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>

CMakeLists.txt

@@ -482,9 +482,6 @@ endif()
 # UPM common headers
 set (UPM_COMMON_HEADER_DIRS ${CMAKE_HOME_DIRECTORY}/include)
 
-# Generate a build-only C++ header to add functionality to SWIG'ed modules
-configure_file (${PROJECT_SOURCE_DIR}/cmake/modules/version.hpp.in ${PROJECT_BINARY_DIR}/src/version.hpp @ONLY)
-
 # UPM source
 add_subdirectory (src)
 

cmake/modules/version.hpp.in

@@ -1,6 +0,0 @@
-#include <string>
-
-inline std::string getVersion()
-{
-    return "@upm_VERSION_STRING@";
-}

examples/CMakeLists.txt

@@ -120,7 +120,7 @@ if(BUILDEXAMPLES)
 
     # Add all examples as an install component (if building examples)
     install (DIRECTORY ${PROJECT_SOURCE_DIR}/examples
-        DESTINATION ${CMAKE_INSTALL_DATADIR}/upm/
+        DESTINATION ${CMAKE_INSTALL_DATADIR}/upm
         COMPONENT ${CMAKE_PROJECT_NAME}-examples
         FILES_MATCHING
             PATTERN "*.c"

examples/c++/CMakeLists.txt

@@ -4,15 +4,15 @@ file (GLOB example_src_list RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "*.cxx")
 # - Handle special cases here --------------------------------------------------
 
 # Test humidity interface for 2 sensor libraries
-add_example(interfaces-humiditysensor.cxx TARGETS si7005 bmp280)
+add_example(core-humiditysensor.cxx TARGETS si7005 bmp280)
 # Test pressure interface for 2 sensor libraries
-add_example(interfaces-pressuresensor.cxx TARGETS bmp280 bmpx8x)
+add_example(core-pressuresensor.cxx TARGETS bmp280 bmpx8x)
 # Test temperature interface for 3 sensor libraries
-add_example(interfaces-temperaturesensor.cxx TARGETS bmp280 bmpx8x si7005)
+add_example(core-temperaturesensor.cxx TARGETS bmp280 bmpx8x si7005)
 # Test light interface for 2 sensor libraries
-add_example(interfaces-lightsensor.cxx TARGETS si1132 max44009)
+add_example(core-lightsensor.cxx TARGETS si1132 max44009)
 # Test light controller interface for 3 sensor libraries
-add_example(interfaces-lightcontroller.cxx TARGETS lp8860 ds1808lc hlg150h)
+add_example(core-lightcontroller.cxx TARGETS lp8860 ds1808lc hlg150h)
 
 # - Create an executable for all other src files in this directory -------------
 foreach (_example_src ${example_src_list})

examples/c++/ads1x15-adc-sensor.cxx

@@ -43,14 +43,14 @@ main()
     mraa::Gpio gpio(EDISON_GPIO_SI7005_CS);
     gpio.dir(mraa::DIR_OUT_HIGH);
 
-    /* Show usage from the IADC interface */
+    /* Show usage from the iADC interface */
-    upm::IADC* adc = static_cast<upm::IADC*>(&sensor);
+    upm::iADC* adc = static_cast<upm::iADC*>(&sensor);
 
     if (adc == NULL) {
         std::cout << "ADC not detected" << std::endl;
         return 1;
     }
-    std::cout << "ADC " << adc->getModuleName() << " detected. ";
+    std::cout << "ADC " << adc->Name() << " detected. ";
     std::cout << adc->getNumInputs() << " inputs available" << std::endl;
     while (true) {
         for (unsigned int i = 0; i < adc->getNumInputs(); ++i) {

examples/c++/core-humiditysensor.cxx

@@ -38,14 +38,14 @@
 #define EDISON_GPIO_SI7005_CS 20
 
 //! [Interesting]
-// Simple example of using ILightSensor to determine
+// Simple example of using iHumiditySensor to determine
 // which sensor is present and return its name.
-// ILightSensor is then used to get readings from sensor
+// iHumiditySensor is then used to get readings from sensor
 
-upm::IHumiditySensor*
+upm::iHumiditySensor*
 getHumiditySensor()
 {
-    upm::IHumiditySensor* humiditySensor = NULL;
+    upm::iHumiditySensor* humiditySensor = NULL;
 
     try {
         humiditySensor = new upm::BME280(mraa_get_sub_platform_id(FT4222_I2C_BUS));
@@ -66,22 +66,26 @@ getHumiditySensor()
 int
 main()
 {
-    upm::IHumiditySensor* humiditySensor = getHumiditySensor();
+    upm::iHumiditySensor* sensor = getHumiditySensor();
-    if (humiditySensor == NULL) {
+
+    if (sensor == NULL) {
         std::cout << "Humidity sensor not detected" << std::endl;
         return 1;
     }
-    std::cout << "Humidity sensor " << humiditySensor->getModuleName() << " detected" << std::endl;
+
-    while (true) {
+    std::cout << "Humidity sensor " << sensor->Name() << " detected" << std::endl;
+
     try {
-            int value = humiditySensor->getHumidityRelative();
+        std::map<std::string, float> values = sensor->HumidityAll();
-            std::cout << "Humidity = " << value << "%" << std::endl;
+        for (std::map<std::string, float>::const_iterator it = values.begin();
+                it != values.end(); ++it)
+            std::cout << it->first << " = " << it->second
+                << sensor->Unit(it->first) << std::endl;
     } catch (std::exception& e) {
         std::cerr << e.what() << std::endl;
     }
-        upm_delay(1);
+
-    }
+    delete sensor;
-    delete humiditySensor;
     return 0;
 }
 

examples/c++/core-lightcontroller.cxx

@@ -66,7 +66,7 @@ main(int argc, char** argv)
 
     upm::ILightController* lightController = getLightController();
     if (lightController != NULL) {
-        std::cout << "Detected light controller " << lightController->getModuleName() << std::endl;
+        //std::cout << "Detected light controller " << lightController->getModuleName() << std::endl;
     } else {
         std::cerr << "Error. Unsupported platform." << std::endl;
         return 1;

examples/c++/core-lightsensor.cxx

@@ -36,14 +36,14 @@
 #define FT4222_I2C_BUS 0
 
 //! [Interesting]
-// Simple example of using ILightSensor to determine
+// Simple example of using iLightSensor to determine
 // which sensor is present and return its name.
-// ILightSensor is then used to get readings from sensor
+// iLightSensor is then used to get readings from sensor
 
-upm::ILightSensor*
+upm::iLightSensor*
 getLightSensor()
 {
-    upm::ILightSensor* lightSensor = NULL;
+    upm::iLightSensor* lightSensor = NULL;
     try {
         lightSensor = new upm::SI1132(mraa_get_sub_platform_id(FT4222_I2C_BUS));
         return lightSensor;
@@ -62,22 +62,26 @@ getLightSensor()
 int
 main()
 {
-    upm::ILightSensor* lightSensor = getLightSensor();
+    upm::iLightSensor* sensor = getLightSensor();
-    if (lightSensor == NULL) {
+
+    if (sensor == NULL) {
         std::cout << "Light sensor not detected" << std::endl;
         return 1;
     }
-    std::cout << "Light sensor " << lightSensor->getModuleName() << " detected" << std::endl;
+
-    while (true) {
+    std::cout << "Light sensor " << sensor->Name() << " detected" << std::endl;
+
     try {
-            float value = lightSensor->getVisibleLux();
+        std::map<std::string, float> values = sensor->LightAll();
-            std::cout << "Light level = " << value << " lux" << std::endl;
+        for (std::map<std::string, float>::const_iterator it = values.begin();
+                it != values.end(); ++it)
+            std::cout << it->first << " = " << it->second
+                << sensor->Unit(it->first) << std::endl;
     } catch (std::exception& e) {
         std::cerr << e.what() << std::endl;
     }
-        upm_delay(1);
+
-    }
+    delete sensor;
-    delete lightSensor;
     return 0;
 }
 

examples/c++/core-pressuresensor.cxx

@@ -36,14 +36,14 @@
 #define FT4222_I2C_BUS 0
 
 //! [Interesting]
-// Simple example of using ILightSensor to determine
+// Simple example of using iPressureSensor to determine
 // which sensor is present and return its name.
-// ILightSensor is then used to get readings from sensor
+// iPressureSensor is then used to get readings from sensor
 
-upm::IPressureSensor*
+upm::iPressureSensor*
 getPressureSensor()
 {
-    upm::IPressureSensor* pressureSensor = NULL;
+    upm::iPressureSensor* pressureSensor = NULL;
     try {
         pressureSensor = new upm::BME280(mraa_get_sub_platform_id(FT4222_I2C_BUS));
         return pressureSensor;
@@ -63,22 +63,26 @@ getPressureSensor()
 int
 main()
 {
-    upm::IPressureSensor* pressureSensor = getPressureSensor();
+    upm::iPressureSensor* sensor = getPressureSensor();
-    if (pressureSensor == NULL) {
+
+    if (sensor == NULL) {
         std::cout << "Pressure sensor not detected" << std::endl;
         return 1;
     }
-    std::cout << "Pressure sensor " << pressureSensor->getModuleName() << " detected" << std::endl;
+
-    while (true) {
+    std::cout << "Pressure sensor " << sensor->Name() << " detected" << std::endl;
+
     try {
-            int value = pressureSensor->getPressurePa();
+        std::map<std::string, float> values = sensor->PressureAll();
-            std::cout << "Pressure = " << value << " Pa" << std::endl;
+        for (std::map<std::string, float>::const_iterator it = values.begin();
+                it != values.end(); ++it)
+            std::cout << it->first << " = " << it->second
+                << sensor->Unit(it->first) << std::endl;
     } catch (std::exception& e) {
         std::cerr << e.what() << std::endl;
     }
-        upm_delay(1);
+
-    }
+    delete sensor;
-    delete pressureSensor;
     return 0;
 }
 

examples/c++/core-temperaturesensor.cxx

@@ -39,14 +39,14 @@
 #define EDISON_GPIO_SI7005_CS 20
 
 //! [Interesting]
-// Simple example of using ITemperatureSensor to determine
+// Simple example of using iTemperatureSensor to determine
 // which sensor is present and return its name.
-// ITemperatureSensor is then used to get readings from sensor
+// iTemperatureSensor is then used to get readings from sensor
 
-upm::ITemperatureSensor*
+upm::iTemperatureSensor*
 getTemperatureSensor()
 {
-    upm::ITemperatureSensor* temperatureSensor = NULL;
+    upm::iTemperatureSensor* temperatureSensor = NULL;
 
     try {
         temperatureSensor = new upm::BME280(mraa_get_sub_platform_id(FT4222_I2C_BUS));
@@ -73,23 +73,26 @@ getTemperatureSensor()
 int
 main()
 {
-    upm::ITemperatureSensor* temperatureSensor = getTemperatureSensor();
+    upm::iTemperatureSensor* sensor = getTemperatureSensor();
-    if (temperatureSensor == NULL) {
+
+    if (sensor == NULL) {
         std::cout << "Temperature sensor not detected" << std::endl;
         return 1;
     }
-    std::cout << "Temperature sensor " << temperatureSensor->getModuleName() << " detected"
+
-              << std::endl;
+    std::cout << "Temperature sensor " << sensor->Name() << " detected" << std::endl;
-    while (true) {
+
     try {
-            int value = temperatureSensor->getTemperatureCelsius();
+        std::map<std::string, float> values = sensor->TemperatureAll();
-            std::cout << "Temperature = " << value << "C" << std::endl;
+        for (std::map<std::string, float>::const_iterator it = values.begin();
+                it != values.end(); ++it)
+            std::cout << it->first << " = " << it->second
+                << sensor->Unit(it->first) << std::endl;
     } catch (std::exception& e) {
         std::cerr << e.what() << std::endl;
     }
-        upm_delay(1);
+
-    }
+    delete sensor;
-    delete temperatureSensor;
     return 0;
 }
 

examples/c++/ims.cxx

@@ -47,7 +47,7 @@ main(int argc, char** argv)
     //! [Interesting]
 
     // Instantiate a IMS instance using i2c bus 0 and default address
-    upm::IMS sensor(0);
+    upm::IMS sensor("i:0:0x20");
 
     int i2c_addr_cur = IMS_ADDRESS_DEFAULT + 1;
     while (shouldRun) {

examples/c++/noelstemplightreader.cxx

@@ -0,0 +1,49 @@
+#include <iostream>
+#include <unistd.h>
+
+#include "core/iUpmObject.hpp"
+#include "noelstemplightreader.hpp"
+
+void printMap(upm::NoelsTempLightReader &sensor, std::map<std::string, float> &data)
+{
+    if (data.empty())
+        std::cout << "Empty map" << std::endl;
+    for (std::map<std::string, float>::const_iterator it = data.begin();
+            it != data.end(); ++it)
+    {
+        std::cout << "label: " << it->first << ", value: " << it->second
+            << ", unit: " << sensor.Unit(it->first) << std::endl;
+    }
+    std::cout << std::endl;
+}
+
+int main ()
+{
+    upm::NoelsTempLightReader sensor;
+    std::cout << "iUpmObject JsonDefinition..." << std::endl << ((upm::iUpmObject&)sensor).JsonDefinition() << std::endl << std::endl;
+    std::cout << "iSensorType JsonDefinition..." << std::endl << ((upm::iSensorType&)sensor).JsonDefinition() << std::endl << std::endl;
+    std::cout << "iMraa JsonDefinition..." << std::endl << ((upm::iMraa&)sensor).JsonDefinition() << std::endl << std::endl;
+    std::cout << "NoelsTempLightReader JsonDefinition..." << std::endl << sensor.JsonDefinition() << std::endl << std::endl;
+
+    std::cout << "Read all light values..." << std::endl;
+    std::map<std::string, float> values = sensor.LightAll();
+    printMap(sensor, values);
+
+    std::cout << "Read a single light value for light0..." << std::endl;
+    std::cout << "Single value = " << sensor.LightForSource("light0") << std::endl << std::endl;
+
+    try
+    {
+        std::cout << "Read a single light value for lightX (doesn't exist)..." << std::endl;
+        sensor.LightForSource("lightX");
+    }
+    catch (const std::exception& e) { std::cout << e.what() << std::endl << std::endl;}
+
+    std::cout << "Read a light value for lightX (doesn't exist)..." << std::endl;
+    values = sensor.LightForSources(std::vector<std::string>({"lightX"}));
+    printMap(sensor, values);
+
+    std::cout << "Read all values as JsonDefinition..." << std::endl << sensor.JsonValues() << std::endl;
+
+    return 0;
+}

examples/c++/servo-es08a.cxx

@@ -31,7 +31,7 @@ int
 main(int argc, char** argv)
 {
     //! [Interesting]
-    upm::ES08A servo(5);
+    upm::ES08A servo("p:5");
 
     // Sets the shaft to 180, then to 90, then to 0,
     // then back to 90, and finally back to 180,

examples/c++/t6713-co2-sensor.cxx

@@ -42,18 +42,18 @@ main()
     /* Create an instance of the T6713 sensor */
     upm::T6713 sensor(EDISON_I2C_BUS);
 
-    /* Show usage from the ICO2Sensor interface */
+    /* Show usage from the iCO2Sensor interface */
-    upm::ICO2Sensor* cO2Sensor = static_cast<upm::ICO2Sensor*>(&sensor);
+    upm::iCO2Sensor* cO2Sensor = static_cast<upm::iCO2Sensor*>(&sensor);
 
     if (cO2Sensor == NULL) {
         std::cout << "CO2 sensor not detected" << std::endl;
         return 1;
     }
-    std::cout << "CO2 sensor " << cO2Sensor->getModuleName() << " detected" << std::endl;
+    std::cout << "CO2 sensor " << cO2Sensor->Name() << " detected" << std::endl;
     while (true) {
         try {
-            uint16_t value = cO2Sensor->getPpm();
+            uint16_t value = cO2Sensor->CO2ForSource(cO2Sensor->Sources()[0]);
-            std::cout << "CO2 level = " << value << " ppm" << std::endl;
+            std::cout << "CO2 level = " << value << cO2Sensor->Units()[0] << std::endl;
         } catch (std::exception& e) {
             std::cerr << e.what() << std::endl;
         }

examples/java/BME280_Interface_Example.java

@@ -24,7 +24,7 @@
  */
 
 import upm_bmp280.*;
-import upm_interfaces.*;
+import upm_core.*;
 
 public class BME280_Interface_Example
 {
@@ -35,9 +35,9 @@ public class BME280_Interface_Example
         // Instantiate a BME280 instance using default i2c bus and address
         BME280 sensor = new BME280();
 
-        ITemperatureSensor t_sensor = sensor;
+        iTemperatureSensor t_sensor = sensor;
-        IHumiditySensor h_sensor = sensor;
+        iHumiditySensor h_sensor = sensor;
-        IPressureSensor p_sensor = sensor;
+        iPressureSensor p_sensor = sensor;
 
         // For SPI, bus 0, you would pass -1 as the address, and a
         // valid pin for CS:
@@ -51,15 +51,15 @@ public class BME280_Interface_Example
                 System.out.println("Calling Interface Functions: ");
 
                 System.out.println("Compensation Temperature: "
-                                   + t_sensor.getTemperatureCelsius()
+                                   + t_sensor.TemperatureForSource("temperature")
                                    + " C / ");
 
                 System.out.println("Pressure: "
-                                   + p_sensor.getPressurePa()
+                                   + p_sensor.PressureForSource("pressure")
                                    + " Pa");
 
                 System.out.println("Humidity: "
-                                   + h_sensor.getHumidityRelative()
+                                   + h_sensor.HumidityForSource("humidity")
                                    + " %RH");
 
