Merge 3572a176c2d81ea60c37395f5b5fa57acbb7b3f7 into 9a959b578cb69a5f0766f415da640bcbd3ebabb1

examples/c++/iLight-sample.cxx

@@ -0,0 +1,28 @@
+#include <iostream>
+#include <vector>
+#include <memory>
+
+#include "apds9002.hpp"
+#include "bh1750.hpp"
+#include "max44009.hpp"
+
+using namespace std;
+using namespace upm;
+
+int
+main()
+{
+  vector<unique_ptr<iLight>> lightSensors;
+
+  // Populate list of light sensors
+  lightSensors.push_back(unique_ptr<iLight>(new APDS9002(0)));
+  lightSensors.push_back(unique_ptr<iLight>(new BH1750()));
+  lightSensors.push_back(unique_ptr<iLight>(new MAX44009(1)));
+
+  // Measure luminance level from all 3 individual sensors
+  for (auto& sensor : lightSensors) {
+    sensor->getLuminance();
+  }
+
+  return 0;
+}

examples/c++/iTemperature-sample.cxx

@@ -0,0 +1,26 @@
+#include <iostream>
+#include <vector>
+
+#include "lm35.hpp"
+#include "abp.hpp"
+
+using namespace std;
+using namespace upm;
+
+int
+main()
+{
+  vector<iTemperature*> tempSensors {new LM35(0), new ABP(0, ABP_DEFAULT_ADDRESS)};
+
+  for (auto sensor : tempSensors) {
+    cout << sensor->getTemperature() << endl;
+  }
+
+  for (iTemperature* sensor : tempSensors) {
+    delete sensor;
+  }
+
+  tempSensors.clear();
+
+  return 0;
+}

examples/c++/interfaces-lightsensor.cxx

@@ -62,7 +62,7 @@ getLightSensor()
 int
 main()
 {
-    upm::ILightSensor* lightSensor = getLightSensor();
+    /*upm::ILightSensor* lightSensor = getLightSensor();
     if (lightSensor == NULL) {
         std::cout << "Light sensor not detected" << std::endl;
         return 1;
@@ -77,7 +77,7 @@ main()
         }
         upm_delay(1);
     }
-    delete lightSensor;
+    delete lightSensor;*/
     return 0;
 }
 

examples/c++/lm35.cxx

@@ -48,12 +48,12 @@ main()
 
     // Instantiate a LM35 on analog pin A0, with a default analog
     // reference voltage of 5.0
-    upm::LM35 sensor(0);
+    upm::iTemperature* sensor = new upm::LM35(0);
 
     // Every half second, sample the sensor and output the temperature
 
     while (shouldRun) {
-        cout << "Temperature: " << sensor.getTemperature() << " C" << endl;
+        cout << "Temperature: " << sensor->getTemperature() << " C" << endl;
 
         upm_delay_us(500000);
     }
@@ -61,6 +61,7 @@ main()
     //! [Interesting]
 
     cout << "Exiting" << endl;
+    delete sensor;
 
     return 0;
 }

include/interfaces/iCollision.hpp

@@ -0,0 +1,38 @@
+/*
+ * Author: Mihai Stefanescu <mihai.stefanescu@rinftech.com>
+ * Copyright (c) 2018 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
+
+namespace upm
+{
+/**
+* @brief Interface for Collision Sensors
+*/
+    class iCollision
+    {
+    public:
+        virtual ~iCollision() {}
+        virtual bool isColliding() = 0;
+    };
+}

include/interfaces/iDistance.hpp

@@ -0,0 +1,38 @@
+/*
+ * Author: Mihai Stefanescu <mihai.stefanescu@rinftech.com>
+ * Copyright (c) 2018 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
+
+namespace upm
+{
+/**
+* @brief Interface for Distance Measuring Sensors
+*/
+    class iDistance
+    {
+    public:
+        virtual ~iDistance() {}
+        virtual int getDistance() = 0;
+    };
+}

include/interfaces/iDistanceInterrupter.hpp

@@ -0,0 +1,38 @@
+/*
+ * Author: Mihai Stefanescu <mihai.stefanescu@rinftech.com>
+ * Copyright (c) 2018 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
+
+namespace upm
+{
+/**
+ * @brief Interface for Distance Interrupter Sensors
+*/
+  class iDistanceInterrupter
+  {
+  public:
+    virtual ~iDistanceInterrupter() {}
+    virtual bool objectDetected() = 0;
+  };
+}

include/interfaces/iHallEffect.hpp

@@ -0,0 +1,38 @@
+/*
+ * Author: Mihai Stefanescu <mihai.stefanescu@rinftech.com>
+ * Copyright (c) 2018 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
+
+namespace upm
+{
+/**
+ * @brief Interface for Hall Effect Sensors
+*/
+  class iHallEffect
+  {
+  public:
+    virtual ~iHallEffect() {}
+    virtual bool magnetDetected() = 0;
+  };
+}

include/interfaces/iHumidity.hpp

@@ -0,0 +1,38 @@
+/*
+ * Author: Mihai Stefanescu <mihai.stefanescu@rinftech.com>
+ * Copyright (c) 2018 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
+
+namespace upm
+{
+/**
+* @brief Interface for Humidity Measuring Sensors
+*/
+  class iHumidity
+  {
+  public:
+    virtual ~iHumidity() {}
+    virtual float getHumidity() = 0;
+  };
+}

include/interfaces/iLight.hpp

@@ -0,0 +1,38 @@
+/*
+ * Author: Mihai Stefanescu <mihai.stefanescu@rinftech.com>
+ * Copyright (c) 2018 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
+
+namespace upm
+{
+/**
+* @brief Interface for Luminance Measuring Sensors
+*/
+    class iLight
+    {
+    public:
+        virtual ~iLight() {}
+        virtual float getLuminance() = 0;
+    };
+}

include/interfaces/iMoisture.hpp

@@ -0,0 +1,38 @@
+/*
+ * Author: Mihai Stefanescu <mihai.stefanescu@rinftech.com>
+ * Copyright (c) 2018 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
+
+namespace upm
+{
+/**
+* @brief Interface for Moisture Measuring Sensors
+*/
+  class iMoisture
+  {
+  public:
+    virtual ~iMoisture() {}
+    virtual int getMoisture() = 0;
+  };
+}

include/interfaces/iMotion.hpp

@@ -0,0 +1,38 @@
+/*
+ * Author: Mihai Stefanescu <mihai.stefanescu@rinftech.com>
+ * Copyright (c) 2018 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
+
+namespace upm
+{
+/**
+* @brief Interface for Motion Sensors
+*/
+  class iMotion
+  {
+  public:
+    virtual ~iMotion() {}
+    virtual bool motionDetected() = 0;
+  };
+}

include/interfaces/iPressure.hpp

@@ -0,0 +1,38 @@
+/*
+ * Author: Mihai Stefanescu <mihai.stefanescu@rinftech.com>
+ * Copyright (c) 2018 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
+
+namespace upm
+{
+/**
+* @brief Interface for Pressure Measuring Sensors
+*/
+  class iPressure
+  {
+  public:
+    virtual ~iPressure() {}
+    virtual float getPressure() = 0;
+  };
+}

include/interfaces/iTemperature.hpp

@@ -0,0 +1,38 @@
+/*
+ * Author: Mihai Stefanescu <mihai.stefanescu@rinftech.com>
+ * Copyright (c) 2018 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
+
+namespace upm
+{
+/**
+* @brief Interface for Temperature Measuring Sensors
+*/
+  class iTemperature
+  {
+  public:
+    virtual ~iTemperature() {}
+    virtual float getTemperature() = 0;
+  };
+}

src/a110x/a110x.hpp

@@ -25,6 +25,7 @@
 
 #include <string>
 #include <mraa/gpio.h>
+#include <interfaces/iHallEffect.hpp>
 
 namespace upm {
   /**
@@ -58,7 +59,7 @@ namespace upm {
    * An example demonstrating the use of an interrupt handler to count pulses
    * @snippet a110x-intr.cxx Interesting
    */
-  class A110X {
+  class A110X : virtual public iHallEffect {
   public:
     /**
      * A110x digital sensor constructor
@@ -75,7 +76,7 @@ namespace upm {
      *
      * @return True if magnetic field detected
      */
-    bool magnetDetected();
+    virtual bool magnetDetected();
 
     /**
      * Installs an interrupt service routine (ISR) to be called when

src/abp/abp.hpp

@@ -25,6 +25,7 @@
 #pragma once
 
 #include "abp.h"
+#include <interfaces/iTemperature.hpp>
 
 namespace upm {
 /**
@@ -59,7 +60,7 @@ namespace upm {
  * @snippet abp.cxx Interesting
  */
 
-    class ABP {
+    class ABP : virtual public iTemperature {
 
     public:
         /**
@@ -90,7 +91,7 @@ namespace upm {
          *
          * @return float compensated temperature value
          */
-        float getTemperature();
+        virtual float getTemperature();
 
          /**
           * This functio has to be called before calling either of the get

src/am2315/am2315.hpp

@@ -26,6 +26,8 @@
 #include <string>
 #include <mraa/i2c.h>
 #include <math.h>
+#include <interfaces/iHumidity.hpp>
+#include <interfaces/iTemperature.hpp>
 
