rpr220: add C driver and examples; FTI; C++ wraps C

Signed-off-by: Jon Trulson <jtrulson@ics.com>

examples/c/CMakeLists.txt

@@ -126,8 +126,10 @@ add_example (bmi160)
 add_example (jhd1313m1)
 add_example (lm35)
 add_example (rotaryencoder)
+add_example (rpr220)
 
 # Custom examples
 add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)
 add_custom_example (lcm1602-i2c-example-c lcm1602-i2c.c lcm1602)
 add_custom_example (lcm1602-parallel-example-c lcm1602-parallel.c lcm1602)
+add_custom_example (rpr220-intr-example-c rpr220-intr.c rpr220)

examples/c/rpr220-intr.c

@@ -0,0 +1,84 @@
+/*
+ * 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 <signal.h>
+
+#include <upm_utilities.h>
+#include <rpr220.h>
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        shouldRun = false;
+}
+
+volatile unsigned int counter = 0;
+
+// Our interrupt handler
+void rpr220_isr(void *arg)
+{
+    counter++;
+}
+
+
+int main()
+{
+    signal(SIGINT, sig_handler);
+
+//! [Interesting]
+    // This example uses an interrupt handler to increment a counter
+
+    // Instantiate an RPR220 digital pin D2
+    // This was tested on the Grove IR Reflective Sensor
+    rpr220_context sensor = rpr220_init(2);
+
+    if (!sensor)
+    {
+        printf("rpr220_init() failed\n");
+        return 1;
+    }
+
+    // Here, we setup our Interupt Service Routine (ISR) to count
+    // 'black' pulses detected.  We do not pass an argument to the
+    // interrupt handler (NULL).
+
+    rpr220_install_isr(sensor, rpr220_isr, NULL);
+
+    while (shouldRun)
+    {
+        printf("Counter: %d\n", counter);
+
+        upm_delay(1);
+    }
+
+    printf("Exiting...\n");
+
+    rpr220_close(sensor);
+//! [Interesting]
+
+    return 0;
+}

examples/c/rpr220.c

@@ -0,0 +1,72 @@
+/*
+ * 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 <signal.h>
+
+#include <upm_utilities.h>
+#include <rpr220.h>
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        shouldRun = false;
+}
+
+
+int main()
+{
+    signal(SIGINT, sig_handler);
+
+//! [Interesting]
+    // This example uses a simple method to determine current status
+
+    // Instantiate an RPR220 digital pin D2
+    // This was tested on the Grove IR Reflective Sensor
+    rpr220_context sensor = rpr220_init(2);
+
+    if (!sensor)
+    {
+        printf("rpr220_init() failed\n");
+        return 1;
+    }
+
+    while (shouldRun)
+    {
+        if (rpr220_black_detected(sensor))
+            printf("Black detected\n");
+        else
+            printf("Black NOT detected\n");
+
+        upm_delay_ms(100);           // 100ms
+    }
+
+    printf("Exiting...\n");
+
+    rpr220_close(sensor);
+//! [Interesting]
+    return 0;
+}

src/rpr220/CMakeLists.txt

@@ -1,5 +1,9 @@
-set (libname "rpr220")
-set (libdescription "upm rpr220 grove IR reflective sensor")
-set (module_src ${libname}.cxx)
-set (module_hpp ${libname}.hpp)
-upm_module_init()
+upm_mixed_module_init (NAME rpr220
+    DESCRIPTION "RPR220 IR Reflective Sensor"
+    C_HDR rpr220.h
+    C_SRC rpr220.c
+    CPP_HDR rpr220.hpp
+    CPP_SRC rpr220.cxx
+    FTI_SRC rpr220_fti.c
+    CPP_WRAPS_C
+    REQUIRES mraa)

