upm: v1.5.0

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

.dockerignore

@@ -0,0 +1,3 @@
+Dockerfile
+docker-compose.yaml
+build

.gitignore

@@ -11,3 +11,6 @@ build*/
 # Temp files
 *.swp
 *~
+
+# Node modules
+**/node_modules

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "doxy/doxygen2jsdoc"]
+	path = doxy/doxygen2jsdoc
+	url = https://github.com/intel-iot-devkit/doxygen2jsdoc
+[submodule "doxy/doxyport"]
+	path = doxy/doxyport
+	url = https://github.com/intel-iot-devkit/doxyport

.travis.yml

@@ -1,48 +1,81 @@
+dist: trusty
+sudo: required
+
 language: cpp
-env:
-  global:
-    - MRAA_ROOT=/tmp/mraa
-    - MRAA_BUILD=$MRAA_ROOT/build
-    - UPM_ROOT=$TRAVIS_BUILD_DIR
-    - UPM_BUILD=$UPM_ROOT/build
-    - JAVA_HOME=/usr/lib/jvm/java-8-oracle
-  matrix:
-    - NODE010=true
-    - NODE012=true
-    - NODE4=true
-    - NODE5=true
-compiler:
-  - clang
-  - gcc
-install:
-  - sudo add-apt-repository --yes ppa:rosmo/swig3.0.7
-  - sudo apt-get update -qq
-  - sudo apt-get install -y --force-yes -qq swig3.0 git
-  - sudo ln -s /usr/bin/swig3.0 /usr/bin/swig
-  - sudo update-java-alternatives -s java-8-oracle
-before_script:
-  # Turn off JAVA SWIG for clang++, use 4.8 for all g++ builds
-  - if [ "$CC" == "gcc" ]; then export BUILDJAVA=ON; export CC=gcc-4.8; export CXX=g++-4.8; else export BUILDJAVA=OFF; fi
-  - if [ "${NODE012}" ]; then nvm install 0.12; fi
-  - if [ "${NODE4}" ]; then nvm install 4.1; fi
-  - if [ "${NODE5}" ]; then nvm install 5; fi
-  # Handle 0.10 NODE_ROOT_DIR differently than other versions
-  - if [ -z ${NODE010} ]; then export NODE_ROOT_DIR="/home/travis/.nvm/versions/node/`nvm version`"; else export NODE_ROOT_DIR=/home/travis/.nvm/v0.10.36; fi
-script:
-  # Build/install MRAA
-  - echo "CC=$CC BUILDJAVA=$BUILDJAVA NODE010=$NODE010 NODE012=$NODE012 NODE4=$NODE4 NODE5=$NODE5 NODE_ROOT_DIR=$NODE_ROOT_DIR"
-  - git clone https://github.com/intel-iot-devkit/mraa.git $MRAA_ROOT
-  - mkdir -p $MRAA_BUILD && cd $_ && cmake -DBUILDSWIGJAVA=$BUILDJAVA -DBUILDSWIGNODE=OFF -DBUILDSWIGPYTHON=ON -DFIRMATA=ON -DENABLEEXAMPLES=OFF $MRAA_ROOT
-  - sudo make install
-  - sudo ldconfig
-  # Build/install UPM
-  - cd $UPM_ROOT && mkdir $UPM_BUILD && cd $_ && cmake -DNODE_ROOT_DIR:PATH="${NODE_ROOT_DIR}" -DBUILDSWIGJAVA=$BUILDJAVA -DBUILDEXAMPLES=ON -DBUILDTESTS=ON -DBUILDFTI=ON .. && sudo make install && sudo ldconfig && ctest --output-on-failure -E examplenames_js
-addons:
-  apt:
-    sources:
-      - ubuntu-toolchain-r-test
-      - george-edison55-precise-backports
-    packages:
-      - cmake
-      - cmake-data
-      - g++-4.8
+
+services:
+  - docker
+
+before_install:
+  - sudo rm /usr/local/bin/docker-compose
+  - curl -L https://github.com/docker/compose/releases/download/1.9.0/docker-compose-`uname -s`-`uname -m` > docker-compose
+  - chmod +x docker-compose
+  - sudo mv docker-compose /usr/local/bin
+
+jobs:
+  fast_finish: true
+  allow_failures:
+    - env: TARGET=ipk
+  include:
+    - &run-with-clang
+      stage: Clang 3.8
+      env: TARGET=python
+      before_script: docker-compose pull ${TARGET}
+      script:
+        - export CC=clang-3.8 CXX=clang++-3.8
+        - docker-compose run ${TARGET}
+    - <<: *run-with-clang
+      env: TARGET=node4
+    - <<: *run-with-clang
+      env: TARGET=node5
+    - <<: *run-with-clang
+      env: TARGET=node6
+    - <<: *run-with-clang
+      env: TARGET=java
+    - &run-with-gcc-5
+      stage: Gcc 5
+      env: TARGET=python
+      before_script: docker-compose pull ${TARGET}
+      script:
+        - export CC=gcc-5 CXX=g++-5
+        - docker-compose run ${TARGET}
+    - <<: *run-with-gcc-5
+      env: TARGET=node4
+    - <<: *run-with-gcc-5
+      env: TARGET=node5
+    - <<: *run-with-gcc-5
+      env: TARGET=node6
+    - <<: *run-with-gcc-5
+      env: TARGET=java
+    - &run-with-gcc-6
+      stage: Gcc 6
+      env: TARGET=python
+      before_script: docker-compose pull ${TARGET}
+      script:
+        - export CC=gcc-6 CXX=g++-6
+        - docker-compose run ${TARGET}
+    - <<: *run-with-gcc-6
+      env: TARGET=node4
+    - <<: *run-with-gcc-6
+      env: TARGET=node5
+    - <<: *run-with-gcc-6
+      env: TARGET=node6
+    - <<: *run-with-gcc-6
+      env: TARGET=java
+    - &run-additional-jobs
+      stage: Additional Jobs
+      env: TARGET=doc
+      before_script: docker-compose pull ${TARGET}
+      script:
+        - export CC=clang-3.8 CXX=clang++-3.8
+        - docker-compose run ${TARGET}
+    - <<: *run-additional-jobs
+      env: TARGET=android
+    - <<: *run-additional-jobs
+      env: TARGET=sonar-scan
+    - <<: *run-additional-jobs
+      env: TARGET=ipk
+    - <<: *run-additional-jobs
+      env: TARGET=rpm
+    - <<: *run-additional-jobs
+      env: TARGET=npm

CMakeLists.txt

@@ -95,7 +95,7 @@ set (C_CXX_WARNING_FLAGS -Wall -Wno-misleading-indentation -Wno-strict-aliasing)
 
 # Warnings as errors?
 if (WERROR)
-  set (C_CXX_WARNING_FLAGS "-Werror ${C_CXX_WARNING_FLAGS}")
+  list (APPEND C_CXX_WARNING_FLAGS -Werror)
   message (STATUS "Warnings as errors enabled (-Werror), disable with -DWERROR=off")
 endif (WERROR)
 
@@ -113,15 +113,26 @@ upm_add_compile_flags(CXX ${C_CXX_WARNING_FLAGS}
   -Woverloaded-virtual
   -Wreorder)
 
+# Allow exception error handling for Android C++
+if (ANDROID)
+  upm_add_compile_flags(CXX -fexceptions)
+endif (ANDROID)
+
 find_package (Threads REQUIRED)
 find_package (PkgConfig REQUIRED)
 
 # Force a libmraa search and minimum required version every time a config is generated
 unset(MRAA_FOUND CACHE)
-set(MRAA_MINIMUM 1.6.1)
+set(MRAA_MINIMUM 1.8.0)
 pkg_check_modules (MRAA REQUIRED mraa>=${MRAA_MINIMUM})
 # Also, get full path to the mraa library
-find_library(MRAA_LIBRARY NAMES mraa PATHS ${MRAA_LIBDIR} NO_DEFAULT_PATH)
+find_library(MRAA_LIBRARY NAMES mraa HINTS ${MRAA_LIBDIR})
+
+# Test MRAA for various compile options
+include (CheckLibraryExists)
+check_library_exists (${MRAA_LIBRARIES} mraa_iio_init "${MRAA_LIBDIR}" MRAA_IIO_FOUND)
+check_library_exists (${MRAA_LIBRARIES} mraa_firmata_init "${MRAA_LIBDIR}" MRAA_FIRMATA_FOUND)
+check_library_exists (${MRAA_LIBRARIES} mraa_uart_ow_init "${MRAA_LIBDIR}" MRAA_OW_FOUND)
 
 # Check for BACNET
 pkg_check_modules (BACNET libbacnet)
@@ -138,15 +149,23 @@ find_package (JPEG)
 # Find nodejs
 if (BUILDSWIGNODE)
   find_package (Node REQUIRED)
+  if (BUILDTESTS)
+    find_package (Npm REQUIRED)
+    if(NPM_EXECUTABLE)
+        message(STATUS "NPM Executable found at: ${NPM_EXECUTABLE}")
+    else()
+        message(FATAL_ERROR "Please install NPM first, you can't run tests without it")
+    endif()
+  endif (BUILDTESTS)
 endif (BUILDSWIGNODE)
 
 # Find JAVA/JNI
 if (BUILDSWIGJAVA)
   find_package (Java REQUIRED)
   find_package (JNI REQUIRED)
-  pkg_check_modules (MRAAJAVA REQUIRED mraajava>=0.8.0)
+  pkg_check_modules (MRAAJAVA REQUIRED mraajava>=${MRAA_MINIMUM})
   # Also, get full path to the mraajava library
-  find_library(MRAAJAVA_LIBRARY NAMES mraajava PATHS ${MRAA_LIBDIR} NO_DEFAULT_PATH)
+  find_library(MRAAJAVA_LIBRARY NAMES mraajava HINTS ${MRAA_LIBDIR})
 endif (BUILDSWIGJAVA)
 
