Added bindings for iAcceleration sensors

Signed-off-by: Serban Waltter <serban.waltter@rinftech.com>

examples/java/CMakeLists.txt

@@ -76,16 +76,16 @@ add_example(APA102_Example apa102)
 add_example(Apds9002_Example "apds9002;new_interfaces")
 add_example(BH1750_Example "bh1750;new_interfaces")
 add_example(BISS0001_Example "biss0001;new_interfaces")
-add_example(BMA250E_Example bma250e)
+add_example(BMA250E_Example "bma250e;new_interfaces")
-add_example(BMC150_Example bmx055)
+add_example(BMC150_Example "bmx055;new_interfaces")
 add_example(BME280_Example "bmp280;new_interfaces")
 add_example(BMG160_Example bmg160)
-add_example(BMI055_Example bmx055)
+add_example(BMI055_Example "bmx055;new_interfaces")
-add_example(BMI160_Example bmi160)
+add_example(BMI160_Example "bmi160;new_interfaces")
 add_example(BMM150_Example bmm150)
 add_example(BMP280_Example "bmp280;new_interfaces")
 add_example(BMPX8X_Example "bmpx8x;new_interfaces")
-add_example(BMX055_Example bmx055)
+add_example(BMX055_Example "bmx055;new_interfaces")
 add_example(BNO055_Example bno055)
 add_example(Button_Example button)
 add_example(Button_intr_Example button)
@@ -98,7 +98,7 @@ add_example(DFRORP_Example dfrorp)
 add_example(DS1307_Example ds1307)
 add_example(ECEZO_Example ecezo)
 add_example(ECS1030_Example ecs1030)
-add_example(EHR_Example "ehr;;new_interfaces")
+add_example(EHR_Example "ehr;new_interfaces")
 add_example(Emg_Example emg)
 add_example(ENC03R_Example enc03r)
 add_example(ES08A_Example "servo;interfaces")
@@ -131,7 +131,7 @@ add_example(GroveWater_Example grovewater)
 add_example(GroveWFS_Example grovewfs)
 add_example(Gsr_Example gsr)
 add_example(GUVAS12D_Example guvas12d)
-add_example(H3LIS331DL_Example h3lis331dl)
+add_example(H3LIS331DL_Example "h3lis331dl;new_interfaces")
 add_example(HCSR04_Example "hcsr04;new_interfaces")
 add_example(HKA5_Example hka5)
 add_example(HM11_Example hm11)
@@ -152,13 +152,13 @@ add_example(LE910_Example uartat)
 add_example(LED_Example led)
 add_example(Light_Example "light;new_interfaces")
 add_example(LineFinder_Example linefinder)
-add_example(LIS2DS12_Example lis2ds12)
+add_example(LIS2DS12_Example "lis2ds12;new_interfaces")
 add_example(LoL_Example lol)
-add_example(LSM303AGR_Example lsm303agr)
+add_example(LSM303AGR_Example "lsm303agr;new_interfaces")
-add_example(LSM303D_Example lsm303d)
+add_example(LSM303D_Example "lsm303d;new_interfaces")
 add_example(LSM303DLH_Example lsm303dlh)
-add_example(LSM6DS3H_Example lsm6ds3h)
+add_example(LSM6DS3H_Example "lsm6ds3h;new_interfaces")
-add_example(LSM6DSL_Example lsm6dsl)
+add_example(LSM6DSL_Example "lsm6dsl;new_interfaces")
 add_example(M24LR64E_Example m24lr64e)
 add_example(MAX30100_Example max30100)
 add_example(MAX31855_Example max31855)
@@ -172,12 +172,12 @@ add_example(MD_Example md)
 add_example(MHZ16_Example mhz16)
 add_example(Microphone_Example mic)
 add_example(MMA7361_Example mma7361)
-add_example(MMA7455_Example mma7455)
+add_example(MMA7455_Example "mma7455;new_interfaces")
-add_example(MMA7660_Example mma7660)
+add_example(MMA7660_Example "mma7660;new_interfaces")
 add_example(Moisture_Example "moisture;new_interfaces")
 add_example(MPL3115A2_Example "mpl3115a2;new_interfaces")
 add_example(MPR121_Example mpr121)
-add_example(MPU9150_Example mpu9150)
+add_example(MPU9150_Example "mpu9150;new_interfaces")
 add_example(MQ2_Example gas)
 add_example(MQ303A_Example mq303a)
 add_example(MQ5_Example gas)

examples/java/H3LIS331DL_Example.java

@@ -41,10 +41,10 @@ public class H3LIS331DL_Example {
 		while(true){
 			sensor.update();
 			
-			upm_h3lis331dl.IntVector val = sensor.getRawXYZ();
+			AbstractList<Integer> val = sensor.getRawXYZ();
 			System.out.println( "Raw: X: " + val.get(0) + " Y: " + val.get(1) + " Z: " + val.get(2)  );
 			
-			upm_h3lis331dl.FloatVector accel = sensor.getAcceleration();
+			AbstractList<Float> accel = sensor.getAcceleration();
 			System.out.println( "Acceleration: X: " + accel.get(0) + " Y: " + accel.get(1) + " Z: " + accel.get(2) );
 			