                 System.out.println();

examples/java/CMakeLists.txt

@@ -24,9 +24,9 @@ include(UseJava)
 #   add_example(SensorFooExample sensorfoo)
 #
 #   # Creates SensorFooExample JAVA target, depends on targets: sensorfoo,
-#   # and interfaces and will add both upm_sensorfoo.jar and upm_interfaces.jar
+#   # and core and will add both upm_sensorfoo.jar and upm_core.jar
 #   # to the javac classpath.
-#   add_example(SensorFooExample "sensorfoo;interfaces"")
+#   add_example(SensorFooExample "sensorfoo;core"")
 #
 function(add_example example_class_name dependency_list)
     set(example_file "${example_class_name}.java")
@@ -68,7 +68,7 @@ add_example(A110X_Example a110x)
 add_example(A110X_intr_Example a110x)
 add_example(Ad8232_Example ad8232)
 add_example(ADC121C021_Example adc121c021)
-add_example(Ads1015_Example "ads1x15;interfaces")
+add_example(Ads1015_Example "ads1x15;core")
 add_example(Ads1115_Example ads1x15)
 add_example(Adxl345_Example adxl345)
 add_example(AM2315_Example am2315)
@@ -78,13 +78,13 @@ add_example(BH1750_Example bh1750)
 add_example(BISS0001_Example biss0001)
 add_example(BMA250E_Example bma250e)
 add_example(BMC150_Example bmx055)
-add_example(BME280_Example "bmp280;interfaces")
+add_example(BME280_Example "bmp280;core")
 add_example(BMG160_Example bmg160)
 add_example(BMI055_Example bmx055)
 add_example(BMI160_Example bmi160)
 add_example(BMM150_Example bmm150)
-add_example(BMP280_Example "bmp280;interfaces")
+add_example(BMP280_Example "bmp280;core")
-add_example(BMPX8X_Example "bmpx8x;interfaces")
+add_example(BMPX8X_Example "bmpx8x;core")
 add_example(BMX055_Example bmx055)
 add_example(BNO055_Example bno055)
 add_example(Button_Example button)
@@ -101,7 +101,7 @@ add_example(ECS1030_Example ecs1030)
 add_example(EHR_Example ehr)
 add_example(Emg_Example emg)
 add_example(ENC03R_Example enc03r)
-add_example(ES08A_Example "servo;interfaces")
+add_example(ES08A_Example "servo;core")
 add_example(FlexSensor_Example flex)
 add_example(Gp2y0a_Example gp2y0a)
 add_example(GroveButton_Example grove)
@@ -229,9 +229,9 @@ add_example(YG1006_Example yg1006)
 add_example(ZFM20_Example zfm20)
 
 if(SWIG_VERSION VERSION_GREATER 3.0.8)
-    add_example(BME280_Interface_Example "bmp280;interfaces")
+    add_example(BME280_Interface_Example "bmp280;core")
-    add_example(IMS_Example "ims;interfaces")
+    add_example(IMS_Example "ims;core")
-    add_example(RHUSB_Example "rhusb;interfaces")
+    add_example(RHUSB_Example "rhusb;core")
 endif()
 
 if (OPENZWAVE_FOUND)

examples/java/IMS_Example.java

@@ -22,8 +22,6 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-import upm_ims.IMS;
-
 public class IMS_Example
 {
     public static void main(String[] args) throws InterruptedException
@@ -31,18 +29,18 @@ public class IMS_Example
         // ! [Interesting]
 
         // Instantiate a IMS instance using bus 0 and default i2c address
-        IMS sensor = new IMS((short)0);
+        upm_ims.IMS sensor = new upm_ims.IMS((short)0);
 
         while (true)
         {
             System.out.println("Version: "
-                    + sensor.get_version()
+                    + upm_ims.javaupm_ims.LibraryVersion()
                     + " light: "
-                    + sensor.get_light()
+                    + sensor.LightForSource("light")
                     + " moisture: "
-                    + sensor.get_moisture()
+                    + sensor.MoistureForSource("moisture")
                     + " temp: "
-                    + sensor.get_temperature()
+                    + sensor.TemperatureForSource("temperature")
                     + " C");
 
             Thread.sleep(1000);

examples/java/NoelsTempLightReaderSample.java

@@ -0,0 +1,42 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Author: Your Full Name <your@email.address>
+ * Copyright (c) <year> <copyright holder>
+ *
+ * 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.
+ */
+
+import upm_noelstemplightreader.*;
+
+public class NoelsTempLightReaderSample {
+    public static void main (String args[]) throws InterruptedException {
+        //! [Interesting]
+        // Instantiate new sensor instance
+        upm_noelstemplightreader.NoelsTempLightReader sensor = new upm_noelstemplightreader.NoelsTempLightReader();
+
+        while (true) {
+
+            //System.out.println("NoelsTempLightReader says: " + sensor.Name());
+
+            // Repeate every 2 seconds
+            Thread.sleep(2000);
+        }
+        //! [Interesting]
+    }
+}

examples/java/RHUSB_Example.java

@@ -39,6 +39,12 @@ public class RHUSB_Example {
 		// Instantiate an RHUSB instance on defaultDev
 		upm_rhusb.RHUSB sensor = new upm_rhusb.RHUSB(defaultDev);
 
+		// Print out info from the sensor core
+		System.out.println("UPM Version:" + System.lineSeparator()
+			+ upm_rhusb.javaupm_rhusb.LibraryVersion() + System.lineSeparator());
+		System.out.println("JSON Definition:" + System.lineSeparator()
+			+ sensor.JsonDefinition() + System.lineSeparator());
+
 		// output the firmware ID
 		System.out.println("Firmware ID: " + sensor.getFirmwareID());
 

examples/javascript/noelstemplightreader.js

@@ -0,0 +1,40 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Author: Your Full Name <your@email.address>
+ * Copyright (c) <year> <copyright holder>
+ *
+ * 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.
+ */
+
+
+var jsupm_noelstemplightreader = require('jsupm_noelstemplightreader');
+
+// Create an instance of the sensor
+var sensor = new upm_noelstemplightreader.NoelsTempLightReader(0);
+
+loop();
+
+function loop()
+{
+    // Call a method from the noelstemplightreader
+    console.log("NoelsTempLightReader says: " + sensor.helloWorld());
+
+    // Call loop every 2 seconds
+    setTimeout(loop, 2000);
+}

examples/python/noelstemplightreader.py

@@ -0,0 +1,39 @@
+# The MIT License (MIT)
+#
+# Author: Your Full Name <your@email.address>
+# Copyright (c) <year> <copyright holder>
+#
+# 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.
+
+
+from __future__ import print_function
+import time
+from upm import pyupm_noelstemplightreader
+
+def main():
+    # Create an instance of NoelsTempLightReader
+    sensor = pyupm_noelstemplightreader.NoelsTempLightReader(0)
+
+    while True:
+        print("NoelsTempLightReader says: %s" % sensor.helloWorld)
+
+        # Repeat every 2 seconds
+        sleep(2)
+
+if __name__ == '__main__':
+    main()

scripts/build-android.sh

@@ -68,7 +68,7 @@ make -j8 -Cbuild
 # Anotate the .java src from doxygen
 find src/ -name "*.i" > build/upm.i.list
 #../doxy/doxyport build/upm.i.list \
-#  -s src/interfaces/,src/bacnetmstp,src/bmg160,src/bma250e,src/bmm150 \
+#  -s src/core/,src/bacnetmstp,src/bmg160,src/bma250e,src/bmm150 \
 #  -m doxy/samples.mapping.txt \
 #  -d build/src/ \
 #  --convert-protected-to-private \

scripts/build-doc.sh

@@ -25,7 +25,7 @@ cd ${ROOT_DIR} && make -j8 -Cbuild 2> ${BUILD_LOGS_DIR}/build-doc.log
 cd ${BUILD_DIR} && find ../src/ -name "*.i" > upm.i.list && \
 ../doxy/doxyport/doxyport upm.i.list \
     --cmake ./compile_commands.json \
-    --source ../src/interfaces/,../src/bacnetmstp,src \
+    --source ../src/core/,../src/bacnetmstp,src \
     --destination src/ \
     --convert-protected-to-private \
     --output upm-java-files.txt \

src/CMakeLists.txt

@@ -7,7 +7,8 @@ set (SWIG_CXX_DISABLE_WARNINGS -Wno-error
                                -Wno-delete-non-virtual-dtor
                                -Wno-unused-function
                                -Wno-maybe-uninitialized
-                               -Wno-strict-aliasing)
+                               -Wno-strict-aliasing
+                               -Wno-unused-but-set-variable)
 
 # If building under android, make sure swig gets an ANDROID flag
 if (ANDROID)
@@ -514,13 +515,13 @@ function(upm_swig_java)
       swig_add_library (javaupm_${libname} LANGUAGE java SOURCES ${SWIG_CURRENT_DOT_I_FILE})
     endif ()
 
-    # If the C++ target depends on C++ interfaces, make the JAVA target
+    # If the C++ target depends on C++ core, make the JAVA target
-    # depend on the JAVA interfaces
+    # depend on the JAVA core
-    if ("${_c_cxx_dependency_list}" MATCHES interfaces)
+    if ("${_c_cxx_dependency_list}" MATCHES core)
-      add_dependencies(javaupm_${libname} javaupm_interfaces)
+      add_dependencies(javaupm_${libname} javaupm_core)
-      # If this target depends on interfaces, include the java interfaces
+      # If this target depends on core, include the java core
       # target .jar file in the classpath, otherwise this variable will be empty
-      set (INTERFACES_JAR_FILE ${CMAKE_BINARY_DIR}/src/interfaces/upm_interfaces.jar)
+      set (INTERFACES_JAR_FILE ${CMAKE_BINARY_DIR}/src/core/upm_core.jar)
     endif ()
     # For linker to report unresolved symbols.  Note, there is currently no test
     # for linker flags (similar to compile files), so this is it for now.
@@ -564,10 +565,10 @@ function(upm_swig_java)
         set (JAR $ENV{JAVA_HOME_NATIVE}/bin/jar)
     endif ()
 
-    # Only include the upm_interfaces.jar in the classpath for targets which
+    # Only include the upm_core.jar in the classpath for targets which
-    # depend on the interfaces target.  This fixes an issue where javac
+    # depend on the core target.  This fixes an issue where javac
-    # complains about an empty upm_interfaces.jar when trying to build a target
+    # complains about an empty upm_core.jar when trying to build a target
-    # which does not depend on javaupm_interfaces.  If not previously set,
+    # which does not depend on javaupm_core.  If not previously set,
     # INTERFACES_JAR_FILE will be empty, and javac *should* not complain.
     add_custom_command (TARGET javaupm_${libname}
         POST_BUILD
@@ -632,12 +633,12 @@ if (BUILDSWIGNODE)
         file (COPY ${CMAKE_SOURCE_DIR}/include DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/jsupm_${libname})
         set (upm_LIB_INCLUDE_DIRS_GYP "'.',\n${upm_LIB_INCLUDE_DIRS_GYP}")
 
-        # Utilities and interfaces
+        # Utilities and core
         file (COPY ${CMAKE_SOURCE_DIR}/src/utilities DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/jsupm_${libname})
-        file (COPY ${CMAKE_SOURCE_DIR}/src/interfaces DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/jsupm_${libname})
+        file (COPY ${CMAKE_SOURCE_DIR}/src/core DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/jsupm_${libname})
         set (upm_LIB_SRCS_GYP "'utilities/upm_utilities.c',\n${upm_LIB_SRCS_GYP}")
         set (upm_LIB_INCLUDE_DIRS_GYP "'utilities',\n${upm_LIB_INCLUDE_DIRS_GYP}")
-        set (upm_LIB_INCLUDE_DIRS_GYP "'interfaces',\n${upm_LIB_INCLUDE_DIRS_GYP}")
+        set (upm_LIB_INCLUDE_DIRS_GYP "'core',\n${upm_LIB_INCLUDE_DIRS_GYP}")
 
         # Add readme, package.json for NPM and node-gyp config file
         configure_file (${PROJECT_SOURCE_DIR}/src/binding.gyp.in ${CMAKE_CURRENT_BINARY_DIR}/jsupm_${libname}/binding.gyp @ONLY)
@@ -789,6 +790,22 @@ function(upm_module_init)
   # Create the target library from src/hdrs
   add_library (${libname} SHARED ${module_src} ${module_hpp})
 
+  # Add a upm_library_globals to all C++ libraries
+  if (NOT IS_C_LIBRARY)
+    # Share some GLOBAL (per library) info with the library (UPM version and library base name)
+    target_compile_definitions(${libname}
+        PRIVATE -DUPM_LIBRARY_BASE_NAME=${libname}
+                -DUPM_VERSION_STRING=${upm_VERSION_STRING})
+
+    # Add a source file which contains the shared GLOBAL info
+    target_sources(${libname}
+        PRIVATE ${CMAKE_SOURCE_DIR}/src/upm_library_globals.cxx
+                ${CMAKE_SOURCE_DIR}/src/upm_library_globals.hpp)
+
+    # This source depends on libdl (uses dladdr), make sure to link this
+    target_link_libraries (${libname} ${CMAKE_DL_LIBS})
+  endif()
+
   # Specify the current source directory as an INTERFACE include dir.
   # This allows for transitive header dependencies via target_link_libraries
   target_include_directories(${libname} INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
@@ -855,8 +872,14 @@ function(upm_module_init)
       DESTINATION include/upm
       COMPONENT ${CMAKE_PROJECT_NAME}-dev)
 
-  # Install JSON library descriptor files into datadir (if they exist)
+  # Handle build/install for JSON library descriptor file
   if (EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${basename}.json")
+    # Copy JSON library descriptor file to binary directory (for testing/running from build dir)
+    configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${basename}.json"
+        "${CMAKE_CURRENT_BINARY_DIR}/${basename}.json"
+        COPYONLY)
+
+    # Install JSON library descriptor files into datadir (if they exist)
     install (FILES "${CMAKE_CURRENT_SOURCE_DIR}/${basename}.json"
       DESTINATION ${CMAKE_INSTALL_DATADIR}/upm/${basename}
       COMPONENT ${CMAKE_PROJECT_NAME})
@@ -908,10 +931,10 @@ if (NOT "${MODULE_LIST}" MATCHES ";utilities;")
   set(MODULE_LIST "utilities;${MODULE_LIST}")
 endif()
 
-# If the module list does NOT include the interfaces directory, prepend it since
+# If the module list does NOT include the core directory, prepend it since
-# some sensor library targets depend on interfaces
+# some sensor library targets depend on core
-if (NOT "${MODULE_LIST}" MATCHES ";interfaces;")
+if (NOT "${MODULE_LIST}" MATCHES ";core;")
-  set(MODULE_LIST "interfaces;${MODULE_LIST}")
+  set(MODULE_LIST "core;${MODULE_LIST}")
 endif()
 
 # Iterate over each directory in MODULE_LIST

src/ads1x15/CMakeLists.txt

@@ -2,7 +2,7 @@ set (libname "ads1x15")
 set (libdescription "Texas Instruments I2C ADC Library")
 set (module_src ${libname}.cxx ads1115.cxx ads1015.cxx)
 set (module_hpp ${libname}.hpp ads1115.hpp ads1015.hpp)
-upm_module_init(interfaces mraa)
+upm_module_init(core mraa)
 compiler_flag_supported(CXX is_supported -Wno-overloaded-virtual)
 if (is_supported)
     target_compile_options(${libname} PUBLIC -Wno-overloaded-virtual)

src/ads1x15/ads1015.cxx

@@ -40,7 +40,7 @@ ADS1015::ADS1015(int bus, uint8_t address, float vref) : ADS1X15(bus, address) {
     m_bitShift = 4;
     ADS1X15::getCurrentConfig();
     if (vref < 0.0 || vref > 6.144)
-        UPM_THROW("vref out of range");
+        throw std::runtime_error(std::string(__FUNCTION__) + " : vref out of range");
     else if (vref > 4.096)
         setGain(GAIN_TWOTHIRDS);
     else if (vref > 2.048)
@@ -57,12 +57,6 @@ ADS1015::ADS1015(int bus, uint8_t address, float vref) : ADS1X15(bus, address) {
 
 ADS1015::~ADS1015(){};
 
-const char*
-ADS1015::getModuleName() {
-    return m_name.c_str();
-}
-
-
 unsigned int
 ADS1015::getNumInputs() {
     return 4;
@@ -73,7 +67,7 @@ ADS1015::getResolutionInBits() {
     return 12;
 }
 
-uint16_t
+unsigned int
 ADS1015::getRawValue(unsigned int input) {
     ADS1X15::ADSMUXMODE mode = getMuxMode(input);
     updateConfigRegister((m_config_reg & ~ADS1X15_MUX_MASK) | mode, true);
@@ -163,7 +157,7 @@ ADS1015::getMuxMode(unsigned int input) {
     case 3:
         return SINGLE_3;
     default:
-        UPM_THROW("Invalid input");
+        throw std::runtime_error(std::string(__FUNCTION__) + " : Invalid input");
     }
 }
 

src/ads1x15/ads1015.hpp

@@ -26,7 +26,7 @@
 #pragma once
 
 #include "ads1x15.hpp"
-#include "interfaces/iADC.hpp"
+#include "iADC.hpp"
 
 #define ADS1015_VREF 2.048
 
@@ -85,7 +85,7 @@ namespace upm {
      * @snippet ads1x15-ads1015.cxx Interesting
      * @snippet ads1x15-adc-sensor.cxx Interesting
      */
-    class ADS1015 : public ADS1X15, public IADC {
+    class ADS1015 : public ADS1X15, public iADC {
 
         public:
 
@@ -130,6 +130,9 @@ namespace upm {
              */
             ~ADS1015 ();
 
