Grove: Reverting Grove sources

Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>

src/button/button.cxx

@@ -30,6 +30,7 @@
 
 #include "button.hpp"
 
+using namespace std;
 using namespace upm;
 
 Button::Button(unsigned int pin)

src/grove/CMakeLists.txt

@@ -1,7 +1,5 @@
-upm_mixed_module_init (NAME grove
-    DESCRIPTION "upm grove module"
-    CPP_HDR groveled.hpp
-            grovetemp.hpp grovebase.hpp grove.hpp
-    CPP_SRC groveled.cxx
-            grovetemp.cxx
-    REQUIRES mraa)
+set (libname "grove")
+set (libdescription "upm grove module")
+set (module_src grovebutton.cxx groveled.cxx grovelight.cxx groverelay.cxx groverotary.cxx groveslide.cxx grovetemp.cxx)
+set (module_hpp grovebutton.hpp groveled.hpp grovelight.hpp groverelay.hpp groverotary.hpp groveslide.hpp grovetemp.hpp grovebase.hpp grove.hpp)
+upm_module_init()

src/grove/grove.hpp

@@ -25,6 +25,10 @@
  */
 #pragma once
 
-#include <button.hpp>
+#include <grovebutton.hpp>
 #include <groveled.hpp>
+#include <grovelight.hpp>
+#include <groverelay.hpp>
+#include <groverotary.hpp>
+#include <groveslide.hpp>
 #include <grovetemp.hpp>

src/grove/grovebutton.cxx

@@ -0,0 +1,82 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 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 <string>
+#include <stdexcept>
+
+#include "grovebutton.hpp"
+
+using namespace upm;
+
+GroveButton::GroveButton(unsigned int pin)
+{
+    if ( !(m_gpio = mraa_gpio_init(pin)) ) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_gpio_init() failed, invalid pin?");
+        return;
+    }
+    mraa_gpio_dir(m_gpio, MRAA_GPIO_IN);
+    m_name = "Button Sensor";
+}
+
+GroveButton::~GroveButton()
+{
+    mraa_gpio_close(m_gpio);
+}
+
+std::string GroveButton::name()
+{
+    return m_name;
+}
+
+int GroveButton::value()
+{
+    return mraa_gpio_read(m_gpio);
+}
+
+#ifdef JAVACALLBACK
+void GroveButton::installISR(mraa::Edge level, jobject runnable)
+{
+  installISR(level, mraa_java_isr_callback, runnable);
+}
+#endif
+
+void GroveButton::installISR(mraa::Edge level, void (*isr)(void *), void *arg)
+{
+  if (m_isrInstalled)
+    uninstallISR();
+
+  // install our interrupt handler
+  mraa_gpio_isr(m_gpio, (mraa_gpio_edge_t) level, isr, arg);
+  m_isrInstalled = true;
+}
+
+void GroveButton::uninstallISR()
+{
+  mraa_gpio_isr_exit(m_gpio);
+  m_isrInstalled = false;
+}

src/grove/grovebutton.hpp

@@ -0,0 +1,104 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 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 <mraa/gpio.hpp>
+#include "grovebase.hpp"
+
+namespace upm {
+
+/**
+ * @library grove
+ * @sensor grovebutton
+ * @comname Grove Button
+ * @altname Grove Touch Sensor
+ * @type button touch
+ * @man seeed
+ * @con gpio
+ * @kit gsk
+ *
+ * @brief API for the Grove Button
+ *
+ * Basic UPM module for the Grove button
+ *
+ * @image html grovebutton.jpg
+ * @snippet grovebutton.cxx Interesting
+ */
+class GroveButton: public Grove {
+    public:
+        /**
+         * Grove button constructor
+         *
+         * @param gpio Pin to use
+         */
+        GroveButton(unsigned int pin);
+        /**
+         * Grove button destructor
+         */
+        ~GroveButton();
+        /**
+         * Gets the name of the sensor
+         *
+         * @return Name of this sensor
+         */
+        std::string name();
+        /**
+         * Gets the value from the GPIO pin
+         *
+         * @return Value from the GPIO pin
+         */
+        int value();
+
+        /**
+         * Installs an interrupt service routine (ISR) to be called when
+         * the button is activated or deactivated.
+         *
+         * @param fptr Pointer to a function to be called on interrupt
+         * @param arg Pointer to an object to be supplied as an
+         * argument to the ISR.
+         */
+#if defined(SWIGJAVA) || defined(JAVACALLBACK)
+        void installISR(mraa::Edge level, jobject runnable);
+#else
+        void installISR(mraa::Edge level, void (*isr)(void *), void *arg);
+#endif
+        /**
+         * Uninstalls the previously installed ISR
+         *
+         */
+        void uninstallISR();
+
+    private:
+#if defined(SWIGJAVA) || defined(JAVACALLBACK)
+        void installISR(mraa::Edge level, void (*isr)(void *), void *arg);
+#endif
+        bool m_isrInstalled;
+        std::string m_name;
+        mraa_gpio_context m_gpio;
+};
+}

src/grove/grovelight.cxx

@@ -0,0 +1,63 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 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 <string>
+#include <stdexcept>
+
+#include "grovelight.hpp"
+#include "math.h"
+
+using namespace upm;
+
+GroveLight::GroveLight(unsigned int pin)
+{
+    if ( !(m_aio = mraa_aio_init(pin)) ) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_aio_init() failed, invalid pin?");
+        return;
+    }
+    m_name = "Light Sensor";
+}
+
+GroveLight::~GroveLight()
+{
+    mraa_aio_close(m_aio);
+}
+
+int GroveLight::value()
+{
+    // rough conversion to lux, using formula from Grove Starter Kit booklet
+    float a = (float) mraa_aio_read(m_aio);
+    if (a == -1.0) return -1;
+    a = 10000.0/pow(((1023.0-a)*10.0/a)*15.0,4.0/3.0);
+    return (int) round(a);
+}
+
+float GroveLight::raw_value()
+{
+    return (float) mraa_aio_read(m_aio);
+}

src/grove/grovelight.hpp

@@ -0,0 +1,82 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 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 <mraa/aio.hpp>
+#include "grovebase.hpp"
+
+namespace upm {
+
+/**
+ * @library grove
+ * @sensor grovelight
+ * @comname Grove Light Sensor
+ * @type light
+ * @man seeed
+ * @con analog
+ * @kit gsk
+ *
+ * @brief API for the Grove Light Sensor
+ *
+ * The Grove light sensor detects the intensity of the ambient light.
+ * As the light intensity of the environment increases, the resistance
+ * of the sensor decreases. This means the raw value from the
+ * analog pin is larger in bright light and smaller in the dark.
+ * An approximate lux value can also be returned.
+ *
+ * @image html grovelight.jpg
+ * @snippet grovelight.cxx Interesting
+ */
+class GroveLight: public Grove {
+    public:
+        /**
+         * Grove analog light sensor constructor
+         *
+         * @param pin Analog pin to use
+         */
+        GroveLight(unsigned int pin);
+        /**
+         * GroveLight destructor
+         */
+        ~GroveLight();
+        /**
+         * Gets the raw value from the AIO pin
+         *
+         * @return Raw value from the ADC
+         */
+        float raw_value();
+        /**
+         * Gets an approximate light value, in lux, from the sensor
+         *
+         * @return Normalized light reading in lux
+         */
+        int value();
+    private:
+        mraa_aio_context m_aio;
+};
+}

