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 #include "lap_counter/lap_counter.h"
  35
  36 #define ENABLE_MOTOR 1
  37 #define STERING_SERVO_CENTER 340
  38 #define STERING_SERVO_RANGE 125
  39
  40 #define MAX_UDP_INPUT 10000
  41
  42 #define CONFIG_GRP_CAR "Car"
  43 #define CONFIG_KEY_ID "Id"
  44 #define CONFIG_KEY_NAME "Name"
  45 #define CLOUD_REQUESTS_FREQUENCY 15
  46 #define AZIMUTH_SERVO_PIN 15
  47 #define ELEVATION_SERVO_PIN 14
  48
  49 #define ELEVATION_MIN 200
  50 #define ELEVATION_MAX 400
  51 #define AZIMUTH_MIN 200
  52 #define AZIMUTH_MAX 700
  53
  54 enum {
  55         DIR_STATE_S,
  56         DIR_STATE_F,
  57         DIR_STATE_B,
  58 };
  59
  60 typedef struct app_data_s {
  61         unsigned int f_value;
  62         unsigned int r_value;
  63         unsigned int dir_state;
  64         const char *user_name;
  65         guint idle_h;
  66 } app_data;
  67
  68 static void _initialize_components(app_data *ad);
  69 static void _initialize_config();
  70
  71 static void service_app_lang_changed(app_event_info_h event_info, void *user_data)
  72 {
  73         return;
  74 }
  75
  76 static void service_app_region_changed(app_event_info_h event_info, void *user_data)
  77 {
  78         return;
  79 }
  80
  81 static void service_app_low_battery(app_event_info_h event_info, void *user_data)
  82 {
  83         _E("low battery! exit app");
  84         service_app_exit();
  85
  86         return;
  87 }
  88
  89 static void service_app_low_memory(app_event_info_h event_info, void *user_data)
  90 {
  91         return;
  92 }
  93
  94 static inline double __map_round(double val)
  95 {
  96         return floor(val + 0.5);
  97 }
  98
  99 static int __map_range_val(int v_min, int v_max, int d_min, int d_max, int val)
 100 {
 101         int rval = 0;
 102         double slope = 0;
 103         slope = 1.0 * (d_max - d_min) / (v_max - v_min);
 104
 105         rval = d_min + __map_round(slope * (val - v_min));
 106
 107         return rval;
 108 }
 109
 110 static inline int ___map_speed_val(int speed)
 111 {
 112         return __map_range_val(-MAX_UDP_INPUT, MAX_UDP_INPUT, -4095, 4095, speed);
 113 }
 114
 115 static inline int ___map_servo_val(int servo)
 116 {
 117         return __map_range_val(-MAX_UDP_INPUT, MAX_UDP_INPUT, STERING_SERVO_CENTER - STERING_SERVO_RANGE, STERING_SERVO_CENTER + STERING_SERVO_RANGE, servo);
 118 }
 119
 120 static int __driving_motors(int servo, int speed)
 121 {
 122         int val_speed;
 123         int val_servo;
 124
 125         val_servo = ___map_servo_val(servo);
 126         val_speed = ___map_speed_val(speed);
 127
 128         _D("control motor - servo[%4d : %4d], speed[%4d : %4d]",
 129                 servo, val_servo, speed, val_speed);
 130 #if ENABLE_MOTOR
 131         resource_set_servo_motor_value(0, val_servo);
 132         resource_set_motor_driver_L298N_speed(MOTOR_ID_1, val_speed);
 133         resource_set_motor_driver_L298N_speed(MOTOR_ID_2, val_speed);
 134 #endif
 135
 136         return 0;
 137 }
 138
 139 static void __camera(int azimuth, int elevation)
 140 {
 141         int val_azimuth = __map_range_val(-MAX_UDP_INPUT, MAX_UDP_INPUT, AZIMUTH_MIN, AZIMUTH_MAX, azimuth);
 142         int val_elevation = __map_range_val(0, MAX_UDP_INPUT, ELEVATION_MIN, ELEVATION_MAX, elevation); // No need to look upside down
 143
 144         _D("camera - azimuth[%4d : %4d], elevation[%4d : %4d]", azimuth, val_azimuth, elevation, val_elevation);
 145 #if ENABLE_MOTOR
 146         resource_set_servo_motor_value(ELEVATION_SERVO_PIN, val_elevation);