 #define AM2315_NAME "am2315"
 #define AM2315_I2C_ADDRESS 0x5c
@@ -77,7 +79,7 @@ namespace upm {
  * @image html am2315.jpeg
  * @snippet am2315.cxx Interesting
  */
-class AM2315 {
+class AM2315 : virtual public iHumidity, virtual public iTemperature {
     public:
         /**
          * Instantiates an AM2315 object
@@ -98,15 +100,17 @@ class AM2315 {
          * Data is updated every 2 seconds - accesses occurring more often than
          * that return cached data
          */
-        float getHumidity(void);
+        virtual float getHumidity(void);
 
         /**
          * Gets the humidity cell temperature [degC]
          *
          * Data is updated every 2 seconds - accesses occurring more often than
          * that return cached data
+         *
+         * @return float compensated temperature value
          */
-        float getTemperature(void);
+        virtual float getTemperature(void);
 
         /**
          * Gets the humidity cell temperature [degF]

src/apds9002/apds9002.cxx

@@ -32,7 +32,7 @@ using namespace upm;
 
 APDS9002::APDS9002(int pin)
 {
-  if ( !(m_aio = mraa_aio_init(pin)) ) 
+  if ( !(m_aio = mraa_aio_init(pin)) )
     {
       throw std::invalid_argument(std::string(__FUNCTION__) +
                                   ": mraa_aio_init() failed, invalid pin?");
@@ -49,3 +49,8 @@ int APDS9002::value()
 {
   return mraa_aio_read(m_aio);
 }
+
+float APDS9002::getLuminance()
+{
+    return value();
+}

src/apds9002/apds9002.hpp

@@ -25,6 +25,7 @@
 
 #include <string>
 #include <mraa/aio.h>
+#include <interfaces/iLight.hpp>
 
 namespace upm {
   /**
@@ -52,7 +53,7 @@ namespace upm {
    * @snippet apds9002.cxx Interesting
    */
 
-  class APDS9002 {
+  class APDS9002 : virtual public iLight {
   public:
     /**
      * APDS-9002 luminance sensor constructor
@@ -71,6 +72,13 @@ namespace upm {
      */
     int value();
 
+    /**
+     * Gets the luminance value from the sensor
+     *
+     * @return The measured light intensity value in Lux
+     */
+    virtual float getLuminance();
+
   private:
     mraa_aio_context m_aio;
   };

src/bh1750/bh1750.cxx

@@ -59,6 +59,11 @@ float BH1750::getLux()
   return lux;
 }
 
+float BH1750::getLuminance()
+{
+    return getLux();
+}
+
 void BH1750::powerUp()
 {
   if (bh1750_power_up(m_bh1750) != UPM_SUCCESS)

src/bh1750/bh1750.hpp

@@ -29,6 +29,7 @@
 #include <stdlib.h>
 #include <unistd.h>
 #include <string.h>
+#include <interfaces/iLight.hpp>
 
 #include "bh1750.h"
 
@@ -57,13 +58,13 @@ namespace upm {
      * @snippet bh1750.cxx Interesting
      */
 
-  class BH1750 {
+  class BH1750 : virtual public iLight {
   public:
 
     /**
      * BH1750 object constructor (Analog mode)
      *
-     * @param bus The I2C bus to use 
+     * @param bus The I2C bus to use
      * @param addr The I2C address of the device
      * @param mode The mode to start operation under.  One of the
      * BH1750_OPMODES_T values.  The default is the highest precision,
@@ -92,6 +93,13 @@ namespace upm {
      */
     float getLux();
 
+    /**
+     * Gets the luminance value from the sensor
+     *
+     * @return The measured light intensity value in Lux
+     */
+    virtual float getLuminance();
+
     /**
      * Power up the device.
      */

src/biss0001/biss0001.cxx

@@ -48,3 +48,8 @@ bool BISS0001::value()
 {
     return biss0001_motion_detected(m_biss0001);
 }
+
+bool BISS0001::motionDetected()
+{
+  return value();
+}

src/biss0001/biss0001.hpp

@@ -24,6 +24,7 @@
  */
 #pragma once
 
+#include <interfaces/iMotion.hpp>
 #include <biss0001.h>
 
 namespace upm {
@@ -57,7 +58,7 @@ namespace upm {
      * @snippet biss0001.cxx Interesting
      */
 
-  class BISS0001 {
+  class BISS0001 : virtual public iMotion {
   public:
       /**
        * BISS0001 motion sensor constructor
@@ -81,11 +82,11 @@ namespace upm {
       /**
        * Gets the motion value from the sensor.  This is a more
        * informative method name, but we want to keep compatibility
-       * with the original for now.
+       * with the original for now. Implements iMotion interface.
        *
        * @return true if motion was detected, false otherwise.
        */
-      bool motionDetected() { return value(); };
+      virtual bool motionDetected();
 
   private:
       /* Disable implicit copy and assignment operators */

src/bmp280/bme280.hpp

@@ -26,7 +26,7 @@
 #pragma once
 
 #include <string>
-#include "interfaces/iHumiditySensor.hpp"
+#include <interfaces/iHumidity.hpp>
 
 #include "bmp280.hpp"
 
@@ -57,7 +57,7 @@ namespace upm {
      * @snippet bmp280-bme280.cxx Interesting
      */
 
-    class BME280 : public BMP280, public IHumiditySensor {
+    class BME280 : public BMP280, virtual public iHumidity {
     public:
 
         /**
@@ -96,7 +96,7 @@ namespace upm {
          *
          * @return The relative humidity in percent.
          */
-        float getHumidity();
+        virtual float getHumidity();
 
         /**
          * Set the humidity sensor oversampling parameter.  See the data

src/bmp280/bmp280.cxx

@@ -110,6 +110,11 @@ float BMP280::getTemperature(bool fahrenheit)
         return temperature;
 }
 
+float BMP280::getTemperature()
+{
+    return getTemperature(false);
+}
+
 float BMP280::getPressure()
 {
     return bmp280_get_pressure(m_bmp280);

src/bmp280/bmp280.hpp

@@ -28,8 +28,8 @@
 #include <string>
 #include "bmp280.h"
 
-#include "interfaces/iPressureSensor.hpp"
-#include "interfaces/iTemperatureSensor.hpp"
+#include <interfaces/iPressure.hpp>
+#include <interfaces/iTemperature.hpp>
 
 namespace upm {
 
@@ -67,7 +67,7 @@ namespace upm {
      * @snippet bmp280.cxx Interesting
      */
 
-    class BMP280 : public ITemperatureSensor, public IPressureSensor {
+    class BMP280 : virtual public iPressure, virtual public iTemperature {
     public:
 
         /**
@@ -127,7 +127,17 @@ namespace upm {
          * Celicus.  Celsius is the default.
          * @return The temperature in degrees Celsius or Fahrenheit.
          */
-        float getTemperature(bool fahrenheit=false);
+        float getTemperature(bool fahrenheit);
+
+        /**
+         * Return the current measured temperature.  Note, this is not
+         * ambient temperature - this is the temperature used to fine tune
+         * the pressure measurement.  update() must have been called prior
+         * to calling this method.
+         *
+         * @return The temperature in degrees Celsius.
+         */
+        virtual float getTemperature();
 
         /**
          * Return the current measured pressure in Pascals (Pa).  update()
@@ -135,7 +145,7 @@ namespace upm {
          *
          * @return The pressure in Pascals (Pa).
          */
-        float getPressure();
+        virtual float getPressure();
 
         /**
          * Set the pressure at sea level in hecto-Pascals (hPA).  This

src/bmp280/bmp280.i

@@ -2,37 +2,14 @@
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%import "../interfaces/javaupm_iTemperatureSensor.i"
-%import "../interfaces/javaupm_iHumiditySensor.i"
-%import "../interfaces/javaupm_iPressureSensor.i"
-
-%include "arrays_java.i";
-%include "../java_buffer.i"
-
-%typemap(javaimports) SWIGTYPE %{
-    import upm_interfaces.*;
-%}
-
 JAVA_JNI_LOADLIBRARY(javaupm_bmp280)
 #endif
 /* END Java syntax */
 
 /* BEGIN Javascript syntax  ------------------------------------------------- */
-#ifdef SWIGJAVASCRIPT
-%include "iModuleStatus.hpp"
-%include "iTemperatureSensor.hpp"
-%include "iPressureSensor.hpp"
-%include "iHumiditySensor.hpp"
-#endif
 /* END Javascript syntax */
 
 /* BEGIN Python syntax  ----------------------------------------------------- */
-#ifdef SWIGPYTHON
-%include "iModuleStatus.hpp"
-%include "iTemperatureSensor.hpp"
-%include "iPressureSensor.hpp"
-%include "iHumiditySensor.hpp"
-#endif
 /* END Python syntax */
 
 /* BEGIN Common SWIG syntax ------------------------------------------------- */

src/bmpx8x/bmpx8x.cxx

@@ -99,7 +99,7 @@ void BMPX8X::writeReg(uint8_t reg, uint8_t val)
                                  + ": bmpx8x_write_reg() failed");
 }
 
-int BMPX8X::getPressure()
+float BMPX8X::getPressure()
 {
     return bmpx8x_get_pressure(m_bmpx8x);
 }

src/bmpx8x/bmpx8x.hpp

@@ -32,8 +32,7 @@
 
 #include "bmpx8x.h"
 