 # Find swig if any wrapper is enabled
@@ -197,7 +216,7 @@ include (GetGitRevisionDescription)
 git_describe (VERSION "--tags")
 # If git_describe fails, use a dirty version
 if (${VERSION} MATCHES -NOTFOUND)
-  set (VERSION "v1.2.0")
+  set (VERSION "v1.5.0")
   message (WARNING "Failed to retrieve UPM version with 'git describe' (using "
       "${VERSION}). Check that git is installed and this is a valid git repo.")
 endif ()
@@ -225,11 +244,6 @@ include (TargetArch)
 target_architecture (DETECTED_ARCH)
 message (STATUS "Target arch is ${DETECTED_ARCH}")
 
-#-march=native for ARM when not defined/forced
-if (DETECTED_ARCH MATCHES "arm.*" AND NOT CMAKE_CXX_FLAGS MATCHES "-march")
-  set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
-endif()
-
 # enable c++11 standards support unconditionally
 include(CheckCXXCompilerFlag)
 if (CMAKE_VERSION VERSION_LESS "3.1")
@@ -296,59 +310,67 @@ endif()
 #
 if (BUILDDOC)
   # Add a target to generate API documentation with Doxygen
-  find_package (Doxygen REQUIRED)
-  configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
-  if (BUILDSWIGJAVA)
-      configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/Doxyfile.java.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile-java @ONLY)
-  endif()
-  file(GLOB PNG_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/docs docs/icons/*.png)
-  foreach(PNG_FILE ${PNG_FILES})
-    configure_file(${CMAKE_CURRENT_SOURCE_DIR}/docs/${PNG_FILE} ${CMAKE_CURRENT_BINARY_DIR}/html/docs/${PNG_FILE} COPYONLY)
-  endforeach()
-  add_custom_target (doc
-    ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
-    COMMAND tar -czf html/xml.tar.gz -C xml .
-    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-    COMMENT "Generating API documentation with Doxygen" VERBATIM
-  )
+  find_package (Doxygen 1.8 REQUIRED)
+  if (DOXYGEN_FOUND AND DOXYGEN_VERSION VERSION_GREATER "1.8")
+    configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
+    if (BUILDSWIGJAVA)
+        configure_file (${CMAKE_CURRENT_SOURCE_DIR}/doxy/Doxyfile.java.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile-java @ONLY)
+    endif()
+    file(GLOB PNG_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/docs docs/icons/*.png)
+    foreach(PNG_FILE ${PNG_FILES})
+      configure_file(${CMAKE_CURRENT_SOURCE_DIR}/docs/${PNG_FILE} ${CMAKE_CURRENT_BINARY_DIR}/html/docs/${PNG_FILE} COPYONLY)
+    endforeach()
+    add_custom_target (doc
+      ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
+      COMMAND tar -czf html/xml.tar.gz -C xml .
+      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+      COMMENT "Generating API documentation with Doxygen" VERBATIM
+    )
+  else ()
+    message (SEND_ERROR "ERROR - Failed to find a compatible version of Doxygen. API doc will not be generated")
+  endif (DOXYGEN_FOUND AND DOXYGEN_VERSION VERSION_GREATER "1.8")
 
-  # Check if Sphinx is installed and add target to generate API documentationa
+  # Check if Sphinx is installed and add target to generate API documentation
   # Currently, the per-module documentation for python is generated from the
   # python2 modules.
   if(BUILDSWIGPYTHON)
-    find_package (Sphinx REQUIRED)
-    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
-      COMMAND rm -r -f ${CMAKE_BINARY_DIR}/pyupm && mkdir -p ${CMAKE_BINARY_DIR}/pyupm
-      COMMAND find ${CMAKE_BINARY_DIR}/src -name "_pyupm_*.so" -exec cp {} ${CMAKE_BINARY_DIR}/pyupm \;
-      COMMAND find ${CMAKE_BINARY_DIR}/src -name "pyupm_*.py" -exec cp {} ${CMAKE_BINARY_DIR}/pyupm \;
-      COMMAND ${SPHINX_API_EXECUTABLE} -f -o pydoc  ${CMAKE_BINARY_DIR}/pyupm
-      # TODO: use a separate cmake FILE module for string replacement instead
-      COMMAND ${SPHINX_EXECUTABLE} -b html pydoc html/python
-      COMMAND sed -i.bak s|\">pyupm_|\">|g html/python/index.html html/python/modules.html
-      COMMAND sed -i.bak s|[[:space:]][mM]odule</a>|</a>|g html/python/index.html html/python/modules.html
-      DEPENDS doc
-      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-      COMMENT "Generating API documentation with Sphinx" VERBATIM
-    )
+    find_package (Sphinx 1.3 REQUIRED)
+    if (SPHINX_FOUND AND SPHINX_VERSION VERSION_GREATER "1.3")
+      configure_file (${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
+        COMMAND rm -r -f ${CMAKE_BINARY_DIR}/pyupm && mkdir -p ${CMAKE_BINARY_DIR}/pyupm
+        COMMAND find ${CMAKE_BINARY_DIR}/src -name "_pyupm_*.so" -exec cp {} ${CMAKE_BINARY_DIR}/pyupm \;
+        COMMAND find ${CMAKE_BINARY_DIR}/src -name "pyupm_*.py" -exec cp {} ${CMAKE_BINARY_DIR}/pyupm \;
+        COMMAND ${SPHINX_API_EXECUTABLE} -f -o pydoc  ${CMAKE_BINARY_DIR}/pyupm
+        # TODO: use a separate cmake FILE module for string replacement instead
+        COMMAND ${SPHINX_EXECUTABLE} -b html pydoc html/python
+        COMMAND sed -i.bak s|\">pyupm_|\">|g html/python/index.html html/python/modules.html
+        COMMAND sed -i.bak s|[[:space:]][mM]odule</a>|</a>|g html/python/index.html html/python/modules.html
+        DEPENDS doc
+        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+        COMMENT "Generating API documentation with Sphinx" VERBATIM
+      )
+    else ()
+      message (SEND_ERROR "ERROR - Failed to find a compatible version of Sphinx. Python API doc will not be generated")
+    endif ()
   endif(BUILDSWIGPYTHON)
 
   # Check if Yuidoc is installed and add target for API documentation
   if(BUILDSWIGNODE)
-    find_package(Yuidoc REQUIRED)
-    file(GLOB_RECURSE JSDOC_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/doxy/node doxy/node/*)
-    foreach(JSDOC_FILE ${JSDOC_FILES})
-      configure_file(${CMAKE_CURRENT_SOURCE_DIR}/doxy/node/${JSDOC_FILE} ${CMAKE_CURRENT_BINARY_DIR}/${JSDOC_FILE} COPYONLY)
-    endforeach()
-    add_custom_target(jsdoc ALL
-      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 ${NODEJS_EXECUTABLE} tolower -i html/node
-      DEPENDS doc
-      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-      COMMENT "Generating API documentation with Yuidoc" VERBATIM
-    )
+    find_package (Yuidoc 0.10 REQUIRED)
+    if (YUIDOC_FOUND AND YUIDOC_VERSION VERSION_GREATER "0.10")
+      add_custom_target (jsdoc ALL
+        COMMAND ${CMAKE_SOURCE_DIR}/doxy/doxygen2jsdoc/docgen.js -m upm -i xml -o jsdoc -t ${CMAKE_CURRENT_SOURCE_DIR}/src -g ../../
+        COMMAND ${YUIDOC_EXECUTABLE} -C --no-sort --helpers ${CMAKE_SOURCE_DIR}/doxy/node/generators/yuidoc/helper.js --themedir ${CMAKE_SOURCE_DIR}/doxy/node/generators/yuidoc/tmpl -o html/node jsdoc/yuidoc/upm
+        COMMAND ${CMAKE_SOURCE_DIR}/doxy/doxygen2jsdoc/tolower.js -i html/node
+        DEPENDS doc
+        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+        COMMENT "Generating API documentation with Yuidoc" VERBATIM
+      )
+    else ()
+      message (SEND_ERROR "ERROR - Failed to find a compatible version of Yuidoc. Node.js API doc will not be generated")
+    endif ()
   endif(BUILDSWIGNODE)
 endif (BUILDDOC)
 
@@ -415,9 +437,10 @@ if (RPM)
 endif()
 
 # UPM common headers
-set (UPM_COMMON_HEADER_DIRS
-    ${CMAKE_HOME_DIRECTORY}/include
-    ${CMAKE_HOME_DIRECTORY}/include/fti)
+set (UPM_COMMON_HEADER_DIRS ${CMAKE_HOME_DIRECTORY}/include)
+
+# Generate a build-only C++ header to add functionality to SWIG'ed modules
+configure_file (${PROJECT_SOURCE_DIR}/cmake/modules/version.hpp.in ${PROJECT_BINARY_DIR}/src/version.hpp @ONLY)
 
 # UPM source
 add_subdirectory (src)

README.md

@@ -1,3 +1,7 @@
+<p align="center">
+  <img src="https://github.com/intel-iot-devkit/upm/blob/master/docs/icons/upm_logo.png" height="150px" width="auto" algt="UPM Logo"/>
+</p>
+
 UPM (Useful Packages & Modules) Sensor/Actuator repository for MRAA
 ==============
 
@@ -11,8 +15,9 @@ corresponding header file and instantiating the associated sensor class. In the
 typical use case, a constructor initializes the sensor based on parameters that
 identify the sensor, the I/O protocol used and the pin location of the sensor.
 
-C++ interfaces have been defined for the following sensor/actuator types, but
-they are subject to change:
+We endorse additions that implement the generic C and C++ interfaces provided
+with the libraries. Multiple sensor and actuator types have been defined, for
+instance:
 
 * Light controller 
 * Light sensor
@@ -22,8 +27,8 @@ they are subject to change:
 * Gas sensor
 * Analog to digital converter
 
-The developer community is encouraged to help expand the list of supported
-sensors and actuators and provide feedback on interface design.
+The developer community is welcome to submit feedback on existing categories or
+suggest new ones.
 
 ### Example
 
@@ -67,12 +72,16 @@ Supported [sensor list](http://iotdk.intel.com/docs/master/upm/modules.html) fro
 
 You can also refer to the [Intel® IoT Developer Zone](https://software.intel.com/iot/hardware/sensors).
 
