1 /*
2 * Author: Zion Orent <sorent@ics.com>
3 * Copyright (c) 2015 Intel Corporation.
4 *
5 * Permission is hereby granted, free of charge, to any person obtaining
6 * a copy of this software and associated documentation files (the
7 * "Software"), to deal in the Software without restriction, including
8 * without limitation the rights to use, copy, modify, merge, publish,
9 * distribute, sublicense, and/or sell copies of the Software, and to
10 * permit persons to whom the Software is furnished to do so, subject to
11 * the following conditions:
12 *
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
15 *
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 */
24
25 #include <string>
26 #include <stdexcept>
27
28 #include "grovecollision.h"
29
30 using namespace upm;
31
GroveCollision(int pin)32 GroveCollision::GroveCollision(int pin)
33 {
34
35 if ( !(m_gpio = mraa_gpio_init(pin)) )
36 {
37 throw std::invalid_argument(std::string(__FUNCTION__) +
38 ": mraa_gpio_init() failed, invalid pin?");
39 return;
40 }
41 mraa_gpio_dir(m_gpio, MRAA_GPIO_IN);
42 }
43
~GroveCollision()44 GroveCollision::~GroveCollision()
45 {
46 mraa_gpio_close(m_gpio);
47 }
48
isColliding()49 bool GroveCollision::isColliding()
50 {
51 // Collisions cause 0; no collision is 1
52 return (!(bool)mraa_gpio_read(m_gpio));
53 }
54