src/rpr220/rpr220.c

@@ -0,0 +1,107 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <assert.h>
+
+#include "rpr220.h"
+
+rpr220_context rpr220_init(int pin)
+{
+    rpr220_context dev =
+        (rpr220_context)malloc(sizeof(struct _rpr220_context));
+
+    if (!dev)
+        return NULL;
+
+    dev->gpio = NULL;
+    dev->isrInstalled = false;
+
+    // make sure MRAA is initialized
+    int mraa_rv;
+    if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
+    {
+        printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
+        rpr220_close(dev);
+        return NULL;
+    }
+
+    // MRAA contexts...
+    if ( !(dev->gpio = mraa_gpio_init(pin)) )
+    {
+        printf("%s: mraa_gpio_init() failed\n",
+               __FUNCTION__);
+        rpr220_close(dev);
+        return NULL;
+    }
+
+    mraa_gpio_dir(dev->gpio, MRAA_GPIO_IN);
+
+    return dev;
+}
+
+void rpr220_close(rpr220_context dev)
+{
+    assert(dev != NULL);
+
+    if (dev->isrInstalled)
+        rpr220_uninstall_isr(dev);
+
+    if (dev->gpio)
+        mraa_gpio_close(dev->gpio);
+
+    free(dev);
+}
+
+bool rpr220_black_detected(const rpr220_context dev)
+{
+    assert(dev != NULL);
+
+    return (mraa_gpio_read(dev->gpio) ? true : false);
+}
+
+void rpr220_install_isr(const rpr220_context dev,
+                        void (*isr)(void *), void *arg)
+{
+    assert(dev != NULL);
+
+    if (dev->isrInstalled)
+        rpr220_uninstall_isr(dev);
+
+    // install our interrupt handler
+    if (mraa_gpio_isr(dev->gpio, MRAA_GPIO_EDGE_RISING, isr, arg))
+    {
+        printf("%s: mraa_gpio_isr() failed.\n", __FUNCTION__);
+        return;
+    }
+
+    dev->isrInstalled = true;
+}
+
+void rpr220_uninstall_isr(const rpr220_context dev)
+{
+    assert(dev != NULL);
+
+    mraa_gpio_isr_exit(dev->gpio);
+    dev->isrInstalled = false;
+}

src/rpr220/rpr220.cxx

@@ -1,6 +1,6 @@
 /*
  * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2015 Intel Corporation.
+ * Copyright (c) 2015-2016 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -31,31 +31,22 @@
 using namespace upm;
 using namespace std;
 
-RPR220::RPR220(int pin)
+RPR220::RPR220(int pin) :
+    m_rpr220(rpr220_init(pin))
 {
-  m_isrInstalled = false;
-
-  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);
+    if (!m_rpr220)
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                                 ": rpr220_init() failed");
 }
 
 RPR220::~RPR220()
 {
-  if (m_isrInstalled)
-    uninstallISR();
-
-  mraa_gpio_close(m_gpio);
+    rpr220_close(m_rpr220);
 }
 
 bool RPR220::blackDetected()
 {
-  return (mraa_gpio_read(m_gpio) ? true : false);
+    return rpr220_black_detected(m_rpr220);
 }
 
 #ifdef JAVACALLBACK
@@ -67,18 +58,11 @@ void RPR220::installISR(jobject runnable)
 
 void RPR220::installISR(void (*isr)(void *), void *arg)
 {
-  if (m_isrInstalled)
-    uninstallISR();
-
-  // install our interrupt handler
-  mraa_gpio_isr(m_gpio, MRAA_GPIO_EDGE_RISING, 
-                isr, arg);
-  m_isrInstalled = true;
+    rpr220_install_isr(m_rpr220, isr, arg);
 }
 
 void RPR220::uninstallISR()
 {
-  mraa_gpio_isr_exit(m_gpio);
-  m_isrInstalled = false;
+    rpr220_uninstall_isr(m_rpr220);
 }
 

