From ed6d61d12e7014d6cea18869a64131de038eab74 Mon Sep 17 00:00:00 2001
From: Noel Eck <noel.eck@intel.com>
Date: Wed, 14 Sep 2016 11:51:17 -0700
Subject: [PATCH] ultrasonic: Created ultrasonic from groveultrasonic.

    * Added C++ and javascript example.
    * Added jpg.

Signed-off-by: Noel Eck <noel.eck@intel.com>
---
 docs/images/ultrasonic.jpg          | Bin 0 -> 33605 bytes
 examples/c++/CMakeLists.txt         |   1 +
 examples/c++/ultrasonic.cxx         |  60 ++++++++++++++
 examples/javascript/ultrasonic.js   |  45 +++++++++++
 src/ultrasonic/CMakeLists.txt       |   5 ++
 src/ultrasonic/javaupm_ultrasonic.i |  21 +++++
 src/ultrasonic/jsupm_ultrasonic.i   |   8 ++
 src/ultrasonic/pyupm_ultrasonic.i   |  11 +++
 src/ultrasonic/ultrasonic.cxx       | 104 ++++++++++++++++++++++++
 src/ultrasonic/ultrasonic.hpp       | 121 ++++++++++++++++++++++++++++
 10 files changed, 376 insertions(+)
 create mode 100644 docs/images/ultrasonic.jpg
 create mode 100644 examples/c++/ultrasonic.cxx
 create mode 100644 examples/javascript/ultrasonic.js
 create mode 100644 src/ultrasonic/CMakeLists.txt
 create mode 100644 src/ultrasonic/javaupm_ultrasonic.i
 create mode 100644 src/ultrasonic/jsupm_ultrasonic.i
 create mode 100644 src/ultrasonic/pyupm_ultrasonic.i
 create mode 100644 src/ultrasonic/ultrasonic.cxx
 create mode 100644 src/ultrasonic/ultrasonic.hpp

diff --git a/docs/images/ultrasonic.jpg b/docs/images/ultrasonic.jpg
new file mode 100644
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diff --git a/examples/c++/CMakeLists.txt b/examples/c++/CMakeLists.txt
index 85b40b85..76774c33 100644
--- a/examples/c++/CMakeLists.txt
+++ b/examples/c++/CMakeLists.txt
@@ -245,6 +245,7 @@ add_example (bma220)
 add_example (dfrph)
 add_example (mcp9808)
 add_example (groveultrasonic)
+add_example (ultrasonic)
 add_example (sx1276-lora)
 add_example (sx1276-fsk)
 add_example (ili9341)
diff --git a/examples/c++/ultrasonic.cxx b/examples/c++/ultrasonic.cxx
new file mode 100644
index 00000000..7bdecd65
--- /dev/null
+++ b/examples/c++/ultrasonic.cxx
@@ -0,0 +1,60 @@
+/*
+ * Author: Jun Kato <i@junkato.jp>
+ * Copyright (c) 2015 Jun Kato.
+ *
+ * Thanks to Seeed Studio for a working arduino sketch
+ *
+ * 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 <unistd.h>
+#include <iostream>
+#include "ultrasonic.hpp"
+#include <signal.h>
+#include <stdlib.h>
+#include <sys/time.h>
+
+upm::UltraSonic *sonar = NULL;
+bool running = true;
+
+void sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        running = false;
+}
+
+int main(int argc, char **argv)
+{
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
+    // upm::UltraSonic *sonar = NULL;
+    sonar = new upm::UltraSonic(2);
+    while(running)
+    {
+        int width = sonar->getDistance();
+        printf("Echo width = %d\n", width);
+        printf("Distance inches = %f.2\n\n", width/148.0);
+        sleep(3);
+    }
+    //! [Interesting]
+    printf("exiting application\n");
+    delete sonar;
+    return 0;
+}
diff --git a/examples/javascript/ultrasonic.js b/examples/javascript/ultrasonic.js
new file mode 100644
index 00000000..49b63af3
--- /dev/null
+++ b/examples/javascript/ultrasonic.js
@@ -0,0 +1,45 @@
+/*
+ * Author: Jun Kato <i@junkato.jp>
+ * Copyright (c) 2015 Jun Kato.
