Rotary: Added C source

Added C source for rotary angle sensor

    * Renamed all files from groverrotary to rotary
    * Replaced all instances of groverrotary with rotary
    * Added C source for rotary angle sensor
    * Updated all CMake files

Signed-off-by: Sisinty Sasmita Patra <sisinty.s.patra@intel.com>

doxy/samples.mapping.txt

@@ -17,7 +17,7 @@ grovelinefinder.cxx	GroveLineFinderSample.java
 light.cxx	LightSample.java
 grovemoisture.cxx	GroveMoistureSample.java
 relay.cxx	RelaySample.java
-groverotary.cxx	GroveRotarySample.java
+rotary.cxx	RotarySample.java
 grovescam.cxx	GROVESCAMSample.java
 slide.cxx	SlideSample.java
 grovespeaker.cxx	GroveSpeakerSample.java

examples/c++/CMakeLists.txt

@@ -92,7 +92,7 @@ add_example (relay)
 add_example (light)
 add_example (temperature)
 add_example (grovebutton)
-add_example (groverotary)
+add_example (rotary)
 add_example (slide)
 add_example (buzzer-sound)
 add_example (nrf24l01-transmitter)

examples/c++/rotary.cxx

@@ -33,7 +33,7 @@ int main ()
 {
 //! [Interesting]
     // Instantiate a rotary sensor on analog pin A0
-    upm::GroveRotary* knob = new upm::GroveRotary(0);
+    upm::Rotary* knob = new upm::Rotary(0);
 
     // Print sensor name to confirm it initialized properly
     cout << knob->name() << endl;

examples/java/CMakeLists.txt

@@ -47,7 +47,7 @@ add_example(GroveMQ9 gas)
 add_example(O2Example o2)
 add_example(GroveQTouch at42qt1070)
 add_example(RelaySample grove)
-add_example(GroveRotarySample grove)
+add_example(RotarySample grove)
 add_example(GROVESCAMSample grovescam)
 add_example(SlideSample slide)
 add_example(GroveSpeakerSample grovespeaker)

examples/java/RotarySample.java

@@ -22,11 +22,11 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-public class GroveRotarySample {
+public class RotarySample {
 
 	public static void main(String[] args) throws InterruptedException {
 		// ! [Interesting]
-		upm_grove.GroveRotary knob = new upm_grove.GroveRotary(0);
+		upm_grove.Rotary knob = new upm_grove.Rotary(0);
 
 		while (true) {
 			float abs_value = knob.abs_value(); // Absolute raw value

examples/javascript/rotary.js

@@ -26,7 +26,7 @@
 var upm_grove = require('jsupm_grove');
 
 //setup access analog input Analog pin #0 (A0)
-var groveRotary = new upm_grove.GroveRotary(0);
+var groveRotary = new upm_grove.Rotary(0);
 
 loop();
 

examples/python/rotary.py

@@ -24,7 +24,7 @@ from time import sleep
 import pyupm_grove as grove
 
 # New knob on AIO pin 0
-knob = grove.GroveRotary(0)
+knob = grove.Rotary(0)
 
 # Loop indefinitely
 while True:

src/grove/CMakeLists.txt

@@ -1,7 +1,7 @@
 upm_mixed_module_init (NAME grove
     DESCRIPTION "upm grove module"
-    CPP_HDR grovebutton.hpp groveled.hpp groverotary.hpp
+    CPP_HDR grovebutton.hpp groveled.hpp
             grovetemp.hpp grovebase.hpp grove.hpp
-    CPP_SRC grovebutton.cxx groveled.cxx groverotary.cxx
+    CPP_SRC grovebutton.cxx groveled.cxx
             grovetemp.cxx
     REQUIRES mraa)

src/grove/grove.hpp

@@ -28,5 +28,5 @@
 #include <grovebutton.hpp>
 #include <groveled.hpp>
 #include <relay.hpp>
-#include <groverotary.hpp>
+#include <rotary.hpp>
 #include <grovetemp.hpp>

src/grove/javaupm_grove.i

@@ -29,9 +29,9 @@
     #include "relay.hpp"
 %}
 
-%include "groverotary.hpp"
+%include "rotary.hpp"
 %{
-    #include "groverotary.hpp"
+    #include "rotary.hpp"
 %}
 
