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

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

examples/c++/CMakeLists.txt

@@ -324,6 +324,7 @@ add_example (sht1x)
 add_example (ms5803)
 add_example (ims)
 add_example (ecezo)
+add_example (mb704x)
 
 # These are special cases where you specify example binary, source file and module(s)
 include_directories (${PROJECT_SOURCE_DIR}/src)

examples/c++/mb704x.cxx

@@ -0,0 +1,70 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <signal.h>
+
+#include <upm_utilities.h>
+#include <mb704x.hpp>
+
+using namespace std;
+using namespace upm;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main()
+{
+    signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+    // Instantiate a MB704X sensor using default parameters (bus 0,
+    // address 112)
+    upm::MB704X *sensor = new upm::MB704X();
+
+    while (shouldRun)
+    {
+        cout << "Range: "
+             << sensor->getRange()
+             << " cm"
+             << endl;
+
+        upm_delay_ms(500);
+    }
+
+
+    cout << "Exiting..." << endl;
+
+    delete sensor;
+
+//! [Interesting]
+
+    return 0;
+}

examples/c/CMakeLists.txt

@@ -140,6 +140,7 @@ add_example (my9221)
 add_example (ms5803)
 add_example (ims)
 add_example (ecezo)
+add_example (mb704x)
 
 # Custom examples
 add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)

examples/c/mb704x.c

@@ -0,0 +1,77 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <signal.h>
+
+#include <upm_utilities.h>
+#include <mb704x.h>
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main()
+{
+    signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+    // Instantiate a MB704X sensor on i2c bus 0, address 112.
+    mb704x_context sensor = mb704x_init(0, 112);
+
+    if (!sensor)
+    {
+        printf("mb704x_init() failed.\n");
+        return 1;
+    }
+
+    while (shouldRun)
+    {
+        // this will take about 1 second to complete
+        int range = mb704x_get_range(sensor);
+        if (range < 0)
+        {
+            printf("Error getting range.\n");
+        }
+        else
+        {
+            printf("Range: %d cm\n", range);
+        }
+
+        upm_delay_ms(500);
+    }
+
+    printf("Exiting\n");
+
+    mb704x_close(sensor);
+
+//! [Interesting]
+
+    return 0;
+}

examples/java/CMakeLists.txt

@@ -159,6 +159,7 @@ add_example(SHT1X_Example sht1x)
 add_example(MS5803_Example ms5803)
 add_example(ECEZO_Example ecezo)
 add_example(IMS_Example ims)
+add_example(MB704X_Example mb704x)
 
 add_example_with_path(Jhd1313m1_lcdSample lcd i2clcd)
 add_example_with_path(Jhd1313m1Sample lcd i2clcd)

examples/java/MB704X_Example.java

@@ -0,0 +1,48 @@
+/*
+ * 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.
+ */
+
+import upm_mb704x.MB704X;
+
+public class MB704X_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // Instantiate a MB704X sensor using default parameters (bus 0,
+        // address 112)
+        MB704X sensor = new MB704X();
+
+        while (true)
+            {
+                System.out.println("Range: "
+                                   + sensor.getRange()
+                                   + " cm");
+
+                Thread.sleep(500);
+            }
+
+// ! [Interesting]
+    }
+}

examples/javascript/mb704x.js

@@ -0,0 +1,47 @@
+/*
+ * 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.
+ */
+
+var sensorObj = require('jsupm_mb704x');
+
+// Instantiate a MB704X sensor using default parameters (bus 0,
+// address 112)
+var sensor = new sensorObj.MB704X();
+
+setInterval(function()
+{
+    console.log("Range: "
+                + sensor.getRange()
+                + " cm");
+
+}, 500);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});

examples/python/mb704x.py

@@ -0,0 +1,56 @@
+#!/usr/bin/python
+# 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.
+
+from __future__ import print_function
+import time, sys, signal, atexit
+from upm import pyupm_mb704x as sensorObj
+
+def main():
+    # Instantiate a MB704X sensor using default parameters (bus 0,
+    # address 112)
+    sensor = sensorObj.MB704X();
+
+    ## Exit handlers ##
+    # This function stops python from printing a stacktrace when you
+    # hit control-C
+    def SIGINTHandler(signum, frame):
+        raise SystemExit
+
+    # This function lets you run code on exit
+    def exitHandler():
+        print("Exiting")
+        sys.exit(0)
+
+    # Register exit handlers
+    atexit.register(exitHandler)
+    signal.signal(signal.SIGINT, SIGINTHandler)
+
+    while (1):
+        print("Range: "
+              + str(sensor.getRange())
+              + " cm")
+
+        time.sleep(.5)
+
+if __name__ == '__main__':
+    main()

