upm  1.7.1
Sensor/Actuator repository for libmraa (v2.0.0)
ultrasonic.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 
64 class UltraSonic {
65  public:
71  UltraSonic (int pin);
72 
76  ~UltraSonic ();
77 
83  int getDistance ();
84 
88  std::string name()
89  {
90  return m_name;
91  }
92 
96  bool working()
97  {
98  return m_doWork;
99  }
100 
101  private:
102  bool m_doWork; /* Flag to control blocking function while waiting for falling edge interrupt */
103  mraa_gpio_context m_pinCtx;
104  uint8_t m_InterruptCounter;
105  struct timeval m_RisingTimeStamp;
106  struct timeval m_FallingTimeStamp;
107  std::string m_name;
108 
112  static void signalISR(void *ctx);
113 
119  void ackEdgeDetected ();
120 };
121 
122 }
UltraSonic(int pin)
Definition: ultrasonic.cxx:36
C++ API wrapper for the bh1749 driver.
Definition: a110x.hpp:29
API for Grove Ultrasonic Ranger.
Definition: ultrasonic.hpp:64
std::string name()
Definition: ultrasonic.hpp:88
bool working()
Definition: ultrasonic.hpp:96
~UltraSonic()
Definition: ultrasonic.cxx:51
int getDistance()
Definition: ultrasonic.cxx:59