src/grove/groverelay.cxx

@@ -0,0 +1,69 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 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 <string>
+#include <stdexcept>
+
+#include "groverelay.hpp"
+
+using namespace upm;
+
+GroveRelay::GroveRelay(unsigned int pin)
+{
+    if ( !(m_gpio = mraa_gpio_init(pin)) ) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_gpio_init() failed, invalid pin?");
+        return;
+    }
+    mraa_gpio_dir(m_gpio, MRAA_GPIO_OUT);
+    m_name = "Relay Switch";
+}
+
+GroveRelay::~GroveRelay()
+{
+    mraa_gpio_close(m_gpio);
+}
+
+mraa_result_t GroveRelay::on()
+{
+    return mraa_gpio_write(m_gpio, 1);
+}
+
+mraa_result_t GroveRelay::off()
+{
+    return mraa_gpio_write(m_gpio, 0);
+}
+
+bool GroveRelay::isOn()
+{
+    return mraa_gpio_read(m_gpio) == 1;
+}
+
+bool GroveRelay::isOff()
+{
+    return mraa_gpio_read(m_gpio) == 0;
+}

src/grove/groverelay.hpp

@@ -0,0 +1,95 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 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 <mraa/gpio.hpp>
+#include "grovebase.hpp"
+
+namespace upm {
+
+/**
+ * @library grove
+ * @sensor groverelay
+ * @comname Grove Relay
+ * @type relay
+ * @man seeed
+ * @con gpio
+ * @kit gsk eak hak
+ *
+ * @brief API for the Grove Relay
+ *
+ * UPM module for the Grove relay switch. The Grove relay is a
+ * digital normally-open switch that uses low voltage or current to
+ * control a higher voltage and/or higher current.  When closed,
+ * the indicator LED lights up and current is allowed to flow.
+ *
+ * @image html groverelay.jpg
+ * @snippet groverelay.cxx Interesting
+ */
+class GroveRelay: public Grove {
+    public:
+        /**
+         * Grove relay constructor
+         *
+         * @param gpio Pin to use
+         */
+        GroveRelay(unsigned int pin);
+        /**
+         * Grove relay destructor
+         */
+        ~GroveRelay();
+        /**
+         * Sets the relay switch to on (closed). This allows current
+         * to flow and lights up the indicator LED.
+         *
+         * @return 0 if successful, non-zero otherwise
+         */
+        mraa_result_t on();
+        /**
+         * Sets the relay switch to off (open). This stops current
+         * from flowing and the indicator LED is not lit.
+         *
+         * @return 0 if successful, non-zero otherwise
+         */
+        mraa_result_t off();
+        /**
+         * Defines whether the relay switch is closed.
+         *
+         * @return True if the switch is on (closed), false otherwise
+         */
+        bool isOn();
+        /**
+         * Defines whether the relay switch is open.
+         *
+         * @return True if the switch is off (open), false otherwise
+         */
+        bool isOff();
+    private:
+        mraa_gpio_context m_gpio;
+};
+}

src/grove/groverotary.cxx

@@ -0,0 +1,79 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 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 <string>
+#include <stdexcept>
+
+#include "groverotary.hpp"
+#include "math.h"
+
+using namespace upm;
+
+GroveRotary::GroveRotary(unsigned int pin)
+{
+    if ( !(m_aio = mraa_aio_init(pin)) ) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_aio_init() failed, invalid pin?");
+        return;
+    }
+    m_name = "Rotary Angle Sensor";
+}
+
+GroveRotary::~GroveRotary()
+{
+    mraa_aio_close(m_aio);
+}
+
+float GroveRotary::abs_value()
+{
+    return (float) mraa_aio_read(m_aio);
+}
+
+float GroveRotary::abs_deg()
+{
+    return GroveRotary::abs_value() * (float) m_max_angle / 1023.0;
+}
+
+float GroveRotary::abs_rad()
+{
+    return GroveRotary::abs_deg() * M_PI / 180.0;
+}
+
+float GroveRotary::rel_value()
+{
+    return GroveRotary::abs_value() - 512.0;
+}
+
+float GroveRotary::rel_deg()
+{
+    return GroveRotary::rel_value() * (float) m_max_angle / 1023.0;
+}
+
+float GroveRotary::rel_rad()
+{
+    return GroveRotary::rel_deg() * M_PI / 180.0;
+}

src/grove/groverotary.hpp

@@ -0,0 +1,106 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 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 <mraa/aio.hpp>
+#include "grovebase.hpp"
+
+namespace upm {
+
+/**
+ * @library grove
+ * @sensor groverotary
+ * @comname Grove Rotary Angle Sensor
+ * @altname Rotary Potentiometer
+ * @type ainput
+ * @man seeed
+ * @con analog
+ * @kit gsk
+ *
+ * @brief API for the Grove Rotary Angle Sensor (Knob)
+ *
+ * Basic UPM module for the Grove rotary angle sensor (knob) on analog. Provides
+ * a set of functions to read the absolute pin value, degrees or radians, and another set
+ * to do the same relative to the center of the knob's range.
+ *
+ * @image html groverotary.jpeg
+ * @snippet groverotary.cxx Interesting
+ */
+class GroveRotary: public Grove {
+    public:
+        /**
+         * Grove rotary angle sensor constructor
+         *
+         * @param pin Number of the analog pin to use
+         */
+        GroveRotary(unsigned int pin);
+        /**
+         * GroveRotary destructor
+         */
+        ~GroveRotary();
+        /**
+         * Gets the absolute raw value from the AIO pin
+         *
+         * @return Unsigned value from the ADC
+         */
+        float abs_value();
+        /**
+         * Gets absolute raw degrees from the AIO pin
+         *
+         * @return Unsigned degrees from the ADC
+         */
+        float abs_deg();
+        /**
+         * Gets absolute raw radians from the AIO pin
+         *
+         * @return Unsigned radians from the ADC
+         */
+        float abs_rad();
+        /**
+         * Gets the relative value from the AIO pin
+         *
+         * @return Signed value from the ADC
+         */
+        float rel_value();
+        /**
+         * Gets relative degrees from the AIO pin
+         *
+         * @return Signed degrees from the ADC
+         */
+        float rel_deg();
+        /**
+         * Gets relative radians from the AIO pin
+         *
+         * @return Signed radians from the ADC
+         */
+        float rel_rad();
+    private:
+        mraa_aio_context m_aio;
+        static const int m_max_angle = 300;
+};
+}

src/grove/groveslide.cxx

@@ -0,0 +1,68 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 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 <string>
+#include <stdexcept>
+
+#include "groveslide.hpp"
+#include "math.h"
+
+using namespace upm;
+
+GroveSlide::GroveSlide(unsigned int pin, float ref_voltage)
+{
+    if ( !(m_aio = mraa_aio_init(pin)) ) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_aio_init() failed, invalid pin?");
+        return;
+    }
+    m_ref_voltage = ref_voltage;
+    m_name = "Slide Potentiometer";
+}
+
+GroveSlide::~GroveSlide()
+{
+    mraa_aio_close(m_aio);
+}
+
+float GroveSlide::raw_value()
+{
+    return (float) mraa_aio_read(m_aio);
+}
+
+float GroveSlide::voltage_value()
+{
+    // conversion to Volts
+    float a = GroveSlide::raw_value();
+    a = m_ref_voltage * a / 1023.0 ;
+    return a;
+}
+
+float GroveSlide::ref_voltage()
+{
+    return m_ref_voltage;
+}

