Added interface iRotaryAngle

Signed-off-by: Stefan Andritoiu <stefan.andritoiu@gmail.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

src/grove/groverotary.cxx

@@ -77,3 +77,8 @@ float GroveRotary::rel_rad()
 {
     return GroveRotary::rel_deg() * M_PI / 180.0;
 }
+
+float GroveRotary::getValue()
+{
+    return GroveRotary::abs_value();
+}

src/grove/groverotary.hpp

@@ -29,6 +29,7 @@
 #include <string>
 #include <mraa/aio.hpp>
 #include "grovebase.hpp"
+#include <interfaces/iRotaryAngle.hpp>
 
 namespace upm {
 
@@ -53,7 +54,7 @@ namespace upm {
  * @image html rotaryencoder.jpg
  * @snippet grove-groverotary.cxx Interesting
  */
-class GroveRotary: public Grove {
+class GroveRotary: public Grove, virtual public iRotaryAngle {
     public:
         /**
          * Grove rotary angle sensor constructor
@@ -101,6 +102,14 @@ class GroveRotary: public Grove {
          * @return Signed radians from the ADC
          */
         float rel_rad();
+
+        /**
+         * Get rotation value as raw degrees from the AIO pin.
+         *
+         * @return rotation value.
+         */
+        virtual float getValue();
+
     private:
         mraa_aio_context m_aio;
         static const int m_max_angle = 300;

src/rotary/rotary.cxx

@@ -76,3 +76,8 @@ float Rotary::rel_rad()
 {
     return Rotary::rel_deg() * M_PI / 180.0;
 }
+
+ float Rotary::getValue()
+ {
+     return Rotary::abs_value();
+ }

src/rotary/rotary.hpp

@@ -30,6 +30,7 @@
 #include <mraa/aio.hpp>
 
 #include "rotary.hpp"
+#include <interfaces/iRotaryAngle.hpp>
 
 namespace upm {
 
@@ -59,7 +60,7 @@ namespace upm {
  * @image html rotary.jpg
  * @snippet rotary.cxx Interesting
  */
-class Rotary{
+class Rotary : virtual public iRotaryAngle {
     public:
         /**
          * Rotary angle sensor constructor
@@ -77,6 +78,7 @@ class Rotary{
          * @return Unsigned value from the ADC
          */
         float abs_value();
+
         /**
          * Gets absolute raw degrees from the AIO pin
          *
@@ -107,6 +109,14 @@ class Rotary{
          * @return Signed radians from the ADC
          */
         float rel_rad();
+
+        /**
+         * Get rotation value as raw degrees from the AIO pin.
+         *
+         * @return rotation value.
+         */
+        virtual float getValue();
+
         std::string name(){ return "Rotary Angle Sensor";}
     private:
         mraa_aio_context m_aio;

src/rotaryencoder/rotaryencoder.cxx

@@ -53,4 +53,6 @@ int RotaryEncoder::position()
     return rotaryencoder_get_position(m_rotaryencoder);
 }
 
-
+float RotaryEncoder::getValue() {
+    return (float) RotaryEncoder::position();
+}

src/rotaryencoder/rotaryencoder.hpp

@@ -24,6 +24,7 @@
 #pragma once
 
 #include "rotaryencoder.h"
+#include <interfaces/iRotaryAngle.hpp>
 
 namespace upm {
 
@@ -60,7 +61,7 @@ namespace upm {
      * @snippet rotaryencoder.cxx Interesting
      */
 
-    class RotaryEncoder {
+    class RotaryEncoder : virtual public iRotaryAngle {
     public:
         /**
          * RotaryEncoder constructor
@@ -87,6 +88,13 @@ namespace upm {
          */
         int position();
 
+        /**
+         * Get rotation value from sensor data.
+         *
+         * @return rotation value.
+         */
+        virtual float getValue();
+
     private:
         /* Disable implicit copy and assignment operators */
         RotaryEncoder(const RotaryEncoder&) = delete;
@@ -95,5 +103,3 @@ namespace upm {
         rotaryencoder_context m_rotaryencoder;
     };
 }
-
-