+ *
+ * Thanks to Seeed Studio for a working arduino sketch
+ *
+ * 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 ultrasonic = require("jsupm_ultrasonic");
+var sensor = new ultrasonic.UltraSonic(2);
+
+var myInterval = setInterval(function()
+{
+  var travelTime = sensor.getDistance();
+  if (travelTime > 0) {
+    var distance = (travelTime / 29 / 2).toFixed(3);
+    console.log("distance: " + distance + " [cm]");
+  }
+}, 200);
+
+// When exiting: clear interval and print message
+process.on('SIGINT', function()
+{
+  clearInterval(myInterval);
+  console.log("Exiting...");
+  process.exit(0);
+});
diff --git a/src/ultrasonic/CMakeLists.txt b/src/ultrasonic/CMakeLists.txt
new file mode 100644
index 00000000..2614a5f9
--- /dev/null
+++ b/src/ultrasonic/CMakeLists.txt
@@ -0,0 +1,5 @@
+set (libname "ultrasonic")
+set (libdescription "upm grove ultrasonic proximity sensor")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+upm_module_init()
diff --git a/src/ultrasonic/javaupm_ultrasonic.i b/src/ultrasonic/javaupm_ultrasonic.i
new file mode 100644
index 00000000..bece5af0
--- /dev/null
+++ b/src/ultrasonic/javaupm_ultrasonic.i
@@ -0,0 +1,21 @@
+%module javaupm_ultrasonic
+%include "../upm.i"
+
+%ignore signalISR;
+
+%{
+    #include "ultrasonic.hpp"
+%}
+
+%include "ultrasonic.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_ultrasonic");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}
diff --git a/src/ultrasonic/jsupm_ultrasonic.i b/src/ultrasonic/jsupm_ultrasonic.i
new file mode 100644
index 00000000..f2a87a5d
--- /dev/null
+++ b/src/ultrasonic/jsupm_ultrasonic.i
@@ -0,0 +1,8 @@
+%module jsupm_ultrasonic
+%include "../upm.i"
+
+%{
+    #include "ultrasonic.hpp"
+%}
+
+%include "ultrasonic.hpp"
diff --git a/src/ultrasonic/pyupm_ultrasonic.i b/src/ultrasonic/pyupm_ultrasonic.i
new file mode 100644
index 00000000..613fb380
--- /dev/null
+++ b/src/ultrasonic/pyupm_ultrasonic.i
@@ -0,0 +1,11 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_ultrasonic
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "ultrasonic.hpp"
+%{
+    #include "ultrasonic.hpp"
+%}
diff --git a/src/ultrasonic/ultrasonic.cxx b/src/ultrasonic/ultrasonic.cxx
new file mode 100644
index 00000000..9af925b0
--- /dev/null
+++ b/src/ultrasonic/ultrasonic.cxx
@@ -0,0 +1,104 @@
+/*
+ * Author: Jun Kato <i@junkato.jp>
+ * Copyright (c) 2015 Jun Kato.
+ *
+ * Thanks to Seeed Studio for a working arduino sketch
+ *
+ * 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 <unistd.h>
+#include <stdlib.h>
+#include <functional>
+
+#include "ultrasonic.hpp"
+
+using namespace upm;
+
+UltraSonic::UltraSonic (uint8_t pin) {
+    mraa_result_t error = MRAA_SUCCESS;
+    m_name = "UltraSonic";
+
+    mraa_init();
+
+    // setup pin
+    m_pinCtx = mraa_gpio_init(pin);
+    if (m_pinCtx == NULL) {
+        fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", pin);
+        exit (1);
+    }
+    mraa_gpio_use_mmaped(m_pinCtx, 1);
+    mraa_gpio_isr (m_pinCtx, MRAA_GPIO_EDGE_BOTH,
+                   &signalISR, this);
+}
+
+UltraSonic::~UltraSonic () {
+
+    // close pin
+    mraa_gpio_isr_exit(m_pinCtx);
+    mraa_gpio_close (m_pinCtx);
+}
+
+int
+UltraSonic::getDistance () {
+
+    // output trigger signal
+    mraa_gpio_dir(m_pinCtx, MRAA_GPIO_OUT);
+    mraa_gpio_write(m_pinCtx, LOW);
+    usleep(2);
+    mraa_gpio_write(m_pinCtx, HIGH);
+    usleep(5);
+    mraa_gpio_write(m_pinCtx, LOW);
+
+    // wait for the pulse,
+    m_doWork = true;
+    m_InterruptCounter = 0;
+    mraa_gpio_dir(m_pinCtx, MRAA_GPIO_IN);
+
+    // though do not wait over 25 [ms].