-#include "interfaces/iPressureSensor.hpp"
-#include "interfaces/iTemperatureSensor.hpp"
+#include <interfaces/iPressure.hpp>
 
 namespace upm {
 
@@ -68,7 +67,7 @@ namespace upm {
      * @snippet bmpx8x.cxx Interesting
      */
 
-    class BMPX8X : public IPressureSensor, public ITemperatureSensor {
+    class BMPX8X : virtual public iPressure {
     public:
         /**
          * Instantiates a BMPX8X object
@@ -132,7 +131,7 @@ namespace upm {
          *
          * @returns The pressure in Pascals.
          */
-        int getPressure();
+        virtual float getPressure();
 
         /**
          * Returns the calculated temperature in Celsius.  update()

src/bmpx8x/bmpx8x.i

@@ -2,19 +2,12 @@
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%import "../interfaces/javaupm_iPressureSensor.i"
-%typemap(javaimports) SWIGTYPE %{import upm_interfaces.*;%}
-%import "../interfaces/javaupm_iTemperatureSensor.i"
-
 JAVA_JNI_LOADLIBRARY(javaupm_bmpx8x)
 #endif
 /* END Java syntax */
 
 /* BEGIN Python syntax  ----------------------------------------------------- */
 #ifdef SWIGPYTHON
-%include "iModuleStatus.hpp"
-%include "iTemperatureSensor.hpp"
-%include "iPressureSensor.hpp"
 #endif
 /* END Python syntax */
 

src/collision/collision.hpp

@@ -24,6 +24,7 @@
 #pragma once
 
 #include <mraa/gpio.h>
+#include <interfaces/iCollision.hpp>
 
 namespace upm {
   /**
@@ -42,15 +43,15 @@ namespace upm {
    * @con gpio
    *
    * @brief API for the Collision Sensor
-   * 
+   *
    * The Collision Sensor can detect whether any
    * collision movement or vibration happens.
-   * It outputs a low pulse signal when vibration is detected. 
+   * It outputs a low pulse signal when vibration is detected.
    *
    * @image html collision.jpg
    * @snippet collision.cxx Interesting
    */
-  class Collision {
+  class Collision : virtual public iCollision {
   public:
     /**
      * Collision sensor constructor
@@ -63,11 +64,11 @@ namespace upm {
      */
     ~Collision();
     /**
-     * @return bool  Defines whether something is colliding with sensor
+     * @return boolean value defining whether something is colliding with sensor
      */
-     bool isColliding();
+    virtual bool isColliding();
 
   private:
-        mraa_gpio_context m_gpio;
-	};
+    mraa_gpio_context m_gpio;
+  };
 }

src/grove/grovelight.cxx

@@ -57,6 +57,11 @@ int GroveLight::value()
     return (int) round(a);
 }
 
+float GroveLight::getLuminance()
+{
+    return value();
+}
+
 float GroveLight::raw_value()
 {
     return (float) mraa_aio_read(m_aio);

src/grove/grovelight.hpp

@@ -28,6 +28,7 @@
 
 #include <string>
 #include <mraa/aio.hpp>
+#include <interfaces/iLight.hpp>
 #include "grovebase.hpp"
 
 namespace upm {
@@ -54,7 +55,7 @@ namespace upm {
  * @image html grovelight.jpg
  * @snippet grove-grovelight.cxx Interesting
  */
-class GroveLight: public Grove {
+class GroveLight: public Grove, virtual public iLight {
     public:
         /**
          * Grove analog light sensor constructor
@@ -78,6 +79,13 @@ class GroveLight: public Grove {
          * @return Normalized light reading in lux
          */
         int value();
+
+        /**
+         * Gets an approximate light value, in lux, from the sensor
+         *
+         * @return Normalized light reading in lux
+         */
+        virtual float getLuminance();
     private:
         mraa_aio_context m_aio;
 };

src/grove/grovetemp.cxx

@@ -62,6 +62,11 @@ int GroveTemp::value ()
     return (int) round(t);
 }
 
+float GroveTemp::getTemperature ()
+{
+    return value();
+}
+
 float GroveTemp::raw_value()
 {
     return (float) mraa_aio_read(m_aio);

src/grove/grovetemp.hpp

@@ -29,6 +29,7 @@
 #include <string>
 #include <mraa/aio.hpp>
 #include "grovebase.hpp"
+#include <interfaces/iTemperature.hpp>
 
 namespace upm {
 
@@ -54,7 +55,7 @@ namespace upm {
  * @image html grovetemp.jpg
  * @snippet grove-grovetemp.cxx Interesting
  */
-class GroveTemp: public Grove {
+class GroveTemp: public Grove, virtual public iTemperature {
     public:
         /**
          * Grove analog temperature sensor constructor
@@ -84,6 +85,8 @@ class GroveTemp: public Grove {
          * @return Normalized temperature in Celsius
          */
         int value();
+
+        virtual float getTemperature();
     private:
         mraa_aio_context m_aio;
         float m_scale;

src/grovecollision/grovecollision.hpp

@@ -24,6 +24,7 @@
 #pragma once
 
 #include <mraa/gpio.h>
+#include <interfaces/iCollision.hpp>
 
 namespace upm {
   /**
@@ -43,15 +44,15 @@ namespace upm {
    * @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. 
+   * It outputs a low pulse signal when vibration is detected.
    *
    * @image html grovecollision.jpg
    * @snippet grovecollision.cxx Interesting
    */
-  class GroveCollision {
+  class GroveCollision : virtual public iCollision {
   public:
     /**
      * Grove collision sensor constructor
@@ -64,11 +65,11 @@ namespace upm {
      */
     ~GroveCollision();
     /**
-     * @return bool  Defines whether something is colliding with sensor
+     * @return boolean value defining whether something is colliding with sensor
      */
-     bool isColliding();
+    virtual bool isColliding();
 
   private:
-        mraa_gpio_context m_gpio;
-	};
+    mraa_gpio_context m_gpio;
+  };
 }

src/grovemoisture/grovemoisture.cxx

@@ -46,3 +46,8 @@ int GroveMoisture::value()
 {
   return mraa_aio_read(m_aio);
 }
+
+int GroveMoisture::getMoisture()
+{
+  return value();
+}

src/grovemoisture/grovemoisture.hpp

@@ -25,6 +25,7 @@
 
 #include <string>
 #include <mraa/aio.h>
+#include <interfaces/iMoisture.hpp>
 
 namespace upm {
   /**
@@ -56,7 +57,7 @@ namespace upm {
    * @image html grovemoisture.jpg
    * @snippet grovemoisture.cxx Interesting
    */
-  class GroveMoisture {
+  class GroveMoisture : virtual public iMoisture {
   public:
     /**
      * Grove analog moisture sensor constructor
@@ -75,6 +76,13 @@ namespace upm {
      */
     int value();
 
+    /**
+     * Gets the moisture value from the sensor
+     *
+     * @return Moisture reading
+     */
+    virtual int getMoisture();
+
   private:
     mraa_aio_context m_aio;
   };

src/hcsr04/hcsr04.cxx

@@ -49,3 +49,9 @@ HCSR04::getDistance(HCSR04_U unit)
 {
     return hcsr04_get_distance(m_hcsr04, unit);
 }
+
+int
+HCSR04::getDistance()
+{
+    return getDistance(HCSR04_CM);
+}

src/hcsr04/hcsr04.hpp

@@ -25,6 +25,7 @@
 #pragma once
 
 #include "hcsr04.h"
+#include <interfaces/iDistance.hpp>
 
 namespace upm {
 /**
@@ -49,7 +50,7 @@ namespace upm {
  * @image html groveultrasonic.jpg
  * @snippet hcsr04.cxx Interesting
  */
-class HCSR04 {
+class HCSR04 : virtual public iDistance {
     public:
         /**
          * Instantiates an HCSR04 object
@@ -70,6 +71,12 @@ class HCSR04 {
          */
         double getDistance (HCSR04_U unit);
 
+        /**
+         * Gets the distance from the sensor
+         *
+         * @return distance measured in cm.
+         */
+        virtual int getDistance();
     private:
         hcsr04_context m_hcsr04;
         HCSR04(const HCSR04& src) { /* do not create copied constructor */ }

src/hdc1000/hdc1000.cpp

@@ -125,6 +125,12 @@ HDC1000::getTemperature(int bSampleData)
     return (float)(m_temperature * 0.01);
 }
 
+float
+HDC1000::getTemperature()
+{
+    return getTemperature(false);
+}
+
 float
 HDC1000::getHumidity(int bSampleData)
 {
@@ -133,3 +139,9 @@ HDC1000::getHumidity(int bSampleData)
     }
     return (float)(m_humidity * 0.01);
 }
+
+float
+HDC1000::getHumidity()
+{
+  return getHumidity(false);
+}

src/hdc1000/hdc1000.hpp

@@ -29,6 +29,8 @@
 #include <string>
 #include <mraa/i2c.hpp>
 #include <math.h>
+#include <interfaces/iHumidity.hpp>
+#include <interfaces/iTemperature.hpp>
 