 147         resource_set_servo_motor_value(AZIMUTH_SERVO_PIN, val_azimuth);
 148 #endif
 149 }
 150
 151 static void __command_received_cb(command_s command) {
 152         switch(command.type) {
 153         case COMMAND_TYPE_DRIVE:
 154                 __driving_motors(command.data.steering.direction, command.data.steering.speed);
 155                 break;
 156         case COMMAND_TYPE_CAMERA:
 157                 __camera(command.data.camera_position.camera_azimuth, command.data.camera_position.camera_elevation);
 158                 break;
 159         case COMMAND_TYPE_DRIVE_AND_CAMERA:
 160                 __driving_motors(command.data.steering_and_camera.direction, command.data.steering_and_camera.speed);
 161                 __camera(command.data.steering_and_camera.camera_azimuth, command.data.steering_and_camera.camera_elevation);
 162                 break;
 163         case COMMAND_TYPE_NONE:
 164                 break;
 165         default:
 166                 _E("Unknown command type");
 167                 break;
 168         }
 169 }
 170
 171 static void __user_name_received_cb(const char *name) {
 172         lap_counter_set_user_name(name);
 173 }
 174
 175 static void _initialize_config()
 176 {
 177         net_util_init();
 178
 179         config_init();
 180
 181         char *id = NULL;
 182         char *name = NULL;
 183         gboolean modified = false;
 184         if (config_get_string(CONFIG_GRP_CAR, CONFIG_KEY_ID, &id) != 0) {
 185                 char *uuid = g_uuid_string_random();
 186                 config_set_string(CONFIG_GRP_CAR, CONFIG_KEY_ID, uuid);
 187                 g_free(uuid);
 188                 modified = true;
 189         }
 190         if (config_get_string(CONFIG_GRP_CAR, CONFIG_KEY_NAME, &id) != 0) {
 191                 config_set_string(CONFIG_GRP_CAR, CONFIG_KEY_NAME, "Passerati");
 192                 modified = true;
 193         }
 194         if (modified == true) {
 195                 config_save();
 196         }
 197         free(id);
 198         free(name);
 199 }
 200
 201 static void _initialize_components(app_data *ad)
 202 {
 203         net_util_init();
 204         _initialize_config();
 205         cloud_communication_init();
 206         message_manager_init();
 207         controller_connection_manager_listen();
 208         lap_counter_init();
 209 }
 210
 211 static bool service_app_create(void *data)
 212 {
 213         int ret = 0;
 214         app_data *ad = data;
 215
 216         _D("-----------------------=======================================================================-----------------------");
 217         _D("-----------------------=======================================================================-----------------------");
 218         _D("-----------------------============================== APP %s %s ==============================-----------------------", __DATE__, __TIME__);
 219         _D("-----------------------=======================================================================-----------------------");
 220         _D("-----------------------=======================================================================-----------------------");
 221
 222         /*
 223          * if you want to use default configuration,
 224          * Do not need to call resource_set_motor_driver_L298N_configuration(),
 225          *
 226         */
 227 #if ENABLE_MOTOR
 228         ret = resource_set_motor_driver_L298N_configuration(MOTOR_ID_1, 19, 16, 5);
 229         if (ret) {
 230                 _E("resource_set_motor_driver_L298N_configuration()");
