[sensor] Add support for TemperatureSensor (#937)

Refactor ARC code to support temperature sensors, also added
new sample BMI160Temperature.js that monitors the BMI160 sensor

Signed-off-by: Jimmy Huang <jimmy.huang@intel.com>

6 files changed, 161 insertions, 27 deletions

diff --git a/arc/src/main.c b/arc/src/main.c
index 55b059c..c2259d5 100644
--- a/arc/src/main.c
+++ b/arc/src/main.c
@@ -25,7 +25,6 @@
 #define QUEUE_SIZE            10  // max incoming message can handle
 #define SLEEP_TICKS            1  // 10ms sleep time in cpu ticks
 #define AIO_UPDATE_INTERVAL  200  // 2sec interval in between notifications
-#define LIGHT_UPDATE_INTERVAL 10  // 0.1sec interval for light or 10Hz
 
 #define MAX_I2C_BUS 2
 
@@ -65,11 +64,14 @@ static char str[MAX_BUFFER_SIZE];
 #endif
 
 #ifdef BUILD_MODULE_SENSOR
+static uint32_t sensor_poll_freq = 20;  // default poll frequency
 static struct device *bmi160 = NULL;
-static bool accel_trigger = false;
-static bool gyro_trigger = false;
+static bool accel_trigger = false;      // trigger mode
+static bool gyro_trigger = false;       // trigger mode
+static bool temp_poll = false;          // polling mode
 static double accel_last_value[3];
 static double gyro_last_value[3];
+static double temp_last_value;
 #endif
 
 int ipm_send_msg(struct zjs_ipm_message *msg)
@@ -661,6 +663,31 @@ static int stop_gyro_trigger(struct device *dev)
     return 0;
 }
 
+static void fetch_sensor()
+{
+    // ToDo: currently only supports BMI160 temperature
+    // add support for other types of sensors
+    if (temp_poll && bmi160) {
+        if (sensor_sample_fetch(bmi160) < 0) {
+            ERR_PRINT("failed to fetch sample from sensor\n");
+            return;
+        }
+
+        struct sensor_value val;
+        if (sensor_channel_get(bmi160, SENSOR_CHAN_TEMP, &val) < 0) {
+            ERR_PRINT("Temperature channel read error.\n");
+            return;
+        }
+
+        union sensor_reading reading;
+        double dval = convert_sensor_value(&val);
+        if (dval != temp_last_value) {
+            reading.dval = temp_last_value = dval;
+            send_sensor_data(SENSOR_CHAN_TEMP, reading);
+        }
+    }
+}
+
 #ifdef BUILD_MODULE_SENSOR_LIGHT
 static double cube_root_recursive(double num, double low, double high) {
     // calculate approximated cube root value of a number recursively
@@ -715,7 +742,7 @@ static void fetch_light()
 }
 #endif // BUILD_MODULE_SENSOR_LIGHT
 
-static void handle_sensor_bmi160_motion(struct zjs_ipm_message *msg)
+static void handle_sensor_bmi160(struct zjs_ipm_message *msg)
 {
     int freq;
     uint32_t error_code = ERROR_IPM_NONE;
@@ -748,6 +775,13 @@ static void handle_sensor_bmi160_motion(struct zjs_ipm_message *msg)
                              start_gyro_trigger(bmi160, freq) != 0)) {
                 error_code = ERROR_IPM_OPERATION_FAILED;
             }
+        } else if (msg->data.sensor.channel == SENSOR_CHAN_TEMP) {
+            if (!bmi160 || temp_poll) {
+                error_code = ERROR_IPM_OPERATION_FAILED;
+            } else {
+                sensor_poll_freq = msg->data.sensor.frequency;
+                temp_poll = true;
+            }
         }
         break;
     case TYPE_SENSOR_STOP:
@@ -761,6 +795,13 @@ static void handle_sensor_bmi160_motion(struct zjs_ipm_message *msg)
                             stop_gyro_trigger(bmi160) != 0)) {
                 error_code = ERROR_IPM_OPERATION_FAILED;
             }
+        } else if (msg->data.sensor.channel == SENSOR_CHAN_TEMP) {
+            if (!bmi160 || !temp_poll) {
+                error_code = ERROR_IPM_OPERATION_FAILED;
+            } else {
+                sensor_poll_freq = msg->data.sensor.frequency;
+                temp_poll = false;
+            }
         }
         break;
     default:
@@ -824,7 +865,7 @@ static void handle_sensor(struct zjs_ipm_message *msg)
     case SENSOR_CHAN_ACCEL_XYZ:
     case SENSOR_CHAN_GYRO_XYZ:
         if (!strncmp(controller, BMI160_NAME, 6)) {
-            handle_sensor_bmi160_motion(msg);
+            handle_sensor_bmi160(msg);
             return;
         }
         break;
@@ -836,6 +877,12 @@ static void handle_sensor(struct zjs_ipm_message *msg)
         }
         break;
 #endif
+    case SENSOR_CHAN_TEMP:
+        if (!strncmp(controller, BMI160_NAME, 6)) {
+            handle_sensor_bmi160(msg);
+            return;
+        }
+        break;
 
