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HCSR04: Modifying implementation and adding examples

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Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>
This commit is contained in:
Abhishek Malik
2017-06-07 10:46:57 -07:00
parent 28f964cb48
commit b90c5a7710
13 changed files with 391 additions and 138 deletions
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16
examples/c++/hcsr04.cxx
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@@ -29,15 +29,13 @@
#include <stdlib.h>
#include <sys/time.h>
upm::HCSR04 *sonar = NULL;
int shouldRun = true;
void
sig_handler(int signo)
{
printf("got signal\n");
if (signo == SIGINT) {
printf("exiting application\n");
sonar->m_doWork = 1;
shouldRun = false;
}
}
@@ -45,20 +43,20 @@ sig_handler(int signo)
int
main(int argc, char **argv)
{
sonar = new upm::HCSR04(5, 6);
upm::HCSR04 *sonar = new upm::HCSR04(2, 4);
signal(SIGINT, sig_handler);
sleep(1);
for(;;){
while(shouldRun){
std::cout << "get distance" << std::endl;
double distance = sonar->getDistance(CM);
double distance = sonar->getDistance(HCSR04_CM);
std::cout << "distance " << distance << std::endl;
sleep(5);
sleep(2);
}
std::cout << "Exiting... " << std::endl;
delete sonar;
return 0;
}
//! [Interesting]

48
examples/c/hcsr04.c Normal file
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@@ -0,0 +1,48 @@
/*
* Author: Abhishek Malik <abhishek.malik@intel.com>
* Copyright (c) 2017 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 <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include "upm_utilities.h"
#include "hcsr04.h"
int main() {
hcsr04_context dev = hcsr04_init(2,4);
if(dev == NULL) {
printf("Unable to intialize the sensor\n");
return 0;
}
double distance;
while(1) {
distance = hcsr04_get_distance(dev, HCSR04_CM);
printf("Distance detected: %f\n", distance);
upm_delay(1);
}
return 0;
}

6
examples/java/HCSR04Sample.java
View File

@@ -23,17 +23,19 @@
*/
//NOT TESTED!!!
import upm_hcsr04.*;
public class HCSR04Sample {
// ! [Interesting]
public static void main(String[] args) throws InterruptedException {
upm_hcsr04.HCSR04 sonar = new upm_hcsr04.HCSR04((short) 5, (short) 6);
HCSR04 sonar = new HCSR04((short) 2, (short) 4);
Thread.sleep(1000);
while (true) {
System.out.println("Get distance");
double distance = sonar.getDistance(upm_hcsr04.javaupm_hcsr04Constants.CM);
double distance = sonar.getDistance(HCSR04_U.swigToEnum(0));
System.out.println("Distance: " + distance);
Thread.sleep(5000);

41
examples/javascript/hcsr04.js Normal file
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@@ -0,0 +1,41 @@
/*
* Author: Abhishek Malik <abhishek.malik@intel.com>
* Copyright (c) 2017 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 HCSR04 = require('jsupm_hcsr04');
// Instantiate a HCSR04 ultrasonic distance sensor on digital pins D2 and D4
var myHCSR04 = new HCSR04.HCSR04(2, 4);
// Check every second for the presence of a magnetic field (south polarity)
setInterval(function()
{
console.log("Distance: " + myHCSR04.getDistance(0));
}, 1000);
// Print message when exiting
process.on('SIGINT', function()
{
console.log("Exiting...");
process.exit(0);
});

52
examples/python/hcsr04.py Normal file
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@@ -0,0 +1,52 @@
#!/usr/bin/python
# Author: Abhishek Malik <abhishek.malik@intel.com>
# Copyright (c) 2017 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.
from __future__ import print_function
import time, sys, signal, atexit
from upm import pyupm_hcsr04 as hcsr04
def main():
# Instantiate a HCSR04 Distance sensor on digital pins 2 and 4
hcsr04_sensor = hcsr04.HCSR04(2, 4);
## 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
def exitHandler():
print("Exiting")
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
# Read the value every second and detect the pressure
while(1):
print("Distance: {0}".format(hcsr04_sensor.getDistance(hcsr04.HCSR04_CM)))
time.sleep(1)
if __name__ == '__main__':
main()

13
src/hcsr04/CMakeLists.txt
View File

@@ -1,5 +1,8 @@
set (libname "hcsr04")
set (libdescription "Ultrasonic Distance Measuring Sensor")
set (module_src ${libname}.cxx)
set (module_hpp ${libname}.hpp)
upm_module_init(mraa)
upm_mixed_module_init (NAME hcsr04
DESCRIPTION "Micropik HCSR04"
C_HDR hcsr04.h
C_SRC hcsr04.c
CPP_HDR hcsr04.hpp
CPP_SRC hcsr04.cxx
CPP_WRAPS_C
REQUIRES mraa utilities-c)