-### IDE Integration
+### IDE Support
 
-If you would like to create projects and run the UPM samples using an Intel recommended IDE,
-please refer to the Intel Developer Zone IDE page.
+The UPM sensor libraries are directly supported by the IDEs listed on the Intel®
+Developer Zone Tools & IDEs page.
 
-<a href="https://software.intel.com/iot/software/ide"><img src="docs/icons/allides.png"/></a>
+<a href="https://software.intel.com/iot/tools"><img src="docs/icons/iss.png"/></a>
+
+Intel® System Studio integration offers IoT specific features such as a sensor explorer,
+library sync tools and the ability to easily import existing projects and samples that
+use the UPM libraries. For further details please refer to the IoT User Guides on IDZ.
 
 ### Installing UPM
 

cmake/modules/FindNode.cmake

@@ -23,13 +23,16 @@ if (UV_ROOT_DIR)
 endif()
 
 # Now look for node. Flag an error if not found
-find_path (NODE_ROOT_DIR "include/node/node.h" "include/src/node.h"
+find_path (NODE_ROOT_DIR "include/node/node.h" "include/src/node.h" "src/node.h"
   PATHS /usr/include/nodejs /usr/local/include/nodejs /usr/local/include)
 if (NODE_ROOT_DIR)
   add_include_dir(${NODE_ROOT_DIR}/include/src)
+  add_include_dir(${NODE_ROOT_DIR}/src)
   add_include_dir(${NODE_ROOT_DIR}/include/node)
   add_include_dir(${NODE_ROOT_DIR}/include/deps/v8/include)
+  add_include_dir(${NODE_ROOT_DIR}/deps/v8/include)
   add_include_dir(${NODE_ROOT_DIR}/include/deps/uv/include)
+  add_include_dir(${NODE_ROOT_DIR}/deps/uv/include)
 else()
   unset(NODEJS_INCLUDE_DIRS)
   message(ERROR " - node.h not found")

cmake/modules/FindNpm.cmake

@@ -0,0 +1,13 @@
+# Finding and pointing a variable to the npm executable if found
+# Only works on Linux systems as of now
+
+find_program(NPM_EXECUTABLE NAMES npm
+    HINTS
+    /usr
+)
+
+if(NPM_EXECUTABLE)
+    message(STATUS "NPM Executable found at ${NPM_EXECUTABLE}")
+else()
+    message(ERROR "Unable to find NPM installation, please install NPM")
+endif()

cmake/modules/FindSphinx.cmake

@@ -17,14 +17,16 @@ find_package_handle_standard_args (Sphinx DEFAULT_MSG
     SPHINX_API_EXECUTABLE
 )
 
-# Get Sphinx version
+# Get Sphinx Version
 if (SPHINX_EXECUTABLE)
     execute_process(COMMAND ${SPHINX_EXECUTABLE} --version
-                    OUTPUT_VARIABLE SPHINX_VERSION)
-    if(SPHINX_VERSION)
-      string(REGEX MATCH "([0-9]\\.[0-9]\\.[0-9])" SPHINX_VERSION_STR ${SPHINX_VERSION})
-      message (STATUS "Sphinx version is ${SPHINX_VERSION_STR}")
-    endif()
+                    OUTPUT_VARIABLE SPHINX_VERSION_STRING
+                    OUTPUT_STRIP_TRAILING_WHITESPACE
+                    ERROR_STRIP_TRAILING_WHITESPACE)
+    if (SPHINX_VERSION_STRING)
+        string(REPLACE "Sphinx (sphinx-build) " "" SPHINX_VERSION ${SPHINX_VERSION_STRING})
+        message (STATUS "Sphinx version is ${SPHINX_VERSION}")
+    endif ()
 endif ()
 
 mark_as_advanced (SPHINX_EXECUTABLE)

cmake/modules/version.c.in

@@ -1,4 +0,0 @@
-#include "version.h"
-
-const char* gVERSION = "@VERSION@";
-const char* gVERSION_SHORT = "@VERSION_SHORT@";

cmake/modules/version.hpp.in

@@ -0,0 +1,6 @@
+#include <string>
+
+inline std::string getVersion()
+{
+    return "@upm_VERSION_STRING@";
+}

docker-compose.yaml

@@ -0,0 +1,112 @@
+version: '2.1'
+
+services:
+
+  base:
+    image: dnoliver/upm-base
+    environment:
+      - http_proxy
+      - https_proxy
+      - no_proxy
+      - BUILDDOC=${BUILDDOC:-OFF}
+      - BUILDCPP=${BUILDCPP:-ON}
+      - BUILDFTI=${BUILDFTI:-ON}
+      - BUILDSWIGPYTHON=${BUILDSWIGPYTHON:-OFF}
+      - BUILDSWIGJAVA=${BUILDSWIGJAVA:-OFF}
+      - BUILDSWIGNODE=${BUILDSWIGNODE:-OFF}
+      - BUILDEXAMPLES=${BUILDEXAMPLES:-ON}
+      - IPK=${IPK:-OFF}
+      - RPM=${RPM:-OFF}
+      - NPM=${NPM:-OFF}
+      - BUILDTESTS=${BUILDTESTS:-ON}
+      - CC=${CC:-clang-3.8}
+      - CXX=${CXX:-clang++-3.8}
+      - NODE_VERSION=${NODE_VERSION:-v4.4.7}
+      - WERROR=${WERROR:-ON}
+    volumes:
+      - .:${UPM_SRC_DIR:-/usr/src/app}
+
+  doc:
+    extends: base
+    image: dnoliver/upm-all
+    environment:
+      - BUILDSWIGPYTHON=ON
+      - BUILDSWIGJAVA=ON
+      - BUILDSWIGNODE=ON
+      - BUILDDOC=ON
+    command: bash -c "./scripts/run-cmake.sh && ./scripts/build-doc.sh"
+
+  ipk:
+    extends: base
+    environment:
+      - IPK=ON
+      - BUILDDOC=OFF
+    command: bash -c "./scripts/run-cmake.sh && make -Cbuild -j8 package"
+
+  rpm:
+    extends: doc
+    environment:
+      - RPM=ON
+      - BUILDDOC=OFF
+    command: bash -c "./scripts/run-cmake.sh && make -Cbuild -j8 package"
+
+  npm:
+    extends: doc
+    environment:
+      - NPM=ON
+      - BUILDDOC=OFF
+    command: bash -c "./scripts/run-cmake.sh && make -Cbuild -j8 npmpkg"
+
+  sonar-scan:
+    extends: base
+    image: dnoliver/upm-all
+    environment:
+      - BUILDSWIGPYTHON=ON
+      - BUILDSWIGNODE=ON
+      - BUILDSWIGJAVA=ON
+      - BUILDSWIGEXAMPLES=ON
+      - SONAR_TOKEN
+      - SONAR_ORG
+      - SONAR_PROJ_KEY
+      - TRAVIS_BRANCH
+      - TRAVIS_PULL_REQUEST
+      - TRAVIS_REPO_SLUG
+      - TRAVIS_PULL_REQUEST_SLUG
+      - GITHUB_TOKEN
+    command: bash -c "./scripts/run-cmake.sh && cd build && ../scripts/sonar-scan.sh"
+
+  python:
+    extends: base
+    image: dnoliver/upm-python
+    environment:
+      - BUILDSWIGPYTHON=ON
+    command: bash -c "./scripts/run-cmake.sh && cd build && make -j8 && make -j8 install && ldconfig && ctest --output-on-failure"
+
+  java:
+    extends: base
+    image: dnoliver/upm-java
+    environment:
+      - BUILDSWIGJAVA=ON
+    command: bash -c "./scripts/run-cmake.sh && cd build && make -j8 && make -j8 install && ldconfig && ctest --output-on-failure"
+
+  android:
+    extends: java
+    image: dnoliver/upm-android
+    environment:
+      - BUILDTESTS=OFF
+    command: bash -c "./scripts/build-android.sh"
+
+  node4:
+    extends: base
+    image: dnoliver/upm-node4
+    environment:
+      - BUILDSWIGNODE=ON
+    command: bash -c "./scripts/run-cmake.sh && cd build && make -j8 && make -j8 install && ldconfig && ctest --output-on-failure -E examplenames_js"
+
+  node5:
+    extends: node4
+    image: dnoliver/upm-node5
+
+  node6:
+    extends: node4
+    image: dnoliver/upm-node6

docs/apichanges.md

@@ -4,11 +4,29 @@ API Changes                       {#apichanges}
 Here's a list of other API changes made to the library that break source/binary
 compatibility between releases:
 
+# v1.5.0
+
+ * **VEML6070** This sensor class no longer needs an I2C address when
+ initialized, since they are fixed. Only the I2C bus number needs to
+ be provided.
+
+# v1.3.0
+
+ * **The lsm303 driver has been renamed** There are a variety of
+ LSM303 devices out there with various incompatibilities and differing
+ capabilities.  The current lsm303 driver in UPM only supports the
+ LSM303DLH variant, so it has been renamed to lsm303dlh to avoid
+ confusion and to make it clear which variant is actually supported.
+
+    All examples and source files have been renamed, including header
+    files.  In addition, the class name, LSM303, has been renamed to
+    LSM303DLH.  No other functionality or behavior has been changed.
+
 # v1.2.0
 
  * **Note for all drivers ported to C** As a general note concerning
  all of the drivers that have been ported to C: **external constants
- have likely been renamed**.  Previously in C++, most these constants
+ have likely been renamed**.  Previously in C++, most of these constants
  were defined as enums in the *upm::classname* namespace.
 