src/mb704x/CMakeLists.txt

@@ -0,0 +1,9 @@
+upm_mixed_module_init (NAME mb704x
+    DESCRIPTION "MB7040/7047 I2C MaxSonar WR Ultrasonic Ranger"
+    C_HDR mb704x.h
+    C_SRC mb704x.c
+    CPP_HDR mb704x.hpp
+    CPP_SRC mb704x.cxx
+    FTI_SRC mb704x_fti.c
+    CPP_WRAPS_C
+    REQUIRES mraa)

src/mb704x/javaupm_mb704x.i

@@ -0,0 +1,21 @@
+%module javaupm_mb704x
+%include "../upm.i"
+%include "std_string.i"
+%include "stdint.i"
+%include "typemaps.i"
+
+%include "mb704x.hpp"
+%{
+    #include "mb704x.hpp"
+%}
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_mb704x");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/mb704x/jsupm_mb704x.i

@@ -0,0 +1,8 @@
+%module jsupm_mb704x
+%include "../upm.i"
+%include "std_string.i"
+
+%include "mb704x.hpp"
+%{
+    #include "mb704x.hpp"
+%}

src/mb704x/mb704x.c

@@ -0,0 +1,115 @@
+/*
+ * 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.
+ */
+
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+
+#include <upm_utilities.h>
+
+#include "mb704x.h"
+
+// The delay to wait (in ms) for a ranging command to complete before
+// requesting the range data.
+#define MB704X_RANGE_DELAY     (100)
+
+// range command
+#define MB704X_CMD_RANGE       (81)
+
+mb704x_context mb704x_init(unsigned int bus, int addr)
+{
+    // make sure MRAA is initialized
+    int mraa_rv;
+    if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
+    {
+        printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
+        return NULL;
+    }
+
+    mb704x_context dev =
+        (mb704x_context)malloc(sizeof(struct _mb704x_context));
+
+    if (!dev)
+        return NULL;
+
+    // zero out context
+    memset((void *)dev, 0, sizeof(struct _mb704x_context));
+
+    // initialize the MRAA contexts
+
+    if (!(dev->i2c = mraa_i2c_init(bus)))
+    {
+        printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__);
+        mb704x_close(dev);
+        return NULL;
+    }
+
+    if (mraa_i2c_address(dev->i2c, (uint8_t)addr))
+    {
+        printf("%s: mraa_i2c_address() failed.\n", __FUNCTION__);
+        mb704x_close(dev);
+        return NULL;
+    }
+
+    // max power up delay
+    upm_delay_ms(135);
+
+    return dev;
+}
+
+void mb704x_close(mb704x_context dev)
+{
+    assert(dev != NULL);
+
+    if (dev->i2c)
+        mraa_i2c_stop(dev->i2c);
+
+    free(dev);
+}
+
+int mb704x_get_range(const mb704x_context dev)
+{
+    assert(dev != NULL);
+
+    // first, send the range command.
+    uint8_t cmd = MB704X_CMD_RANGE;
+    if (mraa_i2c_write(dev->i2c, &cmd, 1))
+    {
+        printf("%s: mraa_i2c_write() failed.\n", __FUNCTION__);
+        return -1;
+    }
+
+    // delay for measurement
+    upm_delay_ms(MB704X_RANGE_DELAY);
+
+    // At this point, we should be able to do our read of the data
+    uint8_t buffer[2];
+    if (mraa_i2c_read(dev->i2c, buffer, 2) != 2)
+    {
+        printf("%s: mraa_i2c_read() failed.\n", __FUNCTION__);
+        return -1;
+    }
+
+    return ((buffer[0] << 8) | buffer[1]);
+}

src/mb704x/mb704x.cxx

@@ -0,0 +1,49 @@
+/*
+ * 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.
+ */
+
+#include <iostream>
+#include <stdexcept>
+
+#include "mb704x.hpp"
+
+using namespace upm;
+using namespace std;
+
+MB704X::MB704X(unsigned int bus, unsigned int addr) :
+    m_mb704x(mb704x_init(bus, addr))
+{
+    if (!m_mb704x)
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": mb704x_*_init() failed");
+}
+
+MB704X::~MB704X()
+{
+    mb704x_close(m_mb704x);
+}
+
+int MB704X::getRange()
+{
+    return mb704x_get_range(m_mb704x);
+}

