1 /* 2 * Author: Zion Orent <sorent (at) 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 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 44 GroveCollision::~GroveCollision() 45 { 46 mraa_gpio_close(m_gpio); 47 } 48 49 bool GroveCollision::isColliding() 50 { 51 // Collisions cause 0; no collision is 1 52 return (!(bool)mraa_gpio_read(m_gpio)); 53 } 54
