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105 lines
3.0 KiB
C++
105 lines
3.0 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@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 <iostream>
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#include <stdexcept>
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#include "urm37.hpp"
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using namespace upm;
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using namespace std;
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URM37::URM37(int aPin, int resetPin, int triggerPin, float aref) :
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m_urm37(urm37_init(aPin, resetPin, triggerPin, aref, 0, true))
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{
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if (!m_urm37)
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throw std::runtime_error(string(__FUNCTION__) +
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": urm37_init() failed");
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}
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URM37::URM37(int uart, int resetPin) :
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m_urm37(urm37_init(0, resetPin, 0, 0, uart, false))
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{
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if (!m_urm37)
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throw std::runtime_error(string(__FUNCTION__) +
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": urm37_init() failed");
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}
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URM37::~URM37()
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{
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urm37_close(m_urm37);
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}
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void URM37::reset()
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{
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urm37_reset(m_urm37);
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}
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float URM37::getDistance(int degrees)
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{
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float distance;
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if (urm37_get_distance(m_urm37, &distance, degrees) != UPM_SUCCESS)
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throw std::runtime_error(string(__FUNCTION__) +
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": urm37_get_distance() failed");
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return (distance);
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}
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int URM37::getDistance()
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{
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/* TODO: compilation issue for swig. switched original method to not use default zero parameter. */
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return getDistance(0);
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}
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float URM37::getTemperature()
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{
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float temperature;
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if (urm37_get_temperature(m_urm37, &temperature) != UPM_SUCCESS)
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throw std::runtime_error(string(__FUNCTION__) +
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": urm37_get_temperature() failed");
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return temperature;
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}
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uint8_t URM37::readEEPROM(uint8_t addr)
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{
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uint8_t value;
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if (urm37_read_eeprom(m_urm37, addr, &value) != UPM_SUCCESS)
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throw std::runtime_error(string(__FUNCTION__) +
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": urm37_read_eeprom() failed");
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return value;
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}
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void URM37::writeEEPROM(uint8_t addr, uint8_t value)
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{
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if (urm37_write_eeprom(m_urm37, addr, value) != UPM_SUCCESS)
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throw std::runtime_error(string(__FUNCTION__) +
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": urm37_write_eeprom() failed");
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}
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