src/mb704x/mb704x.h

@@ -0,0 +1,78 @@
+/*
+ * 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 <stdint.h>
+#include <upm.h>
+#include <mraa/i2c.h>
+#include <mraa/gpio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /**
+     * @file mb704x.h
+     * @library mb704x
+     * @brief C API for the MB704x MaxSonar-WR Ultrasonic Ranger
+     *
+     * @include mb704x.c
+     */
+
+    /**
+     * Device context
+     */
+    typedef struct _mb704x_context {
+        mraa_i2c_context         i2c;
+    } *mb704x_context;
+
+    /**
+     * MB704X Initializer
+     *
+     * @param bus Specify which the I2C bus to use.
+     * @param addr Specify the I2C address to use.  The default is 112.
+     * @return an initialized device context on success, NULL on error.
+     */
+    mb704x_context mb704x_init(unsigned int bus, int addr);
+
+    /**
+     * MB704X sensor close function
+     */
+    void mb704x_close(mb704x_context dev);
+
+    /**
+     * 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 mb704x_get_range(const mb704x_context dev);
+
+
+#ifdef __cplusplus
+}
+#endif

src/mb704x/mb704x.hpp

@@ -0,0 +1,94 @@
+/*
+ * 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:
+    };
+}

src/mb704x/mb704x_fti.c

@@ -0,0 +1,113 @@
+/*
+ * 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.
+ */
+
+#include "mb704x.h"
+#include "upm_fti.h"
+
+/**
+ * This file implements the Function Table Interface (FTI) for this sensor
+ */
+
+const char upm_mb704x_name[] = "MB704X";
+const char upm_mb704x_description[] = "MB704x MaxSonar-WR Ultrasonic Ranger";
+const upm_protocol_t upm_mb704x_protocol[] = {UPM_I2C};
+const upm_sensor_t upm_mb704x_category[] = {UPM_DISTANCE};
+
+// forward declarations
+const void* upm_mb704x_get_ft(upm_sensor_t sensor_type);
+void* upm_mb704x_init_name();
+void upm_mb704x_close(void *dev);
+upm_result_t upm_mb704x_get_distance(void *dev, float *value,
+                                     upm_distance_u unit);
+
+const upm_sensor_descriptor_t upm_es08a_get_descriptor()
+{
+    upm_sensor_descriptor_t usd;
+
+    usd.name = upm_mb704x_name;
+    usd.description = upm_mb704x_description;
+    usd.protocol_size = 1;
+    usd.protocol = upm_mb704x_protocol;
+    usd.category_size = 1;
+    usd.category = upm_mb704x_category;
+
+    return usd;
+}
+
+static const upm_sensor_ft ft =
+{
+  .upm_sensor_init_name = &upm_mb704x_init_name,
+  .upm_sensor_close = &upm_mb704x_close,
+};
+
+static const upm_distance_ft dft =
+{
+  .upm_distance_get_value = upm_mb704x_get_distance
+};
+
+const void* upm_mb704x_get_ft(upm_sensor_t sensor_type)
+{
+  switch(sensor_type)
+    {
+    case UPM_SENSOR:
+      return &ft;
+
+    case UPM_DISTANCE:
+      return &dft;
+
+    default:
+      return NULL;
+    }
+}
+
+void *upm_mb704x_init_name()
+{
+  return NULL;
+}
+
+void upm_mb704x_close(void *dev)
+{
+  mb704x_close((mb704x_context)dev);
+}
+
+upm_result_t upm_mb704x_get_distance(void *dev, float *value,
+                                     upm_distance_u unit)
+{
+    int rv;
+
+    if ((rv = mb704x_get_range((mb704x_context)dev)) < 0)
+        return UPM_ERROR_OPERATION_FAILED;
+
+    switch(unit)
+    {
+    case CENTIMETER:
+        *value = (float)rv;
+    case INCH:
+        *value = ((float)rv * 0.393701);
+    default:
+        return UPM_ERROR_INVALID_PARAMETER;
+    }
+
+    return UPM_SUCCESS;
+}

src/mb704x/pyupm_mb704x.i

@@ -0,0 +1,12 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_mb704x
+%include "../upm.i"
+%include "std_string.i"
+
+%feature("autodoc", "3");
+
+%include "mb704x.hpp"
+%{
+    #include "mb704x.hpp"
+%}