mb704x: Initial implementation; C; FTI; C++ wraps C

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

src/mb704x/mb704x.hpp

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+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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.
+ */
+#pragma once
+
+#include <string>
+#include <iostream>
+
+#include <stdlib.h>
+#include <unistd.h>
+
+#include "mb704x.h"
+
+namespace upm {
+    /**
+     * @brief API for the MB704x MaxSonar-WR Ultrasonic Ranger
+     * @defgroup mb704x libupm-mb704x
+     * @ingroup i2c sound
+     */
+
+    /**
+     * @library mb704x
+     * @sensor mb704x
+     * @comname MB704x MaxSonar-WR Ultrasonic Ranger
+     * @altname MB7040 MB7047 MB7247
+     * @type sound
+     * @man maxbotix
+     * @con i2c
+     * @web http://www.maxbotix.com/Ultrasonic_Sensors/I2C_Distance_Sensors.htm
+     *
+     * @brief API for the MB704x MaxSonar-WR Ultrasonic Ranger
+     *
+     * This driver was tested with the MB704x MaxSonar-WR Ultrasonic
+     * Ranger using the long distance, weather resistant horn.
+     * Depending on your sensor type and horn, tanges from 20cm to
+     * 750cm are possible.
+     *
+     * @snippet mb704x.cxx Interesting
+     */
+
+    class MB704X {
+    public:
+
+        /**
+         * Initialize a device context.
+         *
+         * @param bus Specify which the I2C bus to use.  The default is 0.
+         * @param addr Specify the I2C address to use.  The default is 112.
+         */
+        MB704X(unsigned int bus=0, unsigned int addr=112);
+
+        /**
+         * MB704X object destructor
+         */
+        ~MB704X();
+
+        /**
+         * Query the device for a range reading.  The range will be
+         * reported in centimeters (cm).
+         *
+         * @param dev Device context
+         * @return Measured range, -1 on error. The range is reported in
+         * centimeters (cm).
+         */
+        int getRange();
+
+
+    protected:
+        // mb704x device context
+        mb704x_context m_mb704x;
+
+    private:
+    };
+}