 			Thread.sleep(1000);

examples/java/LIS2DS12_Example.java

@@ -22,6 +22,8 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
+import java.util.AbstractList;
+
 import upm_lis2ds12.*;
 
 public class LIS2DS12_Example
@@ -42,7 +44,7 @@ public class LIS2DS12_Example
                 // update our values from the sensor
                 sensor.update();
 
-                floatVector dataA = sensor.getAccelerometer();
+                AbstractList<Float> dataA = sensor.getAccelerometer();
 
                 System.out.println("Accelerometer x: " + dataA.get(0)
                                    + " y: " + dataA.get(1)

examples/java/LSM6DS3H_Example.java

@@ -22,6 +22,8 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
+import java.util.AbstractList;
+
 import upm_lsm6ds3h.*;
 
 public class LSM6DS3H_Example
@@ -42,7 +44,7 @@ public class LSM6DS3H_Example
                 // update our values from the sensor
                 sensor.update();
 
-                floatVector data = sensor.getAccelerometer();
+                AbstractList<Float> data = sensor.getAccelerometer();
 
                 System.out.println("Accelerometer x: " + data.get(0)
                                    + " y: " + data.get(1)

examples/java/LSM6DSL_Example.java

@@ -22,6 +22,8 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
+import java.util.AbstractList;
+
 import upm_lsm6dsl.*;
 
 public class LSM6DSL_Example
@@ -42,7 +44,7 @@ public class LSM6DSL_Example
                 // update our values from the sensor
                 sensor.update();
 
-                floatVector data = sensor.getAccelerometer();
+                AbstractList<Float> data = sensor.getAccelerometer();
 
                 System.out.println("Accelerometer x: " + data.get(0)
                                    + " y: " + data.get(1)

examples/java/MMA7455_Example.java

@@ -22,6 +22,8 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
+import java.util.AbstractList;
+
 //NOT TESTED!!!
 public class MMA7455_Example {
 
@@ -30,7 +32,7 @@ public class MMA7455_Example {
 		upm_mma7455.MMA7455 sensor = new upm_mma7455.MMA7455(0);
 
 		while (true) {
-			upm_mma7455.ShortVector val = sensor.readData();
+			AbstractList<Short> val = sensor.readData();
 			System.out.println("Accelerometer X: " + val.get(0) + ", Y: " + val.get(1) + ", Z: " + val.get(2));
 
 			Thread.sleep(1000);

examples/java/MMA7660_Example.java

@@ -23,6 +23,8 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
+import java.util.AbstractList;
+
 import upm_mma7660.MMA7660;
 
 public class MMA7660_Example
@@ -44,7 +46,7 @@ public class MMA7660_Example
 
             while (true)
             {
-                upm_mma7660.FloatVector acceleration = accel.getAcceleration();
+                AbstractList<Float> acceleration = accel.getAcceleration();
                 System.out.println("Acceleration: x = "
                                    + acceleration.get(0)
                                    + " y = "

examples/java/MPU9150_Example.java

@@ -22,6 +22,8 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
+ import java.util.AbstractList;
+ 
 //NOT TESTED!!!
 public class MPU9150_Example {
 
@@ -43,7 +45,7 @@ public class MPU9150_Example {
 //			System.out.println("Gryoscope: " + "GX: " + gyro[0] + " GY: " + gyro[1] + " GZ: "
 //					+ gyro[2]);
 
-			upm_mpu9150.FloatVector magn = sensor.getMagnetometer();
+			AbstractList<Float> magn = sensor.getMagnetometer();
 			System.out.println("Magnetometer: " + "MX: " + magn.get(0) + " MY: " + magn.get(1) + " MZ: " + magn.get(2));
 
 			Thread.sleep(1000);

include/interfaces/new_interfaces.i

@@ -6,6 +6,39 @@
 
 #ifdef SWIGJAVA
     %include <swiginterface.i>
+    %include "typemaps.i"
+%{
+#include <vector>
+%}
+
+    %import "../../src/upm_javastdvector.i"
+
+    %typemap(javaimports) SWIGTYPE %{
+import java.util.AbstractList;
+import java.lang.Float;
+    %}
+
+    /* Using the JAVA class types outside the core package requires
+        getCPtr to be public, modify that here */
+    %typemap(javabody) SWIGTYPE %{
+    private long swigCPtr;
+    protected boolean swigCMemOwn;
+    public $javaclassname(long cPtr, boolean cMemoryOwn) {
+        swigCMemOwn = cMemoryOwn;
+        swigCPtr = cPtr;
+    }
+    public static long getCPtr($javaclassname obj) {
+        return (obj == null) ? 0 : obj.swigCPtr;
+    }
+    %}
+
+    %typemap(javaout) std::vector<float> {
+        return (AbstractList<Float>)(new $&javaclassname($jnicall, true));
+    }
+    %typemap(jstype) std::vector<float> "AbstractList<Float>"
+    
+    %template(floatVector) std::vector<float>;
+
     %interface_impl (upm::iClock);
     %interface_impl (upm::iCollision);
     %interface_impl (upm::iDistance);

