Integrated car connection manager

Change-Id: I8d8fde1b8c39bb00c25cbd64ebf85387d42ba333
Signed-off-by: Krzysztof Wieclaw <k.wieclaw@samsung.com>

4 files changed, 60 insertions, 214 deletions

diff --git a/.cproject b/.cproject
index b853371..18ba695 100644
--- a/.cproject
+++ b/.cproject
@@ -16,18 +16,18 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="gear-racing-controller" buildArtefactType="org.tizen.nativecore.buildArtefactType.app" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.tizen.nativecore.buildArtefactType.app,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" description="" errorParsers="org.eclipse.cdt.core.MakeErrorParser;org.eclipse.cdt.core.GCCErrorParser;" id="org.tizen.nativecore.config.sbi.gcc45.app.debug.1322065053" name="Debug" parent="org.tizen.nativecore.config.sbi.gcc45.app.debug">
+				<configuration artifactName="org.tizen.gear-racing-controller-sb" buildArtefactType="org.tizen.nativecore.buildArtefactType.app" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.tizen.nativecore.buildArtefactType.app,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" description="" errorParsers="org.eclipse.cdt.core.MakeErrorParser;org.eclipse.cdt.core.GCCErrorParser;" id="org.tizen.nativecore.config.sbi.gcc45.app.debug.1322065053" name="Debug" parent="org.tizen.nativecore.config.sbi.gcc45.app.debug">
 					<folderInfo id="org.tizen.nativecore.config.sbi.gcc45.app.debug.1322065053." name="/" resourcePath="">
 						<toolChain id="org.tizen.nativecore.toolchain.sbi.gcc45.app.debug.1847471508" name="Tizen Native Toolchain" superClass="org.tizen.nativecore.toolchain.sbi.gcc45.app.debug">
 							<targetPlatform binaryParser="org.eclipse.cdt.core.ELF" id="org.tizen.nativeide.target.sbi.gnu.platform.base.328737878" osList="linux,win32" superClass="org.tizen.nativeide.target.sbi.gnu.platform.base"/>
 							<builder autoBuildTarget="all" buildPath="${workspace_loc:/gear-racing-controller}/Debug" enableAutoBuild="true" id="org.tizen.nativecore.target.sbi.gnu.builder.227410736" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Tizen Application Builder" superClass="org.tizen.nativecore.target.sbi.gnu.builder"/>
-							<tool command="i586-linux-gnueabi-ar" id="org.tizen.nativecore.tool.sbi.gnu.archiver.1679874459" name="Archiver" superClass="org.tizen.nativecore.tool.sbi.gnu.archiver"/>
+							<tool command="arm-linux-gnueabi-ar" id="org.tizen.nativecore.tool.sbi.gnu.archiver.1679874459" name="Archiver" superClass="org.tizen.nativecore.tool.sbi.gnu.archiver"/>
 							<tool command="clang++" id="org.tizen.nativecore.tool.sbi.gnu.cpp.compiler.1354257060" name="C++ Compiler" superClass="org.tizen.nativecore.tool.sbi.gnu.cpp.compiler">
 								<option id="gnu.cpp.compiler.option.optimization.level.796007872" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
 								<option defaultValue="gnu.cpp.compiler.debugging.level.max" id="sbi.gnu.cpp.compiler.option.debugging.level.core.1472200190" name="Debug level" superClass="sbi.gnu.cpp.compiler.option.debugging.level.core" valueType="enumerated"/>
 								<option defaultValue="false" id="sbi.gnu.cpp.compiler.option.misc.pic.core.1659893418" name="-fPIC option" superClass="sbi.gnu.cpp.compiler.option.misc.pic.core" valueType="boolean"/>
 								<option id="sbi.gnu.cpp.compiler.option.912899474" name="Tizen-Target" superClass="sbi.gnu.cpp.compiler.option" valueType="userObjs">
-									<listOptionValue builtIn="false" value="wearable-4.0-emulator.core_llvm40.i386"/>
+									<listOptionValue builtIn="false" value="wearable-4.0-device.core_llvm40.armel"/>
 								</option>
 								<option id="sbi.gnu.cpp.compiler.option.frameworks_inc.core.395715001" name="Tizen-Frameworks-Include-Path" superClass="sbi.gnu.cpp.compiler.option.frameworks_inc.core" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${SBI_SYSROOT}/usr/include/libxml2&quot;"/>
@@ -122,6 +122,7 @@
 									<listOptionValue builtIn="false" value="${RS_COMPILER_MISC}"/>
 									<listOptionValue builtIn="false" value=" -fPIE"/>
 									<listOptionValue builtIn="false" value="--sysroot=&quot;${SBI_SYSROOT}&quot;"/>
+									<listOptionValue builtIn="false" value="-mthumb"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.include.paths.1203848534" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/inc}&quot;"/>