+    int timer = 0;
+    while (m_doWork && timer++ < 5) {
+        // in 25 [ms], sound travels 25000 / 29 / 2 = 431 [cm],
+        // which is more than 400 [cm], the max distance measurable with this sensor.
+        usleep(5 * 1000); // 5 [ms]
+    }
+
+    // calc diff
+    long diff = m_FallingTimeStamp.tv_usec - m_RisingTimeStamp.tv_usec;
+    diff += (m_FallingTimeStamp.tv_sec - m_RisingTimeStamp.tv_sec) * 1000000;
+    return timer >= 5 ? 0 : diff;
+}
+
+void
+UltraSonic::signalISR(void *ctx) {
+    upm::UltraSonic *This = (upm::UltraSonic *)ctx;
+    This->ackEdgeDetected();
+}
+
+void
+UltraSonic::ackEdgeDetected () {
+    if (++m_InterruptCounter % 2 == 0) {
+        gettimeofday(&m_FallingTimeStamp, NULL);
+        m_doWork = false;
+    } else {
+        gettimeofday(&m_RisingTimeStamp, NULL);
+    }
+}
diff --git a/src/ultrasonic/ultrasonic.hpp b/src/ultrasonic/ultrasonic.hpp
new file mode 100644
index 00000000..bd703313
--- /dev/null
+++ b/src/ultrasonic/ultrasonic.hpp
@@ -0,0 +1,121 @@
+/*
+ * Author: Jun Kato <i@junkato.jp>
+ * Copyright (c) 2015 Jun Kato.
+ *
+ * Thanks to Seeed Studio for a working arduino sketch
+ *
+ * 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/aio.h>
+#include <mraa/gpio.h>
+#include <sys/time.h>
+
+#define HIGH                   1
+#define LOW                    0
+
+namespace upm {
+
+/**
+ * @brief Grove ultrasonic sensor library
+ * @defgroup ultrasonic libupm-ultrasonic
+ * @ingroup seeed gpio sound
+ */
+
+/**
+ * @library ultrasonic
+ * @sensor ultrasonic
+ * @comname Grove Ultrasonic Ranger
+ * @type sound
+ * @man seeed
+ * @con gpio
+ *
+ * @brief API for Grove Ultrasonic Ranger
+ *
+ * This Grove Ultrasonic sensor is a non-contact distance measurement module
+ * which is compatible with the Grove system. It is designed for easy modular
+ * project usage with industrial performance. Detection ranges from 3 cm (1.2")
+ * to 4 m (13'1.5") and works best when the object is within a 30 degree angle
+ * relative to the sensor.
+ *
+ * @image html ultrasonic.jpg
+ * @snippet ultrasonic.cxx Interesting
+ */
+class UltraSonic {
+    public:
+        /**
+         * Instantiates a UltraSonic object
+         *
+         * @param pin pin for triggering the sensor for distance and for receiving pulse response
+         */
+        UltraSonic (uint8_t pin);
+
+        /**
+         * UltraSonic object destructor.
+         */
+        ~UltraSonic ();
+
+        /**
+         * Returns the echo's pulse width from the sensor in microseconds.
+         * Divide by 58 to convert distance to centimetres. 
+         * Divide by 148 to convert distance to inches.
+         */
+        int getDistance ();
+
+        /**
+         * Return name of the component
+         */
+        std::string name()
+        {
+            return m_name;
+        }
+
+        /**
+         * Returns true while the sensor is busy waiting for the echo pulse
+         */
+        bool working()
+        {
+            return m_doWork;
+        }
+
+    private:
+        bool m_doWork; /* Flag to control blocking function while waiting for falling edge interrupt */
+        mraa_gpio_context m_pinCtx;
+        uint8_t m_InterruptCounter;
+        struct timeval m_RisingTimeStamp;
+        struct timeval m_FallingTimeStamp;
+        std::string m_name;
+
+        /**
+         * ISR for the pulse signal
+         */
+        static void signalISR(void *ctx);
+
+        /**
+         * On each interrupt this function will detect if the interrupt
+         * was falling edge or rising.
+         * Should be called from the interrupt handler.
+         */
+        void ackEdgeDetected ();
+};
+
+}