 %include "grovetemp.hpp"

src/grove/jsupm_grove.i

@@ -26,9 +26,9 @@
     #include "relay.hpp"
 %}
 
-%include "groverotary.hpp"
+%include "rotary.hpp"
 %{
-    #include "groverotary.hpp"
+    #include "rotary.hpp"
 %}
 
 %include "grovetemp.hpp"

src/grove/pyupm_grove.i

@@ -30,9 +30,9 @@
     #include "relay.hpp"
 %}
 
-%include "groverotary.hpp"
+%include "rotary.hpp"
 %{
-    #include "groverotary.hpp"
+    #include "rotary.hpp"
 %}
 
 %include "grovetemp.hpp"

src/rotary/CMakeLists.txt

@@ -0,0 +1,8 @@
+upm_mixed_module_init (NAME rotary
+    DESCRIPTION "UPM Relay Module: rotary"
+    C_HDR rotary.h
+    C_SRC rotary.c
+    CPP_HDR rotary.hpp
+    CPP_SRC rotary.cxx
+    FTI_SRC rotary_fti.c
+    REQUIRES mraa)

src/rotary/javaupm_rotary.i

@@ -0,0 +1,19 @@
+%module javaupm_rotary
+%include "../upm.i"
+
+%{
+    #include "rotary.hpp"
+%}
+
+%include "rotary.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_rotary");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/rotary/jsupm_rotary.i

@@ -0,0 +1,8 @@
+%module jsupm_rotary
+%include "../upm.i"
+
+%{
+    #include "rotary.hpp"
+%}
+
+%include "rotary.hpp"

src/rotary/pyupm_rotary.i

@@ -0,0 +1,11 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_rotary
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "rotary.hpp"
+%{
+    #include "rotary.hpp"
+%}

src/rotary/rotary.c

@@ -0,0 +1,78 @@
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * 	   Sisinty Sasmita Patra <sisinty.s.patra@intel.com>
+ *
+ * Copyright (c) 2016 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 "rotary.h"
+
+rotary_context rotary_init(int pin, float aRef)
+{
+    rotary_context dev = (rotary_context)malloc(sizeof(struct _rotary_context));
+
+    if(dev == NULL) return NULL;
+
+    dev->aio = mraa_aio_init(pin);
+
+    if(dev->aio == NULL){
+        free(dev);
+        return NULL;
+    }
+
+    dev->m_aRef = aRef;
+
+    // get adc bit range
+    dev->m_aRes = (1 << mraa_aio_get_bit(dev->aio));
+
+    return dev;
+}
+
+void rotary_close(rotary_context dev)
+{
+    mraa_aio_close(dev->aio);
+    free(dev);
+}
+
+upm_result_t rotary_get_value_voltage (const rotary_context dev,
+                                       float* volts)
+{
+    float val = 0.0;
+    val = mraa_aio_read(dev->aio);
+    *volts = (dev->m_aRef / dev->m_aRes) * (float)val;
+
+    return UPM_SUCCESS;
+}
+
+upm_result_t rotary_get_value_angle (rotary_context dev, float* rotval)
+{
+    float val = 0.0;
+    val = mraa_aio_read(dev->aio);
+
+    // return degrees
+    *rotval = val * (float)ROTARY_MAX_ANGLE / dev->m_aRes;
+
+    return UPM_SUCCESS;
+}

src/rotary/rotary.cxx

@@ -28,52 +28,51 @@
 #include <string>
 #include <stdexcept>
 
-#include "groverotary.hpp"
+#include "rotary.hpp"
 #include "math.h"
 
 using namespace upm;
 
-GroveRotary::GroveRotary(unsigned int pin)
+Rotary::Rotary(unsigned int pin)
 {
     if ( !(m_aio = mraa_aio_init(pin)) ) {
         throw std::invalid_argument(std::string(__FUNCTION__) +
                                     ": mraa_aio_init() failed, invalid pin?");
         return;
     }
-    m_name = "Rotary Angle Sensor";
 }
 
