C++ Core: Add base class per sensor/actuator type

Adding base classes for UPM sensors and actuators.

Signed-off-by: Noel Eck <noel.eck@intel.com>

src/ms5611/CMakeLists.txt

@@ -2,4 +2,4 @@ set (libname "ms5611")
 set (libdescription "Barometric Pressure and Temperature Sensor")
 set (module_src ${libname}.cxx)
 set (module_hpp ${libname}.hpp)
-upm_module_init(mraa interfaces)
+upm_module_init(mraa core)

src/ms5611/ms5611.cxx

@@ -53,18 +53,21 @@ using namespace upm;
 
 MS5611::MS5611(int i2cBus, int address)
 {
+    AddSource("temperature", "C");
+    AddSource("pressure", "Pa");
+
     i2c = new mraa::I2c(i2cBus);
     this->address = address;
     i2c->address(address);
     prom = new uint16_t[MS5611_PROM_SIZE];
     if (i2c->writeByte(MS5611_CMD_RESET != mraa::SUCCESS))
-        UPM_THROW("Reset failed.");
+        throw std::runtime_error(std::string(__FUNCTION__) + " : Reset failed.");
     delayms(5);
     for (int i = 0; i < MS5611_PROM_SIZE; ++i) {
         uint8_t buf[2];
         int bytesRead = i2c->readBytesReg(MS5611_CMD_READ_PROM + 2*i, buf, 2);
         if (bytesRead != 2)
-           UPM_THROW("PROM address failed.");
+           throw std::runtime_error(std::string(__FUNCTION__) + " : PROM address failed.");
         prom[i] = buf[0] << 8;
         prom[i] |= buf[1];
         // printf("Read PROM entry %d = %04x\n", i, prom[i]);
@@ -72,7 +75,7 @@ MS5611::MS5611(int i2cBus, int address)
 
     // printf("CRC = %X\n", promCrc4());
     if (promCrc4() != (prom[7] & 0x000F))
-        UPM_THROW("PROM checksum error.");
+        throw std::runtime_error(std::string(__FUNCTION__) + " : PROM checksum error.");
     setOverSampling(ULTRA_HIGH_RES);
 }
 
@@ -153,11 +156,11 @@ uint32_t MS5611::readADC(int adcReg)
     uint32_t value;
     uint8_t buf[3];
     if (i2c->writeByte(adcReg + osr) != mraa::SUCCESS)
-       UPM_THROW("Convert D2 failed");
+       throw std::runtime_error(std::string(__FUNCTION__) + " : Convert D2 failed");
     delayms(100);
     int bytesRead = i2c->readBytesReg(MS5611_CMD_ADC_READ, buf, 3);
     if (bytesRead != 3)
-       UPM_THROW("ADC read failed");
+       throw std::runtime_error(std::string(__FUNCTION__) + " : ADC read failed");
     // printf("%02X%02X%02X\n", buf[0], buf[1], buf[2]);
     value = ((uint32_t)buf[0] << 16) | ((uint32_t)buf[1] << 8) | buf[2];
     return value;
@@ -208,3 +211,23 @@ int MS5611::getPressurePa()
     return pressure;
 }
 
+std::map<std::string, float> MS5611::TemperatureForSources(std::vector<std::string> sources)
+{
+    std::map<std::string, float> ret;
+
+    if (std::find(sources.begin(), sources.end(), "temperature") != sources.end())
+        ret["temperature"] = getTemperatureCelsius();
+
+    return ret;
+}
+
+std::map<std::string, float> MS5611::PressureForSources(std::vector<std::string> sources)
+{
+    std::map<std::string, float> ret;
+
+    if (std::find(sources.begin(), sources.end(), "pressure") != sources.end())
+        ret["pressure"] = getPressurePa();
+
+    return ret;
+}
+

src/ms5611/ms5611.hpp

@@ -22,8 +22,8 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include "interfaces/iPressureSensor.hpp"
-#include "interfaces/iTemperatureSensor.hpp"
+#include "iPressureSensor.hpp"
+#include "iTemperatureSensor.hpp"
 #include "mraa/i2c.hpp"
 
 namespace upm
@@ -58,7 +58,7 @@ namespace upm
  * @snippet ms5611.cxx Interesting
  */
 
-class MS5611 : public IPressureSensor, public ITemperatureSensor
+class MS5611 : public iPressureSensor, public iTemperatureSensor
 {
 public:
    enum OsrMode
@@ -68,11 +68,22 @@ public:
 
    MS5611(int i2cBus = 0, int address = MS5611_ADDRESS);
    ~MS5611();
-   virtual const char* getModuleName() { return "ms5611"; }
    void setOverSampling(OsrMode osrMode);
    int getTemperatureCelsius();
    int getPressurePa();
 
+    /** Return the name of this device */
+    virtual std::string Name () {return "ms5611";}
+
+    /** Return the description of this device */
+    virtual std::string Description () {return "Barometric pressure and temperature sensor";}
+
+    /* Provide an implementation of a method to get sensor values by source */
+    virtual std::map<std::string, float> TemperatureForSources(std::vector<std::string> sources);
+
+    /* Provide an implementation of a method to get sensor values by source */
+    virtual std::map<std::string, float> PressureForSources(std::vector<std::string> sources);
+
 private:
    /* Disable implicit copy and assignment operators */
    MS5611(const MS5611&) = delete;

src/ms5611/ms5611.i

@@ -1,11 +1,9 @@
 %include "../common_top.i"
+%include "iPressureSensor.i"
+%include "iTemperatureSensor.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%import "../interfaces/javaupm_iTemperatureSensor.i"
-%import "../interfaces/javaupm_iPressureSensor.i"
-%typemap(javaimports) SWIGTYPE %{import upm_interfaces.*;%}
-
 JAVA_JNI_LOADLIBRARY(javaupm_ms5611)
 #endif
 /* END Java syntax */