nunchuck: C port; FTI; C++ wraps C

Some API changes were made as well, see docs/apichanges.md.

Signed-off-by: Jon Trulson <jtrulson@ics.com>

examples/c++/nunchuck.cxx

@@ -43,37 +43,29 @@ int main(int argc, char **argv)
   signal(SIGINT, sig_handler);
 
 //! [Interesting]
-  // Instantiate a nunchuck controller bus 0
-  upm::NUNCHUCK *nunchuck = new upm::NUNCHUCK(0);
-  
-  // always do this first
-  cout << "Initializing... " << endl;
-  if (!nunchuck->init())
-    {
-      cerr << "nunchuck->init() failed." << endl;
-      return 0;
-    }
-  
+  // Instantiate a nunchuck controller bus 3
+  upm::NUNCHUCK *nunchuck = new upm::NUNCHUCK(3);
+
   while (shouldRun)
     {
       nunchuck->update();
 
-      cout << "stickX: " << nunchuck->stickX 
+      cout << "stickX: " << nunchuck->stickX
            << ", stickY: " << nunchuck->stickY << endl;
-      cout << "accelX: " << nunchuck->accelX 
-           << ", accelY: " << nunchuck->accelY 
+      cout << "accelX: " << nunchuck->accelX
+           << ", accelY: " << nunchuck->accelY
            << ", accelZ: " << nunchuck->accelZ << endl;
-      
-      cout << "button C: " 
+
+      cout << "button C: "
            << ((nunchuck->buttonC) ? "pressed" : "not pressed") << endl;
-      cout << "button Z: " 
+      cout << "button Z: "
            << ((nunchuck->buttonZ) ? "pressed" : "not pressed") << endl;
       cout << endl;
 
       usleep(100000);
     }
   //! [Interesting]
-  
+
   delete nunchuck;
   return 0;
 }

examples/c/CMakeLists.txt

@@ -148,6 +148,7 @@ add_example (cjq4435)
 add_example (hmc5883l)
 add_example (wfs)
 add_example (enc03r)
+add_example (nunchuck)
 
 # Custom examples
 add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)

examples/c/nunchuck.c

@@ -0,0 +1,84 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <stdio.h>
+#include <signal.h>
+
+#include <upm_utilities.h>
+#include "nunchuck.h"
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+    signal(SIGINT, sig_handler);
+
+//! [Interesting]
+    // Instantiate a nunchuck controller bus 3
+    nunchuck_context sensor = nunchuck_init(3);
+
+    if (!sensor)
+    {
+        printf("%s: nunchuck_init() failed\n", __FUNCTION__);
+        return 1;
+    }
+
+    while (shouldRun)
+    {
+        if (nunchuck_update(sensor))
+        {
+            printf("%s: nunchuck_update() failed\n", __FUNCTION__);
+            nunchuck_close(sensor);
+            return 1;
+        }
+
+        int x, y, z;
+        nunchuck_get_stick(sensor, &x, &y);
+        printf("stickX: %d stickY: %d\n", x, y);
+
+        nunchuck_get_acceleration(sensor, &x, &y, &z);
+        printf("accelX: %d accelY: %d accelZ: %d\n", x, y, z);
+
+        bool bc, bz;
+        nunchuck_get_buttons(sensor, &bc, &bz);
+        printf("button C: %s\n",
+               ((bc) ? "pressed" : "not pressed"));
+        printf("button Z: %s\n\n",
+               ((bz) ? "pressed" : "not pressed"));
+
+        upm_delay_ms(100);
+    }
+
+    nunchuck_close(sensor);
+
+    //! [Interesting]
+    return 0;
+}

examples/java/NUNCHUCKSample.java

@@ -24,38 +24,38 @@
 
 public class NUNCHUCKSample {
 
-	public static void main(String[] args) throws InterruptedException {
-		// ! [Interesting]
-		// Instantiate a nunchuck controller bus 0
-		upm_nunchuck.NUNCHUCK nunchuck = new upm_nunchuck.NUNCHUCK(0);
+    public static void main(String[] args) throws InterruptedException {
+        // ! [Interesting]
+        // Instantiate a nunchuck controller bus 0
+        upm_nunchuck.NUNCHUCK nunchuck = new upm_nunchuck.NUNCHUCK(3);
 
-		// always do this first
-		System.out.println("Initializing... ");
-		if (!nunchuck.init()) {
-			System.err.println("nunchuck->init() failed.");
-			return;
-		}
+        while (true)
+        {
+            nunchuck.update();
+            System.out.println("stickX: "
+                               + nunchuck.getStickX()
+                               + ", stickY: "
+                               + nunchuck.getStickY());
+            System.out.println("accelX: "
+                               + nunchuck.getAccelX()
+                               + ", accelY: "
+                               + nunchuck.getAccelY()
+                               + ", accelZ: "
+                               + nunchuck.getAccelZ());
 
-		while (true) {
-			nunchuck.update();
-			System.out.println("stickX: " + nunchuck.getStickX() + ", stickY: "
-					+ nunchuck.getStickY());
-			System.out.println("accelX: " + nunchuck.getAccelX() + ", accelY: "
-					+ nunchuck.getAccelY() + ", accelZ: " + nunchuck.getAccelZ());
+            if (nunchuck.getButtonC())
+                System.out.println("Button C pressed");
+            else
+                System.out.println("Button C not pressed");
 
-			if (nunchuck.getButtonC())
-				System.out.println("Button C pressed");
-			else
-				System.out.println("Button C not pressed");
+            if (nunchuck.getButtonZ())
+                System.out.println("Button Z pressed");
+            else
+                System.out.println("Button Z not pressed");
 
-			if (nunchuck.getButtonZ())
-				System.out.println("Button Z pressed");
-			else
-				System.out.println("Button Z not pressed");
+            Thread.sleep(100);
+        }
+        // ! [Interesting]
+    }
 
-			Thread.sleep(1000);
-		}
-		// ! [Interesting]
-	}
-
-}
+}

examples/javascript/nunchuck.js

@@ -24,16 +24,8 @@
 
 var nunchuck_lib = require('jsupm_nunchuck');
 
-// Instantiate a nunchuck controller bus 0
-var nunchuck_obj = new nunchuck_lib.NUNCHUCK(0);
-
-// always do this first
-console.log("Initializing... ");
-if (!nunchuck_obj.init())
-{
-	console.log("nunchuck->init() failed.");
-	process.exit(0);
-}
+// Instantiate a nunchuck controller bus 3
+var nunchuck_obj = new nunchuck_lib.NUNCHUCK(3);
 
 setInterval(function()
 {

examples/python/nunchuck.py

@@ -26,8 +26,8 @@ import time, sys, signal, atexit
 from upm import pyupm_nunchuck as upmNunchuck
 
 def main():
-    # Instantiate a nunchuck controller bus 0 on I2C
-    myNunchuck = upmNunchuck.NUNCHUCK(0)
+    # Instantiate a nunchuck controller bus 3 on I2C
+    myNunchuck = upmNunchuck.NUNCHUCK(3)
 
     ## Exit handlers ##
     # This function stops python from printing a stacktrace when you hit control-C
@@ -43,12 +43,6 @@ def main():
     atexit.register(exitHandler)
     signal.signal(signal.SIGINT, SIGINTHandler)
 
-    # always do this first
-    print("Initializing... ")
-    if (not myNunchuck.init()):
-        print("nunchuck->init() failed.")
-        sys.exit(0);
-
     def buttonStateStr(buttonState):
         return "pressed" if buttonState else "not pressed"