-GroveRotary::~GroveRotary()
+Rotary::~Rotary()
 {
     mraa_aio_close(m_aio);
 }
 
-float GroveRotary::abs_value()
+float Rotary::abs_value()
 {
     return (float) mraa_aio_read(m_aio);
 }
 
-float GroveRotary::abs_deg()
+float Rotary::abs_deg()
 {
-    return GroveRotary::abs_value() * (float) m_max_angle / 1023.0;
+    return Rotary::abs_value() * (float) m_max_angle / 1023.0;
 }
 
-float GroveRotary::abs_rad()
+float Rotary::abs_rad()
 {
-    return GroveRotary::abs_deg() * M_PI / 180.0;
+    return Rotary::abs_deg() * M_PI / 180.0;
 }
 
-float GroveRotary::rel_value()
+float Rotary::rel_value()
 {
-    return GroveRotary::abs_value() - 512.0;
+    return Rotary::abs_value() - 512.0;
 }
 
-float GroveRotary::rel_deg()
+float Rotary::rel_deg()
 {
-    return GroveRotary::rel_value() * (float) m_max_angle / 1023.0;
+    return Rotary::rel_value() * (float) m_max_angle / 1023.0;
 }
 
-float GroveRotary::rel_rad()
+float Rotary::rel_rad()
 {
-    return GroveRotary::rel_deg() * M_PI / 180.0;
+    return Rotary::rel_deg() * M_PI / 180.0;
 }

src/rotary/rotary.h

@@ -0,0 +1,57 @@
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * 	   Sisinty Sasmita Patra <sisinty.s.patra@intel.com>
+ *
+ * Copyright (c) 2016 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.
+ */
+
+#ifndef ROTARY_H_
+#define ROTARY_H_
+
+#include <unistd.h>
+
+#include "upm.h"
+#include <mraa/aio.h>
+
+/**
+ * driver context
+ */
+typedef struct _rotary_context {
+    mraa_aio_context aio;
+    float m_aRef;
+    int16_t m_aRes;
+} *rotary_context;
+
+#define ROTARY_MAX_ANGLE 300
+
+typedef struct _rotary_context* rotary_context;
+
+rotary_context rotary_init(int pin, float aRef);
+
+void rotary_close(rotary_context dev);
+
+upm_result_t rotary_get_value_voltage(const rotary_context dev, float* volts);
+
+// degrees only
+upm_result_t rotary_get_value_angle(rotary_context dev, float* rotval);
+
+#endif /* ROTARY_H_ */

src/rotary/rotary.hpp

@@ -28,13 +28,14 @@
 
 #include <string>
 #include <mraa/aio.hpp>
-#include "grovebase.hpp"
+
+#include "rotary.hpp"
 
 namespace upm {
 
 /**
- * @library grove
+ * @library rotary
- * @sensor groverotary
+ * @sensor rotary
  * @comname Grove Rotary Angle Sensor
  * @altname Rotary Potentiometer
  * @type ainput
@@ -42,27 +43,27 @@ namespace upm {
  * @con analog
  * @kit gsk
  *
- * @brief API for the Grove Rotary Angle Sensor (Knob)
+ * @brief API for the Rotary Angle Sensor (Knob)
  *
- * Basic UPM module for the Grove rotary angle sensor (knob) on analog. Provides
+ * Basic UPM module for the rotary angle sensor (knob) on analog. Provides
  * a set of functions to read the absolute pin value, degrees or radians, and another set
  * to do the same relative to the center of the knob's range.
  *
- * @image html groverotary.jpeg
+ * @image html rotary.jpeg
- * @snippet groverotary.cxx Interesting
+ * @snippet rotary.cxx Interesting
  */
-class GroveRotary: public Grove {
+class Rotary{
     public:
         /**
          * Grove rotary angle sensor constructor
          *
          * @param pin Number of the analog pin to use
          */
-        GroveRotary(unsigned int pin);
+        Rotary(unsigned int pin);
         /**
-         * GroveRotary destructor
+         * Rotary destructor
          */
-        ~GroveRotary();
+        ~Rotary();
         /**
          * Gets the absolute raw value from the AIO pin
          *
@@ -99,6 +100,7 @@ class GroveRotary: public Grove {
          * @return Signed radians from the ADC
          */
         float rel_rad();
+        std::string name(){ return "Rotary Angle Sensor";}
     private:
         mraa_aio_context m_aio;
         static const int m_max_angle = 300;

