upm: v0.6.2

Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

.travis.yml

@@ -6,11 +6,9 @@ env:
   - NODE5=true
   - NODE012=true
 install:
-  - if [ "${NODE4}" ]; then export CC=gcc-4.8 CXX=g++-4.8; fi
-  - sudo add-apt-repository --yes ppa:kalakris/cmake
   - sudo add-apt-repository --yes ppa:fenics-packages/fenics-exp/swig
   - sudo apt-get update -qq
-  - sudo apt-get install -y -qq swig3.0 python git cmake
+  - sudo apt-get install -y -qq swig3.0 git
   - sudo ln -s /usr/bin/swig3.0 /usr/bin/swig
   - sudo update-java-alternatives -s java-8-oracle
 before_script:
@@ -22,13 +20,19 @@ before_script:
   - if [ "${NODE012}" ]; then nvm install 0.12; export NODE_ROOT_DIR="/home/travis/.nvm/versions/node/`nvm version`"; fi
 script:
   - git clone https://github.com/intel-iot-devkit/mraa.git
-  - cd mraa && mkdir build && cd build && cmake -DBUILDSWIGJAVA=$BUILDJAVA -DBUILDSWIGNODE=OFF -DBUILDSWIGPYTHON=OFF -DFIRMATA=ON -DENABLEEXAMPLES=OFF -DCMAKE_INSTALL_PREFIX:PATH=/usr .. && make && sudo make install
+  - cd mraa && mkdir build && cd build && cmake -DBUILDSWIGJAVA=$BUILDJAVA -DBUILDSWIGNODE=OFF -DBUILDSWIGPYTHON=OFF -DFIRMATA=ON -DENABLEEXAMPLES=OFF -DCMAKE_INSTALL_PREFIX:PATH=. .. && make && make install
+  - export PKG_CONFIG_PATH=$PWD/lib/pkgconfig:$PWD/lib/x86_64-linux-gnu/pkgconfig
+  - export CPLUS_INCLUDE_PATH=$PWD/include
+  - export LIBRARY_PATH=$PWD/lib:$PWD/lib/x86_64-linux-gnu
   - cd ../.. && mkdir build && cd build && cmake -DNODE_ROOT_DIR:PATH="${NODE_ROOT_DIR}" -DBUILDSWIGJAVA=$BUILDJAVA -DBUILDEXAMPLES=ON -DBUILDJAVAEXAMPLES=$BUILDJAVA .. && make
 addons:
   apt:
     sources:
       - llvm-toolchain-precise-3.6
       - ubuntu-toolchain-r-test
+      - george-edison55-precise-backports
     packages:
       - clang-3.6
       - g++-4.8
+      - cmake
+      - cmake-data

CMakeLists.txt

@@ -15,17 +15,17 @@ message (INFO " found mraa version: ${MRAA_VERSION}")
 
 # Appends the cmake/modules path to MAKE_MODULE_PATH variable.
 set (CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules ${CMAKE_MODULE_PATH})
-set (LIB_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}" CACHE PATH "Installation path for libraries")
 
-# Set CMAKE_LIB_INSTALL_DIR if not defined
+# Set CMAKE_INSTALL_LIBDIR if not defined
 include(GNUInstallDirs)
+set (LIB_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}" CACHE PATH "Installation path for libraries")
 
 # Make a version file containing the current version from git.
 include (GetGitRevisionDescription)
 git_describe (VERSION "--tags")
 if ("x_${VERSION}" STREQUAL "x_GIT-NOTFOUND" OR "x_${VERSION}" STREQUAL "x_-128-NOTFOUND")
   message (WARNING " - Install git to compile a production UPM!")
-  set (VERSION "v0.5.1-dirty")
+  set (VERSION "v0.6.2-dirty")
 endif ()
 
 message (INFO " - UPM Version ${VERSION}")
@@ -58,7 +58,8 @@ option (BUILDJAVAEXAMPLES "Build java example jars" OFF)
 option (BUILDSWIGJAVA "Build swig java modules" OFF)
 option (IPK "Generate IPK using CPack" OFF)
 option (RPM "Generate RPM using CPack" OFF)
-option (BUILDTESTS "Generate check-ups for upm" OFF)
+option (BUILDTESTS "Generate check-ups for upm" ON)
+option (ENABLECXX11 "Enable C++11 standards support" ON)
 
 # Find swig
 if (BUILDSWIG)
@@ -77,6 +78,27 @@ include (TargetArch)
 target_architecture (DETECTED_ARCH)
 message( INFO " - Target arch is ${DETECTED_ARCH}")
 
+# enable c++11 standards support
+if (ENABLECXX11)
+  include(CheckCXXCompilerFlag)
+  if (CMAKE_VERSION VERSION_LESS "3.1")
+    CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+    CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+    if (COMPILER_SUPPORTS_CXX11)
+      set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+    elseif (COMPILER_SUPPORTS_CXX0X)
+      set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+    else()
+      message(WARNING "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please update your C++ compiler.")
+    endif()
+  else()
+    # 3.1+ uses this generic method to enable c++11
+    set (CMAKE_CXX_STANDARD 11)
+  endif()
+else()
+  message(WARNING "Some modules require C++11 support, and may not build without it.")
+endif()
+
 if (BUILDDOC)
   # Add a target to generate API documentation with Doxygen
   find_package (Doxygen)
@@ -100,11 +122,10 @@ if (BUILDDOC)
   find_package (Sphinx)
   if(SPHINX_FOUND AND BUILDSWIG AND BUILDSWIGPYTHON)
     # Python required for Sphinx build
-    find_package (PythonLibs)
+    find_package (PythonLibs ${PYTHONBUILD_VERSION} REQUIRED)
     string (REPLACE "." ";" PYTHON_VERSION_LIST ${PYTHONLIBS_VERSION_STRING})
     list (GET PYTHON_VERSION_LIST 0 PYTHON_VERSION_MAJOR)
     list (GET PYTHON_VERSION_LIST 1 PYTHON_VERSION_MINOR)
-    set (SITE_PACKAGES ${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages)
     configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/conf.py.in ${CMAKE_CURRENT_BINARY_DIR}/pydoc/conf.py @ONLY)
     configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/index.rst ${CMAKE_CURRENT_BINARY_DIR}/pydoc/index.rst COPYONLY)
     add_custom_target (pydoc ALL
@@ -131,9 +152,9 @@ if (BUILDDOC)
       configure_file(${CMAKE_CURRENT_SOURCE_DIR}/doxy/node/${JSDOC_FILE} ${CMAKE_CURRENT_BINARY_DIR}/${JSDOC_FILE} COPYONLY)
     endforeach()
     add_custom_target(jsdoc ALL
-      COMMAND ${NODE_EXECUTABLE} docgen -m upm -i xml -t ${CMAKE_CURRENT_SOURCE_DIR}/src -g ../../
+      COMMAND ${NODEJS_EXECUTABLE} docgen -m upm -i xml -t ${CMAKE_CURRENT_SOURCE_DIR}/src -g ../../
       COMMAND ${YUIDOC_EXECUTABLE} -C --no-sort --helpers generators/yuidoc/helper.js --themedir generators/yuidoc/tmpl -o html/node jsdoc/yuidoc/upm
-      COMMAND ${NODE_EXECUTABLE} tolower -i html/node
+      COMMAND ${NODEJS_EXECUTABLE} tolower -i html/node
       DEPENDS doc
       WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
       COMMENT "Generating API documentation with Yuidoc" VERBATIM
@@ -183,21 +204,25 @@ if (RPM)
   message (INFO " - RPM packaging enabled for ${DETECTED_ARCH}")
   set(CPACK_PACKAGE_VERSION ${VERSION})
   set(CPACK_GENERATOR "RPM")
-  set(CPACK_PACKAGE_NAME "libupm${upm_VERSION_MAJOR}")
-  set(CPACK_PACKAGE_RELEASE 1)
+  set(CPACK_PACKAGE_NAME "upm")
+  set(upm_PACKAGE_ON_TAG ".")
+  if ("${VERSION_COMMIT}" STREQUAL "")
+    set(upm_PACKAGE_ON_TAG "")
+  endif()
   set(CPACK_PACKAGE_VERSION
-      "${upm_VERSION_MAJOR}.${upm_VERSION_MINOR}.${upm_VERSION_PATCH}-${upm_PACKAGE_ON_TAG}${VERSION_COMMIT}")
+      "${upm_VERSION_MAJOR}.${upm_VERSION_MINOR}.${upm_VERSION_PATCH}${upm_PACKAGE_ON_TAG}${VERSION_COMMIT}")
   set(CPACK_PACKAGE_CONTACT "Intel IoT-Devkit")
   set(CPACK_PACKAGE_VENDOR "Intel IoT-Devkit")
   set(CPACK_RPM_PACKAGE_REQUIRES "mraa >= ${MRAA_VERSION}")
   set(CPACK_RPM_PACKAGE_PROVIDES "${CPACK_PACKAGE_NAME}-devel")
+  set(CPACK_RPM_PACKAGE_LICENSE "MIT")
   EXECUTE_PROCESS(COMMAND rpm --showrc
     COMMAND grep -E "dist[[:space:]]*\\."
     COMMAND sed -e "s/^.*dist\\s*\\.//"
     COMMAND tr \\n \\t
     COMMAND sed  -e s/\\t//
     OUTPUT_VARIABLE DIST_TAG)
-  set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION}-${CPACK_PACKAGE_RELEASE}.${DIST_TAG}.${DETECTED_ARCH}")
+  set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION}.${DIST_TAG}.${DETECTED_ARCH}")
   include(CPack)
 endif()
 
@@ -217,12 +242,10 @@ if (BUILDSWIGPYTHON OR BUILDTESTS)
   else ()
     set (PYTHONBUILD_VERSION 2.7)
   endif ()
-  find_package (PythonInterp ${PYTHONBUILD_VERSION} REQUIRED)
-  find_package (PythonLibs ${PYTHONBUILD_VERSION} REQUIRED)
-  include_directories(${PYTHON_INCLUDE_PATH})
 endif ()
 
 if (BUILDTESTS)
+  find_package (PythonInterp ${PYTHONBUILD_VERSION} REQUIRED)
   enable_testing ()
   add_subdirectory (tests)
 endif()

README.md

@@ -12,6 +12,19 @@ to provide identification/pin location on the board.
 Typically an update() function will be called in order to get new data from the
 sensor in order to reduce load when doing multiple reads to sensor data.
 
+Although implementation and API design is up to the developer, C++ interfaces have
+been defined for the following sensor/actuator types and developers are encouraged to
+implement them. Interface header files are in the src/upm folder.
+
+* Light controller 
+* Light sensor
+* Temperature sensor
+* Humidity sensor
+* Pressure sensor
+* Analog to digital converter
+
+Feedback on interface design and additions for new types are welcome
+
 ### Example
 