 231                 service_app_exit();
 232         }
 233         ret = resource_set_motor_driver_L298N_configuration(MOTOR_ID_2, 26, 20, 4);
 234         if (ret) {
 235                 _E("resource_set_motor_driver_L298N_configuration()");
 236                 service_app_exit();
 237         }
 238 #endif
 239
 240         resource_lap_counter_init();
 241
 242         _initialize_components(ad);
 243         cloud_communication_start(CLOUD_REQUESTS_FREQUENCY);
 244
 245         controller_connection_manager_set_command_received_cb(__command_received_cb);
 246         controller_connection_manager_set_user_name_received_cb(__user_name_received_cb);
 247
 248         lap_counter_init();
 249         return true;
 250 }
 251
 252 static void service_app_control(app_control_h app_control, void *data)
 253 {
 254
 255 #if ENABLE_MOTOR
 256         /* set speed 0, to reduce delay of initializing motor driver */
 257         resource_set_motor_driver_L298N_speed(MOTOR_ID_1, 0);
 258         resource_set_motor_driver_L298N_speed(MOTOR_ID_2, 0);
 259         resource_set_servo_motor_value(0, 450);
 260         resource_set_servo_motor_value(ELEVATION_SERVO_PIN, ELEVATION_MIN);
 261         resource_set_servo_motor_value(AZIMUTH_SERVO_PIN, (AZIMUTH_MIN + AZIMUTH_MAX) / 2);
 262 #endif
 263
 264         return;
 265 }
 266
 267 static void service_app_terminate(void *data)
 268 {
 269         app_data *ad = data;
 270
 271         resource_set_servo_motor_value(0, STERING_SERVO_CENTER);
 272         resource_set_servo_motor_value(ELEVATION_SERVO_PIN, ELEVATION_MIN);
 273         resource_set_servo_motor_value(AZIMUTH_SERVO_PIN, (AZIMUTH_MIN + AZIMUTH_MAX) / 2);
 274
 275         resource_lap_counter_destroy();
 276
 277         if (ad->idle_h)
 278                 g_source_remove(ad->idle_h);
 279
 280         lap_counter_shutdown();
 281         controller_connection_manager_release();
 282         message_manager_shutdown();
 283
 284         cloud_communication_stop();
 285         cloud_communication_fini();
 286         config_shutdown();
 287         net_util_fini();
 288
 289         resource_close_all();
 290         log_file_close();
 291
 292         _D("Bye ~");
 293
 294         return;
 295 }
 296
 297 int main(int argc, char* argv[])
 298 {
 299         app_data *ad = NULL;
 300         int ret = 0;
 301         service_app_lifecycle_callback_s event_callback;
 302         app_event_handler_h handlers[5] = {NULL, };
 303
 304         log_type_set(LOG_TYPE_DLOG);
 305
 306         ad = calloc(1, sizeof(app_data));
 307         retv_if(!ad, -1);
 308
 309         event_callback.create = service_app_create;
 310         event_callback.terminate = service_app_terminate;
 311         event_callback.app_control = service_app_control;
 312
 313         service_app_add_event_handler(&handlers[APP_EVENT_LOW_BATTERY],
 314                 APP_EVENT_LOW_BATTERY, service_app_low_battery, &ad);
 315         service_app_add_event_handler(&handlers[APP_EVENT_LOW_MEMORY],
 316                 APP_EVENT_LOW_MEMORY, service_app_low_memory, &ad);
 317         service_app_add_event_handler(&handlers[APP_EVENT_LANGUAGE_CHANGED],
 318                 APP_EVENT_LANGUAGE_CHANGED, service_app_lang_changed, &ad);
 319         service_app_add_event_handler(&handlers[APP_EVENT_REGION_FORMAT_CHANGED],
 320                 APP_EVENT_REGION_FORMAT_CHANGED, service_app_region_changed, &ad);
 321
 322         ret = service_app_main(argc, argv, &event_callback, ad);
 323         if (ret)
 324                 _E("failed to start app");
 325
 326         return 0;
 327 }