src/CMakeLists.txt

@@ -263,6 +263,17 @@ function (_get_current_dot_i_file filePrefix varDotIFile)
         # Set up Java bindings
         string(APPEND JAVA_TYPEMAPS "%typemap(javaimports) SWIGTYPE %{\n")
         string(APPEND JAVA_TYPEMAPS "import upm_new_interfaces.*;\n%}")
+        if (CMAKE_VERSION VERSION_LESS "3.3" )
+          list (FIND module_iface "iAcceleration.hpp" _index)
+          if (${_index} GREATER -1)
+            set(JAVA_TYPEMAPS "%typemap(javaimports) SWIGTYPE %{\nimport upm_new_interfaces.*;\n\nimport java.util.AbstractList;\nimport java.lang.Float;\n%}\n")
+          endif()
+        else()
+          cmake_policy(SET CMP0057 NEW)
+          if ("iAcceleration.hpp" IN_LIST module_iface)
+            set(JAVA_TYPEMAPS "%typemap(javaimports) SWIGTYPE %{\nimport upm_new_interfaces.*;\n\nimport java.util.AbstractList;\nimport java.lang.Float;\n%}\n")
+          endif()
+        endif()
       endif()
       # Write the interface file
       configure_file (${PROJECT_SOURCE_DIR}/src/swigme.i.in "${${varDotIFile}}" @ONLY)

src/adxl335/CMakeLists.txt

@@ -2,4 +2,5 @@ set (libname "adxl335")
 set (libdescription "Low-power, 3-axis +/- 3 g Accelerometer")
 set (module_src ${libname}.cxx)
 set (module_hpp ${libname}.hpp)
+set (module_iface iAcceleration.hpp)
 upm_module_init(mraa)

src/adxl335/adxl335.i

@@ -1,7 +1,33 @@
+#ifdef SWIGPYTHON
+%module (package="upm") adxl335
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
+
+%typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
+import java.util.AbstractList;
+import java.lang.Float;
+import java.lang.Integer;
+%}
+
+%{
+#include <vector>
+%}
+
+%typemap(javaout) std::vector<int> {
+    return (AbstractList<Integer>)(new $&javaclassname($jnicall, true));
+}
+%typemap(jstype) std::vector<int> "AbstractList<Integer>"
+
+%template(intVector) std::vector<int>;
+
 %apply int *OUTPUT { int *xVal, int *yVal, int *zVal };
 %apply float *OUTPUT { float *xAccel, float *yAccel, float *zAccel  };
 
@@ -41,6 +67,7 @@ JAVA_JNI_LOADLIBRARY(javaupm_adxl335)
 
 /* BEGIN Javascript syntax  ------------------------------------------------- */
 #ifdef SWIGJAVASCRIPT
+%include "../upm_vectortypes.i"
 %pointer_functions(int, intp);
 %pointer_functions(float, floatp);
 #endif
@@ -48,6 +75,7 @@ JAVA_JNI_LOADLIBRARY(javaupm_adxl335)
 
 /* BEGIN Python syntax  ----------------------------------------------------- */
 #ifdef SWIGPYTHON
+%include "../upm_vectortypes.i"
 %pointer_functions(int, intp);
 %pointer_functions(float, floatp);
 #endif

src/adxl345/CMakeLists.txt

@@ -2,4 +2,5 @@ set (libname "adxl345")
 set (libdescription "3-axis, +/- 2/4/8/16 g Digital Accelerometer")
 set (module_src ${libname}.cxx)
 set (module_hpp ${libname}.hpp)
+set (module_iface iAcceleration.hpp)
 upm_module_init(mraa)

src/adxl345/adxl345.i

@@ -1,3 +1,9 @@
+#ifdef SWIGPYTHON
+%module (package="upm") adxl345
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
@@ -29,6 +35,13 @@
     delete [] $1;
 }
 
+%typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
+import java.util.AbstractList;
+import java.lang.Float;
+%}
+
 JAVA_JNI_LOADLIBRARY(javaupm_adxl345)
 #endif
 /* END Java syntax */
@@ -37,6 +50,7 @@ JAVA_JNI_LOADLIBRARY(javaupm_adxl345)
 #ifdef SWIGJAVASCRIPT
 %include "../carrays_int16_t.i"
 %include "../carrays_float.i"
+%include "../upm_vectortypes.i"
 
 %typemap(out) int16_t * {
     $result = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_int16Array, 0 | 0 );
@@ -54,6 +68,7 @@ JAVA_JNI_LOADLIBRARY(javaupm_adxl345)
 #ifdef SWIGPYTHON
 %include "../carrays_int16_t.i"
 %include "../carrays_float.i"
+%include "../upm_vectortypes.i"
 