 A sensor/actuator is expected to work as such (here is the MMA7660 accelerometer API):
@@ -51,10 +64,6 @@ A sensor/actuator is expected to work as such (here is the MMA7660 accelerometer
     }
 ```
 
-However implementation and API design is completely up to the developer, some
-enumerable sensors for example may provide much clever instantiation. Displays
-may also create more complex structures in order to interface with them.
-
 Browse through the list of all [examples](https://github.com/intel-iot-devkit/upm/tree/master/examples).
 
 Multi-sensor samples for the starter and specialized kits can be found in the
@@ -81,7 +90,7 @@ See building documentation [here](docs/building.md).
 
 Porting [link](docs/porting.md) has more information on making new UPM modules.
 
-There is also an example available for max31855 [sensor](docs/max31855.md).
+There is also an example available gfor max31855 [sensor](docs/max31855.md).
 
 Guide on creating Java [bindings](docs/creating_java_bindings.md).
 
@@ -105,6 +114,15 @@ API Documentation
 <a href="http://iotdk.intel.com/docs/master/upm/python"><img src="docs/icons/python.png"/></a>
 <a href="http://iotdk.intel.com/docs/master/upm/node"><img src="docs/icons/node.png"/></a>
 
+### API Compatibility
+Even if we try our best not to, every once in a while we are forced to modify
+our API in a way that will break backwards compatibility. If you find yourself
+unable to compile code that was working fine before a library update, make sure
+you check the [API changes](docs/apichanges.md) section first.
+
+**NOTE** - Our **C++ header files** will change their extension from *.h* to
+*.hpp* in the upcoming version.
+
 ### Changelog
 Version changelog [here](docs/changelog.md).
 

cmake/modules/FindNode.cmake

@@ -94,4 +94,4 @@ if (NODEJS_EXECUTABLE)
     mark_as_advanced (NODEJS_EXECUTABLE)
 endif ()
 
-mark_as_advanced (NODE_EXECUTABLE)
+mark_as_advanced (NODEJS_EXECUTABLE)

docs/apichanges.md

@@ -0,0 +1,20 @@
+API Changes                       {#apichanges}
+===============
+
+**IMPORTANT NOTICE**
+
+Our **C++ header files** will change their extension from *.h* to *.hpp*. This
+change is anticipated in the upcoming version and unfortunately will break
+source compatibility with previous versions of UPM for every library. You will
+need to update your code and change to the new extension format in your
+`#include` directives.
+
+Here's a list of other API changes made to the library that break source/binary
+compatibility between releases:
+
+ * **my9221**, **groveledbar** and **grovecircularled** are now all part of the
+ same library (my9221) and new functionality was added going to v.0.5.1
+ * **stepmotor** driver API was changed significantly from v.0.4.1 to v.0.5.0
+ * **eboled** library was greatly improved in version 0.4.0 and the `draw()`
+ function was removed in favor of a more complete GFX library implementation
+ 

docs/changelog.md

@@ -4,6 +4,38 @@ Changelog                         {#changelog}
 Here's a list summarizing some of the key undergoing changes to our library
 from earlier versions:
 
+### v0.6.2
+
+ * Added a generic driver for taking snapshots from an USB camera device
+ * New API changes section in documentation to let users know when the UPM API
+ gets modified
+ * Fixed some spelling errors and improved JavaScript documentation builds with
+ newer versions of YUI and Node
+ * Enhanced Cmake scripts and the build process
+ * New sensors: vcap, e50hx
+
+### v0.6.1
+
+ * Fixed library build process for different configurations across multiple
+ environments reported by users.
+ * Fixed multiple GFX library header clash and improved SSD1351 compatibility
+ by changing SPI mode
+ * Added Node and Python array typemaps for nrf24l01
+ * Added 2 new JAVA examples
+
+### v0.6.0
+
+ * Introduced C++ Interfaces for several sensor categories that will help
+ consolidate the sensor APIs with uniform function names upon implementation
+ * Greatly improved Node.js detection and handling during build and install,
+ and should be now compatible with all major versions
+ * Added a driver for the Curie IMU (accelerometer + gyroscope) that works with
+ the new Firmata support implemented by MRAA
+ * Continued to provide several JAVA fixes and examples
+ * Many new industrial and maker sensors: cwlsxxa, teams, tex00, h803x, apa102,
+ smartdrive, bmi160, bme280, ds1808lc, hlg150, lp8860, max44009, si1132, t6713,
+ si7005, ssd1351
+
 ### v0.5.1
 
  * Updated the API and added new functionality for the MY9221 class and derived

doxy/Doxyfile.in

@@ -859,7 +859,7 @@ EXCLUDE_SYMLINKS       = NO
 # Note that the wildcards are matched against the file with absolute path, so to
 # exclude all test directories for example use the pattern */test/*
 
-EXCLUDE_PATTERNS       =
+EXCLUDE_PATTERNS       = bosch_*
 
 # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
 # (namespaces, classes, functions, etc.) that should be excluded from the

doxy/samples.mapping.txt

@@ -48,7 +48,7 @@ mpu9150.cxx	MPU9150Sample.java
 mq2.cxx	MQ2Sample.java
 mq303a.cxx	MQ303ASample.java
 mq5.cxx	MQ5Sample.java
-my9221-ledbar.cxx	MY9221_ledbarSample.java
+groveledbar	GroveLEDBar
 nrf24l01-receiver.cxx	NRF24L01_receiverSample.java
 nrf24l01-transmitter.cxx	NRF24L01_transmitterSample.java
 nunchuck.cxx	NUNCHUCKSample.java

examples/c++/CMakeLists.txt

@@ -234,15 +234,37 @@ if (MODBUS_FOUND)
   include_directories(${MODBUS_INCLUDE_DIRS})
   add_example (t3311)
   add_example (hwxpxx)
+  add_example (h803x)
 endif()
 add_example (hdxxvxta)
 add_example (rhusb)
 add_example (apds9930)
 add_example (kxcjk1013)
 add_example (ssd1351)
+add_example (bme280)
+add_example (ds1808lc)
+add_example (hlg150h)
+add_example (lp8860)
+add_example (max44009)
+add_example (si1132)
+add_example (si7005)
+add_example (t6713)
+add_example (cwlsxxa)
+add_example (teams)
+add_example (apa102)
+add_example (tex00)
+add_example (bmi160)
+add_example (smartdrive)
 if (HAVE_FIRMATA)
   add_example (curieimu)
 endif ()
+if (BACNET_FOUND)
+  include_directories(${BACNET_INCLUDE_DIRS})
+  # we need access to bacnetmstp headers too
+  include_directories(${PROJECT_SOURCE_DIR}/src/bacnetmstp)
+  add_example (e50hx)
+endif()
+add_example (vcap)
 
 # These are special cases where you specify example binary, source file and module(s)
 include_directories (${PROJECT_SOURCE_DIR}/src)
@@ -261,3 +283,10 @@ add_custom_example (ak8975-example ak8975.cxx mpu9150)
 add_custom_example (mpu9250-example mpu9250.cxx mpu9150)
 add_custom_example (groveledbar-example groveledbar.cxx my9221)
 add_custom_example (grovecircularled-example grovecircularled.cxx my9221)
+add_custom_example (temperature-sensor-example temperature-sensor.cxx "si7005;bmp180;bme280")
+add_custom_example (humidity-sensor-example humidity-sensor.cxx "si7005;bme280")
+add_custom_example (pressure-sensor-example pressure-sensor.cxx "bmp180;bme280")
+add_custom_example (co2-sensor-example co2-sensor.cxx "t6713")
+add_custom_example (adc-example adc-sensor.cxx "ads1x15")
+add_custom_example (light-sensor-example light-sensor.cxx "si1132;max44009")
+add_custom_example (light-controller-example light-controller.cxx "lp8860;ds1808lc;hlg150h")

examples/c++/adc-sensor.cxx

@@ -0,0 +1,80 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "ads1015.h"
+#include "mraa/gpio.hpp"
+
+#define EDISON_I2C_BUS 1
+#define FT4222_I2C_BUS 0
+#define EDISON_GPIO_SI7005_CS 20
+
+
+//! [Interesting]
+// Simple example of using IADC to determine
+// which sensor is present and return its name.
+// IADC is then used to get readings from sensor
+
+
+upm::IADC* getADC()
+{
+   upm::IADC* adc = NULL;
+   try {
+      adc = new upm::ADS1015(EDISON_I2C_BUS);
+      mraa::Gpio gpio(EDISON_GPIO_SI7005_CS);
+      gpio.dir(mraa::DIR_OUT_HIGH);
+      return adc;
+   } catch (std::exception& e) {
+      std::cerr << "ADS1015: " << e.what() << std::endl;
+   }
+   return adc;
+}
+
+int main ()
+{
+   upm::IADC* adc = getADC();
+   if (adc == NULL) {
+      std::cout << "ADC not detected" << std::endl;
+      return 1;
+   }
+   std::cout << "ADC " << adc->getModuleName() << " detected. " ;
+   std::cout << adc->getNumInputs() << " inputs available" << std::endl;
+   while (true) {
+      for (unsigned int i=0; i<adc->getNumInputs(); ++i) {
+         std::cout << "Input " << i;
+         try {
+            float voltage = adc->getVoltage(i);
+            std::cout << ": Voltage = " << voltage << "V" << std::endl;
+         } catch (std::exception& e) {
+            std::cerr << e.what() << std::endl;
+         }
+      }
+      sleep(1);
+   }
+   delete adc;
+   return 0;
+}
+
+//! [Interesting]

examples/c++/ads1x15.cxx

@@ -286,7 +286,7 @@ int main()
                 else ads->setCompMode();
                break;
           case 18:
-               cout << ads->getCompLatch() << cout;
+               cout << ads->getCompLatch() << endl;
                break;
           case 19:
                cout << "select one of the following:" << endl;
@@ -296,7 +296,7 @@ int main()
                 else ads->setCompLatch();
                break;
           case 20:
-               cout << ads->getContinuous() << cout;
+               cout << ads->getContinuous() << endl;
                break;
           case 21:
                cout << "select one of the following:" << endl;

examples/c++/apa102.cxx

@@ -0,0 +1,51 @@
+/*
+ * Author: Yannick Adam <yannick.adam@gmail.com>
+ * Copyright (c) 2016 Yannick Adam
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "apa102.h"
+#include <iostream>
+#include <signal.h>
+#include <unistd.h>
+
+using namespace std;
+
+int
+main(int argc, char** argv)
+{
+    //! [Interesting]
+    // Instantiate a strip of 30 LEDs on SPI bus 0
+    upm::APA102* ledStrip = new upm::APA102(800, 0);
+
+    // Set all LEDs to Red
+    ledStrip->setAllLeds(31, 255, 0, 0);
+
+    // Set a section (10 to 20) to blue
+    ledStrip->setLeds(10, 20, 31, 0, 0, 255);
+
+    // Set a single LED to green
+    ledStrip->setLed(15, 31, 0, 255, 0);
+
+    delete ledStrip;
+    //! [Interesting]
+    return 0;
+}

examples/c++/bme280.cxx

@@ -0,0 +1,51 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "bme280.h"
+
+#define FT4222_I2C_BUS 0
+
+int main ()
+{
+   try {
+      upm::BME280* bme280 = new upm::BME280 (mraa_get_sub_platform_id(FT4222_I2C_BUS));
+      while (true) {
+         int temperature = bme280->getTemperatureCelcius();
+         int humidity = bme280->getHumidityRelative();
+         int pressure = bme280->getPressurePa();
+         std::cout << "Temperature = " << temperature << "C" << std::endl;
+         std::cout << "Humidity    = " << humidity << "%" << std::endl;
+         std::cout << "Pressure    = " << pressure << "Pa" << std::endl;
+         sleep(1);
+      }
+      delete bme280;
+   } catch (std::exception& e) {
+      std::cerr << e.what() << std::endl;
+   }
+   return 0;
+}
+
+//! [Interesting]

examples/c++/bmi160.cxx

@@ -0,0 +1,82 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "bmi160.h"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+//! [Interesting]
+
+  // Instantiate a BMI160 instance using default i2c bus and address
+  upm::BMI160 *sensor = new upm::BMI160();
+
+  while (shouldRun)
+    {
+      // update our values from the sensor
+      sensor->update();
+
+      float dataX, dataY, dataZ;
+
+      sensor->getAccelerometer(&dataX, &dataY, &dataZ);
+      cout << "Accelerometer: ";
+      cout << "AX: " << dataX << " AY: " << dataY << " AZ: "
+           << dataZ << endl;
+
+      sensor->getGyroscope(&dataX, &dataY, &dataZ);
+      cout << "Gryoscope:     ";
+      cout << "GX: " << dataX << " GY: " << dataY << " GZ: "
+           << dataZ << endl;
+
+      sensor->getMagnetometer(&dataX, &dataY, &dataZ);
+      cout << "Magnetometer:  ";
+      cout << "MX: " << dataX << " MY: " << dataY << " MZ: "
+           << dataZ << endl;
+
+      cout << endl;
+
+      usleep(500000);
+    }
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+  return 0;
+}

examples/c++/co2-sensor.cxx

@@ -0,0 +1,71 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "t6713.h"
+
+#define EDISON_I2C_BUS 1 
+#define FT4222_I2C_BUS 0
+
+//! [Interesting]
+// Simple example of using ICO2Sensor to determine 
+// which sensor is present and return its name.
+// ICO2Sensor is then used to get readings from sensor
+
+
+upm::ICO2Sensor* getCO2Sensor()
+{
+   upm::ICO2Sensor* cO2Sensor = NULL;
+   try {
+      cO2Sensor = new upm::T6713(mraa_get_sub_platform_id(FT4222_I2C_BUS));
+      return cO2Sensor;
+   } catch (std::exception& e) {
+      std::cerr << "T6713: " << e.what() << std::endl;      
+   }
+   return cO2Sensor;   
+}
+
+int main ()
+{
+   upm::ICO2Sensor* cO2Sensor = getCO2Sensor();
+   if (cO2Sensor == NULL) {
+      std::cout << "CO2 sensor not detected" << std::endl;                        
+      return 1;
+   }
+   std::cout << "CO2 sensor " << cO2Sensor->getModuleName() << " detected" << std::endl;
+   while (true) {
+      try {
+         uint16_t value = cO2Sensor->getPpm();
+         std::cout << "CO2 level = " << value << " ppm" << std::endl;
+      } catch (std::exception& e) {
+         std::cerr << e.what() << std::endl;
+      }
+      sleep(1);         
+   }
+   delete cO2Sensor;
+   return 0;
+}
+
+//! [Interesting]      

examples/c++/cwlsxxa.cxx

@@ -0,0 +1,82 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "cwlsxxa.h"
+
+using namespace std;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+  cout << "Initializing..." << endl;
+
+  // Instantiate an CWLSXXA instance, using A0 for CO2, A1 for
+  // humidity and A2 for temperature
+  upm::CWLSXXA *sensor = new upm::CWLSXXA(0, 1, 2);
+
+  // update and print available values every second
+  while (shouldRun)
+    {
+      // update our values from the sensor
+      sensor->update();
+
+      // we show both C and F for temperature
+      cout << "Temperature: " << sensor->getTemperature()
+           << " C / " << sensor->getTemperature(true) << " F"
+           << endl;
+
+      cout << "Humidity: " << sensor->getHumidity()
+           << " %" << endl;
+
+      cout << "CO2: " << sensor->getCO2()
+           << " ppm" << endl;
+
+      cout << endl;
+
+      sleep(1);
+    }
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+//! [Interesting]
+
+  return 0;
+}

examples/c++/ds1808lc.cxx

@@ -0,0 +1,51 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <iostream>
+#include <string>
+#include "ds1808lc.h"
+
+#define EDISON_I2C_BUS 1            // Edison I2C-1
+#define DS1808_GPIO_PWR 15          // Edison GP165
+
+void printState(upm::ILightController *lightController)
+{
+   if (lightController->isPowered())
+   {
+      std::cout << "Light is powered, brightness = " << lightController->getBrightness() << std::endl;
+   }
+   else
+   {
+      std::cout << "Light is not powered." << std::endl;
+   }
+}
+
+int main( int argc, char **argv )
+{
+   int status = 0;
+   upm::ILightController* lightController;
+
+   try {
+      lightController = new upm::DS1808LC(DS1808_GPIO_PWR, EDISON_I2C_BUS);
+      std::cout <<  "Existing state: "; printState(lightController);
+      if (argc == 2)
+      {
+         std::string arg = argv[1];
+         int brightness = ::atoi(argv[1]);
+         if (brightness > 0) {
+            lightController->setPowerOn();
+            lightController->setBrightness(brightness);
+         } else
+            lightController->setPowerOff();
+      }
+      std::cout <<  "Now: ";printState(lightController);
+   } catch (std::exception& e) {
+      std::cout << "Error: " << e.what() << std::endl;
+      status = 1;
+   }
+
+   delete lightController;
+   return status;
+}
+
+

examples/c++/e50hx.cxx

@@ -0,0 +1,112 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "e50hx.h"
+
+using namespace std;
+using namespace upm;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+  // You will need to edit this example to conform to your site and your
+  // devices, specifically the Device Object Instance ID passed to the
+  // constructor, and the arguments to initMaster() that are
+  // appropriate for your BACnet network.
+
+  string defaultDev = "/dev/ttyUSB0";
+
+  // if an argument was specified, use it as the device instead
+  if (argc > 1)
+    defaultDev = string(argv[1]);
+
+  cout << "Using device " << defaultDev << endl;
+  cout << "Initializing..." << endl;
+
+  // Instantiate an E50HX object for an E50HX device that has 1075425
+  // as it's unique Device Object Instance ID.  NOTE: You will
+  // certainly want to change this to the correct value for your
+  // device(s).
+  E50HX *sensor = new E50HX(1075425);
+
+  // Initialize our BACnet master, if it has not already been
+  // initialized, with the device and baudrate, choosing 1000001 as
+  // our unique Device Object Instance ID, 2 as our MAC address and
+  // using default values for maxMaster and maxInfoFrames
+  sensor->initMaster(defaultDev, 38400, 1000001, 2);
+
+  // Uncomment to enable debugging output
+  // sensor->setDebug(true);
+
+  cout << endl;
+  cout << "Device Description: " << sensor->getDescription() << endl;
+  cout << "Device Location: " << sensor->getLocation() << endl;
+  cout << endl;
+
+  // update and print a few values every 5 seconds
+  while (shouldRun)
+    {
+      cout << "System Voltage: "
+           << sensor->getAnalogValue(E50HX::AV_System_Voltage)
+           << " " << sensor->getAnalogValueUnits(E50HX::AV_System_Voltage)
+           << endl;
+
+      cout << "System Type: "
+           << sensor->getAnalogValue(E50HX::AV_System_Type)
+           << endl;
+
+      cout << "Energy Consumption: " << sensor->getAnalogInput(E50HX::AI_Energy)
+           << " " << sensor->getAnalogInputUnits(E50HX::AI_Energy)
+           << endl;
+
+      cout << "Power Up Counter: "
+           << sensor->getAnalogInput(E50HX::AI_Power_Up_Count)
+           << endl;
+
+      cout << endl;
+      sleep(5);
+    }
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+//! [Interesting]
+
+  return 0;
+}

examples/c++/h803x.cxx

@@ -0,0 +1,149 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "h803x.h"
+
+using namespace std;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+  string defaultDev = "/dev/ttyUSB0";
+
+  // if an argument was specified, use it as the device instead
+  if (argc > 1)
+    defaultDev = string(argv[1]);
+
+  cout << "Using device " << defaultDev << endl;
+  cout << "Initializing..." << endl;
+
+  // Instantiate an H803X instance, using MODBUS slave address 1, and
+  // default comm parameters (9600, 8, N, 2)
+  upm::H803X *sensor = new upm::H803X(defaultDev, 1);
+
+  // output the Slave ID string
+  cout << "Slave ID: " << sensor->getSlaveID() << endl;
+  cout << endl;
+
+  // update and print available values every second
+  while (shouldRun)
+    {
+      // update our values from the sensor
+      sensor->update();
+
+      // H8035 / H8036
+      cout << "Consumption (kWh): " << sensor->getConsumption() << endl;
+      cout << "Real Power (kW): " << sensor->getRealPower() << endl;
+
+      if (sensor->isH8036())
+        {
+          // The H8036 has much more data available...
+
+          cout << "Reactive Power (kVAR): " << sensor->getReactivePower() 
+               << endl;
+          cout << "Apparent Power (kVA): " << sensor->getApparentPower() 
+               << endl;
+          cout << "Power Factor: " << sensor->getPowerFactor() 
+               << endl;
+          cout << "Volts Line to Line: " << sensor->getVoltsLineToLine() 
+               << endl;
+          cout << "Volts Line to Neutral: " << sensor->getVoltsLineToNeutral() 
+               << endl;
+
+          cout << "Current: " << sensor->getCurrent() 
+               << endl;
+
+          cout << "Real Power Phase A (kW): " << sensor->getRealPowerPhaseA() 
+               << endl;
+          cout << "Real Power Phase B (kW): " << sensor->getRealPowerPhaseB() 
+               << endl;
+          cout << "Real Power Phase C (kW): " << sensor->getRealPowerPhaseC() 
+               << endl;
+
+          cout << "Power Factor Phase A: " << sensor->getPowerFactorPhaseA() 
+               << endl;
+          cout << "Power Factor Phase B: " << sensor->getPowerFactorPhaseB() 
+               << endl;
+          cout << "Power Factor Phase C: " << sensor->getPowerFactorPhaseC() 
+               << endl;
+
+          cout << "Volts Phase A to B: " << sensor->getVoltsPhaseAToB() 
+               << endl;
+          cout << "Volts Phase B to C: " << sensor->getVoltsPhaseBToC() 
+               << endl;
+          cout << "Volts Phase A to C: " << sensor->getVoltsPhaseAToC() 
+               << endl;
+          cout << "Volts Phase A to Neutral: "
+               << sensor->getVoltsPhaseAToNeutral() 
+               << endl;
+          cout << "Volts Phase B to Neutral: "
+               << sensor->getVoltsPhaseBToNeutral() 
+               << endl;
+          cout << "Volts Phase C to Neutral: "
+               << sensor->getVoltsPhaseCToNeutral() 
+               << endl;
+
+          cout << "Current Phase A: " << sensor->getCurrentPhaseA() 
+               << endl;
+          cout << "Current Phase B: " << sensor->getCurrentPhaseB() 
+               << endl;
+          cout << "Current Phase C: " << sensor->getCurrentPhaseC() 
+               << endl;
+
+          cout << "Avg Real Power (kW): " << sensor->getAvgRealPower() 
+               << endl;
+          cout << "Min Real Power (kW): " << sensor->getMinRealPower() 
+               << endl;
+          cout << "Max Real Power (kW): " << sensor->getMaxRealPower() 
+               << endl;
+        }
+
+      cout << endl;
+
+      sleep(2);
+    }
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+//! [Interesting]
+
+  return 0;
+}

examples/c++/hlg150h.cxx

@@ -0,0 +1,51 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <iostream>
+#include <string>
+#include "hlg150h.h"
+
+#define HLG150H_GPIO_RELAY 21
+#define HLG150H_GPIO_PWM 22
+
+void printState(upm::ILightController *lightController)
+{
+   if (lightController->isPowered())
+   {
+      std::cout << "Light is powered, brightness = " << lightController->getBrightness() << std::endl;
+   }
+   else
+   {
+      std::cout << "Light is not powered." << std::endl;
+   }
+}
+
+int main( int argc, char **argv )
+{
+   int status = 0;
+   upm::ILightController* lightController;
+
+   try {
+      lightController = new upm::HLG150H(HLG150H_GPIO_RELAY, HLG150H_GPIO_PWM);
+      std::cout <<  "Existing state: "; printState(lightController);
+      if (argc == 2)
+      {
+         std::string arg = argv[1];
+         int brightness = ::atoi(argv[1]);
+         if (brightness > 0) {
+            lightController->setPowerOn();
+            lightController->setBrightness(brightness);
+         } else
+            lightController->setPowerOff();
+      }
+      std::cout <<  "Now: ";printState(lightController);
+      delete lightController;
+   } catch (std::exception& e) {
+      std::cout << "Error: " << e.what() << std::endl;
+      status = 1;
+   }
+
+   return status;
+}
+
+

examples/c++/hmtrp.cxx

@@ -135,7 +135,7 @@ int main (int argc, char **argv)
               if (rv > 0)
                 cout << "Received: " << radioBuffer << endl;
               
-              if (rv < 0) // some sort of read error occured
+              if (rv < 0) // some sort of read error occurred
                 {
                   cerr << "Port read error." << endl;
                   break;

examples/c++/humidity-sensor.cxx

@@ -0,0 +1,82 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "si7005.h"
+#include "bme280.h"
+
+#define EDISON_I2C_BUS 1 
+#define FT4222_I2C_BUS 0
+
+ #define EDISON_GPIO_SI7005_CS 20
+
+//! [Interesting]
+// Simple example of using ILightSensor to determine 
+// which sensor is present and return its name.
+// ILightSensor is then used to get readings from sensor
+
+
+upm::IHumiditySensor* getHumiditySensor()
+{
+   upm::IHumiditySensor* humiditySensor = NULL;
+   try {
+	humiditySensor = new upm::BME280 (mraa_get_sub_platform_id(FT4222_I2C_BUS));
+	return humiditySensor ;
+   } catch (std::exception& e)
+   {
+	std::cerr <<"BME280: "<<e.what() << std::endl;
+   }
+	
+   try {
+      humiditySensor = new upm::SI7005(EDISON_I2C_BUS, EDISON_GPIO_SI7005_CS);
+      return humiditySensor;
+   } catch (std::exception& e) {
+      std::cerr << "SI7005: " << e.what() << std::endl;      
+   }
+   return humiditySensor;   
+}
+
+int main ()
+{
+   upm::IHumiditySensor* humiditySensor = getHumiditySensor();
+   if (humiditySensor == NULL) {
+      std::cout << "Humidity sensor not detected" << std::endl;                        
+      return 1;
+   }
+   std::cout << "Humidity sensor " << humiditySensor->getModuleName() << " detected" << std::endl;
+   while (true) {
+      try {
+         int value = humiditySensor->getHumidityRelative();
+         std::cout << "Humidity = " << value << "%" << std::endl;
+      } catch (std::exception& e) {
+         std::cerr << e.what() << std::endl;
+      }
+      sleep(1);         
+   }
+   delete humiditySensor;
+   return 0;
+}
+
+//! [Interesting]      

examples/c++/light-controller.cxx

@@ -0,0 +1,98 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <iostream>
+#include <string>
+#include "lp8860.h"
+#include "ds1808lc.h"
+#include "hlg150h.h"
+
+#define EDISON_I2C_BUS 1   // Edison I2C-1
+#define GPIO_SI7005_CS 20 // Edison GP12
+#define HLG150H_GPIO_RELAY 21
+#define HLG150H_GPIO_PWM 22
+#define LP8860_GPIO_PWR 45 // Edison GP45
+#define DS1808_GPIO_PWR 15 // Edison GP165
+#define DS1808_GPIO_EDISON_LIVE 36 // Edison GP14
+
+//! [Interesting]
+// Simple example of using ILightController to determine 
+// which controller is present and return its name.
+// ILightController is then used to get readings from sensor
+
+upm::ILightController* getLightController()
+{
+   upm::ILightController* lightController = NULL;
+   try {
+      lightController = new upm::LP8860(LP8860_GPIO_PWR, EDISON_I2C_BUS);
+      return lightController;
+   } catch (std::exception& e) {
+      std::cerr << "LP8860: " << e.what() << std::endl;      
+   }