 #define HDC1000_NAME "hdc1000"
 #define HDC1000_i2C_ADDRESS         0x43
@@ -87,7 +89,7 @@ namespace upm {
  *
  * @snippet hdc1000.cxx Interesting
  */
-class HDC1000 {
+class HDC1000 : virtual public iHumidity, virtual public iTemperature {
     public:
         /**
          * Instantiates an HDC1000 object
@@ -123,7 +125,14 @@ class HDC1000 {
          * @param bSampleData Flag to read sensor
          * @return The humidity sensor temp in degC
          */
-        float getHumidity(int bSampleData = false);
+        float getHumidity(int bSampleData);
+
+        /**
+         * Get the current measured humidity [RH]
+         *
+         * @return The humidity sensor temp in degC
+         */
+        virtual float getHumidity();
 
         /**
          * Get the humidity cell temperature [degC]
@@ -131,7 +140,14 @@ class HDC1000 {
          * @param bSampleData Flag to read sensor
          * @return The humidity sensor temp in degC
          */
-        float getTemperature(int bSampleData = false);
+        float getTemperature(int bSampleData);
+
+        /**
+         * Get the humidity cell temperature [degC]
+         *
+         * @return The humidity sensor temp in degC
+         */
+        virtual float getTemperature();
 
     private:
 

src/hp20x/hp20x.cxx

@@ -190,7 +190,8 @@ float HP20X::getPressure()
   // now read the pressure
   writeCmd(CMD_READ_P);
 
-  return ((float)readData() / 100.0);
+  // Return result in Pa, not milibars. 
+  return (float)readData();
 }
 
 float HP20X::getAltitude()

src/hp20x/hp20x.hpp

@@ -26,6 +26,8 @@
 #include <string>
 #include <mraa/common.hpp>
 #include <mraa/i2c.hpp>
+#include <interfaces/iPressure.hpp>
+#include <interfaces/iTemperature.hpp>
 
 #define HP20X_I2C_BUS 0
 #define HP20X_DEFAULT_I2C_ADDR 0x76
@@ -61,7 +63,7 @@ namespace upm {
    * @image html hp20x.jpg
    * @snippet hp20x.cxx Interesting
    */
-  class HP20X {
+  class HP20X : virtual public iPressure, virtual public iTemperature {
   public:
 
     /**
@@ -270,14 +272,14 @@ namespace upm {
      *
      * @return Temperature
      */
-    float getTemperature();
+    virtual float getTemperature();
 
     /**
      * Returns the pressure in millibars
      *
      * @return Pressure
      */
-    float getPressure();
+    virtual float getPressure();
 
     /**
      * Returns the computed altitude in meters

src/htu21d/htu21d.cpp

@@ -99,6 +99,12 @@ HTU21D::getTemperature(int bSampleData)
     return (float)m_temperature / 1000;
 }
 
+float
+HTU21D::getTemperature()
+{
+    return getTemperature(0);
+}
+
 float
 HTU21D::getHumidity(int bSampleData)
 {
@@ -108,6 +114,12 @@ HTU21D::getHumidity(int bSampleData)
     return (float)m_humidity / 1000;
 }
 
+float
+HTU21D::getHumidity()
+{
+    return getHumidity(0);
+}
+
 /*
  * Use the compensation equation from the datasheet to correct the
  * current reading

src/htu21d/htu21d.hpp

@@ -26,6 +26,8 @@
 #include <string>
 #include <mraa/i2c.hpp>
 #include <math.h>
+#include <interfaces/iHumidity.hpp>
+#include <interfaces/iTemperature.hpp>
 
 #define HTU21D_NAME "htu21d"
 #define HTU21D_I2C_ADDRESS 0x40
@@ -79,7 +81,7 @@ namespace upm {
  * @image html htu21d.jpeg
  * @snippet htu21d.cxx Interesting
  */
-class HTU21D {
+class HTU21D : virtual public iHumidity, virtual public iTemperature {
     public:
         /**
          * Instantiates an HTU21D object
@@ -102,7 +104,14 @@ class HTU21D {
          * @param bSampleData Flag to sample sensor (default false)
          * @return Relative humidity in %RH
          */
-        float getHumidity(int bSampleData = false);
+        float getHumidity(int bSampleData);
+
+        /**
+         * Gets the current measured humidity [%RH]
+         *
+         * @return Relative humidity in %RH
+         */
+        virtual float getHumidity();
 
         /**
          * Gets the humidity cell temperature [degC]
@@ -110,7 +119,14 @@ class HTU21D {
          * @param bSampleData Flag to sample sensor (default false)
          * @return Temperature in degC
          */
-        float getTemperature(int bSampleData = false);
+        float getTemperature(int bSampleData);
+
+        /**
+         * Gets the humidity cell temperature [degC]
+         *
+         * @return Temperature in degC
+         */
+        virtual float getTemperature();
 
         /**
          * Using the current humidity and temperature, the function

src/hwxpxx/hwxpxx.cxx

@@ -263,6 +263,11 @@ float HWXPXX::getTemperature(bool fahrenheit)
     return m_temperature;
 }
 
+float HWXPXX::getTemperature()
+{
+  return getTemperature(false);
+}
+
 float HWXPXX::getHumidity()
 {
   return m_humidity;

src/hwxpxx/hwxpxx.hpp

@@ -26,6 +26,8 @@
 #include <string>
 
 #include <modbus/modbus.h>
+#include <interfaces/iHumidity.hpp>
+#include <interfaces/iTemperature.hpp>
 
 namespace upm {
 
@@ -64,7 +66,7 @@ namespace upm {
    * @snippet hwxpxx.cxx Interesting
    */
 
-  class HWXPXX {
+  class HWXPXX : virtual public iHumidity, virtual public iTemperature {
   public:
     // MODBUS input registers
     typedef enum {
@@ -128,7 +130,17 @@ namespace upm {
      * The default is false (degrees Celsius).
      * @return The last temperature reading in Celsius or Fahrenheit
      */
-    float getTemperature(bool fahrenheit=false);
+    float getTemperature(bool fahrenheit);
+
+    /**
+     * Get the current temperature.  update() must have been called
+     * prior to calling this method.  If this option was not
+     * installed, this method will always return 0C/0F, depending on
+     * the scale the device is operating in natively.
+     *
+     * @return The last temperature reading in Celsius or Fahrenheit
+     */
+    virtual float getTemperature();
 
     /**
      * Get the current relative humidity.  update() must have been called
@@ -136,7 +148,7 @@ namespace upm {
      *
      * @return The last humidity reading
      */
-    float getHumidity();
+    virtual float getHumidity();
 
     /**
      * Get the current slider switch position.  update() must have

src/ims/ims.cxx

@@ -55,6 +55,11 @@ uint16_t IMS::get_moisture()
     return retval;
 }
 
+int IMS::getMoisture()
+{
+  return get_moisture();
+}
+
 uint16_t IMS::get_light()
 {
     uint16_t retval;
@@ -73,6 +78,11 @@ float IMS::get_temperature()
     return static_cast<float>(retval)/10.0;
 }
 
+float IMS::getTemperature()
+{
+    return get_temperature();
+}
+
 void IMS::reset_i2c_address(uint8_t address_new)
 {
     if (ims_reset_i2c_address(_dev, address_new) != UPM_SUCCESS)

src/ims/ims.hpp

@@ -24,6 +24,8 @@
 
 #pragma once
 
+#include <interfaces/iMoisture.hpp>
+#include <interfaces/iTemperature.hpp>
 #include "ims.h"
 
 namespace upm {
@@ -55,7 +57,7 @@ namespace upm {
  * @snippet ims.cxx Interesting
  */
 
-class IMS {
+class IMS : virtual public iMoisture, virtual public iTemperature {
     public:
         /**
          * I2C Moisture Sensor constructor
@@ -103,6 +105,13 @@ class IMS {
          */
         uint16_t get_moisture();
 
+        /**
+         * Get moisture reading from sensor
+         * @return Unitless, relative capacitance value (moisture)
+         * @throws std::runtime_error if I2C read command fails
+         */
+        virtual int getMoisture();
+
         /**
          * Get light reading from LED on device.  The technical data for the I2C
          * moisture sensor specifies a 3 second wait.  Loop for 3 seconds
@@ -122,6 +131,13 @@ class IMS {
          */
         float get_temperature();
 
+        /**
+         * Get temperature reading from device
+         * @return rd_data Temperature in degrees Celsius
+         * @throws std::runtime_error if I2C read command fails
+         */
+        virtual float getTemperature();
+
         /**
          * Reset sensor
          * @throws std::runtime_error if I2C write command fails

src/lidarlitev3/lidarlitev3.hpp

@@ -26,6 +26,7 @@
 
 #include <string>
 #include <mraa/i2c.hpp>
+#include <interfaces/iDistance.hpp>
 
 #define ADDR                  0x62 // device address
 
@@ -87,7 +88,7 @@ namespace upm {
  *
  * @snippet lidarlitev3.cxx Interesting
  */
-class LIDARLITEV3 {
+class LIDARLITEV3 : virtual public iDistance {
     public:
         /**
          * Instantiates an LIDARLITEV3 object
@@ -109,7 +110,7 @@ class LIDARLITEV3 {
          * Returns distance measurement on success
          * Retruns -1 on failure.
          */
-        int getDistance ();
+        virtual int getDistance ();
 
         /**
          * Read

src/light/light.cxx

@@ -57,6 +57,17 @@ int Light::value()
     return (int)roundf(value);
 }
 
+float Light::getLuminance()
+{
+    float value;
+
+    if (light_get_lux(m_light, &value))
+        throw std::runtime_error(std::string(__FUNCTION__) +
+        ": light_get_normalized() failed.");
+
+    return value;
+}
+
 float Light::raw_value()
 {
     // This is a hack.  Deprecated.  Should be removed ASAP.

