${PROJECT_ROOT_DIR}/src/dc_motor.c
${PROJECT_ROOT_DIR}/src/servo_motor.c
${PROJECT_ROOT_DIR}/src/pca9685.c
+ ${PROJECT_ROOT_DIR}/src/resource.c
+ ${PROJECT_ROOT_DIR}/src/resource/resource_infrared_obstacle_avoidance_sensor.c
)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${pkgs_LDFLAGS} -lm)
--- /dev/null
+/*
+ * Copyright (c) 2017 Samsung Electronics Co., Ltd.
+ *
+ * Contact: Jin Yoon <jinny.yoon@samsung.com>
+ * Geunsun Lee <gs86.lee@samsung.com>
+ * Eunyoung Lee <ey928.lee@samsung.com>
+ * Junkyu Han <junkyu.han@samsung.com>
+ *
+ * Licensed under the Flora License, Version 1.1 (the License);
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://floralicense.org/license/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __POSITION_FINDER_RESOURCE_H__
+#define __POSITION_FINDER_RESOURCE_H__
+
+#include <peripheral_io.h>
+
+#include "resource_internal.h"
+#include "resource/resource_infrared_obstacle_avoidance_sensor.h"
+
+#endif /* __POSITION_FINDER_RESOURCE_H__ */
--- /dev/null
+/*
+ * Copyright (c) 2017 Samsung Electronics Co., Ltd.
+ *
+ * Contact: Jin Yoon <jinny.yoon@samsung.com>
+ * Geunsun Lee <gs86.lee@samsung.com>
+ * Eunyoung Lee <ey928.lee@samsung.com>
+ * Junkyu Han <junkyu.han@samsung.com>
+ *
+ * Licensed under the Flora License, Version 1.1 (the License);
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://floralicense.org/license/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __POSITION_FINDER_RESOURCE_INFRARED_OBSTACLE_AVOIDANCE_SENSOR_H__
+#define __POSITION_FINDER_RESOURCE_INFRARED_OBSTACLE_AVOIDANCE_SENSOR_H__
+
+
+#include <stdint.h>
+#include "resource_internal.h"
+/**
+ * @brief Reads the value of gpio connected infrared obstacle avoidance sensor.
+ * @param[in] pin_num The number of the gpio pin connected to the infrared obstacle avoidance sensor
+ * @param[out] out_value The value of the gpio (zero or non-zero)
+ * @return 0 on success, otherwise a negative error value
+ * @see If the gpio pin is not open, creates gpio handle before reading the value of gpio.
+ */
+extern int resource_read_infrared_obstacle_avoidance_sensor(int pin_num, uint32_t *out_value);
+
+extern int resource_set_infrared_obstacle_avoidance_sensor_interrupted_cb(int pin_num, resource_changed_cb cb, void *data);
+
+#endif /* __POSITION_FINDER_RESOURCE_INFRARED_OBSTACLE_AVOIDANCE_SENSOR_H__ */
--- /dev/null
+/*
+ * Copyright (c) 2017 Samsung Electronics Co., Ltd.
+ *
+ * Contact: Jin Yoon <jinny.yoon@samsung.com>
+ * Geunsun Lee <gs86.lee@samsung.com>
+ * Eunyoung Lee <ey928.lee@samsung.com>
+ * Junkyu Han <junkyu.han@samsung.com>
+ *
+ * Licensed under the Flora License, Version 1.1 (the License);
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://floralicense.org/license/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __POSITION_FINDER_RESOURCE_INFRARED_OBSTACLE_AVOIDANCE_SENSOR_INTERNAL_H__
+#define __POSITION_FINDER_RESOURCE_INFRARED_OBSTACLE_AVOIDANCE_SENSOR_INTERNAL_H__
+
+/**
+ * @brief Releases the gpio handle and changes the gpio pin state to the close(0).
+ * @param[in] pin_num The number of the gpio pin connected to the infrared obstacle avoidance sensor
+ */
+extern void resource_close_infrared_obstacle_avoidance_sensor(int pin_num);
+
+#endif /* __POSITION_FINDER_RESOURCE_INFRARED_OBSTACLE_AVOIDANCE_SENSOR_INTERNAL_H__ */
--- /dev/null
+/*
+ * Copyright (c) 2017 Samsung Electronics Co., Ltd.