+   try {
+      lightController = new upm::DS1808LC(DS1808_GPIO_PWR, EDISON_I2C_BUS);
+      return lightController;
+   } catch (std::exception& e) {
+      std::cerr << "DS1808LC: " << e.what() << std::endl;      
+   }
+   try {
+      lightController = new upm::HLG150H(HLG150H_GPIO_RELAY, HLG150H_GPIO_PWM);
+      return lightController;
+   } catch (std::exception& e) {
+      std::cerr << "HLG150H: " << e.what() << std::endl;      
+   }
+   return lightController;   
+}
+
+
+void printState(upm::ILightController *lightController)
+{
+   if (lightController->isPowered())
+   {
+      std::cout << "Light is powered, brightness = " << lightController->getBrightness() << std::endl;
+   }
+   else
+   {
+      std::cout << "Light is not powered." << std::endl;
+   }
+}
+
+int main( int argc, char **argv )
+{
+   int status = 0;
+   // MraaUtils::setGpio(GPIO_SI7005_CS, 1);
+
+   upm::ILightController *lightController = getLightController();
+   if (lightController != NULL)
+   {
+      std::cout << "Detected light controller " << lightController->getModuleName() << std::endl;      
+   }
+   else
+   {
+      std::cerr << "Error. Unsupported platform." << std::endl;
+      return 1;
+   }
+
+   try {
+      std::cout <<  "Existing state: "; printState(lightController);      
+      if (argc == 2)
+      {
+         std::string arg = argv[1];
+         int brightness = ::atoi(argv[1]);
+         if (brightness > 0) {
+            lightController->setPowerOn();         
+            lightController->setBrightness(brightness);
+         } else
+            lightController->setPowerOff();                  
+      }
+      std::cout <<  "Now: ";printState(lightController);
+   } catch (std::exception& e) {
+      std::cout << "Error: " << e.what() << std::endl; 
+      status = 1;  
+   }
+
+   delete lightController;
+   return status;
+}
+
+

examples/c++/light-sensor.cxx

@@ -0,0 +1,78 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "max44009.h"
+#include "si1132.h"
+
+#define EDISON_I2C_BUS 1 
+#define FT4222_I2C_BUS 0
+
+//! [Interesting]
+// Simple example of using ILightSensor to determine 
+// which sensor is present and return its name.
+// ILightSensor is then used to get readings from sensor
+
+
+upm::ILightSensor* getLightSensor()
+{
+   upm::ILightSensor* lightSensor = NULL;
+   try {
+      lightSensor = new upm::SI1132(mraa_get_sub_platform_id(FT4222_I2C_BUS));
+      return lightSensor;
+   } catch (std::exception& e) {
+      std::cerr << "SI1132: " << e.what() << std::endl;      
+   }
+   try {
+      lightSensor = new upm::MAX44009(EDISON_I2C_BUS);
+      return lightSensor;
+   } catch (std::exception& e) {
+      std::cerr << "MAX44009: " << e.what() << std::endl;      
+   }
+   return lightSensor;   
+}
+
+int main ()
+{
+   upm::ILightSensor* lightSensor = getLightSensor();
+   if (lightSensor == NULL) {
+      std::cout << "Light sensor not detected" << std::endl;                        
+      return 1;
+   }
+   std::cout << "Light sensor " << lightSensor->getModuleName() << " detected" << std::endl;
+   while (true) {
+      try {
+         float value = lightSensor->getVisibleLux();
+         std::cout << "Light level = " << value << " lux" << std::endl;
+      } catch (std::exception& e) {
+         std::cerr << e.what() << std::endl;
+      }
+      sleep(1);         
+   }
+   delete lightSensor;
+   return 0;
+}
+
+//! [Interesting]      

examples/c++/lp8860.cxx

@@ -0,0 +1,52 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <iostream>
+#include <string>
+#include "lp8860.h"
+
+#define EDISON_I2C_BUS 1   // Edison I2C-1
+#define LP8860_GPIO_PWR 45 // Edison GP45
+
+
+void printState(upm::ILightController *lightController)
+{
+   if (lightController->isPowered())
+   {
+      std::cout << "Light is powered, brightness = " << lightController->getBrightness() << std::endl;
+   }
+   else
+   {
+      std::cout << "Light is not powered." << std::endl;
+   }
+}
+
+int main( int argc, char **argv )
+{
+   int status = 0;
+   upm::LP8860* lightController;
+
+   try {
+      lightController = new upm::LP8860(LP8860_GPIO_PWR, EDISON_I2C_BUS);
+      std::cout <<  "Existing state: "; printState(lightController);
+      if (argc == 2)
+      {
+         std::string arg = argv[1];
+         int brightness = ::atoi(argv[1]);
+         if (brightness > 0) {
+            lightController->setPowerOn();
+            lightController->setBrightness(brightness);
+         } else
+            lightController->setPowerOff();
+      }
+      std::cout <<  "Now: ";printState(lightController);
+      delete lightController;
+   } catch (std::exception& e) {
+      std::cout << "Error: " << e.what() << std::endl;
+      status = 1;
+   }
+
+   return status;
+}
+
+

examples/c++/max44009.cxx

@@ -0,0 +1,46 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "max44009.h"
+
+#define EDISON_I2C_BUS 1
+
+int main ()
+{
+   try {
+      upm::MAX44009* lightSensor = new upm::MAX44009(EDISON_I2C_BUS);
+      while (true) {
+         float value = lightSensor->getVisibleLux();
+         std::cout << "Light level = " << value << " lux" << std::endl;
+         sleep(1);
+      }
+      delete lightSensor;
+   } catch (std::exception& e) {
+      std::cerr << e.what() << std::endl;
+      return 1;
+   }
+   return 0;
+}

examples/c++/pressure-sensor.cxx

@@ -0,0 +1,81 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "bmp180.h"
+#include "bme280.h"
+
+
+#define EDISON_I2C_BUS 1 
+#define FT4222_I2C_BUS 0
+
+//! [Interesting]
+// Simple example of using ILightSensor to determine 
+// which sensor is present and return its name.
+// ILightSensor is then used to get readings from sensor
+
+
+upm::IPressureSensor* getPressureSensor()
+{
+   upm::IPressureSensor* pressureSensor = NULL;
+   try {
+	pressureSensor = new upm::BME280 (mraa_get_sub_platform_id(FT4222_I2C_BUS));
+	return pressureSensor ;
+   } catch (std::exception& e)
+   {
+	std::cerr <<"BME280: "<<e.what() << std::endl;
+   }
+	
+   try {
+      pressureSensor = new upm::BMP180(EDISON_I2C_BUS);
+      return pressureSensor;
+   } catch (std::exception& e) {
+      std::cerr << "BMP180: " << e.what() << std::endl;      
+   }
+   return pressureSensor;   
+}
+
+int main ()
+{
+   upm::IPressureSensor* pressureSensor = getPressureSensor();
+   if (pressureSensor == NULL) {
+      std::cout << "Pressure sensor not detected" << std::endl;                        
+      return 1;
+   }
+   std::cout << "Pressure sensor " << pressureSensor->getModuleName() << " detected" << std::endl;
+   while (true) {
+      try {
+         int value = pressureSensor->getPressurePa();
+         std::cout << "Pressure = " << value << " Pa" << std::endl;
+      } catch (std::exception& e) {
+         std::cerr << e.what() << std::endl;
+      }
+      sleep(1);         
+   }
+   delete pressureSensor;
+   return 0;
+}
+
+//! [Interesting]      

examples/c++/si1132.cxx

@@ -0,0 +1,46 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "si1132.h"
+
+#define FT4222_I2C_BUS 1
+
+int main ()
+{
+   try {
+      upm::SI1132* lightSensor = new upm::SI1132(mraa_get_sub_platform_id(FT4222_I2C_BUS));
+      while (true) {
+         float value = lightSensor->getVisibleLux();
+         std::cout << "Light level = " << value << " lux" << std::endl;
+         sleep(1);
+      }
+      delete lightSensor;
+   } catch (std::exception& e) {
+      std::cerr << e.what() << std::endl;
+      return 1;
+   }
+   return 0;
+}

examples/c++/si7005.cxx

@@ -0,0 +1,51 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "si7005.h"
+
+#define EDISON_I2C_BUS 1
+#define EDISON_GPIO_SI7005_CS 20
+
+
+int main ()
+{
+   try {
+      upm::SI7005* sensor = new upm::SI7005(EDISON_I2C_BUS, EDISON_GPIO_SI7005_CS);
+      while (true) {
+         int temperature = sensor->getTemperatureCelcius();
+         int humidity = sensor->getHumidityRelative();
+         std::cout << "Temperature = " << temperature << "C" << std::endl;
+         std::cout << "Humidity    = " << humidity << "%" << std::endl;
+         sleep(1);
+      }
+      delete sensor;
+   } catch (std::exception& e) {
+      std::cerr << e.what() << std::endl;
+   }
+   return 0;
+}
+
+//! [Interesting]

examples/c++/smartdrive.cxx

@@ -0,0 +1,75 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Author: Oussema Harbi <oussema.elharbi@gmail.com>
+ * Copyright (c) <2016> <Oussema Harbi>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "smartdrive.h"
+#include <signal.h>
+
+upm::SmartDrive *drive = NULL;
+
+void
+sig_handler(int signo)
+{
+    printf("got signal\n");
+    if (signo == SIGINT) {
+        printf("exiting application\n");
+        if (drive != NULL)
+            delete drive;
+        exit (0);
+    }
+}
+
+int
+main(int argc, char **argv)
+{
+    float voltage = 0;
+
+    std::cout << "SmartDrive demo is starting. Please make sure drive is connected to board" << std::endl;
+    sleep(2); //Wait for 2 seconds in case you want to fix your h/w setup
+    
+    //! [Interesting]
+    // Instantiate a SmartDrive connected to /dev/i2c-0 bus, using DefaultAddress
+    drive = new upm::SmartDrive(0);
+
+    std::cout << "Battery Voltage before motor run : " << drive->GetBattVoltage() << std::endl;
+    //Set motor M1 to run for 120 seconds, with speed of 15RPM, waith for it to finish and then Brake It
+    drive->Run_Seconds(SmartDrive_Motor_ID_1, SmartDrive_Dir_Forward, 15, 120, true, SmartDrive_Action_Brake);
+    std::cout << "Battery Voltage after motor run : " << drive->GetBattVoltage() << std::endl;
+    //Rotate motor M2 2270 degrees, in reverse sense, with speed of 10RPM, return immediately from function call
+    drive->Run_Degrees(SmartDrive_Motor_ID_2, SmartDrive_Dir_Reverse, 10, 2270, false, SmartDrive_Action_Float);
+    //While motor is running, Display its status
+    drive->PrintMotorStatus(SmartDrive_Motor_ID_2);
+    sleep(2); //Sleep for 2 seconds
+    //Stop motor M2 and then finish program
+    drive->StopMotor(SmartDrive_Motor_ID_2, SmartDrive_Action_BrakeHold);
+    //! [Interesting]
+
+    std::cout << "Demo complete. GoodBye" << std::endl;
+
+    delete drive;
+    drive = NULL;
+
+    return 0;
+}

examples/c++/ssd1306-oled.cxx

@@ -29,7 +29,7 @@
 #include "ssd1306.h"
 
 #define DEVICE_ADDRESS    0x3C
-#define BUS_NUMBER        0x6
+#define BUS_NUMBER        0x0
 
 static uint8_t intel_logo[] = {
         0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

examples/c++/t6713.cxx

@@ -0,0 +1,48 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "t6713.h"
+
+#define FT4222_I2C_BUS 0
+
+int main ()
+{
+
+   try {
+      upm::T6713* cO2Sensor = new upm::T6713(mraa_get_sub_platform_id(FT4222_I2C_BUS));
+      while (true) {
+         uint16_t value = cO2Sensor->getPpm();
+         std::cout << "CO2 level = " << value << " ppm" << std::endl;
+         sleep(1);
+      }
+      delete cO2Sensor;
+   } catch (std::exception& e) {
+      std::cerr << e.what() << std::endl;
+      return 1;
+   }
+   return 0;
+}
+

examples/c++/teams.cxx

@@ -0,0 +1,84 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "teams.h"
+
+using namespace std;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+  cout << "Initializing..." << endl;
+
+  // Instantiate an TEAMS instance, using A0 for temperature, and
+  // 165.0 ohms for the rResistor value (for the libelium 4-20ma
+  // interface)
+  upm::TEAMS *sensor = new upm::TEAMS(0, 165.0);
+
+  // update and print available values every second
+  while (shouldRun)
+    {
+      // update our values from the sensor
+      sensor->update();
+
+      // is the sensor connected? (current >= 4ma)
+      cout << "Is Connected: " << sensor->isConnected() << endl;
+
+      // print computed current on the loop.  This includes the offset,
+      // if one was set by setOffsetMilliamps().
+      cout << "Milliamps: " << sensor->getRawMilliamps() << endl;
+
+      // we show both C and F for temperature
+      cout << "Temperature: " << sensor->getTemperature()
+           << " C / " << sensor->getTemperature(true) << " F"
+           << endl;
+
+      cout << endl;
+
+      sleep(1);
+    }
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+//! [Interesting]
+
+  return 0;
+}

examples/c++/temperature-sensor.cxx

@@ -0,0 +1,90 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "si7005.h"
+#include "bmp180.h"
+#include "bme280.h"
+
+#define EDISON_I2C_BUS 1 
+#define FT4222_I2C_BUS 0
+
+ #define EDISON_GPIO_SI7005_CS 20
+
+//! [Interesting]
+// Simple example of using ITemperatureSensor to determine 
+// which sensor is present and return its name.
+// ITemperatureSensor is then used to get readings from sensor
+
+
+upm::ITemperatureSensor* getTemperatureSensor()
+{
+   upm::ITemperatureSensor* temperatureSensor = NULL;
+   try {
+	temperatureSensor = new upm::BME280 (mraa_get_sub_platform_id(FT4222_I2C_BUS));
+	return temperatureSensor;
+   } catch (std::exception& e)
+   {
+	std::cerr <<"BME280: "<<e.what() << std::endl;
+   }
+	
+
+   try {
+      temperatureSensor = new upm::SI7005(EDISON_I2C_BUS, EDISON_GPIO_SI7005_CS);
+      return temperatureSensor;
+   } catch (std::exception& e) {
+      std::cerr << "SI7005: " << e.what() << std::endl;      
+   }
+   try {
+      temperatureSensor = new upm::BMP180(EDISON_I2C_BUS);
+      return temperatureSensor;
+   } catch (std::exception& e) {
+      std::cerr << "BMP180: " << e.what() << std::endl;      
+   }
+   return temperatureSensor;   
+}
+
+int main ()
+{
+   upm::ITemperatureSensor* temperatureSensor = getTemperatureSensor();
+   if (temperatureSensor == NULL) {
+      std::cout << "Temperature sensor not detected" << std::endl;                        
+      return 1;
+   }
+   std::cout << "Temperature sensor " << temperatureSensor->getModuleName() << " detected" << std::endl;
+   while (true) {
+      try {
+         int value = temperatureSensor->getTemperatureCelcius();
+         std::cout << "Temperature = " << value << "C" << std::endl;
+      } catch (std::exception& e) {
+         std::cerr << e.what() << std::endl;
+      }
+      sleep(1);         
+   }
+   delete temperatureSensor;
+   return 0;
+}
+
+//! [Interesting]      

examples/c++/tex00.cxx

@@ -0,0 +1,91 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "tex00.h"
+
+using namespace std;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+  cout << "Initializing..." << endl;
+
+  // Instantiate an TEX00 instance, using A0 for the analog input.  In
+  // this example, we are using a 10K Ohm balance resistor and a TED
+  // (10k type 2) thermistor.
+  upm::TEX00 *sensor = new upm::TEX00(0, 10000, 
+                                      upm::TEX00::STYPE_THERMISTOR_TED);
+
+  cout << "Minimum temperature: " << sensor->getTemperatureRangeMin() 
+       << " C" << endl;
+  cout << "Maximum temperature: " << sensor->getTemperatureRangeMax() 
+       << " C" << endl;
+  cout << endl;
+  
+  // update and print available values every second
+  while (shouldRun)
+    {
+      // update our values from the sensor
+      sensor->update();
+
+      if (sensor->isOutOfRange())
+        {
+          cout << "Temperature out of range" << endl;
+        }
+      else
+        {
+          // we show both C and F for temperature
+          cout << "Temperature: " << sensor->getTemperature()
+               << " C / " << sensor->getTemperature(true) << " F"
+               << endl;
+        }
+
+      cout << endl;
+
+      sleep(1);
+    }
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+//! [Interesting]
+
+  return 0;
+}

examples/c++/ublox6.cxx

@@ -77,7 +77,7 @@ int main (int argc, char **argv)
           if (rv > 0)
             write(1, nmeaBuffer, rv);
 
-          if (rv < 0) // some sort of read error occured
+          if (rv < 0) // some sort of read error occurred
             {
               cerr << "Port read error." << endl;
               break;

examples/c++/vcap.cxx

@@ -0,0 +1,70 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+
+#include "vcap.hpp"
+
+using namespace std;
+
+int main(int argc, char **argv)
+{
+//! [Interesting]
+
+  string defaultDev = "/dev/video0";
+
+  // if an argument was specified, use it as the device instead
+  if (argc > 1)
+    defaultDev = string(argv[1]);
+
+  cout << "Using device " << defaultDev << endl;
+  cout << "Initializing..." << endl;
+
+  // Instantiate an VCAP instance, using the specified video device
+  upm::VCAP *sensor = new upm::VCAP(defaultDev);
+
+  // enable some debug/verbose output
+  sensor->setDebug(true);
+
+  // This is just a hint.  The kernel can change this to a lower
+  // resolution that the hardware supports.  Use getWidth() and
+  // getHeight() methods to see what the kernel actually chose if you
+  // care.
+  sensor->setResolution(1920, 1080);
+
+  // capture an image
+  sensor->captureImage();
+
+  // convert and save it as a jpeg
+  sensor->saveImage("video-img1.jpg");
+
+  cout << "Exiting..." << endl;
+
+  delete sensor;
+
+//! [Interesting]
+
+  return 0;
+}

examples/java/AM2315Example.java

@@ -0,0 +1,66 @@
+/*
+ * Author: Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+import upm_am2315.AM2315;
+
+public class AM2315Example {
+
+	static {
+		try {
+			System.loadLibrary("javaupm_am2315");
+			System.loadLibrary("mraajava");
+		} catch (UnsatisfiedLinkError e) {
+			System.err.println(
+					"Native code library failed to load. See the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n" +
+							e);
+			System.exit(1);
+		}
+	}
+
+	public static void main(String[] args) {
+		// TODO Auto-generated method stub
+		//! [Interesting]
+		float humidity = 0;
+		float temperature = 0;
+		
+		// Instantiate the sensor
+		AM2315 sensor = new AM2315(0, upm_am2315.javaupm_am2315Constants.AM2315_I2C_ADDRESS);
+		sensor.testSensor();
+		
+		while(true){
+			// retrieving the humidity and temperature values
+			humidity = sensor.getHumidity();
+			temperature = sensor.getTemperature();
+			
+			System.out.println("Temperature : "+temperature+" Humidity: "+humidity);
+			try {
+				Thread.sleep(1000);
+			} catch (InterruptedException e) {
+				// TODO Auto-generated catch block
+				System.out.println("The following exception occurred: "+e.getMessage());
+			}
+		}
+		//! [Interesting]
+	}
+
+}

examples/java/APA102Sample.java

@@ -0,0 +1,44 @@
+/*
+ * Author: Yannick Adam <yannick.adam@gmail.com>
+ * Copyright (c) 2016 Yannick Adam
+ *
+ * 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.
+ */
+
+public class APA102Sample {
+
+  public static void main(String[] args) throws InterruptedException {
+    // ! [Interesting]
+    // Instantiate a strip of 30 LEDs on SPI bus 0
+    upm_apa102.APA102 ledStrip =
+        new upm_apa102.APA102(30, (short)0, false, (byte)-1);
+
+    System.out.println("Set all LEDs to blue");
+    ledStrip.setAllLeds((short)31, (short)0, (short)0, (short)255);
+
+    System.out.println("Set LEDs between 10 and 20 to green");
+    ledStrip.setLeds(10, 20, (short)31, (short)0, (short)255, (short)0);
+
+    System.out.println("Set a single LED to red at index 15");
+    ledStrip.setLed(15, (short)31, (short)255, (short)0, (short)0);
+
+    // ! [Interesting]
+  }
+}

examples/java/Ad8232Example.java

@@ -25,18 +25,6 @@ import upm_ad8232.AD8232;
 
 public class Ad8232Example {
 
-	static {
-		try {
-			System.loadLibrary("javaupm_ad8232");
-			System.loadLibrary("mraajava");
-		} catch (UnsatisfiedLinkError e) {
-			System.err.println(
-					"Native code library failed to load. See the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n" +
-							e);
-			System.exit(1);
-		}
-	}
-
 	public static void main(String[] args) {
 		// TODO Auto-generated method stub
 		//! [Interesting]
@@ -54,7 +42,7 @@ public class Ad8232Example {
 				Thread.sleep(1);
 			} catch (InterruptedException e) {
 				// TODO Auto-generated catch block
-				System.out.println("The following error has occured: "+e.getMessage());
+				System.out.println("The following error has occurred: "+e.getMessage());
 			}
 		}
 	}

examples/java/Apds9002.java

@@ -38,7 +38,7 @@ public class Apds9002 {
 				Thread.sleep(1000);
 			} catch (InterruptedException e) {
 				// TODO Auto-generated catch block
-				System.out.println("The following exception occured: "+e.getMessage());
+				System.out.println("The following exception occurred: "+e.getMessage());
 			}
 		}
 		//! [Interesting]

examples/java/BMI160_Example.java

@@ -0,0 +1,78 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_bmi160.BMI160;
+
+public class BMI160_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+        System.out.println("Initializing...");
+
+        // Instantiate a BMI160 instance using default i2c bus and address
+        BMI160 sensor = new BMI160();
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                float dataA[] = sensor.getAccelerometer();
+
+                System.out.println("Accelerometer: "
+                                   + "AX: "
+                                   + dataA[0]
+                                   + " AY: "
+                                   + dataA[1]
+                                   + " AZ: "
+                                   + dataA[2]);
+
+                float dataG[] = sensor.getGyroscope();
+
+                System.out.println("Gryoscope:     "
+                                   + "GX: "
+                                   + dataG[0]
+                                   + " GY: "
+                                   + dataG[1]
+                                   + " GZ: "
+                                   + dataG[2]);
+
+                float dataM[] = sensor.getMagnetometer();
+
+                System.out.println("Magnetometer:  "
+                                   + "MX: "
+                                   + dataM[0]
+                                   + " MY: "
+                                   + dataM[1]
+                                   + " MZ: "
+                                   + dataM[2]);
+
+                System.out.println();
+                Thread.sleep(500);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/CMakeLists.txt

@@ -6,13 +6,15 @@ macro(add_example example_name jar_name)
     set(example_jar "${CMAKE_CURRENT_BINARY_DIR}/../../src/${jar_name}/upm_${jar_name}.jar")
 
     add_jar(${example_name} SOURCES ${example_src} INCLUDE_JARS ${example_jar})
+    add_dependencies(${example_name} javaupm_${jar_name})
 endmacro()
 
-macro(add_example_with_path example_name jar_path)
+macro(add_example_with_path example_name jar_path jar_name)
     set(example_src "${example_name}.java")
-    set(example_jar "${CMAKE_CURRENT_BINARY_DIR}/../../src/${jar_path}")
+    set(example_jar "${CMAKE_CURRENT_BINARY_DIR}/../../src/${jar_path}/upm_${jar_name}.jar")
 
     add_jar(${example_name} SOURCES ${example_src} INCLUDE_JARS ${example_jar})
+    add_dependencies(${example_name} javaupm_${jar_name})
 endmacro()
 
 add_example(A110X_intrSample a110x)
@@ -105,12 +107,25 @@ add_example(Ad8232Example ad8232)
 add_example(Gp2y0aExample gp2y0a)
 add_example(Th02Example th02)
 add_example(FlexSensorExample flex)
+add_example(CWLSXXA_Example cwlsxxa)
+add_example(TEAMS_Example teams)
+add_example(APA102Sample apa102)
+add_example(TEX00_Example tex00)
+add_example(BMI160_Example bmi160)
+add_example(Tsl2561 tsl2561)
+add_example(AM2315Example am2315)
+if (MODBUS_FOUND)
+  add_example(H803X_Example h803x)
+endif()
+if (BACNET_FOUND)
+  add_example(E50HX_Example e50hx)
+endif()
+add_example(VCAP_Example vcap)
 
-
-add_example_with_path(Jhd1313m1_lcdSample lcd/upm_i2clcd.jar)
-add_example_with_path(Jhd1313m1Sample lcd/upm_i2clcd.jar)
-add_example_with_path(Lcm1602_i2cSample lcd/upm_i2clcd.jar)
-add_example_with_path(Lcm1602_parallelSample lcd/upm_i2clcd.jar)
-add_example_with_path(SSD1308_oledSample lcd/upm_i2clcd.jar)
-add_example_with_path(SSD1327_oledSample lcd/upm_i2clcd.jar)
+add_example_with_path(Jhd1313m1_lcdSample lcd i2clcd)
+add_example_with_path(Jhd1313m1Sample lcd i2clcd)
+add_example_with_path(Lcm1602_i2cSample lcd i2clcd)
+add_example_with_path(Lcm1602_parallelSample lcd i2clcd)
+add_example_with_path(SSD1308_oledSample lcd i2clcd)
+add_example_with_path(SSD1327_oledSample lcd i2clcd)
 

examples/java/CWLSXXA_Example.java

@@ -0,0 +1,62 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_cwlsxxa.CWLSXXA;
+
+public class CWLSXXA_Example 
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // Instantiate an CWLSXXA instance, using A0 for CO2, A1 for
+        // humidity and A2 for temperature
+        CWLSXXA sensor = new CWLSXXA(0, 1, 2);
+        
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                // we show both C and F for temperature
+                System.out.println("Temperature: " 
+                                   + sensor.getTemperature()
+                                   + " C / "
+                                   + sensor.getTemperature(true)
+                                   + " F");
+
+                System.out.println("Humidity: "
+                                   + sensor.getHumidity()
+                                   + " %");
+
+                System.out.println("CO2: "
+                                   + sensor.getCO2()
+                                   + " ppm");
+                
+                Thread.sleep(1000);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/E50HX_Example.java

@@ -0,0 +1,90 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_e50hx.E50HX;
+
+public class E50HX_Example
+{
+    private static String defaultDev = "/dev/ttyUSB0";
+
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // You will need to edit this example to conform to your site
+        // and your devices, specifically the Device Object Instance
+        // ID passed to the constructor, and the arguments to
+        // initMaster() that are appropriate for your BACnet network.
+
+        if (args.length > 0)
+            defaultDev = args[0];
+        System.out.println("Using device " + defaultDev);
+        System.out.println("Initializing...");
+
+        // Instantiate an E50HX object for an E50HX device that has
