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54 lines
1.7 KiB
C++
54 lines
1.7 KiB
C++
/*
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* Author: Zion Orent <sorent@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <string>
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#include <stdexcept>
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#include "grovecollision.hpp"
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using namespace upm;
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GroveCollision::GroveCollision(int pin)
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{
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if ( !(m_gpio = mraa_gpio_init(pin)) )
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{
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_gpio_init() failed, invalid pin?");
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return;
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}
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mraa_gpio_dir(m_gpio, MRAA_GPIO_IN);
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}
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GroveCollision::~GroveCollision()
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{
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mraa_gpio_close(m_gpio);
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}
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bool GroveCollision::isColliding()
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{
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// Collisions cause 0; no collision is 1
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return (!(bool)mraa_gpio_read(m_gpio));
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}
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