src/light/light.hpp

@@ -28,6 +28,7 @@
 #pragma once
 
 #include <string>
+#include <interfaces/iLight.hpp>
 
 #include "light.h"
 
@@ -58,7 +59,7 @@ namespace upm {
      * @image html light.jpg
      * @snippet light.cxx Interesting
      */
-    class Light {
+    class Light : virtual public iLight {
     public:
         /**
          * Analog light sensor constructor
@@ -91,6 +92,14 @@ namespace upm {
          */
         int value();
 
+        /**
+         * Gets an approximate light value in lux from the sensor
+         *
+         * @return Approximate light reading in lux
+         * @throws std::runtime_error on error
+         */
+        virtual float getLuminance();
+
         /**
          * Set ADC reference voltage
          *

src/lm35/lm35.hpp

@@ -26,6 +26,7 @@
 #include <iostream>
 #include <string>
 #include "lm35.h"
+#include <interfaces/iTemperature.hpp>
 
 namespace upm {
     /**
@@ -58,7 +59,7 @@ namespace upm {
      * @snippet lm35.cxx Interesting
      */
 
-    class LM35 {
+    class LM35 : virtual public iTemperature {
     public:
 
         /**
@@ -79,7 +80,7 @@ namespace upm {
          *
          * @return The Temperature in degrees Celsius
          */
-        float getTemperature();
+        virtual float getTemperature();
 
         /**
          * Set sensor scale.  This scale is applied to the return values

src/max31723/max31723.cxx

@@ -49,7 +49,7 @@ MAX31723::MAX31723 (int bus, int csn) : m_spi(bus), m_csnPinCtx(csn) {
     writeRegister (R_STS_WRITE_CMD, B_CONT_READING);
 }
 
-short
+float
 MAX31723::getTemperature () {
     uint8_t msb = 0;
     short temperature = 0;

src/max31723/max31723.hpp

@@ -29,6 +29,7 @@
 #include <mraa/gpio.hpp>
 
 #include <mraa/spi.hpp>
+#include <interfaces/iTemperature.hpp>
 
 #define HIGH                    1
 #define LOW                     0
@@ -60,7 +61,7 @@ namespace upm {
  *
  * @snippet max31723.cxx Interesting
  */
-class MAX31723 {
+class MAX31723 : virtual public iTemperature {
     public:
         static const uint8_t R_STS_READ_CMD     = 0x00;
         static const uint8_t R_STS_WRITE_CMD    = 0x80;
@@ -85,9 +86,11 @@ class MAX31723 {
          **/
 
         /**
-         * Gets the on-board temperature.
+         * Returns the temperature in degrees Celsius
+         *
+         * @return The Temperature in degrees Celsius
          */
-        short getTemperature ();
+        virtual float getTemperature ();
 
         /**
          * Returns the name of the component

src/max44009/max44009.cxx

@@ -41,7 +41,7 @@ MAX44009::MAX44009 (int bus, int devAddr) {
     status = mraa::SUCCESS;
     reset();
     if (status != mraa::SUCCESS)
-        UPM_THROW("config failure");
+        throw std::runtime_error(std::string(__FUNCTION__) + ": config failure");
 }
 
 MAX44009::~MAX44009() {
@@ -70,7 +70,7 @@ MAX44009::getVisibleRaw() {
     int length = i2c->readBytesReg(MAX44009_LUX_START_ADDR, data, MAX44009_LUX_LENGTH);
 
     if(length != MAX44009_LUX_LENGTH)
-        UPM_THROW("Read error");
+        throw std::runtime_error(std::string(__FUNCTION__) + ": Read error");
 
     return *value;
 }
@@ -86,8 +86,12 @@ MAX44009::getVisibleLux() {
 
     // Check for overrange condition
     if(exponent == MAX44009_OVERRANGE_CONDITION)
-        UPM_THROW("Overrange error");
+        throw std::runtime_error(std::string(__FUNCTION__) + ": Overrange error");
 
     return pow((double)2,(double)exponent) * mantissa * 0.045;
 }
 
+float
+MAX44009::getLuminance() {
+    return getVisibleLux();
+}

src/max44009/max44009.hpp

@@ -26,7 +26,7 @@
 #include <string>
 #include <mraa/i2c.hpp>
 
-#include "interfaces/iLightSensor.hpp"
+#include <interfaces/iLight.hpp>
 
 /* ADDRESS AND NOT_FOUND VALUE */
 #define MAX44009_ADDRESS                    ( 0x4A )
@@ -106,7 +106,7 @@ namespace upm {
  * @snippet max44009.cxx Interesting
  *
  */
-class MAX44009 : public ILightSensor {
+class MAX44009 : virtual public iLight {
     public:
         /**
          * Instanciates a MAX44009 object
@@ -131,6 +131,13 @@ class MAX44009 : public ILightSensor {
          */
         double getVisibleLux();
 
+        /**
+         * Gets the luminance value from the sensor
+         *
+         * @return The measured light intensity value in Lux
+         */
+        virtual float getLuminance();
+
         virtual const char* getModuleName() { return "max44009"; }
 
     private:

src/max44009/max44009.i

@@ -2,11 +2,6 @@
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%include "arrays_java.i";
-%include "../java_buffer.i"
-%typemap(javaimports) SWIGTYPE %{import upm_interfaces.*;%}
-%import "../interfaces/javaupm_iLightSensor.i"
-
 JAVA_JNI_LOADLIBRARY(javaupm_max44009)
 #endif
 /* END Java syntax */

src/maxsonarez/maxsonarez.cxx

@@ -62,3 +62,9 @@ int MAXSONAREZ::inches()
 
   return int(volts / m_vI);
 }
+
+int MAXSONAREZ::getDistance()
+{
+   // TODO: call static conversion first.
+   return inches();
+}

src/maxsonarez/maxsonarez.hpp

@@ -26,6 +26,7 @@
 #include <iostream>
 #include <string>
 #include <mraa/aio.h>
+#include <interfaces/iDistance.hpp>
 
 // EZ series is volts/512
 #define MAXSONAREZ_RES  512
@@ -67,7 +68,7 @@ namespace upm {
    * @snippet maxsonarez.cxx Interesting
    */
 
-  class MAXSONAREZ {
+  class MAXSONAREZ : virtual public iDistance {
   public:
 
     /**
@@ -90,6 +91,13 @@ namespace upm {
      */
     int inches();
 
+    /**
+     * Gets the distance to the object in inches
+     *
+     * @return Distance to the object in inches
+     */
+    virtual int getDistance();
+
   private:
     mraa_aio_context m_aio;
     float m_aref;

src/mb704x/mb704x.cxx

@@ -47,3 +47,8 @@ int MB704X::getRange()
 {
     return mb704x_get_range(m_mb704x);
 }
+
+int MB704X::getDistance()
+{
+    return getRange();
+}

src/mb704x/mb704x.hpp

@@ -25,6 +25,7 @@
 
 #include <string>
 #include <iostream>
+#include <interfaces/iDistance.hpp>
 
 #include <stdlib.h>
 #include <unistd.h>
@@ -58,7 +59,7 @@ namespace upm {
      * @snippet mb704x.cxx Interesting
      */
 
-    class MB704X {
+    class MB704X : virtual public iDistance {
     public:
 
         /**
@@ -84,7 +85,12 @@ namespace upm {
          */
         int getRange();
 
-
+        /**
+         * Gets the distance to the object in cm
+         *
+         * @return Distance to the object in cm
+         */
+        virtual int getDistance();
     protected:
         // mb704x device context
         mb704x_context m_mb704x;

src/mcp9808/mcp9808.cxx

@@ -67,6 +67,11 @@ MCP9808::getTemp(){
 	return getTempValue(result);
 }
 
+float
+MCP9808::getTemperature() {
+  return getTemp();
+}
+
 void
 MCP9808::shutDown(bool sleep){
 	if(sleep) this->updateConfigRegister(MCP9808_CONFIG_SHUTDOWN);

src/mcp9808/mcp9808.hpp

@@ -28,6 +28,7 @@
 
 #include <iostream>
 #include <string>
+#include <interfaces/iTemperature.hpp>
 
 #define MCP9808_REG_CONFIG  0x01
 #define MCP9808_REG_AMBIENT_TEMP 0x05
@@ -75,7 +76,7 @@ namespace upm {
    * @image html mcp9808.jpg
    * @snippet mcp9808.cxx Interesting
    */
-    class MCP9808 {
+    class MCP9808 : virtual public iTemperature {
 
         public:
             /**
@@ -177,6 +178,13 @@ namespace upm {
              */
             float getTemp(void);
 
+            /**
+             * Returns the temperature in degrees Celsius
+             *
+             * @return The Temperature in degrees Celsius
+             */
+            virtual float getTemperature();
+
             /**
              *  Will cause the devices to either sleep or wakeup.
              *

src/mlx90614/mlx90614.cxx

@@ -70,6 +70,11 @@ MLX90614::readAmbientTempC(void) {
     return readTemperature(MLX90614_TA);
 }
 
+float
+MLX90614::getTemperature() {
+  return readAmbientTempC();
+}
+
 /*
  * **************
  *  private area

src/mlx90614/mlx90614.hpp

@@ -25,6 +25,7 @@
 
 #include <string>
 #include <mraa/i2c.hpp>
+#include <interfaces/iTemperature.hpp>
 
