From fb2fbbd95e51830ca147963ecdd5bea69cd862f1 Mon Sep 17 00:00:00 2001 From: Jon Trulson Date: Wed, 10 Dec 2014 14:14:15 -0700 Subject: [PATCH] grovelinefinder: Initial implementation This module adds support for the Grove Line Finder sensor. Signed-off-by: Jon Trulson Signed-off-by: Zion Orent Signed-off-by: Sarah Knepper --- examples/CMakeLists.txt | 3 + examples/grovelinefinder.cxx | 66 +++++++++++++++++++ examples/javascript/grovelinefinder.js | 47 ++++++++++++++ src/grovelinefinder/CMakeLists.txt | 5 ++ src/grovelinefinder/grovelinefinder.cxx | 56 ++++++++++++++++ src/grovelinefinder/grovelinefinder.h | 71 +++++++++++++++++++++ src/grovelinefinder/jsupm_grovelinefinder.i | 8 +++ src/grovelinefinder/pyupm_grovelinefinder.i | 9 +++ 8 files changed, 265 insertions(+) create mode 100644 examples/grovelinefinder.cxx create mode 100644 examples/javascript/grovelinefinder.js create mode 100644 src/grovelinefinder/CMakeLists.txt create mode 100644 src/grovelinefinder/grovelinefinder.cxx create mode 100644 src/grovelinefinder/grovelinefinder.h create mode 100644 src/grovelinefinder/jsupm_grovelinefinder.i create mode 100644 src/grovelinefinder/pyupm_grovelinefinder.i diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index cb3224a7..874b14c3 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -60,6 +60,7 @@ add_executable (gp2y0a21yk-example gp2y0a21yk.cxx) add_executable (grovemoisture-example grovemoisture.cxx) add_executable (groveehr-example groveehr.cxx) add_executable (ta12200-example ta12200.cxx) +add_executable (grovelinefinder-example grovelinefinder.cxx) include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l) include_directories (${PROJECT_SOURCE_DIR}/src/grove) @@ -107,6 +108,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/gp2y0a21yk) include_directories (${PROJECT_SOURCE_DIR}/src/grovemoisture) include_directories (${PROJECT_SOURCE_DIR}/src/groveehr) include_directories (${PROJECT_SOURCE_DIR}/src/ta12200) +include_directories (${PROJECT_SOURCE_DIR}/src/grovelinefinder) target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT}) @@ -170,3 +172,4 @@ target_link_libraries (gp2y0a21yk-example gp2y0a21yk ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (grovemoisture-example grovemoisture ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (groveehr-example groveehr ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (ta12200-example ta12200 ${CMAKE_THREAD_LIBS_INIT}) +target_link_libraries (grovelinefinder-example grovelinefinder ${CMAKE_THREAD_LIBS_INIT}) diff --git a/examples/grovelinefinder.cxx b/examples/grovelinefinder.cxx new file mode 100644 index 00000000..a8290c53 --- /dev/null +++ b/examples/grovelinefinder.cxx @@ -0,0 +1,66 @@ +/* + * Author: Jon Trulson + * 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 +#include +#include +#include "grovelinefinder.h" + +using namespace std; + +int shouldRun = true; + +void sig_handler(int signo) +{ + if (signo == SIGINT) + shouldRun = false; +} + + +int main () +{ + signal(SIGINT, sig_handler); + +//! [Interesting] + // Instantiate a Grove Line Finder sensor on digital pin D2 + upm::GroveLineFinder* finder = new upm::GroveLineFinder(2); + + // check every second for the presence of white detection + while (shouldRun) + { + bool val = finder->whiteDetected(); + if (val) + cout << "White detected." << endl; + else + cout << "Black detected." << endl; + + sleep(1); + } +//! [Interesting] + + cout << "Exiting..." << endl; + + delete finder; + return 0; +} diff --git a/examples/javascript/grovelinefinder.js b/examples/javascript/grovelinefinder.js new file mode 100644 index 00000000..85f0b96b --- /dev/null +++ b/examples/javascript/grovelinefinder.js @@ -0,0 +1,47 @@ +/*jslint node:true, vars:true, bitwise:true, unparam:true */ +/*jshint