      default:
         ERR_PRINT("unsupported sensor channel\n");
@@ -913,9 +960,13 @@ void main(void)
             process_aio_updates();
         }
 #endif
+#ifdef BUILD_MODULE_SENSOR
+        if (tick_count % (uint32_t)(CONFIG_SYS_CLOCK_TICKS_PER_SEC /
+                                    sensor_poll_freq) == 0) {
+            fetch_sensor();
 #ifdef BUILD_MODULE_SENSOR_LIGHT
-        if (tick_count % LIGHT_UPDATE_INTERVAL == 0) {
             fetch_light();
+#endif
         }
 #endif
         tick_count += SLEEP_TICKS;
diff --git a/docs/sensors.md b/docs/sensors.md
index ef198b7..173e926 100644
--- a/docs/sensors.md
+++ b/docs/sensors.md
@@ -12,11 +12,13 @@ ZJS Generic Sensor API implements the W3C Sensor API, and it's intended to
 provide a consistent API that allows apps to communicate with sensors like
 accelerometer and gyroscope. Since the W3C Sensor API is still a draft spec,
 our implementation only provide a subset of the API and the API could be
-slightly different, but we try to follow the latest spec as closely as possible.
+slightly different, but we try to follow the latest spec as closely as
+possible.
 
-The currently supported hardware are Arduino 101s with its built-in BMI160
-accelerometer and gyroscope, also ambient light sensor that can be connected
-using analog pin.
+Note: The currently supported hardware is Arduino 101 with its built-in
+BMI160 chip with accelerometer, gyroscope, and temperature.  The supported
+ambient light sensor is the Grove light sensor that comes with the
+Grove starter kit, that can be connected using an analog pin.
 
 Web IDL
 -------
@@ -26,17 +28,18 @@ specific API functions.
 ####Sensor Interface
 ```javascript
 interface Sensor {
-    readonly attribute SensorState state;   // The current state of Sensor object
-    attribute double frequency;             // The frequency set
-    void start();                           // Starts the sensor
-    void stop();                            // Stops the sensor
-    attribute ChangeCallback onchange;      // Callback handler for change events
-    attribute ActivateCallback onactivate;  // Callback handler for activate events
-    attribute ErrorCallback onerror;        // Callback handler for error events
+    readonly attribute SensorState state;   // current state of Sensor object
+    readonly attribute double timestamp;    // timestamp of the latest reading in milliseconds
+    attribute double frequency;             // sampling frequency in hertz
+    void start();                           // starts the sensor
+    void stop();                            // stops the sensor
+    attribute ChangeCallback onchange;      // callback handler for change events
+    attribute ActivateCallback onactivate;  // callback handler for activate events
+    attribute ErrorCallback onerror;        // callback handler for error events
 };
 
 dictionary SensorOptions {
-    double frequency;  // The requested polling frequency, default is 20 if unset
+    double frequency;  // desire frequency, default is 20 if unset
 };
 
 enum SensorState {
@@ -66,21 +69,22 @@ interface Accelerometer : Sensor {
 };
 
 dictionary AccelerometerOptions : SensorOptions  {
-   boolean includeGravity = true;  // not supported, will throw an error if set
+    string controller;       // controller name, default to "bmi160"
+    boolean includeGravity;  // not supported currently
 };
 ```
 ####GyroscopeSensor Interface
 ```javascript
 [Constructor(optional SensorOptions sensorOptions)]
 interface GyroscopeSensor : Sensor {
-    attribute GyroscopeSensorReading reading;
-};
-
-interface GyroscopeSensorReading : SensorReading {
     readonly attribute double x;
     readonly attribute double y;
     readonly attribute double z;
 };
+
+dictionary GyroscopeOptions : SensorOptions  {
+    string controller;  // controller name, default to "bmi160"
+};
 ```
 ####AmbientLightSensor Interface
 ```javascript
@@ -91,9 +95,21 @@ interface AmbientLightSensor : Sensor {
 };
 
 dictionary AmbientLightSensorOptions : SensorOptions  {
+    string controller;  // controller name, default to "ADC_0"
     unsigned long pin;  // analog pin where the light is connected
 };
 ```
+####TemperatureSensor Interface
+```javascript
+[Constructor(optional SensorOptions sensorOptions)]
+interface TemperatureSensor : Sensor {
+    readonly attribute double celsius;
+};
+
+dictionary TemperatureSensorOptions : SensorOptions  {
+    string controller;  // controller name, default to "bmi160"
+};
+```
 
