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LineFinder: Created LineFinder from GroveLineFinder
Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>
This commit is contained in:
5
src/linefinder/CMakeLists.txt
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src/linefinder/CMakeLists.txt
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upm_mixed_module_init (NAME linefinder
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DESCRIPTION "upm grove line finder sensor module"
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CPP_HDR linefinder.hpp
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CPP_SRC linefinder.cxx
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REQUIRES mraa)
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src/linefinder/javaupm_linefinder.i
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src/linefinder/javaupm_linefinder.i
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%module javaupm_linefinder
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%include "../upm.i"
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%{
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#include "linefinder.hpp"
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%}
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%include "linefinder.hpp"
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%pragma(java) jniclasscode=%{
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static {
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try {
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System.loadLibrary("javaupm_linefinder");
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} catch (UnsatisfiedLinkError e) {
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System.err.println("Native code library failed to load. \n" + e);
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System.exit(1);
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}
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}
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%}
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src/linefinder/jsupm_linefinder.i
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src/linefinder/jsupm_linefinder.i
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%module jsupm_linefinder
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%include "../upm.i"
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%{
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#include "linefinder.hpp"
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%}
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%include "linefinder.hpp"
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59
src/linefinder/linefinder.cxx
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src/linefinder/linefinder.cxx
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <iostream>
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#include <string>
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#include <stdexcept>
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#include "linefinder.hpp"
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using namespace upm;
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using namespace std;
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LineFinder::LineFinder(int pin)
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{
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if ( !(m_gpio = mraa_gpio_init(pin)) )
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{
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_gpio_init() failed, invalid pin?");
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return;
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}
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mraa_gpio_dir(m_gpio, MRAA_GPIO_IN);
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}
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LineFinder::~LineFinder()
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{
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mraa_gpio_close(m_gpio);
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}
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bool LineFinder::whiteDetected()
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{
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return (!mraa_gpio_read(m_gpio) ? true : false);
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}
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bool LineFinder::blackDetected()
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{
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return (mraa_gpio_read(m_gpio) ? true : false);
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}
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src/linefinder/linefinder.hpp
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src/linefinder/linefinder.hpp
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <string>
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#include <mraa/gpio.h>
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namespace upm {
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/**
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* @brief Line Finder Sensor library
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* @defgroup linefinder libupm-linefinder
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* @ingroup seeed gpio color robok
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*/
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/**
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* @library linefinder
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* @sensor linefinder
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* @comname Line Finder
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* @type color
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* @man seeed
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* @con gpio
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* @kit robok
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*
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* @brief API for the Line Finder Sensor
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*
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* UPM module for the Line Finder sensor. It outputs a
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* digital signal indicating whether it is detecting black on a
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* white background, or white on a black background.
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*
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* @image html linefinder.jpg
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* @snippet linefinder.cxx Interesting
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*/
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class LineFinder {
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public:
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/**
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* Line Finder digital sensor constructor
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*
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* @param pin Digital pin to use
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*/
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LineFinder(int pin);
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/**
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* LineFinder destructor
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*/
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~LineFinder();
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/**
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* Determines whether white has been detected
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*
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* @return True if white is detected
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*/
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bool whiteDetected();
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/**
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* Determines whether black has been detected
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*
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* @return True if black is detected
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*/
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bool blackDetected();
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private:
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mraa_gpio_context m_gpio;
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};
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}
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11
src/linefinder/pyupm_linefinder.i
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11
src/linefinder/pyupm_linefinder.i
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// Include doxygen-generated documentation
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%include "pyupm_doxy2swig.i"
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%module pyupm_linefinder
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%include "../upm.i"
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%feature("autodoc", "3");
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%include "linefinder.hpp"
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%{
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#include "linefinder.hpp"
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%}
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