121
src/hcsr04/hcsr04.c Normal file
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@@ -0,0 +1,121 @@
/*
* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Author: Rafael Neri <rafael.neri@gmail.com>
* Author: Jun Kato <i@junkato.jp>
* Contributions by: Abhishek Malik <abhishek.malik@intel.com>
* Copyright (c) 2014-2015 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 "upm_utilities.h"
#include "hcsr04.h"
hcsr04_context hcsr04_init(int triggerPin, int echoPin) {
// 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);
return NULL;
}
hcsr04_context dev = (hcsr04_context) malloc(sizeof(struct _hcsr04_context));
if(!dev) {
return NULL;
}
// initialize the GPIO pins
dev->trigPin = mraa_gpio_init(triggerPin);
if(!dev->trigPin) {
printf("Unable to initialize the trigger pin\n");
return NULL;
}
dev->echoPin = mraa_gpio_init(echoPin);
if(!dev->echoPin) {
printf("Unable to initialize the echo pin\n");
return NULL;
}
// Setting direction for the GPIO pins
if(mraa_gpio_dir(dev->trigPin, MRAA_GPIO_OUT) != MRAA_SUCCESS) {
printf("Unable to set the direction of the trigger Pin\n");
return NULL;
}
if(mraa_gpio_dir(dev->echoPin, MRAA_GPIO_IN) != MRAA_SUCCESS) {
printf("Unable to set the direction of the echo Pin\n");
return NULL;
}
// Setting the trigger pin to logic level 0
if(mraa_gpio_write(dev->trigPin, 0) != MRAA_SUCCESS)
return NULL;
// initialize the interrupt counter
dev->interruptCounter = 0;
return dev;
}
void hcsr04_close(hcsr04_context dev) {
mraa_gpio_close(dev->trigPin);
mraa_gpio_close(dev->echoPin);
free(dev);
}
double hcsr04_get_distance(hcsr04_context dev, HCSR04_U unit) {
// set value to start cycle right after trigger
long cycleLength = 0, sampleTime = 0;
struct timeval tv;
int reading = 0;
dev->interruptCounter = 0;
gettimeofday(&tv, NULL);
// The datasheet suggests using cycles of upto 60 ms
// being a little libteral and using 70 ms, though a limit
// should not be necessary at all
cycleLength = (1000000 * tv.tv_sec) + tv.tv_usec + 70000;
mraa_gpio_write(dev->trigPin, 1);
upm_delay_us(10);
mraa_gpio_write(dev->trigPin, 0);
while(sampleTime < cycleLength) {
reading = mraa_gpio_read(dev->echoPin);
if(reading == 1 && dev->interruptCounter == 0) {
gettimeofday(&tv, NULL);
dev->startTime = (1000000 * tv.tv_sec) + tv.tv_usec;
dev->interruptCounter++;
} else if(reading == 0 && dev->interruptCounter == 1) {
gettimeofday(&tv, NULL);
dev->endTime = (1000000 * tv.tv_sec) + tv.tv_usec;
break;
} else {
sampleTime = (1000000 * tv.tv_sec) + tv.tv_usec;
}
}
if(unit == HCSR04_CM)
return ((dev->endTime - dev->startTime)/2)/29.1;
else
return ((dev->endTime - dev->startTime)/2)/74.1;
}

100
src/hcsr04/hcsr04.cxx
View File

@@ -26,94 +26,26 @@
#include <iostream>
#include <string>
#include <stdexcept>
#include <unistd.h>
#include <stdlib.h>
#include <functional>
#ifdef JAVACALLBACK
#undef JAVACALLBACK
#endif
#include "hcsr04.hpp"
using namespace upm;
HCSR04::HCSR04 (int triggerPin, int echoPin) {
m_name = "HCSR04";
m_triggerPinCtx = mraa_gpio_init (triggerPin);
if (m_triggerPinCtx == NULL) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_pwm_init() failed, invalid pin?");
return;
}
mraa_gpio_dir(m_triggerPinCtx, MRAA_GPIO_OUT);
mraa_gpio_write (m_triggerPinCtx, 0);
m_echoPinCtx = mraa_gpio_init(echoPin);
if (m_echoPinCtx == NULL) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_gpio_init() failed, invalid pin?");
return;
}
mraa_gpio_dir(m_echoPinCtx, MRAA_GPIO_IN);
mraa_gpio_isr(m_echoPinCtx, MRAA_GPIO_EDGE_BOTH, &ackEdgeDetected, (void*)this);
}
HCSR04::~HCSR04 () {
mraa_result_t error = MRAA_SUCCESS;
error = mraa_gpio_close (m_triggerPinCtx);
if (error != MRAA_SUCCESS) {
mraa_result_print (error);
}
error = mraa_gpio_close (m_echoPinCtx);
if (error != MRAA_SUCCESS) {
mraa_result_print (error);
}
}
double
HCSR04::timing() {
mraa_gpio_write (m_triggerPinCtx, 1);
usleep(10);
mraa_gpio_write (m_triggerPinCtx, 0);
m_doWork = 0;
m_InterruptCounter = 0;
while (!m_doWork) {
usleep (5);
}
return m_FallingTimeStamp - m_RisingTimeStamp;
}
void
HCSR04::ackEdgeDetected (void *ctx) {
upm::HCSR04 *This = (upm::HCSR04 *)ctx;
struct timeval timer;
gettimeofday(&timer, NULL);
This->m_InterruptCounter++;
if (!(This->m_InterruptCounter % 2)) {
This->m_FallingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
This->m_doWork = 1;
} else {
This->m_RisingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
}
}
double
HCSR04::getDistance(int sys)
HCSR04::HCSR04 (int triggerPin, int echoPin) :
m_hcsr04(hcsr04_init(triggerPin, echoPin))
{
double _timing = timing();
if (sys)
{
return (_timing/2) / 29.1;
} else {
return (_timing/2) / 74.1;
}
if(!m_hcsr04)
throw std::runtime_error(std::string(__FUNCTION__) +
": hcsr04_init failed");
}
HCSR04::~HCSR04 ()
{
hcsr04_close(m_hcsr04);
}
double
HCSR04::getDistance(HCSR04_U unit)
{
return hcsr04_get_distance(m_hcsr04, unit);
}