+        // 1075425 as it's unique Device Object Instance ID.  NOTE:
+        // You will certainly want to change this to the correct value
+        // for your device(s).
+        E50HX sensor = new E50HX(1075425);
+
+        // Initialize our BACnet master, if it has not already been
+        // initialized, with the device and baudrate, choosing 1000001 as
+        // our unique Device Object Instance ID, 2 as our MAC address and
+        // using default values for maxMaster and maxInfoFrames
+        sensor.initMaster(defaultDev, 38400, 1000001, 2);
+
+        // Uncomment to enable debugging output
+        // sensor.setDebug(true);
+
+        System.out.println();
+        System.out.println("Device Description: " + sensor.getDescription());
+        System.out.println("Device Location: " + sensor.getLocation());
+        System.out.println();
+
+        // update and print a few values every 5 seconds
+        while (true)
+            {
+                System.out.println("System Voltage: "
+                                   + sensor.getAnalogValue(E50HX.ANALOG_VALUES_T.AV_System_Voltage)
+                                   + " "
+                                   + sensor.getAnalogValueUnits(E50HX.ANALOG_VALUES_T.AV_System_Voltage));
+
+                System.out.println("System Type: "
+                                   + sensor.getAnalogValue(E50HX.ANALOG_VALUES_T.AV_System_Type));
+
+                System.out.println("Energy Consumption: "
+                                   + sensor.getAnalogInput(E50HX.ANALOG_INPUTS_T.AI_Energy)
+                                   + " "
+                                   + sensor.getAnalogInputUnits(E50HX.ANALOG_INPUTS_T.AI_Energy));
+
+                System.out.println("Power Up Counter: "
+                                   + sensor.getAnalogInput(E50HX.ANALOG_INPUTS_T.AI_Power_Up_Count));
+
+                System.out.println();
+                Thread.sleep(5000);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/Gp2y0aExample.java

@@ -59,7 +59,7 @@ public class Gp2y0aExample {
 				Thread.sleep(1000);
 			} catch (InterruptedException e) {
 				// TODO Auto-generated catch block
-				System.out.println("The following exception occured: "+e.getMessage());
+				System.out.println("The following exception occurred: "+e.getMessage());
 			}
 		}
 		//! [Interesting]

examples/java/GroveEmg.java

@@ -39,7 +39,7 @@ public class GroveEmg {
 				Thread.sleep(100);
 			} catch (InterruptedException e) {
 				// TODO Auto-generated catch block
-				System.out.println("The following exception occured: "+e.getMessage());
+				System.out.println("The following exception occurred: "+e.getMessage());
 			}
 		}
 	}

examples/java/GroveGsr.java

@@ -41,7 +41,7 @@ public class GroveGsr {
 				Thread.sleep(500);
 			} catch (InterruptedException e) {
 				// TODO Auto-generated catch block
-				System.out.println("The following exception occured: "+e.getMessage());
+				System.out.println("The following exception occurred: "+e.getMessage());
 			}
 		}
 		//! [Interesting]

examples/java/GroveO2Example.java

@@ -38,7 +38,7 @@ public class GroveO2Example {
 				Thread.sleep(100);
 			} catch (InterruptedException e) {
 				// TODO Auto-generated catch block
-				System.out.println("The following exception has occured: "+e.getMessage());
+				System.out.println("The following exception has occurred: "+e.getMessage());
 			}
 		}
 		//! [Interesting]

examples/java/H803X_Example.java

@@ -0,0 +1,123 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_h803x.H803X;
+
+public class H803X_Example 
+{
+    private static String defaultDev = "/dev/ttyUSB0";
+
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+        if (args.length > 0)
+            defaultDev = args[0];
+        System.out.println("Using device " + defaultDev);
+        System.out.println("Initializing...");
+
+        // Instantiate an H803X instance, using MODBUS slave address 1, and
+        // default comm parameters (9600, 8, N, 2)
+        H803X sensor = new H803X(defaultDev, 1);
+        
+        // output the Slave ID (manufacturer, model, serno)
+        System.out.println("Slave ID: " + sensor.getSlaveID());
+        System.out.println();
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                // H8035 / H8036
+                System.out.println("Consumption (kWh): " 
+                                   + sensor.getConsumption());
+                System.out.println("Real Power (kW): " 
+                                   + sensor.getRealPower());
+
+                if (sensor.isH8036())
+                    {
+                        // The H8036 has much more data available...
+                        
+                        System.out.println("Reactive Power (kVAR): "
+                                           + sensor.getReactivePower());
+                        System.out.println("Apparent Power (kVA): "
+                                           + sensor.getApparentPower());
+                        System.out.println("Power Factor: "
+                                           + sensor.getPowerFactor());
+                        System.out.println("Volts Line to Line: "
+                                           + sensor.getVoltsLineToLine());
+                        System.out.println("Volts Line to Neutral: "
+                                           + sensor.getVoltsLineToNeutral());
+                        
+                        System.out.println("Current: " + sensor.getCurrent());
+                        
+                        System.out.println("Real Power Phase A (kW): "
+                                           + sensor.getRealPowerPhaseA());
+                        System.out.println("Real Power Phase B (kW): "
+                                           + sensor.getRealPowerPhaseB());
+                        System.out.println("Real Power Phase C (kW): "
+                                           + sensor.getRealPowerPhaseC());
+                        
+                        System.out.println("Power Factor Phase A: "
+                                           + sensor.getPowerFactorPhaseA());
+                        System.out.println("Power Factor Phase B: "
+                                           + sensor.getPowerFactorPhaseB());
+                        System.out.println("Power Factor Phase C: "
+                                           + sensor.getPowerFactorPhaseC());
+                        
+                        System.out.println("Volts Phase A to B: "
+                                           + sensor.getVoltsPhaseAToB());
+                        System.out.println("Volts Phase B to C: "
+                                           + sensor.getVoltsPhaseBToC());
+                        System.out.println("Volts Phase A to C: "
+                                           + sensor.getVoltsPhaseAToC());
+                        System.out.println("Volts Phase A to Neutral: "
+                                           + sensor.getVoltsPhaseAToNeutral());
+                        System.out.println("Volts Phase B to Neutral: "
+                                           + sensor.getVoltsPhaseBToNeutral());
+                        System.out.println("Volts Phase C to Neutral: "
+                                           + sensor.getVoltsPhaseCToNeutral());
+                        
+                        System.out.println("Current Phase A: "
+                                           + sensor.getCurrentPhaseA());
+                        System.out.println("Current Phase B: "
+                                           + sensor.getCurrentPhaseB());
+                        System.out.println("Current Phase C: "
+                                           + sensor.getCurrentPhaseC());
+                        
+                        System.out.println("Avg Real Power (kW): "
+                                           + sensor.getAvgRealPower());
+                        System.out.println("Min Real Power (kW): "
+                                           + sensor.getMinRealPower());
+                        System.out.println("Max Real Power (kW): "
+                                           + sensor.getMaxRealPower());
+                    }
+
+                System.out.println();
+                Thread.sleep(2000);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/HP20xExample.java

@@ -42,7 +42,7 @@ public class HP20xExample {
 				Thread.sleep(1000);
 			} catch (InterruptedException e) {
 				// TODO Auto-generated catch block
-				System.out.println("The following exception occured: "+e.getMessage());
+				System.out.println("The following exception occurred: "+e.getMessage());
 			}
 		}
 		//! [Interesting]

examples/java/TEAMS_Example.java

@@ -0,0 +1,64 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_teams.TEAMS;
+
+public class TEAMS_Example 
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+        System.out.println("Initializing...");
+
+        // Instantiate an TEAMS instance, using A0 for temperature, and
+        // 165.0 ohms for the rResistor value (for the libelium 4-20ma
+        // interface)
+        TEAMS sensor = new TEAMS(0, 165.0f);
+        
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                // is the sensor connected? (current >= 4ma)
+                System.out.println("Is Connected: " + sensor.isConnected());
+    
+                // print computed current on the loop.  This includes
+                // the offset, if one was set by setOffsetMilliamps().
+                System.out.println("Milliamps: " + sensor.getRawMilliamps());
+
+                // we show both C and F for temperature
+                System.out.println("Temperature: " 
+                                   + sensor.getTemperature()
+                                   + " C / "
+                                   + sensor.getTemperature(true)
+                                   + " F");
+
+                System.out.println();
+                Thread.sleep(1000);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/TEX00_Example.java

@@ -0,0 +1,71 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_tex00.TEX00;
+
+public class TEX00_Example 
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+        System.out.println("Initializing...");
+
+        // Instantiate an TEX00 instance, using A0 for the analog input.  In
+        // this example, we are using a 10K Ohm balance resistor and a TED
+        // (10k type 2) thermistor.
+        TEX00 sensor = new TEX00(0, 10000.0f, 
+                                 TEX00.SENSOR_TYPES_T.STYPE_THERMISTOR_TED);
+
+        System.out.println("Minimum temperature: " 
+                           + sensor.getTemperatureRangeMin());
+        System.out.println("Maximum temperature: " 
+                           + sensor.getTemperatureRangeMax());
+        System.out.println();
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                if (sensor.isOutOfRange())
+                    {
+                        System.out.println("Temperature out of range");
+                    }
+                else
+                    {
+                        // we show both C and F for temperature
+                        System.out.println("Temperature: " 
+                                           + sensor.getTemperature()
+                                           + " C / "
+                                           + sensor.getTemperature(true)
+                                           + " F");
+                    }
+
+                System.out.println();
+                Thread.sleep(1000);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/Th02Example.java

@@ -25,18 +25,6 @@ import upm_th02.TH02;
 
 public class Th02Example {
 
-	static {
-		try {
-			System.loadLibrary("javaupm_th02");
-			System.loadLibrary("mraajava");
-		} catch (UnsatisfiedLinkError e) {
-			System.err.println(
-					"Native code library failed to load. See the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n" +
-							e);
-			System.exit(1);
-		}
-	}
-
 	public static void main(String[] args) {
 		// TODO Auto-generated method stub
 		float temperature = 0;
@@ -51,7 +39,7 @@ public class Th02Example {
 				Thread.sleep(500);
 			} catch (InterruptedException e) {
 				// TODO Auto-generated catch block
-				System.out.println("The following exception has occured: "+e.getMessage());
+				System.out.println("The following exception has occurred: "+e.getMessage());
 			}
 		}
 	}

examples/java/Tsl2561.java

@@ -0,0 +1,61 @@
+/*
+ * Author: Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+import upm_tsl2561.TSL2561;
+
+public class Tsl2561 {
+
+	static {
+		try {
+			System.loadLibrary("javaupm_tsl2561");
+			System.loadLibrary("mraajava");
+		} catch (UnsatisfiedLinkError e) {
+			System.err.println(
+					"Native code library failed to load. See the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n" +
+							e);
+			System.exit(1);
+		}
+	}
+
+	public static void main(String[] args) {
+		// TODO Auto-generated method stub
+		//! [Interesting]
+		TSL2561 sensor = null;
+		int loopCount = 100;
+		// Instantiate the sensor object
+		sensor = new TSL2561();
+
+		for (int i=0; i<loopCount; i++){
+			// retrieving and displaying the Lux value
+			System.out.println("Lux: "+sensor.getLux());
+			try {
+				Thread.sleep(1000);
+			} catch (InterruptedException e) {
+				// TODO Auto-generated catch block
+				System.out.println("The following exception occurred: "+e.getMessage());
+			}
+		}
+		//! [Interesting]
+	}
+
+}

examples/java/VCAP_Example.java

@@ -0,0 +1,60 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_vcap.VCAP;
+
+public class VCAP_Example 
+{
+    private static String defaultDev = "/dev/video0";
+
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+        if (args.length > 0)
+            defaultDev = args[0];
+
+        System.out.println("Using device " + defaultDev);
+        System.out.println("Initializing...");
+
+        // Instantiate an VCAP instance, using the specified video device
+        VCAP sensor = new VCAP(defaultDev);
+        
+        // enable some debug/verbose output
+        sensor.setDebug(true);
+
+        // This is just a hint.  The kernel can change this to a lower
+        // resolution that the hardware supports.  Use getWidth() and
+        // getHeight() methods to see what the kernel actually chose if you
+        // care.
+        sensor.setResolution(1920, 1080);
+
+        // capture an image
+        sensor.captureImage();
+        
+        // convert and save it as a jpeg
+        sensor.saveImage("video-img1.jpg");
+
+// ! [Interesting]
+    }
+}

examples/java/WaterLevelSensor.java

@@ -43,7 +43,7 @@ public class WaterLevelSensor {
 				Thread.sleep(1000);
 			} catch (InterruptedException e) {
 				// TODO Auto-generated catch block
-				System.out.println("The following exception occured: "+e.getMessage());
+				System.out.println("The following exception occurred: "+e.getMessage());
 			}
 		}
 		//! [Interesting]

examples/javascript/apa102.js

@@ -0,0 +1,44 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+/*
+* Author:  Yannick Adam <yannick.adam@gmail.com>
+* Copyright (c) 2016 Yannick Adam
+*
+* 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.
+*/
+
+var lib = require('jsupm_apa102');
+
+// Instantiate a strip of 30 LEDs on SPI Bus 0
+var ledStrip = new lib.APA102(30, 0);
+
+// Set all LEDs to blue
+ledStrip.setAllLeds(31, 0, 0, 255);
+
+// Set a mid-section to red
+ledStrip.setLeds(10,20, 31, 255, 0, 0);
+
+// Set a single led to green
+ledStrip.setLed(15, 31, 0, 255, 0);
+
+
+// Exit
+ledStrip = null;
+process.exit(0);

examples/javascript/bme280.js

@@ -0,0 +1,51 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+* Author: Henry Bruce <henry.bruce@intel.com>
+* Copyright (c) 2016 Intel Corporation.
+*
+* Permission is hereby granted, free of charge, to any person obtaining
+* a copy of this software and associated documentation files (the
+* "Software"), to deal in the Software without restriction, including
+* without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to
+* permit persons to whom the Software is furnished to do so, subject to
+* the following conditions:
+*
+* The above copyright notice and this permission notice shall be
+* included in all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+var bme280pkg = require('jsupm_bme280');
+
+// Instantiate a BME280 Sensor on I2C sub-platform bus 0
+var bme280 = new bme280pkg.BME280(512);
+
+// update every second and print the values
+var myInterval = setInterval(function()
+{
+	// print detected value
+	console.log("Temperature: " + bme280.getTemperatureCelcius() + "C");
+	console.log("Humidity:    " + bme280.getHumidityRelative() + "%");
+	console.log("Pressure:    " + bme280.getPressurePa() + "Pa");
+}, 1000);
+
+
+// When exiting: clear interval and print message
+process.on('SIGINT', function()
+{
+	clearInterval(myInterval);
+	bme280 = null
+	bme280pkg = null;
+	console.log("Exiting");
+	process.exit(0);
+});

examples/javascript/bmi160.js

@@ -0,0 +1,71 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_bmi160');
+
+// Instantiate a BMI160 instance using default i2c bus and address
+var sensor = new sensorObj.BMI160();
+
+var x = new sensorObj.new_floatp();
+var y = new sensorObj.new_floatp();
+var z = new sensorObj.new_floatp();
+
+// Output data every half second until interrupted
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    sensor.getAccelerometer(x, y, z);
+    console.log("Accelerometer: AX: " + sensorObj.floatp_value(x) +
+                " AY: " + sensorObj.floatp_value(y) +
+                " AZ: " + sensorObj.floatp_value(z));
+
+    sensor.getGyroscope(x, y, z);
+    console.log("Gyroscope:     GX: " + sensorObj.floatp_value(x) +
+                " AY: " + sensorObj.floatp_value(y) +
+                " AZ: " + sensorObj.floatp_value(z));
+
+    sensor.getMagnetometer(x, y, z);
+    console.log("Magnetometer:  MX: " + sensorObj.floatp_value(x) +
+                " MY: " + sensorObj.floatp_value(y) +
+                " MZ: " + sensorObj.floatp_value(z));
+
+    console.log();
+
+}, 500);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});

examples/javascript/cwlsxxa.js

@@ -0,0 +1,66 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_cwlsxxa');
+
+
+/************** Main code **************/
+
+console.log("Initializing...");
+
+// Instantiate an CWLSXXA instance, using A0 for CO2, A1 for
+// humidity and A2 for temperature
+var sensor = new sensorObj.CWLSXXA(0, 1, 2);
+
+// update and print available values every second
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    // we show both C and F for temperature
+    console.log("Temperature:", sensor.getTemperature(),
+                "C /", sensor.getTemperature(true), "F");
+
+    console.log("Humidity:", sensor.getHumidity(), "%");
+
+    console.log("CO2:", sensor.getCO2(), "ppm");
+
+    console.log("");
+
+}, 1000);
+
+
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting...");
+    process.exit(0);
+});

examples/javascript/e50hx.js

@@ -0,0 +1,101 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_e50hx');
+
+
+/************** Main code **************/
+
+// You will need to edit this example to conform to your site and your
+// devices, specifically the Device Object Instance ID passed to the
+// constructor, and the arguments to initMaster() that are
+// appropriate for your BACnet network.
+
+var defaultDev = "/dev/ttyUSB0";
+
+// if an argument was specified, use it as the device instead
+if (process.argv.length > 2)
+{
+    defaultDev = process.argv[2];
+}
+
+console.log("Using device " + defaultDev);
+console.log("Initializing...");
+
+// Instantiate an E50HX object for an E50HX device that has 1075425
+// as it's unique Device Object Instance ID.  NOTE: You will
+// certainly want to change this to the correct value for your
+// device(s).
+var sensor = new sensorObj.E50HX(1075425);
+
+// Initialize our BACnet master, if it has not already been
+// initialized, with the device and baudrate, choosing 1000001 as
+// our unique Device Object Instance ID, 2 as our MAC address and
+// using default values for maxMaster and maxInfoFrames
+sensor.initMaster(defaultDev, 38400, 1000001, 2);
+
+// Uncomment to enable debugging output
+// sensor.setDebug(true);
+
+console.log("");
+console.log("Device Description:", sensor.getDescription());
+console.log("Device Location:", sensor.getLocation());
+console.log("");
+
+// update and print a few values every 5 seconds
+setInterval(function()
+{
+    console.log("System Voltage:",
+                sensor.getAnalogValue(sensorObj.E50HX.AV_System_Voltage),
+                " ",
+                sensor.getAnalogValueUnits(sensorObj.E50HX.AV_System_Voltage));
+
+    console.log("System Type:",
+                sensor.getAnalogValue(sensorObj.E50HX.AV_System_Type));
+
+    console.log("Energy Consumption:",
+                sensor.getAnalogInput(sensorObj.E50HX.AI_Energy),
+                " ",
+                sensor.getAnalogInputUnits(sensorObj.E50HX.AI_Energy));
+
+    console.log("Power Up Counter:",
+                sensor.getAnalogInput(sensorObj.E50HX.AI_Power_Up_Count));
+
+    console.log("");
+
+}, 5000);
+
+
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting...");
+    process.exit(0);
+});

examples/javascript/h803x.js

@@ -0,0 +1,115 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_h803x');
+
+
+/************** Main code **************/
+
+var defaultDev = "/dev/ttyUSB0";
+
+// if an argument was specified, use it as the device instead
+if (process.argv.length > 2)
+{
+    defaultDev = process.argv[2];
+}
+
+console.log("Using device " + defaultDev);
+console.log("Initializing...");
+
+// Instantiate an H803X instance, using MODBUS slave address 1, and
+// default comm parameters (9600, 8, N, 2)
+var sensor = new sensorObj.H803X(defaultDev, 1);
+
+// output the Slave ID (manufacturer, model, serno)
+console.log("Slave ID:", sensor.getSlaveID());
+
+console.log("");
+
+// update and print available values every second
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    // H8035 / H8036
+    console.log("Consumption (kWh):", sensor.getConsumption());
+    console.log("Real Power (kW):", sensor.getRealPower());
+
+    if (sensor.isH8036())
+    {
+        // The H8036 has much more data available...
+
+          console.log("Reactive Power (kVAR):", sensor.getReactivePower());
+          console.log("Apparent Power (kVA):", sensor.getApparentPower());
+          console.log("Power Factor:", sensor.getPowerFactor());
+          console.log("Volts Line to Line:", sensor.getVoltsLineToLine());
+          console.log("Volts Line to Neutral:", sensor.getVoltsLineToNeutral());
+
+          console.log("Current:", sensor.getCurrent());
+
+          console.log("Real Power Phase A (kW):", sensor.getRealPowerPhaseA());
+          console.log("Real Power Phase B (kW):", sensor.getRealPowerPhaseB());
+          console.log("Real Power Phase C (kW):", sensor.getRealPowerPhaseC());
+
+          console.log("Power Factor Phase A:", sensor.getPowerFactorPhaseA());
+          console.log("Power Factor Phase B:", sensor.getPowerFactorPhaseB());
+          console.log("Power Factor Phase C:", sensor.getPowerFactorPhaseC());
+
+          console.log("Volts Phase A to B:", sensor.getVoltsPhaseAToB());
+          console.log("Volts Phase B to C:", sensor.getVoltsPhaseBToC());
+          console.log("Volts Phase A to C:", sensor.getVoltsPhaseAToC());
+          console.log("Volts Phase A to Neutral: ",
+                      sensor.getVoltsPhaseAToNeutral());
+          console.log("Volts Phase B to Neutral: ",
+                      sensor.getVoltsPhaseBToNeutral());
+          console.log("Volts Phase C to Neutral: ",
+                      sensor.getVoltsPhaseCToNeutral());
+
+          console.log("Current Phase A:", sensor.getCurrentPhaseA());
+          console.log("Current Phase B:", sensor.getCurrentPhaseB());
+          console.log("Current Phase C:", sensor.getCurrentPhaseC());
+
+          console.log("Avg Real Power (kW):", sensor.getAvgRealPower());
+          console.log("Min Real Power (kW):", sensor.getMinRealPower());
+          console.log("Max Real Power (kW):", sensor.getMaxRealPower());
+    }
+
+    console.log("");
+
+}, 2000);
+
+
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting...");
+    process.exit(0);
+});

examples/javascript/hmtrp.js

@@ -128,7 +128,7 @@ function runRadio()
 			console.log("Received: " + resultStr);
 		}
 
-		if (rv < 0) // some sort of read error occured
+		if (rv < 0) // some sort of read error occurred
 		{
 			console.log("Port read error.");
 			return;

examples/javascript/oled_ssd1306.js

@@ -90,7 +90,7 @@ function exit()
 
 // Load i2clcd module
 var lcdObj = require('jsupm_i2clcd');
-var lcd = new lcdObj.SSD1306(6, 0x3c);
+var lcd = new lcdObj.SSD1306(0, 0x3C);
 var next = 0;
 
 lcd.clear();

examples/javascript/teams.js

@@ -0,0 +1,70 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_teams');
+
+
+/************** Main code **************/
+
+console.log("Initializing...");
+
+// Instantiate an TEAMS instance, using A0 for temperature, and
+// 165.0 ohms for the rResistor value (for the libelium 4-20ma
+// interface)
+var sensor = new sensorObj.TEAMS(0, 165.0);
+
+// update and print available values every second
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    // is the sensor connected? (current >= 4ma)
+    console.log("Is Connected:", sensor.isConnected());
+    
+    // print computed current on the loop.  This includes the offset,
+    // if one was set by setOffsetMilliamps().
+    console.log("Milliamps:", sensor.getRawMilliamps());
+
+    // we show both C and F for temperature
+    console.log("Temperature:", sensor.getTemperature(),
+                "C /", sensor.getTemperature(true), "F");
+
+    console.log("");
+
+}, 1000);
+
+
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting...");
+    process.exit(0);
+});

examples/javascript/tex00.js