     For drivers written in C, all of these constants are no longer in

docs/building.md

@@ -34,7 +34,12 @@ make install
 
 The last command will create the include/ and lib/ directories with a copy of
 the headers and library objects respectively in your build location. Note that
-doing an out-of-source build may cause issues when rebuilding later on.
+doing an out-of-source build may cause issues when rebuilding later on. In many
+cases you'll need elevated permissions to install:
+
+~~~~~~~~~~~~~{.sh}
+sudo make install
+~~~~~~~~~~~~~
 
 Our cmake configure has a number of options, *cmake-gui* or *ccmake* can show
 you all the options. The interesting ones are detailed below:
@@ -64,10 +69,6 @@ Building with an older version of swig (swig 2.0+) requires the disabling of jav
 ~~~~~~~~~~~~~
 -DBUILDSWIGNODE=OFF
 ~~~~~~~~~~~~~
-Generating python3 modules instead of python2.7
-~~~~~~~~~~~~~
--DBUILDPYTHON3=ON
-~~~~~~~~~~~~~
 Disabling python module building
 ~~~~~~~~~~~~~
 -DBUILDSWIGPYTHON=OFF
@@ -130,3 +131,101 @@ autotools on linux.
 ~~~~~~~~~~~
 pkg-config --cflags --libs upm-i2clcd
 ~~~~~~~~~~~
+
+## Building with Docker
+
+You can use `docker` and `docker-compose` to generate a complete build environment
+for upm without having to install any other tool.
+
+Requirements:
+* [docker](https://www.docker.com/get-docker) >= 1.12.6
+* [docker-compose](https://docs.docker.com/compose/install/) >= 1.9.0
+
+**NOTE:** docker-compose is an optional requirement. It actually make running complex
+docker build and run command easier. But you can just use docker to build and run.
+
+### Using Docker Images to build Upm
+
+**tl;dr:** Just use this commands to build upm:
+
+```sh
+# Build upm documentation
+$ docker-compose run doc
+# Build upm python2 and python3 packages and run python tests
+$ docker-compose run python
+# Build upm java package and run java tests
+$ docker-compose run java
+# Build upm node4 package and run node tests
+$ docker-compose run node4
+# Build upm node5 package and run node tests
+$ docker-compose run node5
+# Build upm node6 package and run node tests
+$ docker-compose run node6
+# Build upm for android things package
+$ docker-compose run android
+```
+
+**docker-compose** will take a look at the `docker-compose.yaml` file in the repository
+root directory, and run an specific command to build upm for the requested target.
+Once the build is completed, you will have a `build/` folder in the repository root with all
+the compiled code. This `build/` folder is created by using a docker volume. The `build\`
+folder contents is reused each time you execute `docker-compose run [TARGET]`.
+To know more about volumes in Docker, visit the [Docker Volume Documentation](https://docs.docker.com/engine/tutorials/dockervolumes/).
+
+You can also start an interactive session inside the docker container if you need to run some
+custom build commands:
+
+```sh
+# Start an interactive bash  shell inside the container
+$ docker-compose run python bash
+# From now, all the commands are executed inside the container
+$ cd build && cmake -DBUILDSWIGPYTHON=ON .. && make clean all
+```
+
+If you don't want to use docker-compose, you can also use `docker run` to build upm.
+For example, to build upm for python, you can do:
+
+```sh
+# From the repository root folder
+$ docker run \
+      --volume=$(pwd):/usr/src/app \
+      --env BUILDSWIGPYTHON=ON \
+      --env BUILDSWIGJAVA=OFF \
+      --env BUILDSWIGNODE=OFF \
+      dnoliver/upm-python \
+      bash -c "./scripts/run-cmake.sh && make -Cbuild"
+```
+
+### Proxy considerations
+
+If, for some reason, you are behind a proxy, find below a list of common problems related
+to proxy settings:
+
+**docker cannot pull images from docker.io**
+
+ Visit [this link](https://docs.docker.com/engine/admin/systemd/#httphttps-proxy)
+ to configure docker daemon behind a proxy.
+
+**docker run fails to access the internet**
+
+docker-compose will automatically take `http_proxy`, `https_proxy`, and `no_proxy`
+environment variables and use it as build arguments. Be sure to properly configure
+this variables before building.
+
+docker, unlinke docker-compose, do not take the proxy settings from the environment
+automatically. You need to send them as environment arguments:
+
+```sh
+# From the repository root folder
+$ docker run \
+    --volume=$(pwd):/usr/src/app \
+    --env BUILDSWIG=ON \
+    --env BUILDSWIGPYTHON=ON \
+    --env BUILDSWIGJAVA=OFF \
+    --env BUILDSWIGNODE=OFF \
+    --env http_proxy=$http_proxy \
+    --env https_proxy=$https_proxy \
+    --env no_proxy=$no_proxy \
+    dnoliver/upm-python \
+    bash -c "./scripts/run-cmake.sh && make -Cbuild"
+```

docs/changelog.md

@@ -4,6 +4,31 @@ Changelog                         {#changelog}
 Here's a list summarizing some of the key undergoing changes to our library
 from earlier versions:
 
+### v1.5.0
+
+ * Introduced a flexible JSON format for technical sensor specifications, notes
+ and classification. This is also used by our [new UPM website](http://upm.mraa.io)
+ * Revised all C++ sensor examples and switched to stack allocations where
+ possible along with other code and formatting clean-up
+ * Significantly improved docker workflow, CI integration, sanity and
+ consistency tests, static code scans and documentation generation
+ * Several improvements to a couple of existing sensor drivers and better
+ compatibility with subplatforms
+ * Added new std::vector to AbstractList<> typemap for Java bindings and
+ examples
+ * New sensors: lis2ds12, lsm6ds3h, lsm6dsl, lidarlitev3
+
+### v1.3.0
+
+ * Finalized all required build system and JAVA binding changes to release the
+ UPM libraries for Android Things targets
+ * Enhanced the modules for lsm303 and tmp006 to support newer variants of the
+ chips
+ * Fixed Node.js detection on Ubuntu when installed with apt using official
+ packages
+ * Minor documentation changes
+ * New sensors: lsm303agr, lsm303d, veml6070, tca9548a, rn2903
+
 ### v1.2.0
 
  * Improved JAVA binding compiler compatibility and added JAVA interfaces that

docs/contributions.md

@@ -108,13 +108,14 @@ commands below to generate collateral files for your new sensor library.
 #!/bin/bash
 
 function make_new_sensor {
-    SensorName=$1
+    export SensorName=$1
+    # Get a lowercase version of the string
+    export sensorname=${SensorName,,}
+
     # Make sure this is run from the root UPM directory
     if ! grep -q 'UPM ' README.md; then echo "Please run from the root UPM directory"; return -1; fi
 
-    # Copy/paste the below commands into a bash shell...
-    # Get a lowercase version of the string
-    sensorname=${SensorName,,}
+    printf "Generating new sensor: ${SensorName}\n"
     # Copy sensortemplate files to ${sensorname}
     find docs/ examples/ src/ -name '*sensortemplate*' -exec bash -c 'cp -r $0 ${0/sensortemplate/${sensorname}}' {} \;
     # Copy SensorTemplate files to ${SensorName}

docs/creating_java_bindings.md

@@ -12,25 +12,25 @@ Creating Java Bindings Guide
   * [Implementing callbacks in Java](#implementing-callbacks-in-java)
 
 
-##Overview
+## Overview
 
 The "Creating Java Bindings Guide" serves as a basic tutorial for using the SWIG software development tool to create 'glue code' required for Java to call into C/C++ code. It contains: guides for dealing with type conversions, exception handling, callbacks; recommendations on how to write/modify the native API to avoid issues on the Java side, and also workarounds for those issues that can't be avoided.
 
 This guide was created with the [upm](https://github.com/intel-iot-devkit/upm/) and [mraa](https://github.com/intel-iot-devkit/mraa) libraries in mind, and uses examples taken from these sources, but its usage can be extended to any project of creating Java bindings for C/C++ libraries.
 
-##Tools of trade
+## Tools of trade
 
 [SWIG General Documentation](http://www.swig.org/Doc3.0/SWIGDocumentation.html)
 
 [SWIG Java-specific Documentation](http://www.swig.org/Doc3.0/Java.html)
 
 
-##Recommendations for the native API
+## Recommendations for the native API
 
-###Pointers
+### Pointers
 As much as possible, avoid passing values/returning values through pointers given as as arguments to methods. As the Java language does not have pointers, SWIG provides a [workaround](http://www.swig.org/Doc3.0/Java.html#Java_tips_techniques) in the typemaps.i library.
 
-####Alternatives:
+#### Alternatives:
 1. Functions that read data from a driver, return it through a pointer given as argument, and return a bool value, should be __replaced by__ functions that return the value directly and throw a std::runtime_error if a read error occurs. E.g.:
   ```c++
   /*  
@@ -67,7 +67,6 @@ As much as possible, avoid passing values/returning values through pointers give
   ```
 
 3. Functions that return N values through pointers, that do not make sense to grouped together (e.g. a general purpose function that returns both the light intensity and air pollution), should be __replaced by__ N functions (one for each value) that read only one specific value. E.g.:
-
   ```c++
   /*  
    * Function returns the light intensity and air pollution  
@@ -82,7 +81,6 @@ As much as possible, avoid passing values/returning values through pointers give
   ```
 
 4. Functions that return N values through pointers; values that do not make sense to be grouped together, but are time dependent, and make sense to be read at the same time. For example, a sensor that reads air humidity and temperature. A user may want to know the temperature value _temp_ read at the exact moment the humidity value _humid_ was read. These should be __replaced by__ N+1 functions: a _getData()_ function that reads all values at the same time and stores them in global variables; and N getter functions, one for each value. E.g.
-
   ```c++
   /*  
    * Function returns the light intensity and air pollution  
@@ -103,8 +101,8 @@ __Notice:__
 Sometimes, you may be required to write JNI code. Be aware of the difference between the C JNI calling syntax and the C++ JNI calling syntax.The C++ calling syntax will not compile as C and also vice versa. It is however possible to write JNI calls which will compile under both C and C++ and is covered in the [Typemaps for both C and C++ compilation](http://www.swig.org/Doc3.0/Java.html#Java_typemaps_for_c_and_cpp) section of the SWIG Documentation.
 
