1 files changed, 0 insertions, 458 deletions
diff --git a/peripheral/libupm/src/curieimu/curieimu.cpp b/peripheral/libupm/src/curieimu/curieimu.cpp
deleted file mode 100644
index 00df7a3..0000000
--- a/peripheral/libupm/src/curieimu/curieimu.cpp
+++ /dev/null
@@ -1,458 +0,0 @@
-/*
- * Author: Brendan Le Foll <brendan.le.foll@intel.com>
- * Author: Ron Evans (@deadprogram)
- * Author: Justin Zemlyansky (@JustInDevelopment)
- * Copyright (c) 2016 Intel Corporation.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
- * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
- * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
- * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
-
-#include <iostream>
-#include <string>
-#include <string.h>
-#include <stdexcept>
-#include <unistd.h>
-#include <stdlib.h>
-#include <pthread.h>
-
-#include "curieimu.hpp"
-
-using namespace upm;
-
-static CurieImu* awaitingReponse;
-
-CurieImu::CurieImu (int subplatformoffset)
-{
-    m_firmata = mraa_firmata_init(FIRMATA_CURIE_IMU);
-    if (m_firmata == NULL) {
-        throw std::invalid_argument(std::string(__FUNCTION__) +
-                                    ": mraa_firmata_init() failed");
-        return;
-    }
-
-    if (pthread_mutex_init(&m_responseLock, NULL)) {
-        throw std::runtime_error(std::string(__FUNCTION__) +
-                                 ": pthread_mutex_init(m_responseLock) failed");
-        return;
-    }
-
-    if (pthread_cond_init(&m_responseCond, NULL)) {
-        throw std::runtime_error(std::string(__FUNCTION__) +
-                                 ": pthread_cond_init(m_responseCond) failed");
-        return;
-    }
-}
-
-CurieImu::~CurieImu()
-{
-    pthread_mutex_destroy(&m_responseLock);
-    pthread_cond_destroy(&m_responseCond);
-}
-
-void
-CurieImu::lock()
-{
-    pthread_mutex_lock(&m_responseLock);
-}
-
-void
-CurieImu::unlock()
-{
-    pthread_mutex_unlock(&m_responseLock);
-}
-
-void
-CurieImu::waitForResponse()
-{
-    awaitingReponse = this;
-    pthread_cond_wait(&m_responseCond, &m_responseLock);
-}
-
-void
-CurieImu::proceed()
-{
-    pthread_cond_broadcast(&m_responseCond);
-}
-
-void
-CurieImu::setResults(uint8_t* buf, int length)
-{
-    m_results = new char(length);
-    memcpy((void*)m_results, (void*)buf, length);
-}
-
-/*
-* Handles a single syncronous response being returned from Firmata
-*
-* @param buffer the data beinig returned from Firmata
-* @param length length of results buffer
-*/
-static void
-handleSyncResponse(uint8_t* buf, int length)
-{
-    awaitingReponse->setResults(buf, length);
-    awaitingReponse->proceed();
-}
-
-/*
-* Handles asyncronous responses being returned from Firmata
-*
-* @param buffer the data beinig returned from Firmata
-* @param length length of results buffer
-*/
-static void
-handleAsyncResponses(uint8_t* buf, int length)
-{
-    awaitingReponse->setResults(buf, length);
-    awaitingReponse->processResponse();
-}
-
-void
-CurieImu::processResponse()
-{
-    switch(m_results[2]) {
-        case FIRMATA_CURIE_IMU_SHOCK_DETECT:
-        {
-            IMUDataItem* item = new IMUDataItem();
-            item->axis = m_results[3];
-            item->direction = m_results[4];
-            m_shockData.push(item);
-            break;
-        }
-        case FIRMATA_CURIE_IMU_STEP_COUNTER:
-        {
-            int count = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
-            m_stepData.push(count);
-            break;
-        }
-        case FIRMATA_CURIE_IMU_TAP_DETECT:
-        {
-            IMUDataItem* item = new IMUDataItem();
-            item->axis = m_results[3];
-            item->direction = m_results[4];
-            m_tapData.push(item);
-            break;
-        }
-    }
-
-    return;
-}
-
-int16_t*
-CurieImu::getAccel()
-{
-    return &m_accel[0];
-}
-
-int16_t
-CurieImu::getAccelX()
-{
-  return m_accel[X];
-}
-
-int16_t
-CurieImu::getAccelY()
-{
-  return m_accel[Y];
-}
-
-int16_t
-CurieImu::getAccelZ()
-{
-  return m_accel[Z];
-}
-
-int16_t*
-CurieImu::getGyro()
-{
-    return &m_gyro[0];
-}
-
-int16_t
-CurieImu::getGyroX()
-{
-  return m_gyro[X];
-}
-
-int16_t
-CurieImu::getGyroY()
-{
-  return m_gyro[Y];
-}
-
-int16_t
-CurieImu::getGyroZ()
-{
-  return m_gyro[Z];
-}
-
-int16_t*
-CurieImu::getMotion()
-{
-    return &m_motion[0];
-}
-
-void
-CurieImu::updateAccel()
-{
-    char message[4];
-    message[0] = FIRMATA_START_SYSEX;
-    message[1] = FIRMATA_CURIE_IMU;
-    message[2] = FIRMATA_CURIE_IMU_READ_ACCEL;
-    message[3] = FIRMATA_END_SYSEX;
-
-    lock();
-
-    mraa_firmata_response_stop(m_firmata);
-    mraa_firmata_response(m_firmata, handleSyncResponse);
-    mraa_firmata_write_sysex(m_firmata, &message[0], 4);
-
-    waitForResponse();
-
-    m_accel[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
-    m_accel[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
-    m_accel[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
-
-    delete m_results;
-    unlock();
-
-    return;
-}
-
-void
-CurieImu::updateGyro()
-{
-    char message[4];
-    message[0] = FIRMATA_START_SYSEX;
-    message[1] = FIRMATA_CURIE_IMU;
-    message[2] = FIRMATA_CURIE_IMU_READ_GYRO;
-    message[3] = FIRMATA_END_SYSEX;
-
-    lock();
-
-    mraa_firmata_response_stop(m_firmata);
-    mraa_firmata_response(m_firmata, handleSyncResponse);
-    mraa_firmata_write_sysex(m_firmata, &message[0], 4);
-
-    waitForResponse();
-
-    m_gyro[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
-    m_gyro[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
-    m_gyro[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
-
-    delete m_results;
-    unlock();
-
-    return;
-}
-
-void
-CurieImu::updateMotion()
-{
-    char message[4];
-    message[0] = FIRMATA_START_SYSEX;
-    message[1] = FIRMATA_CURIE_IMU;
-    message[2] = FIRMATA_CURIE_IMU_READ_MOTION;
-    message[3] = FIRMATA_END_SYSEX;
-
-    lock();
-
-    mraa_firmata_response_stop(m_firmata);
-    mraa_firmata_response(m_firmata, handleSyncResponse);
-    mraa_firmata_write_sysex(m_firmata, &message[0], 4);
-
-    waitForResponse();
-
-    m_motion[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
-    m_motion[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
-    m_motion[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
-    m_motion[3] = ((m_results[9] & 0x7f) | ((m_results[10] & 0x7f) << 7));
-    m_motion[4] = ((m_results[11] & 0x7f) | ((m_results[12] & 0x7f) << 7));
-    m_motion[5] = ((m_results[13] & 0x7f) | ((m_results[13] & 0x7f) << 7));
-
-    for (int i=0; i<3; i++)
-      m_accel[i] = m_motion[i];
-
