Update Resource : Ultrasonic, JSN-SR04T

Change-Id: Id81b42fac21ec5fdb8346ce1921b746792a7af7d

diff --git a/src/resource/resource_ultrasonic_jsn_sr04t.c b/src/resource/resource_ultrasonic_jsn_sr04t.c
index 5e40914..ab2c893 100644 (file)
--- a/src/resource/resource_ultrasonic_jsn_sr04t.c
+++ b/src/resource/resource_ultrasonic_jsn_sr04t.c
@@ -112,10 +112,11 @@ int resource_read_ultrasonic_jsn_sr04t(int trig_pin_num, int echo_pin_num, resou
                ret = peripheral_gpio_open(trig_pin_num, &resource_get_info(trig_pin_num)->sensor_h);
                retv_if(ret != PERIPHERAL_ERROR_NONE, -1);
 
+               resource_get_info(trig_pin_num)->opened = 1;
+
                ret = peripheral_gpio_set_direction(resource_get_info(trig_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_OUT_INITIALLY_LOW);
                goto_if(ret != PERIPHERAL_ERROR_NONE, error);
 
-               resource_get_info(trig_pin_num)->opened = 1;
                resource_get_info(trig_pin_num)->close = resource_close_ultrasonic_jsn_sr04t_trig;
        }
 
@@ -132,6 +133,8 @@ int resource_read_ultrasonic_jsn_sr04t(int trig_pin_num, int echo_pin_num, resou
                ret = peripheral_gpio_open(echo_pin_num, &resource_get_info(echo_pin_num)->sensor_h);
                goto_if(ret != PERIPHERAL_ERROR_NONE, error);
 
+               resource_get_info(echo_pin_num)->opened = 1;
+
                ret = peripheral_gpio_set_direction(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_OUT_INITIALLY_LOW);
                goto_if(ret != PERIPHERAL_ERROR_NONE, error);
 
@@ -145,7 +148,6 @@ int resource_read_ultrasonic_jsn_sr04t(int trig_pin_num, int echo_pin_num, resou
                ret = peripheral_gpio_set_interrupted_cb(resource_get_info(echo_pin_num)->sensor_h, _resource_read_ultrasonic_sensor_cb, resource_read_info);
                goto_if(ret != PERIPHERAL_ERROR_NONE, error);
 
-               resource_get_info(echo_pin_num)->opened = 1;
                resource_get_info(echo_pin_num)->close = resource_close_ultrasonic_jsn_sr04t_echo;
        }
 

diff --git a/src/resource/resource_ultrasonic_sensor.c b/src/resource/resource_ultrasonic_sensor.c
index 336e623..1807ed3 100644 (file)
--- a/src/resource/resource_ultrasonic_sensor.c
+++ b/src/resource/resource_ultrasonic_sensor.c
@@ -33,22 +33,30 @@ static unsigned long long triggered_time = 0;
 
 void resource_close_ultrasonic_sensor_trig(int trig_pin_num)
 {
-       if (!resource_get_info(trig_pin_num)->opened) return;
-
        _I("Ultrasonic sensor's trig is finishing...");
 
-       peripheral_gpio_close(resource_get_info(trig_pin_num)->sensor_h);
-       resource_get_info(trig_pin_num)->opened = 0;
+       if (resource_get_info(trig_pin_num)->opened) {
+               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;
+       int ret = PERIPHERAL_ERROR_NONE;
 
        _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;
+       if (resource_get_info(echo_pin_num)->opened) {
+               ret = peripheral_gpio_unset_interrupted_cb(resource_get_info(echo_pin_num)->sensor_h);
+               if (ret != PERIPHERAL_ERROR_NONE) {
+                       _E("It fails to unset the interrupted callback");
+               }
+
+               peripheral_gpio_close(resource_get_info(echo_pin_num)->sensor_h);
+               resource_get_info(echo_pin_num)->opened = 0;
+       }
+
        free(resource_read_info);
        resource_read_info = NULL;
 }
@@ -63,16 +71,19 @@ static unsigned long long _get_timestamp(void)
 static void _resource_read_ultrasonic_sensor_cb(peripheral_gpio_h gpio, peripheral_error_e error, void *user_data)
 {
        float dist = 0;
-       uint32_t value;
-       unsigned long long returned_time = 0;
+       static uint32_t value = 0;
+       static unsigned long long triggered_time = 0;
+       static unsigned long long returned_time = 0;
        resource_read_s *resource_read_info = user_data;
+       int ret = PERIPHERAL_ERROR_NONE;
 
        ret_if(!resource_read_info);
        ret_if(!resource_read_info->cb);
 