+            virtual std::string Name() {return "ADS1015";}
+            virtual std::string Description() {return "12-bit ADC with integrated MUX, PGA, comparator, oscillator, and reference";}
+
             /**
              * Sets the sample rate of the device. This function
              * needs to be overridden in subclasses as the ADS1115 and
@@ -151,7 +154,7 @@ namespace upm {
              *
              * @return current conversion value
              */
-            uint16_t getRawValue(unsigned int input);
+            unsigned int getRawValue(unsigned int input);
 
             /**
              * Read current voltage for current single ended analogue input
@@ -167,14 +170,6 @@ namespace upm {
              */
             unsigned int getResolutionInBits();
 
-            /**
-             * Returns module name
-             *
-             * @return modulename as const char*
-             */
-            const char* getModuleName();
-
-
         protected:
             float getMultiplier(void);
             void setDelay(void);

src/ads1x15/ads1x15.i

@@ -1,28 +1,12 @@
 %include "../common_top.i"
+%include "iADC.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%import "../interfaces/javaupm_iADC.i"
-%typemap(javaimports) SWIGTYPE %{import upm_interfaces.*;%}
-
 JAVA_JNI_LOADLIBRARY(javaupm_ads1x15)
 #endif
 /* END Java syntax */
 
-/* BEGIN Javascript syntax  ------------------------------------------------- */
-#ifdef SWIGJAVASCRIPT
-%include "iModuleStatus.hpp"
-%include "iADC.hpp"
-#endif
-/* END Javascript syntax */
-
-/* BEGIN Python syntax  ----------------------------------------------------- */
-#ifdef SWIGPYTHON
-%include "iModuleStatus.hpp"
-%include "iADC.hpp"
-#endif
-/* END Python syntax */
-
 /* BEGIN Common SWIG syntax ------------------------------------------------- */
 %{
 #include "ads1x15.hpp"

src/bmp280/CMakeLists.txt

@@ -5,5 +5,5 @@ upm_mixed_module_init (NAME bmp280
     CPP_HDR bmp280.hpp bme280.hpp
     CPP_SRC bmp280.cxx bme280.cxx
     CPP_WRAPS_C
-    REQUIRES mraa interfaces utilities-c)
+    REQUIRES mraa core utilities-c)
 target_link_libraries(${libnamec} m)

src/bmp280/bme280.cxx

@@ -54,3 +54,17 @@ void BME280::setOversampleRateHumidity(BME280_OSRS_H_T rate)
 {
     bmp280_set_oversample_rate_humidity(m_bmp280, rate);
 }
+
+std::map<std::string, float> BME280::HumidityForSources(std::vector<std::string> sources)
+{
+    std::map<std::string, float> ret;
+
+    if (std::find(sources.begin(), sources.end(), "humidity") != sources.end())
+    {
+        update();
+        ret["humidity"] = getHumidity();
+    }
+
+    return ret;
+}
+

src/bmp280/bme280.hpp

@@ -26,7 +26,7 @@
 #pragma once
 
 #include <string>
-#include "interfaces/iHumiditySensor.hpp"
+#include "iHumiditySensor.hpp"
 
 #include "bmp280.hpp"
 
@@ -57,7 +57,7 @@ namespace upm {
      * @snippet bmp280-bme280.cxx Interesting
      */
 
-    class BME280 : public BMP280, public IHumiditySensor {
+    class BME280 : public virtual BMP280, public virtual iHumiditySensor {
     public:
 
         /**
@@ -88,6 +88,12 @@ namespace upm {
          */
         virtual ~BME280();
 
+        virtual std::string Name () {return "BME280";}
+        virtual std::string Description () {return "Digital absolute pressure sensor with humidity";}
+
+        /* Provide an implementation of a method to get sensor values by source */
+        virtual std::map<std::string, float> HumidityForSources(std::vector<std::string> sources);
+
         /**
          * Return the current measured relative humidity.  update()
          * must have been called prior to calling this method.  If the
@@ -108,12 +114,6 @@ namespace upm {
          */
         void setOversampleRateHumidity(BME280_OSRS_H_T rate);
 
-        // Interface support
-        const char *getModuleName()
-        {
-            return "BME280";
-        };
-
         int getHumidityRelative()
         {
             return int(getHumidity());

src/bmp280/bmp280.cxx

@@ -48,6 +48,8 @@ BMP280::BMP280(int bus, int addr, int cs) :
     if (!m_bmp280)
         throw std::runtime_error(string(__FUNCTION__)
                                  + ": bmp280_init() failed");
+    AddSource("temperature", "C");
+    AddSource("pressure", "Pa");
 }
 
 BMP280::~BMP280()
@@ -150,3 +152,29 @@ void BMP280::setUsageMode(BMP280_USAGE_MODE_T mode)
     bmp280_set_usage_mode(m_bmp280, mode);
 }
 
+std::map<std::string, float> BMP280::TemperatureForSources(std::vector<std::string> sources)
+{
+    std::map<std::string, float> ret;
+
+    if (std::find(sources.begin(), sources.end(), "temperature") != sources.end())
+    {
+        update();
+        ret["temperature"] = getTemperature(false);
+    }
+
+    return ret;
+}
+
+std::map<std::string, float> BMP280::PressureForSources(std::vector<std::string> sources)
+{
+    std::map<std::string, float> ret;
+
+    if (std::find(sources.begin(), sources.end(), "pressure") != sources.end())
+    {
+        update();
+        ret["pressure"] = getPressure();
+    }
+
+    return ret;
+}
+

src/bmp280/bmp280.hpp

@@ -28,8 +28,8 @@
 #include <string>
 #include "bmp280.h"
 
-#include "interfaces/iPressureSensor.hpp"
+#include "iPressureSensor.hpp"
-#include "interfaces/iTemperatureSensor.hpp"
+#include "iTemperatureSensor.hpp"
 
 namespace upm {
 
@@ -67,7 +67,7 @@ namespace upm {
      * @snippet bmp280.cxx Interesting
      */
 
-    class BMP280 : public ITemperatureSensor, public IPressureSensor {
+    class BMP280 : public virtual iTemperatureSensor, public virtual iPressureSensor {
     public:
 
         /**
@@ -93,6 +93,16 @@ namespace upm {
         BMP280(int bus=BMP280_DEFAULT_I2C_BUS, int addr=BMP280_DEFAULT_ADDR,
                int cs=-1);
 
+        virtual std::string Name () {return "BMP280";}
+
+        virtual std::string Description () {return "Digital absolute pressure 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);
+
         /**
          * BMP280 Destructor.
          */
@@ -217,12 +227,6 @@ namespace upm {
         void setMeasureMode(BMP280_MODES_T mode);
 
 
-        // Interface support
-        const char *getModuleName()
-        {
-            return "BMP280";
-        };
-
         int getTemperatureCelsius()
         {
             return int(getTemperature(false));

src/bmp280/bmp280.i

@@ -1,40 +1,17 @@
 %include "../common_top.i"
+%include "iHumiditySensor.i"
+%include "iTemperatureSensor.i"
+%include "iPressureSensor.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%import "../interfaces/javaupm_iTemperatureSensor.i"
-%import "../interfaces/javaupm_iHumiditySensor.i"
-%import "../interfaces/javaupm_iPressureSensor.i"
-
 %include "arrays_java.i";
 %include "../java_buffer.i"
 
-%typemap(javaimports) SWIGTYPE %{
-    import upm_interfaces.*;
-%}
-
 JAVA_JNI_LOADLIBRARY(javaupm_bmp280)
 #endif
 /* END Java syntax */
 
-/* BEGIN Javascript syntax  ------------------------------------------------- */
-#ifdef SWIGJAVASCRIPT
-%include "iModuleStatus.hpp"
-%include "iTemperatureSensor.hpp"
-%include "iPressureSensor.hpp"
-%include "iHumiditySensor.hpp"
-#endif
-/* END Javascript syntax */
-
-/* BEGIN Python syntax  ----------------------------------------------------- */
-#ifdef SWIGPYTHON
-%include "iModuleStatus.hpp"
-%include "iTemperatureSensor.hpp"
-%include "iPressureSensor.hpp"
-%include "iHumiditySensor.hpp"
-#endif
-/* END Python syntax */
-
 /* BEGIN Common SWIG syntax ------------------------------------------------- */
 %{
 #include "bmp280_regs.h"

src/bmpx8x/CMakeLists.txt

@@ -6,5 +6,5 @@ upm_mixed_module_init (NAME bmpx8x
     CPP_SRC bmpx8x.cxx
     FTI_SRC bmpx8x_fti.c
     CPP_WRAPS_C
-    REQUIRES mraa interfaces utilities-c)
+    REQUIRES mraa core utilities-c)
 target_link_libraries(${libnamec} m)

src/bmpx8x/bmpx8x.cxx

@@ -44,6 +44,9 @@ BMPX8X::BMPX8X (int bus, int addr) :
     if (!m_bmpx8x)
         throw std::runtime_error(string(__FUNCTION__)
                                  + ": bmpx8x_init() failed");
+
+    AddSource("temperature", "C");
+    AddSource("pressure", "Pa");
 }
 
 BMPX8X::~BMPX8X()
@@ -118,3 +121,24 @@ float BMPX8X::getAltitude(int sealevelPressure)
 {
     return bmpx8x_get_altitude(m_bmpx8x, sealevelPressure);
 }
+
+std::map<std::string, float> BMPX8X::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> BMPX8X::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/bmpx8x/bmpx8x.hpp

@@ -32,8 +32,8 @@
 
 #include "bmpx8x.h"
 
-#include "interfaces/iPressureSensor.hpp"
+#include "iPressureSensor.hpp"
-#include "interfaces/iTemperatureSensor.hpp"
+#include "iTemperatureSensor.hpp"
 
 namespace upm {
 
@@ -68,7 +68,7 @@ namespace upm {
      * @snippet bmpx8x.cxx Interesting
      */
 
-    class BMPX8X : public IPressureSensor, public ITemperatureSensor {
+    class BMPX8X : public iPressureSensor, public iTemperatureSensor {
     public:
         /**
          * Instantiates a BMPX8X object
@@ -85,6 +85,18 @@ namespace upm {
          */
         virtual ~BMPX8X();
 
+        /** Return the name of this device */
+        virtual std::string Name () {return "BMPX8X";}
+
+        /** Return the description of this device */
+        virtual std::string Description () {return "Atmospheric pressure 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);
+
         /**
          * Query the device and update the internal state.  This
          * method must be called before calling getPressure(),
@@ -178,7 +190,7 @@ namespace upm {
 
         /**
          * Return latest calculated temperature value in Celsius.  See
-         * ITemperatureSensor.
+         * iTemperatureSensor.
          *
          * @return The current temperature in Celsius.
          */
@@ -190,7 +202,7 @@ namespace upm {
 
         /**
          * Return latest calculated pressure value in Pascals.  See
-         * IPressureSensor.
+         * iPressureSensor.
          *
          * @return The current pressure in Pascals.
          */
@@ -200,16 +212,6 @@ namespace upm {
             return getPressure();
         }
 
-        /**
-         * Returns the name of module.
-         *
-         * @return The name of the module.
-         */
-        const char *getModuleName()
-        {
-            return "BMPX8X";
-        }
-
     protected:
         // our underlying C context.
         bmpx8x_context m_bmpx8x;

src/bmpx8x/bmpx8x.i

@@ -1,23 +1,13 @@
 %include "../common_top.i"
+%include "iPressureSensor.i"
+%include "iTemperatureSensor.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%import "../interfaces/javaupm_iPressureSensor.i"
-%typemap(javaimports) SWIGTYPE %{import upm_interfaces.*;%}
-%import "../interfaces/javaupm_iTemperatureSensor.i"
-
 JAVA_JNI_LOADLIBRARY(javaupm_bmpx8x)
 #endif
 /* END Java syntax */
 
-/* BEGIN Python syntax  ----------------------------------------------------- */
-#ifdef SWIGPYTHON
-%include "iModuleStatus.hpp"
-%include "iTemperatureSensor.hpp"
-%include "iPressureSensor.hpp"
-#endif
-/* END Python syntax */
-
 /* BEGIN Common SWIG syntax ------------------------------------------------- */
 %{
 #include "bmpx8x_defs.h"

src/common_top.i

@@ -2,15 +2,14 @@
 %include "cpointer.i"
 %include "stdint.i"
 %include "typemaps.i"
+
+#if SWIGJAVA
+%include "java_exceptions.i"
+#else
 %include "upm_exception.i"
+#endif
 
-/* Import additional SWIG helps (not exposed in wrapper) */
+%import "_upm.i"
-%import _upm.i
-
-%{
-#include "version.hpp"
-%}
-%include "version.hpp"
 
 %apply int { speed_t };
 %apply int { mraa_result_t };
@@ -35,7 +34,6 @@ void cleanUp()
     {;}
 }
 %}
-void cleanUp();
 #endif
 
 #if (SWIGJAVA)
@@ -43,7 +41,7 @@ void cleanUp();
 %typemap(jstype) jobject runnable "java.lang.Runnable"
 #endif
 
-// Disable nested struct warnings
+/* Disable nested struct warnings */
 #pragma SWIG nowarn=312,325
 
 #if SWIGPYTHON

src/core/.core.i

@@ -0,0 +1,11 @@
+/* Any java package including an interface .i requires an import for
+   upm_core java package in the JNI source */
+%pragma(java) jniclassimports=%{
+import upm_core.*;
+%}
+
+/* Add the global UPM methods to all wrappers */
+%{
+#include "../upm_library_globals.hpp"
+%}
+%include "../upm_library_globals.hpp"

src/core/.iADC.i

@@ -0,0 +1,13 @@
+%include ".iSensorType.i"
+
+#if (SWIGJAVA)
+#if SWIG_VERSION >= 0x030009
+%include "swiginterface.i"
+%interface_impl(upm::iADC);
+#endif
+#endif
+
+%{
+#include "iADC.hpp"
+%}
+%include "iADC.hpp"

src/core/.iActuatorType.i

@@ -0,0 +1,14 @@
+%include ".iUpmObject.i"
+
+#if (SWIGJAVA)
+#if SWIG_VERSION >= 0x030009
+%include "swiginterface.i"
+%interface(upm::iActuatorType);
+#endif
+%ignore upm::iUpmObject::JsonDefinition;
+#endif
+
+%{
+#include "iActuatorType.hpp"
+%}
+%include "iActuatorType.hpp"

src/core/.iCO2Sensor.i

@@ -0,0 +1,13 @@
+%include ".iSensorType.i"
+
+#if (SWIGJAVA)
+#if SWIG_VERSION >= 0x030009
+%include "swiginterface.i"
+%interface_impl(upm::iCO2Sensor);
+#endif
+#endif
+
+%{
+#include "iCO2Sensor.hpp"
+%}
+%include "iCO2Sensor.hpp"

src/core/.iHumiditySensor.i

@@ -0,0 +1,29 @@
+%include ".iSensorType.i"
+
+#if (SWIGJAVA)
+#if SWIG_VERSION >= 0x030009
+%include "swiginterface.i"
+%interface_impl(upm::iHumiditySensor);
+#endif
+#endif
+
+%{
+#include "iHumiditySensor.hpp"
+%}
+%include "iHumiditySensor.hpp"
+
+
+/* FOR JAVASCRIPT ONLY!
+If there's a better way to allow multiple inheritance w/javascript, the
+following macro definitions can go away.
+    usage: INHERIT_IHUMIDITYSENSOR(upm::MySensorClass)
+*/
+%define INHERIT_IHUMIDITYSENSOR(YourClassName)
+%extend YourClassName {
+/*using upm::iSensorType::JsonDefinition;*/
+/*using upm::iSensorType::JsonValues;*/
+using upm::iHumiditySensor::JsonHumidity;
+using upm::iHumiditySensor::HumidityAll;
+using upm::iHumiditySensor::HumidityForSources;
+}
+%enddef

src/core/.iLightController.i

@@ -0,0 +1,13 @@
+%include ".iSensorType.i"
+
+#if (SWIGJAVA)
+#if SWIG_VERSION >= 0x030009
+%include "swiginterface.i"
+%interface_impl(upm::iLightController);
+#endif
+#endif
+
+%{
+#include "iLightController.hpp"
+%}
+%include "iLightController.hpp"

src/core/.iLightSensor.i

@@ -0,0 +1,13 @@
+%include ".iSensorType.i"
+
+#if (SWIGJAVA)
+#if SWIG_VERSION >= 0x030009
+%include "swiginterface.i"
+%interface_impl(upm::iLightSensor);
+#endif
+#endif
+
+%{
+#include "iLightSensor.hpp"
+%}
+%include "iLightSensor.hpp"

src/core/.iMoistureSensor.i

@@ -0,0 +1,13 @@
+%include ".iSensorType.i"
+
+#if (SWIGJAVA)
+#if SWIG_VERSION >= 0x030009
+%include "swiginterface.i"
+%interface_impl(upm::iMoistureSensor);
+#endif
+#endif
+
+%{
+#include "iMoistureSensor.hpp"
+%}
+%include "iMoistureSensor.hpp"

src/core/.iMraa.i

@@ -0,0 +1,37 @@
+%include ".iUpmObject.i"
+
+#if (SWIGJAVA)
+#if SWIG_VERSION >= 0x030009
+%include "swiginterface.i"
+%interface_impl(upm::iMraa);
+#endif
+#endif
+
+%{
+#include "iMraa.hpp"
+%}
+%include "iMraa.hpp"
+
+typedef std::vector<mraa::Aio*> vec_aio;
+%template(vec_aio) std::vector<mraa::Aio*>;
+
+typedef std::vector<mraa::Gpio*> vec_gpio;
+%template(vec_gpio) std::vector<mraa::Gpio*>;
+
+typedef std::vector<mraa::I2c*> vec_i2c;
+%template(vec_i2c) std::vector<mraa::I2c*>;
+
+typedef std::vector<mraa::Iio*> vec_iio;
+%template(vec_iio) std::vector<mraa::Iio*>;
+
+typedef std::vector<mraa::Pwm*> vec_pwm;
+%template(vec_pwm) std::vector<mraa::Pwm*>;
+
+typedef std::vector<mraa::Spi*> vec_spi;
+%template(vec_spi) std::vector<mraa::Spi*>;
+
+typedef std::vector<mraa::Uart*> vec_uart;
+%template(vec_uart) std::vector<mraa::Uart*>;
+
+typedef std::vector<mraa::UartOW*> vec_uartow;
+%template(vec_uartow) std::vector<mraa::UartOW*>;

