1 /*
2  * Author: Jon Trulson <jtrulson@ics.com>
3  * Copyright (c) 2014 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 <iostream>
26 #include <string>
27 #include <stdexcept>
28 
29 #include "grovelinefinder.h"
30 
31 using namespace upm;
32 using namespace std;
33 
GroveLineFinder(int pin)34 GroveLineFinder::GroveLineFinder(int pin)
35 {
36   if ( !(m_gpio = mraa_gpio_init(pin)) )
37     {
38       throw std::invalid_argument(std::string(__FUNCTION__) +
39                                   ": mraa_gpio_init() failed, invalid pin?");
40       return;
41     }
42 
43   mraa_gpio_dir(m_gpio, MRAA_GPIO_IN);
44 }
45 
~GroveLineFinder()46 GroveLineFinder::~GroveLineFinder()
47 {
48   mraa_gpio_close(m_gpio);
49 }
50 
whiteDetected()51 bool GroveLineFinder::whiteDetected()
52 {
53   return (!mraa_gpio_read(m_gpio) ? true : false);
54 }
55 
blackDetected()56 bool GroveLineFinder::blackDetected()
57 {
58   return (mraa_gpio_read(m_gpio) ? true : false);
59 }
60