Collision: Added C Src and Example

This module was initially known as GroveCollision. It has been
now changed to Collision. C source and examples added.

Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>

src/collision/CMakeLists.txt

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+upm_mixed_module_init (NAME collision
+    DESCRIPTION "upm collisionsensor module"
+    C_HDR collision.h
+    C_SRC collision.c
+    CPP_HDR collision.hpp
+    CPP_SRC collision.cxx
+    FTI_SRC collision_fti.c
+    CPP_WRAPS_C
+    REQUIRES mraa)

src/collision/collision.c

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+
+/*
+ * Author: Zion Orent <sorent@ics.com>
+ *         Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#include "collision.h"
+
+collision_context collision_init(int pin){
+    collision_context dev =
+      (collision_context)malloc(sizeof(struct _collision_context));
+
+    if (!dev)
+      return NULL;
+
+    dev->gpio_pin = pin;
+    dev->gpio = mraa_gpio_init(dev->gpio_pin);
+
+    if(mraa_gpio_dir(dev->gpio, MRAA_GPIO_IN) != MRAA_SUCCESS)
+      {
+        free(dev);
+        return NULL;
+      }
+
+    return dev;
+}
+
+void collision_close(collision_context dev){
+    free(dev);
+}
+
+upm_result_t collision_is_colliding(collision_context dev, bool* collision_val){
+    int value = mraa_gpio_read(dev->gpio);
+
+    if(!value)
+        *collision_val = true;
+    else
+        *collision_val = false;
+
+    return UPM_SUCCESS;
+}

src/collision/collision.cxx

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+/*
+ * Author: Zion Orent <sorent@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <string>
+#include <stdexcept>
+
+#include "collision.hpp"
+
+using namespace upm;
+
+Collision::Collision(int pin)
+{
+    
+    if ( !(m_gpio = mraa_gpio_init(pin)) ) 
+      {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_gpio_init() failed, invalid pin?");
+        return;
+      }
+    mraa_gpio_dir(m_gpio, MRAA_GPIO_IN);
+}
+
+Collision::~Collision()
+{
+    mraa_gpio_close(m_gpio);
+}
+
+bool Collision::isColliding()
+{
+	// Collisions cause 0; no collision is 1
+	return (!(bool)mraa_gpio_read(m_gpio));
+}

src/collision/collision.h

@@ -0,0 +1,91 @@
+/*
+ * Author: Zion Orent <sorent@ics.com>
+ *         Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#ifndef COLLISION_H_
+#define COLLISION_H_
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+
+#include "upm.h"
+#include "mraa/gpio.h"
+
+/**
+ * @brief MVS0608 - GPIO Collision Sensor library
+ * @ingroup gpio accelerometer
+ */
+
+/**
+ * @library collision
+ * @sensor Collision
+ * @comname Collision Sensor
+ * @altname Grove Collision Sensor
+ * @type accelerometer
+ * @con gpio
+ *
+ * @brief API for the Collision Sensor
+ *
+ * MVS0608 can detect whether any
+ * collision movement or vibration happens.
+ * It outputs a low pulse signal when vibration is detected.
+ *
+ * @image html grovecollision.jpg
+ * @snippet collision.c Interesting
+ */
+
+/**
+ * device context
+ */
+typedef struct _collision_context {
+    mraa_gpio_context        gpio;
+    uint8_t                  gpio_pin;
+} *collision_context;
+
+/**
+ * Collision Initialization function
+ *
+ * @param pin number
+ * @return void* pointer to the sensor struct
+ */
+collision_context collision_init(int pin);
+
+/**
+ * Collision Initialization function
+ *
+ * @param void* pointer to the sensor struct
+ */
+void collision_close(collision_context dev);
+
+/**
+ * This function tells you whether the sensor has
+ * collided with something or not.
+ *
+ * @param void* pointer to the sensor struct
+ * @param bool* pointer to hold the collision value
+ * @return upm_result_t UPM success/error code
+ */
+upm_result_t collision_is_colliding(collision_context dev, bool* collision_val);
+
+#endif /* COLLISION_H_ */