unused:true */ +/*global */ +/* +* Author: Zion Orent +* 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. +*/ + +var lineFinderSensor = require('jsupm_grovelinefinder'); + +// Instantiate a Grove line finder sensor on digital pin D2 +var myLineFinderSensor = new lineFinderSensor.GroveLineFinder(2); + +// Check every second for the presence of white detection +setInterval(function() +{ + if (myLineFinderSensor.whiteDetected()) + console.log("White detected."); + else + console.log("Black detected."); +}, 1000); + +// Turn relay off when exiting +process.on('SIGINT', function() +{ + console.log("Exiting..."); + process.exit(0); +}); diff --git a/src/grovelinefinder/CMakeLists.txt b/src/grovelinefinder/CMakeLists.txt new file mode 100644 index 00000000..46d22e97 --- /dev/null +++ b/src/grovelinefinder/CMakeLists.txt @@ -0,0 +1,5 @@ +set (libname "grovelinefinder") +set (libdescription "upm grove line finder sensor module") +set (module_src ${libname}.cxx) +set (module_h ${libname}.h) +upm_module_init() diff --git a/src/grovelinefinder/grovelinefinder.cxx b/src/grovelinefinder/grovelinefinder.cxx new file mode 100644 index 00000000..93316bb9 --- /dev/null +++ b/src/grovelinefinder/grovelinefinder.cxx @@ -0,0 +1,56 @@ +/* + * Author: Jon Trulson + * 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 + +#include "grovelinefinder.h" + +using namespace upm; +using namespace std; + +GroveLineFinder::GroveLineFinder(int pin) +{ + if ( !(m_gpio = mraa_gpio_init(pin)) ) + { + cerr << __FUNCTION__ << ": mraa_gpio_init() failed" << endl; + return; + } + + mraa_gpio_dir(m_gpio, MRAA_GPIO_IN); +} + +GroveLineFinder::~GroveLineFinder() +{ + mraa_gpio_close(m_gpio); +} + +bool GroveLineFinder::whiteDetected() +{ + return (!mraa_gpio_read(m_gpio) ? true : false); +} + +bool GroveLineFinder::blackDetected() +{ + return (mraa_gpio_read(m_gpio) ? true : false); +} diff --git a/src/grovelinefinder/grovelinefinder.h b/src/grovelinefinder/grovelinefinder.h new file mode 100644 index 00000000..e5d2ff1f --- /dev/null +++ b/src/grovelinefinder/grovelinefinder.h @@ -0,0 +1,71 @@ +/* + * Author: Jon Trulson + * 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 +#include + +namespace upm { + + /** + * @brief C++ API for the Grove Line Finder sensor + * + * UPM module for the Grove Line Finder sensor. It outputs a + * digital signal indicating whether it is detecting black on a + * white background, or white on a black background. + * + * @ingroup gpio + * @snippet grovelinefinder.cxx Interesting + */ + class GroveLineFinder { + public: + /** + * Grove Line Finder digital sensor constructor + * + * @param pin digital pin to use + */ + GroveLineFinder(int pin); + /** + * GroveLineFinder Destructor + */ + ~GroveLineFinder(); + /** + * Determine whether white has been detected + * + * @return True if white is being detected + */ + bool whiteDetected(); + /** + * Determine whether black has been detected + * + * @return True if black is being detected + */ + bool blackDetected(); + + private: + mraa_gpio_context m_gpio; + }; +} + + diff --git a/src/grovelinefinder/jsupm_grovelinefinder.i b/src/grovelinefinder/jsupm_grovelinefinder.i new file mode 100644 index 00000000..e379f37b --- /dev/null +++ b/src/grovelinefinder/jsupm_grovelinefinder.i @@ -0,0 +1,8 @@ +%module jsupm_grovelinefinder +%include "../upm.i" + +%{ + #include "grovelinefinder.h" +%} + +%include "grovelinefinder.h" diff --git a/src/grovelinefinder/pyupm_grovelinefinder.i b/src/grovelinefinder/pyupm_grovelinefinder.i new file mode 100644 index 00000000..dce1c3c7 --- /dev/null +++ b/src/grovelinefinder/pyupm_grovelinefinder.i @@ -0,0 +1,9 @@ +%module pyupm_grovelinefinder +%include "../upm.i" + +%feature("autodoc", "3"); + +%include "grovelinefinder.h" +%{ + #include "grovelinefinder.h" +%}