LineFinder: Created LineFinder from GroveLineFinder

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

examples/c++/CMakeLists.txt

@@ -155,6 +155,7 @@ add_example (ehr)
 add_example (groveehr)
 add_example (ta12200)
 add_example (grovelinefinder)
+add_example (linefinder)
 add_example (vdiv)
 add_example (grovevdiv)
 add_example (water)

examples/c++/linefinder.cxx

@@ -0,0 +1,66 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 "linefinder.hpp"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main ()
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+  // Instantiate a  Line Finder sensor on digital pin D2
+  upm::LineFinder* finder = new upm::LineFinder(2);
+  
+  // check every second for the presence of white detection
+  while (shouldRun)
+    {
+      bool val = finder->whiteDetected();
+      if (val)
+        cout << "White detected." << endl;
+      else
+        cout << "Black detected." << endl;
+
+      sleep(1);
+    }
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete finder;
+  return 0;
+}

examples/java/CMakeLists.txt

@@ -45,6 +45,7 @@ add_example(LEDSample led)
 add_example(LightSample light)
 add_example(GroveLightSample grove)
 add_example(GroveLineFinderSample grovelinefinder)
+add_example(LineFinderSample linefinder)
 add_example(GroveLed_multiSample grove)
 add_example(GroveLEDSample grove)
 add_example(GroveMDSample grovemd)

examples/java/LineFinderSample.java

@@ -0,0 +1,45 @@
+/*
+ * Author: Stefan Andritoiu <stefan.andritoiu@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.
+ */
+
+public class LineFinderSample {
+
+	public static void main(String[] args) throws InterruptedException {
+		// ! [Interesting]
+		// Instantiate a  Line Finder sensor on digital pin D2
+		upm_linefinder.LineFinder finder = new upm_linefinder.LineFinder(2);
+		// check every second for the presence of white detection
+		while (true) {
+			boolean val = finder.whiteDetected();
+			if (val) {
+				System.out.println("White detected");
+			} else {
+				System.out.println("Black detected");
+			}
+
+			Thread.sleep(1000);
+		}
+		// ! [Interesting]
+	}
+
+}

examples/javascript/linefinder.js

@@ -0,0 +1,44 @@
+/*
+* Author: Zion Orent <zorent@ics.com>
+* Copyright (c) 2014 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 lineFinderSensor = require('jsupm_linefinder');
+
+// Instantiate a  line finder sensor on digital pin D2
+var myLineFinderSensor = new lineFinderSensor.LineFinder(2);
+
+// Check every second for the presence of white detection
+setInterval(function()
+{
+	if (myLineFinderSensor.whiteDetected())
+		console.log("White detected.");
+	else
+		console.log("Black detected.");
+}, 1000);
+
+// Turn relay off when exiting
+process.on('SIGINT', function()
+{
+	console.log("Exiting...");
+	process.exit(0);
+});

examples/python/linefinder.py

@@ -0,0 +1,51 @@
+#!/usr/bin/python
+# Author: Zion Orent <zorent@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_linefinder as upmlinefinder
+
+# Instantiate a  line finder sensor on digital pin D2
+myLineFinder = upmlinefinder.LineFinder(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, including functions from myLineFinder
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+
+while(1):
+	if (myLineFinder.whiteDetected()):
+		print "White detected."
+	else:
+		print "Black detected."
+	time.sleep(1)

src/linefinder/CMakeLists.txt

@@ -0,0 +1,5 @@
+upm_mixed_module_init (NAME linefinder
+    DESCRIPTION "upm grove line finder sensor module"
+    CPP_HDR linefinder.hpp
+    CPP_SRC linefinder.cxx
+    REQUIRES mraa)

src/linefinder/javaupm_linefinder.i

@@ -0,0 +1,19 @@
+%module javaupm_linefinder
+%include "../upm.i"
+
+%{
+    #include "linefinder.hpp"
+%}
+
+%include "linefinder.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_linefinder");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/linefinder/jsupm_linefinder.i

@@ -0,0 +1,8 @@
+%module jsupm_linefinder
+%include "../upm.i"
+
+%{
+    #include "linefinder.hpp"
+%}
+
+%include "linefinder.hpp"

src/linefinder/linefinder.cxx

@@ -0,0 +1,59 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <iostream>
+#include <string>
+#include <stdexcept>
+
+#include "linefinder.hpp"
+
+using namespace upm;
+using namespace std;
+
+LineFinder::LineFinder(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);
+}
+
+LineFinder::~LineFinder()
+{
+  mraa_gpio_close(m_gpio);
+}
+
+bool LineFinder::whiteDetected()
+{
+  return (!mraa_gpio_read(m_gpio) ? true : false);
+}
+
+bool LineFinder::blackDetected()
+{
+  return (mraa_gpio_read(m_gpio) ? true : false);
+}

src/linefinder/linefinder.hpp

@@ -0,0 +1,84 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <string>
+#include <mraa/gpio.h>
+
+namespace upm {
+  /**
+   * @brief  Line Finder Sensor library
+   * @defgroup linefinder libupm-linefinder
+   * @ingroup seeed gpio color robok
+   */
+
+  /**
+   * @library linefinder
+   * @sensor linefinder
+   * @comname  Line Finder
+   * @type color
+   * @man seeed
+   * @con gpio
+   * @kit robok
+   *
+   * @brief API for the  Line Finder Sensor
+   *
+   * UPM module for the  Line Finder sensor.  It outputs a
+   * digital signal indicating whether it is detecting black on a
+   * white background, or white on a black background.
+   *
+   * @image html linefinder.jpg
+   * @snippet linefinder.cxx Interesting
+   */
+  class LineFinder {
+  public:
+    /**
+     *  Line Finder digital sensor constructor
+     *
+     * @param pin Digital pin to use
+     */
+    LineFinder(int pin);
+    /**
+     * LineFinder destructor
+     */
+    ~LineFinder();
+    /**
+     * Determines whether white has been detected
+     *
+     * @return True if white is detected
+     */
+    bool whiteDetected();
+    /**
+     * Determines whether black has been detected
+     *
+     * @return True if black is detected
+     */
+    bool blackDetected();
+
+  private:
+    mraa_gpio_context m_gpio;
+  };
+}
+
+

src/linefinder/pyupm_linefinder.i

@@ -0,0 +1,11 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_linefinder
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "linefinder.hpp"
+%{
+    #include "linefinder.hpp"
+%}