src/rpr220/rpr220.h

@@ -0,0 +1,98 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <stdlib.h>
+#include <stdio.h>
+#include <upm.h>
+
+#include <mraa/gpio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /**
+     * @file rpr220.h
+     * @library rpr220
+     * @brief C API for the rpr220 driver
+     *
+     * @include rpr220.c
+     */
+
+    /**
+     * Device context
+     */
+    typedef struct _rpr220_context {
+        mraa_gpio_context gpio;
+
+        bool isrInstalled;
+    } *rpr220_context;
+
+    /**
+     * RPR220 initialization.
+     *
+     * @param pin Digital pin to use.
+     * @return rpr220 device context
+     */
+    rpr220_context rpr220_init(int pin);
+
+    /**
+     * RPR220 destructor
+     *
+     * @param dev Device context.
+     */
+    void rpr220_close(rpr220_context dev);
+
+    /**
+     * Gets the status of the pin; true means black has been detected
+     *
+     * @param dev Device context.
+     * @return True if the sensor has detected black
+     */
+    bool rpr220_black_detected(const rpr220_context dev);
+
+    /**
+     * Installs an ISR to be called when
+     * black is detected
+     *
+     * @param dev Device context.
+     * @param isr Pointer to a function to be called on interrupt
+     * @param arg Pointer to an object to be supplied as an
+     * argument to the ISR.
+     */
+    void rpr220_install_isr(const rpr220_context dev,
+                            void (*isr)(void *), void *arg);
+
+    /**
+     * Uninstalls the previously installed ISR
+     *
+     * @param dev Device context.
+     */
+    void rpr220_uninstall_isr(const rpr220_context dev);
+
+
+#ifdef __cplusplus
+}
+#endif

src/rpr220/rpr220.hpp

@@ -1,6 +1,6 @@
 /*
  * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2015 Intel Corporation.
+ * Copyright (c) 2015-2016 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -24,16 +24,16 @@
 #pragma once
 
 #include <string>
-#include <mraa/gpio.h>
+#include <rpr220.h>
 
 namespace upm {
 
-/**
+    /**
      * @brief RPR220 IR Reflective Sensor library
      * @defgroup rpr220 libupm-rpr220
      * @ingroup seeed gpio light tsk hak
      */
-/**
+    /**
      * @library rpr220
      * @sensor rpr220
      * @comname RPR220 IR Reflective Sensor
@@ -104,11 +104,11 @@ namespace upm {
         void uninstallISR();
 
     private:
+        rpr220_context m_rpr220;
+
 #if defined(SWIGJAVA) || defined(JAVACALLBACK)
         void installISR(void (*isr)(void *), void *arg);
 #endif
-    bool m_isrInstalled;
-    mraa_gpio_context m_gpio;
     };
 }
 

src/rpr220/rpr220_fti.c

@@ -0,0 +1,94 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 "rpr220.h"
+#include <upm_fti.h>
+
+/**
+ * This file implements the Function Table Interface (FTI) for this sensor
+ */
+
+const char upm_rpr220_name[] = "RPR220";
+const char upm_rpr220_description[] = "IR Reflective Sensor";
+const upm_protocol_t upm_rpr220_protocol[] = {UPM_GPIO};
+const upm_sensor_t upm_rpr220_category[] = {UPM_BINARY};
+
+// forward declarations
+const void* upm_rpr220_get_ft(upm_sensor_t sensor_type);
+void* upm_rpr220_init_name();
+void upm_rpr220_close(void *dev);
+upm_result_t upm_rpr220_black_detected(void *dev, bool *value);
+
+const upm_sensor_descriptor_t upm_rpr220_get_descriptor()
+{
+    upm_sensor_descriptor_t usd;
+    usd.name = upm_rpr220_name;
+    usd.description = upm_rpr220_description;
+    usd.protocol_size = 1;
+    usd.protocol = upm_rpr220_protocol;
+    usd.category_size = 1;
+    usd.category = upm_rpr220_category;
+    return usd;
+}
+
+static const upm_sensor_ft ft =
+{
+  .upm_sensor_init_name = upm_rpr220_init_name,
+  .upm_sensor_close = upm_rpr220_close,
+};
+
+static const upm_binary_ft bft =
+{
+  .upm_binary_get_value = upm_rpr220_black_detected,
+};
+
+const void* upm_rpr220_get_ft(upm_sensor_t sensor_type)
+{
+  switch(sensor_type)
+    {
+    case UPM_SENSOR:
+      return &ft;
+    case UPM_BINARY:
+      return &bft;
+    default:
+      return NULL;
+    }
+}
+
+void *upm_rpr220_init_name()
+{
+  return NULL;
+}
+
+void upm_rpr220_close(void *dev)
+{
+  rpr220_close((rpr220_context)dev);
+}
+
+upm_result_t upm_rpr220_black_detected(void *dev, bool *value)
+{
+  *value = rpr220_black_detected((rpr220_context)dev);
+
+  return UPM_SUCCESS;
+}