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bno055: C port; C++ wraps C

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The API has been changed in some cases - see the apichanges.md
document.

In addition, this driver uses a new upm_vectortypes.i SWIG interface
file to provide a mechanism for methods that return a vector of floats
and ints instead of a pointer to an array.

This works much nicer than C array pointers, and results in Python/JS/Java
code that looks much more "natural" to the language in use.

The Python, JS, and Java examples have been changed to use these
methods.  Support for the "old" C-style pointer methods are still
provided for backward compatibility with existing code.

As an example - to retrieve the x, y, and z data for Euler Angles from
the bno055, the original python code would look something like:

       ...
       x = sensorObj.new_floatp()
       y = sensorObj.new_floatp()
       z = sensorObj.new_floatp()
       ...
       sensor.getEulerAngles(x, y, z)
       ...
       print("Euler: Heading:", sensorObj.floatp_value(x), end=' ')
       print(" Roll:", sensorObj.floatp_value(y), end=' ')
       ...

Now the equivalent code is simply:

       floatData = sensor.getEulerAngles()
       print("Euler: Heading:", floatData[0], ...
       print(" Roll:", floatData[1], end=' ')
       ...

Additionally, interrupt handling for Java is now implemented
completely in the C++ header file now rather than the .cxx file, so no
special SWIG processing is required anymore. See Issue #518 .

Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
2017-03-07 12:43:44 -07:00
parent 2bdde21a2f
commit d4b536b593
16 changed files with 3382 additions and 2155 deletions
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16
docs/apichanges.md
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@ -4,6 +4,22 @@ API Changes {#apichanges}
Here's a list of other API changes made to the library that break source/binary
compatibility between releases:
# current master
* **bno055** This module no longer uses std::strings to pass around
binary data (*read/writeCalibrationData()*). Rather, now *std::vectors* of
the appropriate type are used. In addition, methods that previously
returned certain data in the form of an array, like *getEulerAngles()*,
now return a *std::vector* instead. This simplifies the Python,
Javascript, and Java bindings considerably, and leads to more
"natural" looking Python/Javascript/Java code. For Javascript, Java,
and Python, the examples have been modified to use these methods
rather than the methods that return data in argument pointers or
arrays. The "old style" C pointer API's are still present for
backwards compatibility, but may be removed in the future.
# v1.1.0
* **i2clcd/jhd1313m1/lcm1602** LCD devices supported by the i2clcd module are
being separated into individual libraries. The APIs will be preserved, but
we recommend changing your code to use the new libraries as they become