src/rotary/rotary_fti.c

@@ -0,0 +1,125 @@
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * 	   Sisinty Sasmita Patra <sisinty.s.patra@intel.com>
+ *
+ * Copyright (c) 2016 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 "rotary.h"
+#include "upm_fti.h"
+
+/** 
+ * This file implements the Function Table Interface (FTI) for this sensor
+ */
+
+const char upm_rotary_name[] = "Grove Rotary";
+const char upm_rotary_description[] = "Analog Grove Rotary Sensor";
+const upm_protocol_t upm_rotary_protocol[] = {UPM_ANALOG};
+const upm_sensor_t upm_rotary_category[] = {UPM_VOLTAGE, UPM_ANGLE};
+
+// forward declarations
+const upm_sensor_descriptor_t upm_rotary_get_descriptor();
+const void* upm_rotary_get_ft(upm_sensor_t sensor_type);
+void* upm_rotary_init_name();
+void upm_rotary_close(void* dev);
+upm_result_t upm_rotary_get_value_voltage (const void* dev, float* volts);
+upm_result_t upm_rotary_get_value_angle(void* dev, float* rotval,
+                                        upm_angle_u unit);
+
+const upm_sensor_descriptor_t upm_rotary_get_descriptor() {
+    upm_sensor_descriptor_t usd;
+    usd.name = upm_rotary_name;
+    usd.description = upm_rotary_description;
+    usd.protocol_size = 1;
+    usd.protocol = upm_rotary_protocol;
+    usd.category_size = 1;
+    usd.category = upm_rotary_category;
+    return usd;
+}
+
+static const upm_sensor_ft ft =
+{
+    .upm_sensor_init_name = &upm_rotary_init_name,
+    .upm_sensor_close = &upm_rotary_close,
+    .upm_sensor_get_descriptor = &upm_rotary_get_descriptor
+};
+
+static const upm_voltage_ft vft =
+{
+    .upm_voltage_get_value = &upm_rotary_get_value_voltage
+};
+
+static const upm_angle_ft aft =
+{
+    .upm_angle_get_value = &upm_rotary_get_value_angle
+};
+
+const void* upm_rotary_get_ft(upm_sensor_t sensor_type) {
+    if(sensor_type == UPM_SENSOR) {
+        return &ft;
+    }
+    if(sensor_type == UPM_VOLTAGE) {
+        return &vft;
+    }
+    if(sensor_type == UPM_ANGLE) {
+        return &aft;
+    }
+    return NULL;
+}
+
+void* upm_rotary_init_name(){
+    return NULL;
+}
+
+void upm_rotary_close(void* dev)
+{
+    rotary_close((rotary_context)dev);
+}
+
+upm_result_t upm_rotary_get_value_voltage (const void* dev, float* volts)
+{
+    return rotary_get_value_voltage((rotary_context)dev, volts);
+}
+
+upm_result_t upm_rotary_get_value_angle (void* dev, float* rotval,
+                                         upm_angle_u unit)
+{
+    float degrees;
+
+    // returned in degrees
+    rotary_get_value_angle((rotary_context)dev, &degrees);
+
+    switch(unit)
+        {
+        case DEGREES:
+            *rotval = degrees;
+            return UPM_SUCCESS;
+
+        case RADIANS:
+            *rotval = degrees * M_PI / 180.0;
+
+            return UPM_SUCCESS;
+
+        default:
+            return UPM_ERROR_INVALID_PARAMETER;
+        }
+}