src/grove/groveslide.hpp

@@ -0,0 +1,87 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 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 <mraa/aio.hpp>
+#include "grovebase.hpp"
+
+namespace upm {
+
+/**
+ * @library grove
+ * @sensor groveslide
+ * @comname Grove Slide Potentiometer
+ * @type ainput
+ * @man seeed
+ * @con analog
+ *
+ * @brief API for the Grove Slide Potentiometer
+ *
+ * Basic UPM module for the Grove slide potentiometer on analog that
+ * returns either a raw value or a scaled voltage value.
+ *
+ * @image html groveslide.jpeg
+ * @snippet groveslide.cxx Interesting
+ */
+class GroveSlide: public Grove {
+    public:
+        /**
+         * Grove analog slide potentiometer constructor
+         *
+         * @param pin Number of the analog pin to use
+         *
+         * @param ref_voltage Reference voltage the board is set to, as a floating-point value; default is 5.0V
+         */
+        GroveSlide(unsigned int pin, float ref_voltage = 5.0);
+        /**
+         * GroveSlide destructor
+         */
+        ~GroveSlide();
+        /**
+         * Gets the raw value from the AIO pin
+         *
+         * @return Raw value from the ADC
+         */
+        float raw_value();
+        /**
+         * Gets the voltage value from the pin
+         *
+         * @return Voltage reading based on the reference voltage
+         */
+        float voltage_value();
+        /**
+         * Gets the board's reference voltage passed on object initialization
+         *
+         * @return Reference voltage the class was set for
+         */
+        float ref_voltage();
+    private:
+        mraa_aio_context m_aio;
+        float m_ref_voltage;
+};
+}

src/grove/javaupm_grove.i

@@ -14,11 +14,36 @@
     #include "grovebase.hpp"
 %}
 
+%include "grovebutton.hpp"
+%{
+    #include "grovebutton.hpp"
+%}
+
 %include "groveled.hpp"
 %{
     #include "groveled.hpp"
 %}
 
+%include "grovelight.hpp"
+%{
+    #include "grovelight.hpp"
+%}
+
+%include "groverelay.hpp"
+%{
+    #include "groverelay.hpp"
+%}
+
+%include "groverotary.hpp"
+%{
+    #include "groverotary.hpp"
+%}
+
+%include "groveslide.hpp"
+%{
+    #include "groveslide.hpp"
+%}
+
 %include "grovetemp.hpp"
 %{
     #include "grovetemp.hpp"

src/grove/jsupm_grove.i

@@ -11,11 +11,36 @@
     #include "grovebase.hpp"
 %}
 
+%include "grovebutton.hpp"
+%{
+    #include "grovebutton.hpp"
+%}
+
 %include "groveled.hpp"
 %{
     #include "groveled.hpp"
 %}
 
+%include "grovelight.hpp"
+%{
+    #include "grovelight.hpp"
+%}
+
+%include "groverelay.hpp"
+%{
+    #include "groverelay.hpp"
+%}
+
+%include "groverotary.hpp"
+%{
+    #include "groverotary.hpp"
+%}
+
+%include "groveslide.hpp"
+%{
+    #include "groveslide.hpp"
+%}
+
 %include "grovetemp.hpp"
 %{
     #include "grovetemp.hpp"

src/grove/pyupm_grove.i

@@ -15,11 +15,36 @@
     #include "grovebase.hpp"
 %}
 
+%include "grovebutton.hpp"
+%{
+    #include "grovebutton.hpp"
+%}
+
 %include "groveled.hpp"
 %{
     #include "groveled.hpp"
 %}
 
+%include "grovelight.hpp"
+%{
+    #include "grovelight.hpp"
+%}
+
+%include "groverelay.hpp"
+%{
+    #include "groverelay.hpp"
+%}
+
+%include "groverotary.hpp"
+%{
+    #include "groverotary.hpp"
+%}
+
+%include "groveslide.hpp"
+%{
+    #include "groveslide.hpp"
+%}
+
 %include "grovetemp.hpp"
 %{
     #include "grovetemp.hpp"

src/grovecollision/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "grovecollision")
+set (libdescription "upm grovecollision sensor module")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+upm_module_init("-lrt")

src/grovecollision/grovecollision.cxx

@@ -0,0 +1,53 @@
+/*
+ * Author: Zion Orent <sorent@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 <string>
+#include <stdexcept>
+
+#include "grovecollision.hpp"
+
+using namespace upm;
+
+GroveCollision::GroveCollision(int pin)
+{
+    
+    if ( !(m_gpio = mraa_gpio_init(pin)) ) 
+      {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_gpio_init() failed, invalid pin?");
+        return;
+      }
+    mraa_gpio_dir(m_gpio, MRAA_GPIO_IN);
+}
+
+GroveCollision::~GroveCollision()
+{
+    mraa_gpio_close(m_gpio);
+}
+
+bool GroveCollision::isColliding()
+{
+	// Collisions cause 0; no collision is 1
+	return (!(bool)mraa_gpio_read(m_gpio));
+}

src/grovecollision/grovecollision.hpp

@@ -0,0 +1,72 @@
+/*
+ * Author: Zion Orent <sorent@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.
+ */
+#pragma once
+
+#include <mraa/gpio.h>
+
+namespace upm {
+  /**
+   * @brief Grove Collision Sensor library
+   * @defgroup grovecollision libupm-grovecollision
+   * @ingroup seeed gpio accelerometer
+   */
+
+  /**
+   * @library grovecollision
+   * @sensor grovecollision
+   * @comname Grove Collision Sensor
+   * @type accelerometer
+   * @man seeed
+   * @con gpio
+   *
+   * @brief API for the Grove Collision Sensor
+   * 
+   * The Grove Collision Sensor can detect whether any
+   * collision movement or vibration happens.
+   * It outputs a low pulse signal when vibration is detected. 
+   *
+   * @image html grovecollision.jpg
+   * @snippet grovecollision.cxx Interesting
+   */
+  class GroveCollision {
+  public:
+    /**
+     * Grove collision sensor constructor
+     *
+     * @param pin Digital pin to use
+     */
+    GroveCollision(int pin);
+    /**
+     * GroveCollision destructor
+     */
+    ~GroveCollision();
+    /**
+     * @return bool  Defines whether something is colliding with sensor
+     */
+     bool isColliding();
+
+  private:
+        mraa_gpio_context m_gpio;
+	};
+}

src/grovecollision/javaupm_grovecollision.i

@@ -0,0 +1,19 @@
+%module javaupm_grovecollision
+%include "../upm.i"
+
+%{
+    #include "grovecollision.hpp"
+%}
+
+%include "grovecollision.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_grovecollision");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/grovecollision/jsupm_grovecollision.i