@@ -0,0 +1,77 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_tex00');
+
+
+/************** Main code **************/
+
+console.log("Initializing...");
+
+// Instantiate an TEX00 instance, using A0 for the analog input.  In
+// this example, we are using a 10K Ohm balance resistor and a TED
+// (10k type 2) thermistor.
+var sensor = new sensorObj.TEX00(0, 10000, 
+                                 sensorObj.TEX00.STYPE_THERMISTOR_TED);
+
+console.log("Minimum temperature:", sensor.getTemperatureRangeMin(),
+            "C");
+console.log("Maximum temperature:", sensor.getTemperatureRangeMax(),
+            "C");
+console.log("");
+
+// update and print available values every second
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    if (sensor.isOutOfRange())
+    {
+        console.log("Temperature out of range");
+    }
+    else
+    {
+        // we show both C and F for temperature
+        console.log("Temperature:", sensor.getTemperature(),
+                    "C /", sensor.getTemperature(true), "F");
+    }
+
+    console.log("");
+
+}, 1000);
+
+
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting...");
+    process.exit(0);
+});

examples/javascript/ublox6.js

@@ -66,7 +66,7 @@ function getGPSInfo()
 			process.stdout.write(GPSData)
 		}
 
-		if (rv < 0) // some sort of read error occured
+		if (rv < 0) // some sort of read error occurred
 		{
 			console.log("Port read error.");
 			process.exit(0);

examples/javascript/vcap.js

@@ -0,0 +1,69 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_vcap');
+
+
+/************** Main code **************/
+
+var defaultDev = "/dev/video0";
+
+// if an argument was specified, use it as the device instead
+if (process.argv.length > 2)
+{
+    defaultDev = process.argv[2];
+}
+
+console.log("Using device " + defaultDev);
+console.log("Initializing...");
+
+// Instantiate an VCAP instance, using the specified video device
+var sensor = new sensorObj.VCAP(defaultDev);
+
+// enable some debug/verbose output
+sensor.setDebug(true);
+
+// This is just a hint.  The kernel can change this to a lower
+// resolution that the hardware supports.  Use getWidth() and
+// getHeight() methods to see what the kernel actually chose if you
+// care.
+sensor.setResolution(1920, 1080);
+
+// capture an image
+sensor.captureImage();
+
+// convert and save it as a jpeg
+sensor.saveImage("video-img1.jpg");
+
+// make sure we clean up
+sensor = null;
+sensorObj.cleanUp();
+sensorObj = null;
+console.log("Exiting...");
+process.exit(0);
+

examples/python/apa102.py

@@ -0,0 +1,48 @@
+#!/usr/bin/python
+# Author:  Yannick Adam <yannick.adam@gmail.com>
+# Copyright (c) 2016 Yannick Adam
+#
+# 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.
+
+
+import time, sys, signal, atexit
+import pyupm_apa102 as mylib
+
+# Instantiate a strip of 30 LEDs on SPI bus 0
+ledStrip = mylib.APA102(30, 0, False)
+
+## Exit handlers ##
+# This stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+    raise SystemExit
+
+# Register exit handlers
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+print "Setting all LEDs to Green"
+ledStrip.setAllLeds(31, 0, 255, 0)
+
+print "Setting LEDs between 10 and 20 to Red"
+ledStrip.setLeds(10, 20, 31, 255, 0, 0)
+
+print "Setting LED 15 to Blue"
+ledStrip.setLed(15, 31, 0, 0, 255)
+
+

examples/python/bmi160.py

@@ -0,0 +1,66 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_bmi160 as sensorObj
+
+# Instantiate a BMI160 instance using default i2c bus and address
+sensor = sensorObj.BMI160()
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+x = sensorObj.new_floatp()
+y = sensorObj.new_floatp()
+z = sensorObj.new_floatp()
+
+while (1):
+        sensor.update()
+        sensor.getAccelerometer(x, y, z)
+        print "Accelerometer: AX: ", sensorObj.floatp_value(x),
+        print " AY: ", sensorObj.floatp_value(y),
+        print " AZ: ", sensorObj.floatp_value(z)
+
+        sensor.getGyroscope(x, y, z)
+        print "Gyroscope:     GX: ", sensorObj.floatp_value(x),
+        print " GY: ", sensorObj.floatp_value(y),
+        print " GZ: ", sensorObj.floatp_value(z)
+
+        sensor.getMagnetometer(x, y, z)
+        print "Magnetometer:  MX: ", sensorObj.floatp_value(x),
+        print " MY: ", sensorObj.floatp_value(y),
+        print " MZ: ", sensorObj.floatp_value(z)
+
+        print
+	time.sleep(.5)

examples/python/cwlsxxa.py

@@ -0,0 +1,61 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_cwlsxxa as sensorObj
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+print "Initializing..."
+
+# Instantiate an CWLSXXA instance, using A0 for CO2, A1 for
+# humidity and A2 for temperature
+sensor = sensorObj.CWLSXXA(0, 1, 2)
+
+# update and print available values every second
+while (1):
+        # update our values from the sensor
+        sensor.update()
+
+        # we show both C and F for temperature
+        print "Temperature:", sensor.getTemperature(), "C /",
+        print sensor.getTemperature(True), "F"
+
+        print "Humidity:", sensor.getHumidity(), "%"
+
+        print "CO2:", sensor.getCO2(), "ppm"
+
+        print
+	time.sleep(1)

examples/python/e50hx.py

@@ -0,0 +1,95 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_e50hx as sensorObj
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting..."
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+# You will need to edit this example to conform to your site and your
+# devices, specifically the Device Object Instance ID passed to the
+# constructor, and the arguments to initMaster() that are
+# appropriate for your BACnet network.
+
+defaultDev = "/dev/ttyUSB0"
+
+# if an argument was specified, use it as the device instead
+if (len(sys.argv) > 1):
+        defaultDev = sys.argv[1]
+
+print "Using device", defaultDev
+print "Initializing..."
+
+# Instantiate an E50HX object for an E50HX device that has 1075425
+# as it's unique Device Object Instance ID.  NOTE: You will
+# certainly want to change this to the correct value for your
+# device(s).
+sensor = sensorObj.E50HX(1075425)
+
+# Initialize our BACnet master, if it has not already been
+# initialized, with the device and baudrate, choosing 1000001 as
+# our unique Device Object Instance ID, 2 as our MAC address and
+# using default values for maxMaster and maxInfoFrames
+sensor.initMaster(defaultDev, 38400, 1000001, 2)
+
+# Uncomment to enable debugging output
+# sensor.setDebug(True);
+
+# output the serial number and firmware revision
+print
+print "Device Description:", sensor.getDescription()
+print "Device Location:", sensor.getLocation()
+print
+
+# update and print available values every second
+while (1):
+        print "System Voltage:",
+        print sensor.getAnalogValue(sensorObj.E50HX.AV_System_Voltage),
+        print " ",
+        print sensor.getAnalogValueUnits(sensorObj.E50HX.AV_System_Voltage)
+
+        print "System Type:",
+        print sensor.getAnalogValue(sensorObj.E50HX.AV_System_Type)
+
+        print "Energy Consumption:",
+        print sensor.getAnalogInput(sensorObj.E50HX.AI_Energy),
+        print " ",
+        print sensor.getAnalogInputUnits(sensorObj.E50HX.AI_Energy)
+
+        print "Power Up Counter:",
+        print sensor.getAnalogInput(sensorObj.E50HX.AI_Power_Up_Count)
+
+        print
+	time.sleep(5)

examples/python/h803x.py

@@ -0,0 +1,106 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_h803x as sensorObj
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting..."
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+defaultDev = "/dev/ttyUSB0"
+
+# if an argument was specified, use it as the device instead
+if (len(sys.argv) > 1):
+        defaultDev = sys.argv[1]
+
+print "Using device", defaultDev
+print "Initializing..."
+
+# Instantiate an H803X instance, using MODBUS slave address 1, and
+# default comm parameters (9600, 8, N, 2)
+sensor = sensorObj.H803X(defaultDev, 1)
+
+# output the serial number and firmware revision
+print "Slave ID:", sensor.getSlaveID()
+
+print
+
+# update and print available values every second
+while (1):
+        # update our values from the sensor
+        sensor.update()
+
+        # H8035 / H8036
+        print "Consumption (kWh):", sensor.getConsumption()
+        print "Real Power (kW):", sensor.getRealPower()
+
+        if (sensor.isH8036()):
+                # The H8036 has much more data available...
+
+                print "Reactive Power (kVAR):", sensor.getReactivePower()
+                print "Apparent Power (kVA):", sensor.getApparentPower()
+                print "Power Factor:", sensor.getPowerFactor()
+                print "Volts Line to Line:", sensor.getVoltsLineToLine()
+                print "Volts Line to Neutral:", sensor.getVoltsLineToNeutral()
+
+                print "Current:", sensor.getCurrent()
+
+                print "Real Power Phase A (kW):", sensor.getRealPowerPhaseA()
+                print "Real Power Phase B (kW):", sensor.getRealPowerPhaseB()
+                print "Real Power Phase C (kW):", sensor.getRealPowerPhaseC()
+
+                print "Power Factor Phase A:", sensor.getPowerFactorPhaseA()
+                print "Power Factor Phase B:", sensor.getPowerFactorPhaseB()
+                print "Power Factor Phase C:", sensor.getPowerFactorPhaseC()
+
+                print "Volts Phase A to B:", sensor.getVoltsPhaseAToB()
+                print "Volts Phase B to C:", sensor.getVoltsPhaseBToC()
+                print "Volts Phase A to C:", sensor.getVoltsPhaseAToC()
+                print "Volts Phase A to Neutral: ",
+                print sensor.getVoltsPhaseAToNeutral()
+                print "Volts Phase B to Neutral: ",
+                print sensor.getVoltsPhaseBToNeutral()
+                print "Volts Phase C to Neutral: ",
+                print sensor.getVoltsPhaseCToNeutral()
+
+                print "Current Phase A:", sensor.getCurrentPhaseA()
+                print "Current Phase B:", sensor.getCurrentPhaseB()
+                print "Current Phase C:", sensor.getCurrentPhaseC()
+
+                print "Avg Real Power (kW):", sensor.getAvgRealPower()
+                print "Min Real Power (kW):", sensor.getMinRealPower()
+                print "Max Real Power (kW):", sensor.getMaxRealPower()
+
+        print
+	time.sleep(2)

examples/python/hmtrp.py

@@ -123,7 +123,7 @@ else:
 					resultStr += radioBuffer.__getitem__(x)
 				print "Received:", resultStr
 
-			if (rv < 0): # some sort of read error occured
+			if (rv < 0): # some sort of read error occurred
 				print "Port read error."
 				sys.exit(0)
 		myCounter += 1

examples/python/teams.py

@@ -0,0 +1,65 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_teams as sensorObj
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+print "Initializing..."
+
+# Instantiate an TEAMS instance, using A0 for temperature, and
+# 165.0 ohms for the rResistor value (for the libelium 4-20ma
+# interface)
+sensor = sensorObj.TEAMS(0, 165.0)
+
+# update and print available values every second
+while (1):
+        # update our values from the sensor
+        sensor.update()
+
+        # is the sensor connected? (current >= 4ma)
+        print "Is Connected:", sensor.isConnected()
+    
+        # print computed current on the loop.  This includes the offset,
+        # if one was set by setOffsetMilliamps().
+        print "Milliamps:", sensor.getRawMilliamps()
+
+        # we show both C and F for temperature
+        print "Temperature:", sensor.getTemperature(), "C /",
+        print sensor.getTemperature(True), "F"
+
+        print
+	time.sleep(1)

examples/python/tex00.py

@@ -0,0 +1,65 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_tex00 as sensorObj
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+print "Initializing..."
+
+# Instantiate an TEX00 instance, using A0 for the analog input.  In
+# this example, we are using a 10K Ohm balance resistor and a TED
+# (10k type 2) thermistor.
+sensor = sensorObj.TEX00(0, 10000, sensorObj.TEX00.STYPE_THERMISTOR_TED)
+
+print "Minimum temperature:", sensor.getTemperatureRangeMin(), "C"
+print "Maximum temperature:", sensor.getTemperatureRangeMax(), "C"
+print
+
+# update and print available values every second
+while (1):
+        # update our values from the sensor
+        sensor.update()
+
+        if (sensor.isOutOfRange()):
+                print "Temperature out of range"
+        else:
+                # we show both C and F for temperature
+                print "Temperature:", sensor.getTemperature(), "C /",
+                print sensor.getTemperature(True), "F"
+
+        print
+	time.sleep(1)

examples/python/ublox6.py

@@ -73,7 +73,7 @@ def getGPSInfo():
 				GPSData += nmeaBuffer.__getitem__(x)
 			sys.stdout.write(GPSData)
 
-		if (rv < 0): # some sort of read error occured
+		if (rv < 0): # some sort of read error occurred
 			print "Port read error."
 			sys.exit(0)
 

examples/python/vcap.py

@@ -0,0 +1,67 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_vcap as sensorObj
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting..."
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+defaultDev = "/dev/video0"
+
+# if an argument was specified, use it as the device instead
+if (len(sys.argv) > 1):
+        defaultDev = sys.argv[1]
+
+print "Using device", defaultDev
+print "Initializing..."
+
+# Instantiate an VCAP instance, using the specified video device
+sensor = sensorObj.VCAP(defaultDev)
+
+# enable some debug/verbose output
+sensor.setDebug(True);
+
+# This is just a hint.  The kernel can change this to a lower
+# resolution that the hardware supports.  Use getWidth() and
+# getHeight() methods to see what the kernel actually chose if you
+# care.
+sensor.setResolution(1920, 1080);
+
+# capture an image
+sensor.captureImage();
+
+# convert and save it as a jpeg
+sensor.saveImage("video-img1.jpg");
+

src/CMakeLists.txt

@@ -28,6 +28,11 @@ endmacro (upm_CREATE_INSTALL_PKGCONFIG)
 
 macro(upm_SWIG_PYTHON)
   if (BUILDSWIGPYTHON AND BUILDSWIG)
+
+    include_directories (
+      ${CMAKE_CURRENT_SOURCE_DIR}/..
+    )
+
     set_source_files_properties (pyupm_${libname}.i PROPERTIES CPLUSPLUS ON)
     set_source_files_properties (pyupm_${libname}.i PROPERTIES SWIG_FLAGS "-I${CMAKE_CURRENT_BINARY_DIR}/..")
     swig_add_module (pyupm_${libname} python pyupm_${libname}.i ${module_src})
@@ -39,7 +44,7 @@ macro(upm_SWIG_PYTHON)
      )
     install (FILES ${CMAKE_CURRENT_BINARY_DIR}/_pyupm_${libname}.so
          ${CMAKE_CURRENT_BINARY_DIR}/pyupm_${libname}.py
-         DESTINATION ${CMAKE_INSTALL_LIBDIR}/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages/
+         DESTINATION ${LIB_INSTALL_DIR}/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages/
          COMPONENT ${libname})
   endif()
 endmacro()
@@ -57,6 +62,10 @@ macro(upm_SWIG_NODE)
       string (LENGTH "${V8_VERSION_HEX}" V8_VERSION_HEX_length)
     endwhile ()
 
+    include_directories (
+      ${CMAKE_CURRENT_SOURCE_DIR}/..
+    )
+
     set_property (SOURCE jsupm_${libname}.i PROPERTY SWIG_FLAGS "-node" "-DV8_VERSION=${V8_VERSION_HEX}")
     set_source_files_properties (jsupm_${libname}.i PROPERTIES CPLUSPLUS ON)
     swig_add_module (jsupm_${libname} javascript jsupm_${libname}.i ${module_src})
@@ -77,24 +86,26 @@ macro(upm_SWIG_NODE)
           message(FATAL_ERROR " **ERROR** GCC 4.7 or above is required to compile jsupm_${libname} ")
         endif()
       endif()
-      set_property (TARGET jsupm_${libname} PROPERTY CXX_STANDARD 11)
-      set_property (TARGET jsupm_${libname} PROPERTY CXX_STANDARD_REQUIRED ON)
 
-      if (CMAKE_VERSION VERSION_LESS "3.1")
-        if (CMAKE_COMPILER_IS_GNUCXX)
-          if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "4.7")
-            message (FATAL_ERROR " FATAL ERROR: GNU gcc compiler is also too old (need 4.7+, but ${CMAKE_CXX_COMPILER_VERSION}) and does not support C++11 standard.")
+      if (NOT ENABLECXX11)
+          set_property (TARGET jsupm_${libname} PROPERTY CXX_STANDARD 11)
+          set_property (TARGET jsupm_${libname} PROPERTY CXX_STANDARD_REQUIRED ON)
+
+          if (CMAKE_VERSION VERSION_LESS "3.1")
+            if (CMAKE_COMPILER_IS_GNUCXX)
+              if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "4.7")
+                message (FATAL_ERROR " FATAL ERROR: GNU gcc compiler is also too old (need 4.7+, but ${CMAKE_CXX_COMPILER_VERSION}) and does not support C++11 standard.")
+              endif ()
+              set (UPM_CXX11_WORKAROUND_OPTION "-std=gnu++11")
+            else ()
+              set (UPM_CXX11_WORKAROUND_OPTION "-std=c++11")
+            endif ()
+            set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${UPM_CXX11_WORKAROUND_OPTION} ")
           endif ()
-          set (UPM_CXX11_WORKAROUND_OPTION "-std=gnu++11")
-        else ()
-          set (UPM_CXX11_WORKAROUND_OPTION "-std=c++11")
-        endif ()
-        set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${UPM_CXX11_WORKAROUND_OPTION} ")
       endif ()
 
     endif()
     createpackagejson(${libname})
-    set (NODE_MODULE_INSTALL_PATH ${NODE_ROOT_DIR}/lib/node_modules/jsupm_${libname}/)
     install (FILES ${CMAKE_CURRENT_BINARY_DIR}/jsupm_${libname}.node
          DESTINATION ${NODE_MODULE_INSTALL_PATH} COMPONENT ${libname})
   endif()
@@ -126,8 +137,8 @@ macro(upm_SWIG_JAVA)
       PREFIX "lib"
       SUFFIX ".so"
     )
-    install (TARGETS javaupm_${libname} LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})
-    install (FILES ${CMAKE_CURRENT_BINARY_DIR}/upm_${libname}.jar DESTINATION ${CMAKE_INSTALL_LIBDIR}/../lib/java)
+    install (TARGETS javaupm_${libname} LIBRARY DESTINATION ${LIB_INSTALL_DIR})
+    install (FILES ${CMAKE_CURRENT_BINARY_DIR}/upm_${libname}.jar DESTINATION ${LIB_INSTALL_DIR}/../lib/java)
 
     if (NOT DEFINED $ENV{JAVA_HOME_NATIVE})
         set (JAVAC $ENV{JAVA_HOME}/bin/javac)
@@ -155,7 +166,7 @@ macro(upm_doxygen)
       set (classname ${libname})
     endif()
     set (CMAKE_SWIG_FLAGS -DDOXYGEN=${DOXYGEN_FOUND})
-    if (BUILDSWIG)
+    if (BUILDSWIGPYTHON AND BUILDSWIG)
       add_dependencies (_pyupm_${libname} pyupm_doxy2swig)
       add_dependencies (pydoc _pyupm_${libname})
     else ()
@@ -165,6 +176,14 @@ macro(upm_doxygen)
 endmacro()
 
 if (SWIG_FOUND)
+  if (BUILDSWIGPYTHON)
+    if(NOT PYTHONLIBS_FOUND)
+      find_package (PythonLibs ${PYTHONBUILD_VERSION} REQUIRED)
+      string (REPLACE "." ";" PYTHON_VERSION_LIST ${PYTHONLIBS_VERSION_STRING})
+      list (GET PYTHON_VERSION_LIST 0 PYTHON_VERSION_MAJOR)
+      list (GET PYTHON_VERSION_LIST 1 PYTHON_VERSION_MINOR)
+    endif()
+  endif(BUILDSWIGPYTHON)
   if (BUILDSWIGNODE)
     if(NOT NODE_FOUND)
       find_package(Node)
@@ -180,14 +199,20 @@ if (SWIG_FOUND)
       ${NODE_ROOT_DIR}/include/deps/uv/include
     )
     macro(createpackagejson)
-        configure_file (${PROJECT_SOURCE_DIR}/src/package.json.in ${CMAKE_CURRENT_BINARY_DIR}/package.json @ONLY)
+      configure_file (${PROJECT_SOURCE_DIR}/src/package.json.in ${CMAKE_CURRENT_BINARY_DIR}/package.json @ONLY)
+      # If a CMAKE_INSTALL_PREFIX has NOT been provided, set NODE_MODULE_INSTALL_PATH
+      # base on the NODE_ROOT_DIR.
+      if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
         set (NODE_MODULE_INSTALL_PATH ${NODE_ROOT_DIR}/lib/node_modules/jsupm_${libname}/)
-        install(FILES ${CMAKE_CURRENT_BINARY_DIR}/package.json
-            DESTINATION ${NODE_MODULE_INSTALL_PATH} COMPONENT ${libname})
+      # If a CMAKE_INSTALL_PREFIX has been provided, set NODE_MODULE_INSTALL_PATH
+      # relative to the provided install directory.
+      else ()
+        set (NODE_MODULE_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/node_modules/jsupm_${libname}/)
+      endif ()
+      install(FILES ${CMAKE_CURRENT_BINARY_DIR}/package.json
+          DESTINATION ${NODE_MODULE_INSTALL_PATH} COMPONENT ${libname})
     endmacro()
-
   endif(BUILDSWIGNODE)
-
 endif()
 
 macro(upm_module_init)
@@ -196,7 +221,7 @@ macro(upm_module_init)
   foreach (linkflag ${ARGN})
     target_link_libraries (${libname} ${linkflag})
   endforeach ()
-  include_directories (${MRAA_INCLUDE_DIRS} .)
+  include_directories (${MRAA_INCLUDE_DIRS} . ..)
   target_link_libraries (${libname} ${MRAA_LIBRARIES})
   set_target_properties(
     ${libname}
@@ -204,7 +229,7 @@ macro(upm_module_init)
     SOVERSION ${upm_VERSION_MAJOR}
     VERSION ${upm_VERSION_STRING}
   )
-  upm_create_install_pkgconfig (upm-${libname}.pc ${CMAKE_INSTALL_LIBDIR}/pkgconfig)
+  upm_create_install_pkgconfig (upm-${libname}.pc ${LIB_INSTALL_DIR}/pkgconfig)
   if (SWIG_FOUND)
     if (NOT ";${PYTHONSWIG_BLACKLIST};" MATCHES ";${libname};")
       upm_swig_python()
@@ -219,7 +244,7 @@ macro(upm_module_init)
   if (BUILDDOC)
     upm_doxygen()
   endif()
-  install(TARGETS ${libname} DESTINATION ${CMAKE_INSTALL_LIBDIR})
+  install(TARGETS ${libname} DESTINATION ${LIB_INSTALL_DIR})
   install (FILES ${module_h} DESTINATION include/upm COMPONENT ${libname})
 
   if (IPK)

src/ads1x15/ads1015.cxx

@@ -30,15 +30,63 @@ ADS1015::setSPS(ADSSAMPLERATE rate){
     updateConfigRegister((m_config_reg & ~ADS1X15_DR_MASK) | rate);
 }
 
-ADS1015::ADS1015(int bus, uint8_t address) : ADS1X15(bus, address) {
+ADS1015::ADS1015(int bus, uint8_t address, float vref) : ADS1X15(bus, address) {
     m_name = "ADS1015";
     m_conversionDelay = ADS1015_CONVERSIONDELAY;
     m_bitShift = 4;
     ADS1X15::getCurrentConfig();
+    if (vref < 0.0 || vref > 6.144)
+        UPM_THROW("vref out of range");
+    else if (vref > 4.096)
+        setGain(GAIN_TWOTHIRDS);
+    else if (vref > 2.048)
+        setGain(GAIN_ONE);
+    else if (vref > 1.024)
+        setGain(GAIN_TWO);
+    else if (vref > 0.512)
+        setGain(GAIN_FOUR);
+    else if (vref > 0.256)
+        setGain(GAIN_EIGHT);
+    else
+        setGain(GAIN_SIXTEEN);
 }
 
 ADS1015::~ADS1015(){};
 
+const char*
+ADS1015::getModuleName() {
+    return m_name.c_str();
+}
+
+
+unsigned int
+ADS1015::getNumInputs() {
+    return 4;
+}
+
+unsigned int
+ADS1015::getResolutionInBits() {
+    return 12;
+}
+
+uint16_t
+ADS1015::getRawValue(unsigned int input) {
+    ADS1X15::ADSMUXMODE mode = getMuxMode(input);
+    updateConfigRegister((m_config_reg & ~ADS1X15_MUX_MASK) | mode, true);
+    usleep(m_conversionDelay);
+    uint16_t value = i2c->readWordReg(ADS1X15_REG_POINTER_CONVERT);
+    value = value >> m_bitShift;
+    return swapWord(value);
+}
+
+float
+ADS1015::getVoltage(unsigned int input) {
+    ADSMUXMODE mode = getMuxMode(input);
+    return getSample(mode);
+}
+
+
+
 //Private functions
 float
 ADS1015::getMultiplier(void){
@@ -99,4 +147,20 @@ ADS1015::setDelay(){
     }
 }
 
+ADS1X15::ADSMUXMODE
+ADS1015::getMuxMode(unsigned int input) {
+    ADS1X15::ADSMUXMODE mode;
+    switch (input) {
+    case 0:
+        return SINGLE_0;
+    case 1:
+        return SINGLE_1;
+    case 2:
+        return SINGLE_2;
+    case 3:
+        return SINGLE_3;
+    default:
+        UPM_THROW("Invalid input");
+    }
+}
 

src/ads1x15/ads1015.h

@@ -26,8 +26,9 @@
 #pragma once
 
 #include "ads1x15.h"
+#include "upm/iADC.h"
 
-
+#define ADS1015_VREF 2.048
 
 /*=========================================================================
     CONVERSION DELAY (in microS)
@@ -82,7 +83,7 @@ namespace upm {
    * @image html ads1015.jpg
    * @snippet ads1x15.cxx Interesting
    */
-    class ADS1015 : public ADS1X15 {
+    class ADS1015 : public ADS1X15, public IADC {
 
         public:
 
@@ -111,12 +112,16 @@ namespace upm {
 
 
             /**
-             * ADS1X15 constructor
+             * ADS1015 constructor
+             *
+             * This constructor includes a vref parameter that can be used
+             * to set gain so it matches full scale value of input
              *
              * @param bus i2c bus the sensor is attached to.
-             * @param address. Device address. Default is 0x48.
+             * @param address. Optional device address. Default is 0x48.
+             * @param vref. Optional reference (i.e. half full swing) voltage. Default is 2.048V
              */
-            ADS1015 (int bus, uint8_t address = 0x48);
+            ADS1015 (int bus, uint8_t address = 0x48, float vref = ADS1015_VREF);
 
             /**
              * ADS1X15 destructor
@@ -132,9 +137,48 @@ namespace upm {
              */
             void setSPS(ADSSAMPLERATE rate = SPS_1600);
 
+            /**
+             * Get number of inputs
+             *
+             * @return number of inputs
+             */
+            unsigned int getNumInputs();
+
+            /**
+             * Read current value for current single ended analogue input
+             *
+             * @return current conversion value
+             */
+            uint16_t getRawValue(unsigned int input);
+
+            /**
+             * Read current voltage for current single ended analogue input
+             *
+             * @return current voltage
+             */
+            float getVoltage(unsigned int input);
+
+            /**
+             * Read current voltage for current single ended analogue input
+             *
+             * @return current voltage
+             */
+            unsigned int getResolutionInBits();
+
+            /**
+             * Returns module name
+             *
+             * @return modulename as const char*
+             */
+            const char* getModuleName();
+
+
         protected:
             float getMultiplier(void);
             void setDelay(void);
 
+        private:
+            ADS1X15::ADSMUXMODE getMuxMode(unsigned int input);
+
     };
 }

src/adxrs610/adxrs610.h

@@ -113,7 +113,7 @@ namespace upm {
     /**
      * Set the zero point.  This is the point measured and averaged
      * when the sensor is not moving.  It is set at construction time
-     * (averaged over a number of samples), but can be overriden here.
+     * (averaged over a number of samples), but can be overridden here.
      *
      * @param zeroPoint The averaged zero point of the sensor at rest
      */

src/am2315/am2315.cpp

@@ -233,7 +233,8 @@ AM2315::i2cWriteReg(uint8_t reg, uint8_t* data, uint8_t ilen)
 uint8_t