src/core/.iPressureSensor.i

@@ -0,0 +1,13 @@
+%include ".iSensorType.i"
+
+#if (SWIGJAVA)
+#if SWIG_VERSION >= 0x030009
+%include "swiginterface.i"
+%interface_impl(upm::iPressureSensor);
+#endif
+#endif
+
+%{
+#include "iPressureSensor.hpp"
+%}
+%include "iPressureSensor.hpp"

src/core/.iSensorType.i

@@ -0,0 +1,14 @@
+%include ".iUpmObject.i"
+
+#if (SWIGJAVA)
+#if SWIG_VERSION >= 0x030009
+%include "swiginterface.i"
+%interface(upm::iSensorType);
+#endif
+%ignore upm::iUpmObject::JsonDefinition;
+#endif
+
+%{
+#include "iSensorType.hpp"
+%}
+%include "iSensorType.hpp"

src/core/.iServoActuator.i

@@ -0,0 +1,13 @@
+%include ".iActuatorType.i"
+
+#if (SWIGJAVA)
+#if SWIG_VERSION >= 0x030009
+%include "swiginterface.i"
+%interface_impl(upm::iServoActuator);
+#endif
+#endif
+
+%{
+#include "iServoActuator.hpp"
+%}
+%include "iServoActuator.hpp"

src/core/.iTemperatureSensor.i

@@ -0,0 +1,28 @@
+%include ".iSensorType.i"
+
+#if (SWIGJAVA)
+#if SWIG_VERSION >= 0x030009
+%include "swiginterface.i"
+%interface_impl(upm::iTemperatureSensor);
+#endif
+#endif
+
+%{
+#include "iTemperatureSensor.hpp"
+%}
+%include "iTemperatureSensor.hpp"
+
+/* FOR JAVASCRIPT ONLY!
+If there's a better way to allow multiple inheritance w/javascript, the
+following macro definitions can go away.
+    usage: INHERIT_ITEMPERATURESENSOR(upm::MySensorClass)
+*/
+%define INHERIT_ITEMPERATURESENSOR(YourClassName)
+%extend YourClassName {
+/*using upm::iSensorType::JsonDefinition;*/
+/*using upm::iSensorType::JsonValues;*/
+using upm::iTemperatureSensor::JsonTemperature;
+using upm::iTemperatureSensor::TemperatureAll;
+using upm::iTemperatureSensor::TemperatureForSources;
+}
+%enddef

src/core/.iUpmObject.i

@@ -0,0 +1,68 @@
+%include "../common_top.i"
+
+%include "std_vector.i"
+%include "std_map.i"
+
+/* Using the JAVA class types outside the core package requires
+   getCPtr to be public, modify that here */
+%typemap(javabody) SWIGTYPE %{
+private long swigCPtr;
+protected boolean swigCMemOwn;
+public $javaclassname(long cPtr, boolean cMemoryOwn) {
+    swigCMemOwn = cMemoryOwn;
+    swigCPtr = cPtr;
+}
+public static long getCPtr($javaclassname obj) {
+    return (obj == null) ? 0 : obj.swigCPtr;
+}
+%}
+
+typedef std::vector<std::string> vec_str;
+%template(vec_str) std::vector<std::string>;
+
+typedef std::map<std::string, float> map_str_float;
+%template(map_str_float) std::map<std::string, float>;
+
+typedef std::map<std::string, std::string> map_str_str;
+%template(map_str_str) std::map<std::string, std::string>;
+
+/* Any java package including an interface .i will import the
+   upm_core java package in the JAVA source */
+%typemap(javaimports) SWIGTYPE %{
+import upm_core.*;
+%}
+
+#if (SWIGJAVA)
+
+
+#if SWIG_VERSION >= 0x030009
+%include "swiginterface.i"
+%interface_impl(upm::iUpmObject);
+#endif
+#endif
+
+%{
+#include "iUpmObject.hpp"
+%}
+%include "iUpmObject.hpp"
+
+/* FOR JAVASCRIPT ONLY!
+   If there's a better way to allow multiple inheritance w/javascript, the
+   following macro definitions can go away.
+   usage: INHERIT_IUPMOBJECT(upm::MySensorClass)
+*/
+%define INHERIT_IUPMOBJECT(YourClassName)
+%extend YourClassName {
+using upm::iUpmObject::Description;
+using upm::iUpmObject::JsonDefinition;
+using upm::iUpmObject::Name;
+using upm::iUpmObject::initFromJsonLibDesc;
+using upm::iUpmObject::DataDirectory;
+using upm::iUpmObject::DerivedClassName;
+using upm::iUpmObject::LibraryAbsolutePath;
+using upm::iUpmObject::LibraryBaseName;
+using upm::iUpmObject::LibraryJsonFilename;
+using upm::iUpmObject::LibraryJsonRaw;
+using upm::iUpmObject::LibraryVersion;
+}
+%enddef

src/core/CMakeLists.txt

@@ -0,0 +1,38 @@
+# Create a source file for constants
+configure_file (iUpmObject_generated.cxx.in iUpmObject_generated.cxx @ONLY)
+
+upm_mixed_module_init (NAME core
+    DESCRIPTION "CXX Interface Library"
+    CPP_HDR iADC.hpp
+            iCO2Sensor.hpp
+            iHumiditySensor.hpp
+            iLightController.hpp
+            iLightSensor.hpp
+            iMoistureSensor.hpp
+            iMraa.hpp
+            iPressureSensor.hpp
+            iSensorType.hpp
+            iActuatorType.hpp
+            iServoActuator.hpp
+            iTemperatureSensor.hpp
+            iUpmObject.hpp
+    CPP_SRC "${CMAKE_CURRENT_BINARY_DIR}/iUpmObject_generated.cxx"
+            iADC.cxx
+            iCO2Sensor.cxx
+            iHumiditySensor.cxx
+            iLightController.cxx
+            iLightSensor.cxx
+            iMoistureSensor.cxx
+            iMraa.cxx
+            iPressureSensor.cxx
+            iSensorType.cxx
+            iActuatorType.cxx
+            iServoActuator.cxx
+            iTemperatureSensor.cxx
+            iUpmObject.cxx
+    REQUIRES mraa utilities-c)
+
+# Add a PUBLIC include directory to the CMAKE src dir
+target_include_directories (core
+    PUBLIC ${CMAKE_SOURCE_DIR}/src
+           ${CMAKE_BINARY_DIR}/src)

src/core/core.i

@@ -0,0 +1,25 @@
+%include "../common_top.i"
+
+#ifdef SWIGJAVA
+JAVA_JNI_LOADLIBRARY(javaupm_core)
+
+/* JAVA has multiple define collisions once these get flattened out,
+   so ignore the base implementation */
+%ignore "upm::iUpmObject::JsonDefinition";
+#endif
+
+%include ".iUpmObject.i"
+%include ".iSensorType.i"
+%include ".iTemperatureSensor.i"
+%include ".iHumiditySensor.i"
+%include ".iMraa.i"
+%include ".iADC.i"
+%include ".iPressureSensor.i"
+%include ".iMoistureSensor.i"
+%include ".iLightSensor.i"
+%include ".iLightController.i"
+%include ".iCO2Sensor.i"
+
+/* Actuator types */
+%include ".iActuatorType.i"
+%include ".iServoActuator.i"

src/core/iADC.cxx

@@ -0,0 +1,3 @@
+#include "iADC.hpp"
+
+upm::iADC::~iADC () {}

src/core/iADC.hpp

@@ -22,26 +22,24 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-
 #pragma once
+
 #include <stdint.h>
-#include "iModuleStatus.hpp"
+
+#include "iSensorType.hpp"
 
 namespace upm
 {
     /**
      * @brief Interface for ADC Sensors
      */
-
+    class iADC : public virtual iSensorType
-   class IADC : virtual public IModuleStatus
     {
         public:
             virtual unsigned int getResolutionInBits() = 0;
             virtual unsigned int getNumInputs() = 0;
-       virtual uint16_t getRawValue(unsigned int input) = 0;
+            virtual unsigned int getRawValue(unsigned int input) = 0;
             virtual float getVoltage(unsigned int input) = 0;
-       virtual ~IADC() {}
+            virtual ~iADC();
     };
-
 }
-

src/core/iADC.i

@@ -0,0 +1,2 @@
+%import (module="upm.pyupm_core") ".iADC.i"
+%include ".core.i"

src/core/iActuatorType.cxx

@@ -0,0 +1,187 @@
+#include "iActuatorType.hpp"
+#include "external/json/json.hpp"
+
+using namespace upm;
+
+namespace upm {
+
+template <typename T>
+void to_json(nlohmann::json& j, const ActuatorSink<T> &p) {
+    j = nlohmann::json{{"unit", p.unit}, {"min", p.min}, {"max", p.max}, {"accuracy", p.accuracy}};
+}
+
+template <typename T>
+void from_json(const nlohmann::json& j, ActuatorSink<T>& p) {
+    p.unit = j.at("unit").get<std::string>();
+    p.min = j.at("min").get<T>();
+    p.max = j.at("max").get<T>();
+    p.accuracy = j.at("accuracy").get<T>();
+}
+
+template <typename T>
+void to_json(nlohmann::json& j, const ActuatorCommand<T> &p) {
+    j = nlohmann::json{{"command", p.command}, {"unit", p.unit}, {"value", p.value}};
+}
+
+template <typename T>
+void from_json(const nlohmann::json& j, ActuatorCommand<T>& p) {
+    p.command= j.at("command").get<std::string>();
+    p.unit = j.at("unit").get<std::string>();
+    p.value = j.at("value").get<T>();
+}
+
+template <class T>
+std::ostream &operator<<(std::ostream& os, const ActuatorCommand<T>& ac)
+{
+    nlohmann::json jcmd = ac;
+    return os << jcmd;
+}
+
+}
+
+iActuatorType::iActuatorType()
+{
+    DEBUG_MSG("XXX");
+}
+
+iActuatorType::~iActuatorType()
+{
+    DEBUG_MSG("XXX");
+}
+
+std::string iActuatorType::LibraryJsonCommands()
+{
+    std::stringstream ss;
+    ss << this->LibraryJson()["Sensor Class"][Name()]["Commands"] << std::endl;
+    return ss.str();
+}
+
+void iActuatorType::AddCommand (std::string source, std::string unit)
+{
+    /* Add the source:unit to the map */
+    _sinks_2_units[source] = unit;
+
+    /* Each call regens the sinks and units vectors */
+    _sinks.clear();
+    _units.clear();
+
+    for(std::map<std::string, std::string>::const_iterator it = CommandMap().begin();
+            it != CommandMap().end(); ++it)
+    {
+        _sinks.push_back(it->first);
+        _units.push_back(it->second);
+    }
+
+    /* Uniquify the sinks vector */
+    std::sort(_sinks.begin(), _sinks.end());
+    _sinks.erase(std::unique(_sinks.begin(), _sinks.end()), _sinks.end());
+
+    /* Uniquify the units vector */
+    std::sort(_units.begin(), _units.end());
+    _units.erase(std::unique(_units.begin(), _units.end()), _units.end());
+}
+
+std::map <std::string, std::string> const & iActuatorType::CommandMap () const
+{ return _sinks_2_units;}
+
+std::vector <std::string> const & iActuatorType::Commands ()
+{
+    /* If there are zero sinks, look to the library json descriptor file */
+    if (_sinks.empty())
+    {
+        /* Copy all commands out of the JSON */
+        nlohmann::json j_sinks = nlohmann::json::parse(LibraryJsonCommands());
+        for (nlohmann::json::iterator it = j_sinks.begin(); it != j_sinks.end(); ++it)
+            _sinks.push_back(it.key());
+    }
+
+    return _sinks;
+}
+
+std::vector <std::string> const & iActuatorType::Units () const
+{ return _units; }
+
+std::string const iActuatorType::Unit (std::string source) const
+{
+    std::map<std::string, std::string>::const_iterator it =
+        CommandMap().find(source);
+    if (it != CommandMap().end())
+        return it->second;
+    else
+        return "";
+}
+
+bool iActuatorType::HasCommand (std::string source)
+{
+    return std::find(Commands().begin(), Commands().end(), source) != Commands().end();
+}
+
+bool iActuatorType::HasUnit (std::string unit) const
+{
+    return std::find(Units().begin(), Units().end(), unit) != Units().end();
+}
+
+std::string iActuatorType::JsonDefinition ()
+{
+    std::stringstream ss;
+
+    ss << "{" << std::endl
+        << "  \"name\" : \"" << Name() << "\"," << std::endl
+        << "  \"description\" : \"" << Description() << "\"";
+
+    if (!CommandMap().empty())
+    {
+        ss << "," << std::endl << "  \"sinks\" :" << std::endl << "  {" << std::endl;
+        for(std::map<std::string, std::string>::const_iterator it = CommandMap().begin();
+                it != CommandMap().end();)
+        {
+            ss << "    \"" << it->first << "\" : {\"units\" : \"" << it->second << "\"}";
+            if (++it != CommandMap().end())
+                ss << "," << std::endl;
+        }
+        ss << std::endl << "  }";
+    }
+    ss << std::endl << "}";
+    return ss.str();
+}
+
+void iActuatorType::JsonCommands(std::string commands)
+{
+    std::stringstream ss;
+    ss << "{" << std::endl;
+    if (!_child_value_serializers.empty())
+    {
+        /* Iterate over each serializer method */
+        for (std::map<t_getJson, iUpmObject*>::const_iterator it = _child_value_serializers.begin();
+                it != _child_value_serializers.end();)
+        {
+            // Call static method to serialize data from the derived classes
+            ss << it->first(it->second);
+            if (++it != _child_value_serializers.end()) ss << ",";
+            ss << std::endl;
+        }
+    }
+    ss << "}";
+
+    /* TODO Change this method to a command method */
+}
+
+/* Since nlohmann::json has only been fwd declared (not included in a header),
+ *  json is a partial type.  Because of this explicitly instantiate basic
+ *  types.
+*/
+template void upm::to_json(nlohmann::json& j, const ActuatorSink<int>& p);
+template void upm::from_json(const nlohmann::json& j, ActuatorSink<int>& p);
+template void upm::to_json(nlohmann::json& j, const ActuatorSink<float>& p);
+template void upm::from_json(const nlohmann::json& j, ActuatorSink<float>& p);
+template void upm::to_json(nlohmann::json& j, const ActuatorSink<double>& p);
+template void upm::from_json(const nlohmann::json& j, ActuatorSink<double>& p);
+
+template void upm::to_json(nlohmann::json& j, const ActuatorCommand<int>& p);
+template void upm::from_json(const nlohmann::json& j, ActuatorCommand<int>& p);
+template void upm::to_json(nlohmann::json& j, const ActuatorCommand<float>& p);
+template void upm::from_json(const nlohmann::json& j, ActuatorCommand<float>& p);
+template void upm::to_json(nlohmann::json& j, const ActuatorCommand<double>& p);
+template void upm::from_json(const nlohmann::json& j, ActuatorCommand<double>& p);
+
+template std::ostream &upm::operator<<(std::ostream& os, const ActuatorCommand<float>& ac);

src/core/iActuatorType.hpp

@@ -0,0 +1,156 @@
+#pragma once
+
+#include "iUpmObject.hpp"
+
+/* I/O fwd declaration header */
+#include <iosfwd>
+
+namespace upm
+{
+    template <typename T>
+    struct ActuatorSink
+    {
+        std::string unit;
+        T min;
+        T max;
+        T accuracy;
+    };
+
+    template <class T>
+    void to_json(nlohmann::json& j, const ActuatorSink<T>& p);
+
+    template <class T>
+    void from_json(const nlohmann::json& j, ActuatorSink<T>& p);
+
+    template <typename T>
+    struct ActuatorCommand
+    {
+        std::string command;
+        std::string unit;
+        T value;
+    };
+
+    template <class T>
+    void to_json(nlohmann::json& j, const ActuatorCommand<T>& p);
+
+    template <class T>
+    void from_json(const nlohmann::json& j, ActuatorCommand<T>& p);
+
+    template <class T>
+    std::ostream &operator<<(std::ostream&, const ActuatorCommand<T>&);
+
+    /**
+     * Forward declaration of iActuatorType class for ostream usage
+     */
+    class iActuatorType;
+
+    /**
+     * iActuatorType abstract class.
+     *
+     * Provides a common interface for actuator classes.  This interface is
+     * meant to be used by derived actuator categories.
+     *
+     * For example, iTemperatureSensor or iLightSensor
+     *
+     */
+    class iActuatorType : public virtual iUpmObject
+    {
+        public:
+            iActuatorType();
+
+            /**
+             * Allow derived classes to provide their own destructor
+             */
+            virtual ~iActuatorType();
+
+            std::string LibraryJsonCommands();
+
+            /**
+             * Return a map reference of sinks to units.  This map can
+             * be used to get the units for a actuator value given a source.
+             *
+             * @return Map of sinks to units.
+             */
+            const std::map<std::string, std::string>& CommandMap() const;
+
+            /**
+             * Return a vector of all known sinks for this actuator.
+             *
+             * @return Vector of sinks
+             */
+            const std::vector<std::string>& Commands();
+
+            /**
+             * Return a vector of all known units for this actuator.
+             *
+             * @return Vector of units
+             */
+            const std::vector<std::string>& Units() const;
+
+            /**
+             * Return a unit string given a single source.
+             *
+             * @return Corresponding unit for source or empty string if not found.
+             */
+            virtual const std::string Unit(std::string source) const;
+
+            /**
+             * Determine if this actuator has a given source.
+             *
+             * @return True if source string is available, fails otherwise.
+             */
+            virtual bool HasCommand(std::string source);
+
+            /**
+             * Determine if this actuator has a given unit.
+             *
+             * @return True if unit string is available, fails otherwise.
+             */
+            virtual bool HasUnit(std::string unit) const;
+
+            /**
+             * Return a JsonDefinition string which defines this actuator
+             *
+             * @return JsonDefinition-encoded string.
+             */
+            virtual std::string JsonDefinition();
+
+            /**
+             * @brief Json string of actuator data.
+             *
+             * The JsonValues call serializes ALL values returned by this actuator
+             * as a Json string.
+             *
+             * Example:
+             *
+             *      "Temperature" : {"value" : 25.0, "units" : "C"}
+             *      "Acceleration" : {"value" : 1.1, "units" : "m/s^2"}
+             *
+             *  @return Json-encoded string.
+             */
+            virtual void JsonCommands(std::string commands);
+
+        private:
+            /**
+             * Sensor source vector
+             */
+            std::vector<std::string> _sinks;
+
+            /**
+             * Sensor unit vector
+             */
+            std::vector<std::string> _units;
+
+            /**
+             * Mapping of sinks to units
+             */
+            std::map<std::string, std::string> _sinks_2_units;
+
+        protected:
+            /**
+             * Mapping of sinks to units
+             */
+            void AddCommand(std::string source, std::string unit);
+
+    };
+}