 
-###Throwing Exceptions in Java
-####Language independent:
+### Throwing Exceptions in Java
+#### Language independent:
 The %exception directive allows you to define a general purpose exception handler. For example, you can specify the following:
 
 ```c++
@@ -155,7 +153,7 @@ The upm_exception.i interface file is included in the upm.i file, therefor SWIG
 * std::exception
 
 
-####Java specific:
+#### Java specific:
 To throw a specific Java exception:
 
 ```c++
@@ -196,12 +194,12 @@ In the upm library, the java_exceptions.i library file provides the functionalit
 void function throws IOException ();  
 ```
 
-##Caveats & Challenges
+## Caveats & Challenges
 
-###Wrapping C arrays with Java arrays
+### Wrapping C arrays with Java arrays
 SWIG can wrap arrays in a more natural Java manner than the default by using the arrays_java.i library file. Just include this file into your SWIG interface file.
 
-###Wrapping unbound C arrays with Java arrays if array is output
+### Wrapping unbound C arrays with Java arrays if array is output
 Functions that return arrays, return a pointer to that array. E.g.:
 
 ```c++
@@ -229,7 +227,7 @@ __SWIG:__
 }  
 ```
 
-###Wrapping unbound C arrays with Java arrays if array is input
+### Wrapping unbound C arrays with Java arrays if array is input
 In C, arrays are tipically passed as pointers, with an integer value representig the length of the array. In Java, the length of an array is always known, so the length argument is redundant. This example shows how to wrap the C array and also get rid the length argument. E.g.:
 
 ```c++
@@ -252,7 +250,7 @@ __SWIG:__
 !!!! There is a difference between TYPE *name and TYPE * name in typemaps!!!!!
 
 
-###Implementing callbacks in Java
+### Implementing callbacks in Java
 Callbacks in the UPM Java library (as well as the MRAA Java library) make use of the _void mraa\_java\_isr\_callback(void\* data\)_ method from MRAA.  
 
 __Callbacks in the UPM Java library are implemented as follows (we use the a110x Hall Effect sensors as example):__
@@ -313,7 +311,7 @@ class A110XISR implements Runnable {
     }
 }
 ```
-####Issues with java callbacks and workarounds
+#### Issues with java callbacks and workarounds
 
 __SWIGJAVA not defined at compile time__
 
@@ -325,18 +323,16 @@ Consider the following files:
 The build process of a java module using SWIG is split into two steps:
 
 1. Generating the intermediate files, from the SWIG interface file. This will produce the java class file (Example.java), the JNI file (exampleJNI.java) and wrapper file (example_wrap.cxx). The source file (example.cxx) is not needed in the first step.
-
   ```
-swig -c++ -java example.i
+  swig -c++ -java example.i
   ```
 
 2. Generating the shared library from the C++ sources and wrapper file
   ```
-g++ -fPIC -c example.cxx example_wrap.cxx -I/usr/lib/jvm/java-1.8.0/include -I/usr/lib/jvm/java-1.8.0/include/linux
-g++ -shared example_wrap.o sensor.o -o libexample.so
+  g++ -fPIC -c example.cxx example_wrap.cxx -I/usr/lib/jvm/java-1.8.0/include -I/usr/lib/jvm/java-1.8.0/include/linux
+  g++ -shared example_wrap.o sensor.o -o libexample.so
   ```
 
-
 SWIGJAVA is always defined when SWIG parses the interface file, meaning it will be defined when it parses the header file (example.h) that is included in the interface file (example.i).
 SWIG also adds the "#define SWIGJAVA" directive in the wrapper file (example_wrap.cxx).
 However, in generating the shared library the SWIGJAVA symbol is only defined in the example_wrap.cxx file, because of the added "#define SWIGJAVA" directive. But we have also used the "#if defined(SWIGJAVA)" check in the source file (example.cxx), and thus need to define SWIGJAVA for it too. If we define the SWIGJAVA symbol as a compile flag, when compiling the source code to object code, the SWIGJAVA compile flag and #define SWIGJAVA" directive will clash and give a double definition warning (only a warning).

docs/documentation.md

@@ -10,93 +10,132 @@ sensors that you want to add to UPM:
 - Have the specific sensor manufacturer/model & version that you used, if you
   support multiple versions please list.
 - Simple comments do not need full stops.
-- Stick to <80 chars per line even in comments.
+- Stick to <80 chars per line where possible.
 - No text is allowed on the same line as the start or end of a comment /** */.
 
-####The sensor block
+We currently document our libraries in the following way:
 
-This is added just before the class declaration in your header(.h) file and has
-mandatory fields. For single sensor libraries, this block will actually
-follow immediately after the library block. If you have multiple physical
-sensors, add this to every one.
-Here's an example (disregard the "@verbatim" tags in your actual code):
+* **Doxygen** is used for documenting the API and generating the categories on
+  the [UPM Libraries page](https://iotdk.intel.com/docs/master/upm/modules.html).
+  You can learn more about the Doxygen syntax [here](http://www.stack.nl/~dimitri/doxygen/manual/docblocks.html).
+* **JSON** is used to provide sensor specifications, descriptions, supported
+  platforms, links and other details.
 
-```
-@verbatim
-/**
- * @library <lib-name>
- * @sensor <chip-id>
- * @comname <component-name>
- * @altname <alt-name>
- * @altid <alt-id>
- * @type <component-category>
- * @man <component-manufacturer>
- * @web <component-weblinks>
- * @con <connection-type>
- * @kit <component-kit>
- *
- * @brief Short class/sensor description
- *
- *   Then add a longer
- *   description here.
- *
- * @image html <component-img.jpeg>
- * @snippet <example-name.cxx> Interesting
- */
-@endverbatim
+When submitting a new driver, you will have to at least fill out the mandatory
+fields as described below.
+
+### The library JSON file
+
+Let's use the BME280 class snippet from the bmp280.json file as an example:
+
+```json
+{
+    "Library": "bmp280",
+    "Description": "Bosch Atmospheric Sensor Library",
+    "Sensor Class":
+    {
+        "BME280":
+        {
+            "Name": "Digital Humidity, Pressure, and Temperature Sensor",
+            "Description": "The BME280 is as combined digital humidity, pressure and temperature sensor based on proven sensing principles. The sensor module is housed in an extremely compact metal-lid LGA package with a footprint of only 2.5 * 2.5 mm2 with a height of 0.93 mm. Its small dimensions and its low power consumption allow the implementation in battery driven devices such as handsets, GPS modules or watches. The BME280 is register and performance compatible to the Bosch Sensortec BMP280 digital pressure sensor",
+            "Aliases": ["bme280", "Grove - Barometer Sensor(BME280)"],
+            "Categories": ["pressure", "humidity", "temperature"],
+            "Connections": ["gpio", "i2c", "spi"],
+            "Project Type": ["prototyping", "industrial"],
+            "Manufacturers": ["adafruit", "seeed", "bosch"],
+            "Examples":
+            {
+                "Java": ["BMP280_Example.java"],
+                "Python": ["bmp280.py"],
+                "Node.js": ["bmp280.js"],
+                "C++": ["bmp280.cxx"],
+                "C": ["bmp280.c"]
+            },
+            "Specifications":
+            {
+                "Vdd": {"unit": "v", "low" : 1.7, "high": 3.6},
+                "Ioff" : {"unit": "mA", "low" : 0.0, "high": 0.0},
+                "Iavg": {"unit": "mA", "low" : 1, "high": 2},
+                "Pressure Range": {"unit": "hpA", "low" : 300, "high": 1100},
+                "Temperature Range": {"unit": "C", "low" : -40, "high": 85}
+            },
+            "Platforms":
+            {
+                "Intel Joule Module":
+                {
+                    "Notes": ["Requires pull-up resistors with carrier board"]
+                }
+            },
+            "Urls" :
+            {
+                "Product Pages": ["https://www.adafruit.com/products/2652"],
+                "Datasheets": ["https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BME280_DS001-11.pdf"],
+                "Schematics": ["https://learn.adafruit.com/assets/26693"]
+            }
+        }
+    }
+}
 ```
 
-- `<lib-name>` When adding to an existing library this needs to match that
-  library's "@defgroup", otherwise this is a new library name, generally the
-  same as chip id. *Mandatory*
-- `<chip-id>` Usually the chip number used by the sensor. When this is not
-  available or relevant, use a unique descriptor that makes sense. Must match
-  class name. *Mandatory*
-- `<component-name>` Title Case descriptive name for your sensor, try to avoid
-  including the manufacturer's name here.  Examples: Digital Pressure Sensor,
-  Serial MP3 Module, etc... *Mandatory*
-- `<alt-name>` Alternative names that your sensor driver might have. This may
-  include manufacturer's name. *Optional*
-- `<alt-id>` Alternative chip-ids that your sensor driver supports. *Optional*
-- `<component-category>` Mention one or more categories the sensor fits in. Can
-  be 'other'. *Mandatory*
-- `<component-manufacturer>` Sensor manufacturer. Can be 'generic'. *Mandatory*
-- `<component-weblinks>` Links to vendors or data-sheets. *Optional*
-- `<connection-type>` Specifies how does the sensor connect to the board
-  *Mandatory*
-- `<component-kit>` Specifies if the sensor is part of a kit. *Optional*
+#### Mandatory fields:
 
-Existing groups that can be used for the manufacturer, connection, category and
-kit tags are found in the *src/groups.md* file.
+For the library:
 
-Optionally, a small representative image can be placed in the "docs/images"
-subfolder and linked with the "@image" tag.
-**Please do not use existing, copyrighted images with your sensors!**
+- `Library` The name of the library. This is appended to the upm prefix during
+  a build.
+- `Description` A short description of the library and what it contains.
 
-The example should have an 'Interesting' section which will be highlighted as
-a code sample in doxygen. Everything in between such tags will show up in the
-class documentation when "@snippet" is added at the end of a class docstring.
-Tags use this format (in "example-name.cxx"):
+For the sensor classes:
 
-```
-@verbatim
- //! [Interesting]
+- `Sensor Class` This is the object containing the sensor class(es) within the
+  library. Class objects need to match the name used in code.
+- `Name` Title Case descriptive names for your sensor. Multiple values can be
+  used to capture the chip name, generic name, or specific name for a vendor.
+  Examples: Digital Pressure Sensor, Serial MP3 Module
+- `Description` A more detailed explanation what the sensor does and how it
+  works.
+- `Categories` Mention one or more categories the sensor fits in. Accepted
+  values are listed in the groups.md file.
+- `Connections` Specifies how does the sensor connect to the board. Accepted
+  values are listed in the groups.md file.
+- `Project Type` What time of projects is the sensor suited for. For example:
+  prototyping, industrial, commercial.
+- `Manufacturers` List of sensor manufacturers or vendors. Can be 'generic',
+  other accepted values in groups.md.
+- `Examples` Names of the example files provided with the library. At a minimum,
+  the `C++` example needs to be provided.
+- `Urls` At least one link for `Product Pages` needs to be provided. Additional
+  links to `Datasheets` or `Schematics` can be added.
 