 #define DEVICE_ADDR         0x5A // device address
 
@@ -73,7 +74,7 @@ namespace upm {
  * @image html mlx90614.jpg
  * @snippet mlx90614.cxx Interesting
  */
-class MLX90614 {
+class MLX90614 : virtual public iTemperature {
     public:
 
         /**
@@ -109,6 +110,13 @@ class MLX90614 {
          */
         float readAmbientTempC(void);
 
+        /**
+         * Returns the temperature in degrees Celsius
+         *
+         * @return The Temperature in degrees Celsius
+         */
+        virtual float getTemperature();
+
         /**
          * Returns the name of the component
          */

src/moisture/moisture.cxx

@@ -46,3 +46,8 @@ int Moisture::value()
 {
   return mraa_aio_read(m_aio);
 }
+
+int Moisture::getMoisture()
+{
+  return value();
+}

src/moisture/moisture.hpp

@@ -25,6 +25,7 @@
 
 #include <string>
 #include <mraa/aio.h>
+#include <interfaces/iMoisture.hpp>
 
 namespace upm {
   /**
@@ -55,7 +56,7 @@ namespace upm {
    * @image html moisture.jpg
    * @snippet moisture.cxx Interesting
    */
-  class Moisture {
+  class Moisture : virtual public iMoisture {
   public:
     /**
      * Analog moisture sensor constructor
@@ -74,6 +75,13 @@ namespace upm {
      */
     int value();
 
+    /**
+     * Gets the moisture value from the sensor
+     *
+     * @return Moisture reading
+     */
+    virtual int getMoisture();
+
   private:
     mraa_aio_context m_aio;
   };

src/mpl3115a2/mpl3115a2.cpp

@@ -207,6 +207,11 @@ MPL3115A2::getPressure(int bSampleData) {
     return (float)m_iPressure / 100;
 }
 
+float
+MPL3115A2::getPressure() {
+  return getPressure(true);
+}
+
 float
 MPL3115A2::getTemperature(int bSampleData) {
     int ret;

src/mpl3115a2/mpl3115a2.hpp

@@ -26,6 +26,7 @@
 #include <string>
 #include <mraa/i2c.hpp>
 #include <math.h>
+#include <interfaces/iPressure.hpp>
 
 #define MPL3115A2_NAME        "mpl3115a2"
 
@@ -79,7 +80,7 @@ namespace upm {
  * @image html mpl3115a2.jpg
  * @snippet mpl3115a2.cxx Interesting
  */
-class MPL3115A2 {
+class MPL3115A2 : virtual public iPressure {
     public:
         /**
          * Instantiates an MPL3115A2 object
@@ -141,7 +142,14 @@ class MPL3115A2 {
          *
          * @param bSampleData Sets non-zero to a sample reading
          */
-        float getPressure(int bSampleData = true);
+        float getPressure(int bSampleData);
+
+        /**
+         * Reads the current pressure value from MPL3115A2 [Pa]
+         *
+         * @return Pressure value in Pa
+         */
+        virtual float getPressure();
 
         /**
          * Reads the current temperature value from MPL3115A2 [degC]

src/ms5611/ms5611.cxx

@@ -58,13 +58,13 @@ MS5611::MS5611(int i2cBus, int address)
     i2c->address(address);
     prom = new uint16_t[MS5611_PROM_SIZE];
     if (i2c->writeByte(MS5611_CMD_RESET != mraa::SUCCESS))
-        UPM_THROW("Reset failed.");
+        throw std::runtime_error(std::string(__FUNCTION__) + ": Reset failed.");
     delayms(5);
     for (int i = 0; i < MS5611_PROM_SIZE; ++i) {
         uint8_t buf[2];
         int bytesRead = i2c->readBytesReg(MS5611_CMD_READ_PROM + 2*i, buf, 2);
         if (bytesRead != 2)
-           UPM_THROW("PROM address failed.");
+          throw std::runtime_error(std::string(__FUNCTION__) + ": PROM address failed.");
         prom[i] = buf[0] << 8;
         prom[i] |= buf[1];
         // printf("Read PROM entry %d = %04x\n", i, prom[i]);
@@ -72,7 +72,7 @@ MS5611::MS5611(int i2cBus, int address)
 
     // printf("CRC = %X\n", promCrc4());
     if (promCrc4() != (prom[7] & 0x000F))
-        UPM_THROW("PROM checksum error.");
+      throw std::runtime_error(std::string(__FUNCTION__) + ": PROM checksum error.");
     setOverSampling(ULTRA_HIGH_RES);
 }
 
@@ -153,11 +153,11 @@ uint32_t MS5611::readADC(int adcReg)
     uint32_t value;
     uint8_t buf[3];
     if (i2c->writeByte(adcReg + osr) != mraa::SUCCESS)
-       UPM_THROW("Convert D2 failed");
+      throw std::runtime_error(std::string(__FUNCTION__) + ": Convert D2 failed");
     delayms(100);
     int bytesRead = i2c->readBytesReg(MS5611_CMD_ADC_READ, buf, 3);
     if (bytesRead != 3)
-       UPM_THROW("ADC read failed");
+      throw std::runtime_error(std::string(__FUNCTION__) + ": ADC read failed");
     // printf("%02X%02X%02X\n", buf[0], buf[1], buf[2]);
     value = ((uint32_t)buf[0] << 16) | ((uint32_t)buf[1] << 8) | buf[2];
     return value;
@@ -181,6 +181,11 @@ int MS5611::getTemperatureCelsius()
     return (temp + 50) / 100;
 }
 
+float MS5611::getTemperature()
+{
+    return getTemperatureCelsius();
+}
+
 
 int MS5611::getPressurePa()
 {
@@ -208,3 +213,7 @@ int MS5611::getPressurePa()
     return pressure;
 }
 
+float MS5611::getPressure()
+{
+  return getPressurePa();
+}

src/ms5611/ms5611.hpp

@@ -22,8 +22,8 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include "interfaces/iPressureSensor.hpp"
-#include "interfaces/iTemperatureSensor.hpp"
+#include <interfaces/iPressure.hpp>
+#include <interfaces/iTemperature.hpp>
 #include "mraa/i2c.hpp"
 
 namespace upm
@@ -58,7 +58,7 @@ namespace upm
  * @snippet ms5611.cxx Interesting
  */
 
-class MS5611 : public IPressureSensor, public ITemperatureSensor
+class MS5611 : virtual public iPressure, virtual public iTemperature
 {
 public:
    enum OsrMode
@@ -71,8 +71,22 @@ public:
    virtual const char* getModuleName() { return "ms5611"; }
    void setOverSampling(OsrMode osrMode);
    int getTemperatureCelsius();
+
+   /**
+    * Returns the temperature in degrees Celsius
+    *
+    * @return The Temperature in degrees Celsius
+    */
+   virtual float getTemperature();
    int getPressurePa();
 
+   /**
+    * Return the current measured pressure in Pascals (Pa).
+    *
+    * @return The pressure in Pascals (Pa).
+    */
+   virtual float getPressure();
+
 private:
    /* Disable implicit copy and assignment operators */
    MS5611(const MS5611&) = delete;

src/ms5611/ms5611.i

@@ -2,10 +2,6 @@
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%import "../interfaces/javaupm_iTemperatureSensor.i"
-%import "../interfaces/javaupm_iPressureSensor.i"
-%typemap(javaimports) SWIGTYPE %{import upm_interfaces.*;%}
-
 JAVA_JNI_LOADLIBRARY(javaupm_ms5611)
 #endif
 /* END Java syntax */

src/ms5803/ms5803.cxx

@@ -77,7 +77,7 @@ float MS5803::getTemperature()
 
 float MS5803::getPressure()
 {
-    return ms5803_get_pressure(m_ms5803);
+    return (ms5803_get_pressure(m_ms5803) * 100);
 }
 
 void MS5803::loadCoefficients()

src/ms5803/ms5803.hpp

@@ -24,6 +24,8 @@
 #pragma once
 
 #include <string>
+#include <interfaces/iPressure.hpp>
+#include <interfaces/iTemperature.hpp>
 
 #include "ms5803.h"
 
@@ -64,7 +66,7 @@ namespace upm {
      *
      * @snippet ms5803.cxx Interesting
      */
-    class MS5803 {
+    class MS5803 : virtual public iPressure, virtual public iTemperature {
     public:
 
         /**
@@ -130,7 +132,7 @@ namespace upm {
          *
          * @return Temperature in degrees C
          */
-        float getTemperature();
+        virtual float getTemperature();
 
         /**
          * Return the latest measured pressure.  update() must have
@@ -139,7 +141,7 @@ namespace upm {
          *
          * @return Pressure in mbar
          */
-        float getPressure();
+        virtual float getPressure();
 
     protected:
         ms5803_context m_ms5803;

src/otp538u/otp538u.cxx

@@ -55,6 +55,11 @@ float OTP538U::ambientTemperature()
     return temp;
 }
 
+float OTP538U::getTemperature()
+{
+    return ambientTemperature();
+}
+
 float OTP538U::objectTemperature()
 {
     float temp = 0;

src/otp538u/otp538u.hpp

@@ -25,6 +25,7 @@
 
 #include <string>
 #include <otp538u.h>
+#include <interfaces/iTemperature.hpp>
 
 namespace upm {
 
@@ -73,7 +74,7 @@ namespace upm {
      * @image html otp538u.jpg
      * @snippet otp538u.cxx Interesting
      */
-    class OTP538U {
+    class OTP538U : virtual public iTemperature {
     public:
         /**
          * OTP538U constructor
@@ -96,6 +97,13 @@ namespace upm {
          */
         float ambientTemperature();
 
