hcsr04: Made ISR be used internally and not be exposed to the user. Changed access modifier to private. Removed passing ISR to constructor.

Signed-off-by: Stefan Andritoiu <stefan.andritoiu@intel.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/c++/hcsr04.cxx

@@ -42,15 +42,10 @@ sig_handler(int signo)
 }
 
 //! [Interesting]
-void
-interrupt (void * args) {
-    sonar->ackEdgeDetected ();
-}
-
 int
 main(int argc, char **argv)
 {
-    sonar = new upm::HCSR04(5, 6, &interrupt);
+    sonar = new upm::HCSR04(5, 6);
     signal(SIGINT, sig_handler);
 
     sleep(1);

examples/java/HCSR04Sample.java

@@ -22,8 +22,6 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-import upm_hcsr04.IsrCallback;
-
 //NOT TESTED!!!
 public class HCSR04Sample {
 
@@ -38,10 +36,8 @@ public class HCSR04Sample {
 
 	// ! [Interesting]
 	public static void main(String[] args) throws InterruptedException {
-		HCSR04ISR callback = new HCSR04ISR();
+		upm_hcsr04.HCSR04 sonar = new upm_hcsr04.HCSR04((short) 5, (short) 6);
 
-		upm_hcsr04.HCSR04 sonar = new upm_hcsr04.HCSR04((short) 5, (short) 6, callback);
-		callback.setSonar(sonar);
 		Thread.sleep(1000);
 
 		while (true) {
@@ -53,24 +49,4 @@ public class HCSR04Sample {
 		}
 	}
 }
-
-class HCSR04ISR extends IsrCallback {
-
-	private upm_hcsr04.HCSR04 sonar = null;
-
-	public HCSR04ISR() {
-		super();
-	}
-
-	public void setSonar(upm_hcsr04.HCSR04 sonar) {
-		this.sonar = sonar;
-	}
-
-	public void run() {
-		if (sonar != null)
-			sonar.ackEdgeDetected();
-		else
-			System.out.println("No HCSR04ISR instance given to callback");
-	}
-}
 // ! [Interesting]

src/hcsr04/hcsr04.cxx

@@ -34,14 +34,7 @@
 
 using namespace upm;
 
-#ifdef JAVACALLBACK
-HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin, IsrCallback *cb)
-{
-        HCSR04 (triggerPin, echoPin, generic_callback_isr);
-}
-#endif
-
-HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void *)) {
+HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin) {
     mraa_result_t error  = MRAA_SUCCESS;
     m_name              = "HCSR04";
 
@@ -63,7 +56,7 @@ HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void *)) {
     }
 
     mraa_gpio_dir(m_echoPinCtx, MRAA_GPIO_IN);
-    mraa_gpio_isr(m_echoPinCtx, MRAA_GPIO_EDGE_BOTH, fptr, (void*)this);
+    mraa_gpio_isr(m_echoPinCtx, MRAA_GPIO_EDGE_BOTH, &ackEdgeDetected, (void*)this);
 }
 
 HCSR04::~HCSR04 () {
@@ -96,16 +89,17 @@ HCSR04::timing() {
 }
 
 void
-HCSR04::ackEdgeDetected () {
+HCSR04::ackEdgeDetected (void *ctx) {
+    upm::HCSR04 *This = (upm::HCSR04 *)ctx;
     struct timeval timer;
     gettimeofday(&timer, NULL);
 
-    ++m_InterruptCounter;
-    if (!(m_InterruptCounter % 2)) {
-        m_FallingTimeStamp  = 1000000 * timer.tv_sec + timer.tv_usec;
-        m_doWork = 1;
+    This->m_InterruptCounter++;
+    if (!(This->m_InterruptCounter % 2)) {
+        This->m_FallingTimeStamp  = 1000000 * timer.tv_sec + timer.tv_usec;
+        This->m_doWork = 1;
     } else {
-        m_RisingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
+        This->m_RisingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
     }
 }
 

src/hcsr04/hcsr04.h

@@ -68,11 +68,7 @@ class HCSR04 {
          * @param fptr Function pointer to handle rising-edge and
          * falling-edge interrupts
          */
-#if defined(SWIGJAVA) || defined(JAVACALLBACK)
-        HCSR04 (uint8_t triggerPin, uint8_t echoPin, IsrCallback *cb);
-#else
-        HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void *));
-#endif
+        HCSR04 (uint8_t triggerPin, uint8_t echoPin);
         /**
          * HCSR04 object destructor
          */
@@ -83,12 +79,6 @@ class HCSR04 {
          */
         double getDistance (int sys);
 
-        /**
-         * On each interrupt, this function detects if the interrupt
-         * was falling-edge or rising-edge.
-         * Should be called from the interrupt handler.
-         */
-        void ackEdgeDetected ();
 
         uint8_t m_doWork; /**< Flag to control blocking function while waiting for a falling-edge interrupt */
 
@@ -101,9 +91,12 @@ class HCSR04 {
         }
 
     private:
-#if defined(SWIGJAVA) || defined(JAVACALLBACK)
-        HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void *));
-#endif
+        /**
+         * On each interrupt, this function detects if the interrupt
+         * was falling-edge or rising-edge.
+         */
+        static void ackEdgeDetected (void *ctx);
+
         double timing();
         mraa_gpio_context   m_triggerPinCtx;
         mraa_gpio_context   m_echoPinCtx;

src/hcsr04/javaupm_hcsr04.i

@@ -1,11 +1,6 @@
 %module(directors="1") javaupm_hcsr04
 %include "../upm.i"
 
-%feature("director") IsrCallback;
-
-%ignore generic_callback_isr;
-%include "../IsrCallback.h"
-
 %{
     #include "hcsr04.h"
 %}
@@ -21,4 +16,5 @@
             System.exit(1);
         }
     }
-%}
+%}
+