/*
- * Copyright (c) 2017 Samsung Electronics Co., Ltd All Rights Reserved
+ * Copyright (c) 2017 Samsung Electronics Co., Ltd.
*
* Contact: Jin Yoon <jinny.yoon@samsung.com>
* Geunsun Lee <gs86.lee@samsung.com>
* Eunyoung Lee <ey928.lee@samsung.com>
* Junkyu Han <junkyu.han@samsung.com>
*
- * Licensed under the Apache License, Version 2.0 (the "License");
+ * Licensed under the Flora License, Version 1.1 (the License);
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
- * http://www.apache.org/licenses/LICENSE-2.0
+ * http://floralicense.org/license/
*
* Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
+ * distributed under the License is distributed on an AS IS BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
#include <unistd.h>
#include <peripheral_io.h>
#include <sys/time.h>
+#include <gio/gio.h>
#include "log.h"
#include "resource_internal.h"
-void resource_close_ultrasonic_sensor(int echo_pin_num, int trig_pin_num)
+void resource_close_ultrasonic_sensor_trig(int trig_pin_num)
{
- if (!resource_get_info(echo_pin_num)->opened) return;
if (!resource_get_info(trig_pin_num)->opened) return;
- _I("Ultrasonic sensor is finishing...");
+ _I("Ultrasonic sensor's trig is finishing...");
- peripheral_gpio_close(resource_get_info(echo_pin_num)->sensor_h);
peripheral_gpio_close(resource_get_info(trig_pin_num)->sensor_h);
+ resource_get_info(trig_pin_num)->opened = 0;
+}
+void resource_close_ultrasonic_sensor_echo(int echo_pin_num)
+{
+ if (!resource_get_info(echo_pin_num)->opened) return;
+
+ _I("Ultrasonic sensor's echo is finishing...");
+
+ peripheral_gpio_close(resource_get_info(echo_pin_num)->sensor_h);
resource_get_info(echo_pin_num)->opened = 0;
- resource_get_info(trig_pin_num)->opened = 0;
}
-static int _get_echo_value(int echo_pin_num)
+static unsigned long long _get_timestamp(void)
{
- int ret = 0;
- int value = 0;
+ struct timespec t;
+ clock_gettime(CLOCK_REALTIME, &t);
+ return ((unsigned long long)(t.tv_sec)*1000000000LL + t.tv_nsec) / 1000;
+}
- ret = peripheral_gpio_read(resource_get_info(echo_pin_num)->sensor_h, &value);
- retv_if(ret < 0, -1);
+static void _resource_read_ultrasonic_sensor_cb(peripheral_gpio_h gpio, peripheral_error_e error, void *user_data)
+{
+ float dist = 0;
+ uint32_t value;
+ static unsigned long long prev = 0;
+ unsigned long long now = _get_timestamp();
+ resource_read_s *resource_read_info = user_data;
+
+ ret_if(!resource_read_info);
+ ret_if(!resource_read_info->cb);
+
+ peripheral_gpio_read(gpio, &value);
+
+ if (prev > 0 && value == 0) {
+ dist = now - prev;
+ dist = (dist * 34300) / 2000000;
+ _I("Measured Distance : %0.2fcm\n", dist);
- return value;
+ resource_read_info->cb(dist, resource_read_info->data);
+ peripheral_gpio_unset_interrupted_cb(resource_get_info(resource_read_info->pin_num)->sensor_h);
+ free(resource_read_info);
+ }
+
+ prev = now;
}
-int resource_read_ultrasonic_sensor(int trig_pin_num, int echo_pin_num, double *out_value)
+int resource_read_ultrasonic_sensor(int trig_pin_num, int echo_pin_num, resource_read_cb cb, void *data)
{
int ret = 0;
- double duration = 0.0;
- struct timeval start_time, end_time, temp_start_time, temp_end_time;
+ resource_read_s *resource_read_info = NULL;
+
+ resource_read_info = calloc(1, sizeof(resource_read_s));
+ retv_if(!resource_read_info, -1);
+ resource_read_info->cb = cb;
+ resource_read_info->data = data;
+ resource_read_info->pin_num = echo_pin_num;
if (!resource_get_info(trig_pin_num)->opened) {
_I("Ultrasonic sensor's trig is initializing...");
ret = peripheral_gpio_open(trig_pin_num, &resource_get_info(trig_pin_num)->sensor_h);
retv_if(!resource_get_info(trig_pin_num)->sensor_h, -1);
- ret = peripheral_gpio_set_direction(resource_get_info(trig_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_OUT);
+ ret = peripheral_gpio_set_direction(resource_get_info(trig_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_OUT_INITIALLY_LOW);
retv_if(ret != 0, -1);
resource_get_info(trig_pin_num)->opened = 1;
+ resource_get_info(trig_pin_num)->close = resource_close_ultrasonic_sensor_trig;
}
if (!resource_get_info(echo_pin_num)->opened) {
ret = peripheral_gpio_set_direction(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_IN);
retv_if(ret != 0, -1);
+ ret = peripheral_gpio_set_edge_mode(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_EDGE_BOTH);
+ retv_if(ret != 0, -1);
+
resource_get_info(echo_pin_num)->opened = 1;
+ resource_get_info(echo_pin_num)->close = resource_close_ultrasonic_sensor_echo;
+ }
+
+ if (resource_get_info(echo_pin_num)->sensor_h) {
+ ret = peripheral_gpio_set_interrupted_cb(resource_get_info(echo_pin_num)->sensor_h, _resource_read_ultrasonic_sensor_cb, resource_read_info);
+ retv_if(ret != 0, -1);
}
ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
retv_if(ret < 0, -1);
- sleep(1);
-
ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 1);
retv_if(ret < 0, -1);
- usleep(10);
-
ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
retv_if(ret < 0, -1);
- _D("Count the distance");
- gettimeofday(&temp_start_time, NULL);
-
- while (_get_echo_value(echo_pin_num) == 0) {
- gettimeofday(&temp_end_time, NULL);
- duration = (double)temp_end_time.tv_sec + (double)(temp_end_time.tv_usec / 1000000.0)
- - (double)temp_start_time.tv_sec - (double)(temp_start_time.tv_usec / 1000000.0);
- if (duration > 1.0f) {
- _E("Cannot get the echo value.");
- return -1;
- }
- }
- gettimeofday(&start_time, NULL);
-
- _D("After checking #1");
-
- while (_get_echo_value(echo_pin_num) == 1);
- gettimeofday(&end_time, NULL);
-
- _D("After checking #2");
-
- duration = (double)end_time.tv_sec + (double)(end_time.tv_usec / 1000000.0)
- - (double)start_time.tv_sec - (double)(start_time.tv_usec / 1000000.0);
- *out_value = duration / 2 * 340.0;
-
- _I("Ultrasonic Sensor Value : %f", *out_value);
-
return 0;
}
projects / apps / native / position-finder-server.git / blobdiff