@@ -141,7 +142,7 @@
 								<option defaultValue="gnu.c.debugging.level.max" id="sbi.gnu.c.compiler.option.debugging.level.core.1140874669" name="Debug level" superClass="sbi.gnu.c.compiler.option.debugging.level.core" valueType="enumerated"/>
 								<option defaultValue="false" id="sbi.gnu.c.compiler.option.misc.pic.core.1096056089" name="-fPIC option" superClass="sbi.gnu.c.compiler.option.misc.pic.core" valueType="boolean"/>
 								<option id="sbi.gnu.c.compiler.option.1123455384" name="Tizen-Target" superClass="sbi.gnu.c.compiler.option" valueType="userObjs">
-									<listOptionValue builtIn="false" value="wearable-4.0-emulator.core_llvm40.i386"/>
+									<listOptionValue builtIn="false" value="wearable-4.0-device.core_llvm40.armel"/>
 								</option>
 								<option id="sbi.gnu.c.compiler.option.frameworks_inc.core.1389731891" name="Tizen-Frameworks-Include-Path" superClass="sbi.gnu.c.compiler.option.frameworks_inc.core" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${SBI_SYSROOT}/usr/include/libxml2&quot;"/>
@@ -232,10 +233,11 @@
 									<listOptionValue builtIn="false" value="&quot;${SBI_SYSROOT}/usr/lib/glib-2.0/include&quot;"/>
 								</option>
 								<option id="sbi.gnu.c.compiler.option.frameworks_cflags.core.398744298" name="Tizen-Frameworks-Other-Cflags" superClass="sbi.gnu.c.compiler.option.frameworks_cflags.core" valueType="stringList">
-									<listOptionValue builtIn="false" value="${TC_COMPILER_MISC}"/>
-									<listOptionValue builtIn="false" value="${RS_COMPILER_MISC}"/>
+									<listOptionValue builtIn="false" value="$(TC_COMPILER_MISC)"/>
+									<listOptionValue builtIn="false" value="$(RS_COMPILER_MISC)"/>
 									<listOptionValue builtIn="false" value=" -fPIE"/>
-									<listOptionValue builtIn="false" value="--sysroot=&quot;${SBI_SYSROOT}&quot;"/>
+									<listOptionValue builtIn="false" value="--sysroot=&quot;$(SBI_SYSROOT)&quot;"/>
+									<listOptionValue builtIn="false" value="-mthumb"/>
 								</option>
 								<option id="gnu.c.compiler.option.include.paths.321037953" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/inc}&quot;"/>
@@ -256,12 +258,12 @@
 								<option defaultValue="false" id="sbi.gnu.cpp.linker.option.shared_flag.core.544193418" name="Linker.Shared" superClass="sbi.gnu.cpp.linker.option.shared_flag.core" valueType="boolean"/>
 								<option defaultValue="false" id="sbi.gnu.cpp.linker.option.noundefined.core.1152050479" name="Report unresolved symbol references (-Wl,--no-undefined)" superClass="sbi.gnu.cpp.linker.option.noundefined.core" valueType="boolean"/>
 								<option id="sbi.gnu.cpp.linker.option.frameworks_lflags.core.2074193141" name="Tizen-Frameworks-Other-Lflags" superClass="sbi.gnu.cpp.linker.option.frameworks_lflags.core" valueType="stringList">
-									<listOptionValue builtIn="false" value="${TC_LINKER_MISC}"/>
-									<listOptionValue builtIn="false" value="${RS_LINKER_MISC}"/>
+									<listOptionValue builtIn="false" value="$(TC_LINKER_MISC)"/>
+									<listOptionValue builtIn="false" value="$(RS_LINKER_MISC)"/>
 									<listOptionValue builtIn="false" value="-pie -lpthread "/>
-									<listOptionValue builtIn="false" value="--sysroot=&quot;${SBI_SYSROOT}&quot;"/>
-									<listOptionValue builtIn="false" value="-Xlinker --version-script=&quot;${PROJ_PATH}/.exportMap&quot;"/>
-									<listOptionValue builtIn="false" value="-L&quot;${SBI_SYSROOT}/usr/lib&quot;"/>
+									<listOptionValue builtIn="false" value="--sysroot=&quot;$(SBI_SYSROOT)&quot;"/>
+									<listOptionValue builtIn="false" value="-Xlinker --version-script=&quot;$(PROJ_PATH)/.exportMap&quot;"/>
+									<listOptionValue builtIn="false" value="-L&quot;$(SBI_SYSROOT)/usr/lib&quot;"/>
 									<listOptionValue builtIn="false" value="$(RS_LIBRARIES)"/>
 								</option>
 								<option id="gnu.cpp.link.option.paths.83999257" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
diff --git a/inc/model/model_car_connection.h b/inc/model/model_car_connection.h
index 964b22e..648ceef 100644
--- a/inc/model/model_car_connection.h
+++ b/inc/model/model_car_connection.h
@@ -19,6 +19,7 @@
 #define MODEL_MODEL_CAR_CONNECTION_H_
 