@@ -0,0 +1,8 @@
+%module jsupm_grovecollision
+%include "../upm.i"
+
+%{
+    #include "grovecollision.hpp"
+%}
+
+%include "grovecollision.hpp"

src/grovecollision/pyupm_grovecollision.i

@@ -0,0 +1,11 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_grovecollision
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "grovecollision.hpp"
+%{
+    #include "grovecollision.hpp"
+%}

src/groveehr/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "groveehr")
+set (libdescription "upm grove ear-clip heart rate sensor module")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+upm_module_init()

src/groveehr/groveehr.cxx

@@ -0,0 +1,130 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <string>
+#include <stdexcept>
+
+#include "groveehr.hpp"
+
+using namespace upm;
+using namespace std;
+
+GroveEHR::GroveEHR(int pin)
+{
+  if ( !(m_gpio = mraa_gpio_init(pin)) )
+    {
+      throw std::invalid_argument(std::string(__FUNCTION__) +
+                                  ": mraa_aio_init() failed, invalid pin?");
+      return;
+    }
+
+  mraa_gpio_dir(m_gpio, MRAA_GPIO_IN);
+
+  initClock();
+  m_beatCounter = 0;
+}
+
+GroveEHR::~GroveEHR()
+{
+  mraa_gpio_close(m_gpio);
+}
+
+void GroveEHR::initClock()
+{
+  gettimeofday(&m_startTime, NULL);
+}
+
+uint32_t GroveEHR::getMillis()
+{
+  struct timeval elapsed, now;
+  uint32_t elapse;
+
+  // get current time
+  gettimeofday(&now, NULL);
+
+  // compute the delta since m_startTime
+  if( (elapsed.tv_usec = now.tv_usec - m_startTime.tv_usec) < 0 ) 
+    {
+      elapsed.tv_usec += 1000000;
+      elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec - 1;
+    } 
+  else 
+    {
+      elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec;
+    }
+
+  elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000));
+
+  // never return 0
+  if (elapse == 0)
+    elapse = 1;
+
+  return elapse;
+}
+
+void GroveEHR::clearBeatCounter()
+{
+  m_beatCounter = 0;
+}
+
+void GroveEHR::startBeatCounter()
+{
+  // install our interrupt handler
+  mraa_gpio_isr(m_gpio, MRAA_GPIO_EDGE_RISING, 
+                &beatISR, this);
+}
+
+void GroveEHR::stopBeatCounter()
+{
+  // remove the interrupt handler
+  mraa_gpio_isr_exit(m_gpio);
+}
+
+uint32_t GroveEHR::beatCounter()
+{
+  return m_beatCounter;
+}
+
+void GroveEHR::beatISR(void *ctx)
+{
+  upm::GroveEHR *This = (upm::GroveEHR *)ctx;
+  This->m_beatCounter++;
+}
+
+int GroveEHR::heartRate()
+{
+  uint32_t millis = getMillis();
+  uint32_t beats = beatCounter();
+  
+  float heartRate = 0;
+  // wait at least 5 seconds before attempting to compute the
+  // heart rate
+  if (millis > 5000)
+    {
+      heartRate = (float(beats) / (float(millis) / 1000.0)) * 60.0;
+    }
+
+  return int(heartRate);
+}

src/groveehr/groveehr.hpp

@@ -0,0 +1,126 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <stdint.h>
+#include <sys/time.h>
+#include <mraa/gpio.h>
+
+namespace upm {
+  /**
+   * @brief Grove Ear-clip Heart Rate Sensor library
+   * @defgroup groveehr libupm-groveehr
+   * @ingroup seeed gpio medical
+   */
+
+  /**
+   * @library groveehr
+   * @sensor groveehr
+   * @comname Grove Ear-clip Heart Rate Sensor
+   * @type medical
+   * @man seeed
+   * @con gpio
+   *
+   * @brief API for the Grove Ear-clip Heart Rate Sensor
+   *
+   * UPM module for the Grove ear-clip heart rate sensor. It is used to measure your
+   * heart rate. 
+   *
+   * @image html groveehr.jpg 
+   * @snippet groveehr.cxx Interesting
+   */
+  class GroveEHR {
+  public:
+    /**
+     * GroveEHR constructor
+     *
+     * @param pin Digital pin to use
+     */
+    GroveEHR(int pin);
+    /**
+     * GroveEHR destructor
+     */
+    ~GroveEHR();
+    /**
+     * Returns the time of milliseconds elapsed since initClock()
+     * was last called.
+     *
+     * @return Elapsed milliseconds
+     */
+    uint32_t getMillis();
+
+    /**
+     * Resets the clock
+     *
+     */
+    void initClock();
+
+    /**
+     * Resets the beat counter to 0. The beat counter should be
+     * stopped via stopBeatCounter() prior to calling this function.
+     *
+     */
+    void clearBeatCounter();
+
+    /**
+     * Starts the beat counter
+     *
+     */
+    void startBeatCounter();
+
+    /**
+     * Stops the beat counter
+     *
+     */
+    void stopBeatCounter();
+
+    /**
+     * Gets the beat Counter
+     *
+     * @return Beat counter
+     */
+    uint32_t beatCounter();
+
+    /**
+     * Computes the heart rate
+     *
+     * @return Computed heart rate
+     */
+    int heartRate();
+
+  private:
+    /**
+     * Beat interrupt service routine (ISR)
+     *
+     */
+    static void beatISR(void *ctx);
+    
+    volatile uint32_t m_beatCounter;
+    struct timeval m_startTime;
+    mraa_gpio_context m_gpio;
+  };
+}
+
+

src/groveehr/javaupm_groveehr.i

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

src/groveehr/jsupm_groveehr.i

@@ -0,0 +1,8 @@
+%module jsupm_groveehr
+%include "../upm.i"
+
+%{
+    #include "groveehr.hpp"
+%}
+
+%include "groveehr.hpp"

src/groveehr/pyupm_groveehr.i

@@ -0,0 +1,11 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_groveehr
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "groveehr.hpp"
+%{
+    #include "groveehr.hpp"
+%}

src/groveelectromagnet/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "groveelectromagnet")
+set (libdescription "upm groveelectromagnet sensor module")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+upm_module_init("-lrt")

src/groveelectromagnet/groveelectromagnet.cxx

@@ -0,0 +1,62 @@
+/*
+ * Author: Zion Orent <sorent@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 <string>
+#include <stdexcept>
+
+#include "groveelectromagnet.hpp"
+
+using namespace upm;
+
+GroveElectromagnet::GroveElectromagnet(int pin)
+{
+    if ( !(m_gpio = mraa_gpio_init(pin)) ) 
+      {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_gpio_init() failed, invalid pin?");
+        return;
+      }
+    mraa_gpio_dir(m_gpio, MRAA_GPIO_OUT);
+}
+
+GroveElectromagnet::~GroveElectromagnet()
+{
+    mraa_gpio_close(m_gpio);
+}
+
+void GroveElectromagnet::on()
+{
+	mraa_result_t error = MRAA_SUCCESS;
+	error = mraa_gpio_write (m_gpio, HIGH);
+	if (error != MRAA_SUCCESS)
+		mraa_result_print(error);
+}
+
+void GroveElectromagnet::off()
+{
+	mraa_result_t error = MRAA_SUCCESS;
+	error = mraa_gpio_write (m_gpio, LOW);
+	if (error != MRAA_SUCCESS)
+		mraa_result_print(error);
+}

