Merge remote-tracking branch 'privategit/master'

1 files changed, 297 insertions, 0 deletions

diff --git a/src/app.c b/src/app.c
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--- /dev/null
+++ b/src/app.c
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+/*
+ * Copyright (c) 2017 Samsung Electronics Co., Ltd.
+ *
+ * Contact: Jeonghoon Park <jh1979.park@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 <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <math.h>
+#include <glib.h>
+#include <service_app.h>
+#include "log.h"
+#include "resource.h"
+#include "receiver.h"
+#include "message.h"
+#include "connection_manager.h"
+
+#define ENABLE_MOTOR 1
+
+enum {
+	DIR_STATE_S,
+	DIR_STATE_F,
+	DIR_STATE_B,
+};
+
+typedef struct app_data_s {
+	unsigned int f_value;
+	unsigned int r_value;
+	unsigned int dir_state;
+	guint idle_h;
+} app_data;
+
+static void service_app_lang_changed(app_event_info_h event_info, void *user_data)
+{
+	return;
+}
+
+static void service_app_region_changed(app_event_info_h event_info, void *user_data)
+{
+	return;
+}
+
+static void service_app_low_battery(app_event_info_h event_info, void *user_data)
+{
+	_E("low battery! exit app");
+	service_app_exit();
+
+	return;
+}
+
+static void service_app_low_memory(app_event_info_h event_info, void *user_data)
+{
+	return;
+}
+
+static inline double __map_round(double val)
+{
+	return floor(val + 0.5);
+}
+
+static int __map_range_val(int d_max, int d_min, int v_max, int v_min, int val)
+{
+	int rval = 0;
+	double slope = 0;
+	slope = 1.0 * (d_max - d_min) / (v_max - v_min);
+
+	rval = d_min + __map_round(slope * (val - v_min));
+
+	return rval;
+}
+
+static int ___map_speed_val(int speed)
+{
+	static const int motor_max = 4095;
+	static const int motor_min = -4095;
+	static const int speed_max = 1000;
+	static const int speed_min = -1000;
+
+	return __map_range_val(motor_max, motor_min,
+		speed_max, speed_min, speed);
+}
+
+static int ___map_servo_val(int servo)
+{
+	static const int motor_max = 500;
+	static const int motor_min = 400;
+	static const int servo_max = 1000;
+	static const int servo_min = -1000;
+
+	return __map_range_val(motor_max, motor_min,
+		servo_max, servo_min, servo);
+}
+
+
+static int __driving_motors(int servo, int speed)
+{
+	int val_speed;
+	int val_servo;
+
+	val_servo = ___map_servo_val(servo);
+	val_speed = ___map_speed_val(speed);
+
+	_D("control motor - servo[%4d : %4d], speed[%4d : %4d]",
+		servo, val_servo, speed, val_speed);
+#if ENABLE_MOTOR
+	resource_set_servo_motor_value(0, val_servo);
+	resource_set_motor_driver_L298N_speed(MOTOR_ID_1, val_speed);
+	resource_set_motor_driver_L298N_speed(MOTOR_ID_2, val_speed);
+#endif
+
+	return 0;
+}
+
+static gboolean __message_dispatcher(gpointer user_data)
+{
+	message_s *msg = NULL;
+
+	do {
+		msg = message_pop_from_inqueue();
+		if (msg) {
+			switch (msg->cmd) {
+			case MESSAGE_CMD_HELLO:
+				/* TODO : say hello to sender */
+				break;
+			case MESSAGE_CMD_CALIBRATION:
+				/* TODO : set calibration mode */
+				break;
+			case MESSAGE_CMD_DRIVE:
+			/* TODO : driving car */
+				__driving_motors(msg->servo, msg->speed);
+				break;
+			case MESSAGE_CMD_BYE:
+				__driving_motors(0, 0);
+				break;
+			}
+		}
+		free(msg);
+	} while (msg);
+
+	return TRUE;
+}
+
+static void __recv_state_change(receiver_type_e type,
