LineFinder: Created LineFinder from GroveLineFinder

Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>
This commit is contained in:
Abhishek Malik
2016-09-14 13:14:18 -07:00
committed by Noel Eck
parent ed6d61d12e
commit ac5e54cfb6
12 changed files with 394 additions and 0 deletions

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upm_mixed_module_init (NAME linefinder
DESCRIPTION "upm grove line finder sensor module"
CPP_HDR linefinder.hpp
CPP_SRC linefinder.cxx
REQUIRES mraa)

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%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);
}
}
%}

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%module jsupm_linefinder
%include "../upm.i"
%{
#include "linefinder.hpp"
%}
%include "linefinder.hpp"

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/*
* 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);
}

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/*
* 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;
};
}

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