kxtj3: fixed requested issues

* Virtual destructor
* Add header guards
* Constructor default values
* Remove methods with pointer parameters in C++ code

Signed-off-by: Assam Boudjelthia <assam.boudjelthia@fi.rohmeurope.com>

examples/c++/kxtj3.cxx

@@ -22,6 +22,8 @@
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
 
+#include <iostream>
+#include <iomanip>
 #include <unistd.h>
 #include <signal.h>
 #include "kxtj3.hpp"
@@ -38,17 +40,17 @@ void signal_int_handler(int signo)
         isStopped = true;
 }
 
-void print_acceleration_data(upm::KXTJ3 *dev)
+void print_acceleration_data(upm::KXTJ3 &dev)
 {
-    float wait_time = dev->GetAccelerationSamplePeriod() * SECOND_IN_MICRO_S;
-    uint8_t sample_counter = 0;
+    float wait_time = dev.GetAccelerationSamplePeriod() * SECOND_IN_MICRO_S;
+    int sample_counter = SAMPLE_COUNT;
     std::vector<float> xyz;
-    while (sample_counter < SAMPLE_COUNT && !isStopped)
+    while ((sample_counter-- > 0) && !isStopped)
     {
-        xyz = dev->GetAccelerationVector();
-        printf("%.02f | %.02f | %.02f\n", xyz[0], xyz[1], xyz[2]);
+        xyz = dev.GetAccelerationVector();
+        std::cout << std::fixed << std::setprecision(3)
+                  << xyz[0] << " | " << xyz[1] << " | " << xyz[2] << std::endl;
         usleep(wait_time);
-        sample_counter++;
     }
 }
 
@@ -56,21 +58,15 @@ int main(int argc, char **argv)
 {
     signal(SIGINT, signal_int_handler);
 
-    printf("Sensor init\n");
-    upm::KXTJ3 *dev = new upm::KXTJ3(I2C_BUS, SENSOR_ADDR);
-    if (!dev)
-    {
-        printf("kxtj3_init() failed.\n");
-        return -1;
-    }
+    std::cout << "Sensor init" << std::endl;
+    upm::KXTJ3 dev(I2C_BUS, SENSOR_ADDR);
 
-    printf("Setting settings:\nODR: 25 Hz\nResolution: High\nAcceleration range: 16g with 14bits");
-    dev->SensorInit(KXTJ3_ODR_25, HIGH_RES, KXTJ3_RANGE_16G_14);
-    printf("Showing acceleration data:\n");
+    std::cout << "Setting settings:\nODR: 25 Hz\nResolution: "
+              << "High\nAcceleration range: 16g with 14bits" << std::endl;
+    dev.SensorInit(KXTJ3_ODR_25, HIGH_RES, KXTJ3_RANGE_16G_14);
+    std::cout << "Showing acceleration data:" << std::endl;
     print_acceleration_data(dev);
 
-    printf("Closing sensor\n");
-    delete dev;
-    dev = nullptr;
+    std::cout << "Closing sensor" << std::endl;
     return 0;
 }

src/kxtj3/kxtj3.c

@@ -274,7 +274,7 @@ static upm_result_t kxtj3_read_register(const kxtj3_context dev, uint8_t reg, ui
     int value = mraa_i2c_read_byte_data(dev->i2c, reg);
     if (value == -1)
     {
-        printf("%s: mraa_i2c_read_byte_data() failed.\n", __FUNCTION__, reg);
+        printf("%s: mraa_i2c_read_byte_data() failed.\n", __FUNCTION__);
         return UPM_ERROR_OPERATION_FAILED;
     }
 
@@ -344,7 +344,7 @@ static bool kxtj3_check_mraa_i2c_connection(kxtj3_context dev, int bus, uint8_t
 
     if (!(dev->i2c = mraa_i2c_init(bus)))
     {
-        printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__, bus);
+        printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__);
         kxtj3_close(dev);
         return false;
     }

src/kxtj3/kxtj3.cxx

@@ -22,7 +22,10 @@
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
 
+#include <iostream>
 #include <stdexcept>
+#include <string>
+
 #include "kxtj3.hpp"
 
 using namespace upm;
@@ -107,22 +110,11 @@ void KXTJ3::SensorSoftwareReset()
         throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_sensor_software_reset() failed");
 }
 
-void KXTJ3::GetAccelerationRaw(float *x, float *y, float *z)
-{
-    if (kxtj3_get_acceleration_data_raw(m_kxtj3, x, y, z) != UPM_SUCCESS)
-        throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_get_acceleration_data_raw() failed");
-}
-
-void KXTJ3::GetAcceleration(float *x, float *y, float *z)
-{
-    if (kxtj3_get_acceleration_data(m_kxtj3, x, y, z) != UPM_SUCCESS)
-        throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_get_acceleration_data() failed");
-}
-
 std::vector<float> KXTJ3::GetAccelerationRawVector()
 {
     std::vector<float> xyz(3);
-    GetAccelerationRaw(&xyz[0], &xyz[1], &xyz[2]);
+    if (kxtj3_get_acceleration_data_raw(m_kxtj3, &xyz[0], &xyz[1], &xyz[2]) != UPM_SUCCESS)
+        throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_get_acceleration_data_raw() failed");
 