src/groveelectromagnet/groveelectromagnet.hpp

@@ -0,0 +1,77 @@
+/*
+ * Author: Zion Orent <sorent@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.
+ */
+#pragma once
+
+#include <mraa/gpio.h>
+
+#define HIGH      1
+#define LOW       0
+
+namespace upm {
+  /**
+   * @brief Grove Electromagnet library
+   * @defgroup groveelectromagnet libupm-groveelectromagnet
+   * @ingroup seeed gpio electric
+   */
+
+  /**
+   * @library groveelectromagnet
+   * @sensor groveelectromagnet
+   * @comname Grove Electromagnet
+   * @type electric
+   * @man seeed
+   * @con gpio
+   *
+   * @brief API for the Grove Electromagnet
+   * 
+   * The Grove Electromagnet can hold up to 1 kg (approximately 2.2 lbs)
+   *
+   * @image html groveelectromagnet.jpg
+   * @snippet groveelectromagnet.cxx Interesting
+   */
+  class GroveElectromagnet {
+  public:
+    /**
+     * Grove Electromagnet constructor
+     *
+     * @param pin Digital pin to use
+     */
+    GroveElectromagnet(int pin);
+    /**
+     * Grove Electromagnet destructor
+     */
+    ~GroveElectromagnet();
+    /**
+     * Turns the magnet on
+     */
+     void on();
+    /**
+     * Turns the magnet off
+     */
+     void off();
+
+  private:
+        mraa_gpio_context m_gpio;
+	};
+}

src/groveelectromagnet/javaupm_groveelectromagnet.i

@@ -0,0 +1,19 @@
+%module javaupm_groveelectromagnet
+%include "../upm.i"
+
+%{
+    #include "groveelectromagnet.hpp"
+%}
+
+%include "groveelectromagnet.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_groveelectromagnet");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/groveelectromagnet/jsupm_groveelectromagnet.i

@@ -0,0 +1,8 @@
+%module jsupm_groveelectromagnet
+%include "../upm.i"
+
+%{
+    #include "groveelectromagnet.hpp"
+%}
+
+%include "groveelectromagnet.hpp"

src/groveelectromagnet/pyupm_groveelectromagnet.i

@@ -0,0 +1,11 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_groveelectromagnet
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "groveelectromagnet.hpp"
+%{
+    #include "groveelectromagnet.hpp"
+%}

src/groveemg/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "groveemg")
+set (libdescription "upm groveemg muscle signal reader sensor module")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+upm_module_init()

src/groveemg/groveemg.cxx

@@ -0,0 +1,69 @@
+/*
+ * Author: Zion Orent <zorent@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 <iostream>
+#include <string>
+#include <stdexcept>
+
+#include "groveemg.hpp"
+
+using namespace upm;
+using namespace std;
+
+GroveEMG::GroveEMG(int pin)
+{
+    if ( !(m_aio = mraa_aio_init(pin)) )
+    {
+      throw std::invalid_argument(std::string(__FUNCTION__) +
+                                  ": mraa_aio_init() failed, invalid pin?");
+      return;
+    }
+}
+
+GroveEMG::~GroveEMG()
+{
+  mraa_aio_close(m_aio);
+}
+
+void GroveEMG::calibrate()
+{
+	int val, sum = 0;
+
+	for (int i=0; i<1100; i++)
+	{
+		val = mraa_aio_read(m_aio);
+                if (val != -1) throw std::runtime_error(std::string(__FUNCTION__) +
+                                                        ": Failed to do an aio read.");
+		sum += val;
+		usleep(1000);
+	}
+	sum /= 1100;
+	cout << "Static analog data = " << sum << endl;
+}
+
+int GroveEMG::value()
+{
+	int val = mraa_aio_read(m_aio);
+	return val;
+}

src/groveemg/groveemg.hpp

@@ -0,0 +1,82 @@
+/*
+ * Author: Zion Orent <zorent@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.
+ */
+#pragma once
+
+#include <string>
+#include <mraa/aio.h>
+
+namespace upm {
+  /**
+   * @brief Grove EMG Muscle Signal Reader library
+   * @defgroup groveemg libupm-groveemg
+   * @ingroup seeed analog electric
+   */
+
+  /**
+   * @library groveemg
+   * @sensor groveemg
+   * @comname Grove EMG Sensor
+   * @type electric
+   * @man seeed
+   * @con analog
+   *
+   * @brief API for the Grove EMG Muscle Signal Reader
+   * 
+   * Grove EMG muscle signal reader gathers small muscle signals,
+   * then processes them, and returns the result
+   *
+   * @image html groveemg.jpg 
+   * @snippet groveemg.cxx Interesting
+   */
+  class GroveEMG {
+  public:
+    /**
+     * Grove EMG reader constructor
+     *
+     * @param pin Analog pin to use
+     */
+    GroveEMG(int pin);
+    /**
+     * GroveEMG destructor
+     */
+    ~GroveEMG();
+
+    /**
+     * Calibrates the Grove EMG reader
+     */
+    void calibrate();
+
+    /**
+     * Measures muscle signals from the reader
+     *
+     * @return Muscle output as analog voltage
+     */
+    int value();
+
+  private:
+    mraa_aio_context m_aio;
+  };
+}
+
+

src/groveemg/javaupm_groveemg.i

@@ -0,0 +1,19 @@
+%module javaupm_groveemg
+%include "../upm.i"
+
+%{
+    #include "groveemg.hpp"
+%}
+
+%include "groveemg.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_groveemg");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/groveemg/jsupm_groveemg.i

@@ -0,0 +1,8 @@
+%module jsupm_groveemg
+%include "../upm.i"
+
+%{
+    #include "groveemg.hpp"
+%}
+
+%include "groveemg.hpp"

src/groveemg/pyupm_groveemg.i

@@ -0,0 +1,11 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_groveemg
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "groveemg.hpp"
+%{
+    #include "groveemg.hpp"
+%}

src/grovegprs/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "grovegprs")
+set (libdescription "upm grove GPRS module")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+upm_module_init()

src/grovegprs/grovegprs.cxx

@@ -0,0 +1,74 @@
+/*
+ * 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 <iostream>
+
+#include "grovegprs.hpp"
+
+using namespace upm;
+using namespace std;
+
+static const int defaultDelay = 100;     // max wait time for read
+
+GroveGPRS::GroveGPRS(int uart) :
+  m_uart(uart)
+{
+}
+
+GroveGPRS::~GroveGPRS()
+{
+}
+
+bool GroveGPRS::dataAvailable(unsigned int millis)
+{
+  return m_uart.dataAvailable(millis);
+}
+
+int GroveGPRS::readData(char *buffer, unsigned int len)
+{
+  return m_uart.read(buffer, len);
+}
+
+std::string GroveGPRS::readDataStr(int len)
+{
+  return m_uart.readStr(len);
+}
+
+int GroveGPRS::writeData(char *buffer, unsigned int len)
+{
+  m_uart.flush();
+  return m_uart.write(buffer, len);
+}
+
+int GroveGPRS::writeDataStr(std::string data)
+{
+  m_uart.flush();
+  return m_uart.writeStr(data);
+}
+
+mraa::Result GroveGPRS::setBaudRate(int baud)
+{
+  return m_uart.setBaudRate(baud);
+}
+