 %typemap(out) int16_t * {
     $result = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_int16Array, 0 | 0 );

src/autobox.i

@@ -7,6 +7,7 @@ AUTOBOX(float, Float)
 AUTOBOX(boolean, Boolean)
 AUTOBOX(signed char, Byte)
 AUTOBOX(short, Short)
+AUTOBOX(unsigned char, Short)
 AUTOBOX(int, Integer)
 AUTOBOX(long, Long)
 AUTOBOX(SWIGTYPE, $typemap(jstype,$1_basetype))

src/bma220/CMakeLists.txt

@@ -2,4 +2,5 @@ set (libname "bma220")
 set (libdescription "Digital Triaxial Acceleration Sensor")
 set (module_src ${libname}.cxx)
 set (module_hpp ${libname}.hpp)
+set (module_iface iAcceleration.hpp)
 upm_module_init(mraa)

src/bma220/bma220.i

@@ -1,3 +1,9 @@
+#ifdef SWIGPYTHON
+%module (package="upm") bma220
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
@@ -25,6 +31,13 @@
 %ignore getAccelerometer(float *, float *, float *);
 %ignore installISR(int, mraa::Edge, void *, void *);
 
+%typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
+import java.util.AbstractList;
+import java.lang.Float;
+%}
+
 %define GETTER get_gpioIntr();
 %enddef
 

src/bma250e/CMakeLists.txt

@@ -4,6 +4,7 @@ upm_mixed_module_init (NAME bma250e
     C_SRC bma250e.c
     CPP_HDR bma250e.hpp
     CPP_SRC bma250e.cxx
+    IFACE_HDR iAcceleration.hpp
     FTI_SRC bma250e_fti.c
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/bma250e/bma250e.i

@@ -1,3 +1,9 @@
+#ifdef SWIGPYTHON
+%module (package="upm") bma250e
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
@@ -8,6 +14,8 @@
 %ignore installISR (BMA250E_INTERRUPT_PINS_T, int, mraa::Edge , void *, void *);
 
 %typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
 import java.util.AbstractList;
 import java.lang.Float;
 %}
@@ -15,12 +23,6 @@ import java.lang.Float;
 %typemap(javaout) upm::BMA250E {
     return new $&javaclassname($jnicall, true);
 }
-%typemap(javaout) std::vector<float> {
-    return (AbstractList<Float>)(new $&javaclassname($jnicall, true));
-}
-%typemap(jstype) std::vector<float> "AbstractList<Float>"
-
-%template(floatVector) std::vector<float>;
 
 %define INTERRUPT BMA250E_INTERRUPT_PINS_T
 %enddef

src/bmi160/CMakeLists.txt

@@ -4,6 +4,7 @@ upm_mixed_module_init (NAME bmi160
     C_SRC bmi160.c bosch_bmi160.c
     CPP_HDR bmi160.hpp
     CPP_SRC bmi160.cxx
+    IFACE_HDR iAcceleration.hpp
 #    FTI_SRC bmi160_fti.c
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/bmi160/bmi160.i

@@ -1,3 +1,9 @@
+#ifdef SWIGPYTHON
+%module (package="upm") bmi160
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
@@ -22,18 +28,27 @@
 %ignore getGyroscope(float *, float *, float *);
 %ignore getMagnetometer(float *, float *, float *);
 
+%typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
+import java.util.AbstractList;
+import java.lang.Float;
+%}
+
 JAVA_JNI_LOADLIBRARY(javaupm_bmi160)
 #endif
 /* END Java syntax */
 
 /* BEGIN Javascript syntax  ------------------------------------------------- */
 #ifdef SWIGJAVASCRIPT
+%include "../upm_vectortypes.i"
 %pointer_functions(float, floatp);
 #endif
 /* END Javascript syntax */
 
 /* BEGIN Python syntax  ----------------------------------------------------- */
 #ifdef SWIGPYTHON
+%include "../upm_vectortypes.i"
 %pointer_functions(float, floatp);
 #endif
 /* END Python syntax */

src/bmx055/CMakeLists.txt

@@ -2,4 +2,5 @@ upm_mixed_module_init (NAME bmx055
     DESCRIPTION "Bosch IMU Sensor Library"
     CPP_HDR bmx055.hpp bmc150.hpp bmi055.hpp
     CPP_SRC bmx055.cxx bmc150.cxx bmi055.cxx
+    IFACE_HDR iAcceleration.hpp
     REQUIRES mraa bmg160 bma250e bmm150)

src/bmx055/bmx055.i

@@ -1,3 +1,9 @@
+#ifdef SWIGPYTHON
+%module (package="upm") bmx055
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
@@ -11,20 +17,12 @@
 %ignore getGyroscope(float *, float *, float *);
 
 %typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
 import java.util.AbstractList;
 import java.lang.Float;
 %}
 