src/core/iActuatorType.i

@@ -0,0 +1,4 @@
+%import (module="upm.pyupm_core") "iActuatorType.hpp"
+%include ".iActuatorType.i"
+
+%include ".core.i"

src/core/iCO2Sensor.cxx

@@ -0,0 +1,54 @@
+#include "iCO2Sensor.hpp"
+
+using namespace upm;
+
+std::map <std::string, float> iCO2Sensor::CO2All ()
+{return CO2ForSources(Sources());}
+
+float iCO2Sensor::CO2ForSource(std::string source)
+{
+    std::map<std::string, float> vals = CO2ForSources(std::vector<std::string>(1, source));
+
+    if (vals.empty())
+    {
+        std::stringstream ss;
+        ss << __FUNCTION__ << " sensor does not provide source: '"
+            << source << ".  Valid sources are: {";
+        std::copy(Sources().begin(), Sources().end() - 1,
+                std::ostream_iterator<std::string>(ss, ", "));
+        ss << Sources().back() << "}";
+        throw std::invalid_argument(ss.str());
+    }
+
+    return vals[source];
+}
+
+iCO2Sensor::iCO2Sensor ()
+{
+    AddValueSerializer(this, &_JsonCO2);
+}
+
+std::string iCO2Sensor::JsonCO2 () const
+{
+    return "{" + _JsonCO2((iCO2Sensor*)this) + "}";
+}
+
+std::string iCO2Sensor::_JsonCO2 (iUpmObject * inst)
+{
+    std::stringstream ss;
+
+    /* Downcast to reference (throws if cast fails) */
+    iCO2Sensor& ref = dynamic_cast<iCO2Sensor&>(*inst);
+
+    std::map<std::string, float> data = ref.CO2All();
+
+    for (std::map<std::string, float>::const_iterator it = data.begin();
+            it != data.end();)
+    {
+        ss << "\"" << it->first << "\" : {\"value\" : " << it->second
+            << ", \"units\" : \"" << ref.Unit(it->first) << "\"}";
+        if (++it != data.end()) ss << "," << std::endl;
+    }
+
+    return ss.str();
+}

src/core/iCO2Sensor.hpp

@@ -0,0 +1,72 @@
+#pragma once
+
+#include <map>
+#include <vector>
+
+#include "iSensorType.hpp"
+
+namespace upm
+{
+    /**
+     * iCO2Sensor abstract class.
+     *
+     * Provides a common interface for all sensors which detect co2.
+     */
+    class iCO2Sensor : public virtual upm::iSensorType
+    {
+        public:
+            /**
+             * Read and return all values for this sensor as a map of sources
+             * to values.
+             *
+             * @return Map of sources to values.
+             */
+            virtual std::map<std::string, float> CO2All();
+
+            /**
+             * Read and return a single value from the source provided
+             *
+             * @param source Target source to read
+             *
+             * @throws std::invalid_argument If source is NOT valid for this sensor
+             *
+             * @return Map of sources to values.
+             */
+            virtual float CO2ForSource(std::string source);
+
+            /**
+             * Read and return all values for this sensor for the provided
+             * vector of sources.
+             *
+             * @param sources Vector of sources to read
+             *
+             * @return Map of sources to values.
+             */
+            virtual std::map<std::string, float> CO2ForSources(std::vector<std::string> sources) = 0;
+
+            /**
+             * Add a pointer to this type and a proxy function pointer for
+             * serializing all values from this sensor type.
+             */
+            iCO2Sensor();
+
+            /**
+             * Read and return all values for this sensor as JSON
+             *
+             * @return JSON string of co2 values
+             */
+            virtual std::string JsonCO2() const;
+
+        private:
+            /**
+             * Provide a means to read and serialize values from this sensor
+             * as a static method.  This method, along with a pointer to the
+             * class can be called from a base class
+             *
+             * @param inst Instance of iCO2Sensor to call _JsonCO2 on
+             *
+             * @return JSON string of co2 values (minus wrapping '{' and '}'
+             */
+            static std::string _JsonCO2(iUpmObject * inst);
+    };
+}

src/core/iCO2Sensor.i

@@ -0,0 +1,2 @@
+%import (module="upm.pyupm_core") ".iCO2Sensor.i"
+%include ".core.i"

src/core/iHumiditySensor.cxx

@@ -0,0 +1,51 @@
+#include "iHumiditySensor.hpp"
+
+using namespace upm;
+
+std::map <std::string, float> iHumiditySensor::HumidityAll ()
+{return HumidityForSources(Sources());}
+
+float iHumiditySensor::HumidityForSource (std::string source)
+{
+    std::map<std::string, float> vals = HumidityForSources(std::vector<std::string>(1, source));
+
+    if (vals.empty())
+    {
+        std::stringstream ss;
+        ss << __FUNCTION__ << " sensor does not provide source: '"
+            << source << ".  Valid sources are: {";
+        std::copy(Sources().begin(), Sources().end() - 1,
+                std::ostream_iterator<std::string>(ss, ", "));
+        ss << Sources().back() << "}";
+        throw std::invalid_argument(ss.str());
+    }
+
+    return vals[source];
+}
+iHumiditySensor::iHumiditySensor ()
+{
+    AddValueSerializer(this, &_JsonHumidity);
+}
+std::string iHumiditySensor::JsonHumidity () const
+{
+    return "{" + _JsonHumidity((iHumiditySensor*)this) + "}";
+}
+std::string iHumiditySensor::_JsonHumidity (iUpmObject * inst)
+{
+    std::stringstream ss;
+
+    /* Downcast to reference (throws if cast fails) */
+    iHumiditySensor& ref = dynamic_cast<iHumiditySensor&>(*inst);
+
+    std::map<std::string, float> data = ref.HumidityAll();
+
+    for (std::map<std::string, float>::const_iterator it = data.begin();
+            it != data.end();)
+    {
+        ss << "\"" << it->first << "\" : {\"value\" : " << it->second
+            << ", \"units\" : \"" << ref.Unit(it->first) << "\"}";
+        if (++it != data.end()) ss << "," << std::endl;
+    }
+
+    return ss.str();
+}

src/core/iHumiditySensor.hpp

@@ -0,0 +1,72 @@
+#pragma once
+
+#include <map>
+#include <vector>
+
+#include "iSensorType.hpp"
+
+namespace upm
+{
+    /**
+     * iHumiditySensor abstract class.
+     *
+     * Provides a common interface for all sensors which detect humidity.
+     */
+    class iHumiditySensor : public virtual iSensorType
+    {
+        public:
+            /**
+             * Read and return all values for this sensor as a map of sources
+             * to values.
+             *
+             * @return Map of sources to values.
+             */
+            virtual std::map<std::string, float> HumidityAll();
+
+            /**
+             * Read and return a single value from the source provided
+             *
+             * @param source Target source to read
+             *
+             * @throws std::invalid_argument If source is NOT valid for this sensor
+             *
+             * @return Map of sources to values.
+             */
+            virtual float HumidityForSource(std::string source);
+
+            /**
+             * Read and return all values for this sensor for the provided
+             * vector of sources.
+             *
+             * @param sources Vector of sources to read
+             *
+             * @return Map of sources to values.
+             */
+            virtual std::map<std::string, float> HumidityForSources(std::vector<std::string> sources) = 0;
+
+            /**
+             * Add a pointer to this type and a proxy function pointer for
+             * serializing all values from this sensor type.
+             */
+            iHumiditySensor();
+
+            /**
+             * Read and return all values for this sensor as JSON
+             *
+             * @return JSON string of humidity values
+             */
+            virtual std::string JsonHumidity() const;
+
+        private:
+            /**
+             * Provide a means to read and serialize values from this sensor
+             * as a static method.  This method, along with a pointer to the
+             * class can be called from a base class
+             *
+             * @param inst Instance of iHumiditySensor to call _JsonHumidity on
+             *
+             * @return JSON string of humidity values (minus wrapping '{' and '}'
+             */
+            static std::string _JsonHumidity(iUpmObject * inst);
+    };
+}

src/core/iHumiditySensor.i

@@ -0,0 +1,2 @@
+%import (module="upm.pyupm_core") ".iHumiditySensor.i"
+%include ".core.i"

src/core/iLightController.cxx

@@ -0,0 +1,3 @@
+#include "iLightController.hpp"
+
+upm::ILightController::~ILightController () {}

src/core/iLightController.hpp

@@ -24,7 +24,6 @@
 
 #pragma once
 
-#include "iModuleStatus.hpp"
 
 namespace upm
 {
@@ -41,7 +40,7 @@ namespace upm
  * @snippet light-controllers.cxx Interesting 
  */
 
-    class ILightController : virtual public IModuleStatus
+    class ILightController
     {
     public:
       /**
@@ -85,7 +84,7 @@ namespace upm
        */
        virtual int getBrightness() = 0;
 
-       virtual ~ILightController() {}
+       virtual ~ILightController();
     };
 
 }

src/core/iLightController.i

@@ -0,0 +1,2 @@
+%import (module="upm.pyupm_core") ".iLightController.i"
+%include ".core.i"

src/core/iLightSensor.cxx

@@ -0,0 +1,54 @@
+#include "iLightSensor.hpp"
+
+using namespace upm;
+
+std::map <std::string, float> iLightSensor::LightAll ()
+{return LightForSources(Sources());}
+
+float iLightSensor::LightForSource (std::string source)
+{
+    std::map<std::string, float> vals = LightForSources(std::vector<std::string>(1, source));
+
+    if (vals.empty())
+    {
+        std::stringstream ss;
+        ss << __FUNCTION__ << " sensor does not provide source: '"
+            << source << ".  Valid sources are: {";
+        std::copy(Sources().begin(), Sources().end() - 1,
+                std::ostream_iterator<std::string>(ss, ", "));
+        ss << Sources().back() << "}";
+        throw std::invalid_argument(ss.str());
+    }
+
+    return vals[source];
+}
+
+iLightSensor::iLightSensor ()
+{
+    AddValueSerializer(this, &_JsonLight);
+}
+
+std::string iLightSensor::JsonLight ()
+{
+    return "{" + _JsonLight(dynamic_cast<iLightSensor*>(this)) + "}";
+}
+
+std::string iLightSensor::_JsonLight (iUpmObject * inst)
+{
+    std::stringstream ss;
+
+    /* Downcast to reference (throws if cast fails) */
+    iLightSensor& ref = dynamic_cast<iLightSensor&>(*inst);
+
+    std::map<std::string, float> data = ref.LightAll();
+
+    for (std::map<std::string, float>::const_iterator it = data.begin();
+            it != data.end();)
+    {
+        ss << "\"" << it->first << "\" : {\"value\" : " << it->second
+            << ", \"units\" : \"" << ref.Unit(it->first) << "\"}";
+        if (++it != data.end()) ss << "," << std::endl;
+    }
+
+    return ss.str();
+}

src/core/iLightSensor.hpp

@@ -0,0 +1,72 @@
+#pragma once
+
+#include <map>
+#include <vector>
+
+#include "iSensorType.hpp"
+
+namespace upm
+{
+    /**
+     * iLightSensor abstract class.
+     *
+     * Provides a common interface for all sensors which detect light.
+     */
+    class iLightSensor : public virtual iSensorType
+    {
+        public:
+            /**
+             * Read and return all values for this sensor as a map of sources
+             * to values.
+             *
+             * @return Map of sources to values.
+             */
+            virtual std::map<std::string, float> LightAll();
+
+            /**
+             * Read and return a single value from the source provided
+             *
+             * @param source Target source to read
+             *
+             * @throws std::invalid_argument If source is NOT valid for this sensor
+             *
+             * @return Map of sources to values.
+             */
+            virtual float LightForSource(std::string source);
+
+            /**
+             * Read and return all values for this sensor for the provided
+             * vector of sources.
+             *
+             * @param sources Vector of sources to read
+             *
+             * @return Map of sources to values.
+             */
+            virtual std::map<std::string, float> LightForSources(std::vector<std::string> sources) = 0;
+
+            /**
+             * Add a pointer to this type and a proxy function pointer for
+             * serializing all values from this sensor type.
+             */
+            iLightSensor();
+
+            /**
+             * Read and return all values for this sensor as JSON
+             *
+             * @return JSON string of light values
+             */
+            virtual std::string JsonLight();
+
+        private:
+            /**
+             * Provide a means to read and serialize values from this sensor
+             * as a static method.  This method, along with a pointer to the
+             * class can be called from a base class
+             *
+             * @param inst Instance of iLightSensor to call _JsonLight on
+             *
+             * @return JSON string of light values (minus wrapping '{' and '}'
+             */
+            static std::string _JsonLight(iUpmObject * inst);
+    };
+}

src/core/iLightSensor.i

@@ -0,0 +1,2 @@
+%import (module="upm.pyupm_core") ".iLightSensor.i"
+%include ".core.i"

src/core/iMoistureSensor.cxx

@@ -0,0 +1,39 @@
+#include "iMoistureSensor.hpp"
+
+using namespace upm;
+
+std::map <std::string, float> iMoistureSensor::MoistureAll ()
+{return MoistureForSources(Sources());}
+
+std::map <std::string, float> iMoistureSensor::MoistureForSource (std::string source)
+{ return MoistureForSources(std::vector<std::string>(1, source)); }
+
+iMoistureSensor::iMoistureSensor ()
+{
+    AddValueSerializer(this, &_JsonMoisture);
+}
+
+std::string iMoistureSensor::JsonMoisture () const
+{
+    return "{" + _JsonMoisture((iMoistureSensor*)this) + "}";
+}
+
+std::string iMoistureSensor::_JsonMoisture (iUpmObject * inst)
+{
+    std::stringstream ss;
+
+    /* Downcast to reference (throws if cast fails) */
+    iMoistureSensor& ref = dynamic_cast<iMoistureSensor&>(*inst);
+
+    std::map<std::string, float> data = ref.MoistureAll();
+
+    for (std::map<std::string, float>::const_iterator it = data.begin();
+            it != data.end();)
+    {
+        ss << "\"" << it->first << "\" : {\"value\" : " << it->second
+            << ", \"units\" : \"" << ref.Unit(it->first) << "\"}";
+        if (++it != data.end()) ss << "," << std::endl;
+    }
+
+    return ss.str();
+}

src/core/iMoistureSensor.hpp

@@ -0,0 +1,29 @@
+#pragma once
+
+#include <map>
+#include <vector>
+
+#include "iSensorType.hpp"
+
+namespace upm
+{
+    class iMoistureSensor : public virtual iSensorType
+    {
+        public:
+            virtual std::map<std::string, float> MoistureAll();
+            virtual std::map<std::string, float> MoistureForSource(std::string source);
+            virtual std::map<std::string, float> MoistureForSources(std::vector<std::string> sources) = 0;
+
+            iMoistureSensor();
+
+            /**
+             * Read and return all values for this sensor as JSON
+             *
+             * @return JSON string of moisture values
+             */
+            virtual std::string JsonMoisture() const;
+
+        private:
+            static std::string _JsonMoisture(iUpmObject * inst);
+    };
+}

src/core/iMoistureSensor.i

@@ -0,0 +1,2 @@
+%import (module="upm.pyupm_core") ".iMoistureSensor.i"
+%include ".core.i"