src/grovegprs/grovegprs.hpp

@@ -0,0 +1,154 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Thanks to Adafruit for supplying a google translated version of the
+ * Chinese datasheet and some clues in their code.
+ *
+ * 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 <string.h>
+
+#include <mraa/common.hpp>
+#include <mraa/uart.hpp>
+
+#define GROVEGPRS_DEFAULT_UART 0
+
+namespace upm {
+    /**
+     * @brief Grove GPRS Module library
+     * @defgroup grovegprs libupm-grovegprs
+     * @ingroup seeed uart wifi
+     */
+
+    /**
+     * @library grovegprs
+     * @sensor grovegprs
+     * @comname Grove GPRS Module
+     * @type wifi
+     * @man seeed
+     * @con uart
+     * @web http://www.seeedstudio.com/wiki/GPRS_Shield_V2.0
+     *
+     * @brief API for the Grove GPRS Module
+     *
+     * The driver was tested with the Grove GPRS Module, V2.  It's a
+     * GSM GPRS module based on the SIM900.  This module uses a
+     * standard 'AT' command set.  See the datasheet for a full list
+     * of available commands and their possible responses:
+     *
+     * http://www.seeedstudio.com/wiki/images/7/72/AT_Commands_v1.11.pdf
+     *
+     * It is connected via a UART at 19200 baud.
+     *
+     * @image html grovegprs.jpg
+     * @snippet grovegprs.cxx Interesting
+     */
+
+  class GroveGPRS {
+  public:
+
+    /**
+     * GroveGPRS object constructor
+     *
+     * @param uart Default UART to use (0 or 1). Default is 0.
+     */
+    GroveGPRS(int uart=GROVEGPRS_DEFAULT_UART);
+
+    /**
+     * GroveGPRS object destructor
+     */
+    ~GroveGPRS();
+
+    /**
+     * Checks to see if there is data available for reading
+     *
+     * @param millis Number of milliseconds to wait; 0 means no waiting
+     * @return true if there is data available for reading
+     */
+    bool dataAvailable(unsigned int millis);
+
+    /**
+     * Reads any available data into a user-supplied buffer. Note: the
+     * call blocks until data is available for reading. Use
+     * dataAvailable() to determine whether there is data available
+     * beforehand, to avoid blocking.
+     *
+     * @param buffer Buffer to hold the data read
+     * @param len Length of the buffer
+     * @return Number of bytes read
+     */
+    int readData(char *buffer, unsigned int len);
+
+    /**
+     * Reads any available data and returns it in a std::string. Note:
+     * the call blocks until data is available for reading. Use
+     * dataAvailable() to determine whether there is data available
+     * beforehand, to avoid blocking.
+     *
+     * @param len Maximum length of the data to be returned
+     * @return Number of bytes read
+     */
+    std::string readDataStr(int len);
+
+    /**
+     * Writes the data in the buffer to the device.  If you are
+     * writing a command, be sure to terminate it with a carriage
+     * return (\r)
+     *
+     * @param buffer Buffer to hold the data to write
+     * @param len Length of the buffer
+     * @return Number of bytes written
+     */
+    int writeData(char *buffer, unsigned len);
+
+    /**
+     * Writes the std:string data to the device.  If you are writing a
+     * command, be sure to terminate it with a carriage return (\r)
+     *
+     * @param data Buffer to write to the device
+     * @return Number of bytes written
+     */
+    int writeDataStr(std::string data);
+
+    /**
+     * Sets the baud rate for the device.  The default is 19200.
+     *
+     * @param baud Desired baud rate.
+     * @return true if successful
+     */
+    mraa::Result setBaudRate(int baud=19200);
+
+
+  protected:
+    mraa::Uart m_uart;
+
+  private:
+  };
+}
+
+

src/grovegprs/javaupm_grovegprs.i

@@ -0,0 +1,22 @@
+%module javaupm_grovegprs
+%include "../upm.i"
+%include "carrays.i"
+%include "std_string.i"
+
+%{
+    #include "grovegprs.hpp"
+%}
+
+%include "grovegprs.hpp"
+%array_class(char, charArray);
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_grovegprs");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/grovegprs/jsupm_grovegprs.i

@@ -0,0 +1,11 @@
+%module jsupm_grovegprs
+%include "../upm.i"
+%include "carrays.i"
+%include "std_string.i"
+
+%{
+    #include "grovegprs.hpp"
+%}
+
+%include "grovegprs.hpp"
+%array_class(char, charArray);

src/grovegprs/pyupm_grovegprs.i

@@ -0,0 +1,14 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_grovegprs
+%include "../upm.i"
+%include "carrays.i"
+%include "std_string.i"
+
+%feature("autodoc", "3");
+
+%{
+    #include "grovegprs.hpp"
+%}
+%include "grovegprs.hpp"
+%array_class(char, charArray);

src/grovegsr/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "grovegsr")
+set (libdescription "upm grovegsr galvanic skin response sensor module")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+upm_module_init()

src/grovegsr/grovegsr.cxx

@@ -0,0 +1,70 @@
+/*
+ * Author: Zion Orent <zorent@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 <iostream>
+#include <string>
+#include <stdexcept>
+
+#include "grovegsr.hpp"
+
+using namespace upm;
+using namespace std;
+
+GroveGSR::GroveGSR(int pin)
+{
+    if ( !(m_aio = mraa_aio_init(pin)) )
+    {
+      throw std::invalid_argument(std::string(__FUNCTION__) +
+                                  ": mraa_aio_init() failed, invalid pin?");
+      return;
+    }
+}
+
+GroveGSR::~GroveGSR()
+{
+  mraa_aio_close(m_aio);
+}
+
+void GroveGSR::calibrate()
+{
+	sleep(1);
+	int val, threshold, sum = 0;
+
+	for(int i=0; i<500; i++)
+	{
+		val = mraa_aio_read(m_aio);
+		if (val != -1) throw std::runtime_error(std::string(__FUNCTION__) +
+			                                ": Failed to do an aio read.");
+		sum += val;
+		usleep(5000);
+	}
+	threshold = sum / 500;
+	cout << "Threshold = " << threshold << endl;
+}
+
+int GroveGSR::value()
+{
+	int val = mraa_aio_read(m_aio);
+	return val;
+}

src/grovegsr/grovegsr.hpp

@@ -0,0 +1,84 @@
+/*
+ * Author: Zion Orent <zorent@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.
+ */
+#pragma once
+
+#include <string>
+#include <mraa/aio.h>
+
+namespace upm {
+  /**
+   * @brief Grove GSR Galvanic Skin Response Sensor library
+   * @defgroup grovegsr libupm-grovegsr
+   * @ingroup seeed analog electric
+   */
+
+  /**
+   * @library grovegsr
+   * @sensor grovegsr
+   * @comname Grove GSR Sensor
+   * @type electric
+   * @man seeed
+   * @con analog
+   *
+   * @brief API for the Grove GSR Galvanic Skin Response Sensor
+   * 
+   * Measures the electrical conductance of skin
+   * to measure strong emotional reactions.
+   * In other words, it measures sweat on your fingers
+   * as an indicator of strong emotional reactions.
+   *
+   * @image html grovegsr.jpg
+   * @snippet grovegsr.cxx Interesting
+   */
+  class GroveGSR {
+  public:
+    /**
+     * Grove GSR sensor constructor
+     *
+     * @param pin Analog pin to use
+     */
+    GroveGSR(int pin);
+    /**
+     * GroveGSR destructor
+     */
+    ~GroveGSR();
+
+    /**
+     * Calibrates the Grove GSR sensor
+     */
+    void calibrate();
+
+    /**
+     * Gets the electrical conductance of the skin from the sensor
+     *
+     * @return Electrical conductance of the skin
+     */
+    int value();
+
+  private:
+    mraa_aio_context m_aio;
+  };
+}
+
+

src/grovegsr/javaupm_grovegsr.i

@@ -0,0 +1,19 @@
+%module javaupm_grovegsr
+%include "../upm.i"
+
+%{
+    #include "grovegsr.hpp"
+%}
+
+%include "grovegsr.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_grovegsr");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/grovegsr/jsupm_grovegsr.i