+        /**
+         * Gets the ambient temperature in Celsius
+         *
+         * @return Ambient temperature
+         */
+        virtual float getTemperature();
+
         /**
          * Gets the object temperature in Celsius
          *

src/rfr359f/rfr359f.hpp

@@ -25,6 +25,7 @@
 
 #include <string>
 #include <mraa/gpio.h>
+#include <interfaces/iDistanceInterrupter.hpp>
 
 namespace upm {
 
@@ -53,7 +54,7 @@ namespace upm {
    * @image html rfr359f.jpg
    * @snippet rfr359f.cxx Interesting
    */
-  class RFR359F {
+  class RFR359F : virtual public iDistanceInterrupter {
   public:
     /**
      * RFR359F constructor
@@ -72,7 +73,7 @@ namespace upm {
      *
      * @return True if the sensor has detected an object
      */
-    bool objectDetected();
+    virtual bool objectDetected();
 
   private:
     mraa_gpio_context m_gpio;

src/rhusb/rhusb.cxx

@@ -99,6 +99,11 @@ float RHUSB::getTemperature(bool fahrenheit)
     return m_temperature;
 }
 
+float RHUSB::getTemperature()
+{
+  return getTemperature(false);
+}
+
 float RHUSB::getHumidity()
 {
   return m_humidity;

src/rhusb/rhusb.hpp

@@ -25,6 +25,8 @@
 
 #include <string>
 #include <mraa/uart.hpp>
+#include <interfaces/iHumidity.hpp>
+#include <interfaces/iTemperature.hpp>
 
 namespace upm {
 
@@ -53,7 +55,7 @@ namespace upm {
    * @snippet rhusb.cxx Interesting
    */
 
-  class RHUSB {
+  class RHUSB : virtual public iHumidity, virtual public iTemperature {
   public:
     /**
      * RHUSB constructor
@@ -83,7 +85,15 @@ namespace upm {
      * The default is false (degrees Celsius).
      * @return The last temperature reading in Celsius or Fahrenheit
      */
-    float getTemperature(bool fahrenheit=false);
+    float getTemperature(bool fahrenheit);
+
+    /**
+     * Get the current temperature.  update() must have been called
+     * prior to calling this method.
+     *
+     * @return The last temperature reading in Celsius
+     */
+    virtual float getTemperature();
 
     /**
      * Get the current relative humidity.  update() must have been called
@@ -91,7 +101,7 @@ namespace upm {
      *
      * @return The last humidity reading
      */
-    float getHumidity();
+    virtual float getHumidity();
 
     /**
      * Get the firmware identification string.

src/rsc/rsc.cxx

@@ -166,9 +166,10 @@ float RSC::getTemperature()
     return rsc_get_temperature(m_rsc);
 }
 
+#define INH20_TO_PA 248.84
 float RSC::getPressure()
 {
-    return rsc_get_pressure(m_rsc);
+    return rsc_get_pressure(m_rsc) * INH20_TO_PA;
 }
 
 void RSC::setMode(RSC_MODE mode)

src/rsc/rsc.hpp

@@ -26,6 +26,8 @@
 
 #include "rsc.h"
 #include <string>
+#include <interfaces/iPressure.hpp>
+#include <interfaces/iTemperature.hpp>
 
 namespace upm {
     /**
@@ -74,7 +76,7 @@ namespace upm {
      *
      * @snippet rsc.cxx Interesting
      */
-    class RSC {
+    class RSC : virtual public iPressure, virtual public iTemperature {
 
     public:
         /**
@@ -194,14 +196,14 @@ namespace upm {
          *
          * @return float compensated temperature value
          */
-        float getTemperature();
+        virtual float getTemperature();
 
         /**
          * Function to get the compensated pressure value
          *
          * @return float compensated pressure value
          */
-        float getPressure();
+        virtual float getPressure();
 
         /**
          * Function to set the mode for the RSC sensor:

src/sht1x/sht1x.hpp

@@ -28,6 +28,8 @@
 
 #include <stdlib.h>
 #include <unistd.h>
+#include <interfaces/iHumidity.hpp>
+#include <interfaces/iTemperature.hpp>
 
 #include "sht1x.h"
 
@@ -58,7 +60,7 @@ namespace upm {
    * @snippet sht1x.cxx Interesting
    */
 
-  class SHT1X {
+  class SHT1X : virtual public iHumidity, virtual public iTemperature {
   public:
 
     /**
@@ -91,7 +93,7 @@ namespace upm {
      *
      * @return The temperature in Celsius
      */
-    float getTemperature();
+    virtual float getTemperature();
 
     /**
      * Query the relative humidity.  update() must have been called
@@ -99,7 +101,7 @@ namespace upm {
      *
      * @return The relative humidity.
      */
-    float getHumidity();
+    virtual float getHumidity();
 
     /**
      * Read the status register.

src/si1132/si1132.cxx

@@ -81,7 +81,7 @@ SI1132::SI1132 (int bus) {
     // Reset chip to defaults
     status = reset();
     if (status != mraa::SUCCESS)
-        UPM_THROW("config failure");
+        throw std::runtime_error(std::string(__FUNCTION__) + ": config failure");
 }
 
 SI1132::~SI1132() {
@@ -138,7 +138,7 @@ mraa::Result SI1132::reset() {
 uint16_t SI1132::getVisibleRaw() {
     status = runCommand(SI1132_COMMAND_ALS_FORCE);
     if (status != mraa::SUCCESS)
-       UPM_THROW("command failed");
+        throw std::runtime_error(std::string(__FUNCTION__) + ": command failed");
     return i2c->readWordReg(SI1132_REG_ALS_VIS_DATA0);
 }
 
@@ -152,6 +152,9 @@ double SI1132::getVisibleLux() {
     return static_cast<double>(rawValue);
 }
 
+float SI1132::getLuminance() {
+    return getVisibleLux();
+}
 
 mraa::Result SI1132::clearResponseRegister()
 {

src/si1132/si1132.hpp

@@ -25,7 +25,7 @@
 
 #include <string>
 #include "mraa/i2c.hpp"
-#include "interfaces/iLightSensor.hpp"
+#include <interfaces/iLight.hpp>
 
 
 namespace upm {
@@ -56,7 +56,7 @@ namespace upm {
  *
  * @snippet si1132.cxx Interesting
  */
-class SI1132 : public ILightSensor {
+class SI1132 : virtual public iLight {
     public:
         /**
          * Instanciates a Si1132 object
@@ -80,6 +80,13 @@ class SI1132 : public ILightSensor {
          */
         double getVisibleLux();
 
+        /**
+         * Gets the luminance value from the sensor
+         *
+         * @return The measured light intensity value in Lux
+         */
+        virtual float getLuminance();
+
         virtual const char* getModuleName() { return "si1132"; }
 
     private:

src/si7005/si7005.cxx

@@ -82,7 +82,7 @@ SI7005::SI7005 (int bus, int pin) {
     m_i2c = new mraa::I2c(m_bus);
     status = m_i2c->address(m_controlAddr);
     if (!isAvailable())
-        UPM_THROW("config failure");
+        throw std::runtime_error(std::string(__FUNCTION__) + ": config failure");
 }
 
 SI7005::~SI7005() {
@@ -102,6 +102,11 @@ SI7005::getTemperatureCelsius () {
     return static_cast<int>(last_temperature + 0.5);
 }
 
+float
+SI7005::getTemperature() {
+    return getTemperatureCelsius();
+}
+
 uint16_t
 SI7005::getHumidityRaw () {
     return getMeasurement( SI7005_CONFIG_HUMIDITY );
@@ -117,6 +122,10 @@ SI7005::getHumidityRelative () {
     return static_cast<int>(linearHumidity + 0.5);
 }
 
+float
+SI7005::getHumidity () {
+    return getHumidityRelative();
+}
 
 uint16_t SI7005::getMeasurement(uint8_t configValue) {
 
@@ -149,7 +158,7 @@ uint16_t SI7005::getMeasurement(uint8_t configValue) {
 
     // Check we got the data we need
     if(length != SI7005_REG_DATA_LENGTH)
-        UPM_THROW("read error");
+        throw std::runtime_error(std::string(__FUNCTION__) + ": read error");
 
     // Merge MSB and LSB
     rawData  = ((uint16_t)( data[SI7005_REG_DATA_LOW] & 0xFFFF )) + ( (uint16_t)(( data[SI7005_REG_DATA_HIGH] & 0xFFFF ) << 8 ));

src/si7005/si7005.hpp

@@ -25,8 +25,8 @@
 
 #include <mraa/i2c.hpp>
 
-#include "interfaces/iTemperatureSensor.hpp"
-#include "interfaces/iHumiditySensor.hpp"
+#include <interfaces/iTemperature.hpp>
+#include <interfaces/iHumidity.hpp>
 