 #include "model/model_base.h"
+#include "car_connection_manager.h"
 #include <stdbool.h>
 
 typedef struct _s_model_car_connection_cb_data {
@@ -30,9 +31,8 @@ typedef void (*t_model_car_connection_update_cb)(s_model_car_connection_cb_data
 void model_car_connection_init(void);
 void model_car_connection_subscribe_event(t_model_car_connection_update_cb model_update_cb);
 void model_car_connection_unsubscirbe_event();
-void model_car_connection_model_state_change(void);
 
-void model_car_connection_start_connection(char *address, int port);
+void model_car_connection_start_connection(const char *address, int port);
 void model_car_connection_end_connection(void);
 void model_car_connection_send_direction(float direction);
 void model_car_connection_send_throttle(float throttle);
diff --git a/src/controller/controller_racing.c b/src/controller/controller_racing.c
index f75e4da..5ea4e46 100644
--- a/src/controller/controller_racing.c
+++ b/src/controller/controller_racing.c
@@ -80,6 +80,5 @@ void controller_racing_back(void)
 void controller_racing_next()
 {
 	model_car_connection_ready_to_drive(false);
-	model_car_connection_model_state_change();
 }
 
diff --git a/src/model/model_car_connection.c b/src/model/model_car_connection.c
index 6bb9684..f37aa6f 100644
--- a/src/model/model_car_connection.c
+++ b/src/model/model_car_connection.c
@@ -13,6 +13,8 @@
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
+#include "model/model_car_connection.h"
+
 #include <stdlib.h>
 #include <stdio.h>
 #include <glib.h>
@@ -21,44 +23,19 @@
 #include <sys/socket.h>
 #include <netinet/in.h>
 
+#include "command.h"
+#include "messages/message_manager.h"
+#include "car_connection_manager.h"
 #include "gear-racing-controller.h"
-#include "model/model_car_connection.h"
 #include "log.h"
 
-#define DIRECTION_BASE_VALUE 1000
+#define SEND_TIMEOUT 20
+#define DIRECTION_BASE_VALUE 10000
 #define THROTTLE_BASE_VALUE 10000
 #define HELLO_TIMER_WAIT 3.0
 
-typedef enum  _e_message_type {
-	MESSAGE_HELLO,
-	MESSAGE_CALIBRATION,
-	MESSAGE_ALIVE,
-	MESSAGE_DRIVE,
-	MESSAGE_CAMERA,
-	MESSAGE_DRIVE_CAMERA,
-	MESSAGE_BYE,
-} e_message_type;
-
-typedef struct _s_message {
-	unsigned long long int seq_num;
-	int cmd;
-	int servo;
-	int speed;
-	int cam_azimuth;
-	int cam_elevation;
-	unsigned long long int time;
-} s_message;
-
 typedef struct _s_car_model_connection {
 	t_model_car_connection_update_cb controller_update_cb;
-
-	GSocket *socket;
-	GSocketAddress *car_address;
-	gint port;
-	guint io_watch_id;
-
-	Ecore_Timer *connection_wait_timer;
-
 	bool ready_to_drive;
 
 	float direction;
@@ -67,154 +44,41 @@ typedef struct _s_car_model_connection {
 	float cam_azimuth;
 	bool stop;
 
-	Ecore_Timer *send_timer;
+	guint send_timer;
 } s_model_car_connection;
 
 s_model_car_connection s_info = { 0, };
 
+void _connection_state_cb(car_connection_state_e previous, car_connection_state_e current);
 