+	receiver_state_e state, void* user_data)
+{
+	app_data *ad = user_data;
+	ret_if(!ad);
+
+	_D("receiver type[%d] state changed[%d]", type, state);
+
+	if (state == RECEIVER_STATE_CONNECTED) {
+		if (!ad->idle_h)
+			ad->idle_h = g_idle_add(__message_dispatcher, ad);
+	} else {
+		if (ad->idle_h) {
+			g_source_remove(ad->idle_h);
+			ad->idle_h = 0;
+		}
+		__driving_motors(0, 0);
+	}
+
+	return;
+}
+
+static void __conn_state_changed_cb(connection_state_e state,
+	const char *ip, void* user_data)
+{
+	app_data *ad = user_data;
+
+	_D("connection state changed : %d", state);
+
+	if (state == CONNECTION_STATE_CONNECTED) {
+		receiver_start(RECEIVER_TYPE_UDP);
+
+	} else {
+		receiver_stop(RECEIVER_TYPE_UDP);
+
+		if (ad->idle_h) {
+			g_source_remove(ad->idle_h);
+			ad->idle_h = 0;
+		}
+
+		__driving_motors(0, 0);
+	}
+	return;
+}
+
+static bool service_app_create(void *data)
+{
+	int ret = 0;
+	app_data *ad = data;
+
+	/*
+	 * if you want to use default configuration,
+	 * Do not need to call resource_set_motor_driver_L298N_configuration(),
+	 *
+	*/
+#if ENABLE_MOTOR
+	ret = resource_set_motor_driver_L298N_configuration(MOTOR_ID_1, 19, 16, 5);
+	if (ret) {
+		_E("resource_set_motor_driver_L298N_configuration()");
+		service_app_exit();
+	}
+	ret = resource_set_motor_driver_L298N_configuration(MOTOR_ID_2, 26, 20, 4);
+	if (ret) {
+		_E("resource_set_motor_driver_L298N_configuration()");
+		service_app_exit();
+	}
+#endif
+
+	receiver_init(RECEIVER_TYPE_UDP);
+	receiver_set_state_changed_cb(RECEIVER_TYPE_UDP, __recv_state_change, ad);
+
+	connection_manager_init();
+	connection_manager_set_state_changed_cb(__conn_state_changed_cb, ad);
+
+	message_queue_new();
+
+	return true;
+}
+
+static void service_app_control(app_control_h app_control, void *data)
+{
+
+#if ENABLE_MOTOR
+	/* set speed 0, to reduce delay of initializing motor driver */
+	resource_set_motor_driver_L298N_speed(MOTOR_ID_1, 0);
+	resource_set_motor_driver_L298N_speed(MOTOR_ID_2, 0);
+	resource_set_servo_motor_value(0, 450);
+#endif
+
+	return;
+}
+
+static void service_app_terminate(void *data)
+{
+	app_data *ad = data;
+
+	if (ad->idle_h)
+		g_source_remove(ad->idle_h);
+
+
+	connection_manager_fini();
+	receiver_fini(RECEIVER_TYPE_UDP);
+
+	resource_close_all();
+	log_file_close();
+
+	_D("Bye ~");
+
+	return;
+}
+
+int main(int argc, char* argv[])
+{
+	app_data *ad = NULL;
+	int ret = 0;
+	service_app_lifecycle_callback_s event_callback;
+	app_event_handler_h handlers[5] = {NULL, };
+
+	log_type_set(LOG_TYPE_DLOG);
+
+	ad = calloc(1, sizeof(app_data));
+	retv_if(!ad, -1);
+
+	event_callback.create = service_app_create;
+	event_callback.terminate = service_app_terminate;
+	event_callback.app_control = service_app_control;
+
+	service_app_add_event_handler(&handlers[APP_EVENT_LOW_BATTERY],
+		APP_EVENT_LOW_BATTERY, service_app_low_battery, &ad);
+	service_app_add_event_handler(&handlers[APP_EVENT_LOW_MEMORY],
+		APP_EVENT_LOW_MEMORY, service_app_low_memory, &ad);
+	service_app_add_event_handler(&handlers[APP_EVENT_LANGUAGE_CHANGED],
+		APP_EVENT_LANGUAGE_CHANGED, service_app_lang_changed, &ad);
+	service_app_add_event_handler(&handlers[APP_EVENT_REGION_FORMAT_CHANGED],
+		APP_EVENT_REGION_FORMAT_CHANGED, service_app_region_changed, &ad);
+
+	ret = service_app_main(argc, argv, &event_callback, ad);
+	if (ret)
+		_E("failed to start app");
+
+	return 0;
+}