 API Documentation
 -----------------
@@ -128,3 +144,4 @@ Sample Apps
 * [Accelerometer sample](../samples/BMI160Accelerometer.js)
 * [Gyroscope sample](../samples/BMI160Gyroscope.js)
 * [Ambient Light sample](../samples/AmbientLight.js)
+* [Temperature sample](../samples/BMI160Temperature.js)
diff --git a/samples/BMI160Temperature.js b/samples/BMI160Temperature.js
new file mode 100644
index 0000000..0229a14
--- /dev/null
+++ b/samples/BMI160Temperature.js
@@ -0,0 +1,28 @@
+// Copyright (c) 2017, Intel Corporation.
+
+// Test code to use the TemperatureSensor (subclass of Generic Sensor) API
+// to communicate with the BMI160 inertia sensor on the Arduino 101
+// to monitors the onboard chip temperature
+console.log("BMI160 temperature test...");
+
+var updateFrequency = 20; // maximum is 100Hz, but in ashell maximum is 20Hz
+
+var sensor = new TemperatureSensor({
+    controller: "bmi160",
+    frequency: updateFrequency
+});
+
+sensor.onchange = function() {
+    console.log("BMI160 temperature (celsius): " + sensor.celsius);
+};
+
+sensor.onstatechange = function(event) {
+    console.log("state: " + event);
+};
+
+sensor.onerror = function(event) {
+    console.log("error: " + event.error.name +
+                " - " + event.error.message);
+};
+
+sensor.start();
diff --git a/scripts/analyze.sh b/scripts/analyze.sh
index 14e4d3e..d60e3f6 100755
--- a/scripts/analyze.sh
+++ b/scripts/analyze.sh
@@ -316,13 +316,13 @@ if $buffer && [[ $MODULE != *"BUILD_MODULE_BUFFER"* ]]; then
     MODULES+=" -DBUILD_MODULE_BUFFER"
     echo "export ZJS_BUFFER=y" >> $CONFFILE
 fi
-sensor=$(grep -E Accelerometer\|Gyroscope\|AmbientLightSensor $SCRIPT)
+sensor=$(grep -E Accelerometer\|Gyroscope\|AmbientLightSensor\|TemperatureSensor $SCRIPT)
 if [ $? -eq 0 ] || check_config_file ZJS_SENSOR; then
     >&2 echo Using module: Sensor
     MODULES+=" -DBUILD_MODULE_SENSOR"
     echo "export ZJS_SENSOR=y" >> $CONFFILE
     if [[ $BOARD = "arduino_101" ]] || [[ $ASHELL = "y" ]]; then
-        bmi160=$(grep -E Accelerometer\|Gyroscope $SCRIPT)
+        bmi160=$(grep -E Accelerometer\|Gyroscope\|TemperatureSensor $SCRIPT)
         if [[ $? -eq 0 ]] || [[ $ASHELL = "y" ]]; then
             echo "CONFIG_SENSOR=y" >> $ARCPRJFILE
             echo "CONFIG_GPIO=y" >> $ARCPRJFILE
diff --git a/scripts/trlite b/scripts/trlite
index 848e0aa..d6cc6ef 100755
--- a/scripts/trlite
+++ b/scripts/trlite
@@ -240,7 +240,7 @@ if [ "$RUN" == "all" -o "$RUN" == "1" ]; then
     done
 
     # add sensor modules
-    SENSORS=(Accelerometer Gyroscope AmbientLightSensor)
+    SENSORS=(Accelerometer Gyroscope AmbientLightSensor TemperatureSensor)
     SENSORNUM=0
     for index in "${!SENSORS[@]}"; do
         SENSORNUM=$((SENSORNUM + 1))
diff --git a/src/zjs_sensor.c b/src/zjs_sensor.c
index 6bd830e..277ebb3 100644
--- a/src/zjs_sensor.c
+++ b/src/zjs_sensor.c
@@ -48,6 +48,7 @@ typedef struct sensor_handle {
 static sensor_handle_t *accel_handles = NULL;
 static sensor_handle_t *gyro_handles = NULL;
 static sensor_handle_t *light_handles = NULL;
+static sensor_handle_t *temp_handles = NULL;
 
