Changed the method of reading the sensor value from the ultrasonic sensor

Change-Id: I2ca69857c66db8c2b3ae3bbd2867cc33734d59c0

2 files changed, 41 insertions, 43 deletions

diff --git a/src/controller.c b/src/controller.c
index 886f712..cee20d9 100644
--- a/src/controller.c
+++ b/src/controller.c
@@ -39,7 +39,7 @@
 #define GPIO_ULTRASONIC_ECHO_NUM_1 21
 #define GPIO_INFRARED_MOTION_NUM_1 4
 #define I2C_ILLUMINANCE_FIRST_PIN_1 3
-#define USE_MULTIPLE_SENSOR 1
+#define USE_MULTIPLE_SENSOR 0
 #define MULTIPLE_SENSOR_NUMBER 5
 
 static void _start_internal_function(void);
@@ -81,12 +81,16 @@ static Eina_Bool _infrared_motion_getter_timer(void *data)
 }
 
 #if (!USE_MULTIPLE_SENSOR)
+static void ultrasonic_sensor_read_cb(double value, void *data)
+{
+	_I("Distance : %.2fcm", value);
+}
+
 static Eina_Bool _ultrasonic_getter_timer(void *data)
 {
 	double value = 0;
 
-	retv_if(resource_read_ultrasonic_sensor(GPIO_ULTRASONIC_TRIG_NUM_1, GPIO_ULTRASONIC_ECHO_NUM_1, &value) == -1, ECORE_CALLBACK_CANCEL);
-	_I("Ultra Sonic Distance is [%d cm]", value);
+	retv_if(resource_read_ultrasonic_sensor(GPIO_ULTRASONIC_TRIG_NUM_1, GPIO_ULTRASONIC_ECHO_NUM_1, ultrasonic_sensor_read_cb, NULL) == -1, ECORE_CALLBACK_CANCEL);
 
 	return ECORE_CALLBACK_RENEW;
 }
diff --git a/src/resource/resource_ultrasonic_sensor.c b/src/resource/resource_ultrasonic_sensor.c
index 2dd2b62..a186c11 100644
--- a/src/resource/resource_ultrasonic_sensor.c
+++ b/src/resource/resource_ultrasonic_sensor.c
@@ -23,6 +23,7 @@
 #include <unistd.h>
 #include <peripheral_io.h>
 #include <sys/time.h>
+#include <gio/gio.h>
 
 #include "log.h"
 #include "resource_internal.h"
@@ -41,22 +42,38 @@ void resource_close_ultrasonic_sensor(int echo_pin_num, int trig_pin_num)
 	resource_get_info(trig_pin_num)->opened = 0;
 }
 
-static int _get_echo_value(int echo_pin_num)
+static void _resource_read_ultrasonic_sensor_cb(gpio_isr_cb_s *data, void *user_data)
 {
-	int ret = 0;
-	int value = 0;
+	float dist = 0;
+	static unsigned long long timestamp = 0;
+	resource_read_s *resource_read_info = user_data;
 
-	ret = peripheral_gpio_read(resource_get_info(echo_pin_num)->sensor_h, &value);
-	retv_if(ret < 0, -1);
+	ret_if(!resource_read_info);
+	ret_if(!resource_read_info->cb);
+
+	if (timestamp > 0 && data->value == 0) {
+		dist = data->timestamp - timestamp;
+		dist = (dist * 34300) / 2000000;
+		_I("Measured Distance : %0.2fcm\n", dist);
+
+		resource_read_info->cb(dist, resource_read_info->data);
+		peripheral_gpio_unregister_cb(resource_get_info(resource_read_info->pin_num)->sensor_h);
+		free(resource_read_info);
+	}
 
-	return value;
+	timestamp = data->timestamp;
 }
 
-int resource_read_ultrasonic_sensor(int trig_pin_num, int echo_pin_num, double *out_value)
+int resource_read_ultrasonic_sensor(int trig_pin_num, int echo_pin_num, resource_read_cb cb, void *data)
 {
 	int ret = 0;
-	double duration = 0.0;
-	struct timeval start_time, end_time, temp_start_time, temp_end_time;
+	resource_read_s *resource_read_info = NULL;
+
+	resource_read_info = calloc(1, sizeof(resource_read_s));
+	retv_if(!resource_read_info, -1);
+	resource_read_info->cb = cb;
+	resource_read_info->data = data;
+	resource_read_info->pin_num = echo_pin_num;
 
 	if (!resource_get_info(trig_pin_num)->opened) {
 		_I("Ultrasonic sensor's trig is initializing...");
@@ -79,48 +96,25 @@ int resource_read_ultrasonic_sensor(int trig_pin_num, int echo_pin_num, double *
 		ret = peripheral_gpio_set_direction(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_IN);
 		retv_if(ret != 0, -1);
 
+		ret = peripheral_gpio_set_edge_mode(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_EDGE_BOTH);
+		retv_if(ret != 0, -1);
+
 		resource_get_info(echo_pin_num)->opened = 1;
 	}
 
+	if (resource_get_info(echo_pin_num)->sensor_h) {
+		ret = peripheral_gpio_register_cb(resource_get_info(echo_pin_num)->sensor_h, _resource_read_ultrasonic_sensor_cb, resource_read_info);
+		retv_if(ret != 0, -1);
+	}
+
 	ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
 	retv_if(ret < 0, -1);
 
-	sleep(1);
-
 	ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 1);
 	retv_if(ret < 0, -1);
 
-	usleep(10);
-
 	ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
 	retv_if(ret < 0, -1);
 
-	_D("Count the distance");
-	gettimeofday(&temp_start_time, NULL);
-
-	while (_get_echo_value(echo_pin_num) == 0) {
-		gettimeofday(&temp_end_time, NULL);
-		duration = (double)temp_end_time.tv_sec + (double)(temp_end_time.tv_usec / 1000000.0)
-			- (double)temp_start_time.tv_sec - (double)(temp_start_time.tv_usec / 1000000.0);
-		if (duration > 1.0f) {
-			_E("Cannot get the echo value.");
-			return -1;
-		}
-	}
-	gettimeofday(&start_time, NULL);
-
-	_D("After checking #1");
-
-	while (_get_echo_value(echo_pin_num) == 1);
-	gettimeofday(&end_time, NULL);
-
-	_D("After checking #2");
-
-	duration = (double)end_time.tv_sec + (double)(end_time.tv_usec / 1000000.0)
-		- (double)start_time.tv_sec - (double)(start_time.tv_usec / 1000000.0);
-	*out_value = duration / 2 * 340.0;
-
-	_I("Ultrasonic Sensor Value : %f", *out_value);
-
 	return 0;
 }