-%typemap(javaout) SWIGTYPE {
-    return new $&javaclassname($jnicall, true);
-}
-%typemap(javaout) std::vector<float> {
-    return (AbstractList<Float>)(new $&javaclassname($jnicall, true));
-}
-%typemap(jstype) std::vector<float> "AbstractList<Float>"
-
-%template(floatVector) std::vector<float>;
-
 JAVA_JNI_LOADLIBRARY(javaupm_bmx055)
 #endif
 /* END Java syntax */

src/h3lis331dl/CMakeLists.txt

@@ -2,4 +2,5 @@ set (libname "h3lis331dl")
 set (libdescription "I2C 3-axis Digital Accelerometer (400g)")
 set (module_src ${libname}.cxx)
 set (module_hpp ${libname}.hpp)
+set (module_iface iAcceleration.hpp)
 upm_module_init(mraa)

src/h3lis331dl/h3lis331dl.i

@@ -1,21 +1,52 @@
+#ifdef SWIGPYTHON
+%module (package="upm") h3lis331dl
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%include "std_vector.i"
+%{
+#include <vector>
+%}
 
 %apply float *OUTPUT { float *aX, float *aY, float *aZ  };
 %apply int *OUTPUT { int *x, int *y, int*z };
 
 %ignore i2cContext;
 
-%template(IntVector) std::vector<int>;
+%typemap(javaimports) SWIGTYPE %{
-%template(FloatVector) std::vector<float>;
+import upm_new_interfaces.*;
+
+import java.util.AbstractList;
+import java.lang.Float;
+%}
+
+%typemap(javaout) std::vector<int> {
+    return (AbstractList<Integer>)(new $&javaclassname($jnicall, true));
+}
+%typemap(jstype) std::vector<int> "AbstractList<Integer>"
+
+%template(intVector) std::vector<int>;
 
 JAVA_JNI_LOADLIBRARY(javaupm_h3lis331dl)
 #endif
 /* END Java syntax */
 
+/* BEGIN Javascript syntax  ------------------------------------------------- */
+#ifdef SWIGJAVASCRIPT
+%include "../upm_vectortypes.i"
+#endif
+/* END Javascript syntax */
+
+/* BEGIN Python syntax  ----------------------------------------------------- */
+#ifdef SWIGPYTHON
+%include "../upm_vectortypes.i"
+#endif
+/* END Python syntax */
+
 /* BEGIN Common SWIG syntax ------------------------------------------------- */
 %pointer_functions(int, intp);
 %pointer_functions(float, floatp);

src/lis2ds12/CMakeLists.txt

@@ -5,5 +5,6 @@ upm_mixed_module_init (NAME lis2ds12
     CPP_HDR lis2ds12.hpp
     CPP_SRC lis2ds12.cxx
     FTI_SRC lis2ds12_fti.c
+    IFACE_HDR iAcceleration.hpp
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/lis2ds12/lis2ds12.i

@@ -1,3 +1,9 @@
+#ifdef SWIGPYTHON
+%module (package="upm") lis2ds12
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
@@ -5,6 +11,13 @@
 %ignore getAccelerometer(float *, float *, float *);
 #%ignore installISR(LIS2DS12_INTERRUPT_PINS_T , int ,  mraa::Edge, void *, void *);
 
+%typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
+import java.util.AbstractList;
+import java.lang.Float;
+%}
+
 %define INTERRUPT LIS2DS12_INTERRUPT_PINS_T
 %enddef
 JAVA_ADD_INSTALLISR_INTERRUPT(upm::LIS2DS12)
@@ -13,8 +26,19 @@ JAVA_JNI_LOADLIBRARY(javaupm_lis2ds12)
 #endif
 /* END Java syntax */
 
-/* BEGIN Common SWIG syntax ------------------------------------------------- */
+/* BEGIN Javascript syntax  ------------------------------------------------- */
+#ifdef SWIGJAVASCRIPT
 %include "../upm_vectortypes.i"
+#endif
+/* END Javascript syntax */
+
+/* BEGIN Python syntax  ----------------------------------------------------- */
+#ifdef SWIGPYTHON
+%include "../upm_vectortypes.i"
+#endif
+/* END Python syntax */
+
+/* BEGIN Common SWIG syntax ------------------------------------------------- */
 %{
 #include "lis2ds12.hpp"
 %}

src/lis3dh/CMakeLists.txt

@@ -5,5 +5,6 @@ upm_mixed_module_init (NAME lis3dh
     CPP_HDR lis3dh.hpp
     CPP_SRC lis3dh.cxx
     FTI_SRC lis3dh_fti.c
+    IFACE_HDR iAcceleration.hpp
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/lis3dh/lis3dh.i

@@ -1,8 +1,13 @@
+#ifdef SWIGPYTHON
+%module (package="upm") lis3dh
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%include "../upm_vectortypes.i"
 
 %ignore getAccelerometer(float *, float *, float *);
 %ignore installISR(LIS3DH_INTERRUPT_PINS_T , int , mraa::Edge , void *, void* );
@@ -10,13 +15,31 @@
 %define INTERRUPT LIS3DH_INTERRUPT_PINS_T
 %enddef
 
+%typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
+import java.util.AbstractList;
+import java.lang.Float;
+%}
+
 JAVA_ADD_INSTALLISR_INTERRUPT(upm::LIS3DH)
 JAVA_JNI_LOADLIBRARY(javaupm_lis3dh)
 #endif
 /* END Java syntax */
 
