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      1 /*
      2  * Author: Jon Trulson <jtrulson (at) 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