src/resource/resource_infrared_obstacle_avoidance_sensor.c

   1 /*
   2  * Copyright (c) 2017 Samsung Electronics Co., Ltd.
   3  *
   4  * Contact: Jin Yoon <jinny.yoon@samsung.com>
   5  *          Geunsun Lee <gs86.lee@samsung.com>
   6  *          Eunyoung Lee <ey928.lee@samsung.com>
   7  *          Junkyu Han <junkyu.han@samsung.com>
   8  *
   9  * Licensed under the Flora License, Version 1.1 (the License);
  10  * you may not use this file except in compliance with the License.
  11  * You may obtain a copy of the License at
  12  *
  13  * http://floralicense.org/license/
  14  *
  15  * Unless required by applicable law or agreed to in writing, software
  16  * distributed under the License is distributed on an AS IS BASIS,
  17  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  18  * See the License for the specific language governing permissions and
  19  * limitations under the License.
  20  */
  21
  22 #include <stdlib.h>
  23 #include <unistd.h>
  24 #include <peripheral_io.h>
  25 #include <sys/time.h>
  26
  27 #include "log.h"
  28 #include "resource_internal.h"
  29
  30 void resource_close_infrared_obstacle_avoidance_sensor(int pin_num)
  31 {
  32         if (!resource_get_info(pin_num)->opened) return;
  33
  34         _I("Infrared Obstacle Avoidance Sensor is finishing...");
  35         if (resource_get_info(pin_num)->resource_changed_info) {
  36                 free(resource_get_info(pin_num)->resource_changed_info);
  37                 resource_get_info(pin_num)->resource_changed_info = NULL;
  38         }
  39         peripheral_gpio_unset_interrupted_cb(resource_get_info(pin_num)->sensor_h);
  40         peripheral_gpio_close(resource_get_info(pin_num)->sensor_h);
  41         resource_get_info(pin_num)->sensor_h = NULL;
  42         resource_get_info(pin_num)->opened = 0;
  43
  44         return;
  45 }
  46
  47 static int _init_pin(int pin_num)
  48 {
  49         int ret = PERIPHERAL_ERROR_NONE;
  50
  51         ret = peripheral_gpio_open(pin_num, &resource_get_info(pin_num)->sensor_h);
  52         retv_if(ret != PERIPHERAL_ERROR_NONE, -1);
  53
  54         ret = peripheral_gpio_set_direction(resource_get_info(pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_IN);
  55         if (ret != PERIPHERAL_ERROR_NONE) {
  56                 peripheral_gpio_close(resource_get_info(pin_num)->sensor_h);
  57                 resource_get_info(pin_num)->sensor_h = NULL;
  58                 return -1;
  59         }
  60
  61         resource_get_info(pin_num)->opened = 1;
  62         resource_get_info(pin_num)->close = resource_close_infrared_obstacle_avoidance_sensor;
  63
  64         return 0;
  65 }
  66
  67 int resource_read_infrared_obstacle_avoidance_sensor(int pin_num, uint32_t *out_value)
  68 {
  69         int ret = PERIPHERAL_ERROR_NONE;
  70
  71         if (!resource_get_info(pin_num)->opened) {
  72                 ret = _init_pin(pin_num);
  73                 retv_if(ret < 0, -1);
  74         }
  75
  76         ret = peripheral_gpio_read(resource_get_info(pin_num)->sensor_h, out_value);
  77         retv_if(ret != PERIPHERAL_ERROR_NONE, -1);
  78
  79         *out_value = !*out_value;
  80
  81         _I("Infrared Obstacle Avoidance Sensor Value : %d", *out_value);
  82
  83         return 0;
  84 }
  85
  86
  87 static void __ioa_sensor_interrupt_cb(peripheral_gpio_h gpio, peripheral_error_e error, void *user_data)
  88 {
  89         uint32_t value;
  90         resource_changed_s *resource_changed_info = (resource_changed_s *)user_data;
  91
  92         /* Detected : 0, Non-detected : 1 */
  93         peripheral_gpio_read(gpio, &value);
  94         _D("interrupt value = %d", !value);
  95
  96         resource_changed_info->cb(!value, resource_changed_info->data);
  97
  98         return;
  99 }
 100
 101 int resource_set_infrared_obstacle_avoidance_sensor_interrupted_cb(int pin_num, resource_changed_cb cb, void *data)
 102 {
 103         int ret = PERIPHERAL_ERROR_NONE;
 104
 105         if (resource_get_info(pin_num)->resource_changed_info == NULL) {
 106                 resource_get_info(pin_num)->resource_changed_info = calloc(1, sizeof(resource_changed_s));
 107                 retv_if(!resource_get_info(pin_num)->resource_changed_info, -1);
 108         } else {
 109                 if (resource_get_info(pin_num)->sensor_h) {
 110                         peripheral_gpio_unset_interrupted_cb(resource_get_info(resource_get_info(pin_num)->resource_changed_info->pin_num)->sensor_h);
 111                 }
 112         }
 113
 114         resource_get_info(pin_num)->resource_changed_info->cb = cb;
 115         resource_get_info(pin_num)->resource_changed_info->data = data;
 116         resource_get_info(pin_num)->resource_changed_info->pin_num = pin_num;
 117
 118         if (!resource_get_info(pin_num)->opened) {
 119                 ret = _init_pin(pin_num);
 120                 goto_if(ret < 0, FREE_RESOURCE);
 121         }
 122
 123         if (resource_get_info(pin_num)->sensor_h) {
 124                 ret = peripheral_gpio_set_edge_mode(resource_get_info(pin_num)->sensor_h, PERIPHERAL_GPIO_EDGE_BOTH);
 125                 goto_if(ret != PERIPHERAL_ERROR_NONE, FREE_RESOURCE);
 126
 127                 ret = peripheral_gpio_set_interrupted_cb(resource_get_info(pin_num)->sensor_h, __ioa_sensor_interrupt_cb, resource_get_info(pin_num)->resource_changed_info);
 128                 goto_if(ret != PERIPHERAL_ERROR_NONE, FREE_RESOURCE);
 129         }
 130
 131         return 0;
 132
 133 FREE_RESOURCE:
 134         if (resource_get_info(pin_num)->resource_changed_info) {
 135                 free(resource_get_info(pin_num)->resource_changed_info);
 136                 resource_get_info(pin_num)->resource_changed_info = NULL;
 137         }
 138
 139         if (resource_get_info(pin_num)->sensor_h) {
 140                 peripheral_gpio_unset_interrupted_cb(resource_get_info(pin_num)->sensor_h);
 141                 peripheral_gpio_close(resource_get_info(pin_num)->sensor_h);
 142                 resource_get_info(pin_num)->sensor_h = NULL;
 143                 resource_get_info(pin_num)->opened = 0;
 144         }
 145
 146         return -1;
 147 }