src/core/iMraa.cxx

@@ -0,0 +1,286 @@
+#include <algorithm>
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <vector>
+#include <regex>
+
+#include "iUpmObject.hpp"
+#include "iMraa.hpp"
+#include "mraa/iio.hpp"
+#include "mraa/uart_ow.hpp"
+
+#define iMraaThrow(failure, protocol, fullstring) throw std::runtime_error("Failed to initialize " + \
+        std::string(protocol) + " from " + std::string(fullstring) + ", cause: " + \
+        std::string(failure))
+
+using namespace upm;
+
+template<typename Out>
+void split(const std::string &s, char delim, Out result)
+{
+    std::stringstream ss;
+    ss.str(s);
+    std::string item;
+    while (std::getline(ss, item, delim))
+        *(result++) = item;
+}
+
+std::vector<std::string> split(const std::string &s, char delim)
+{
+    std::vector<std::string> elems;
+    split(s, delim, std::back_inserter(elems));
+    return elems;
+}
+
+uint32_t str2uint32(const std::string &number)
+{
+    std::string lwr = number;
+    std::transform(lwr.begin(), lwr.end(), lwr.begin(), ::tolower);
+    uint32_t ret = 0;
+    std::stringstream ss;
+    if ((lwr.compare(0, 2, "0x") == 0) &&
+            (lwr.substr(2).find_first_not_of("0123456789abcdef") == std::string::npos))
+    {
+        ss << std::hex << lwr.substr(2);
+        ss >> ret;
+    }
+    else if (!lwr.empty() && lwr.find_first_not_of("0123456789") == std::string::npos)
+    {
+        ss << lwr;
+        ss >> ret;
+    }
+    else
+        throw std::runtime_error("Cannot convert '" + number + "' to an integer");
+
+    return ret;
+}
+
+std::map<std::string, mraa::Mode> _mraa_Mode =
+{
+    {"strong", mraa::MODE_STRONG},
+    {"pullup", mraa::MODE_PULLUP},
+    {"pulldown", mraa::MODE_PULLDOWN},
+    {"hiz", mraa::MODE_HIZ},
+};
+
+std::map<std::string, mraa::Dir> _mraa_Dir =
+{
+    {"out", mraa::DIR_OUT},
+    {"in", mraa::DIR_IN},
+    {"high", mraa::DIR_OUT_HIGH},
+    {"low", mraa::DIR_OUT_LOW},
+};
+std::map<std::string, mraa::Edge> _mraa_Edge =
+{
+    {"none", mraa::EDGE_NONE},
+    {"both", mraa::EDGE_BOTH},
+    {"rising", mraa::EDGE_RISING},
+    {"falling", mraa::EDGE_FALLING},
+};
+std::map<std::string, mraa::InputMode> _mraa_InputMode =
+{
+    {"active_high", mraa::MODE_IN_ACTIVE_HIGH},
+    {"avtive_low", mraa::MODE_IN_ACTIVE_LOW},
+};
+std::map<std::string, mraa::OutputMode> _mraa_OutputMode =
+{
+    {"open_drain", mraa::MODE_OUT_OPEN_DRAIN},
+    {"push_pull", mraa::MODE_OUT_PUSH_PULL},
+};
+
+std::map<std::string, mraa::I2cMode> _mraa_I2cModes =
+{
+    {"std", mraa::I2C_STD},
+    {"fast", mraa::I2C_FAST},
+    {"high", mraa::I2C_HIGH},
+};
+
+iMraa::iMraa()
+{
+    DEBUG_MSG("XXX");
+
+    if (mraa::init() != mraa::SUCCESS)
+        throw std::runtime_error("Failed to initialize MRAA");
+}
+
+iMraa::iMraa(const std::string &init_string) : iMraa()
+{
+    DEBUG_MSG("XXX");
+
+    /* Convert to lower case for processing */
+    std::string lwr = init_string;
+    std::transform(lwr.begin(), lwr.end(), lwr.begin(), ::tolower);
+
+    /* Split string into protocols separated by ',' */
+    std::vector<std::string> protocols = split(lwr, ',');
+
+    for (std::vector<std::string>::const_iterator it = protocols.begin();
+            it != protocols.end(); ++it)
+    {
+        /* Assign a reference for easier use */
+        const std::string& proto_str = *it;
+
+        /* Split proto_str into chunks separated by ':' */
+        std::vector<std::string> params = split(proto_str, ':');
+
+        /* Some basic error checking */
+        if (params.size() < 2)
+            throw std::runtime_error("Invalid initialization string: '" +
+                    proto_str + "'.  Format is proto0:val0:val1,proto1:val0:val1");
+
+        /* First character of first parameter defines the protocol */
+        const char proto = params[0][0];
+
+        switch (proto)
+        {
+            case 'a':
+                {
+                    /* Next chunk should be a pin # */
+                    uint32_t pin = str2uint32(params[1]);
+                    try {_aio.push_back(new mraa::Aio(pin));}
+                    catch (std::exception &e)
+                    {
+                        throw std::invalid_argument("Failed to initialize Aio from string: '" +
+                                proto_str + "'.  Reason: " + e.what());
+                    }
+                    break;
+                }
+            case 'g':
+                {
+                    /* Next chunk should be a pin # */
+                    uint32_t pin = str2uint32(params[1]);
+                    try { _gpio.push_back(new mraa::Gpio(pin)); }
+                    catch (std::exception &e)
+                    {
+                        throw std::invalid_argument("Failed to initialize Gpio from string: '" +
+                                proto_str + "'.  Reason: " + e.what());
+                    }
+
+                    /* Parse any additional parameters */
+                    for(size_t i = 2; i < params.size(); ++i)
+                    {
+                        /* Gpio output modes */
+                        if (_mraa_Mode.find(params[i]) != _mraa_Mode.end())
+                        {
+                            if (_gpio.back()->mode(_mraa_Mode[params[i]]) != mraa::SUCCESS)
+                                iMraaThrow("mode(" + params[i] + ") failed.", "GPIO", proto_str);
+                        }
+                        /* Gpio direction options */
+                        else if (_mraa_Dir.find(params[i]) != _mraa_Dir.end())
+                        {
+                            if (_gpio.back()->dir(_mraa_Dir[params[i]]) != mraa::SUCCESS)
+                                iMraaThrow("dir(" + params[i] + ") failed.", "GPIO", proto_str);
+                        }
+                        /* Gpio edge types for interrupts */
+                        else if (_mraa_Edge.find(params[i]) != _mraa_Edge.end())
+                        {
+                            if (_gpio.back()->edge(_mraa_Edge[params[i]]) != mraa::SUCCESS)
+                                iMraaThrow("edge(" + params[i] + ") failed.", "GPIO", proto_str);
+                        }
+                        /* Gpio input modes */
+                        else if (_mraa_InputMode.find(params[i]) != _mraa_InputMode.end())
+                        {
+                            if (_gpio.back()->inputMode(_mraa_InputMode[params[i]]) != mraa::SUCCESS)
+                                iMraaThrow("inputMode(" + params[i] + ") failed.", "GPIO", proto_str);
+                        }
+                        /* Gpio output driver modes */
+                        else if (_mraa_OutputMode.find(params[i]) != _mraa_OutputMode.end())
+                        {
+                            if (_gpio.back()->outputMode(_mraa_OutputMode[params[i]]) != mraa::SUCCESS)
+                                iMraaThrow("outputMode(" + params[i] + ") failed.", "GPIO", proto_str);
+                        }
+                        /* Empty chunk? Skip it */
+                        else if (params[i].empty()) {}
+                        /* Unknown string?  Write to stderr and continue */
+                        else std::cerr << "Unknown parameter: '" << params[i] << "' from "
+                            << proto_str<< std::endl;
+                    }
+                    break;
+                }
+            case 'i':
+                {
+                    /* Next chunk should be a bus # */
+                    uint32_t bus = str2uint32(params[1]);
+                    try { _i2c.push_back(new mraa::I2c(bus)); }
+                    catch (std::exception &e)
+                    {
+                        throw std::invalid_argument("Failed to initialize I2c from string: '" +
+                                proto_str + "'.  Reason: " + e.what());
+                    }
+                    /* Parse any additional parameters */
+                    for(size_t i = 2; i < params.size(); ++i)
+                    {
+                        /* I2c modes */
+                        if (_mraa_I2cModes.find(params[i]) != _mraa_I2cModes.end())
+                        {
+                            if (_i2c.back()->frequency(_mraa_I2cModes[params[i]]) != mraa::SUCCESS)
+                                iMraaThrow("frequency(" + params[i] + ") failed.", "I2C", proto_str);
+                        }
+                    }
+                    break;
+                }
+            case 'o':
+                break;
+            case 'p': /* p:<pin>[:min_pw_us][:max_pw_us] */
+                {
+                    /* Next chunk should be a pin # */
+                    uint32_t pin = str2uint32(params[1]);
+                    try { _pwm.push_back(new mraa::Pwm(pin)); }
+                    catch (std::exception &e)
+                    {
+                        throw std::invalid_argument("Failed to initialize Pwm from string: '" +
+                                proto_str + "'.  Reason: " + e.what());
+                    }
+                    ///* Parse any additional parameters */
+                    ///* Min pulse width in us */
+                    //if (params.size() > 2)
+                    //{
+                    //    if (_pwm.back()->min(_mraa_I2cModes[params[i]]) != mraa::SUCCESS)
+                    //            iMraaThrow("frequency(" + params[i] + ") failed.", "I2C", proto_str);
+                    //}
+                    break;
+                }
+            case 's':
+                break;
+            case 'u':
+                break;
+            case 'w':
+                break;
+            default:
+                break;
+        }
+    }
+    return;
+
+}
+
+iMraa::~iMraa()
+{
+    for (std::vector<mraa::Aio*>::iterator it = _aio.begin();
+            it != _aio.end(); ++it) delete *it;
+    for (std::vector<mraa::Gpio*>::iterator it = _gpio.begin();
+            it != _gpio.end(); ++it) delete *it;
+    for (std::vector<mraa::I2c*>::iterator it = _i2c.begin();
+            it != _i2c.end(); ++it) delete *it;
+    for (std::vector<mraa::Pwm*>::iterator it = _pwm.begin();
+            it != _pwm.end(); ++it) delete *it;
+}
+
+std::string iMraa::Connections()
+{
+    std::stringstream ss;
+    ss << "MRAA connections ("
+        << _aio.size() + _gpio.size() + _i2c.size() + _iio.size() +
+        _pwm.size() + _spi.size() + _uart.size() + _uartow.size()
+        << "):" << std::endl;
+    if (!_aio.empty()) ss << "\tAIO: " << _aio.size() << std::endl;
+    if (!_gpio.empty()) ss << "\tGPIO: " << _gpio.size() << std::endl;
+    if (!_i2c.empty()) ss << "\tI2C: " << _i2c.size() << std::endl;
+    if (!_iio.empty()) ss << "\tIIO: " << _iio.size() << std::endl;
+    if (!_pwm.empty()) ss << "\tPWM: " << _pwm.size() << std::endl;
+    if (!_spi.empty()) ss << "\tSPI: " << _spi.size() << std::endl;
+    if (!_uart.empty()) ss << "\tUART: " << _uart.size() << std::endl;
+    if (!_uartow.empty()) ss << "\tOneWire: " << _uartow.size() << std::endl;
+    return ss.str();
+}

src/core/iMraa.hpp

@@ -0,0 +1,55 @@
+#pragma once
+
+#include <algorithm>
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <vector>
+#include <regex>
+
+#include "iUpmObject.hpp"
+#include "mraa.hpp"
+#include "mraa/iio.hpp"
+#include "mraa/uart_ow.hpp"
+
+namespace upm
+{
+    class iMraa : public virtual iUpmObject
+    {
+        public:
+            iMraa();
+
+            iMraa(const std::string &init_string);
+
+            virtual ~iMraa();
+
+            std::string Connections();
+
+            //
+            //            template <typename T>
+            //            T& Connection(std::string label);
+            //
+            //            template <typename T>
+            //            bool DefineConnections(std::vector<std::string> labels)
+            //            {
+            //                if (std::is_same<T, mraa::Aio>::value)
+            //                {
+            //                }
+            //                else if (std::is_same<T, mraa::Gpio>::value) {}
+            //                else if (std::is_same<T, mraa::I2c>::value)
+            //                {
+            //                }
+            //
+            //                return false;
+            //            }
+            //private:
+            std::vector<mraa::Aio*> _aio;
+            std::vector<mraa::Gpio*> _gpio;
+            std::vector<mraa::I2c*> _i2c;
+            std::vector<mraa::Iio*> _iio;
+            std::vector<mraa::Pwm*> _pwm;
+            std::vector<mraa::Spi*> _spi;
+            std::vector<mraa::Uart*> _uart;
+            std::vector<mraa::UartOW*> _uartow;
+    };
+}

src/core/iMraa.i

@@ -0,0 +1,2 @@
+%import (module="upm.pyupm_core") ".iMraa.i"
+%include ".core.i"

src/core/iPressureSensor.cxx

@@ -0,0 +1,54 @@
+#include "iPressureSensor.hpp"
+
+using namespace upm;
+
+std::map <std::string, float> iPressureSensor::PressureAll ()
+{return PressureForSources(Sources());}
+
+float iPressureSensor::PressureForSource (std::string source)
+{
+    std::map<std::string, float> vals = PressureForSources(std::vector<std::string>(1, source));
+
+    if (vals.empty())
+    {
+        std::stringstream ss;
+        ss << __FUNCTION__ << " sensor does not provide source: '"
+            << source << ".  Valid sources are: {";
+        std::copy(Sources().begin(), Sources().end() - 1,
+                std::ostream_iterator<std::string>(ss, ", "));
+        ss << Sources().back() << "}";
+        throw std::invalid_argument(ss.str());
+    }
+
+    return vals[source];
+}
+
+iPressureSensor::iPressureSensor ()
+{
+    AddValueSerializer(this, &_JsonPressure);
+}
+
+std::string iPressureSensor::JsonPressure () const
+{
+    return "{" + _JsonPressure((iPressureSensor*)this) + "}";
+}
+
+std::string iPressureSensor::_JsonPressure (iUpmObject * inst)
+{
+    std::stringstream ss;
+
+    /* Downcast to reference (throws if cast fails) */
+    iPressureSensor& ref = dynamic_cast<iPressureSensor&>(*inst);
+
+    std::map<std::string, float> data = ref.PressureAll();
+
+    for (std::map<std::string, float>::const_iterator it = data.begin();
+            it != data.end();)
+    {
+        ss << "\"" << it->first << "\" : {\"value\" : " << it->second
+            << ", \"units\" : \"" << ref.Unit(it->first) << "\"}";
+        if (++it != data.end()) ss << "," << std::endl;
+    }
+
+    return ss.str();
+}

src/core/iPressureSensor.hpp

@@ -0,0 +1,72 @@
+#pragma once
+
+#include <map>
+#include <vector>
+
+#include "iSensorType.hpp"
+
+namespace upm
+{
+    /**
+     * iPressureSensor abstract class.
+     *
+     * Provides a common interface for all sensors which detect pressure.
+     */
+    class iPressureSensor : public virtual iSensorType
+    {
+        public:
+            /**
+             * Read and return all values for this sensor as a map of sources
+             * to values.
+             *
+             * @return Map of sources to values.
+             */
+            virtual std::map<std::string, float> PressureAll();
+
+            /**
+             * Read and return a single value from the source provided
+             *
+             * @param source Target source to read
+             *
+             * @throws std::invalid_argument If source is NOT valid for this sensor
+             *
+             * @return Map of sources to values.
+             */
+            virtual float PressureForSource(std::string source);
+
+            /**
+             * Read and return all values for this sensor for the provided
+             * vector of sources.
+             *
+             * @param sources Vector of sources to read
+             *
+             * @return Map of sources to values.
+             */
+            virtual std::map<std::string, float> PressureForSources(std::vector<std::string> sources) = 0;
+
+            /**
+             * Add a pointer to this type and a proxy function pointer for
+             * serializing all values from this sensor type.
+             */
+            iPressureSensor();
+
+            /**
+             * Read and return all values for this sensor as JSON
+             *
+             * @return JSON string of pressure values
+             */
+            virtual std::string JsonPressure() const;
+
+        private:
+            /**
+             * Provide a means to read and serialize values from this sensor
+             * as a static method.  This method, along with a pointer to the
+             * class can be called from a base class
+             *
+             * @param inst Instance of iPressureSensor to call _JsonPressure on
+             *
+             * @return JSON string of pressure values (minus wrapping '{' and '}'
+             */
+            static std::string _JsonPressure(iUpmObject * inst);
+    };
+}

src/core/iPressureSensor.i

@@ -0,0 +1,2 @@
+%import (module="upm.pyupm_core") ".iPressureSensor.i"
+%include ".core.i"