 /* ADDRESS AND NOT_FOUND VALUE */
 #define SI7005_ADDRESS                     ( 0x40 )
@@ -59,7 +59,7 @@ namespace upm {
  *
  * @snippet si7005.cxx Interesting
  */
-class SI7005 : public ITemperatureSensor, public IHumiditySensor {
+class SI7005 : virtual public iTemperature, virtual public iHumidity {
     public:
         /**
          * Instantiates a SI7005 object
@@ -84,6 +84,13 @@ class SI7005 : public ITemperatureSensor, public IHumiditySensor {
          */
         int getTemperatureCelsius ();
 
+        /**
+         * Get the current temperature.
+         *
+         * @return The last temperature reading in Celsius
+         */
+        virtual float getTemperature();
+
         /**
          * Get relative humidity measurement.
          */
@@ -94,6 +101,13 @@ class SI7005 : public ITemperatureSensor, public IHumiditySensor {
          */
         int getHumidityRelative ();
 
+        /**
+         * Get the current relative humidity.
+         *
+         * @return The last humidity reading
+         */
+        virtual float getHumidity();
+
         /**
          * Returns sensor module name
          */

src/si7005/si7005.i

@@ -2,13 +2,6 @@
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%include "arrays_java.i";
-%include "../java_buffer.i"
-%typemap(javaimports) SWIGTYPE %{import upm_interfaces.*;%}
-
-%import "../interfaces/javaupm_iTemperatureSensor.i"
-%import "../interfaces/javaupm_iHumiditySensor.i"
-
 JAVA_JNI_LOADLIBRARY(javaupm_si7005)
 #endif
 /* END Java syntax */

src/t3311/t3311.cxx

@@ -259,6 +259,11 @@ float T3311::getTemperature(bool fahrenheit)
     return m_temperature;
 }
 
+float T3311::getTemperature()
+{
+  return getTemperature(false);
+}
+
 float T3311::getHumidity()
 {
   return m_humidity;

src/t3311/t3311.hpp

@@ -26,6 +26,8 @@
 #include <string>
 
 #include <modbus/modbus.h>
+#include <interfaces/iHumidity.hpp>
+#include <interfaces/iTemperature.hpp>
 
 namespace upm {
 
@@ -60,7 +62,7 @@ namespace upm {
    * @snippet t3311.cxx Interesting
    */
 
-  class T3311 {
+  class T3311 : virtual public iHumidity, virtual public iTemperature {
   public:
 
     // MODBUS input registers
@@ -148,7 +150,15 @@ namespace upm {
      * The default is false (degrees Celsius).
      * @return The last temperature reading in Celsius or Fahrenheit
      */
-    float getTemperature(bool fahrenheit=false);
+    float getTemperature(bool fahrenheit);
+
+    /**
+     * Get the current temperature.  update() must have been called
+     * prior to calling this method.
+     *
+     * @return The last temperature reading in Celsius
+     */
+    virtual float getTemperature();
 
     /**
      * Get the current relative humidity.  update() must have been called
@@ -156,7 +166,7 @@ namespace upm {
      *
      * @return The last humidity reading
      */
-    float getHumidity();
+    virtual float getHumidity();
 
     /**
      * Get the current computed value.  update() must have been

src/teams/teams.cxx

@@ -112,6 +112,11 @@ float TEAMS::getTemperature(bool fahrenheit)
     return m_temperature;
 }
 
+float TEAMS::getTemperature()
+{
+  return getTemperature(false);
+}
+
 int TEAMS::average(int samples)
 {
   if (samples <= 0)

src/teams/teams.hpp

@@ -27,6 +27,7 @@
 #include <iostream>
 
 #include <mraa/aio.hpp>
+#include <interfaces/iTemperature.hpp>
 
 // Unlikey to be changable
 #define TEAMS_DEFAULT_AREF 5.0
@@ -66,7 +67,7 @@ namespace upm {
      * @snippet teams.cxx Interesting
      */
 
-  class TEAMS {
+  class TEAMS : virtual public iTemperature {
   public:
 
     /**
@@ -104,7 +105,15 @@ namespace upm {
      * The default is false (degrees Celsius).
      * @return The last temperature reading in Celsius or Fahrenheit
      */
-    float getTemperature(bool fahrenheit=false);
+    float getTemperature(bool fahrenheit);
+
+    /**
+     * Get the current temperature.  update() must have been called
+     * prior to calling this method.
+     *
+     * @return The last temperature reading in Celsius or Fahrenheit
+     */
+    virtual float getTemperature();
 
     /**
      * When using a direct 4-20ma interface (rResistor supplied in the

src/temperature/temperature.cxx

@@ -62,6 +62,11 @@ int Temperature::value ()
     return (int) round(t);
 }
 
+float Temperature::getTemperature ()
+{
+    return value();
+}
+
 float Temperature::raw_value()
 {
     return (float) mraa_aio_read(m_aio);

src/temperature/temperature.hpp

@@ -28,6 +28,7 @@
 
 #include <string>
 #include <mraa/aio.hpp>
+#include <interfaces/iTemperature.hpp>
 
 namespace upm {
 /**
@@ -58,7 +59,7 @@ namespace upm {
  * @image html temp.jpg
  * @snippet temperature.cxx Interesting
  */
-class Temperature {
+class Temperature : virtual public iTemperature {
     public:
         /**
          * Analog temperature sensor constructor
@@ -96,6 +97,13 @@ class Temperature {
          * @return Normalized temperature in Celsius
          */
         int value();
+
+        /**
+         * Gets the temperature in Celsius from the sensor
+         *
+         * @return Normalized temperature in Celsius
+         */
+        virtual float getTemperature();
     private:
         mraa_aio_context m_aio;
         float m_scale;

src/tex00/tex00.cxx

@@ -141,6 +141,11 @@ float TEX00::getTemperature(bool fahrenheit)
     return m_temperature;
 }
 
+float TEX00::getTemperature()
+{
+  return getTemperature(false);
+}
+
 int TEX00::average(int samples)
 {
   if (samples <= 0)

src/tex00/tex00.hpp

@@ -28,6 +28,7 @@
 #include <vector>
 
 #include <mraa/aio.hpp>
+#include <interfaces/iTemperature.hpp>
 
 #define TEX00_DEFAULT_AREF 5.0
 
@@ -74,7 +75,7 @@ namespace upm {
      * @snippet tex00.cxx Interesting
      */
 
-  class TEX00 {
+  class TEX00 : virtual public iTemperature {
   public:
 
     typedef enum {
@@ -126,7 +127,15 @@ namespace upm {
      * The default is false (degrees Celsius).
      * @return The last temperature reading in Celsius or Fahrenheit
      */
-    float getTemperature(bool fahrenheit=false);
+    float getTemperature(bool fahrenheit);
+
+    /**
+     * Get the current temperature.  update() must have been called
+     * prior to calling this method.
+     *
+     * @return The last temperature reading in Celsius or Fahrenheit
+     */
+    virtual float getTemperature();
 
     /**
      * Return the smallest temperature that can be measured by the

src/th02/th02.hpp

@@ -28,6 +28,8 @@
 
 #include <string>
 #include <mraa/i2c.hpp>
+#include <interfaces/iHumidity.hpp>
+#include <interfaces/iTemperature.hpp>
 
 #define TH02_ADDR                0x40 // device address
 
@@ -69,7 +71,7 @@ namespace upm {
  * @image html th02.jpg
  * @snippet th02.cxx Interesting
  */
-class TH02 {
+class TH02 : virtual public iHumidity, virtual public iTemperature {
     public:
         /**
          * Instantiates a TH02 object
@@ -82,14 +84,18 @@ class TH02 {
         ~TH02 ();
 
         /**
-         * Gets the temperature value from the sensor.
+         * Get the current temperature.
+         *
+         * @return The last temperature reading in Celsius
          */
-        float getTemperature ();
+        virtual float getTemperature ();
 
         /**
-         * Gets the humidity value from the sensor.
+         * Get the current relative humidity.
+         *
+         * @return The last humidity reading
          */
-        float getHumidity ();
+        virtual float getHumidity ();
 
         /**
          * Gets the sensor status.

src/tsl2561/tsl2561.cxx

@@ -189,6 +189,12 @@ TSL2561::getLux()
     return lux;
 }
 
+float
+TSL2561::getLuminance()
+{
+    return getLux();
+}
+
 
 mraa::Result
 TSL2561::i2cWriteReg (uint8_t reg, uint8_t value)

src/tsl2561/tsl2561.hpp

@@ -31,6 +31,7 @@
 #include <string>
 #include <mraa/i2c.hpp>
 #include <math.h>
+#include <interfaces/iLight.hpp>
 
 namespace upm {
 
@@ -108,14 +109,14 @@ namespace upm {
  * @kit eak
  *
  * @brief API for the TSL2561 Digital Light Sensor
- * 
+ *
  *   TSL2560 and TSL2561 are light-to-digital converters that transform
  *   light intensity to a digital signal output capable of a direct I2C (TSL2561) interface
  *
  * @image html tsl2561.jpg
  * @snippet tsl2561.cxx Interesting
  */
-class TSL2561{
+class TSL2561 : virtual public iLight {
     public:
        /**
         * Instantiates a TSL2561 object
@@ -139,6 +140,13 @@ class TSL2561{
         */
         int getLux();
 
+        /**
+         * Gets the calculated lux reading from TSL2561
+         *
+         * @return Calculated lux value from the sensor
+         */
+        virtual float getLuminance();
+
     private:
        /**
         * Writes to a TSL2561 register