-    ...example code here...
+#### Optional and customizable fields
 
- //! [Interesting]
-@endverbatim
-```
+- `Kits` Specifies if the sensor is part of a kit. Accepted values are listed
+ in the groups.md file.
+- `Image` Name of the image file provided with the sensor class.
+- `Specifications` Relevant sensor specifications as listed in the datasheet.
+- `Platforms` Platform specific notes or known limitations and workarounds.
 
-For more examples take a look at the existing headers in our github repository.
+As mentioned, accepted values for some of the fields are listed under the
+[groups.md](../src/groups.md) file. If needed, you can add new categories
+for your sensor library following the existing format.
 
-####The library block
+JSON files are automatically checked for correctness and required fields on
+code submissions.
+
+**Please do not use copyrighted images with your sensors!**
+
+Images from Seeed, DFRobot, Sparkfun or Adafruit are permitted.
+
+### Doxygen tags
+
+#### The library doxygen block
 
 New libraries must have the "@brief", "@defgroup" and "@ingroup" tags in one
 block. This usually follows the namespace and it is common to have one sensor
 per library.
 
-You should end up with something like this:
+You should end up with something like this (disregard the "@verbatim" tags in
+your actual code):
 
 ```
 @verbatim
@@ -111,8 +150,43 @@ You should end up with something like this:
 @endverbatim
 ```
 
-In "@defgroup" use the same `<lib-name>` used in the sensor block. Multiple
-sensors can be added to the same library this way.
+Use `<lib-name>` to name the library.
+
 For "@ingroup" add the same values as in the sensor block for manufacturer,
 category, connection type and kit. If you have multiple classes or sensors
 per library, only use the "@ingroup" tags that are common for all of them.
+
+Existing groups that can be used for the manufacturer, connection, category and
+kit tags are found in the *src/groups.md* file.
+
+#### The sensor doxygen block
+
+This is added just before the class declaration in your header(.hpp) file and has
+one mandatory field. For single sensor libraries, this block will actually follow
+immediately after the library block. If you have multiple sensor classes, add
+this to every one.
+
+Here's an example:
+
+```
+@verbatim
+/**
+ * @library <lib-name>
+ * @brief Short class/sensor description
+ *
+ *   Then add a longer
+ *   description here.
+ */
+@endverbatim
+```
+
+When adding to an existing library, `<lib-name>` needs to match that library's
+"@defgroup".
+
+For more examples take a look at the existing headers in our github repository.
+Also, make sure to check our [sensortemplate](contributions.md#creating-a-new-sensor-library-using-the-sensortemplate)
+as it can facilitate new sensor additions.
+
+Existing header files might have additional fields under the sensor block. These
+have been used in the past to generate sensor pages outside of doxygen, but they
+are now deprecated and not required for new additions.

docs/installing.md

@@ -48,11 +48,11 @@ To install:
 ```bash
 sudo add-apt-repository ppa:mraa/mraa
 sudo apt-get update
-sudo apt-get install libupm-dev python-upm python3-upm upm-examples
+sudo apt-get install libupm-dev libupm-java python-upm python3-upm node-upm upm-examples
 ```
 
-Note that the Ubuntu PPA only provides the C/C++ and Python packages. Node.js
-developers will have to install MRAA and UPM using NPM instead.
+Running UPM applications on Ubuntu systems requires elevated permissions
+(e.g. run with `sudo`).
 
 ### Node.js bindings only (NPM)
 

docs/knownlimitations.md

@@ -7,6 +7,9 @@ such sensors and known workarounds if they exist.
 
 #### Grove Sensors
 
+ * **RN2903** Click 2 version. This device will not work using the
+ Edison UART on the Arduino breakout.  It does work on Edison using a
+ USB->serial interface.
  * **Grove LCD RGB Backlit** (JHD1313M1) requires 5V and should be used with an
  external power supply connected to the board to function properly. Although
  some high powered USB ports might be enough, in most cases you will encounter
@@ -50,11 +53,11 @@ such sensors and known workarounds if they exist.
  * **Grove BLE** (HM-11) does not return data on the Intel Galileo board due to
  known UART limitation.
  * **Grove Hall Sensor** (A11X) if the base shield is set to 3V on Intel Edison,
- it will trigger continous callbacks when the sensor is not reading anything.
+ it will trigger continuous callbacks when the sensor is not reading anything.
  * **Grove RTC** (DS1307) is not compatible with the Intel Edison Arduino board
  but will work with the Mini-breakout.
- * **Grove Tempture & Humidity (High-Accuracy & Mini) Sensor** (TH02) only works
- with the Intel Edison Arduino board when powered from the 3.3V rail.
+ * **Grove Temperature & Humidity (High-Accuracy & Mini) Sensor** (TH02) only
+ works with the Intel Edison Arduino board when powered from the 3.3V rail.
 
 #### Adafruit Sensors
 
@@ -75,6 +78,8 @@ This affects the **DS18B20**, **DS2413** and **DFREC** drivers.
 
 #### Other Sensors
 
+ * **HTU21D** is unstable on the Intel Edison with the Arduino breakout and
+ will throw an error when it can't complete an update call.
  * **MLX90614** is not compatible with the Intel Galileo due to the inability
  to change the I2C bus speed to 100 KHz.
  * **MICSV89** is not compatible with the Intel Galileo due to the inability to
@@ -89,10 +94,9 @@ This affects the **DS18B20**, **DS2413** and **DFREC** drivers.
 
 Some *I2C* sensors add too much capacitance to the SDA line of the Intel Edison
 Arduino breakout board, thus the signal sticks to a logic 1. When this happens,
-other sensors connected to the I2C bus are unusable. While there is no generic
-solution for this limitation, in most cases the sensor works on the Intel
-Edison Mini-breakout. When this board is not an option, the sensor can be
-sometimes replaced with the same model from a different vendor.
+other sensors connected to the I2C bus also become unusable. In order to solve
+this problem, an I2C repeater that isolates the capacitance on the bus, such as
+the PCA9517 can be used.
 
 The Intel Edison *SPI* bus can corrupt data being sent across when certain
 sensors are connected to it, if using an old image. This has been resolved with

doxy/Doxyfile.in

@@ -129,8 +129,6 @@ ABBREVIATE_BRIEF       = "The $name class" \
 
 ALWAYS_DETAILED_SEC    = NO
 
-DETAILS_AT_TOP         = YES
-
 # If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
 # inherited members of a class in the documentation of that class as if those
 # members were ordinary class members. Constructors, destructors and assignment
@@ -862,7 +860,8 @@ EXCLUDE_SYMLINKS       = NO
 # bmi160 driver contains code provided by bosch.  This source contains
 # tags which are picked up by doxygen (namely \mainpage) and
 # incorrectly get added to docs.
-EXCLUDE_PATTERNS       = bosch_*
+EXCLUDE_PATTERNS       = bosch_* \
+                         sensortemplate*
 
 # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
 # (namespaces, classes, functions, etc.) that should be excluded from the
@@ -1861,18 +1860,6 @@ GENERATE_XML           = YES
 
 XML_OUTPUT             = xml
 
-# The XML_SCHEMA tag can be used to specify a XML schema, which can be used by a
-# validating XML parser to check the syntax of the XML files.
-# This tag requires that the tag GENERATE_XML is set to YES.
-
-XML_SCHEMA             =
-
-# The XML_DTD tag can be used to specify a XML DTD, which can be used by a
-# validating XML parser to check the syntax of the XML files.
-# This tag requires that the tag GENERATE_XML is set to YES.
-
-XML_DTD                =
-
 # If the XML_PROGRAMLISTING tag is set to YES doxygen will dump the program
 # listings (including syntax highlighting and cross-referencing information) to
 # the XML output. Note that enabling this will significantly increase the size

doxy/Doxyfile.java.in

@@ -129,8 +129,6 @@ ABBREVIATE_BRIEF       = "The $name class" \
 
 ALWAYS_DETAILED_SEC    = NO
 
-DETAILS_AT_TOP         = YES
-
 # If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
 # inherited members of a class in the documentation of that class as if those
 # members were ordinary class members. Constructors, destructors and assignment
@@ -1818,18 +1816,6 @@ GENERATE_XML           = YES
 
 XML_OUTPUT             = xml
 
-# The XML_SCHEMA tag can be used to specify a XML schema, which can be used by a
-# validating XML parser to check the syntax of the XML files.
-# This tag requires that the tag GENERATE_XML is set to YES.
-
-XML_SCHEMA             =
-
-# The XML_DTD tag can be used to specify a XML DTD, which can be used by a
-# validating XML parser to check the syntax of the XML files.
-# This tag requires that the tag GENERATE_XML is set to YES.
-
-XML_DTD                =
-
 # If the XML_PROGRAMLISTING tag is set to YES doxygen will dump the program
 # listings (including syntax highlighting and cross-referencing information) to
 # the XML output. Note that enabling this will significantly increase the size

doxy/README.cpp.md

@@ -15,7 +15,7 @@ sensor in order to reduce load when doing multiple reads to sensor data.
 ### Example
 
 A sensor/actuator is expected to work as such (here is the servo ES08A API):
-@snippet es08a.cxx Interesting
+@snippet servo-es08a.cxx Interesting
 
