HCSR04: Modifying implementation and adding examples

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

examples/c++/hcsr04.cxx

@@ -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]

examples/c/hcsr04.c

@@ -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;
+}

examples/java/HCSR04Sample.java

@@ -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);

examples/javascript/hcsr04.js

@@ -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);
+});

examples/python/hcsr04.py

@@ -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()

src/hcsr04/CMakeLists.txt

@@ -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)

src/hcsr04/hcsr04.c

@@ -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;
+}

src/hcsr04/hcsr04.cxx

@@ -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);
 }

src/hcsr04/hcsr04.h

@@ -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

src/hcsr04/hcsr04.hpp

@@ -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;}
+    };
 }

src/hcsr04/javaupm_hcsr04.i

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

src/hcsr04/jsupm_hcsr04.i

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

src/hcsr04/pyupm_hcsr04.i

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