-    for (int i=0; i<3; i++)
-      m_gyro[i] = m_motion[i+3];
-
-    delete m_results;
-    unlock();
-
-    return;
-}
-
-int16_t
-CurieImu::getTemperature()
-{
-    char message[4];
-    message[0] = FIRMATA_START_SYSEX;
-    message[1] = FIRMATA_CURIE_IMU;
-    message[2] = FIRMATA_CURIE_IMU_READ_TEMP;
-    message[3] = FIRMATA_END_SYSEX;
-
-    lock();
-
-    mraa_firmata_response_stop(m_firmata);
-    mraa_firmata_response(m_firmata, handleSyncResponse);
-    mraa_firmata_write_sysex(m_firmata, &message[0], 4);
-
-    waitForResponse();
-
-    int16_t result;
-    result = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
-    result += ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7)) << 8;
-
-    delete m_results;
-    unlock();
-
-    return result;
-}
-
-int16_t
-CurieImu::getAxis()
-{
-  return m_axis;
-}
-
-int16_t
-CurieImu::getDirection()
-{
-  return m_direction;
-}
-
-void
-CurieImu::enableShockDetection(bool enable)
-{
-    char message[5];
-    message[0] = FIRMATA_START_SYSEX;
-    message[1] = FIRMATA_CURIE_IMU;
-    message[2] = FIRMATA_CURIE_IMU_SHOCK_DETECT;
-    message[3] = enable;
-    message[4] = FIRMATA_END_SYSEX;
-
-    lock();
-
-    mraa_firmata_response_stop(m_firmata);
-    mraa_firmata_response(m_firmata, handleAsyncResponses);
-    mraa_firmata_write_sysex(m_firmata, &message[0], 5);
-
-    awaitingReponse = this;
-    unlock();
-
-    return;
-}
-
-bool
-CurieImu::isShockDetected()
-{
-    return (m_shockData.size() > 0);
-}
-
-void
-CurieImu::getNextShock()
-{
-  if (m_shockData.size() > 0) {
-      IMUDataItem* item = m_shockData.front();
-      m_axis = item->axis;
-      m_direction = item->direction;
-      m_shockData.pop();
-      delete item;
-  }
-}
-
-void
-CurieImu::enableStepCounter(bool enable)
-{
-    char message[5];
-    message[0] = FIRMATA_START_SYSEX;
-    message[1] = FIRMATA_CURIE_IMU;
-    message[2] = FIRMATA_CURIE_IMU_STEP_COUNTER;
-    message[3] = enable;
-    message[4] = FIRMATA_END_SYSEX;
-
-    lock();
-
-    mraa_firmata_response_stop(m_firmata);
-    mraa_firmata_response(m_firmata, handleAsyncResponses);
-    mraa_firmata_write_sysex(m_firmata, &message[0], 5);
-
-    awaitingReponse = this;
-    unlock();
-
-    return;
-}
-
-bool
-CurieImu::isStepDetected()
-{
-    return (m_stepData.size() > 0);
-}
-
-int16_t
-CurieImu::getStepCount()
-{
-    int16_t count = 0;
-    if (m_stepData.size() > 0) {
-        count = m_stepData.front();
-        m_stepData.pop();
-    }
-    return count;
-}
-
-void
-CurieImu::enableTapDetection(bool enable)
-{
-    char message[5];
-    message[0] = FIRMATA_START_SYSEX;
-    message[1] = FIRMATA_CURIE_IMU;
-    message[2] = FIRMATA_CURIE_IMU_TAP_DETECT;
-    message[3] = enable;
-    message[4] = FIRMATA_END_SYSEX;
-
-    lock();
-
-    mraa_firmata_response_stop(m_firmata);
-    mraa_firmata_response(m_firmata, handleAsyncResponses);
-    mraa_firmata_write_sysex(m_firmata, &message[0], 5);
-
-    awaitingReponse = this;
-    unlock();
-
-    return;
-}
-
-bool
-CurieImu::isTapDetected()
-{
-    return (m_tapData.size() > 0);
-}
-
-void
-CurieImu::getNextTap()
-{
-  if (m_tapData.size() > 0) {
-      IMUDataItem* item = m_tapData.front();
-      m_axis = item->axis;
-      m_direction = item->direction;
-      m_tapData.pop();
-      delete item;
-  }
-}