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Collision: Added C Src and Example

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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>
This commit is contained in:
Abhishek Malik
2016-09-12 14:37:53 -07:00
committed by Noel Eck
parent 2a63e97533
commit 0f7bb5573c
20 changed files with 186 additions and 105 deletions
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9
src/grovecollision/CMakeLists.txt
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upm_mixed_module_init (NAME grovecollision
DESCRIPTION "upm grovecollisionsensor module"
C_HDR grovecollision.h
C_SRC grovecollision.c
CPP_HDR grovecollision.hpp
CPP_SRC grovecollision.cxx
FTI_SRC grovecollision_fti.c
CPP_WRAPS_C
REQUIRES mraa)

60
src/grovecollision/grovecollision.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 "grovecollision.h"
mvs0608_context mvs0608_init(int pin){
mvs0608_context dev =
(mvs0608_context)malloc(sizeof(struct _mvs0608_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 mvs0608_close(mvs0608_context dev){
free(dev);
}
upm_result_t mvs0608_is_colliding(mvs0608_context dev, bool* collision_val){
int value = mraa_gpio_read(dev->gpio);
if(!value)
*collision_val = true;
else
*collision_val = false;
return UPM_SUCCESS;
}

53
src/grovecollision/grovecollision.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 "grovecollision.hpp"
using namespace upm;
GroveCollision::GroveCollision(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);
}
GroveCollision::~GroveCollision()
{
mraa_gpio_close(m_gpio);
}
bool GroveCollision::isColliding()
{
// Collisions cause 0; no collision is 1
return (!(bool)mraa_gpio_read(m_gpio));
}

90
src/grovecollision/grovecollision.h
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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.
*/
#ifndef MVS0608_H_
#define MVS0608_H_
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include "upm.h"
#include "mraa/gpio.h"
/**
* @brief MVS0608 - Grove Collision Sensor library
* @ingroup gpio accelerometer
*/
/**
* @library mvs0608
* @sensor mvs0608
* @comname Grove Collision Sensor
* @type accelerometer
* @con gpio
*
* @brief API for the mvs0608
*
* 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 grovecollision.cxx Interesting
*/
/**
* device context
*/
typedef struct _mvs0608_context {
mraa_gpio_context gpio;
uint8_t gpio_pin;
} *mvs0608_context;
/**
* MVS0608 Initialization function
*
* @param pin number
* @return void* pointer to the sensor struct
*/
mvs0608_context mvs0608_init(int pin);
/**
* MVS0608 Initialization function
*
* @param void* pointer to the sensor struct
*/
void mvs0608_close(mvs0608_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 mvs0608_is_colliding(mvs0608_context dev, bool* collision_val);
#endif /* MVS0608_H_ */

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src/grovecollision/grovecollision.hpp
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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.
*/
#pragma once
#include <mraa/gpio.h>
namespace upm {
/**
* @brief Grove Collision Sensor library
* @defgroup grovecollision libupm-grovecollision
* @ingroup seeed gpio accelerometer
*/
/**
* @library grovecollision
* @sensor grovecollision
* @comname Grove Collision Sensor
* @type accelerometer
* @man seeed
* @con gpio
*
* @brief API for the Grove Collision Sensor
*
* The Grove 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 grovecollision.cxx Interesting
*/
class GroveCollision {
public:
/**
* Grove collision sensor constructor
*
* @param pin Digital pin to use
*/
GroveCollision(int pin);
/**
* GroveCollision destructor
*/
~GroveCollision();
/**
* @return bool Defines whether something is colliding with sensor
*/
bool isColliding();
private:
mraa_gpio_context m_gpio;
};
}

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src/grovecollision/grovecollision_fti.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 "grovecollision.h"
#include "upm_fti.h"
/**
* This file implements the Function Table Interface (FTI) for this sensor
*/
const char upm_mvs0608_name[] = "MVS0608";
const char upm_mvs0608_description[] = "MVS0608 Grove Collision sensor";
const upm_protocol_t upm_mvs0608_protocol[] = {UPM_GPIO};
const upm_sensor_t upm_mvs0608_category[] = {UPM_ELECTRICITY};
// forward declarations
const upm_sensor_descriptor_t upm_mvs0608_get_descriptor();
const void* upm_mvs0608_get_ft(upm_sensor_t sensor_type);
void* upm_mvs0608_init_name();
void upm_mvs0608_close(void* dev);
const upm_sensor_descriptor_t upm_mvs0608_get_descriptor(){
upm_sensor_descriptor_t usd;
usd.name = upm_mvs0608_name;
usd.description = upm_mvs0608_description;
usd.protocol_size = 1;
usd.protocol = upm_mvs0608_protocol;
usd.category_size = 1;
usd.category = upm_mvs0608_category;
return usd;
}
static const upm_sensor_ft ft =
{
.upm_sensor_init_name = &upm_mvs0608_init_name,
.upm_sensor_close = &upm_mvs0608_close,
.upm_sensor_get_descriptor = &upm_mvs0608_get_descriptor
};
const void* upm_mvs0608_get_ft(upm_sensor_t sensor_type){
if(sensor_type == UPM_SENSOR){
return &ft;
}
return NULL;
}
void* upm_mvs0608_init_name(){
return NULL;
}
void upm_mvs0608_close(void* dev){
mvs0608_close((mvs0608_context)dev);
}
upm_result_t upm_mvs0608_is_colliding(void* dev, bool* collision_val){
return mvs0608_is_colliding((mvs0608_context)dev, collision_val);
}

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

8
src/grovecollision/jsupm_grovecollision.i
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%module jsupm_grovecollision
%include "../upm.i"
%{
#include "grovecollision.hpp"
%}
%include "grovecollision.hpp"

11
src/grovecollision/pyupm_grovecollision.i
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// Include doxygen-generated documentation
%include "pyupm_doxy2swig.i"
%module pyupm_grovecollision
%include "../upm.i"
%feature("autodoc", "3");
%include "grovecollision.hpp"
%{
#include "grovecollision.hpp"
%}