+ *
+ * Contact: Jin Yoon <jinny.yoon@samsung.com>
+ * Geunsun Lee <gs86.lee@samsung.com>
+ * Eunyoung Lee <ey928.lee@samsung.com>
+ * Junkyu Han <junkyu.han@samsung.com>
+ *
+ * Licensed under the Flora License, Version 1.1 (the License);
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://floralicense.org/license/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __POSITION_FINDER_RESOURCE_INTERNAL_H__
+#define __POSITION_FINDER_RESOURCE_INTERNAL_H__
+
+#include <peripheral_io.h>
+#include <stdint.h>
+
+#define PIN_MAX 40
+
+typedef void (*resource_read_cb)(double value, void *data);
+
+typedef struct _resource_read_cb_s {
+ resource_read_cb cb;
+ void *data;
+ int pin_num;
+} resource_read_s;
+
+typedef void (*resource_changed_cb)(unsigned int value, void *data);
+
+typedef struct _resource_changed_s {
+ resource_changed_cb cb;
+ void *data;
+ int pin_num;
+} resource_changed_s;
+
+typedef struct _resource_s {
+ int opened;
+ peripheral_gpio_h sensor_h;
+ void (*close) (int);
+ /*FIXME*/
+ resource_changed_s *resource_changed_info;
+} resource_s;
+
+
+extern resource_s *resource_get_info(int pin_num);
+extern void resource_close_all(void);
+
+#endif /* __POSITION_FINDER_RESOURCE_INTERNAL_H__ */
#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)
{
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();
--- /dev/null
+/*
+ * Copyright (c) 2017 Samsung Electronics Co., Ltd.
+ *
+ * Contact: Jin Yoon <jinny.yoon@samsung.com>
+ * Geunsun Lee <gs86.lee@samsung.com>
+ * Eunyoung Lee <ey928.lee@samsung.com>
+ * Junkyu Han <junkyu.han@samsung.com>
+ *
+ * Licensed under the Flora License, Version 1.1 (the License);
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://floralicense.org/license/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <peripheral_io.h>
+
+#include "log.h"
+#include "resource.h"
+
+static resource_s resource_info[PIN_MAX] = { {0, NULL, NULL}, };
+
+resource_s *resource_get_info(int pin_num)
+{
+ return &resource_info[pin_num];
+}
+
+void resource_close_all(void)
+{
+ int i = 0;
+ for (i = 0; i < PIN_MAX; i++) {
+ if (!resource_info[i].opened) continue;
+ _I("GPIO[%d] is closing...", i);
+
+ if (resource_info[i].close)
+ resource_info[i].close(i);
+ }
+}
--- /dev/null
+/*
+ * Copyright (c) 2017 Samsung Electronics Co., Ltd.
+ *
+ * Contact: Jin Yoon <jinny.yoon@samsung.com>
+ * Geunsun Lee <gs86.lee@samsung.com>
+ * Eunyoung Lee <ey928.lee@samsung.com>
+ * Junkyu Han <junkyu.han@samsung.com>
+ *
+ * Licensed under the Flora License, Version 1.1 (the License);
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://floralicense.org/license/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <peripheral_io.h>
+#include <sys/time.h>
+
+#include "log.h"
+#include "resource_internal.h"
+
+void resource_close_infrared_obstacle_avoidance_sensor(int pin_num)
+{
+ if (!resource_get_info(pin_num)->opened) return;
+
+ _I("Infrared Obstacle Avoidance Sensor is finishing...");
+ if (resource_get_info(pin_num)->resource_changed_info) {
+ free(resource_get_info(pin_num)->resource_changed_info);
+ resource_get_info(pin_num)->resource_changed_info = NULL;
+ }
+ peripheral_gpio_unset_interrupted_cb(resource_get_info(pin_num)->sensor_h);
+ peripheral_gpio_close(resource_get_info(pin_num)->sensor_h);
+ resource_get_info(pin_num)->sensor_h = NULL;
+ resource_get_info(pin_num)->opened = 0;
+
+ return;
+}
+