 AM2315::i2cReadReg(int reg, uint8_t* data, int ilen)
 {
-    uint8_t tdata[16] = { AM2315_READ, reg, ilen };
+  uint8_t tdata[16] = { AM2315_READ, static_cast<uint8_t>(reg),
+                        static_cast<uint8_t>(ilen) };
 
     mraa_result_t ret = mraa_i2c_address(m_i2ControlCtx, m_controlAddr);
     int iLoops = 5;

src/apa102/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "apa102")
+set (libdescription "upm apa102 led strip spi output module")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/apa102/apa102.cxx

@@ -0,0 +1,166 @@
+/*
+ * Author: Yannick Adam <yannick.adam@gmail.com>
+ * Copyright (c) 2016 Yannick Adam
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <cstring>
+#include <iostream>
+#include <stdexcept>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include "apa102.h"
+
+using namespace upm;
+
+APA102::APA102(uint16_t ledCount, uint8_t spiBus, bool batchMode, int8_t csn)
+        : m_ledCount(ledCount), m_batchMode(batchMode)
+{
+    mraa::Result res = mraa::SUCCESS;
+    m_leds = NULL;
+
+    // Optional chip select pin
+    m_csnPinCtx = NULL;
+    if (csn > -1) {
+        m_csnPinCtx = new mraa::Gpio(csn);
+        res = m_csnPinCtx->dir(mraa::DIR_OUT);
+        if (res != mraa::SUCCESS) {
+            throw std::invalid_argument(std::string(__FUNCTION__) +
+                                        ": GPIO failed to set direction");
+        }
+    }
+
+    CSOff();
+    // Initialize SPI
+    m_spi = new mraa::Spi(spiBus);
+
+    // Initialize LED array
+    uint16_t endFrameLength = (m_ledCount + 15) / 16; // End frame should be (leds/2) bits
+    m_frameLength = endFrameLength + (m_ledCount + 1) * 4;
+    if ((m_leds = (uint8_t*) malloc(m_frameLength))) {
+        memset(m_leds, 0x00, m_frameLength - 4);                               // Clear state
+        memset(&m_leds[m_frameLength - endFrameLength], 0xFF, endFrameLength); // Frame End
+
+        // Need to set the brightness to "0" for each Led
+        for (int i = 1; i <= m_ledCount; i++) {
+            m_leds[i * 4] = 224;
+        }
+
+    } else {
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                                 ": Failed to allocate memory for LED Strip");
+    }
+}
+
+APA102::~APA102()
+{
+    // Clear leds
+    if (m_leds) {
+        free(m_leds);
+    }
+
+    // Clear SPI
+    if (m_spi) {
+        delete m_spi;
+    }
+
+    // Clear GPIO
+    if (m_csnPinCtx) {
+        delete m_csnPinCtx;
+    }
+}
+
+
+void
+APA102::setLed(uint16_t ledIdx, uint8_t brightness, uint8_t r, uint8_t g, uint8_t b)
+{
+    setLeds(ledIdx, ledIdx, brightness, r, g, b);
+}
+
+void
+APA102::setAllLeds(uint8_t brightness, uint8_t r, uint8_t g, uint8_t b)
+{
+    setLeds(0, m_ledCount - 1, brightness, r, g, b);
+}
+
+void
+APA102::setLeds(uint16_t startIdx, uint16_t endIdx, uint8_t brightness, uint8_t r, uint8_t g, uint8_t b)
+{
+    uint16_t s_idx = (startIdx + 1) * 4;
+    uint16_t e_idx = (endIdx + 1) * 4;
+
+    for (uint16_t i = s_idx; i <= e_idx; i += 4) {
+        m_leds[i] = brightness | 224;
+        m_leds[i + 1] = b;
+        m_leds[i + 2] = g;
+        m_leds[i + 3] = r;
+    }
+
+    if (!m_batchMode) {
+        pushState();
+    }
+}
+
+void
+APA102::setLeds(uint16_t startIdx, uint16_t endIdx, uint8_t* colors)
+{
+    uint16_t s_idx = (startIdx + 1) * 4;
+    memcpy(&m_leds[s_idx], colors, (endIdx - startIdx + 1) * 4);
+
+    if (!m_batchMode) {
+        pushState();
+    }
+}
+
+void
+APA102::pushState(void)
+{
+    CSOn();
+    m_spi->write(m_leds, m_frameLength);
+    CSOff();
+}
+
+/*
+ * **************
+ *  private area
+ * **************
+ */
+
+mraa::Result
+APA102::CSOn()
+{
+    if (m_csnPinCtx) {
+        return m_csnPinCtx->write(HIGH);
+    }
+
+    return mraa::ERROR_FEATURE_NOT_SUPPORTED;
+}
+
+mraa::Result
+APA102::CSOff()
+{
+    if (m_csnPinCtx) {
+        return m_csnPinCtx->write(LOW);
+    }
+
+    return mraa::ERROR_FEATURE_NOT_SUPPORTED;
+}

src/apa102/apa102.h

@@ -0,0 +1,143 @@
+/*
+ * Author: Yannick Adam <yannick.adam@gmail.com>
+ * Copyright (c) 2016 Yannick Adam
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <mraa/gpio.hpp>
+#include <mraa/spi.hpp>
+#include <string>
+
+#define HIGH 1
+#define LOW 0
+
+namespace upm
+{
+/**
+ * @brief APA102 RGB LED Strip driver library
+ * @defgroup apa102 libupm-apa102
+ * @ingroup spi led
+ */
+
+/**
+ * @library apa102
+ * @sensor apa102
+ * @comname APA102/DotStar LED Strip
+ * @type led
+ * @man adafruit
+ * @con spi
+ *
+ * @brief API for controlling APA102/DotStar RGB LED Strips
+ *
+ * APA102 LED Strips provide individually controllable LEDs through a SPI interface.
+ * For each LED, brightness (0-31) and RGB (0-255) values can be set.
+ *
+ * @image html apa102.jpg
+ * @snippet apa102.cxx Interesting
+ */
+class APA102
+{
+  public:
+    /**
+     * Instantiates a new APA102 LED Strip
+     *
+     * @param ledCount  Number of APA102 leds in the strip
+     * @param spiBus    SPI Bus number
+     * @param batchMode (optional) Immediately write to SPI (false, default) or wait for a pushState
+     * call (true)
+     * @param csn       (optional) Chip Select Pin
+     */
+    APA102(uint16_t ledCount, uint8_t spiBus, bool batchMode = false, int8_t csn = -1);
+
+    /**
+     * APA102 destructor
+     */
+    ~APA102();
+
+    /**
+     * Change the color for a single led
+     *
+     * @param ledIdx        Index of the LED in the strip (0 based)
+     * @param brightness    Brightness value (0-31)
+     * @param r             Red component (0-255)
+     * @param g             Green component (0-255)
+     * @param b             Blue component (0-255)
+     */
+    void setLed(uint16_t ledIdx, uint8_t brightness, uint8_t r, uint8_t g, uint8_t b);
+
+    /**
+     * Change the color for all leds
+     *
+     * @param brightness    Brightness value (0-31)
+     * @param r             Red component (0-255)
+     * @param g             Green component (0-255)
+     * @param b             Blue component (0-255)
+     */
+    void setAllLeds(uint8_t brightness, uint8_t r, uint8_t g, uint8_t b);
+
+    /**
+     * Change the color for a range of leds
+     *
+     * @param startIdx      Start index of the range of LEDs in the strip (0 based)
+     * @param endIdx        End index of the range of LEDs in the strip (0 based)
+     * @param brightness    Brightness value (0-31)
+     * @param r             Red component (0-255)
+     * @param g             Green component (0-255)
+     * @param b             Blue component (0-255)
+     */
+    void
+    setLeds(uint16_t startIdx, uint16_t endIdx, uint8_t brightness, uint8_t r, uint8_t g, uint8_t b);
+
+    /**
+     * (Advanced) Manually control the colors of a range of LEDS
+     * Best used to maximize performance
+     *
+     * @param startIdx      Start index of the range of LEDs to update (0 based)
+     * @param endIdx        End index of the range of LEDs to update (0 based)
+     * @param colors        Pointer to an array of bytes. Each color is described as the following:
+     *                      B1: Brightness (224-255) B2: Blue (0-255) B3: Green (0-255) B4: Red
+     *(0-255)
+     *                      No check done on the boundaries
+     */
+    void setLeds(uint16_t startIdx, uint16_t endIdx, uint8_t* colors);
+
+    /**
+     * Outputs the current LED data to the SPI bus
+     * Note: Only required if batch mode is set to TRUE
+     *
+     */
+    void pushState();
+
+  private:
+    mraa::Spi* m_spi;
+    mraa::Gpio* m_csnPinCtx;
+
+    uint16_t m_ledCount;
+    uint8_t* m_leds;
+    uint16_t m_frameLength;
+
+    bool m_batchMode;
+
+    mraa::Result CSOn();
+    mraa::Result CSOff();
+};
+}

src/apa102/javaupm_apa102.i

@@ -0,0 +1,30 @@
+%module javaupm_apa102
+
+%include "../upm.i"
+%include "typemaps.i"
+
+%typemap(jtype) (uint8_t *colors) "byte[]"
+%typemap(jstype) (uint8_t *colors) "byte[]"
+%typemap(jni) (uint8_t *colors) "jbyteArray"
+%typemap(javain) (uint8_t *colors) "$javainput"
+
+%typemap(in) (uint8_t *colors) {
+  $1 = (uint8_t*)JCALL2(GetByteArrayElements, jenv, $input, NULL);
+}
+
+%{
+    #include "apa102.h"
+%}
+
+%include "apa102.h"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_apa102");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/apa102/jsupm_apa102.i

@@ -0,0 +1,19 @@
+%module jsupm_apa102
+ 
+%include "../upm.i"
+%inline %{
+    #include <node_buffer.h>
+%}
+
+%typemap(in) (uint8_t *colors) {
+  if (!node::Buffer::HasInstance($input)) {
+      SWIG_exception_fail(SWIG_ERROR, "Expected a node Buffer");
+  }
+  $1 = (uint8_t*) node::Buffer::Data($input);
+}
+
+%include "apa102.h" 
+
+%{
+    #include "apa102.h"
+%}

src/apa102/pyupm_apa102.i

@@ -0,0 +1,25 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+ 
+%module pyupm_apa102
+ 
+%include "../upm.i"
+ 
+%feature("autodoc", "3");
+ 
+// setLeds 
+%typemap(in) (uint8_t *colors) {
+  if (PyByteArray_Check($input)) {
+    $1 = (uint8_t*) PyByteArray_AsString($input);
+  } else {
+    PyErr_SetString(PyExc_ValueError, "bytearray expected");
+    return NULL;
+  }
+}
+ 
+%include "apa102.h"
+ 
+%{
+ 
+    #include "apa102.h"
+%}

src/bacnetmstp/CMakeLists.txt

@@ -0,0 +1,24 @@
+set (libname "bacnetmstp")
+set (libdescription "upm driver module for BACnet MS/TP devices")
+set (module_src ${libname}.cxx device-client.c)
+set (module_h ${libname}.h)
+
+pkg_search_module(BACNET libbacnet)
+if (BACNET_FOUND)
+  set (reqlibname "libbacnet")
+  include_directories(${BACNET_INCLUDE_DIRS})
+  upm_module_init()
+  add_dependencies(${libname} ${BACNET_LIBRARIES})
+  target_link_libraries(${libname} ${BACNET_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT})
+  if (BUILDSWIG)
+    if (BUILDSWIGNODE)
+      swig_link_libraries (jsupm_${libname} ${BACNET_LIBRARIES} ${MRAA_LIBRARIES} ${NODE_LIBRARIES})
+    endif()
+    if (BUILDSWIGPYTHON)
+      swig_link_libraries (pyupm_${libname} ${BACNET_LIBRARIES} ${PYTHON_LIBRARIES} ${MRAA_LIBRARIES})
+    endif()
+    if (BUILDSWIGJAVA)
+        swig_link_libraries (javaupm_${libname} ${BACNET_LIBRARIES} ${MRAAJAVA_LDFLAGS} ${JAVA_LDFLAGS})
+    endif()
+  endif()
+endif ()

src/bacnetmstp/bacnetmstp.cxx

@@ -0,0 +1,880 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <stdexcept>
+#include <string>
+#include <sstream>
+
+#include "bacnetmstp.h"
+#include "handlers.h"
+#include "client.h"
+#include "txbuf.h"
+#include "mstpdef.h"
+
+using namespace upm;
+using namespace std;
+
+// our singleton instance
+BACNETMSTP* BACNETMSTP::m_instance = 0;
+
+BACNETMSTP::BACNETMSTP()
+{
+  // set defaults here
+  m_maxInfoFrames = DEFAULT_MAX_INFO_FRAMES;
+  m_maxMaster = DEFAULT_MAX_MASTER;
+  m_baudRate = 38400;
+  m_macAddr = DEFAULT_MAX_MASTER;
+
+  m_initialized = false;
+
+  // 60 sec, for MS/TP
+  m_adpuTimeoutMS = 60000;
+
+  m_deviceInstanceID = BACNET_MAX_INSTANCE;
+
+  memset(m_rxBuffer, 0, MAX_MPDU);
+
+  m_returnedValue = {0};
+  m_targetAddress = {0};
+  m_invokeID = 0;
+  m_errorDetected = false;
+
+  setDebug(false);
+}
+
+BACNETMSTP::~BACNETMSTP()
+{
+  if (m_initialized)
+    datalink_cleanup();
+}
+
+void BACNETMSTP::setDebug(bool enable)
+{
+  m_debugging = enable;
+}
+
+void BACNETMSTP::clearErrors()
+{
+  m_errorType = BACERR_TYPE_NONE;
+
+  // empty out all of our error/reject/abort info
+  m_rejectReason = REJECT_REASON_OTHER;
+  m_rejectString.clear();
+
+  m_abortReason = ABORT_REASON_OTHER;
+  m_abortString.clear();
+
+  m_errorClass = ERROR_CLASS_DEVICE;
+  m_errorCode = ERROR_CODE_OTHER;
+  m_errorString.clear();
+
+  m_upmErrorString.clear();
+}
+
+void BACNETMSTP::handlerError(BACNET_ADDRESS* src,
+                              uint8_t invoke_id,
+                              BACNET_ERROR_CLASS error_class,
+                              BACNET_ERROR_CODE error_code)
+{
+  if (instance()->m_debugging)
+    cerr << __FUNCTION__ << ": entered" << endl;
+
+  if (address_match(&(instance()->m_targetAddress), src) &&
+      (invoke_id == instance()->m_invokeID))
+    {
+      instance()->m_errorType = BACERR_TYPE_ERROR;
+      instance()->m_errorClass = error_class;
+      instance()->m_errorCode = error_code;
+      instance()->m_errorString =
+        bactext_error_class_name((int)error_class)
+        + string(": ") + bactext_error_code_name((int)error_code);
+
+      instance()->m_errorDetected = true;
+  }
+}
+
+void BACNETMSTP::handlerAbort(BACNET_ADDRESS* src,
+                              uint8_t invoke_id,
+                              uint8_t abort_reason,
+                              bool server)
+{
+  (void)server; // not used
+
+  if (instance()->m_debugging)
+    cerr << __FUNCTION__ << ": entered" << endl;
+
+  if (address_match(&(instance()->m_targetAddress), src) &&
+      (invoke_id == instance()->m_invokeID))
+    {
+      instance()->m_errorType = BACERR_TYPE_ABORT;
+      instance()->m_abortReason = abort_reason;
+      instance()->m_abortString =
+        bactext_abort_reason_name((int)abort_reason);
+
+      instance()->m_errorDetected = true;
+    }
+}
+
+void BACNETMSTP::handlerReject(BACNET_ADDRESS* src,
+                               uint8_t invoke_id,
+                               uint8_t reject_reason)
+{
+  if (instance()->m_debugging)
+    cerr << __FUNCTION__ << ": entered" << endl;
+
+  if (address_match(&(instance()->m_targetAddress), src) &&
+      (invoke_id == instance()->m_invokeID))
+    {
+      instance()->m_errorType = BACERR_TYPE_REJECT;
+      instance()->m_rejectReason = reject_reason;
+      instance()->m_rejectString =
+        bactext_reject_reason_name((int)reject_reason);
+
+      instance()->m_errorDetected = true;
+    }
+}
+
+void BACNETMSTP::handlerReadPropertyAck(uint8_t* service_request,
+                                        uint16_t service_len,
+                                        BACNET_ADDRESS* src,
+                                        BACNET_CONFIRMED_SERVICE_ACK_DATA* service_data)
+{
+  int len = 0;
+  BACNET_READ_PROPERTY_DATA data;
+
+  if (address_match(&(instance()->m_targetAddress), src) &&
+      (service_data->invoke_id == instance()->m_invokeID))
+    {
+      if (instance()->m_debugging)
+        cerr << __FUNCTION__ << ": got readProp ack" << endl;
+
+      len = rp_ack_decode_service_request(service_request, service_len,
+                                          &data);
+      // FIXME: we don't currently handle arrays (len < service_len)
+      if (len > 0)
+        {
+          bacapp_decode_application_data(data.application_data,
+                                         data.application_data_len,
+                                         &(instance()->m_returnedValue));
+        }
+      else
+        {
+          // shouldn't happen?
+          cerr << __FUNCTION__ << ": decode app data failed" << endl;
+        }
+    }
+}
+
+void BACNETMSTP::handlerWritePropertyAck(BACNET_ADDRESS* src,
+                                         uint8_t invoke_id)
+{
+  if (address_match(&(instance()->m_targetAddress), src) &&
+      (invoke_id == instance()->m_invokeID))
+    {
+      if (instance()->m_debugging)
+        cerr << __FUNCTION__ << ": got writeProp ack" << endl;
+    }
+}
+
+void BACNETMSTP::initServiceHandlers()
+{
+  // this is in device-client.c
+  Device_Init(NULL);
+
+  // These are service requests we must handle from other masters
+
+  // we need to handle who-is to support dynamic device binding to us
+  apdu_set_unconfirmed_handler(SERVICE_UNCONFIRMED_WHO_IS, handler_who_is);
+
+  // handle i-am to support binding to other devices
+  apdu_set_unconfirmed_handler(SERVICE_UNCONFIRMED_I_AM, handler_i_am_bind);
+
+  // set the handler for all the services we don't implement
+
+  // It is required to send the proper reject message...
+  apdu_set_unrecognized_service_handler_handler(handler_unrecognized_service);
+
+  // we must implement read property (it's required)
+  apdu_set_confirmed_handler(SERVICE_CONFIRMED_READ_PROPERTY,
+                             handler_read_property);
+
+  // These are related to requests we make
+
+  // handle the data coming back from confirmed readProp requests
+  apdu_set_confirmed_ack_handler(SERVICE_CONFIRMED_READ_PROPERTY,
+                                 handlerReadPropertyAck);
+
+  // handle the simple ack for confirmed writeProp requests
+  apdu_set_confirmed_simple_ack_handler(SERVICE_CONFIRMED_WRITE_PROPERTY,
+                                        handlerWritePropertyAck);
+
+  // handle any errors coming back
+  apdu_set_error_handler(SERVICE_CONFIRMED_READ_PROPERTY, handlerError);
+  apdu_set_abort_handler(handlerAbort);
+  apdu_set_reject_handler(handlerReject);
+}
+
+BACNETMSTP* BACNETMSTP::instance()
+{
+  if (!m_instance)
+    m_instance = new BACNETMSTP;
+
+  return m_instance;
+}
+
+void BACNETMSTP::initMaster(std::string port, int baudRate,
+                            int deviceInstanceID, int macAddr, int maxMaster,
+                            int maxInfoFrames)
+{
+  // first some checking
+
+  // if we are already initialized, then it's too late to change things now
+  if (m_initialized)
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": Instance is already initialized, ignored."
+             << endl;
+      return;
+    }
+
+  // baudrate
+  // The standard allows (as of at least 2010) the following baud rates
+  if ( !(baudRate == 9600 || baudRate == 19200 || baudRate == 38400
+         || baudRate == 57600 || baudRate == 76800 || baudRate == 115200) )
+    {
+      throw std::invalid_argument(std::string(__FUNCTION__)
+                                  + ": baudRate must be 9600, 19200, 38400, "
+                                  + " 57600, 76800, or 115200");
+    }
+
+  // maxMaster
+  // maxMaster must be less than or equal to 127
+  if (maxMaster < 0 || maxMaster > DEFAULT_MAX_MASTER)
+    {
+      throw std::out_of_range(std::string(__FUNCTION__)
+                              + ": maxMaster must be between 0 and "
+                              + std::to_string(DEFAULT_MAX_MASTER));
+    }
+
+  // As a master ourselves, we must have a MAC address also within the
+  // constraints of maxMaster
+  if (macAddr < 0 || macAddr > DEFAULT_MAX_MASTER)
+    {
+      throw std::out_of_range(std::string(__FUNCTION__)
+                              + ": macAddr must be between 0 and "
+                              + std::to_string(DEFAULT_MAX_MASTER));
+    }
+
+  // this should be unique on the network
+  if (deviceInstanceID >= BACNET_MAX_INSTANCE)
+    {
+      throw std::out_of_range(std::string(__FUNCTION__)
+                              + ": deviceInstanceID must be less than "
+                              + std::to_string(BACNET_MAX_INSTANCE)
+                              + ", and must be unique on the network");
+    }
+
+  m_port = port;
+  m_baudRate = baudRate;
+  m_maxInfoFrames = maxInfoFrames;
+  m_macAddr = macAddr;
+  m_maxMaster = maxMaster;
+  m_deviceInstanceID = deviceInstanceID;
+
+  // Let the fun begin...
+
+  // setup our info
+  Device_Set_Object_Instance_Number(m_deviceInstanceID);
+  address_init();
+
+  initServiceHandlers();
+
+  dlmstp_set_max_info_frames(m_maxInfoFrames);
+  dlmstp_set_max_master(m_maxMaster);
+  dlmstp_set_baud_rate(m_baudRate);
+  dlmstp_set_mac_address(m_macAddr);
+
+  // FIXME - allow to change?
+  apdu_timeout_set(m_adpuTimeoutMS);
+
+  // Ordinarily, I'd like to check the return value of this function,
+  // but even in the face of errors, it always returns true :( This
+  // function starts the ball rolling, and initializes the Master FSM
+  // thread.  Unfortunately, it doesn't appear this can be turned back
+  // off without exiting the application.
+  datalink_init((char *)port.c_str());
+
+  m_initialized = true;
+}
+
+bool BACNETMSTP::dispatchRequest()
+{
+  uint16_t pdu_len = 0;
+  unsigned timeout = 100;     // milliseconds
+  unsigned max_apdu = 0;
+  time_t elapsed_seconds = 0;
+  time_t last_seconds = 0;
+  time_t current_seconds = 0;
+  time_t timeout_seconds = 0;
+  bool found = false;
+
+  // address where message came from
+  BACNET_ADDRESS src = {0};
+
+  clearErrors();
+  m_errorDetected = false;
+
+  uint32_t targetDeviceInstanceID = BACNET_MAX_INSTANCE;
+
+  switch (m_command.cmd)
+    {
+    case BACCMD_READ_PROPERTY:
+      targetDeviceInstanceID = m_command.readPropArgs.targetDeviceInstanceID;
+      break;
+
+    case BACCMD_WRITE_PROPERTY:
+      targetDeviceInstanceID = m_command.writePropArgs.targetDeviceInstanceID;
+      break;
+
+    case BACCMD_NONE:
+      {
+        m_errorType = BACERR_TYPE_UPM;
+        m_upmErrorString = string(__FUNCTION__) +
+          ": called with BACCMD_NONE, ignoring";
+
+        return true; // error
+      }
+
+      break;
+
+    default:
+      {
+        // should this throw?
+        m_errorType = BACERR_TYPE_UPM;
+        m_upmErrorString = string(__FUNCTION__) +
+          ": internal error, called with unknown command, ignoring";
+
+        return true; // error
+      }
+
+      break;
+    }
+
+  // timeouts
+  last_seconds = time(NULL);
+  timeout_seconds = (apdu_timeout() / 1000) * apdu_retries();
+
+  // we use 0 to indicate that request hasn't been made yet, so that
+  // it will be made once the address is bound.
+  m_invokeID = 0;
+
+  // bind to the device first.
+  found = address_bind_request(targetDeviceInstanceID, &max_apdu,
+                               &(instance()->m_targetAddress));
+
+  if (!found)
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": Address not found, Sending WhoIs..." << endl;
+
+      Send_WhoIs(targetDeviceInstanceID, targetDeviceInstanceID);
+    }
+  else
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": Address was found" << endl;
+    }
+
+  // loop until either we get our data, an error occurs, or we timeout
+  while (true)
+    {
+      current_seconds = time(NULL);
+
+      // at least one second has passed
+      if (current_seconds != last_seconds)
+        tsm_timer_milliseconds((uint16_t) ((current_seconds -
+                                            last_seconds) * 1000));
+      if (m_errorDetected)
+        break;
+
+      // we have to wait until the address is bound before proceeding
+      if (!found)
+        {
+          found =
+            address_bind_request(targetDeviceInstanceID, &max_apdu,
+                                 &(instance()->m_targetAddress));
+        }
+
+      if (found)
+        {
+          // address is bound, and we have not sent our request yet.  Make it so.
+          if (m_invokeID == 0)
+            {
+              switch (m_command.cmd)
+                {
+                case BACCMD_READ_PROPERTY:
+                  m_invokeID =
+                    Send_Read_Property_Request(targetDeviceInstanceID,
+                                               m_command.readPropArgs.objType,
+                                               m_command.readPropArgs.objInstance,
+                                               m_command.readPropArgs.objProperty,
+                                               m_command.readPropArgs.arrayIndex);
+                  if (m_debugging)
+                    cerr << __FUNCTION__
+                         << ": Called Send_Read_Property_Request(), m_invokeID = "
+                         << (int)m_invokeID << endl;
+
+                  break;
+
+                case BACCMD_WRITE_PROPERTY:
+                  m_invokeID =
+                    Send_Write_Property_Request(targetDeviceInstanceID,
+                                                m_command.writePropArgs.objType,
+                                                m_command.writePropArgs.objInstance,
+                                                m_command.writePropArgs.objProperty,
+                                                m_command.writePropArgs.propValue,
+                                                m_command.writePropArgs.propPriority,
+                                                m_command.writePropArgs.arrayIndex);
+                  if (m_debugging)
+                    cerr << __FUNCTION__
+                         << ": Called Send_Write_Property_Request(), m_invokeID = "
+                         << (int)m_invokeID << endl;
+
+                  break;
+                }
+
+            }
+          else if (tsm_invoke_id_free(m_invokeID))
+            {
+              // transaction completed successfully
+
+              if (m_debugging)
+                cerr << __FUNCTION__ << ": Success, m_invokeID = "
+                     << (int)m_invokeID << endl;
+
+              break;
+            }
+          else if (tsm_invoke_id_failed(m_invokeID))
+            {
+              // transaction state machine failed, most likely timeout
+              tsm_free_invoke_id(m_invokeID);
+
+              m_errorType = BACERR_TYPE_UPM;
+              m_upmErrorString = string(__FUNCTION__) +
+                ": TSM Timed Out.";
+
+              if (m_debugging)
+                cerr << m_upmErrorString << endl;
+
+              m_errorDetected = true;
+
+              break;
+            }
+        }
+      else
+        {
+          // still waiting to bind.  timeout if we've waited too long.
+          elapsed_seconds += (current_seconds - last_seconds);
+          if (elapsed_seconds > timeout_seconds)
+            {
+              m_errorType = BACERR_TYPE_UPM;
+              m_upmErrorString = string(__FUNCTION__) +
+                ": Timed out waiting to bind address.";
+
+              // We output this error unconditionally as this is an
+              // error you will get if you supply a non-existant
+              // Device Obeject Instance ID.
+
+              cerr << m_upmErrorString << endl;
+              cerr << __FUNCTION__
+                   << ": Did you supply the correct Device Object Instance ID "
+                   << "for your device?"
+                   << endl;
+
+              m_errorDetected = true;
+              break;
+            }
+        }
+
+      // returns 0 bytes on timeout
+      pdu_len = datalink_receive(&src, m_rxBuffer, MAX_MPDU, timeout);
+
+      // process the packet if valid.  This will call our handlers as needed.
+      if (pdu_len)
+        npdu_handler(&src, m_rxBuffer, pdu_len);
+