src/core/iSensorType.cxx

@@ -0,0 +1,156 @@
+#include "iSensorType.hpp"
+
+#include "external/json/json.hpp"
+
+using namespace upm;
+
+namespace upm {
+template <typename T>
+void to_json(nlohmann::json& j, const SensorSource<T> &p) {
+    j = nlohmann::json{{"unit", p.unit}, {"min", p.min}, {"max", p.max}, {"accuracy", p.accuracy}};
+}
+
+template <typename T>
+void from_json(const nlohmann::json& j, SensorSource<T>& p) {
+    p.unit = j.at("unit").get<std::string>();
+    p.min = j.at("min").get<T>();
+    p.max = j.at("max").get<T>();
+    p.accuracy = j.at("accuracy").get<T>();
+}
+}
+
+iSensorType::iSensorType()
+{
+    DEBUG_MSG("XXX");
+}
+
+iSensorType::~iSensorType()
+{
+    DEBUG_MSG("XXX");
+}
+
+std::string iSensorType::LibraryJsonSources()
+{
+    std::stringstream ss;
+    ss << this->LibraryJson()["Sensor Class"][Name()]["Sources"] << std::endl;
+    return ss.str();
+}
+
+void iSensorType::AddSource (std::string source, std::string unit)
+{
+    /* Add the source:unit to the map */
+    _sources_2_units[source] = unit;
+
+    /* Each call regens the sources and units vectors */
+    _sources.clear();
+    _units.clear();
+
+    for(std::map<std::string, std::string>::const_iterator it = SourceMap().begin();
+            it != SourceMap().end(); ++it)
+    {
+        _sources.push_back(it->first);
+        _units.push_back(it->second);
+    }
+
+    /* Uniquify the sources vector */
+    std::sort(_sources.begin(), _sources.end());
+    _sources.erase(std::unique(_sources.begin(), _sources.end()), _sources.end());
+
+    /* Uniquify the units vector */
+    std::sort(_units.begin(), _units.end());
+    _units.erase(std::unique(_units.begin(), _units.end()), _units.end());
+}
+
+std::map <std::string, std::string> const & iSensorType::SourceMap () const
+{ return _sources_2_units;}
+
+std::vector <std::string> const & iSensorType::Sources ()
+{
+    /* If there are zero sources, look to the library json descriptor file */
+    if (_sources.empty())
+    {
+        /* Copy all commands out of the JSON */
+        nlohmann::json j_sources = nlohmann::json::parse(LibraryJsonSources());
+        for (nlohmann::json::iterator it = j_sources.begin(); it != j_sources.end(); ++it)
+            _sources.push_back(it.key());
+    }
+
+    return _sources; }
+
+std::vector <std::string> const & iSensorType::Units () const
+{ return _units; }
+
+std::string const iSensorType::Unit (std::string source) const
+{
+    std::map<std::string, std::string>::const_iterator it =
+        SourceMap().find(source);
+    if (it != SourceMap().end())
+        return it->second;
+    else
+        return "";
+}
+
+bool iSensorType::HasSource (std::string source)
+{
+    return std::find(Sources().begin(), Sources().end(), source) != Sources().end();
+}
+
+bool iSensorType::HasUnit (std::string unit) const
+{
+    return std::find(Units().begin(), Units().end(), unit) != Units().end();
+}
+
+std::string iSensorType::JsonDefinition ()
+{
+    std::stringstream ss;
+
+    ss << "{" << std::endl
+        << "  \"name\" : \"" << Name() << "\"," << std::endl
+        << "  \"description\" : \"" << Description() << "\"";
+
+    if (!SourceMap().empty())
+    {
+        ss << "," << std::endl << "  \"sources\" :" << std::endl << "  {" << std::endl;
+        for(std::map<std::string, std::string>::const_iterator it = SourceMap().begin();
+                it != SourceMap().end();)
+        {
+            ss << "    \"" << it->first << "\" : {\"units\" : \"" << it->second << "\"}";
+            if (++it != SourceMap().end())
+                ss << "," << std::endl;
+        }
+        ss << std::endl << "  }";
+    }
+    ss << std::endl << "}";
+    return ss.str();
+}
+
+std::string iSensorType::JsonValues ()
+{
+    std::stringstream ss;
+    ss << "{" << std::endl;
+    if (!_child_value_serializers.empty())
+    {
+        /* Iterate over each serializer method */
+        for (std::map<t_getJson, iUpmObject*>::const_iterator it = _child_value_serializers.begin();
+                it != _child_value_serializers.end();)
+        {
+            // Call static method to serialize data from the derived classes
+            ss << it->first(it->second);
+            if (++it != _child_value_serializers.end()) ss << ",";
+            ss << std::endl;
+        }
+    }
+    ss << "}";
+    return ss.str();
+}
+
+/* Since nlohmann::json has only been fwd declared (not included in a header),
+ *  json is a partial type.  Because of this explicitly instantiate basic
+ *  types.
+*/
+template void upm::to_json(nlohmann::json& j, const SensorSource<int>& p);
+template void upm::from_json(const nlohmann::json& j, SensorSource<int>& p);
+template void upm::to_json(nlohmann::json& j, const SensorSource<float>& p);
+template void upm::from_json(const nlohmann::json& j, SensorSource<float>& p);
+template void upm::to_json(nlohmann::json& j, const SensorSource<double>& p);
+template void upm::from_json(const nlohmann::json& j, SensorSource<double>& p);

src/core/iSensorType.hpp

@@ -0,0 +1,143 @@
+#pragma once
+
+#include <map>
+#include <sstream>
+#include <vector>
+#include <iterator>
+#include <algorithm>
+
+#include "iUpmObject.hpp"
+
+namespace upm
+{
+
+    template <typename T>
+    struct SensorSource
+    {
+        std::string unit;
+        T min;
+        T max;
+        T accuracy;
+    };
+
+    template <class T>
+    void to_json(nlohmann::json& j, const SensorSource<T>& p);
+
+    template <class T>
+    void from_json(const nlohmann::json& j, SensorSource<T>& p);
+
+    /**
+     * Forward declaration of iSensorType class for ostream usage
+     */
+    class iSensorType;
+
+    /**
+     * iSensorType abstract class.
+     *
+     * Provides a common interface for sensor classes.  This interface is
+     * meant to be used by derived sensor categories.
+     *
+     * For example, iTemperatureSensor or iLightSensor
+     *
+     */
+    class iSensorType : public virtual iUpmObject
+    {
+        public:
+            iSensorType();
+
+            /**
+             * Allow derived classes to provide their own destructor
+             */
+            virtual ~iSensorType();
+
+            std::string LibraryJsonSources();
+
+            /**
+             * Return a map reference of sources to units.  This map can
+             * be used to get the units for a sensor value given a source.
+             *
+             * @return Map of sources to units.
+             */
+            const std::map<std::string, std::string>& SourceMap() const;
+
+            /**
+             * Return a vector of all known sources for this sensor.
+             *
+             * @return Vector of sources
+             */
+            const std::vector<std::string>& Sources();
+
+            /**
+             * Return a vector of all known units for this sensor.
+             *
+             * @return Vector of units
+             */
+            const std::vector<std::string>& Units() const;
+
+            /**
+             * Return a unit string given a single source.
+             *
+             * @return Corresponding unit for source or empty string if not found.
+             */
+            virtual const std::string Unit(std::string source) const;
+
+            /**
+             * Determine if this sensor has a given source.
+             *
+             * @return True if source string is available, fails otherwise.
+             */
+            virtual bool HasSource(std::string source);
+
+            /**
+             * Determine if this sensor has a given unit.
+             *
+             * @return True if unit string is available, fails otherwise.
+             */
+            virtual bool HasUnit(std::string unit) const;
+
+            /**
+             * Return a JsonDefinition string which defines this sensor
+             *
+             * @return JsonDefinition-encoded string.
+             */
+            virtual std::string JsonDefinition();
+
+            /**
+             * @brief Json string of sensor data.
+             *
+             * The JsonValues call serializes ALL values returned by this sensor
+             * as a Json string.
+             *
+             * Example:
+             *
+             *      "Temperature" : {"value" : 25.0, "units" : "C"}
+             *      "Acceleration" : {"value" : 1.1, "units" : "m/s^2"}
+             *
+             *  @return Json-encoded string.
+             */
+            virtual std::string JsonValues();
+
+        private:
+            /**
+             * Sensor source vector
+             */
+            std::vector<std::string> _sources;
+
+            /**
+             * Sensor unit vector
+             */
+            std::vector<std::string> _units;
+
+            /**
+             * Mapping of sources to units
+             */
+            std::map<std::string, std::string> _sources_2_units;
+
+        protected:
+            /**
+             * Mapping of sources to units
+             */
+            void AddSource(std::string source, std::string unit);
+
+    };
+}

src/core/iSensorType.i

@@ -0,0 +1,4 @@
+%import (module="upm.pyupm_core") "iSensorType.hpp"
+%include ".iSensorType.i"
+
+%include ".core.i"

src/core/iServoActuator.cxx

@@ -0,0 +1,147 @@
+#include <iterator>
+
+#include "iServoActuator.hpp"
+#include "external/json/json.hpp"
+#include <iostream>
+
+using namespace upm;
+
+iServoActuator::iServoActuator ()
+{
+    DEBUG_MSG("XXX");
+    AddJsonDeserializer(this, &_DeserializeAngleCommands);
+}
+
+iServoActuator::~iServoActuator ()
+{
+    DEBUG_MSG("XXX");
+}
+
+void iServoActuator::AngleAll (float angle)
+{
+    std::map<std::string, float> tmpcmds;
+
+    for(std::vector<std::string>::const_iterator it = Commands().begin();
+            it != Commands().end(); ++it)
+        tmpcmds[*it] = angle;
+
+    AngleForCommands(tmpcmds);
+}
+
+void iServoActuator::AngleForCommand (float angle, std::string command)
+{
+    DEBUG_MSG("Number of commands: " << Commands().size() << std::endl);
+
+    if (std::find(Commands().begin(), Commands().end(), command) == Commands().end())
+    {
+        std::stringstream ss;
+        ss << DerivedClassName() << " does not provide command: '"
+            << command << "'.  Valid commands are: {";
+        std::copy(Commands().begin(), Commands().end() - 1,
+                std::ostream_iterator<std::string>(ss, ", "));
+        if (!Commands().empty())
+            ss << Commands().back();
+        ss << "}";
+        throw std::invalid_argument(ss.str());
+    }
+
+    AngleForCommands(std::map<std::string, float> {{command, angle}});
+}
+
+void iServoActuator::AngleFromJson(std::string json_commands)
+{
+    std::vector<ActuatorCommand<float>> cmds;
+
+    /* First, try to deserialize 1 command */
+    try
+    {
+        nlohmann::json json_cmd = nlohmann::json::parse(json_commands);
+        cmds.push_back(json_cmd);
+    }
+    catch (const std::exception& e)
+    {
+        DEBUG_MSG("Deserialize single command failed, attempting to deserialize command vector...");
+    }
+
+    /* If no commands were created, try to deserialize a vector of commands */
+    if (cmds.empty())
+    {
+        try
+        {
+            nlohmann::json json_cmd = nlohmann::json::parse(json_commands);
+            /* TODO: get rid of this second copy */
+            std::vector<ActuatorCommand<float>> tmp_cmds = json_cmd;
+            cmds = tmp_cmds;
+        }
+        catch (const std::exception& e)
+        {
+            DEBUG_MSG("Deserialize command vector failed...");
+        }
+    }
+
+    /* If no commands exist, throw */
+    if (cmds.empty())
+    {
+        std::stringstream ss;
+        ss << "Failed to deserialize commands from json string: '";
+        ss << json_commands << "'" << std::endl;
+        ss << "Valid JSON command string examples:" << std::endl;
+
+        /* Make the examples (at least 2) */
+        std::vector<ActuatorCommand<float>> tmp_cmds(Commands().size() < 2 ? 2 : Commands().size());
+        for(size_t i = 0; i < Commands().size(); i++)
+            tmp_cmds[i].command = Commands()[i];
+
+        /* Example strings show a single command and vector or commands */
+        nlohmann::json jcmd = tmp_cmds[0];
+        nlohmann::json jcmds = tmp_cmds;
+        ss << "'" << jcmd << "' or '" << jcmds << "'";
+        throw std::invalid_argument(ss.str());
+    }
+
+    /* Run the commands */
+    for (std::vector<ActuatorCommand<float>>::const_iterator it = cmds.begin(); it != cmds.end(); ++it)
+    {
+        AngleForCommand(it->value, it->command);
+    }
+}
+
+std::string iServoActuator::_DeserializeAngleCommands (iUpmObject * inst)
+{
+    /* Downcast to reference (throws if cast fails) */
+    iServoActuator& ref = dynamic_cast<iServoActuator&>(*inst);
+
+    /* Make sure the derived class name (from std::type_info) matches a JSON sensor class name */
+    std::string classname_derived = ref.DerivedClassName();
+
+    /* First, get a json reference to the "Sensor Class" */
+    nlohmann::json json_class = ref.LibraryJson()["Sensor Class"];
+
+    if (json_class.find(classname_derived) == json_class.end())
+    {
+        std::stringstream ss;
+        for (nlohmann::json::iterator it = json_class.begin(); it != json_class.end(); ++it)
+        {
+            ss << it.key();
+            if (*it != json_class.back()) ss << ", ";
+        }
+
+        throw std::invalid_argument("JSON library descriptor file " + inst->LibraryJsonFilename() + " does not contain a class object named '" +
+                classname_derived + "'.  Valid classes are: {" + ss.str() + "}");
+    }
+
+    /* Get a reference to the 'Commands' object, if none exists, catch and continue */
+    nlohmann::json jsrs;
+    try { jsrs = ref.LibraryJson()["Sensor Class"][classname_derived].at("Commands"); }
+    catch (...) {}
+
+    /* Add all commands to iSensorType's command vector */
+    for (nlohmann::json::iterator it = jsrs.begin(); it != jsrs.end(); ++it)
+    {
+        upm::ActuatorSink<float> _as = it.value();
+        ref.AddCommand(it.key(), _as.unit);
+    }
+
+    /* Return a string */
+    return jsrs.dump();
+}

src/core/iServoActuator.hpp

@@ -0,0 +1,58 @@
+#pragma once
+
+#include "iActuatorType.hpp"
+
+namespace upm
+{
+    /**
+     * iServoActuator abstract class.
+     *
+     * Provides a common interface for all sensors which detect light.
+     */
+    class iServoActuator : public virtual iActuatorType
+    {
+        public:
+            /**
+             * Add a pointer to this type and a proxy function pointer for
+             * serializing all values from this sensor type.
+             */
+            iServoActuator();
+
+            /* Provide a virtual destructor */
+            virtual ~iServoActuator();
+
+            /**
+             * Read and return all values for this sensor as a map of commands
+             * to values.
+             *
+             * @return Map of commands to values.
+             */
+            virtual void AngleAll(float angle);
+
+            /**
+             * Read and return a single value from the command provided
+             *
+             * @param command Target command to read
+             *
+             * @throws std::invalid_argument If command is NOT valid for this sensor
+             *
+             * @return Map of commands to values.
+             */
+            virtual void AngleForCommand(float angle, std::string command);
+
+            /**
+             * Read and return all values for this sensor for the provided
+             * vector of commands.
+             *
+             * @param commands Vector of commands to read
+             *
+             * @return Map of commands to values.
+             */
+            virtual void AngleForCommands(std::map<std::string, float> commands) = 0;
+
+            virtual void AngleFromJson(std::string json_commands);
+
+        private:
+            static std::string _DeserializeAngleCommands(iUpmObject * inst);
+    };
+}

src/core/iServoActuator.i

@@ -0,0 +1,2 @@
+%import (module="upm.pyupm_core") ".iServoActuator.i"
+%include ".core.i"

src/core/iTemperatureSensor.cxx

@@ -0,0 +1,90 @@
+#include "iTemperatureSensor.hpp"
+#include "external/json/json.hpp"
+
+using namespace upm;
+
+typedef struct
+{
+    std::string unit;
+    float min;
+    float max;
+    float accuracy;
+} SensorSource ;
+
+std::map <std::string, float> iTemperatureSensor::TemperatureAll ()
+{return TemperatureForSources(Sources());}
+
+float iTemperatureSensor::TemperatureForSource (std::string source)
+{
+    std::map<std::string, float> vals = TemperatureForSources(std::vector<std::string>(1, source));
+
+    if (vals.empty())
+    {
+        std::stringstream ss;
+        ss << __FUNCTION__ << " sensor does not provide source: '"
+            << source << "'.  Valid sources are: {";
+        std::copy(Sources().begin(), Sources().end() - 1,
+                std::ostream_iterator<std::string>(ss, ", "));
+        ss << Sources().back() << "}";
+        throw std::invalid_argument(ss.str());
+    }
+
+    return vals[source];
+}
+
+iTemperatureSensor::iTemperatureSensor ()
+{
+    AddValueSerializer(this, &_JsonTemperature);
+    AddJsonDeserializer(this, &_DeserializeTemperatureSources);
+}
+
+std::string iTemperatureSensor::JsonTemperature () const
+{
+    return "{" + _JsonTemperature((iTemperatureSensor*)this) + "}";
+}
+
+std::string iTemperatureSensor::_JsonTemperature (iUpmObject * inst)
+{
+    std::stringstream ss;
+
+    /* Downcast to reference (throws if cast fails) */
+    iTemperatureSensor& ref = dynamic_cast<iTemperatureSensor&>(*inst);
+
+    std::map<std::string, float> data = ref.TemperatureAll();
+
+    for (std::map<std::string, float>::const_iterator it = data.begin();
+            it != data.end();)
+    {
+        ss << "\"" << it->first << "\" : {\"value\" : " << it->second
+            << ", \"units\" : \"" << ref.Unit(it->first) << "\"}";
+        if (++it != data.end()) ss << "," << std::endl;
+    }
+
+    return ss.str();
+}
+
+std::string iTemperatureSensor::_DeserializeTemperatureSources (iUpmObject * inst)
+{
+    /* Downcast to reference (throws if cast fails) */
+    iTemperatureSensor& ref = dynamic_cast<iTemperatureSensor&>(*inst);
+
+    /* Make sure the derived class name (from std::type_info) matches a JSON sensor class name */
+    std::string classname_derived = ref.DerivedClassName();
+
+    /* Get a reference to the object */
+    nlohmann::json jsrs = ref.LibraryJson()["Sensor Class"][classname_derived]["Sources"];
+
+    /* Deserialize to a temperature source map */
+    std::map<std::string, upm::SensorSource<float>> sources = jsrs;
+
+    /* Assign to this instance */
+    ref._temp_sources = sources;
+
+    /* Add all sources to iSensorType's source vector */
+    for (std::map<std::string, upm::SensorSource<float>>::const_iterator it = ref._temp_sources.begin();
+         it != ref._temp_sources.end(); ++it)
+        ref.AddSource(it->first, it->second.unit);
+
+    /* Return a string */
+    return jsrs.dump();
+}