@@ -0,0 +1,8 @@
+%module jsupm_grovegsr
+%include "../upm.i"
+
+%{
+    #include "grovegsr.hpp"
+%}
+
+%include "grovegsr.hpp"

src/grovegsr/pyupm_grovegsr.i

@@ -0,0 +1,11 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_grovegsr
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "grovegsr.hpp"
+%{
+    #include "grovegsr.hpp"
+%}

src/grovemoisture/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "grovemoisture")
+set (libdescription "upm grove moisture module")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+upm_module_init()

src/grovemoisture/grovemoisture.cxx

@@ -0,0 +1,48 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <string>
+#include <stdexcept>
+
+#include "grovemoisture.hpp"
+
+using namespace upm;
+
+GroveMoisture::GroveMoisture(int pin)
+{
+  if ( !(m_aio = mraa_aio_init(pin)) )
+    throw std::invalid_argument(std::string(__FUNCTION__) +
+                                ": mraa_aio_init() failed, invalid pin?");
+}
+
+GroveMoisture::~GroveMoisture()
+{
+  mraa_aio_close(m_aio);
+}
+
+int GroveMoisture::value()
+{
+  return mraa_aio_read(m_aio);
+}

src/grovemoisture/grovemoisture.hpp

@@ -0,0 +1,81 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <mraa/aio.h>
+
+namespace upm {
+  /**
+   * @brief Grove Moisture Sensor library
+   * @defgroup grovemoisture libupm-grovemoisture
+   * @ingroup seeed analog liquid eak hak
+   */
+
+  /**
+   * @library grovemoisture
+   * @sensor grovemoisture
+   * @comname Grove Moisture Sensor
+   * @type liquid
+   * @man seeed
+   * @con analog
+   * @kit eak hak
+   *
+   * @brief API for the Grove Moisture Sensor
+   *
+   * UPM module for the Grove Moisture Sensor.
+   * This sensor can be used to detect the moisture content
+   * of soil or whether there is water around the sensor.
+   * As the moisture content increases, so does the value that is read.
+   * Note: this sensor is not designed to be left in soil
+   * nor to be used outdoors.
+   *
+   * @image html grovemoisture.jpg
+   * @snippet grovemoisture.cxx Interesting
+   */
+  class GroveMoisture {
+  public:
+    /**
+     * Grove analog moisture sensor constructor
+     *
+     * @param pin Analog pin to use
+     */
+    GroveMoisture(int pin);
+    /**
+     * GroveMoisture destructor
+     */
+    ~GroveMoisture();
+    /**
+     * Gets the moisture value from the sensor
+     *
+     * @return Moisture reading
+     */
+    int value();
+
+  private:
+    mraa_aio_context m_aio;
+  };
+}
+
+

src/grovemoisture/javaupm_grovemoisture.i

@@ -0,0 +1,19 @@
+%module javaupm_grovemoisture
+%include "../upm.i"
+
+%{
+    #include "grovemoisture.hpp"
+%}
+
+%include "grovemoisture.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_grovemoisture");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/grovemoisture/jsupm_grovemoisture.i

@@ -0,0 +1,8 @@
+%module jsupm_grovemoisture
+%include "../upm.i"
+
+%{
+    #include "grovemoisture.hpp"
+%}
+
+%include "grovemoisture.hpp"

src/grovemoisture/pyupm_grovemoisture.i

@@ -0,0 +1,11 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_grovemoisture
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "grovemoisture.hpp"
+%{
+    #include "grovemoisture.hpp"
+%}

src/groveo2/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "groveo2")
+set (libdescription "upm groveO2 oxygen concentration sensor module")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+upm_module_init()

src/groveo2/groveo2.cxx

@@ -0,0 +1,56 @@
+/*
+ * Author: Zion Orent <zorent@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 <iostream>
+#include <string>
+#include <stdexcept>
+
+#include "groveo2.hpp"
+
+using namespace upm;
+using namespace std;
+
+GroveO2::GroveO2(int pin)
+{
+    if ( !(m_aio = mraa_aio_init(pin)) )
+    {
+      throw std::invalid_argument(std::string(__FUNCTION__) +
+                                  ": mraa_aio_init() failed, invalid pin?");
+      return;
+    }
+}
+
+GroveO2::~GroveO2()
+{
+  mraa_aio_close(m_aio);
+}
+
+float GroveO2::voltageValue()
+{
+	int val = mraa_aio_read(m_aio);
+	if (val == -1) return -1.0f;
+	float sensorVoltage = (val/1024.0) * 5.0;
+	sensorVoltage = (sensorVoltage/201.0) * 10000.0;
+	return sensorVoltage;
+}

src/groveo2/groveo2.hpp

@@ -0,0 +1,73 @@
+/*
+ * Author: Zion Orent <zorent@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.
+ */
+#pragma once
+
+#include <string>
+#include <mraa/aio.h>
+
+namespace upm {
+  /**
+   * @brief Grove O2 Oxygen Gas Sensor library
+   * @defgroup groveo2 libupm-groveo2
+   * @ingroup seeed analog gaseous
+   */
+
+  /**
+   * @library groveo2
+   * @sensor groveo2
+   * @comname Grove O2 Sensor
+   * @type gaseous
+   * @man seeed
+   * @con analog
+   *
+   * @brief API for the Grove O2 Oxygen Gas Sensor
+   *
+   * The Grove O2 Oxygen Gas sensor measures the oxygen concentration in the air
+   *
+   * @image html groveo2.jpg    
+   * @snippet groveo2.cxx Interesting
+   */
+  class GroveO2 {
+  public:
+    /**
+     * Grove O2 Oxygen Gas sensor constructor
+     *
+     * @param pin Analog pin to use
+     */
+    GroveO2(int pin);
+    /**
+     * GroveO2 destructor
+     */
+    ~GroveO2();
+    /**
+     * Measures O2 from the sensor
+     *
+     * @return Oxygen concentration as voltage
+     */
+    float voltageValue();
+
+  private:
+    mraa_aio_context m_aio;
+  };
+}

src/groveo2/javaupm_groveo2.i

@@ -0,0 +1,19 @@
+%module javaupm_groveo2
+%include "../upm.i"
+
+%{
+    #include "groveo2.hpp"
+%}
+
+%include "groveo2.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_groveo2");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/groveo2/jsupm_groveo2.i