+      // keep track of time for next check
+      last_seconds = current_seconds;
+    }
+
+  return m_errorDetected;
+}
+
+bool BACNETMSTP::readProperty(uint32_t targetDeviceInstanceID,
+                              BACNET_OBJECT_TYPE objType,
+                              uint32_t objInstance,
+                              BACNET_PROPERTY_ID objProperty,
+                              uint32_t arrayIndex)
+{
+  // some sanity checking...
+  if (objInstance >= BACNET_MAX_INSTANCE)
+    {
+      throw std::out_of_range(std::string(__FUNCTION__)
+                              + ": objInstance must be less than "
+                              + std::to_string(BACNET_MAX_INSTANCE));
+    }
+
+  // fill in the command structure and dispatch
+  m_command.cmd = BACCMD_READ_PROPERTY;
+  m_command.readPropArgs.targetDeviceInstanceID = targetDeviceInstanceID;
+  m_command.readPropArgs.objType = objType;
+  m_command.readPropArgs.objInstance = objInstance;
+  m_command.readPropArgs.objProperty = objProperty;
+  m_command.readPropArgs.arrayIndex = arrayIndex; // not implemented in the ack handler!
+
+  if (m_debugging)
+    cerr << __FUNCTION__  << ": calling dispatchRequest()..." << endl;
+
+  // send it off
+  bool error = dispatchRequest();
+
+  // clear the command to avoid accidental re-calls
+  m_command.cmd = BACCMD_NONE;
+
+  return error;
+}
+
+bool BACNETMSTP::writeProperty(uint32_t targetDeviceInstanceID,
+                               BACNET_OBJECT_TYPE objType,
+                               uint32_t objInstance,
+                               BACNET_PROPERTY_ID objProperty,
+                               BACNET_APPLICATION_DATA_VALUE* propValue,
+                               uint8_t propPriority,
+                               int32_t arrayIndex)
+{
+  // some sanity checking...
+  if (objInstance >= BACNET_MAX_INSTANCE)
+    {
+      throw std::out_of_range(std::string(__FUNCTION__)
+                              + ": objInstance must be less than "
+                              + std::to_string(BACNET_MAX_INSTANCE));
+    }
+
+  // fill in the command structure and dispatch
+  m_command.cmd = BACCMD_WRITE_PROPERTY;
+  m_command.writePropArgs.targetDeviceInstanceID = targetDeviceInstanceID;
+  m_command.writePropArgs.objType = objType;
+  m_command.writePropArgs.objInstance = objInstance;
+  m_command.writePropArgs.objProperty = objProperty;
+  m_command.writePropArgs.propValue = propValue;
+  m_command.writePropArgs.propPriority = propPriority;
+  m_command.writePropArgs.arrayIndex = arrayIndex; // not implemented!
+
+  if (m_debugging)
+    cerr << __FUNCTION__  << ": calling dispatchRequest()..." << endl;
+
+  // send it off
+  bool error = dispatchRequest();
+
+  // clear the command to avoid accidental re-calls
+  m_command.cmd = BACCMD_NONE;
+
+  return error;
+}
+
+BACNET_APPLICATION_DATA_VALUE BACNETMSTP::getData()
+{
+  return m_returnedValue;
+}
+
+uint8_t BACNETMSTP::getDataType()
+{
+  return m_returnedValue.tag;
+}
+
+float BACNETMSTP::getDataTypeReal()
+{
+  if (getDataType() == BACNET_APPLICATION_TAG_REAL)
+    return m_returnedValue.type.Real;
+  else
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": Not of Real type, trying to convert..." << endl;
+
+      // try to convert or throw
+      switch (getDataType())
+        {
+        case BACNET_APPLICATION_TAG_BOOLEAN:
+          return (getDataTypeBoolean() ? 1.0 : 0.0);
+        case BACNET_APPLICATION_TAG_UNSIGNED_INT:
+          return float(getDataTypeUnsignedInt());
+        case BACNET_APPLICATION_TAG_SIGNED_INT:
+          return float(getDataTypeSignedInt());
+        default:
+          throw std::invalid_argument(std::string(__FUNCTION__)
+                                      + ": data type ("
+                                      + std::to_string(int(getDataType()))
+                                      + ") is not convertible to Real");
+        }
+    }
+}
+
+bool BACNETMSTP::getDataTypeBoolean()
+{
+  if (getDataType() == BACNET_APPLICATION_TAG_BOOLEAN)
+    return ((m_returnedValue.type.Boolean) ? true : false);
+  else
+    throw std::invalid_argument(std::string(__FUNCTION__)
+                                + ": data type ("
+                                + std::to_string(int(getDataType()))
+                                + ") is not convertible to Bool");
+}
+
+unsigned int BACNETMSTP::getDataTypeUnsignedInt()
+{
+  if (getDataType() == BACNET_APPLICATION_TAG_UNSIGNED_INT)
+    return m_returnedValue.type.Unsigned_Int;
+  else
+    throw std::invalid_argument(std::string(__FUNCTION__)
+                                + ": data type ("
+                                + std::to_string(int(getDataType()))
+                                + ") is not convertible to UnsignedInt");
+}
+
+int BACNETMSTP::getDataTypeSignedInt()
+{
+  if (getDataType() == BACNET_APPLICATION_TAG_SIGNED_INT)
+    return m_returnedValue.type.Signed_Int;
+  else
+    throw std::invalid_argument(std::string(__FUNCTION__)
+                                + ": data type ("
+                                + std::to_string(int(getDataType()))
+                                + ") is not convertible to SignedInt");
+}
+
+#if defined(BACAPP_DOUBLE)
+double BACNETMSTP::getDataTypeDouble()
+{
+  if (getDataType() == BACNET_APPLICATION_TAG_DOUBLE)
+    return m_returnedValue.type.Double;
+  else
+    {
+      if (m_debugging)
+        cerr << __FUNCTION__ << ": Not of Double type, trying to convert..." << endl;
+
+      // try to convert or throw
+      switch (getDataType())
+        {
+        case BACNET_APPLICATION_TAG_REAL:
+          return double(getDataTypeReal());
+        case BACNET_APPLICATION_TAG_BOOLEAN:
+          return (getDataTypeBoolean() ? 1.0 : 0.0);
+        case BACNET_APPLICATION_TAG_UNSIGNED_INT:
+          return double(getDataTypeUnsignedInt());
+        case BACNET_APPLICATION_TAG_SIGNED_INT:
+          return double(getDataTypeSignedInt());
+        default:
+          throw std::invalid_argument(std::string(__FUNCTION__)
+                                      + ": data type ("
+                                      + std::to_string(int(getDataType()))
+                                      + ") is not convertible to Double");
+        }
+    }
+}
+#endif // BACAPP_DOUBLE
+
+unsigned int BACNETMSTP::getDataTypeEnum()
+{
+  if (getDataType() == BACNET_APPLICATION_TAG_ENUMERATED)
+    return m_returnedValue.type.Enumerated;
+  else
+    throw std::invalid_argument(std::string(__FUNCTION__)
+                                + ": data type ("
+                                + std::to_string(int(getDataType()))
+                                + ") is not convertible to Enum");
+}
+
+std::string BACNETMSTP::getDataTypeString()
+{
+  string retval;
+
+  // Here, we can try to accomodate all the types
+  switch(getDataType())
+    {
+    case BACNET_APPLICATION_TAG_REAL:
+      retval = std::to_string(getDataTypeReal());
+      break;
+
+#if defined(BACAPP_DOUBLE)
+    case BACNET_APPLICATION_TAG_DOUBLE:
+      retval = std::to_string(getDataTypeDouble());
+      break;
+#endif // BACAPP_DOUBLE
+
+    case BACNET_APPLICATION_TAG_UNSIGNED_INT:
+      retval = std::to_string(getDataTypeUnsignedInt());
+      break;
+
+    case BACNET_APPLICATION_TAG_SIGNED_INT:
+      retval = std::to_string(getDataTypeSignedInt());
+      break;
+
+    case BACNET_APPLICATION_TAG_BOOLEAN:
+      retval = (getDataTypeBoolean() ? string("true") : string("false"));
+      break;
+
+    case BACNET_APPLICATION_TAG_CHARACTER_STRING:
+      retval = string(characterstring_value(&m_returnedValue.type.Character_String),
+
+                      characterstring_length(&m_returnedValue.type.Character_String));
+      break;
+
+    case BACNET_APPLICATION_TAG_OCTET_STRING:
+      {
+        string tmpstr((char *)octetstring_value(&m_returnedValue.type.Octet_String),
+
+                      octetstring_length(&m_returnedValue.type.Octet_String));
+        retval = string2HexString(tmpstr);
+      }
+
+      break;
+
+    case BACNET_APPLICATION_TAG_BIT_STRING:
+      {
+        int len = bitstring_bits_used(&m_returnedValue.type.Bit_String);
+
+        for (int i=0; i<len; i++)
+          {
+            if (bitstring_bit(&m_returnedValue.type.Bit_String, uint8_t(i)))
+              retval += "1";
+            else
+              retval += "0";
+
+            if (i != 0 && ((i % 8) == 0))
+              retval += " ";
+          }
+      }
+
+      break;
+
+    default:
+      throw std::invalid_argument(std::string(__FUNCTION__)
+                                  + ": data type ("
+                                  + std::to_string(int(getDataType()))
+                                  + ") is not convertible to String");
+      break;
+    }
+
+  return retval;
+}
+
+BACNET_APPLICATION_DATA_VALUE BACNETMSTP::createDataReal(float value)
+{
+  BACNET_APPLICATION_DATA_VALUE data;
+
+  memset(&data, 0, sizeof(BACNET_APPLICATION_DATA_VALUE));
+
+  data.tag = BACNET_APPLICATION_TAG_REAL;
+  data.type.Real = value;
+
+  return data;
+}
+
+BACNET_APPLICATION_DATA_VALUE BACNETMSTP::createDataBool(bool value)
+{
+  BACNET_APPLICATION_DATA_VALUE data;
+
+  memset(&data, 0, sizeof(BACNET_APPLICATION_DATA_VALUE));
+
+  data.tag = BACNET_APPLICATION_TAG_BOOLEAN;
+  data.type.Boolean = value;
+
+  return data;
+}
+
+BACNET_APPLICATION_DATA_VALUE BACNETMSTP::createDataSignedInt(int value)
+{
+  BACNET_APPLICATION_DATA_VALUE data;
+
+  memset(&data, 0, sizeof(BACNET_APPLICATION_DATA_VALUE));
+
+  data.tag = BACNET_APPLICATION_TAG_SIGNED_INT;
+  data.type.Signed_Int = value;
+
+  return data;
+}
+
+BACNET_APPLICATION_DATA_VALUE BACNETMSTP::createDataUnsignedInt(unsigned int value)
+{
+  BACNET_APPLICATION_DATA_VALUE data;
+
+  memset(&data, 0, sizeof(BACNET_APPLICATION_DATA_VALUE));
+
+  data.tag = BACNET_APPLICATION_TAG_UNSIGNED_INT;
+  data.type.Unsigned_Int = value;
+
+  return data;
+}
+
+BACNET_APPLICATION_DATA_VALUE BACNETMSTP::createDataString(string value)
+{
+  if (value.size() > (MAX_CHARACTER_STRING_BYTES - 1))
+    {
+      throw std::invalid_argument(std::string(__FUNCTION__)
+                                  + ": value must be less than or equal to "
+                                  + std::to_string(MAX_CHARACTER_STRING_BYTES - 1)
+                                  + " characters long");
+    }
+
+  BACNET_APPLICATION_DATA_VALUE data;
+
+  memset(&data, 0, sizeof(BACNET_APPLICATION_DATA_VALUE));
+
+  data.tag = BACNET_APPLICATION_TAG_CHARACTER_STRING;
+
+  characterstring_init_ansi(&data.type.Character_String, value.c_str());
+
+  return data;
+}
+
+
+string BACNETMSTP::string2HexString(string input)
+{
+  static const char* const lut = "0123456789abcdef";
+  size_t len = input.size();
+
+  string output;
+  output.reserve(3 * len);
+  for (size_t i = 0; i < len; ++i)
+    {
+      const unsigned char c = input[i];
+      output.push_back(lut[c >> 4]);
+      output.push_back(lut[c & 15]);
+      output.push_back(' ');
+    }
+
+  return output;
+}

src/bacnetmstp/bacnetmstp.h

@@ -0,0 +1,716 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <string>
+
+// we only support a BACnet RS-485 MS/TP datalink
+#define BACDL_MSTP 1
+#undef BACDL_ALL
+
+// get a variety of bacnet-stack includes...
+#include "bacdef.h"
+#include "config.h"
+#include "bactext.h"
+#include "bacerror.h"
+#include "iam.h"
+#include "arf.h"
+#include "tsm.h"
+#include "address.h"
+#include "npdu.h"
+#include "apdu.h"
+#include "device.h"
+#include "datalink.h"
+#include "whois.h"
+#include "mstpdef.h"
+#include "dlmstp.h"
+
+
+namespace upm {
+
+  /**
+   * @brief BACNETMSTP base class
+   * @defgroup bacnetmstp libupm-bacnetmstp
+   * @ingroup uart
+   */
+
+  /**
+   * @library bacnetmstp
+   * @sensor bacnetmstp
+   * @comname UPM API for BACNET MS/TP communications
+   * @con uart
+   * @web http://bacnet.sourceforge.net/
+   * @brief UPM API for BACNETMSTP
+   *
+   * This is a singleton class that provides services to UPM BACnet
+   * drivers (like E50HX) based on the bacnet-stack at
+   * http://bacnet.sourceforge.net .  This class is implemented as a
+   * singleton due to the fact that the bacnet-stack implementation
+   * does not currently allow multiple simultaneous datalinks.  We are
+   * using 0.8.3 of bacnet-stack.  In the future this restriction may
+   * be lifted depending on bacnet-stack, but for now, you are
+   * stuck with only a single BACnet MS/TP datalink.
+   *
+   * This driver is not intended to be used by end users.  It is
+   * intended for use with other UPM drivers that require access to a
+   * BACnet MS/TP (Master Slave/Token Passing) network over RS-485.
+   *
+   * For this reason, no examples are provided.  If you wish to
+   * implement your own BACnet MS/TP driver, please look at the E50HX
+   * driver to see how this class can be used.
+   *
+   * Currently, only readProperty and writeProperty BACnet requests
+   * are supported.  In the future, any other BACnet requests could be
+   * supported as well.  readProperty and writeProperty should provide
+   * most of what you will need when communicating with BACnet
+   * devices.  Since the source code is open, feel free to add other
+   * services as you see fit :)
+   *
+   * In order to make requests over an MS/TP network, you must be a
+   * BACnet master.  initMaster() is responsible for configuring your
+   * underlying RS-485 network and starting a Master FSM (finite state
+   * machine) thread that will be responsible for identifying other
+   * Masters on the network and negotiating token passing.  Your
+   * master can only transmit when it has the token.
+   *
+   * Fortunately, all of these messy details are handled for you by
+   * this class, or the underlying bacnet-stack library this class
+   * relies on.
+
+   */
+
+  class BACNETMSTP {
+    // Constructor and destructor are protected
+
+  public:
+
+    // error types
+    typedef enum {
+      BACERR_TYPE_NONE                = 0,
+      BACERR_TYPE_REJECT,
+      BACERR_TYPE_ABORT,
+      BACERR_TYPE_ERROR,
+      BACERR_TYPE_UPM
+    } BACERR_TYPE_T;
+
+    // command types we currently support
+    typedef enum {
+      BACCMD_NONE                     = 0,
+      BACCMD_READ_PROPERTY,
+      BACCMD_WRITE_PROPERTY
+    } BACCMD_TYPE_T;
+
+    /**
+     * Get our singleton instance, initializing it if neccessary.  All
+     * requests to this class should be done through this instance
+     * accessor.
+     *
+     * @return static pointer to our class instance
+     */
+    static BACNETMSTP* instance();
+
+    /**
+     * This function initializes the underlying BACNETMSTP Master
+     * singleton in the event it has not already been initialized.  If
+     * the BACNETMSTP Master singleton has already been initialized,
+     * then this call will be ignored.  There can be only one.
+     *
+     * @param port The serial port that the RS-485 interface is
+     * connected to.
+     * @param baudRate The baudrate of the RS-485 interface.  All
+     * devices on a BACnet RS-485 bus must run at the same baudrate.
+     * Valid values are 9600, 19200, 38400, 57600, 76800, and 115200.
+     * @param deviceInstanceNumber This is the unique Device Object
+     * Instance number that will be used for our BACnet Master in
+     * order to communicate over the BACnet interface.  This number
+     * must be between 1-4194302 and must be unique on the BACnet
+     * network.
+     * @param macAddr This is the MAC address of our BACnet Master.
+     * It must be unique on the BACnet segment, and must be between
+     * 1-127.
+     * @param maxMaster This specifies to our Master the maximum MAC
+     * address used by any other Masters on the BACnet network.  This
+     * must be between 1-127, the default is 127.  Do not change this
+     * unless you know what you are doing or you could introduce
+     * token passing errors on the BACnet network.
+     * @param maxInfoFrames This number specifies the maximum number
+     * of transmissions (like requests for data) our Master is allowed
+     * to make before passing the token to the next Master.  The
+     * default is 1.
+     */
+    void initMaster(std::string port, int baudRate, int deviceInstanceNumber,
+                    int macAddr, int maxMaster=DEFAULT_MAX_MASTER,
+                    int maxInfoFrames=1);
+
+
+    /**
+     * Perform a BACnet readProperty transaction.  This function will
+     * return when either the transaction has completed, or an error
+     * has occurred.  It requests the value of a property, belonging
+     * to a specific object instance on a specific device.
+     *
+     * @param targetDeviceInstanceID This is the Device Object
+     * Instance ID of the device to send the request to.  This number
+     * will be unique for every device on the network.  An address
+     * lookup will be performed the first time a request is made to a
+     * device using the WhoHas BACnet service.  The result will be
+     * cached for further use.
+     * @param objType This is the BACnet object type of the object you
+     * wish to query.  It should be one of the BACNET_OBJECT_TYPE
+     * values.
+     * @param objInstance This is the instance number of the Object
+     * you wish to access. It is an integer starting from 1.
+     * @param objProperty This is the property of the Object and
+     * instance you wish to access.  It should be one of the
+     * BACNET_PROPERTY_ID values.
+     * @param arrayIndex This specifies the index number of an array
+     * property.  This is not currently supported.  Until it is, leave
+     * the default at BACNET_ARRAY_ALL.
+     * @return true if an error occurred, false otherwise.
+     */
+    bool readProperty(uint32_t targetDeviceInstanceID,
+                      BACNET_OBJECT_TYPE objType,
+                      uint32_t objInstance,
+                      BACNET_PROPERTY_ID objProperty,
+                      uint32_t arrayIndex=BACNET_ARRAY_ALL);
+
+    /**
+     * Perform a BACnet writeProperty transaction.  This function will
+     * return when either the transaction has completed, or an error
+     * has occurred.  It writes the supplied value to a property,
+     * belonging to a specific object instance on a specific device.
+     *
+     * @param targetDeviceInstanceID This is the Device Object
+     * Instance ID of the device to send the request to.  This number
+     * will be unique for every device on the network.  An address
+     * lookup will be performed the first time a request is made to a
+     * device using the WhoHas BACnet service.  The result will be
+     * cached for further use.
+     * @param objType This is the BACnet object type of the object you
+     * wish to query.  It should be one of the BACNET_OBJECT_TYPE
+     * values.
+     * @param objInstance This is the instance number of the Object
+     * you wish to access. It is an integer starting from 1.
+     * @param objProperty This is the property of the Object and
+     * instance you wish to access.  It should be one of the
+     * BACNET_PROPERTY_ID values.
+     * @param propValue This is a pointer to a
+     * BACNET_APPLICATION_DATA_VALUE structure containg the data value
+     * to write to the property. Use the createData*() methods to
+     * properly create these structures.
+     * @param propPriority This specifies the priority of a
+     * commandable property.  Leave it at the default unless you know
+     * what you are doing.  In addition, there is conflicting
+     * information in the bacnet-stack documentation as to whether
+     * this is even supported.
+     * @param arrayIndex This specifies the index number of an array
+     * property.  This is not currently supported.  Until it is, leave
+     * the default at BACNET_ARRAY_ALL.
+     * @return true if an error occurred, false otherwise.
+     */
+    bool writeProperty(uint32_t targetDeviceInstanceID,
+                       BACNET_OBJECT_TYPE objType,
+                       uint32_t objInstance,
+                       BACNET_PROPERTY_ID objProperty,
+                       BACNET_APPLICATION_DATA_VALUE* propValue,
+                       uint8_t propPriority=BACNET_NO_PRIORITY,
+                       int32_t arrayIndex=BACNET_ARRAY_ALL);
+
+    /**
+     * After a successful readProperty request, this method can be used
+     * to return a BACNET_APPLICATION_DATA_VALUE structure containing
+     * the returned data.
+     *
+     * @return a BACNET_APPLICATION_DATA_VALUE structure containing
+     * the returned data.
+     */
+    BACNET_APPLICATION_DATA_VALUE getData();
+
+    /**
+     * After a successful readProperty request, this method can be
+     * used to return the BACnet data type of the returned data.  It
+     * will be one of the BACNET_APPLICATION_TAG_* values.
+     *
+     * @return A BACNET_APPLICATION_TAG_* value
+     */
+    uint8_t getDataType();
+
+    /**
+     * After a successful readProperty request, this method can be
+     * used to return the BACnet dataype of the returned data as a
+     * Real.  If the data type (getDataType()) is not a
+     * BACNET_APPLICATION_TAG_REAL, and the value returned cannot be
+     * safely converted, an exception is thrown.
+     *
+     * @return A floating point value representing the returned data
+     */
+    float getDataTypeReal();
+
+    /**
+     * After a successful readProperty request, this method can be
+     * used to return the BACnet dataype of the returned data as a
+     * Boolean.  If the data type (getDataType()) is not a
+     * BACNET_APPLICATION_TAG_BOOLEAN, and the value returned cannot
+     * be safely converted, an exception is thrown.
+     *
+     * @return A boolean value representing the returned data
+     */
+    bool getDataTypeBoolean();
+
+    /**
+     * After a successful readProperty request, this method can be
+     * used to return the BACnet dataype of the returned data as a
+     * unsigned int.  If the data type (getDataType()) is not a
+     * BACNET_APPLICATION_TAG_UNSIGNED_INT, and the value returned
+     * cannot be safely converted, an exception is thrown.
+     *
+     * @return An unsigned int value representing the returned data
+     */
+    unsigned int getDataTypeUnsignedInt();
+
+    /**
+     * After a successful readProperty request, this method can be
+     * used to return the BACnet dataype of the returned data as a
+     * signed int.  If the data type (getDataType()) is not a
+     * BACNET_APPLICATION_TAG_SIGNED_INT, and the value returned
+     * cannot be safely converted, an exception is thrown.
+     *
+     * @return A signed int value representing the returned data
+     */
+    int getDataTypeSignedInt();
+
+    /**
+     * After a successful readProperty request, this method can be
+     * used to return the BACnet dataype of the returned data as a
+     * string.  Most of the data types except Enum can be converted to
+     * a string.  If the data type (getDataType()) is not a
+     * BACNET_APPLICATION_TAG_CHARACTER_STRING, and the value returned
+     * cannot be safely converted, an exception is thrown.
+     *
+     * @return A string value representing the returned data
+     */
+    std::string getDataTypeString();
+
+    /**
+     * After a successful readProperty request, this method can be
+     * used to return the BACnet dataype of the returned data as an
+     * enumeration.  If the data type (getDataType()) is not a
+     * BACNET_APPLICATION_TAG_ENUMERATED an exception is thrown.
+     *
+     * @return An unsigned int representing a BACnet enumerant
+     */
+    unsigned int getDataTypeEnum();
+
+#if defined(BACAPP_DOUBLE)
+    /**
+     * After a successful readProperty request, this method can be
+     * used to return the BACnet dataype of the returned data as a
+     * double.  If the data type (getDataType()) is not a
+     * BACNET_APPLICATION_TAG_DOUBLE, and the value returned cannot be
+     * safely converted, an exception is thrown.
+     *
+     * @return A double floating point value representing the returned data
+     */
+    double getDataTypeDouble();
+#endif // BACAPP_DOUBLE
+
+    /**
+     * This method is used to create and return an initialized
+     * BACNET_APPLICATION_DATA_VALUE containing a real (floating point
+     * value).  A pointer to this returned structure can then be used
+     * with writeProperty().
+     *
+     * @param value The floating point value to initialize the structure to.
+     * @return An initialized structure containing the value
+     */
+    BACNET_APPLICATION_DATA_VALUE createDataReal(float Real);
+
+    /**
+     * This method is used to create and return an initialized
+     * BACNET_APPLICATION_DATA_VALUE containing a boolean.  A pointer
+     * to this returned structure can then be used with
+     * writeProperty().
+     *
+     * @param value The boolean value to initialize the structure to.
+     * @return An initialized structure containing the value
+     */
+    BACNET_APPLICATION_DATA_VALUE createDataBool(bool value);
+
+    /**
+     * This method is used to create and return an initialized
+     * BACNET_APPLICATION_DATA_VALUE containing a signed integer.  A
+     * pointer to this returned structure can then be used with
+     * writeProperty().
+     *
+     * @param value The signed integer value to initialize the structure to.
+     * @return An initialized structure containing the value
+     */
+    BACNET_APPLICATION_DATA_VALUE createDataSignedInt(int value);
+
+    /**
+     * This method is used to create and return an initialized
+     * BACNET_APPLICATION_DATA_VALUE containing a unsigned integer.  A
+     * pointer to this returned structure can then be used with
+     * writeProperty().
+     *
+     * @param value The unsigned integer value to initialize the
+     * structure to.
+     * @return An initialized structure containing the value
+     */
+    BACNET_APPLICATION_DATA_VALUE createDataUnsignedInt(unsigned int value);
+
+    /**
+     * This method is used to create and return an initialized
+     * BACNET_APPLICATION_DATA_VALUE containing a character string.  A
