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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 
     25 #include <iostream>
     26 #include <string>
     27 #include <stdexcept>
     28 
     29 #include "grovelinefinder.h"
     30 
     31 using namespace upm;
     32 using namespace std;
     33 
     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 
     46 GroveLineFinder::~GroveLineFinder()
     47 {
     48   mraa_gpio_close(m_gpio);
     49 }
     50 
     51 bool GroveLineFinder::whiteDetected()
     52 {
     53   return (!mraa_gpio_read(m_gpio) ? true : false);
     54 }
     55 
     56 bool GroveLineFinder::blackDetected()
     57 {
     58   return (mraa_gpio_read(m_gpio) ? true : false);
     59 }
     60