Implement infrared obstacle avoidance sensor

[apps/native/gear-racing-car.git] / src / app.c

diff --git a/src/app.c b/src/app.c
index e548ca3..5783915 100644 (file)
--- a/src/app.c
+++ b/src/app.c
@@ -22,15 +22,22 @@
 #include <service_app.h>
 #include "log.h"
 #include "dc_motor.h"
+#include "resource.h"
+
+enum {
+       DIR_STATE_S,
+       DIR_STATE_F,
+       DIR_STATE_B,
+};
 
 typedef struct app_data_s {
-       guint timer_id;
+       unsigned int f_value;
+       unsigned int r_value;
+       unsigned int dir_state;
 } app_data;
 
-static void service_app_control(app_control_h app_control, void *data)
-{
-       return;
-}
+#define FRONT_PIN 21
+#define REAR_PIN 4
 
 static void service_app_lang_changed(app_event_info_h event_info, void *user_data)
 {
@@ -52,64 +59,113 @@ static void service_app_low_memory(app_event_info_h event_info, void *user_data)
        return;
 }
 
-static inline int __get_r_val(int val)
+static void ___________control_motor(app_data *ad)
 {
-       if (val > 0)
-               return 0 - val;
-       else
-               return ABS(val);
+       _D("control motor, state(%u), f_val(%u), r_val(%u)",
+                       ad->dir_state, ad->f_value, ad->r_value);
+
+
+       switch (ad->dir_state) {
+               case DIR_STATE_F:
+                       if (ad->f_value)  {
+                               if (ad->r_value) {
+                                       ad->dir_state = DIR_STATE_S;
+                                       dc_motor_speed_set(DC_MOTOR_ID_L, 0);
+                                       dc_motor_speed_set(DC_MOTOR_ID_R, 0);
+                               } else {
+                                       ad->dir_state = DIR_STATE_B;
+                                       dc_motor_speed_set(DC_MOTOR_ID_L, -2000);
+                                       dc_motor_speed_set(DC_MOTOR_ID_R, -2000);
+                               }
+                       }
+                       break;
+               case DIR_STATE_B:
+                       if (ad->r_value)  {
+                               if (ad->f_value) {
+                                       ad->dir_state = DIR_STATE_S;
+                                       dc_motor_speed_set(DC_MOTOR_ID_L, 0);
+                                       dc_motor_speed_set(DC_MOTOR_ID_R, 0);
+                               } else {
+                                       ad->dir_state = DIR_STATE_F;
+                                       dc_motor_speed_set(DC_MOTOR_ID_L, 2000);
+                                       dc_motor_speed_set(DC_MOTOR_ID_R, 2000);
+                               }
+                       }
+                       break;
+               case DIR_STATE_S:
+                       if (!ad->f_value)  {
+                               ad->dir_state = DIR_STATE_F;
+                               dc_motor_speed_set(DC_MOTOR_ID_L, 2000);
+                               dc_motor_speed_set(DC_MOTOR_ID_R, 2000);
+                       } else if (!ad->r_value) {
+                               ad->dir_state = DIR_STATE_B;
+                               dc_motor_speed_set(DC_MOTOR_ID_L, -2000);
+                               dc_motor_speed_set(DC_MOTOR_ID_R, -2000);
+                       }
+                       break;
+       }
+
+       return;
 }
 
-static gboolean __control_dcmotor_cb(gpointer user_data)
+static void _front_ioa_sensor_changed_cb(unsigned int value, void *data)
 {
-       static int value = -2000;
-       int value2 = 0;
+       app_data *ad = data;
+
+       _D("FRONT has obstacle!");
 
-       value = __get_r_val(value);
+       ad->f_value = value;
 
-       dc_motor_speed_set(DC_MOTOR_ID_L, 0);
-       dc_motor_speed_set(DC_MOTOR_ID_R, 0);
+       ___________control_motor(ad);
+
+       return;
+}
 
-       sleep(1);
+static void _back_ioa_sensor_changed_cb(unsigned int value, void *data)
+{
+       app_data *ad = data;
 
-       dc_motor_speed_set(DC_MOTOR_ID_L, value);
-       dc_motor_speed_set(DC_MOTOR_ID_R, value);
+       _D("BACK has obstacle!");
 
-       sleep(5);
-       if (value > 0)
-               value2 = value + 1000;
-       else
-               value2 = value - 1000;
+       ad->r_value = value;
 
-       dc_motor_speed_set(DC_MOTOR_ID_L, value2);
-       dc_motor_speed_set(DC_MOTOR_ID_R, value2);
+       ___________control_motor(ad);
 
-       return G_SOURCE_CONTINUE;
+       return;
 }
 
 static bool service_app_create(void *data)
 {
-       app_data *ad = data;
        int ret = 0;
+
        ret = dc_motor_init();
        if (ret) {
                _E("failed init motor, terminating this application");
                service_app_exit();
        }
 
-       ad->timer_id = g_timeout_add_seconds(10, __control_dcmotor_cb, ad);
-
        return true;
 }
 
-static void service_app_terminate(void *data)
+static void service_app_control(app_control_h app_control, void *data)
 {
        app_data *ad = data;
+       int ret;
 
-       if (ad->timer_id) {
-               g_source_remove(ad->timer_id);
-               ad->timer_id = 0;
-       }
+       resource_read_infrared_obstacle_avoidance_sensor(FRONT_PIN, &ad->f_value);
+       resource_read_infrared_obstacle_avoidance_sensor(REAR_PIN, &ad->r_value);
+
+       resource_set_infrared_obstacle_avoidance_sensor_interrupted_cb(FRONT_PIN, _front_ioa_sensor_changed_cb, ad);
+       resource_set_infrared_obstacle_avoidance_sensor_interrupted_cb(REAR_PIN, _back_ioa_sensor_changed_cb, ad);
+
+       ___________control_motor(ad);
+
+       return;
+}
+
+static void service_app_terminate(void *data)
+{
+       app_data *ad = data;
 
        dc_motor_fini();
        log_file_close();