 However implementation and API design is completely up to the developer, some
 enumerable sensors for example may provide much clever instantiation. Displays

doxy/node/docgen.js

@@ -1,59 +0,0 @@
-/*
- * Author: Heidi Pan <heidi.pan@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.
- */
-
-// dependencies
-var xml2js  = require('./xml2js')
-  , fs      = require('fs')
-  , Promise = require('bluebird')
-  , opts    = require('commander')
-  , _       = require('lodash')
-  , mkdirp  = require('mkdirp');
-
-
-// parse command line arguments
-_.extend(opts, { addOptions: function(module) { return module.addOptions(opts); } });
-opts
-  .option('-m, --module [module]', 'module name for which to build documentation', 'mraa')
-  .option('-f, --formats [formats]', 'format for js comments', 'yuidoc,ternjs')
-  .option('-o, --outdir [directory]', 'top directory to build documentation', __dirname + '/jsdoc')
-  .addOptions(xml2js)
-  .parse(process.argv);
-
-
-// use promise-style programming rather than spaghetti callbacks
-Promise.promisifyAll(fs);
-Promise.promisifyAll(mkdirp);
-
-
-// main
-xml2js.parse().then(function(specjs) {
-  var formats = opts.formats.split(',');
-  Promise.all(_.map(formats, function(format) {
-    var generateDocs = require(__dirname + '/generators/' + format + '/generator');
-    var dir = opts.outdir + '/' + format + '/' + specjs.MODULE;
-    return mkdirp.mkdirpAsync(dir).then(function() {
-      return fs.writeFileAsync(dir + '/doc.js', generateDocs(specjs));
-    });
-  }));
-});

doxy/node/generators/jsdoc/conf.json

@@ -1,7 +0,0 @@
-{
-  "templates": {
-    "default": {
-      "outputSourceFiles": false
-    }
-  }
-}

doxy/node/generators/jsdoc/generator.js

@@ -1,89 +0,0 @@
-/*
- * Author: Heidi Pan <heidi.pan@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.
- */
-
-// dependencies
-var _ = require('lodash');
-
-
-// generate JSDoc-style documentation
-function generateDocs(specjs) {
-  var docs = GENERATE_MODULE(specjs.MODULE);
-  docs = _.reduce(specjs.METHODS, function(memo, methodSpec, methodName) {
-    return memo += GENERATE_METHOD(methodName, methodSpec);
-  }, docs);
-  docs = _.reduce(specjs.ENUMS, function(memo, enumSpec, enumName) {
-    return memo += GENERATE_ENUM(enumName, enumSpec);
-  }, docs);
-  docs = _.reduce(specjs.CLASSES, function(memo, classSpec, parentClass) {
-    return _.reduce(classSpec.methods, function(memo, methodSpec, methodName) {
-      return memo += GENERATE_METHOD(methodName, methodSpec, parentClass);
-    }, memo);
-  }, docs);
-  return docs;
-}
-
-
-// comment wrapper around entire spec
-function GENERATE_DOC(text) {
-  return '/**\n' + text + ' */\n';
-}
-
-
-// generate module spec
-function GENERATE_MODULE(module) {
-  return GENERATE_DOC('@module ' + module + '\n');
-}
-
-
-// generate method spec with parent module/class
-function GENERATE_METHOD(name, spec, parent) {
-  name = name.replace(/!+$/, '');
-  return GENERATE_DOC(spec.description + '\n'
-    + '@method ' + name + '\n'
-    + '@instance\n'
-    + (parent ? ('@memberof ' + parent + '\n') : '')
-    + _.reduce(spec.params, function(memo, paramSpec, paramName) {
-        return '@param {' + paramSpec.type + '} ' + paramName + ' ' + paramSpec.description + '\n';
-      }, '')
-    + ( !_.isEmpty(spec.return) ? ('@return {' + spec.return.type + '} ' + spec.return.description + '\n') : ''));
-}
-
-
-// generate enum spec
-function GENERATE_ENUM(name, spec) {
-  return GENERATE_DOC(spec.description + '\n\n'
-    + '@var ' + name + '\n'
-    + '@type Enum(' + spec.type + ')\n'
-    + '@instance\n');
-}
-
-
-// TODO
-// generate link spec
-function GENERATE_LINK(text) {
-    return '{@link ' + text + '}';
-}
-
-
-module.exports = generateDocs;

doxy/node/generators/ternjs/generator.js

@@ -1,132 +0,0 @@
-/*
- * Author: Heidi Pan <heidi.pan@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.
- */
-
-// dependencies
-var _ = require('lodash');
-
-
-// generate json for ternjs input
-function generateDocs(specjs) {
-  GENERATE_TYPE = (function(enums) {
-    return function(type) {
-      return (_.contains(enums, type) ? ('Enum ' + type) : type);
-    }
-  })(_.keys(specjs.ENUMS_BY_GROUP));
-  var docs = { '!name': specjs.MODULE + 'library' };
-  _.extend(docs, GENERATE_MODULE(specjs.MODULE));
-  _.each(specjs.ENUMS, function(enumSpec, enumName) {
-    _.extend(docs[specjs.MODULE], GENERATE_ENUM(enumName, enumSpec));
-  });
-  _.each(specjs.METHODS, function(methodSpec, methodName) {
-    _.extend(docs[specjs.MODULE], GENERATE_METHOD(methodName, methodSpec));
-  });
-  
-  if (_.isEmpty(specjs.CLASSGROUPS)) {
-    _.extend(docs[specjs.MODULE], GENERATE_CLASSES(specjs.CLASSES));
-  } else {
-    var grouped = _.flatten(_.pluck(_.values(specjs.CLASSGROUPS), 'classes'));
-    var ungrouped = _.difference(_.keys(specjs.CLASSES), grouped);
-    _.extend(docs[specjs.MODULE], GENERATE_CLASSES(_.pick(specjs.CLASSES, ungrouped)));
-    _.each(specjs.CLASSGROUPS, function(groupSpec, groupName) {
-      _.extend(docs, GENERATE_MODULE(groupName));
-      _.extend(docs[groupName], GENERATE_CLASSES(_.pick(specjs.CLASSES, groupSpec.classes), groupName));
-    });
-  }
-  return JSON.stringify(docs, null, 2);
-}
-
-
-// generate module spec
-function GENERATE_MODULE(module) {
-  var docs = {};
-  docs[module] = {};
-  return docs;
-}
-
-
-// generate the spec for the given list of classes
-function GENERATE_CLASSES(classes) {
-  var docs = {};
-  _.each(classes, function(classSpec, parentClass) {
-    var constructor =  classSpec.methods[parentClass];
-    _.extend(docs, GENERATE_METHOD(parentClass, constructor ? constructor : { params: {}, return: {}, description: '' } ));
-    if (_.has(docs, parentClass)) {
-      _.each(classSpec.enums, function(enumSpec, enumName) {
-        _.extend(docs[parentClass], GENERATE_ENUM(enumName, enumSpec));
-      });
-      docs[parentClass].prototype = {};
-      _.each(_.omit(classSpec.methods, parentClass), function(methodSpec, methodName) {
-        _.extend(docs[parentClass].prototype, GENERATE_METHOD(methodName, methodSpec));
-      });
-      _.each(classSpec.variables, function(variableSpec, variableName) {
-        _.extend(docs[parentClass].prototype, GENERATE_VARIABLE(variableName, variableSpec));
-      });
-    }
-  });
-  return docs;
-}
-
-
-// generate method spec
-function GENERATE_METHOD(name, spec) {
-  var doc = {};
-  doc[name] = {
-    '!type': 'fn(' + GENERATE_PARAMS(spec.params) + ')' + GENERATE_RETURN(spec.return),
-    '!doc': spec.description
-  }
-  return doc;
-}
-
-
-// generate parameter signatures for method
-function GENERATE_PARAMS(spec) {
-  return _.map(spec, function(paramSpec, paramName) {
-    return paramName + ': ' + paramSpec.type;
-  }).join(', ');
-}
-
-
-// generate return signature for method
-function GENERATE_RETURN(spec) {
-  return (_.isEmpty(spec) ? '' : (' -> ' + spec.type));
-}
-
-
-// generate enum spec
-function GENERATE_ENUM(name, spec) {
-  var doc = {};
-  doc[name] = 'Enum ' + spec.type ;
-  return doc;
-}
-
-
-// generate variable spec
-function GENERATE_VARIABLE(name, spec) {
-  var doc = {};
-  doc[name]= spec.type ;
-  return doc;
-}
-
-
-module.exports = generateDocs;

