urm37: Initial implementation

This driver was tested with the DFRobot URM37 Ultrasonic Ranger, V4.
Both UART and analog access modes are supported.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>

examples/c++/CMakeLists.txt

@@ -148,6 +148,8 @@ add_executable (grovegprs-example grovegprs.cxx)
 add_executable (lm35-example lm35.cxx)
 add_executable (micsv89-example micsv89.cxx)
 add_executable (xbee-example xbee.cxx)
+add_executable (urm37-example urm37.cxx)
+add_executable (urm37-uart-example urm37-uart.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -261,6 +263,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/grovegprs)
 include_directories (${PROJECT_SOURCE_DIR}/src/lm35)
 include_directories (${PROJECT_SOURCE_DIR}/src/micsv89)
 include_directories (${PROJECT_SOURCE_DIR}/src/xbee)
+include_directories (${PROJECT_SOURCE_DIR}/src/urm37)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -410,3 +413,5 @@ target_link_libraries (grovegprs-example grovegprs ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (lm35-example lm35 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (micsv89-example micsv89 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (xbee-example xbee ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (urm37-example urm37 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (urm37-uart-example urm37 ${CMAKE_THREAD_LIBS_INIT})

examples/c++/urm37-uart.cxx

@@ -0,0 +1,66 @@
+/*
+ * Author: Jon Trulson <jtrulson@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 <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "urm37.h"
+
+using namespace std;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main()
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+  // Instantiate a URM37 sensor on UART 0, with the reset pin on D2
+  upm::URM37 *sensor = new upm::URM37(0, 2);
+  
+  // Every half a second, sample the URM37 and output the measured
+  // distance in cm, and temperature in degrees C
+
+  while (shouldRun)
+    {
+      cout << "Detected distance (cm): " << sensor->getDistance() << endl;
+      cout << "Temperature (C): " << sensor->getTemperature() << endl;
+      
+      usleep(500000);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting" << endl;
+
+  delete sensor;
+  return 0;
+}

examples/c++/urm37.cxx

@@ -0,0 +1,65 @@
+/*
+ * Author: Jon Trulson <jtrulson@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 <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "urm37.h"
+
+using namespace std;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main()
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+  // Instantiate a URM37 sensor on analog pin A0, reset pin on D2,
+  // trigger pin on D3 with an analog reference voltage of 5.0
+  upm::URM37 *sensor = new upm::URM37(0, 2, 3, 5.0);
+
+  // Every half a second, sample the URM37 and output the measured
+  // distance in cm.
+
+  while (shouldRun)
+    {
+      cout << "Detected distance (cm): " << sensor->getDistance() << endl;
+      usleep(500000);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting" << endl;
+
+  delete sensor;
+  return 0;
+}

examples/javascript/urm37-uart.js

@@ -0,0 +1,52 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@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.
+ */
+
+
+var sensorObj = require('jsupm_urm37');
+
+// Instantiate a URM37 sensor on UART 0, with the reset pin on D2
+var sensor = new sensorObj.URM37(0, 2);
+
+// Every half a second, sample the URM37 and output the measured
+// distance in cm, and temperature in degrees C
+
+setInterval(function()
+{
+    console.log("Detected distance (cm): " + sensor.getDistance());
+    console.log("Temperature (C): " + sensor.getTemperature());
+}, 500);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});
+

examples/javascript/urm37.js

@@ -0,0 +1,52 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@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.
+ */
+
+
+var sensorObj = require('jsupm_urm37');
+
+// Instantiate a URM37 sensor on analog pin A0, reset pin on D2,
+// trigger pin on D3 with an analog reference voltage of 5.0
+var sensor = new sensorObj.URM37(0, 2, 3, 5.0);
+
+// Every half a second, sample the URM37 and output the measured
+// distance in cm.
+
+setInterval(function()
+{
+    console.log("Detected distance (cm): " + sensor.getDistance());
+}, 500);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});
+

examples/python/urm37-uart.py

@@ -0,0 +1,50 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@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.
+
+import time, sys, signal, atexit
+import pyupm_urm37 as sensorObj
+
+# Instantiate a URM37 sensor on UART 0, with the reset pin on D2
+sensor = sensorObj.URM37(0, 2)
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+# Every half a second, sample the URM37 and output the measured
+# distance in cm, and temperature in degrees C
+
+while (1):
+        print "Detected distance (cm):", sensor.getDistance()
+        print "Temperature (C):", sensor.getTemperature()
+	time.sleep(.5)

examples/python/urm37.py

@@ -0,0 +1,50 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@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.
+
+import time, sys, signal, atexit
+import pyupm_urm37 as sensorObj
+
+# Instantiate a URM37 sensor on analog pin A0, reset pin on D2,
+# trigger pin on D3 with an analog reference voltage of 5.0
+sensor = sensorObj.URM37(0, 2, 3, 5.0)
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+# Every half a second, sample the URM37 and output the measured
+# distance in cm.
+
+while (1):
+        print "Detected distance (cm):", sensor.getDistance()
+	time.sleep(.5)