src/core/iTemperatureSensor.hpp

@@ -0,0 +1,77 @@
+#pragma once
+
+#include <map>
+#include <vector>
+
+#include "iSensorType.hpp"
+
+namespace upm
+{
+    /**
+     * iTemperatureSensor abstract class.
+     *
+     * Provides a common interface for all sensors which detect temperature.
+     */
+    class iTemperatureSensor : public virtual iSensorType
+    {
+        public:
+            /**
+             * Read and return all values for this sensor as a map of sources
+             * to values.
+             *
+             * @return Map of sources to values.
+             */
+            virtual std::map<std::string, float> TemperatureAll();
+
+            /**
+             * Read and return a single value from the source provided
+             *
+             * @param source Target source to read
+             *
+             * @throws std::invalid_argument If source is NOT valid for this sensor
+             *
+             * @return Map of sources to values.
+             */
+            virtual float TemperatureForSource(std::string source);
+
+            /**
+             * Read and return all values for this sensor for the provided
+             * vector of sources.
+             *
+             * @param sources Vector of sources to read
+             *
+             * @return Map of sources to values.
+             */
+            virtual std::map<std::string, float> TemperatureForSources(std::vector<std::string> sources) = 0;
+
+            /**
+             * Add a pointer to this type and a proxy function pointer for
+             * serializing all values from this sensor type.
+             */
+            iTemperatureSensor();
+
+            /**
+             * Read and return all values for this sensor as JSON
+             *
+             * @return JSON string of temperature values
+             */
+            virtual std::string JsonTemperature() const;
+
+        private:
+            /**
+             * Provide a means to read and serialize values from this sensor
+             * as a static method.  This method, along with a pointer to the
+             * class can be called from a base class
+             *
+             * @param inst Instance of iTemperatureSensor to call _JsonTemperature on
+             *
+             * @return JSON string of temperature values (minus wrapping '{' and '}'
+             */
+            static std::string _JsonTemperature(iUpmObject * inst);
+
+            static std::string _DeserializeTemperatureSources(iUpmObject * inst);
+
+            std::map<std::string, upm::SensorSource<float>> _temp_sources;
+
+    };
+}

src/core/iTemperatureSensor.i

@@ -0,0 +1,2 @@
+%import (module="upm.pyupm_core") ".iTemperatureSensor.i"
+%include ".core.i"

src/core/iUpmObject.cxx

@@ -0,0 +1,287 @@
+#include <dlfcn.h>
+#include <typeinfo>
+#include <cxxabi.h>
+#include <string.h>
+#include <iostream>
+#include <regex>
+#include <fstream>
+
+
+#include "external/json/json.hpp"
+#include "iUpmObject.hpp"
+#include "upm_library_globals.hpp"
+
+#define __FILENAME__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
+
+#define THROW_RUNTIME(msg) throw std::runtime_error(std::string(__FILENAME__) + ":" + std::to_string(__LINE__) + " [" + std::string(__FUNCTION__) + "] " + msg)
+
+extern const char* DATA_DIRECTORY;
+static std::string DATA_DIRECTORY_STR = DATA_DIRECTORY;
+
+using namespace upm;
+using json = nlohmann::json;
+
+/* Locate method to test if a file exists */
+static bool exists(const std::string& filename, bool throw_exception = false)
+{
+    std::ifstream f;
+
+    if (throw_exception)
+        f.exceptions(std::ifstream::failbit);
+
+    try {
+        f.open(filename.c_str());
+    }
+    catch (const std::exception& e)
+    {
+        throw std::runtime_error("'" + filename + "' does not exist or is not accessible.");
+    }
+
+    return f.good();
+}
+
+/* Always create an instance of the _json pointer (empty) */
+iUpmObject::iUpmObject()
+{
+    DEBUG_MSG("XXX");
+}
+
+iUpmObject::~iUpmObject()
+{
+    DEBUG_MSG("XXX");
+
+    if (_json)
+    {
+        delete _json;
+        _json = NULL;
+    }
+}
+
+void iUpmObject::initFromJsonLibDesc(std::string path_to_json_file)
+{
+    /* Throw if the file exists (as is, no realpath) */
+    exists(path_to_json_file, true);
+
+    /* Next, convert to a realpath */
+    const char * rp = realpath(path_to_json_file.c_str(), NULL);
+    if (!rp)
+        throw std::runtime_error("'" + path_to_json_file + "' does not exist or is not accessible.");
+
+    std::string realpath_json_file(rp);
+
+    /* If this method is getting called ALWAYS delete and re-init */
+    if (_json)
+    {
+        delete _json;
+        _json = NULL;
+    }
+
+    _json = new json;
+
+    /* Does the provided file exist?  Is it readable? */
+    std::string json_str;
+    std::ifstream t(realpath_json_file);
+    json_str.assign((std::istreambuf_iterator<char>(t)),
+            std::istreambuf_iterator<char>());
+
+    /* Parse the file as JSON */
+    *_json = _json->parse(json_str.c_str(), nullptr, false);
+
+    /* Set the library JSON filename */
+    _LibraryJsonFilename = realpath_json_file;
+
+    /* Run any additional deserializers available on the JSON */
+    if (!_child_json_deserializers.empty())
+    {
+        std::stringstream ss;
+        /* Iterate over each serializer method */
+        for (std::map<t_getJson, iUpmObject*>::const_iterator it = _child_json_deserializers.begin();
+                it != _child_json_deserializers.end();)
+        {
+            // Call static method to serialize data from the derived classes
+            ss << it->first(it->second);
+            if (++it != _child_json_deserializers.end()) ss << ",";
+            ss << std::endl;
+        }
+        DEBUG_MSG("XXX Deserializers: " << ss.str());
+    }
+
+}
+
+std::string iUpmObject::Description()
+{
+    json x = LibraryJson()["Sensor Class"][Name()]["Description"];
+
+    if (x.empty())
+        THROW_RUNTIME("No Description found for sensor class '" + Name() + "' in the JSON library descriptor file: " + LibraryJsonFilename());
+
+    return x;
+}
+
+std::string iUpmObject::JsonDefinition ()
+{
+    std::stringstream ss;
+    ss << "{" << std::endl
+       << "  \"name\" : \"" << Name() << "\"," << std::endl
+       << "  \"description\" : \"" << Description() << "\""
+       << std::endl << "}";
+    return ss.str();
+}
+
+std::string iUpmObject::Name()
+{
+    /* Make sure the derived class name (from std::type_info) matches a JSON sensor class name */
+    std::string classname_derived = DerivedClassName();
+
+    /* Look at all objects under 'Sensor Class' */
+    json x = LibraryJson()["Sensor Class"][classname_derived];
+
+    if (x.empty())
+        THROW_RUNTIME("Sensor class Name '" + classname_derived + "' was not found in the JSON library descriptor file: " + LibraryJsonFilename());
+
+    return classname_derived;
+}
+
+json &iUpmObject::LibraryJson()
+{
+    /* If no object, create one and load the library descriptor file*/
+    if (!_json)
+    {
+        _json = new json;
+        initFromJsonLibDesc(LibraryJsonFilename());
+    }
+
+    /* If the library descriptor JSON file has NOT been loaded, load it */
+//    if (_json->empty())
+//    {
+//        initFromJsonLibDesc(LibraryJsonFilename().c_str());
+//        //*_json = _json->parse(LibraryJsonRaw());
+//    }
+
+    /* Perform a quick error check: Library element must be equal to LibraryBaseName() */
+//    std::string lib_base_name = LibraryBaseName();
+//    std::string lib_json_name = (*_json)["Library"];
+//    if (lib_base_name != (*_json)["Library"])
+//        THROW_RUNTIME("Library base name '" + lib_base_name + "' does NOT match the Library name specified in the JSON file '" + lib_json_name +"'");
+
+    return *_json;
+}
+
+std::string iUpmObject::DerivedClassName() const
+{
+    int status = 0;
+    char *name_demangled;
+    const std::type_info &this_type = typeid(*this);
+
+    /* Demangle class name */
+    name_demangled = abi::__cxa_demangle(this_type.name(), 0, 0, &status);
+    if (status)
+        THROW_RUNTIME("Failed to demangle class name.");
+
+    std::string name = name_demangled;
+    free(name_demangled);
+
+    Dl_info info;
+    /* Returns 0 on failure */
+    if (!dladdr((const void*)&this_type, &info))
+        return NULL;
+
+    /* Return class name only */
+    return name.substr(name.find_last_of(":") + 1);
+}
+
+std::string iUpmObject::LibraryAbsolutePath() const
+{
+    Dl_info info;
+    const std::type_info &this_type = typeid(*this);
+
+    /* Throw on failure */
+    if (!dladdr((const void*)&this_type, &info))
+        THROW_RUNTIME("Failed to locate the library for this type.");
+
+    /* Attempt a realpath */
+    return realpath(info.dli_fname, NULL);
+}
+
+std::string iUpmObject::LibraryBaseName() const
+{
+    /* First, get the full filename */
+    std::string filename = LibraryAbsolutePath();
+
+    std::string basename = filename.substr(filename.find_last_of("/\\") + 1);
+
+    /* Regex the library *base* name from the library file name */
+    std::smatch sm;
+    std::regex reg1("libupm-(\\S+)\\.so");
+    if (std::regex_search(basename, sm, reg1))
+        basename = sm.str(1);
+//    else
+//        std::cout << "XXX warning, binary: " << filename << " does not match format: libupm-<libname>.so, using: " << basename;
+
+    //THROW_RUNTIME("Could not get base library name.  UPM library name does not follow the libupm-<library>.so format.");
+
+    return basename;
+}
+
+std::string iUpmObject::LibraryJsonFilename() const
+{
+    if (!_LibraryJsonFilename.empty())
+        return _LibraryJsonFilename;
+
+    std::string json_file = DataDirectory() + "/" + LibraryBaseName() + ".json";
+
+    if (!exists(json_file))
+        THROW_RUNTIME("Failed to locate library JSON definition: " + json_file);
+
+    return json_file;
+}
+
+std::string iUpmObject::DataDirectory() const
+{
+    std::string lib_loc = LibraryAbsolutePath();
+
+    /* If a json file has already been provided, use it */
+    std::string json_lib_def_file = _LibraryJsonFilename;
+    /* Otherwise, attempt to build the location of the json file */
+    if (json_lib_def_file.empty())
+        json_lib_def_file = lib_loc.substr(0, lib_loc.find_last_of("/\\")) + "/" + LibraryBaseName() + ".json";
+
+    /* If no local <libname>.json exists, look in DATADIR */
+    if (!exists(json_lib_def_file))
+    {
+        // If the library is:
+        //     /usr/local/lib/libupm-rhusb.so.1.6.0
+        // then look one directory up for share/upm like so:
+        //     /usr/local/share/upm/rhusb/rhusb.json
+        json_lib_def_file = DATA_DIRECTORY_STR + "/upm/" + LibraryBaseName() + "/" + LibraryBaseName() + ".json";
+    }
+
+    if (!exists(json_lib_def_file))
+        THROW_RUNTIME("Data directory for UPM was not found.  Library found: " + lib_loc + ", expected JSON definition file: " + json_lib_def_file);
+
+    return json_lib_def_file.substr(0, json_lib_def_file.find_last_of("/\\"));
+}
+
+std::string iUpmObject::LibraryJsonRaw() const
+{
+    std::string json_file = LibraryJsonFilename();
+
+    /* Return the contents as a string */
+    std::string json_str;
+    std::ifstream t(json_file);
+    json_str.assign((std::istreambuf_iterator<char>(t)),
+            std::istreambuf_iterator<char>());
+
+    return json_str.c_str();
+}
+
+std::string iUpmObject::LibraryVersion() const
+{
+    return ::LibraryVersion();
+}
+
+void iUpmObject::AddValueSerializer (iUpmObject * instance, t_getJson method)
+{ _child_value_serializers[method] = instance; }
+
+void iUpmObject::AddJsonDeserializer(iUpmObject * instance, t_getJson method)
+{ _child_json_deserializers[method] = instance; }

src/core/iUpmObject.hpp

@@ -0,0 +1,121 @@
+#pragma once
+
+#include <map>
+
+#include <sstream>
+#include <string>
+
+#include <vector>
+#include <stdint.h>
+#include <memory>
+
+#if !defined(NDEBUG)
+#include <iostream>
+#endif
+
+#ifndef SWIG
+/* Forward declare the basic_json class */
+namespace nlohmann
+{
+    template<typename, typename>
+        struct adl_serializer;
+
+    template<template<typename, typename, typename...> class ObjectType,
+        template<typename, typename...> class ArrayType,
+        class StringType,
+        class BooleanType,
+        class NumberIntegerType,
+        class NumberUnsignedType,
+        class NumberFloatType,
+        template<typename> class AllocatorType,
+        template<typename, typename> class JSONSerializer>
+            class basic_json;
+
+        using json = basic_json<std::map, std::vector, std::string, bool, std::int64_t, std::uint64_t, double, std::allocator, nlohmann::adl_serializer>;
+}
+#endif
+
+namespace upm
+{
+
+inline std::string __func_or_memberfunc(const std::string& cxx_function)
+{
+    size_t colons = cxx_function.find("::");
+    size_t begin = cxx_function.substr(0, colons).rfind(" ") + 1;
+    size_t end = cxx_function.rfind(")") - begin + 1;
+
+    return cxx_function.substr(begin, end);
+}
+
+#define __PRETTY_FUNCTIONS__ __func_or_memberfunc(__PRETTY_FUNCTION__)
+
+#define __FILENAME__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
+
+#if !defined(NDEBUG)
+#define DEBUG_MSG(msg) do { std::cout << __FILENAME__ << ":" << __LINE__ \
+    << " [" << __PRETTY_FUNCTIONS__ << "] " << msg << std::endl; } while (0)
+#else
+#define DEBUG_MSG(msg) do {} while (0)
+#endif
+
+    class iUpmObject;
+
+    /**
+     * Function pointer typedef for child-to-parent proxy call
+     */
+    typedef std::string (*t_getJson)(iUpmObject*);
+
+    class iUpmObject
+    {
+        public:
+            iUpmObject();
+            virtual ~iUpmObject();
+
+            virtual std::string Description();
+            virtual std::string JsonDefinition();
+            virtual std::string Name();
+
+            virtual void initFromJsonLibDesc(std::string path_to_json_file);
+#ifndef SWIG
+            nlohmann::json& LibraryJson();
+#endif
+
+            std::string DataDirectory() const;
+            std::string DerivedClassName() const;
+            std::string LibraryAbsolutePath() const;
+            std::string LibraryBaseName() const;
+            std::string LibraryJsonFilename() const;
+            std::string LibraryJsonRaw() const;
+            std::string LibraryVersion() const;
+
+        protected:
+            void AddValueSerializer(iUpmObject* instance, t_getJson method);
+            void AddJsonDeserializer(iUpmObject* instance, t_getJson method);
+
+            /**
+             * Used by child classes for child-to-parent proxy call
+             */
+            std::map<t_getJson, iUpmObject*> _child_value_serializers;
+
+            /**
+             * Used by child classes for child-to-parent proxy call
+             */
+            std::map<t_getJson, iUpmObject*> _child_json_deserializers;
+
+            ///*
+            //friend std::ostream& operator<<(std::ostream& os, const iUpmObject& o)
+            //{
+            //    return os << "  \"name\" : \"" << o.Name() << "\"," << std::endl
+            //        << "  \"description\" : \"" << o.Description() << "\"";
+            //}
+
+            //friend std::ostream& operator<<(std::ostream& os, const iUpmObject* o)
+            //{ return os << *o; }
+            //*/
+        private:
+            nlohmann::json *_json = NULL;
+            std::string _Description;
+            std::string _LibraryJsonFilename;
+            std::string _LibraryJsonRaw;
+    };
+}

src/core/iUpmObject.i

@@ -0,0 +1,2 @@
+%import (module="upm.pyupm_core") "iUpmObject.hpp"
+%include ".iUpmObject.i"

src/core/iUpmObject_generated.cxx.in

@@ -0,0 +1 @@
+const char* DATA_DIRECTORY = "@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_DATADIR@";

src/ds1808lc/CMakeLists.txt

@@ -2,4 +2,4 @@ set (libname "ds1808lc")
 set (libdescription "Lighting Controller")
 set (module_src ${libname}.cxx mraa-utils.cxx)
 set (module_hpp ${libname}.hpp)
-upm_module_init(interfaces mraa)
+upm_module_init(core mraa)

src/ds1808lc/ds1808lc.cxx

@@ -54,7 +54,7 @@ int DS1808LC::getBrightness()
       return getPercentBrightness(values[0], values[1]);
    }
    else
-      UPM_THROW("i2c read error");
+      throw std::runtime_error(std::string(__FUNCTION__) + " : i2c read error");
 }
 
 
@@ -65,7 +65,7 @@ void DS1808LC::setBrightness(int dutyPercent)
    values[1] = getPot2Value(dutyPercent);
    status = i2c->write(values, 2);
    if (status != mraa::SUCCESS)
-       UPM_THROW("i2c write error");
+       throw std::runtime_error(std::string(__FUNCTION__) + " : i2c write error");
 }
 
 //

src/ds1808lc/ds1808lc.hpp

@@ -57,7 +57,6 @@ public:
    DS1808LC(int gpioPower, int i2cBus);
    ~DS1808LC();
 
-   const char* getModuleName() { return "ds1808lc"; }
    bool isPowered();
    void setPowerOn();
    void setPowerOff();

src/ds1808lc/ds1808lc.i

@@ -1,30 +1,15 @@
 %include "../common_top.i"
+%include "iLightController.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
 %include "arrays_java.i";
 %include "../java_buffer.i"
-%typemap(javaimports) SWIGTYPE %{import upm_interfaces.*;%}
-%import "../interfaces/javaupm_iLightController.i"
 
 JAVA_JNI_LOADLIBRARY(javaupm_ds1808lc)
 #endif
 /* END Java syntax */
 
-/* BEGIN Javascript syntax  ------------------------------------------------- */
-#ifdef SWIGJAVASCRIPT
-%include "iModuleStatus.hpp"
-%include "iLightController.hpp"
-#endif
-/* END Javascript syntax */
-
-/* BEGIN Python syntax  ----------------------------------------------------- */
-#ifdef SWIGPYTHON
-%include "iModuleStatus.hpp"
-%include "iLightController.hpp"
-#endif
-/* END Python syntax */
-
 /* BEGIN Common SWIG syntax ------------------------------------------------- */
 %{
 #include "ds1808lc.hpp"