-gboolean _read_socket_cb(GIOChannel *source, GIOCondition condition, gpointer data)
+static void _send_data(int servo, int speed, int cam_azimuth, int cam_elevation)
 {
-	GIOChannel *channel = data;
-	GString *buffer = g_string_new(NULL);
-	GIOStatus state = G_IO_STATUS_NORMAL;
-	GError *error = NULL;
-
-	while (state == G_IO_STATUS_NORMAL)
-	{
-		gsize delim = 0;
-
-		state = g_io_channel_read_line_string(channel, buffer, &delim, &error);
-
-		if (error) {
-			g_warning("%s\n", error->message);
-		}
-
-		switch(state)
-		{
-			case G_IO_STATUS_NORMAL:
-				if (strlen(buffer->str) > 0)
-				{
-					_D("Got: %s\n", buffer->str);
-					if (!strncmp(buffer->str, "PING!", strlen("PING!")))
-					{
-							_D("Received reply\n");
-					}
-					else if (!strncmp(buffer->str, "Welcome to the echo service!", strlen("Welcome to the echo service!")))
-					{
-							_D("Service online\n");
-					}
-
-					/* reset the buffer for the next call */
-					g_string_set_size(buffer, 0);
-					delim = 0;
-				}
-				break;
-			case G_IO_STATUS_AGAIN:
-				/* no data right now... try again later */
-				break;
-			case G_IO_STATUS_ERROR:
-			case G_IO_STATUS_EOF:
-				_W("Error reading: %s\n", error->message);
-
-				/* drop last reference on connection */
-				g_io_channel_shutdown(channel, FALSE, &error);
-
-				/* don't need the input buffer anymore */
-				g_string_free(buffer, TRUE);
-
-				/* remove the event source */
-				return(FALSE);
-		}
-	}
-
-	 return true;
-}
-
-static void _receiver_udp_start(void)
-{
-	int socket_fd = g_socket_get_fd(s_info.socket);
-	GIOChannel *channel = g_io_channel_unix_new(socket_fd);
-	s_info.io_watch_id = g_io_add_watch(channel, G_IO_IN | G_IO_ERR | G_IO_HUP, _read_socket_cb, channel);
-	g_io_channel_unref(channel);
-}
-
-static void _send_data(int command, int servo, int speed, int cam_azimuth, int cam_elevation)
-{
-	GError *error = NULL;
-	static s_message message = { 0, };
-
-	message.cmd = command;
-	message.servo = servo;
-	message.speed = speed;
-	message.cam_azimuth = cam_azimuth;
-	message.cam_elevation = cam_elevation;
-	message.seq_num++;
-	message.time = time(NULL);
-
-	_D("Send CMD[%d], Servo[%d], Speed[%d]", message.cmd, message.servo, message.speed, message.cam_azimuth, message.cam_elevation);
-
-	ASSERT(!s_info.socket, "Socket not created");
-	ASSERT(!s_info.car_address, "Destination not set");
-
-	GIOCondition condition = g_socket_condition_check(s_info.socket, G_IO_OUT);
-
-	if (condition != G_IO_OUT) {
-		_W("condition == %d", condition);
-//		return;
-	}
-
-	bool connection_result = g_socket_check_connect_result(s_info.socket, &error);
-	ASSERT(error, "g_socket_check_connect_result(). Error: %s", error->message);
-	ASSERT(!connection_result, "connection_result == false")
-
-	gssize size = g_socket_send(s_info.socket, (const gchar *)&message, sizeof(s_message), NULL, &error);
-	ASSERT(size < 0, "Failed to send to socket: %s", error->message)
-
-	if (error) {
-		g_error_free(error);
-	}
-}
-
-static Eina_Bool _connection_wait_timer_cb(void *data)
-{
-	static s_model_car_connection_cb_data model_data = {
-			.type = MODEL_TYPE_FAIL,
+	command_s command = {
+			.type = COMMAND_TYPE_DRIVE_AND_CAMERA,
 	};
+	command.data.steering_and_camera.speed = speed;
+	command.data.steering_and_camera.direction = servo;
+	command.data.steering_and_camera.camera_azimuth = cam_azimuth;
+	command.data.steering_and_camera.camera_elevation = cam_elevation;
+	car_connection_manager_send_command(command);
 
-	return ECORE_CALLBACK_CANCEL; //TODO Test only
-
-	if (s_info.controller_update_cb) {
-		s_info.controller_update_cb(&model_data);
-	}
-
-	model_car_connection_end_connection();
-
-	bool renew = (bool)data;
-	return renew;
 }
 