84
src/hcsr04/hcsr04.h Normal file
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@@ -0,0 +1,84 @@
/*
* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Author: Rafael Neri <rafael.neri@gmail.com>
* Author: Jun Kato <i@junkato.jp>
* Contributions by: Abhishek Malik <abhishek.malik@intel.com>
* Copyright (c) 2014-2015 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.
*/
#pragma once
#include <stdio.h>
#include <string.h>
#include <mraa/gpio.h>
#include <sys/time.h>
#ifdef __cplusplus
extern "C" {
#endif
typedef enum {
HCSR04_CM = 0,
HCSR04_INCH } HCSR04_U;
/**
* @file hcsr04.h
* @library hcsr04
* @brief C API for the HCSR04 Ultrasonic Ranger sensor
*
* @include hcsr04.c
*/
typedef struct _hcsr04_context {
mraa_gpio_context trigPin;
mraa_gpio_context echoPin;
int interruptCounter;
long startTime;
long endTime;
} *hcsr04_context;
/**
* HCSR04 Initialization function
*
* @param triggerPin GPIO pin for trigger
* @param echoPin GPIO pin used for output from sensor
* @return hcsr04_context
*/
hcsr04_context hcsr04_init(int triggerPin, int echoPin);
/**
* HCSR04 Close function
*
* @param dev hcsr04_context pointer
*/
void hcsr04_close(hcsr04_context dev);
/**
* Function to get the distance from the HCSR04 sensor
*
* @param unit cm/inches
* @return distance in specified unit
*/
double hcsr04_get_distance(hcsr04_context dev, HCSR04_U unit);
#ifdef __cplusplus
}
#endif

45
src/hcsr04/hcsr04.hpp
View File

@@ -24,14 +24,7 @@
*/
#pragma once
#include <string>
#include <mraa/aio.h>
#include <mraa/gpio.h>
#include <mraa/pwm.h>
#include <sys/time.h>
#define CM 1
#define INC 0
#include "hcsr04.h"
namespace upm {
/**
@@ -73,37 +66,13 @@ class HCSR04 {
/**
* Gets the distance from the sensor
*
* @param sys Selects units for measurement: 0 = inch, 1 = cm
* @param unit Selects units for measurement
*/
double getDistance (int sys);
uint8_t m_doWork; /**< Flag to control blocking function while waiting for a falling-edge interrupt */
/**
* Returns the name of the sensor
*/
std::string name()
{
return m_name;
}
double getDistance (HCSR04_U unit);
private:
/**
* On each interrupt, this function detects if the interrupt
* was falling-edge or rising-edge.
*/
static void ackEdgeDetected (void *ctx);
double timing();
mraa_gpio_context m_triggerPinCtx;
mraa_gpio_context m_echoPinCtx;
long m_RisingTimeStamp;
long m_FallingTimeStamp;
uint8_t m_InterruptCounter;
std::string m_name;
};
hcsr04_context m_hcsr04;
HCSR04(const HCSR04& src) { /* do not create copied constructor */ }
HCSR04& operator=(const HCSR04&) {return *this;}
};
}

1
src/hcsr04/javaupm_hcsr04.i
View File

@@ -5,6 +5,7 @@
#include "hcsr04.hpp"
%}
%include "hcsr04.h"
%include "hcsr04.hpp"
%pragma(java) jniclasscode=%{

1
src/hcsr04/jsupm_hcsr04.i
View File

@@ -5,4 +5,5 @@
#include "hcsr04.hpp"
%}
%include "hcsr04.h"
%include "hcsr04.hpp"

1
src/hcsr04/pyupm_hcsr04.i
View File

@@ -5,6 +5,7 @@
%feature("autodoc", "3");
%include "hcsr04.h"
%include "hcsr04.hpp"
%{
#include "hcsr04.hpp"