-/* BEGIN Common SWIG syntax ------------------------------------------------- */
+/* BEGIN Javascript syntax  ------------------------------------------------- */
+#ifdef SWIGJAVASCRIPT
 %include "../upm_vectortypes.i"
+#endif
+/* END Javascript syntax */
+
+/* BEGIN Python syntax  ----------------------------------------------------- */
+#ifdef SWIGPYTHON
+%include "../upm_vectortypes.i"
+#endif
+/* END Python syntax */
+
+/* BEGIN Common SWIG syntax ------------------------------------------------- */
 %{
 #include "lis3dh_defs.h"
 #include "lis3dh.hpp"

src/lsm303agr/CMakeLists.txt

@@ -5,5 +5,6 @@ upm_mixed_module_init (NAME lsm303agr
     CPP_HDR lsm303agr.hpp
     CPP_SRC lsm303agr.cxx
     FTI_SRC lsm303agr_fti.c
+    IFACE_HDR iAcceleration.hpp
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/lsm303agr/lsm303agr.i

@@ -1,28 +1,25 @@
+#ifdef SWIGPYTHON
+%module (package="upm") lsm303agr
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%include "../upm_javastdvector.i"
 
 %ignore getMagnetometer(float *, float *, float *);
 %ignore getAccelerometer(float *, float *, float *);
 %ignore installISR(LSM303AGR_INTERRUPT_PINS_T , int ,  mraa::Edge , void *, void *);
 
 %typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
 import java.util.AbstractList;
 import java.lang.Float;
 %}
 
-%typemap(javaout) SWIGTYPE {
-    return new $&javaclassname($jnicall, true);
-}
-%typemap(javaout) std::vector<float> {
-    return (AbstractList<Float>)(new $&javaclassname($jnicall, true));
-}
-%typemap(jstype) std::vector<float> "AbstractList<Float>"
-
-%template(floatVector) std::vector<float>;
-
 %define INTERRUPT LSM303AGR_INTERRUPT_PINS_T
 %enddef
 

src/lsm303d/CMakeLists.txt

@@ -4,5 +4,6 @@ upm_mixed_module_init (NAME lsm303d
     C_SRC lsm303d.c
     CPP_HDR lsm303d.hpp
     CPP_SRC lsm303d.cxx
+    IFACE_HDR iAcceleration.hpp
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/lsm303d/lsm303d.i

@@ -1,27 +1,24 @@
+#ifdef SWIGPYTHON
+%module (package="upm") lsm303d
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%include "../upm_javastdvector.i"
 
 %ignore getMagnetometer(float *, float *, float *);
 %ignore getAccelerometer(float *, float *, float *);
 
 %typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
 import java.util.AbstractList;
 import java.lang.Float;
 %}
 
-%typemap(javaout) SWIGTYPE {
-    return new $&javaclassname($jnicall, true);
-}
-%typemap(javaout) std::vector<float> {
-    return (AbstractList<Float>)(new $&javaclassname($jnicall, true));
-}
-%typemap(jstype) std::vector<float> "AbstractList<Float>"
-
-%template(floatVector) std::vector<float>;
-
 JAVA_JNI_LOADLIBRARY(javaupm_lsm303d)
 #endif
 /* END Java syntax */

src/lsm6ds3h/CMakeLists.txt

@@ -5,5 +5,6 @@ upm_mixed_module_init (NAME lsm6ds3h
     CPP_HDR lsm6ds3h.hpp
     CPP_SRC lsm6ds3h.cxx
     FTI_SRC lsm6ds3h_fti.c
+    IFACE_HDR iAcceleration.hpp
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/lsm6ds3h/lsm6ds3h.i

@@ -1,8 +1,19 @@
+#ifdef SWIGPYTHON
+%module (package="upm") lsm6ds3h
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%include "../upm_vectortypes.i"
+%typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
+import java.util.AbstractList;
+import java.lang.Float;
+%}
 
 %ignore getAccelerometer(float *, float *, float *);
 %ignore getGyroscope(float *, float *, float *);
@@ -17,8 +28,19 @@ JAVA_JNI_LOADLIBRARY(javaupm_lsm6ds3h)
 #endif
 /* END Java syntax */
 
-/* BEGIN Common SWIG syntax ------------------------------------------------- */
+/* BEGIN Javascript syntax  ------------------------------------------------- */
+#ifdef SWIGJAVASCRIPT
 %include "../upm_vectortypes.i"
+#endif
+/* END Javascript syntax */
+
+/* BEGIN Python syntax  ----------------------------------------------------- */
+#ifdef SWIGPYTHON
+%include "../upm_vectortypes.i"
+#endif
+/* END Python syntax */
+
+/* BEGIN Common SWIG syntax ------------------------------------------------- */
 %{
 #include "lsm6ds3h_defs.h"
 #include "lsm6ds3h.hpp"

src/lsm6dsl/CMakeLists.txt

@@ -4,6 +4,7 @@ upm_mixed_module_init (NAME lsm6dsl
     C_SRC lsm6dsl.c
     CPP_HDR lsm6dsl.hpp
     CPP_SRC lsm6dsl.cxx
+    IFACE_HDR iAcceleration.hpp
     FTI_SRC lsm6dsl_fti.c
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/lsm6dsl/lsm6dsl.i