-static Eina_Bool _send_timer_cb(void *data)
+static gboolean _send_timer_cb(gpointer data)
 {
-	_send_data(MESSAGE_DRIVE_CAMERA, s_info.direction * -DIRECTION_BASE_VALUE, s_info.throttle * THROTTLE_BASE_VALUE,
+	_D("Sending command...");
+	_send_data(s_info.direction * -DIRECTION_BASE_VALUE, s_info.throttle * THROTTLE_BASE_VALUE,
 			s_info.cam_azimuth * -DIRECTION_BASE_VALUE, s_info.cam_elevation * -DIRECTION_BASE_VALUE);
 
-	return ECORE_CALLBACK_RENEW;
+	return TRUE;
 }
 
 
 void model_car_connection_init(void)
 {
-	GError *error = NULL;
-
-	s_info.socket = g_socket_new(G_SOCKET_FAMILY_IPV4, G_SOCKET_TYPE_DATAGRAM, G_SOCKET_PROTOCOL_UDP, &error);
-	ASSERT(!s_info.socket, "Failed to get new Socket - %s", error->message);
-
-	if (error) {
-		g_error_free(error);
-	}
-
-	_receiver_udp_start();
+	message_manager_init();
+	car_connection_manager_init();
+	car_connection_manager_set_state_change_cb(_connection_state_cb);
 }
 
 void model_car_connection_subscribe_event(t_model_car_connection_update_cb model_update_cb)
@@ -222,38 +86,18 @@ void model_car_connection_subscribe_event(t_model_car_connection_update_cb model
 	s_info.controller_update_cb = model_update_cb;
 }
 
-void model_car_connection_model_state_change(void)
-{
-	static s_model_car_connection_cb_data model_data = {
-			.type = MODEL_TYPE_END,
-	};
-
-	s_info.controller_update_cb(&model_data);
-}
 void model_car_connection_unsubscirbe_event()
 {
 	s_info.controller_update_cb = NULL;
 }
 
-void model_car_connection_start_connection(char *address, int port)
+void model_car_connection_start_connection(const char *address, int port)
 {
-	s_info.port = port;
-	s_info.car_address = g_inet_socket_address_new_from_string(address, port);
-	ASSERT_MEMORY(!s_info.car_address);
-
-	GError *error = NULL;
-	bool connected = g_socket_connect(s_info.socket, s_info.car_address, NULL, &error);
-	ASSERT(error, "g_socket_connect(): %s", error->message);
-	ASSERT(!connected, "Failed to connect to socket");
-
-	_send_data(MESSAGE_HELLO, 0, 0, 0, 0);
-	s_info.connection_wait_timer = ecore_timer_add(HELLO_TIMER_WAIT, _connection_wait_timer_cb, (void *)ECORE_CALLBACK_CANCEL);
-
-	s_info.send_timer = ecore_timer_add(1.0 / 60.0, _send_timer_cb, NULL);
-
-	if (error) {
-		g_error_free(error);
+	if(car_connection_manager_connect(address, port)) {
+		_E("Failed to connect with %s:%d", address, port);
+		return;
 	}
+	s_info.send_timer = g_timeout_add(SEND_TIMEOUT, _send_timer_cb, NULL);
 }
 
 void model_car_connection_ready_to_drive(bool is_ready)
@@ -263,21 +107,11 @@ void model_car_connection_ready_to_drive(bool is_ready)
 
 void model_car_connection_end_connection(void)
 {
-	if (!s_info.socket) {
-		return;
-	}
-
-	GError *error = NULL;
-	g_socket_shutdown(s_info.socket, true, true, &error);
-	ASSERT(error, "Failed to shutdown the socket");
-
-	g_object_unref(s_info.car_address);
-
-	if (error) {
-		g_error_free(error);
+	if(s_info.send_timer) {
+		g_source_remove(s_info.send_timer);
+		s_info.send_timer = 0;
 	}
-
-	ecore_timer_del(s_info.send_timer);
+	car_connection_manager_disconnect();
 }
 
 void model_car_connection_send_direction(float direction)
@@ -329,3 +163,14 @@ void model_car_connection_set_stop(bool stop)
 	}
 }
 
+void _connection_state_cb(car_connection_state_e previous, car_connection_state_e current) {
+	static s_model_car_connection_cb_data model_data;
+	if(current == CAR_CONNECTION_STATE_CONNECTING) {
+		model_data.type = MODEL_TYPE_WAIT;
+	} else if(current == CAR_CONNECTION_STATE_DISCONNECTED) {
+		model_data.type = MODEL_TYPE_FAIL;
+	} else {
+		model_data.type = MODEL_TYPE_END;
+	}
+	s_info.controller_update_cb(&model_data);
+}