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