 static sensor_handle_t *zjs_sensor_alloc_handle(enum sensor_channel channel)
 {
@@ -65,6 +66,8 @@ static sensor_handle_t *zjs_sensor_alloc_handle(enum sensor_channel channel)
         head = &gyro_handles;
     } else if (channel == SENSOR_CHAN_LIGHT) {
         head = &light_handles;
+    } else if (channel == SENSOR_CHAN_TEMP) {
+        head = &temp_handles;
     } else {
         ERR_PRINT("invalid channel\n");
         zjs_free(handle);
@@ -239,6 +242,11 @@ static void zjs_sensor_update_reading(jerry_value_t obj,
         d = *((double *)reading);
         zjs_obj_add_readonly_number(obj, d, "illuminance");
         break;
+    case SENSOR_CHAN_TEMP:
+        // reading is a ptr to double
+        d = *((double *)reading);
+        zjs_obj_add_readonly_number(obj, d, "celsius");
+        break;
 
     default:
         ERR_PRINT("unsupported sensor type\n");
@@ -312,6 +320,9 @@ static void zjs_sensor_signal_callbacks(struct sensor_data *data)
     case SENSOR_CHAN_LIGHT:
         handles = light_handles;
         break;
+    case SENSOR_CHAN_TEMP:
+        handles = temp_handles;
+        break;
 
     default:
         ERR_PRINT("unsupported sensor type\n");
@@ -426,6 +437,8 @@ static void zjs_sensor_onstop_c_callback(void *h, const void *argv)
         break;
     case SENSOR_CHAN_LIGHT:
         zjs_set_readonly_property(obj, "illuminance", null_val);
+    case SENSOR_CHAN_TEMP:
+        zjs_set_readonly_property(obj, "celsius", null_val);
         break;
 
     default:
@@ -551,7 +564,10 @@ static jerry_value_t zjs_sensor_create(const jerry_value_t function_obj,
 
         double option_freq;
         if (zjs_obj_get_double(options, "frequency", &option_freq)) {
-            if (option_freq < 1) {
+            if (option_freq < 1 || (option_freq > 100 &&
+                                    channel != SENSOR_CHAN_ACCEL_XYZ &&
+                                    channel != SENSOR_CHAN_GYRO_XYZ) ) {
+                // limit frequency to 100 max unless it's accel/gyro
                 ERR_PRINT("unsupported frequency, default to %dHz\n",
                           DEFAULT_SAMPLING_FREQUENCY);
             } else {
@@ -599,7 +615,10 @@ static jerry_value_t zjs_sensor_create(const jerry_value_t function_obj,
         zjs_set_readonly_property(sensor_obj, "z", null_val);
     } else if (channel == SENSOR_CHAN_LIGHT) {
         zjs_set_readonly_property(sensor_obj, "illuminance", null_val);
+    } else if (channel == SENSOR_CHAN_TEMP) {
+        zjs_set_readonly_property(sensor_obj, "celsius", null_val);
     }
+
     zjs_obj_add_number(sensor_obj, frequency, "frequency");
     zjs_obj_add_readonly_string(sensor_obj, "unconnected", "state");
     jerry_set_prototype(sensor_obj, zjs_sensor_prototype);
@@ -673,6 +692,21 @@ static jerry_value_t zjs_light_create(const jerry_value_t function_obj,
                              SENSOR_CHAN_LIGHT);
 }
 
+static jerry_value_t zjs_temp_create(const jerry_value_t function_obj,
+                                     const jerry_value_t this,
+                                     const jerry_value_t argv[],
+                                     const jerry_length_t argc)
+{
+    // requires: arg 0 is an object containing sensor options:
+    //             frequency (double) - sampling frequency
+    //  effects: Creates a TemperatureSensor object to the local sensor
+    return zjs_sensor_create(function_obj,
+                             this,
+                             argv,
+                             argc,
+                             SENSOR_CHAN_TEMP);
+}
+
 void zjs_sensor_init()
 {
     zjs_ipm_init();
@@ -693,6 +727,7 @@ void zjs_sensor_init()
     zjs_obj_add_function(global_obj, zjs_accel_create, "Accelerometer");
     zjs_obj_add_function(global_obj, zjs_gyro_create, "Gyroscope");
     zjs_obj_add_function(global_obj, zjs_light_create, "AmbientLightSensor");
+    zjs_obj_add_function(global_obj, zjs_temp_create, "TemperatureSensor");
 }
 
 void zjs_sensor_cleanup()
@@ -706,6 +741,9 @@ void zjs_sensor_cleanup()
     if (light_handles) {
         zjs_sensor_free_handles(light_handles);
     }
+    if (temp_handles) {
+        zjs_sensor_free_handles(temp_handles);
+    }
 
     jerry_release_value(zjs_sensor_prototype);
 }