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