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http://github.com/Tizen-SunfishYunji Kang, Jinwoo Ahn, Gyeonghwan

HongAdvanced System Software (Autumn

2014)

Extensible Hardware Framework for Tizen

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• Limits in extension of mobile sensor & actuator

• Hard to use external sensor, actuators– High implementation cost, maintenance cost …

Motivation

?

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• Connect blocks and make only logic code!• Function Abstraction: represented as blocks

– External Sensor, Actuator: Ultrasonic sensor, Motor …– The Functions of Tizen Platform: Notification center

• Connectivity, Hardware Control Abstraction– Bluetooth, Serial port control, I/O pin control, PWM, …

Extensible Hardware Framework

Ultrasonic Sensor

Data Filter LogicGet distance

Twitter

Servo Motor

Post on

Rotate 15˚

Sensors Actuators

LogicsSMS

Receive Notification

Servo MotorRotate forever

KakaoTalk Receive Notification

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• EHF-Node-RED: Design tool• Mindstorm Service: Interaction with Mindstorm

Design: Components

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• Node-RED runs based on Node.js.• We ported Node.js on ODROID-U3

running Tizen.– Integration the process of building Node.js with

GBS– ARM compiler configurations

• Default target architecture• HW/SW FPU

• Now, Node.js can be built by GBS in the same way as building other Tizen packages.

Porting Node.js

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• Visual Editor Tool based on Node.js– You can make a program with only connecting nodes

• New Nodes for Tizen/Mindstorm are added.

EHF-Node-RED

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• Nodes can be specified as below manner.– Each node has its properties that can be tuned.

EHF-Node-RED: Nodes

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• New node for Tizen– Notification node: fetches notifications of

applications from Tizen notification center.

• New nodes for Mindstorm– Motor node: controls the behavior of survo

motor.– Speaker node: makes a sound through

speaker.– Sonar node: listens the distance of detected

object– Color lamp node: makes color lights through

lamps in RGB sensor.

EHF-Node-RED: Nodes

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• Bidirectional Interaction with Mindstorm– It uses Tizen Bluetooth API/Framework for interaction.– Fit to the format of Mindstorm direct command

• Listening commands through Mindstorm Service API– dbus: Inter-process communication between EHF-

Node-RED and Mindstorm Service

• Functions– Survo motors: moving– Speaker: playing a sound– Ultrasonic sensor: listening the distance of detected

object– Color lamp: emitting light in dedicated colors.

Mindstorm Service

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• EHF-Node-RED ~ Notification Center– Shared file

• /usr/share/nodejs/ehf_notification.tail• Notification center writes notification events on the shared

file.• EHF-Node-RED listens file change event through tail tool.

• EHF-Node-RED ~ Mindstorm Service– dbus: EHF-Node-RED sends commands to

Mindstorm service through dbus.– Shared file

• /usr/share/nodejs/sonar.tail• Mindstorm service sends sonar sensor event to EHF-Node-

RED through shared file.

Interactions among Components

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• Mindstorm Service ~ Mindstorm Controller– Mindstorm Direct Command Protocol

• Mindstorm controller receives commands and sends response to user device with following this protocol.

• It supports Bluetooth/RFCOMM protocol.

– Tizen Bluetooth API/Framework• It supports API functions of interactions in RFCOMM

protocol.• Mindstorm service uses Tizen Bluetooth API for

interacting with Mindstorm controller.

Interactions among Components

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• Notification Center– Path: apps/home/notification– It delivers the notifications of applications to also EHF-

Node-RED.

• Bluetooth Framework– Path: framework/connectivity/bluetooth-frwk– A bug that commands cannot be delivered is occurred.

• Originally, Tizen Bluetooth Framework used g_strlcpy() function.

– We modified to use memcpy() function.

Modifications on Tizen Framework

0C 00 80 04 02 32 07 00 00 20 00 00 00 00Original:

0C 00 EC 2B 07 5C 17 23 03 01 00 50 78 9CSocket buffer:

g_strlcpy()

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13github.com/Tizen-Sunfish

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• Modifications on Tizen Frameworks– Notification Center (notification)– Bluetooth Framework (bluetooth-frwk)

• Node.js Port on Tizen (nodejs-tizen)• EHF-Node-RED (ehf-node-red)• Mindstorm Service (tizen-mindstorm)• Mindstorm Service API (mindstorm-

send)

github.com/Tizen-Sunfish

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• Gyeonghwan Hong (RedCarrottt)– Porting Node.js, EHF-Node-RED– Customizing Tizen notification center

• Yunji Kang (sonyeo4ever)– Bluetooth communication thread– Ultrasonic Sensor, Playing sound file(Speaker)

• Jinwoo Ahn (ahnjinwoo)– Mindstorms Device API– Motor, RGB sensor(Color lamp), Beep

sensor(Speaker)– Design of Mindstorm hardware

Role Distributions

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• New Method of Mobile Notification• Mindstorm notifies human of

notifications by moving its motors and making a sound.

Example: Notification

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• This example can be simply implemented by drawing node graph as below.

Example: Notification