+     * pointer to this returned structure can then be used with
+     * writeProperty().  Strings are typically limited to 63 characters.
+     *
+     * @param value The character string value to initialize the
+     * structure to.
+     * @return An initialized structure containing the value
+     */
+    BACNET_APPLICATION_DATA_VALUE createDataString(std::string value);
+
+    /**
+     * Return an enumration of the last error type to occur.  The
+     * value returned will be one of the BACERR_TYPE_T values.
+     *
+     * @return The last error type to occur, one of the BACERR_TYPE_T
+     * values.
+     */
+    BACERR_TYPE_T getErrorType()
+    {
+      return m_errorType;
+    };
+
+    /**
+     * In the event of a BACnet Reject error, return the error code.
+     *
+     * @return The Reject error code.
+     */
+    uint8_t getRejectReason()
+    {
+      return m_rejectReason;
+    };
+
+    /**
+     * In the event of a BACnet Reject error, return the error string.
+     *
+     * @return The Reject error string.
+     */
+    std::string getRejectString()
+    {
+      return m_rejectString;
+    };
+
+    /**
+     * In the event of a BACnet Abort error, return the Abort reason code.
+     *
+     * @return The Abort reason code.
+     */
+    uint8_t getAbortReason()
+    {
+      return m_abortReason;
+    };
+
+    /**
+     * In the event of a BACnet Abort error, return the Abort string.
+     *
+     * @return The Abort error string.
+     */
+    std::string getAbortString()
+    {
+      return m_abortString;
+    };
+
+    /**
+     * In the event of a general BACnet error, return the BACnet error class.
+     *
+     * @return One of the BACNET_ERROR_CLASS error class codes
+     */
+    BACNET_ERROR_CLASS getErrorClass()
+    {
+      return m_errorClass;
+    };
+
+    /**
+     * In the event of a general BACnet error, return the BACnet error code.
+     *
+     * @return One of the BACNET_ERROR_CODE error codes
+     */
+    BACNET_ERROR_CODE getErrorCode()
+    {
+      return m_errorCode;
+    };
+
+    /**
+     * In the event of a general BACnet error, return the BACnet error
+     * string.
+     *
+     * @return A string representing the BACnet error class and code.
+     */
+    std::string getErrorString()
+    {
+      return m_errorString;
+    };
+
+    /**
+     * In the event of a non-BACnet UPM error, return a string
+     * describing the error.
+     *
+     * @return A string representing the UPM error.
+     */
+    std::string getUPMErrorString()
+    {
+      return m_upmErrorString;
+    };
+
+    /**
+     * Check to see if initMaster) has already been called, and out
+     * master is initialized.
+     *
+     * @return true if the master is initialized, false otherwise
+     */
+    bool isInitialized()
+    {
+      return m_initialized;
+    };
+
+    /**
+     * Return the port that was specified to initMaster().
+     *
+     * @return The port specified to initMaster().
+     */
+    std::string getPort()
+    {
+      return m_port;
+    };
+
+    /**
+     * Return the Object Device Instance ID for our Master was
+     * specified to initMaster().
+     *
+     * @return The Object Device Instance ID for our Master.
+     */
+    uint32_t getDeviceInstanceID()
+    {
+      return m_deviceInstanceID;
+    };
+
+    /**
+     * Return the maxInfoFrames parameter that was specified to initMaster().
+     *
+     * @return The maxInfoFrames parameter specified to initMaster().
+     */
+    int getMaxInfoFrames()
+    {
+      return m_maxInfoFrames;
+    };
+
+    /**
+     * Return the maxMaster parameter that was specified to initMaster().
+     *
+     * @return The maxMaster parameter specified to initMaster().
+     */
+    int getMaxMaster()
+    {
+      return m_maxMaster;
+    };
+
+    /**
+     * Return the baud rate parameter that was specified to initMaster().
+     *
+     * @return The baud rate parameter specified to initMaster().
+     */
+    int getBaudRate()
+    {
+      return m_baudRate;
+    };
+
+    /**
+     * Return the MAC address parameter that was specified to initMaster().
+     *
+     * @return The MAC address parameter specified to initMaster().
+     */
+    int getMACAddress()
+    {
+      return m_macAddr;
+    };
+
+    /**
+     * Enable or disable debugging output.
+     *
+     * @param enable true to enable debugging, false otherwise
+     */
+    void setDebug(bool enable);
+
+  protected:
+    /**
+     * BACNETMSTP constructor
+     */
+    BACNETMSTP();
+
+    /**
+     * BACNETMSTP Destructor
+     */
+    ~BACNETMSTP();
+
+    // clear/reset error states
+    void clearErrors();
+
+    // error handler
+    static void handlerError(BACNET_ADDRESS * src,
+                             uint8_t invoke_id,
+                             BACNET_ERROR_CLASS error_class,
+                             BACNET_ERROR_CODE error_code);
+
+    // abort handler
+    static void handlerAbort(BACNET_ADDRESS * src,
+                             uint8_t invoke_id,
+                             uint8_t abort_reason,
+                             bool server);
+
+    // reject handler
+    static void handlerReject(BACNET_ADDRESS * src,
+                              uint8_t invoke_id,
+                              uint8_t reject_reason);
+
+
+    // our handler for dealing with return data from a ReadProperty call
+    static void handlerReadPropertyAck(uint8_t* service_request,
+                                       uint16_t service_len,
+                                       BACNET_ADDRESS* src,
+                                       BACNET_CONFIRMED_SERVICE_ACK_DATA* service_data);
+
+    // our handler for writeProp acks
+    static void handlerWritePropertyAck(BACNET_ADDRESS* src,
+                                        uint8_t invoke_id);
+
+    // initialize our service handlers
+    void initServiceHandlers();
+
+    // utility function
+    std::string string2HexString(std::string input);
+
+    // responsible for dispatching a request to the BACnet network
+    bool dispatchRequest();
+
+  private:
+    // prevent copying and assignment
+    BACNETMSTP(BACNETMSTP const &) {};
+    BACNETMSTP& operator=(BACNETMSTP const&) {};
+
+    // our class instance
+    static BACNETMSTP* m_instance;
+
+    // has the class been created yet?
+    bool m_initialized;
+
+    // Some items we can set for our master
+    std::string m_port;
+    int m_maxInfoFrames;
+    int m_maxMaster;
+    int m_baudRate;
+    int m_macAddr;
+
+    // the unique Instance Number of our Master Device Object
+    uint32_t m_deviceInstanceID;
+
+    // adpu timeout in milliseconds
+    uint16_t m_adpuTimeoutMS;
+
+    // buffer used for receiving data
+    uint8_t m_rxBuffer[MAX_MPDU];
+
+    // our error classfication
+    BACERR_TYPE_T m_errorType;
+
+    // BACnet reject info
+    uint8_t m_rejectReason;
+    std::string m_rejectString;
+
+    // BACnet abort info
+    uint8_t m_abortReason;
+    std::string m_abortString;
+
+    // BACnet error info
+    BACNET_ERROR_CLASS m_errorClass;
+    BACNET_ERROR_CODE  m_errorCode;
+    std::string m_errorString;
+
+    // generic UPM related errors - we just set the error text to
+    // something informative.
+    std::string m_upmErrorString;
+
+    // our returned data from readProperty()
+    BACNET_APPLICATION_DATA_VALUE m_returnedValue;
+
+    // current bound target address of dispatched service request
+    // (read/write prop, etc)
+    BACNET_ADDRESS m_targetAddress;
+
+    // current invokeID (for transaction handling)
+    uint8_t m_invokeID;
+
+    // error detected flag
+    bool m_errorDetected;
+
+    // Commands - we create a struct to hold the arguments for each
+    // command type we support.  Then, we create a command struct
+    // which contains the command type and a union containing the
+    // relevant arguments.  This is used by dispatchRequest() to issue
+    // the correct request.
+
+    // these may generate SWIG warnings, but they can be ignored as we
+    // do not expose these outside the class
+    typedef struct {
+      uint32_t targetDeviceInstanceID;
+      BACNET_OBJECT_TYPE objType;
+      uint32_t objInstance;
+      BACNET_PROPERTY_ID objProperty;
+      uint32_t arrayIndex;
+    } READ_PROPERTY_ARGS_T;
+
+    typedef struct {
+      uint32_t targetDeviceInstanceID;
+      BACNET_OBJECT_TYPE objType;
+      uint32_t objInstance;
+      BACNET_PROPERTY_ID objProperty;
+      BACNET_APPLICATION_DATA_VALUE* propValue;
+      uint8_t propPriority;
+      int32_t arrayIndex;
+    } WRITE_PROPERTY_ARGS_T;
+
+    struct {
+      BACCMD_TYPE_T cmd;
+
+      union {
+        READ_PROPERTY_ARGS_T readPropArgs;
+        WRITE_PROPERTY_ARGS_T writePropArgs;
+      };
+    } m_command;
+
+    bool m_debugging;
+  };
+}

src/bacnetmstp/device.h

@@ -0,0 +1,465 @@
+/**************************************************************************
+*
+* Copyright (C) 2005 Steve Karg <skarg@users.sourceforge.net>
+*
+* 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.
+*
+*********************************************************************/
+
+/** @file device.h Defines functions for handling all BACnet objects belonging
+ *                 to a BACnet device, as well as Device-specific properties. */
+
+#ifndef DEVICE_H
+#define DEVICE_H
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "bacdef.h"
+#include "bacenum.h"
+#include "wp.h"
+#include "rd.h"
+#include "rp.h"
+#include "rpm.h"
+#include "readrange.h"
+
+/** Called so a BACnet object can perform any necessary initialization.
+ * @ingroup ObjHelpers
+ */
+typedef void (
+    *object_init_function) (
+    void);
+
+/** Counts the number of objects of this type.
+ * @ingroup ObjHelpers
+ * @return Count of implemented objects of this type.
+ */
+typedef unsigned (
+    *object_count_function) (
+    void);
+
+/** Maps an object index position to its corresponding BACnet object instance number.
+ * @ingroup ObjHelpers
+ * @param index [in] The index of the object, in the array of objects of its type.
+ * @return The BACnet object instance number to be used in a BACNET_OBJECT_ID.
+ */
+typedef uint32_t(
+    *object_index_to_instance_function)
+        (
+    unsigned index);
+
+/** Provides the BACnet Object_Name for a given object instance of this type.
+ * @ingroup ObjHelpers
+ * @param object_instance [in] The object instance number to be looked up.
+ * @param object_name [in,out] Pointer to a character_string structure that
+ *         will hold a copy of the object name if this is a valid object_instance.
+ * @return True if the object_instance is valid and object_name has been
+ *         filled with a copy of the Object's name.
+ */
+typedef bool(
+    *object_name_function)
+        (
+    uint32_t object_instance,
+    BACNET_CHARACTER_STRING * object_name);
+
+/** Look in the table of objects of this type, and see if this is a valid
+ *  instance number.
+ * @ingroup ObjHelpers
+ * @param [in] The object instance number to be looked up.
+ * @return True if the object instance refers to a valid object of this type.
+ */
+typedef bool(
+    *object_valid_instance_function) (
+    uint32_t object_instance);
+
+/** Helper function to step through an array of objects and find either the
+ * first one or the next one of a given type. Used to step through an array
+ * of objects which is not necessarily contiguious for each type i.e. the
+ * index for the 'n'th object of a given type is not necessarily 'n'.
+ * @ingroup ObjHelpers
+ * @param [in] The index of the current object or a value of ~0 to indicate
+ * start at the beginning.
+ * @return The index of the next object of the required type or ~0 (all bits
+ * == 1) to indicate no more objects found.
+ */
+typedef unsigned (
+    *object_iterate_function) (
+    unsigned current_index);
+
+/** Look in the table of objects of this type, and get the COV Value List.
+ * @ingroup ObjHelpers
+ * @param [in] The object instance number to be looked up.
+ * @param [out] The value list
+ * @return True if the object instance supports this feature, and has changed.
+ */
+typedef bool(
+    *object_value_list_function) (
+    uint32_t object_instance,
+    BACNET_PROPERTY_VALUE * value_list);
+
+/** Look in the table of objects for this instance to see if value changed.
+ * @ingroup ObjHelpers
+ * @param [in] The object instance number to be looked up.
+ * @return True if the object instance has changed.
+ */
+typedef bool(
+    *object_cov_function) (
+    uint32_t object_instance);
+
+/** Look in the table of objects for this instance to clear the changed flag.
+ * @ingroup ObjHelpers
+ * @param [in] The object instance number to be looked up.
+ */
+typedef void (
+    *object_cov_clear_function) (
+    uint32_t object_instance);
+
+/** Intrinsic Reporting funcionality.
+ * @ingroup ObjHelpers
+ * @param [in] Object instance.
+ */
+typedef void (
+    *object_intrinsic_reporting_function) (
+    uint32_t object_instance);
+
+
+/** Defines the group of object helper functions for any supported Object.
+ * @ingroup ObjHelpers
+ * Each Object must provide some implementation of each of these helpers
+ * in order to properly support the handlers.  Eg, the ReadProperty handler
+ * handler_read_property() relies on the instance of Object_Read_Property
+ * for each Object type, or configure the function as NULL.
+ * In both appearance and operation, this group of functions acts like
+ * they are member functions of a C++ Object base class.
+ */
+typedef struct object_functions {
+    BACNET_OBJECT_TYPE Object_Type;
+    object_init_function Object_Init;
+    object_count_function Object_Count;
+    object_index_to_instance_function Object_Index_To_Instance;
+    object_valid_instance_function Object_Valid_Instance;
+    object_name_function Object_Name;
+    read_property_function Object_Read_Property;
+    write_property_function Object_Write_Property;
+    rpm_property_lists_function Object_RPM_List;
+    rr_info_function Object_RR_Info;
+    object_iterate_function Object_Iterator;
+    object_value_list_function Object_Value_List;
+    object_cov_function Object_COV;
+    object_cov_clear_function Object_COV_Clear;
+    object_intrinsic_reporting_function Object_Intrinsic_Reporting;
+} object_functions_t;
+
+/* String Lengths - excluding any nul terminator */
+#define MAX_DEV_NAME_LEN 32
+#define MAX_DEV_LOC_LEN  64
+#define MAX_DEV_MOD_LEN  32
+#define MAX_DEV_VER_LEN  16
+#define MAX_DEV_DESC_LEN 64
+
+/** Structure to define the Object Properties common to all Objects. */
+typedef struct commonBacObj_s {
+
+    /** The BACnet type of this object (ie, what class is this object from?).
+     * This property, of type BACnetObjectType, indicates membership in a
+     * particular object type class. Each inherited class will be of one type.
+     */
+    BACNET_OBJECT_TYPE mObject_Type;
+
+    /** The instance number for this class instance. */
+    uint32_t Object_Instance_Number;
+
+    /** Object Name; must be unique.
+     * This property, of type CharacterString, shall represent a name for
+     * the object that is unique within the BACnet Device that maintains it.
+     */
+    char Object_Name[MAX_DEV_NAME_LEN];
+
+} COMMON_BAC_OBJECT;
+
+
+/** Structure to define the Properties of Device Objects which distinguish
+ *  one instance from another.
+ *  This structure only defines fields for properties that are unique to
+ *  a given Device object.  The rest may be fixed in device.c or hard-coded
+ *  into the read-property encoding.
+ *  This may be useful for implementations which manage multiple Devices,
+ *  eg, a Gateway.
+ */
+typedef struct devObj_s {
+    /** The BACnet Device Address for this device; ->len depends on DLL type. */
+    BACNET_ADDRESS bacDevAddr;
+
+    /** Structure for the Object Properties common to all Objects. */
+    COMMON_BAC_OBJECT bacObj;
+
+    /** Device Description. */
+    char Description[MAX_DEV_DESC_LEN];
+
+    /** The upcounter that shows if the Device ID or object structure has changed. */
+    uint32_t Database_Revision;
+} DEVICE_OBJECT_DATA;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+    void Device_Init(
+        object_functions_t * object_table);
+
+    bool Device_Reinitialize(
+        BACNET_REINITIALIZE_DEVICE_DATA * rd_data);
+
+    BACNET_REINITIALIZED_STATE Device_Reinitialized_State(
+        void);
+
+    rr_info_function Device_Objects_RR_Info(
+        BACNET_OBJECT_TYPE object_type);
+
+    void Device_getCurrentDateTime(
+        BACNET_DATE_TIME * DateTime);
+    int32_t Device_UTC_Offset(void);
+    bool Device_Daylight_Savings_Status(void);
+
+    void Device_Property_Lists(
+        const int **pRequired,
+        const int **pOptional,
+        const int **pProprietary);
+    void Device_Objects_Property_List(
+        BACNET_OBJECT_TYPE object_type,
+        struct special_property_list_t *pPropertyList);
+    /* functions to support COV */
+    bool Device_Encode_Value_List(
+        BACNET_OBJECT_TYPE object_type,
+        uint32_t object_instance,
+        BACNET_PROPERTY_VALUE * value_list);
+    bool Device_Value_List_Supported(
+        BACNET_OBJECT_TYPE object_type);
+    bool Device_COV(
+        BACNET_OBJECT_TYPE object_type,
+        uint32_t object_instance);
+    void Device_COV_Clear(
+        BACNET_OBJECT_TYPE object_type,
+        uint32_t object_instance);
+
+    uint32_t Device_Object_Instance_Number(
+        void);
+    bool Device_Set_Object_Instance_Number(
+        uint32_t object_id);
+    bool Device_Valid_Object_Instance_Number(
+        uint32_t object_id);
+    unsigned Device_Object_List_Count(
+        void);
+    bool Device_Object_List_Identifier(
+        unsigned array_index,
+        int *object_type,
+        uint32_t * instance);
+
+    unsigned Device_Count(
+        void);
+    uint32_t Device_Index_To_Instance(
+        unsigned index);
+
+    bool Device_Object_Name(
+        uint32_t object_instance,
+        BACNET_CHARACTER_STRING * object_name);
+    bool Device_Set_Object_Name(
+        BACNET_CHARACTER_STRING * object_name);
+    /* Copy a child object name, given its ID. */
+    bool Device_Object_Name_Copy(
+        BACNET_OBJECT_TYPE object_type,
+        uint32_t object_instance,
+        BACNET_CHARACTER_STRING * object_name);
+    bool Device_Object_Name_ANSI_Init(const char * value);
+
+    BACNET_DEVICE_STATUS Device_System_Status(
+        void);
+    int Device_Set_System_Status(
+        BACNET_DEVICE_STATUS status,
+        bool local);
+
+    const char *Device_Vendor_Name(
+        void);
+
+    uint16_t Device_Vendor_Identifier(
+        void);
+    void Device_Set_Vendor_Identifier(
+        uint16_t vendor_id);
+
+    const char *Device_Model_Name(
+        void);
+    bool Device_Set_Model_Name(
+        const char *name,
+        size_t length);
+
+    const char *Device_Firmware_Revision(
+        void);
+
+    const char *Device_Application_Software_Version(
+        void);
+    bool Device_Set_Application_Software_Version(
+        const char *name,
+        size_t length);
+
+    const char *Device_Description(
+        void);
+    bool Device_Set_Description(
+        const char *name,
+        size_t length);
+
+    const char *Device_Location(
+        void);
+    bool Device_Set_Location(
+        const char *name,
+        size_t length);
+
+    /* some stack-centric constant values - no set methods */
+    uint8_t Device_Protocol_Version(
+        void);
+    uint8_t Device_Protocol_Revision(
+        void);
+    BACNET_SEGMENTATION Device_Segmentation_Supported(
+        void);
+
+    uint32_t Device_Database_Revision(
+        void);
+    void Device_Set_Database_Revision(
+        uint32_t revision);
+    void Device_Inc_Database_Revision(
+        void);
+
+    bool Device_Valid_Object_Name(
+        BACNET_CHARACTER_STRING * object_name,
+        int *object_type,
+        uint32_t * object_instance);
+    bool Device_Valid_Object_Id(
+        int object_type,
+        uint32_t object_instance);
+
+    int Device_Read_Property(
+        BACNET_READ_PROPERTY_DATA * rpdata);
+    bool Device_Write_Property(
+        BACNET_WRITE_PROPERTY_DATA * wp_data);
+
+    bool DeviceGetRRInfo(
+        BACNET_READ_RANGE_DATA * pRequest,      /* Info on the request */
+        RR_PROP_INFO * pInfo);  /* Where to put the information */
+
+    int Device_Read_Property_Local(
+        BACNET_READ_PROPERTY_DATA * rpdata);
+    bool Device_Write_Property_Local(
+        BACNET_WRITE_PROPERTY_DATA * wp_data);
+
+#if defined(INTRINSIC_REPORTING)
+    void Device_local_reporting(
+        void);
+#endif
+
+/* Prototypes for Routing functionality in the Device Object.
+ * Enable by defining BAC_ROUTING in config.h and including gw_device.c
+ * in the build (lib/Makefile).
+ */
+    void Routing_Device_Init(
+        uint32_t first_object_instance);
+
+    uint16_t Add_Routed_Device(
+        uint32_t Object_Instance,
+        BACNET_CHARACTER_STRING * Object_Name,
+        const char *Description);
+    DEVICE_OBJECT_DATA *Get_Routed_Device_Object(
+        int idx);
+    BACNET_ADDRESS *Get_Routed_Device_Address(
+        int idx);
+
+    void routed_get_my_address(
+        BACNET_ADDRESS * my_address);
+
+    bool Routed_Device_Address_Lookup(
+        int idx,
+        uint8_t address_len,
+        uint8_t * mac_adress);
+    bool Routed_Device_GetNext(
+        BACNET_ADDRESS * dest,
+        int *DNET_list,
+        int *cursor);
+    bool Routed_Device_Is_Valid_Network(
+        uint16_t dest_net,
+        int *DNET_list);
+
+    uint32_t Routed_Device_Index_To_Instance(
+        unsigned index);
+    bool Routed_Device_Valid_Object_Instance_Number(
+        uint32_t object_id);
+    bool Routed_Device_Name(
+        uint32_t object_instance,
+        BACNET_CHARACTER_STRING * object_name);
+    uint32_t Routed_Device_Object_Instance_Number(
+        void);
+    bool Routed_Device_Set_Object_Instance_Number(
+        uint32_t object_id);
+    bool Routed_Device_Set_Object_Name(
+        uint8_t encoding,
+        const char *value,
+        size_t length);
+    bool Routed_Device_Set_Description(
+        const char *name,
+        size_t length);
+    void Routed_Device_Inc_Database_Revision(
+        void);
+    int Routed_Device_Service_Approval(
+        BACNET_CONFIRMED_SERVICE service,
+        int service_argument,
+        uint8_t * apdu_buff,
+        uint8_t invoke_id);
+
+
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+/** @defgroup ObjFrmwk Object Framework
+ * The modules in this section describe the BACnet-stack's framework for
+ * BACnet-defined Objects (Device, Analog Input, etc). There are two submodules
+ * to describe this arrangement:
+ *  - The "object helper functions" which provide C++-like common functionality
+ *    to all supported object types.
+ *  - The interface between the implemented Objects and the BAC-stack services,
+ *    specifically the handlers, which are mediated through function calls to
+ *    the Device object.
+ *//** @defgroup ObjHelpers Object Helper Functions
+ * @ingroup ObjFrmwk
+ * This section describes the function templates for the helper functions that
+ * provide common object support.
+ *//** @defgroup ObjIntf Handler-to-Object Interface Functions
+ * @ingroup ObjFrmwk
+ * This section describes the fairly limited set of functions that link the
+ * BAC-stack handlers to the BACnet Object instances.  All of these calls are
+ * situated in the Device Object, which "knows" how to reach its child Objects.
+ *
+ * Most of these calls have a common operation:
+ *  -# Call Device_Objects_Find_Functions( for the desired Object_Type )
+ *   - Gets a pointer to the object_functions for this Type of Object.
+ *  -# Call the Object's Object_Valid_Instance( for the desired object_instance )
+ *     to make sure there is such an instance.
+ *  -# Call the Object helper function needed by the handler,
+ *     eg Object_Read_Property() for the RP handler.
+ *
+ */
+#endif

src/bacnetmstp/javaupm_bacnetmstp.i

@@ -0,0 +1,23 @@
+%module javaupm_bacnetmstp
+%include "../upm.i"
+%include "typemaps.i"
+%include "cpointer.i"
+%include "arrays_java.i";
+%include "../java_buffer.i"
+
+%{
+    #include "bacnetmstp.h"
+%}
+
+%include "bacnetmstp.h"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_bacnetmstp");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/bacnetmstp/jsupm_bacnetmstp.i

@@ -0,0 +1,11 @@
+%module jsupm_bacnetmstp
+%include "../upm.i"
+%include "stdint.i"
+%include "cpointer.i"
+
+%pointer_functions(float, floatp);
+
+%include "bacnetmstp.h"
+%{
+    #include "bacnetmstp.h"
+%}

src/bacnetmstp/pyupm_bacnetmstp.i

@@ -0,0 +1,15 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_bacnetmstp
+%include "../upm.i"
+%include "stdint.i"
+%include "cpointer.i"
+
+%feature("autodoc", "3");
+
+%pointer_functions(float, floatp);
+
+%include "bacnetmstp.h"
+%{
+    #include "bacnetmstp.h"
+%}

src/bacnetmstp/timer.h

@@ -0,0 +1,65 @@
+/**************************************************************************
+*
+* Copyright (C) 2009 Steve Karg <skarg@users.sourceforge.net>
+*
+* 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.
+*********************************************************************/
+#ifndef TIMER_H
+#define TIMER_H
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <sys/time.h>   /* for timeval */
+
+/* Timer Module */
+#ifndef MAX_MILLISECOND_TIMERS
+#define TIMER_SILENCE 0
+#define MAX_MILLISECOND_TIMERS 1
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+    uint32_t timeGetTime(
+        void);
+
+    void timer_init(
+        void);
+    uint32_t timer_milliseconds(
+        unsigned index);
+    bool timer_elapsed_milliseconds(
+        unsigned index,
+        uint32_t value);
+    bool timer_elapsed_seconds(
+        unsigned index,
+        uint32_t value);
+    bool timer_elapsed_minutes(
+        unsigned index,
+        uint32_t seconds);
+    uint32_t timer_milliseconds_set(
+        unsigned index,
+        uint32_t value);
+    uint32_t timer_reset(
+        unsigned index);
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+#endif