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 #pragma once
25 
26 #include <string>
27 #include <mraa/gpio.h>
28 
29 namespace upm {
30   /**
31    * @brief Grove Line Finder Sensor library
32    * @defgroup grovelinefinder libupm-grovelinefinder
33    * @ingroup seeed gpio color robok
34    */
35 
36   /**
37    * @library grovelinefinder
38    * @sensor grovelinefinder
39    * @comname Grove Line Finder
40    * @type color
41    * @man seeed
42    * @con gpio
43    * @kit robok
44    *
45    * @brief API for the Grove Line Finder Sensor
46    *
47    * UPM module for the Grove Line Finder sensor.  It outputs a
48    * digital signal indicating whether it is detecting black on a
49    * white background, or white on a black background.
50    *
51    * @image html grovelinefinder.jpg
52    * @snippet grovelinefinder.cxx Interesting
53    */
54   class GroveLineFinder {
55   public:
56     /**
57      * Grove Line Finder digital sensor constructor
58      *
59      * @param pin Digital pin to use
60      */
61     GroveLineFinder(int pin);
62     /**
63      * GroveLineFinder destructor
64      */
65     ~GroveLineFinder();
66     /**
67      * Determines whether white has been detected
68      *
69      * @return True if white is detected
70      */
71     bool whiteDetected();
72     /**
73      * Determines whether black has been detected
74      *
75      * @return True if black is detected
76      */
77     bool blackDetected();
78 
79   private:
80     mraa_gpio_context m_gpio;
81   };
82 }
83 
84 
85