@@ -1,9 +1,19 @@
+#ifdef SWIGPYTHON
+%module (package="upm") lsm6dsl
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%include "../upm_vectortypes.i"
+%typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
 
+import java.util.AbstractList;
+import java.lang.Float;
+%}
 %ignore getAccelerometer(float *, float *, float *);
 %ignore getGyroscope(float *, float *, float *);
 
@@ -17,8 +27,21 @@ JAVA_JNI_LOADLIBRARY(javaupm_lsm6dsl)
 #endif
 /* END Java syntax */
 
-/* BEGIN Common SWIG syntax ------------------------------------------------- */
+/* BEGIN Javascript syntax  ------------------------------------------------- */
+#ifdef SWIGJAVASCRIPT
 %include "../upm_vectortypes.i"
+#endif
+/* END Javascript syntax */
+
+/* BEGIN Python syntax  ----------------------------------------------------- */
+#ifdef SWIGPYTHON
+%include "../upm_vectortypes.i"
+#endif
+/* END Python syntax */
+
+/* BEGIN Common SWIG syntax ------------------------------------------------- */
+%include "std_vector.i"
+%template(floatVector) std::vector<float>;
 %{
 #include "lsm6dsl_defs.h"
 #include "lsm6dsl.hpp"

src/lsm9ds0/CMakeLists.txt

@@ -2,4 +2,5 @@ set (libname "lsm9ds0")
 set (libdescription "Triaxial Gyroscope/accelerometer/magnetometer Sensor")
 set (module_src ${libname}.cxx)
 set (module_hpp ${libname}.hpp)
+set (module_iface iAcceleration.hpp)
 upm_module_init(mraa)

src/lsm9ds0/lsm9ds0.i

@@ -1,3 +1,9 @@
+#ifdef SWIGPYTHON
+%module (package="upm") lsm9ds0
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
@@ -5,6 +11,13 @@
 %include "arrays_java.i";
 %include "../java_buffer.i"
 
+%typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
+import java.util.AbstractList;
+import java.lang.Float;
+%}
+
 %apply int {mraa::Edge};
 %apply float *INOUT { float *x, float *y, float *z };
 
@@ -51,12 +64,14 @@ JAVA_JNI_LOADLIBRARY(javaupm_lsm9ds0)
 
 /* BEGIN Javascript syntax  ------------------------------------------------- */
 #ifdef SWIGJAVASCRIPT
+%include "../upm_vectortypes.i"
 %pointer_functions(float, floatp);
 #endif
 /* END Javascript syntax */
 
 /* BEGIN Python syntax  ----------------------------------------------------- */
 #ifdef SWIGPYTHON
+%include "../upm_vectortypes.i"
 %pointer_functions(float, floatp);
 #endif
 /* END Python syntax */

src/mma7455/CMakeLists.txt

@@ -2,4 +2,5 @@ set (libname "mma7455")
 set (libdescription "Three Axis +/- 2/4/8 g Digital Accelerometer")
 set (module_src ${libname}.cxx)
 set (module_hpp ${libname}.hpp)
+set (module_iface iAcceleration.hpp)
 upm_module_init(mraa)

src/mma7455/mma7455.i

@@ -1,17 +1,52 @@
+#ifdef SWIGPYTHON
+%module (package="upm") mma7455
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
 %include "arrays_java.i";
 %include "../java_buffer.i"
-%include "std_vector.i"
 %apply short *OUTPUT { short * ptrX, short * ptrY, short * ptrZ };
-%template(ShortVector) std::vector<short>;
+
+%typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
+import java.util.AbstractList;
+import java.lang.Float;
+import java.lang.Short;
+%}
+
+%{
+#include <vector>
+%}
+
+%typemap(javaout) std::vector<short> {
+    return (AbstractList<Short>)(new $&javaclassname($jnicall, true));
+}
+%typemap(jstype) std::vector<short> "AbstractList<Short>"
+
+%template(shortVector) std::vector<short>;
 
 JAVA_JNI_LOADLIBRARY(javaupm_mma7455)
 #endif
 /* END Java syntax */
 
+/* BEGIN Javascript syntax  ------------------------------------------------- */
+#ifdef SWIGJAVASCRIPT
+%include "../upm_vectortypes.i"
+#endif
+/* END Javascript syntax */
+
+/* BEGIN Python syntax  ----------------------------------------------------- */
+#ifdef SWIGPYTHON
+%include "../upm_vectortypes.i"
+#endif
+/* END Python syntax */
+
 /* BEGIN Common SWIG syntax ------------------------------------------------- */
 %{
 #include "mma7455.hpp"

src/mma7660/CMakeLists.txt

@@ -4,6 +4,7 @@ upm_mixed_module_init (NAME mma7660
     C_SRC mma7660.c
     CPP_HDR mma7660.hpp
     CPP_SRC mma7660.cxx
+    IFACE_HDR iAcceleration.hpp
     FTI_SRC mma7660_fti.c
     CPP_WRAPS_C
     REQUIRES mraa)

