1 /* 2 * Author: Stefan Andritoiu <stefan.andritoiu@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] main(String[] args)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 HCSR04ISR()61 public HCSR04ISR() { 62 super(); 63 } 64 setSonar(upm_hcsr04.HCSR04 sonar)65 public void setSonar(upm_hcsr04.HCSR04 sonar) { 66 this.sonar = sonar; 67 } 68 run()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]