-       peripheral_gpio_read(gpio, &value);
+       ret = peripheral_gpio_read(gpio, &value);
+       ret_if(ret != PERIPHERAL_ERROR_NONE);
 
-       if (value == 1) {
+       if (value) {
                triggered_time = _get_timestamp();
        } else if (value == 0) {
                returned_time = _get_timestamp();
@@ -87,6 +98,7 @@ static void _resource_read_ultrasonic_sensor_cb(peripheral_gpio_h gpio, peripher
                }
 
                resource_read_info->cb(dist, resource_read_info->data);
+               triggered_time = 0l;
        }
 }
 
@@ -96,62 +108,66 @@ int resource_read_ultrasonic_sensor(int trig_pin_num, int echo_pin_num, resource
 
        triggered_time = 0;
 
-       if (resource_read_info == NULL) {
-               resource_read_info = calloc(1, sizeof(resource_read_s));
-               retv_if(!resource_read_info, -1);
-       } else {
-               peripheral_gpio_unset_interrupted_cb(resource_get_info(resource_read_info->pin_num)->sensor_h);
-       }
-       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);
+               retv_if(ret != PERIPHERAL_ERROR_NONE, -1);
+
+               resource_get_info(trig_pin_num)->opened = 1;
 
                ret = peripheral_gpio_set_direction(resource_get_info(trig_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_OUT_INITIALLY_LOW);
-               retv_if(ret != 0, -1);
+               goto_if(ret != PERIPHERAL_ERROR_NONE, ERROR);
 
-               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) {
                _I("Ultrasonic sensor's echo is initializing...");
 
+               resource_read_info = calloc(1, sizeof(resource_read_s));
+               goto_if(!resource_read_info, ERROR);
+
+               resource_read_info->cb = cb;
+               resource_read_info->data = data;
+               resource_read_info->pin_num = echo_pin_num;
+
                ret = peripheral_gpio_open(echo_pin_num, &resource_get_info(echo_pin_num)->sensor_h);
-               retv_if(!resource_get_info(echo_pin_num)->sensor_h, -1);
+               goto_if(ret != PERIPHERAL_ERROR_NONE, ERROR);
+
+               resource_get_info(echo_pin_num)->opened = 1;
 
                ret = peripheral_gpio_set_direction(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_IN);
-               retv_if(ret != 0, -1);
+               goto_if(ret != PERIPHERAL_ERROR_NONE, ERROR);
 
                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;
-       }
+               /* WARNING : Setting edge mode returns an error at the first time. */
+               //goto_if(ret != PERIPHERAL_ERROR_NONE, ERROR);
 
-       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);
+               goto_if(ret != PERIPHERAL_ERROR_NONE, ERROR);
+
+               resource_get_info(echo_pin_num)->close = resource_close_ultrasonic_sensor_echo;
        }
 
        ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
-       retv_if(ret < 0, -1);
+       goto_if(ret != PERIPHERAL_ERROR_NONE, ERROR);
 
        usleep(20000);
 
        ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 1);
-       retv_if(ret < 0, -1);
+       goto_if(ret != PERIPHERAL_ERROR_NONE, ERROR);
 
        usleep(20000);
 
        ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
-       retv_if(ret < 0, -1);
+       goto_if(ret != PERIPHERAL_ERROR_NONE, ERROR);
 
        return 0;
+
+ERROR:
+       resource_close_ultrasonic_sensor_trig(trig_pin_num);
+       resource_close_ultrasonic_sensor_echo(echo_pin_num);
+
+       return -1;
 }