     return xyz;
 }
@@ -130,7 +122,8 @@ std::vector<float> KXTJ3::GetAccelerationRawVector()
 std::vector<float> KXTJ3::GetAccelerationVector()
 {
     std::vector<float> xyz(3);
-    GetAcceleration(&xyz[0], &xyz[1], &xyz[2]);
+    if (kxtj3_get_acceleration_data(m_kxtj3, &xyz[0], &xyz[1], &xyz[2]) != UPM_SUCCESS)
+        throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_get_acceleration_data() failed");
 
     return xyz;
 }
@@ -235,6 +228,12 @@ void KXTJ3::EnableWakeUpSingleAxisDirection(KXTJ3_WAKEUP_SOURCE_T axis)
         throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_enable_wakeup_single_axis_direction() failed");
 }
 
+void KXTJ3::DisableWakeUpSingleAxisDirection(KXTJ3_WAKEUP_SOURCE_T axis)
+{
+    if (kxtj3_disable_wakeup_single_axis_direction(m_kxtj3, axis) != UPM_SUCCESS)
+        throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_disable_wakeup_single_axis_direction() failed");
+}
+
 kxtj3_wakeup_axes KXTJ3::GetWakeUpAxisDirection()
 {
     return kxtj3_get_wakeup_axis_and_direction(m_kxtj3);

src/kxtj3/kxtj3.h

@@ -22,23 +22,26 @@
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
 
+#pragma once
+
 #ifdef __cplusplus
 extern "C"
 {
 #endif
 
 #include <assert.h>
+#include <unistd.h>
 
 #include <mraa/i2c.h>
 #include <mraa/gpio.h>
-#include <upm/upm_types.h>
+#include <upm.h>
 
 #include "kxtj3_registers.h"
 
   /**
  * @brief C API for the kxtj3 driver
  * @defgroup kxtj3 libupm-kxtj3
- * @ingroup Kionix i2c acceleromter
+ * @ingroup Kionix i2c accelerometer
  * 
  * @include kxtj3.c
  */
@@ -47,7 +50,7 @@ extern "C"
  * @library kxtj3
  * @sensor kxtj3
  * @comname tri-axis accelerometer
- * @type acceleromter
+ * @type accelerometer
  * @man Kionix
  * @con i2c
  *

src/kxtj3/kxtj3.hpp

@@ -22,6 +22,8 @@
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
 
+#pragma once
+
 #include <vector>
 #include <mraa/gpio.hpp>
 
@@ -30,7 +32,7 @@
 /**
  * @brief C API for the kxtj3 driver
  * @defgroup kxtj3 libupm-kxtj3
- * @ingroup Kionix i2c acceleromter
+ * @ingroup Kionix i2c accelerometer
  * 
  * @include kxtj3.cxx
  */
@@ -39,7 +41,7 @@
  * @library kxtj3
  * @sensor kxtj3
  * @comname tri-axis accelerometer
- * @type acceleromter
+ * @type accelerometer
  * @man Kionix
  * @con i2c
  *
@@ -62,7 +64,7 @@ public:
    * @param addr I2C address of the sensor
    * @throws std::runtime_error on initialization failure
     */
-  KXTJ3(int bus, uint8_t addr);
+  KXTJ3(int bus = 0x00, uint8_t addr = 0x0f);
 
   /**
    * @brief KXTJ3 destructor
@@ -72,7 +74,7 @@ public:
    *
    * @throws std::runtime_error on initialization failure
     */
-  ~KXTJ3();
+  virtual ~KXTJ3();
 
   /**
    * @brief Initializes the sensor with given sampling rate, resolution and acceleration range.
@@ -194,26 +196,6 @@ public:
     */
   void SensorSoftwareReset();
 
-  /**
-   * @brief Gets raw accelerometer data from the sensor
-   * 
-   * @param x Pointer to a floating point variable to store the x-axis value. Set to NULL if not wanted.
-   * @param y Pointer to a floating point variable to store the y-axis value. Set to NULL if not wanted.
-   * @param z Pointer to a floating point variable to store the z-axis value. Set to NULL if not wanted.
-   * @throws std::runtime_error on failure
-   */
-  void GetAccelerationRaw(float *x, float *y, float *z);
-
-  /**
-   * @brief Gets converted (m/s^2) accelerometer data from the sensor
-   * 
-   * @param x Pointer to a floating point variable to store the x-axis value. Set to NULL if not wanted.
-   * @param y Pointer to a floating point variable to store the y-axis value. Set to NULL if not wanted.
-   * @param z Pointer to a floating point variable to store the z-axis value. Set to NULL if not wanted.
-   * @throws std::runtime_error on failure
-   */
-  void GetAcceleration(float *x, float *y, float *z);
-
   /**
    * Gets raw acceleration data from the sensor.
    * 
@@ -575,5 +557,9 @@ public:
 
 private:
   kxtj3_context m_kxtj3;
+
+  /* Disable implicit copy and assignment operators */
+  KXTJ3(const KXTJ3 &) = delete;
+  KXTJ3 &operator=(const KXTJ3 &) = delete;
 };
 } // namespace upm