+static int _init_pin(int pin_num)
+{
+ int ret = PERIPHERAL_ERROR_NONE;
+
+ ret = peripheral_gpio_open(pin_num, &resource_get_info(pin_num)->sensor_h);
+ retv_if(ret != PERIPHERAL_ERROR_NONE, -1);
+
+ ret = peripheral_gpio_set_direction(resource_get_info(pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_IN);
+ if (ret != PERIPHERAL_ERROR_NONE) {
+ peripheral_gpio_close(resource_get_info(pin_num)->sensor_h);
+ resource_get_info(pin_num)->sensor_h = NULL;
+ return -1;
+ }
+
+ resource_get_info(pin_num)->opened = 1;
+ resource_get_info(pin_num)->close = resource_close_infrared_obstacle_avoidance_sensor;
+
+ return 0;
+}
+
+int resource_read_infrared_obstacle_avoidance_sensor(int pin_num, uint32_t *out_value)
+{
+ int ret = PERIPHERAL_ERROR_NONE;
+
+ if (!resource_get_info(pin_num)->opened) {
+ ret = _init_pin(pin_num);
+ retv_if(ret < 0, -1);
+ }
+
+ ret = peripheral_gpio_read(resource_get_info(pin_num)->sensor_h, out_value);
+ retv_if(ret != PERIPHERAL_ERROR_NONE, -1);
+
+ *out_value = !*out_value;
+
+ _I("Infrared Obstacle Avoidance Sensor Value : %d", *out_value);
+
+ return 0;
+}
+
+
+static void __ioa_sensor_interrupt_cb(peripheral_gpio_h gpio, peripheral_error_e error, void *user_data)
+{
+ uint32_t value;
+ resource_changed_s *resource_changed_info = (resource_changed_s *)user_data;
+
+ /* Detected : 0, Non-detected : 1 */
+ peripheral_gpio_read(gpio, &value);
+ _D("interrupt value = %d", !value);
+
+ resource_changed_info->cb(!value, resource_changed_info->data);
+
+ return;
+}
+
+int resource_set_infrared_obstacle_avoidance_sensor_interrupted_cb(int pin_num, resource_changed_cb cb, void *data)
+{
+ int ret = PERIPHERAL_ERROR_NONE;
+
+ if (resource_get_info(pin_num)->resource_changed_info == NULL) {
+ resource_get_info(pin_num)->resource_changed_info = calloc(1, sizeof(resource_changed_s));
+ retv_if(!resource_get_info(pin_num)->resource_changed_info, -1);
+ } else {
+ if (resource_get_info(pin_num)->sensor_h) {
+ peripheral_gpio_unset_interrupted_cb(resource_get_info(resource_get_info(pin_num)->resource_changed_info->pin_num)->sensor_h);
+ }
+ }
+
+ resource_get_info(pin_num)->resource_changed_info->cb = cb;
+ resource_get_info(pin_num)->resource_changed_info->data = data;
+ resource_get_info(pin_num)->resource_changed_info->pin_num = pin_num;
+
+ if (!resource_get_info(pin_num)->opened) {
+ ret = _init_pin(pin_num);
+ goto_if(ret < 0, FREE_RESOURCE);
+ }
+
+ if (resource_get_info(pin_num)->sensor_h) {
+ ret = peripheral_gpio_set_edge_mode(resource_get_info(pin_num)->sensor_h, PERIPHERAL_GPIO_EDGE_BOTH);
+ goto_if(ret != PERIPHERAL_ERROR_NONE, FREE_RESOURCE);
+
+ ret = peripheral_gpio_set_interrupted_cb(resource_get_info(pin_num)->sensor_h, __ioa_sensor_interrupt_cb, resource_get_info(pin_num)->resource_changed_info);
+ goto_if(ret != PERIPHERAL_ERROR_NONE, FREE_RESOURCE);
+ }
+
+ return 0;
+
+FREE_RESOURCE:
+ if (resource_get_info(pin_num)->resource_changed_info) {
+ free(resource_get_info(pin_num)->resource_changed_info);
+ resource_get_info(pin_num)->resource_changed_info = NULL;
+ }
+
+ if (resource_get_info(pin_num)->sensor_h) {
+ peripheral_gpio_unset_interrupted_cb(resource_get_info(pin_num)->sensor_h);
+ peripheral_gpio_close(resource_get_info(pin_num)->sensor_h);
+ resource_get_info(pin_num)->sensor_h = NULL;
+ resource_get_info(pin_num)->opened = 0;
+ }
+
+ return -1;
+}
projects / apps / native / gear-racing-car.git / commitdiff