src/mma7660/mma7660.i

@@ -1,23 +1,57 @@
+#ifdef SWIGPYTHON
+%module (package="upm") mma7660
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
 %include "arrays_java.i";
 %include "../java_buffer.i"
-%include "std_vector.i"
+
+%typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
+import java.util.AbstractList;
+import java.lang.Float;
+import java.lang.Integer;
+%}
+
+%{
+#include <vector>
+%}
+
+%typemap(javaout) std::vector<int> {
+    return (AbstractList<Integer>)(new $&javaclassname($jnicall, true));
+}
+%typemap(jstype) std::vector<int> "AbstractList<Integer>"
+
+%template(intVector) std::vector<int>;
+
 
 %apply float *OUTPUT { float *ax, float *ay, float *az  };
 %apply int *OUTPUT { int *x, int *y, int *z };
 %ignore installISR(int , void *, void *);
 
-%template(IntVector) std::vector<int>;
-%template(FloatVector) std::vector<float>;
-
 JAVA_ADD_INSTALLISR_PIN(upm::MMA7660)
 JAVA_JNI_LOADLIBRARY(javaupm_mma7660)
 #endif
 /* END Java syntax */
 
+/* BEGIN Javascript syntax  ------------------------------------------------- */
+#ifdef SWIGJAVASCRIPT
+%include "../upm_vectortypes.i"
+#endif
+/* END Javascript syntax */
+
+/* BEGIN Python syntax  ----------------------------------------------------- */
+#ifdef SWIGPYTHON
+%include "../upm_vectortypes.i"
+#endif
+/* END Python syntax */
+
 /* BEGIN Common SWIG syntax ------------------------------------------------- */
 %pointer_functions(int, intp);
 %pointer_functions(float, floatp);

src/mma8x5x/CMakeLists.txt

@@ -2,4 +2,5 @@ set (libname "mma8x5x")
 set (libdescription "Tri-axis Accelerometer Sensor")
 set (module_src ${libname}.cpp)
 set (module_hpp ${libname}.hpp)
+set (module_iface iAcceleration.hpp)
 upm_module_init(mraa)

src/mpu9150/CMakeLists.txt

@@ -2,4 +2,5 @@ set (libname "mpu9150")
 set (libdescription "IMU Sensor Library Based On the Mpu9150")
 set (module_src ${libname}.cxx ak8975.cxx mpu60x0.cxx mpu9250.cxx)
 set (module_hpp ${libname}.hpp ak8975.hpp mpu60x0.hpp mpu9250.hpp)
+set (module_iface iAcceleration.hpp)
 upm_module_init(mraa)

src/mpu9150/mpu9150.i

@@ -1,3 +1,9 @@
+#ifdef SWIGPYTHON
+%module (package="upm") mpu9150
+#endif
+
+%import "interfaces/new_interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
@@ -6,7 +12,12 @@
 %include "arrays_java.i"
 %include "../java_buffer.i"
 
-%template(FloatVector) std::vector<float>;
+%typemap(javaimports) SWIGTYPE %{
+import upm_new_interfaces.*;
+
+import java.util.AbstractList;
+import java.lang.Float;
+%}
 
 %apply int {mraa::Edge};
 
@@ -22,6 +33,7 @@ JAVA_JNI_LOADLIBRARY(javaupm_mpu9150)
 /* BEGIN Javascript syntax  ------------------------------------------------- */
 #ifdef SWIGJAVASCRIPT
 %include "std_vector.i"
+%include "../upm_vectortypes.i"
 %pointer_functions(float, floatp);
 #endif
 /* END Javascript syntax */
@@ -29,6 +41,7 @@ JAVA_JNI_LOADLIBRARY(javaupm_mpu9150)
 /* BEGIN Python syntax  ----------------------------------------------------- */
 #ifdef SWIGPYTHON
 %include "std_vector.i"
+%include "../upm_vectortypes.i"
 %pointer_functions(float, floatp);
 #endif
 /* END Python syntax */

src/swigme.i.in

@@ -1,16 +1,20 @@
 /* This SWIG .i file is generated from UPM CMake.  If additional functionality
  * is required, custom .i files can be placed in the library directory.
  */
+@PYTHON_NEW_INTERFACES@
+
+@IMPORT_NEW_INTERFACES@
 
 /* Common SWIG syntax */
 %include "../common_top.i"
 
+/* Java-specific SWIG syntax */
+#ifdef SWIGJAVA
+@JAVA_TYPEMAPS@
+JAVA_JNI_LOADLIBRARY(javaupm_@libname@)
+#endif
+
 %{
 @SWIG_HASH_INCLUDES@
 %}
 @SWIG_PERCENT_INCLUDES@
-
-/* Java-specific SWIG syntax */
-#ifdef SWIGJAVA
-JAVA_JNI_LOADLIBRARY(javaupm_@libname@)
-#endif