src/collision/collision.hpp

@@ -0,0 +1,73 @@
+/*
+ * Author: Zion Orent <sorent@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <mraa/gpio.h>
+
+namespace upm {
+  /**
+   * @brief Collision Sensor library
+   * @defgroup collision libupm-collision
+   * @ingroup seeed gpio accelerometer
+   */
+
+  /**
+   * @library collision
+   * @sensor collision
+   * @comname Collision Sensor
+   * @altname Grove Collision Sensor
+   * @type accelerometer
+   * @man seeed
+   * @con gpio
+   *
+   * @brief API for the Collision Sensor
+   * 
+   * The Collision Sensor can detect whether any
+   * collision movement or vibration happens.
+   * It outputs a low pulse signal when vibration is detected. 
+   *
+   * @image html grovecollision.jpg
+   * @snippet collision.cxx Interesting
+   */
+  class Collision {
+  public:
+    /**
+     * Collision sensor constructor
+     *
+     * @param pin Digital pin to use
+     */
+    Collision(int pin);
+    /**
+     * Collision destructor
+     */
+    ~Collision();
+    /**
+     * @return bool  Defines whether something is colliding with sensor
+     */
+     bool isColliding();
+
+  private:
+        mraa_gpio_context m_gpio;
+	};
+}

src/collision/collision_fti.c

@@ -0,0 +1,78 @@
+/*
+ * Author: Zion Orent <sorent@ics.com>
+ *         Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#include "collision.h"
+#include "upm_fti.h"
+
+/** 
+ * This file implements the Function Table Interface (FTI) for this sensor
+ */
+
+const char upm_collision_name[] = "Collision";
+const char upm_collision_description[] = "Collision sensor";
+const upm_protocol_t upm_collision_protocol[] = {UPM_GPIO};
+const upm_sensor_t upm_collision_category[] = {UPM_ELECTRICITY};
+
+// forward declarations
+const upm_sensor_descriptor_t upm_collision_get_descriptor();
+const void* upm_collision_get_ft(upm_sensor_t sensor_type);
+void* upm_collision_init_name();
+void upm_collision_close(void* dev);
+
+const upm_sensor_descriptor_t upm_collision_get_descriptor(){
+    upm_sensor_descriptor_t usd;
+    usd.name = upm_collision_name;
+    usd.description = upm_collision_description;
+    usd.protocol_size = 1;
+    usd.protocol = upm_collision_protocol;
+    usd.category_size = 1;
+    usd.category = upm_collision_category;
+    return usd;
+}
+
+static const upm_sensor_ft ft =
+{
+    .upm_sensor_init_name = &upm_collision_init_name,
+    .upm_sensor_close = &upm_collision_close,
+    .upm_sensor_get_descriptor = &upm_collision_get_descriptor
+};
+
+const void* upm_collision_get_ft(upm_sensor_t sensor_type){
+    if(sensor_type == UPM_SENSOR){
+        return &ft;
+    }
+    return NULL;
+}
+
+void* upm_collision_init_name(){
+    return NULL;
+}
+
+void upm_collision_close(void* dev){
+    collision_close((collision_context)dev);
+}
+
+upm_result_t upm_collision_is_colliding(void* dev, bool* collision_val){
+    return collision_is_colliding((collision_context)dev, collision_val);
+}

src/collision/javaupm_collision.i

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+%module javaupm_collision
+%include "../upm.i"
+
+%{
+    #include "collision.hpp"
+%}
+
+%include "collision.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_collision");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/collision/jsupm_collision.i

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+%module jsupm_collision
+%include "../upm.i"
+
+%{
+    #include "collision.hpp"
+%}
+
+%include "collision.hpp"

src/collision/pyupm_collision.i

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+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_collision
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "collision.hpp"
+%{
+    #include "collision.hpp"
+%}