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/*
* Copyright (c) 2018 Samsung Electronics Co., Ltd.
*
* Licensed under the Apache License, Version 2.0 (the License);
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.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 "model/model_car_connection.h"
#include <stdlib.h>
#include <stdio.h>
#include <glib.h>
#include <gio/gio.h>
#include <sys/types.h>
#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 "log.h"
#define SEND_TIMEOUT 30
#define DIRECTION_BASE_VALUE 10000
#define THROTTLE_BASE_VALUE 10000
#define HELLO_TIMER_WAIT 3.0
typedef struct _s_car_model_connection {
t_model_car_connection_update_cb controller_update_cb;
bool ready_to_drive;
char player_name[PLAYER_NAME_MAX_LEN + 1];
float direction;
float throttle;
float cam_elevation;
float cam_azimuth;
bool stop;
bool is_app_paused;
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);
static void _send_data(int servo, int speed, int cam_azimuth, int cam_elevation)
{
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;
_FRAME_D("Sending command [speed: %d, direction: %d, cam_azim: %d, cam_elev: %d]", speed, servo, cam_azimuth, cam_elevation);
car_connection_manager_send_command(command);
}
static gboolean _send_timer_cb(gpointer data)
{
if (s_info.is_app_paused) {
_send_data(0, 0, 0, 0);
} else {
_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 TRUE;
}
void model_car_connection_init(void)
{
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)
{
s_info.controller_update_cb = model_update_cb;
}
void model_car_connection_unsubscirbe_event()
{
s_info.controller_update_cb = NULL;
}
void model_car_connection_start_connection(const char *address, int port)
{
if(car_connection_manager_connect(address, port)) {
_E("Failed to connect with %s:%d", address, port);
return;
}
}
void model_car_connection_ready_to_drive(bool is_ready)
{
s_info.ready_to_drive = is_ready;
}
void model_car_connection_end_connection(void)
{
if(s_info.send_timer) {
g_source_remove(s_info.send_timer);
s_info.send_timer = 0;
}
car_connection_manager_disconnect();
}
void model_car_connection_send_direction(float direction)
{
if (!s_info.ready_to_drive) {
return;
}
s_info.direction = direction;
}
void model_car_connection_send_throttle(float throttle)
{
if (!s_info.ready_to_drive) {
return;
}
if (s_info.stop) {
s_info.throttle = 0;
} else {
s_info.throttle = throttle;
}
}
void model_car_connection_send_cam_elevation(float cam_elevation)
{
if (!s_info.ready_to_drive) {
return;
}
s_info.cam_elevation = cam_elevation;
}
void model_car_connection_send_cam_azimuth(float cam_azimuth)
{
if (!s_info.ready_to_drive) {
return;
}
s_info.cam_azimuth = cam_azimuth;
}
void model_car_connection_set_stop(bool stop)
{
s_info.stop = stop;
if (stop) {
s_info.throttle = 0;
}
}
bool model_car_connection_is_connected()
{
return CAR_CONNECTION_STATE_CONNECTED == car_connection_manager_get_state();
}
bool model_car_connection_player_name_set(const char *player_name)
{
if(!model_car_connection_is_connected()) {
_E("Connection hasn't been established");
return false;
}
strncpy(s_info.player_name, player_name, PLAYER_NAME_MAX_LEN);
car_connection_manager_send_user_name(s_info.player_name);
return true;
}
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) {
if(s_info.send_timer) {
g_source_remove(s_info.send_timer);
}
model_data.type = MODEL_TYPE_FAIL;
} else {
s_info.send_timer = g_timeout_add(SEND_TIMEOUT, _send_timer_cb, NULL);
model_data.type = MODEL_TYPE_END;
}
if (s_info.controller_update_cb) {
s_info.controller_update_cb(&model_data);
}
}
void model_car_connection_set_paused(bool is_paused)
{
s_info.is_app_paused = is_paused;
}
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