hcsr04.hpp

/*
 * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
 * Author: Rafael Neri <rafael.neri@gmail.com>
 * Copyright (c) 2014-2015 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 <string>
#include <mraa/aio.h>
#include <mraa/gpio.h>
#include <mraa/pwm.h>
#include <sys/time.h>

#define CM 1
#define INC 0

namespace upm {
class HCSR04 {
    public:
        HCSR04 (int triggerPin, int echoPin);
        ~HCSR04 ();

        double getDistance (int sys);


        uint8_t m_doWork; 
        std::string name()
        {
            return m_name;
        }

    private:
        static void ackEdgeDetected (void *ctx);

        double timing();
        mraa_gpio_context   m_triggerPinCtx;
        mraa_gpio_context   m_echoPinCtx;

        long    m_RisingTimeStamp;
        long    m_FallingTimeStamp;
        uint8_t m_InterruptCounter;

        std::string         m_name;
};

}