@@ -0,0 +1,8 @@
+%module jsupm_groveo2
+%include "../upm.i"
+
+%{
+    #include "groveo2.hpp"
+%}
+
+%include "groveo2.hpp"

src/groveo2/pyupm_groveo2.i

@@ -0,0 +1,11 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_groveo2
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "groveo2.hpp"
+%{
+    #include "groveo2.hpp"
+%}

src/grovevdiv/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "grovevdiv")
+set (libdescription "upm grove voltage divider module")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+upm_module_init()

src/grovevdiv/grovevdiv.cxx

@@ -0,0 +1,68 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <string>
+#include <stdexcept>
+
+#include "grovevdiv.hpp"
+
+using namespace upm;
+using namespace std;
+
+GroveVDiv::GroveVDiv(int pin)
+{
+  if ( !(m_aio = mraa_aio_init(pin)) )
+    {
+      throw std::invalid_argument(std::string(__FUNCTION__) +
+                                  ": mraa_aio_init() failed, invalid pin?");
+      return;
+    }
+}
+
+GroveVDiv::~GroveVDiv()
+{
+  mraa_aio_close(m_aio);
+}
+
+unsigned int GroveVDiv::value(unsigned int samples)
+{
+  unsigned int sum = 0;
+
+  for (int i=0; i<samples; i++)
+    {
+      sum += mraa_aio_read(m_aio);
+      if (sum == -1) return 0;
+      usleep(2000);
+    }
+        
+  return (sum / samples);
+}
+
+float GroveVDiv::computedValue(uint8_t gain, unsigned int val, int vref, int res)
+{
+  return ((float(gain) * float(val) * float(vref) / float(res)) / 1000.0);
+
+}
+

src/grovevdiv/grovevdiv.hpp

@@ -0,0 +1,98 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <stdint.h>
+#include <mraa/aio.h>
+
+// reference voltage in millivolts
+#define GROVEVDIV_VREF  4980
+
+// default ADC resolution
+#define GROVEVDIV_ADC_RES 1024
+
+namespace upm {
+  /**
+   * @brief Grove Voltage Divider Sensor library
+   * @defgroup grovevdiv libupm-grovevdiv
+   * @ingroup seeed analog electric robok
+   */
+
+  /**
+   * @library grovevdiv
+   * @sensor grovevdiv
+   * @comname Grove Voltage Divider
+   * @type electric
+   * @man seeed
+   * @con analog
+   * @kit robok
+   *
+   * @brief API for the Grove Voltage Divider Sensor
+   *
+   * UPM module for the Grove Voltage Divider sensor
+   *
+   * @image html grovevdiv.jpg
+   * @snippet grovevdiv.cxx Interesting
+   */
+  class GroveVDiv {
+  public:
+    /**
+     * Grove Voltage Divider sensor constructor
+     *
+     * @param pin Analog pin to use
+     */
+    GroveVDiv(int pin);
+
+    /**
+     * Grove Voltage Divider destructor
+     */
+    ~GroveVDiv();
+
+    /**
+     * Gets the conversion value from the sensor
+     *
+     * @param samples Specifies how many samples to average over
+     * @return Average ADC conversion value
+     */
+    unsigned int value(unsigned int samples);
+
+    /**
+     * Computes the measured voltage
+     *
+     * @param gain Gain switch, either 3 or 10 for Grove
+     * @param val Measured voltage (from value())
+     * @param vref Reference voltage in millivolts
+     * @param res ADC resolution
+     *
+     * @return Measured voltage
+     */
+    float computedValue(uint8_t gain, unsigned int val, int vref=GROVEVDIV_VREF,
+                        int res=GROVEVDIV_ADC_RES);
+
+  private:
+    mraa_aio_context m_aio;
+  };
+}

src/grovevdiv/javaupm_grovevdiv.i

@@ -0,0 +1,19 @@
+%module javaupm_grovevdiv
+%include "../upm.i"
+
+%{
+    #include "grovevdiv.hpp"
+%}
+
+%include "grovevdiv.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_grovevdiv");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/grovevdiv/jsupm_grovevdiv.i

@@ -0,0 +1,8 @@
+%module jsupm_grovevdiv
+%include "../upm.i"
+
+%{
+    #include "grovevdiv.hpp"
+%}
+
+%include "grovevdiv.hpp"

src/grovevdiv/pyupm_grovevdiv.i

@@ -0,0 +1,11 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_grovevdiv
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "grovevdiv.hpp"
+%{
+    #include "grovevdiv.hpp"
+%}

src/grovewater/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "grovewater")
+set (libdescription "upm grove water module")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+upm_module_init()

src/grovewater/grovewater.cxx

@@ -0,0 +1,54 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <string>
+#include <stdexcept>
+
+#include "grovewater.hpp"
+
+using namespace upm;
+using namespace std;
+
+GroveWater::GroveWater(int pin)
+{
+  if ( !(m_gpio = mraa_gpio_init(pin)) )
+    {
+      throw std::invalid_argument(std::string(__FUNCTION__) +
+                                  ": mraa_gpio_init() failed, invalid pin?");
+      return;
+    }
+
+  mraa_gpio_dir(m_gpio, MRAA_GPIO_IN);
+}
+
+GroveWater::~GroveWater()
+{
+  mraa_gpio_close(m_gpio);
+}
+
+bool GroveWater::isWet()
+{
+  return (!mraa_gpio_read(m_gpio) ? true : false);
+}

src/grovewater/grovewater.hpp

@@ -0,0 +1,74 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <mraa/gpio.h>
+
+namespace upm {
+  /**
+   * @brief Grove Water Sensor library
+   * @defgroup grovewater libupm-grovewater
+   * @ingroup seeed gpio liquid eak
+   */
+
+  /**
+   * @library grovewater
+   * @sensor grovewater
+   * @comname Grove Water Sensor
+   * @type liquid
+   * @man seeed
+   * @con gpio
+   * @kit eak
+   *
+   * @brief API for the Grove Water Sensor
+   *
+   * UPM module for the Grove Water sensor
+   *
+   * @image html grovewater.jpg
+   * @snippet grovewater.cxx Interesting
+   */
+  class GroveWater {
+  public:
+    /**
+     * Grove digital water sensor constructor
+     *
+     * @param pin Digital pin to use
+     */
+    GroveWater(int pin);
+    /**
+     * GroveWater destructor
+     */
+    ~GroveWater();
+    /**
+     * Gets the water (wet/not wet) value from the sensor
+     *
+     * @return True if the sensor is wet, false otherwise
+     */
+    bool isWet();
+
+  private:
+    mraa_gpio_context m_gpio;
+  };
+}

src/grovewater/javaupm_grovewater.i

@@ -0,0 +1,19 @@
+%module javaupm_grovewater
+%include "../upm.i"
+
+%{
+    #include "grovewater.hpp"
+%}
+
+%include "grovewater.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_grovewater");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/grovewater/jsupm_grovewater.i

@@ -0,0 +1,8 @@
+%module jsupm_grovewater
+%include "../upm.i"
+
+%{
+    #include "grovewater.hpp"
+%}
+
+%include "grovewater.hpp"

src/grovewater/pyupm_grovewater.i

@@ -0,0 +1,11 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_grovewater
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "grovewater.hpp"
+%{
+    #include "grovewater.hpp"
+%}