diff --git a/examples/c++/CMakeLists.txt b/examples/c++/CMakeLists.txt index 76774c33..0748b9ce 100644 --- a/examples/c++/CMakeLists.txt +++ b/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) diff --git a/examples/c++/linefinder.cxx b/examples/c++/linefinder.cxx new file mode 100644 index 00000000..72e76aad --- /dev/null +++ b/examples/c++/linefinder.cxx @@ -0,0 +1,66 @@ +/* + * Author: Jon Trulson + * 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 +#include +#include +#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; +} diff --git a/examples/java/CMakeLists.txt b/examples/java/CMakeLists.txt index ddcf73af..ca0b2112 100644 --- a/examples/java/CMakeLists.txt +++ b/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) diff --git a/examples/java/LineFinderSample.java b/examples/java/LineFinderSample.java new file mode 100644 index 00000000..392c005e --- /dev/null +++ b/examples/java/LineFinderSample.java @@ -0,0 +1,45 @@ +/* + * Author: Stefan Andritoiu + * 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] + } + +} \ No newline at end of file diff --git a/examples/javascript/linefinder.js b/examples/javascript/linefinder.js new file mode 100644 index 00000000..3c0bf4a8 --- /dev/null +++ b/examples/javascript/linefinder.js @@ -0,0 +1,44 @@ +/* +* Author: Zion Orent +* 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); +}); diff --git a/examples/python/linefinder.py b/examples/python/linefinder.py new file mode 100644 index 00000000..91be81d2 --- /dev/null +++ b/examples/python/linefinder.py @@ -0,0 +1,51 @@ +#!/usr/bin/python +# Author: Zion Orent +# 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) diff --git a/src/linefinder/CMakeLists.txt b/src/linefinder/CMakeLists.txt new file mode 100644 index 00000000..0b9ef387 --- /dev/null +++ b/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) \ No newline at end of file diff --git a/src/linefinder/javaupm_linefinder.i b/src/linefinder/javaupm_linefinder.i new file mode 100644 index 00000000..3851eced --- /dev/null +++ b/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); + } + } +%} \ No newline at end of file diff --git a/src/linefinder/jsupm_linefinder.i b/src/linefinder/jsupm_linefinder.i new file mode 100644 index 00000000..6e51f359 --- /dev/null +++ b/src/linefinder/jsupm_linefinder.i @@ -0,0 +1,8 @@ +%module jsupm_linefinder +%include "../upm.i" + +%{ + #include "linefinder.hpp" +%} + +%include "linefinder.hpp" diff --git a/src/linefinder/linefinder.cxx b/src/linefinder/linefinder.cxx new file mode 100644 index 00000000..4b927bc4 --- /dev/null +++ b/src/linefinder/linefinder.cxx @@ -0,0 +1,59 @@ +/* + * Author: Jon Trulson + * 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 +#include +#include + +#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); +} diff --git a/src/linefinder/linefinder.hpp b/src/linefinder/linefinder.hpp new file mode 100644 index 00000000..e807c0f9 --- /dev/null +++ b/src/linefinder/linefinder.hpp @@ -0,0 +1,84 @@ +/* + * Author: Jon Trulson + * 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 +#include + +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; + }; +} + + diff --git a/src/linefinder/pyupm_linefinder.i b/src/linefinder/pyupm_linefinder.i new file mode 100644 index 00000000..d8ec9727 --- /dev/null +++ b/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" +%}