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      1 /*
      2  * Author: Stefan Andritoiu <stefan.andritoiu (at) intel.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 import upm_hcsr04.IsrCallback;
     26 
     27 //NOT TESTED!!!
     28 public class HCSR04Sample {
     29 
     30 	static {
     31 		try {
     32 			System.loadLibrary("javaupm_hcsr04");
     33 		} catch (UnsatisfiedLinkError e) {
     34 			System.err.println("error in loading native library");
     35 			System.exit(-1);
     36 		}
     37 	}
     38 
     39 	// ! [Interesting]
     40 	public static void main(String[] args) throws InterruptedException {
     41 		HCSR04ISR callback = new HCSR04ISR();
     42 
     43 		upm_hcsr04.HCSR04 sonar = new upm_hcsr04.HCSR04((short) 5, (short) 6, callback);
     44 		callback.setSonar(sonar);
     45 		Thread.sleep(1000);
     46 
     47 		while (true) {
     48 			System.out.println("Get distance");
     49 			double distance = sonar.getDistance(upm_hcsr04.javaupm_hcsr04Constants.CM);
     50 			System.out.println("Distance: " + distance);
     51 
     52 			Thread.sleep(5000);
     53 		}
     54 	}
     55 }
     56 
     57 class HCSR04ISR extends IsrCallback {
     58 
     59 	private upm_hcsr04.HCSR04 sonar = null;
     60 
     61 	public HCSR04ISR() {
     62 		super();
     63 	}
     64 
     65 	public void setSonar(upm_hcsr04.HCSR04 sonar) {
     66 		this.sonar = sonar;
     67 	}
     68 
     69 	public void run() {
     70 		if (sonar != null)
     71 			sonar.ackEdgeDetected();
     72 		else
     73 			System.out.println("No HCSR04ISR instance given to callback");
     74 	}
     75 }
     76 // ! [Interesting]