_min, &s_info.camera_elevation_min);
 287         modified |= config_get_int_with_default(CONFIG_GRP_CAMERA, CONFIG_KEY_CAMERA_ELEVATION_MAX, s_info.camera_elevation_max, &s_info.camera_elevation_max);
 288
 289         modified |= config_get_int_with_default(CONFIG_GRP_ENGINE, CONFIG_KEY_CAMERA_ENGINE_MIN, s_info.engine_min, &s_info.engine_min);
 290         modified |= config_get_int_with_default(CONFIG_GRP_ENGINE, CONFIG_KEY_CAMERA_ENGINE_MAX, s_info.engine_max, &s_info.engine_max);
 291
 292         modified |= config_get_int_with_default(CONFIG_GRP_RPI, CONFIG_KEY_RPI_PIN_STERING, s_info.stering_pin, &s_info.stering_pin);
 293         modified |= config_get_int_with_default(CONFIG_GRP_RPI, CONFIG_KEY_RPI_PIN_CAMERA_AZIMUTH, s_info.azimuth_pin, &s_info.azimuth_pin);
 294         modified |= config_get_int_with_default(CONFIG_GRP_RPI, CONFIG_KEY_RPI_PIN_CAMERA_ELEVATION, s_info.elevation_pin, &s_info.elevation_pin);
 295
 296         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);
 297         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);
 298         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);
 299
 300         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);
 301         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);
 302         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);
 303
 304         if (modified == true) {
 305                 config_save();
 306         }
 307
 308         free(id);
 309         free(name);
 310 }
 311
 312 static void _initialize_components(app_data *ad)
 313 {
 314         net_util_init();
 315         _initialize_config();
 316         cloud_communication_init();
 317         message_manager_init();
 318         controller_connection_manager_listen();
 319         lap_counter_init();
 320
 321         _D("Car settings: Stering[%d +/- %d] Engine[%d - %d], CamAzimuth[%d +/- %d], CamElev[%d - %d]",
 322                         s_info.stering_center, s_info.stering_range,
 323                         s_info.engine_min, s_info.engine_max,
 324                         s_info.camera_azimuth_center, s_info.camera_azimuth_range,
 325                         s_info.camera_elevation_min, s_info.camera_elevation_max);
 326
 327         _D("RPI: Stering[%d], Azimuth[%d], Elev[%d]; ENG_1[%d, %d, %d]; ENG_2[%d, %d, %d];",
 328                         s_info.stering_pin, s_info.azimuth_pin, s_info.elevation_pin,
 329                         s_info.engine_1_forward_pin, s_info.engine_1_back_pin, s_info.engine_1_channel,
 330                         s_info.engine_2_forward_pin, s_info.engine_2_back_pin, s_info.engine_2_channel);
 331 }
 332
 333 static bool service_app_create(void *data)
 334 {
 335         int ret = 0;
 336         app_data *ad = data;
 337
 338         _D("-----------------------=======================================================================-----------------------");
 339         _D("-----------------------=======================================================================-----------------------");
 340         _D("-----------------------============================== APP %s %s ==============================-----------------------", __DATE__, __TIME__);
 341         _D("-----------------------=======================================================================-----------------------");
 342         _D("-----------------------=======================================================================-----------------------");
 343
 344         /*
 345          * if you want to use default configuration,
 346          * Do not need to call resource_set_motor_driver_L298N_configuration(),
 347          *
 348         */
 349 #if ENABLE_MOTOR
 350         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);
 351         if (ret) {
 352                 _E("resource_set_motor_driver_L298N_configuration()");
 353                 service_app_exit();
 354         }
 355         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);
 356         if (ret) {
 357                 _E("resource_set_motor_driver_L298N_configuration()");
 358                 service_app_exit();
 359         }
 360 #endif
 361
 362         _initialize_components(ad);
 363         resource_lap_counter_init();
 364         cloud_communication_start(CLOUD_REQUESTS_FREQUENCY);
 365
 366         controller_connection_manager_set_command_received_cb(__command_received_cb);
 367         controller_connection_manager_set_user_name_received_cb(__user_name_received_cb);
 368
 369         return true;
 370 }
 371
 372 static void service_app_control(app_control_h app_control, void *data)
 373 {
 374
 375 #if ENABLE_MOTOR
 376         /* set speed 0, to reduce delay of initializing motor driver */
 377         resource_set_motor_driver_L298N_speed(MOTOR_ID_1, 0);
 378         resource_set_motor_driver_L298N_speed(MOTOR_ID_2, 0);
 379         resource_set_servo_motor_value(s_info.stering_pin, STERING_SERVO_CENTER);
 380         resource_set_servo_motor_value(s_info.elevation_pin, ELEVATION_MIN);
 381         resource_set_servo_motor_value(s_info.azimuth_pin, (AZIMUTH_MIN + AZIMUTH_MAX) / 2);
 382 #endif
 383
 384         return;
 385 }
 386
 387 static void service_app_terminate(void *data)
 388 {
 389         app_data *ad = data;
 390
 391         resource_set_servo_motor_value(s_info.stering_pin, STERING_SERVO_CENTER);
 392         resource_set_servo_motor_value(s_info.elevation_pin, ELEVATION_MIN);
 393         resource_set_servo_motor_value(s_info.azimuth_pin, (AZIMUTH_MIN + AZIMUTH_MAX) / 2);
 394
 395         resource_lap_counter_destroy();
 396
 397         if (ad->idle_h)
 398                 g_source_remove(ad->idle_h);
 399
 400         lap_counter_shutdown();
 401         controller_connection_manager_release();
 402         message_manager_shutdown();
 403
 404         cloud_communication_stop();
 405         cloud_communication_fini();
 406         config_shutdown();
 407         net_util_fini();
 408
 409         resource_close_all();
 410         log_file_close();
 411
 412         _D("Bye ~");
 413
 414         return;
 415 }
 416
 417 int main(int argc, char* argv[])
 418 {
 419         app_data *ad = NULL;
 420         int ret = 0;
 421         service_app_lifecycle_callback_s event_callback;
 422         app_event_handler_h handlers[5] = {NULL, };
 423
 424         log_type_set(LOG_TYPE_DLOG);
 425
 426         ad = calloc(1, sizeof(app_data));
 427         retv_if(!ad, -1);
 428
 429         event_callback.create = service_app_create;
 430         event_callback.terminate = service_app_terminate;
 431         event_callback.app_control = service_app_control;
 432
 433         service_app_add_event_handler(&handlers[APP_EVENT_LOW_BATTERY],
 434                 APP_EVENT_LOW_BATTERY, service_app_low_battery, &ad);
 435         service_app_add_event_handler(&handlers[APP_EVENT_LOW_MEMORY],
 436                 APP_EVENT_LOW_MEMORY, service_app_low_memory, &ad);
 437         service_app_add_event_handler(&handlers[APP_EVENT_LANGUAGE_CHANGED],
 438                 APP_EVENT_LANGUAGE_CHANGED, service_app_lang_changed, &ad);
 439         service_app_add_event_handler(&handlers[APP_EVENT_REGION_FORMAT_CHANGED],
 440                 APP_EVENT_REGION_FORMAT_CHANGED, service_app_region_changed, &ad);
 441
 442         ret = service_app_main(argc, argv, &event_callback, ad);
 443         if (ret)
 444                 _E("failed to start app");
 445
 446         return 0;
 447 }