upm  1.6.0
Sensor/Actuator repository for libmraa (v1.9.0)
groveultrasonic.hpp
1 /*
2  * Author: Jun Kato <i@junkato.jp>
3  * Copyright (c) 2015 Jun Kato.
4  *
5  * Thanks to Seeed Studio for a working arduino sketch
6  *
7  * Permission is hereby granted, free of charge, to any person obtaining
8  * a copy of this software and associated documentation files (the
9  * "Software"), to deal in the Software without restriction, including
10  * without limitation the rights to use, copy, modify, merge, publish,
11  * distribute, sublicense, and/or sell copies of the Software, and to
12  * permit persons to whom the Software is furnished to do so, subject to
13  * the following conditions:
14  *
15  * The above copyright notice and this permission notice shall be
16  * included in all copies or substantial portions of the Software.
17  *
18  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
19  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
20  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
21  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
22  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
23  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
24  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
25  */
26 #pragma once
27 
28 #include <string>
29 #include <mraa/aio.h>
30 #include <mraa/gpio.h>
31 #include <sys/time.h>
32 
33 #define HIGH 1
34 #define LOW 0
35 
36 namespace upm {
37 
66  public:
72  GroveUltraSonic (int pin);
73 
78 
84  int getDistance ();
85 
89  std::string name()
90  {
91  return m_name;
92  }
93 
97  bool working()
98  {
99  return m_doWork;
100  }
101 
102  private:
103  bool m_doWork; /* Flag to control blocking function while waiting for falling edge interrupt */
104  mraa_gpio_context m_pinCtx;
105  uint8_t m_InterruptCounter;
106  struct timeval m_RisingTimeStamp;
107  struct timeval m_FallingTimeStamp;
108  std::string m_name;
109 
113  static void signalISR(void *ctx);
114 
120  void ackEdgeDetected ();
121 };
122 
123 }
API for Grove Ultrasonic Ranger.
Definition: groveultrasonic.hpp:65
std::string name()
Definition: groveultrasonic.hpp:89
C++ API for the kxtj3 driver.
Definition: a110x.hpp:29
GroveUltraSonic(int pin)
Definition: groveultrasonic.cxx:36
bool working()
Definition: groveultrasonic.hpp:97
~GroveUltraSonic()
Definition: groveultrasonic.cxx:52
int getDistance()
Definition: groveultrasonic.cxx:60