doxy/node/generators/yuidoc/generator.js

@@ -1,144 +0,0 @@
-/*
- * Author: Heidi Pan <heidi.pan@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.
- */
-
-// dependencies
-var _ = require('lodash');
-
-
-// generate YuiDocs-style documentation
-function generateDocs(specjs) {
-  var docs = GENERATE_MODULE(specjs.MODULE, '');
-  GENERATE_TYPE = (function(enums) { 
-    return function(type) {
-      return (_.contains(enums, type) ? ('Enum ' + type) : type);  
-    }
-  })(_.keys(specjs.ENUMS_BY_GROUP));
-  docs = _.reduce(specjs.METHODS, function(memo, methodSpec, methodName) {
-    return memo += GENERATE_METHOD(methodName, methodSpec);
-  }, docs);
-  docs = _.reduce(specjs.ENUMS, function(memo, enumSpec, enumName) {
-    return memo += GENERATE_ENUM(enumName, enumSpec);
-  }, docs);
-  if (_.isEmpty(specjs.CLASSGROUPS)) {
-      docs += GENERATE_CLASSES(specjs.CLASSES);
-  } else {
-    docs += GENERATE_MODULE('common', '');
-    var grouped = _.flatten(_.pluck(_.values(specjs.CLASSGROUPS), 'classes'));
-    var ungrouped = _.difference(_.keys(specjs.CLASSES), grouped);
-    docs += GENERATE_CLASSES(_.pick(specjs.CLASSES, ungrouped), 'common'); 
-    _.each(specjs.CLASSGROUPS, function(groupSpec, groupName) {
-      docs += GENERATE_CLASSES(_.pick(specjs.CLASSES, groupSpec.classes), groupName);
-    });
-    // TODO: figure out why yuidoc won't associate the class with the right module if module definitions are interspersed
-    _.each(specjs.CLASSGROUPS, function(groupSpec, groupName) {
-        docs += GENERATE_MODULE(groupName, groupSpec.description);
-    });
-  }
-  return docs;
-}
-
-
-// comment wrapper around entire spec
-function GENERATE_DOC(text) {
-  return '/**\n' + text + ' */\n';
-}
-
-
-// generate module spec
-function GENERATE_MODULE(name, description) {
-  return GENERATE_DOC(description + '\n' 
-    + '@module ' + name + '\n');
-}
-
-
-// generate spec for the given list of classes
-function GENERATE_CLASSES(classes, parent) {
-  return _.reduce(classes, function(memo, classSpec, className) {
-    return memo
-      + GENERATE_CLASS(className, classSpec.description, parent, classSpec.parent)
-      + _.reduce(classSpec.methods, function(memo, methodSpec, methodName) {
-        return memo += GENERATE_METHOD(methodName, methodSpec, className);
-      }, '') 
-      + _.reduce(classSpec.variables, function(memo, variableSpec, variableName) {
-        return memo += GENERATE_VAR(variableName, variableSpec, className);
-      }, '')
-      + _.reduce(classSpec.enums, function(memo, enumSpec, enumName) {
-        return memo += GENERATE_ENUM(enumName, enumSpec, className);
-      }, '');
-  }, '');
-}
-
-
-// generate class spec
-function GENERATE_CLASS(name, description, namespace, parent) {
-  return GENERATE_DOC(description + '\n' 
-    + '@class ' + name + '\n'
-    + (namespace ? ('@module ' + namespace + '\n') : '')
-    /*
-    TODO: leave out until figure out what swig does with inheritance
-    + (parent ? ('@extends ' + parent + '\n') : '')
-    */
-  );
-}
-
-
-// generate method spec with parent module/class
-function GENERATE_METHOD(name, spec, parent) {
-  name = name.replace(/!+$/, '');
-  return GENERATE_DOC(spec.description + '\n'
-    + '@method ' + name + '\n'
-    + (parent ? ('@for ' + parent + '\n') : '@for common\n')
-    + _.reduce(spec.params, function(memo, paramSpec, paramName) {
-        return memo + '@param {' + GENERATE_TYPE(paramSpec.type) + '} ' + paramName + ' ' + paramSpec.description + '\n'; 
-      }, '')
-    + ( !_.isEmpty(spec.return) ? ('@return {' + GENERATE_TYPE(spec.return.type) + '} ' + spec.return.description + '\n') : ''));
-}
-
-
-// generate enum spec
-function GENERATE_ENUM(name, spec, parent) {
-  return GENERATE_DOC(spec.description + '\n'
-    + '@property ' + name + '\n'
-    + '@type Enum ' + spec.type + '\n'
-    + '@for ' + (parent ? parent : 'common') + '\n');
-}
-
-
-// generate variable specs
-function GENERATE_VAR(name, spec, parent) {
-  return GENERATE_DOC(spec.description + '\n'
-    + '@property ' + name + '\n'
-    + '@type ' + spec.type + '\n'
-    + '@for ' + parent + '\n');
-}
-  
-
-// TODO
-// generate link spec 
-function GENERATE_LINK(text) {
-  return '{{#crossLink "' + text + '"}}{{/crossLink}}';
-}
-
-
-module.exports = generateDocs;

doxy/node/grammars/xml.peg

@@ -1,45 +0,0 @@
-document
-  = _ ignore* _ "<doxygen " _ attr:attr* _ ">" body:elements _ "</doxygen>" _ { return body; }
-
-
-elements
-  = element*
-
-element
-  = _ "<" startTag:id _ attr:attr* _ ">" _ children:elements _ "</" endTag:id ">" _ {
-    if (startTag != endTag) {
-      throw new Error("Expected </" + startTag + "> but </" + endTag + "> found.");
-    }
-    return {name: startTag, attr: attr, children: children }
-  }
-  / "<" tag:id _ attr:attr* _ "/>" _ {
-    return {name: tag, attr: attr }
-  }
-  / _ text:text _ { return text }
-
-ignore
-  = "<?xml" _ attr* _ "?>" { return }
-
-attr
-  = name:id _ "=" _ value:string { return { name:name, value:value } }
-
-string
-  = '"' '"' _           { return ""; }
-  / "'" "'" _           { return ""; }
-  / '"' text:quoted '"' _ { return text; }
-  / "'" text:quoted "'" _ { return text; }
-
-quoted
-  = chars:[^<>'" \t\n\r]+  { return chars.join(""); }
-
-text
-  = chars:[^<> \t\n\r]+  { return chars.join(""); }
-
-id
-  = chars:[^<>/'"=? \t\n\r]+  { return chars.join(""); }
-
-_ "whitespace"
-  = whitespace*
-
-whitespace
-  = [ \t\n\r]

doxy/node/tolower.js

@@ -1,125 +0,0 @@
-/*
- * Author: Dina M Suehiro <dina.m.suehiro@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.
- */
-
-// dependencies
-var opts    = require('commander'),     // for command line args
-    fs      = require('fs'),                // for file system access
-    path      = require('path');              // for file path parsing
-
-// parse command line arguments
-opts
-  .option('-i, --inputdir [directory]', 'product documents directory', __dirname + '/docs/yuidoc/upm')
-  .parse(process.argv);
-
-// Set to true for console output
-var debug = true;
-
-// Global arrays tracking the files that have been renamed
-var originalFiles = [];
-var renamedFiles = [];
-
-// Filter to get html files from different directories
-var rootFiles = getHtmlFilenames(opts.inputdir);
-var classesFiles = getHtmlFilenames(opts.inputdir + "/classes");
-var modulesFiles = getHtmlFilenames(opts.inputdir + "/modules");
-
-// Rename files in the classes directory to have lower-cased file names.
-renameFiles(classesFiles);
-
-classesFiles = getHtmlFilenames(opts.inputdir + "/classes");
-
-// Go through the html files and update links to reflect the file names that we changed.
-renameLinks(rootFiles);
-renameLinks(classesFiles);
-renameLinks(modulesFiles);
-
-// Helper function that returns paths to the html files in the specified directory
-function getHtmlFilenames (directory)
-{
-  return fs.readdirSync(directory).map(function (file) {
-    return path.join(directory, file);
-  }).filter(function (file) {
-    return fs.statSync(file).isFile();
-  }).filter(function (file) {
-    return path.extname(file).toLowerCase() == ".html";
-  });
-}
-
-// Goes through the files and renames them to be lower-cased and tracks them the
-// renamed files in the originalFiles[] and renamedFiles[] arrays.
-function renameFiles(files)
-{
-  files.forEach(function (file)
-  {
-    var originalName = path.basename(file);
-    var newFileName = originalName.toLowerCase();
-    var directory = path.dirname(file);
-    if (originalName != newFileName)
-    {
-      fs.renameSync(file, directory + "/" + newFileName); //, function(err)
-
-      if (debug)
-        console.log('Renamed: %s --> %s', originalName, newFileName);
-
-      originalFiles.push(originalName);
-      renamedFiles.push(newFileName);
-    }
-  });
-}
-
-// Helper function goes through the specified files and does a file/replace of the
-// originalFiles to the renamedFiles so that the .html links match what has been renamed.
-function renameLinks (files)
-{
-  if (originalFiles.length <= 0)
-  {
-    if (debug)
-      console.log("No links to rename.");
-    return;
-  }
-
-  files.forEach(function (file)
-  {
-    // Read the file
-    data = fs.readFileSync(file, 'ascii');
-
-    // Find/replace the file names that were renamed
-    for (var i = 0; i < originalFiles.length; i++)
-    {
-      var findString = '/' + originalFiles[i] + '\"';
-      var replaceString = '/' + renamedFiles[i] + '\"';
-
-      data = data.replace(findString, replaceString);
-    }
-
-    // Write back
-    fs.writeFile(file, data, 'ascii', function (err) {
-      if (err)
-        throw err;
-    });
-
-    if (debug)
-      console.log('Renamed links in: %s', file);
-  });
-}

doxy/node/xml2js.js

@@ -1,935 +0,0 @@
-/*
- * Author: Heidi Pan <heidi.pan@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.
- */
-
-// dependencies
-var peg     = require('pegjs')
-  , fs      = require('fs')
-  , path    = require('path')
-  , Promise = require('bluebird')
-  , _       = require('lodash')
-  , util    = require('util');
-
-
-// use promise-style programming rather than spaghetti callbacks
-Promise.promisifyAll(fs);
-
-
-var xml2js = {
-
-  // js-format specs
-  // MODULE: <module name>
-  // ENUMS: {
-  //   <enum name>: {
-  //     type: <enum type>,
-  //     description: <enum description>
-  //   }, ...
-  // }
-  // ENUMS_BY_GROUP: {
-  //   <enum type>: {
-  //     description: <enum group description>
-  //     members: [ <enum name>, ... ]
-  //   }, ...
-  // }
-  // METHODS: {
-  //   <method name>: {
-  //     description: <method description>,
-  //     params: {
-  //       <param name>: {
-  //         type: <param type>,
-  //         description: <param description >
-  //       }, ...
-  //     },
-  //     return: {
-  //       type: <return type>,
-  //       description: <return description>
-  //     }
-  //   }, ...
-  // }
-  // CLASSES: {
-  //   <class name>: {
-  //     description: <class description>,
-  //     parent: <parent class name>,
-  //     group: <group name>,
-  //     methods: { ... },
-  //     variables: {
-  //       <variable name>: {
-  //         type: <variable type>,
-  //         description: <variable description>
-  //       }
-  //     },
-  //     enums: { ... },
-  //     enums_by_group: { ... }
-  //   }, ...
-  // }
-  // CLASSGROUPS: {
-  //   <group name>: {
-  //     description: <group description>,
-  //     classes: [ <class name>, ... ],
-  //     enums: { ... },
-  //     enums_by_group: { ... }
-  //   }, ...
-  // }
-  MODULE: '',
-  ENUMS: {},
-  ENUMS_BY_GROUP: {},
-  METHODS: {},
-  CLASSES: {},
-  CLASSGROUPS: {},
-
-
-  // baseline c -> js type mapping
-  TYPEMAPS: {
-    '^(const)?\\s*(unsigned|signed)?\\s*(int|short|long|float|double|size_t|u?int\\d{1,2}_t)?$': 'Number',
-    '^bool$': 'Boolean',
-    '^(const)?\\s*(unsigned|signed)?\\s*(char|char\\s*\\*|std::string)$': 'String',  // TODO: verify that swig does this mapping
-    '^void\\s*\\(\\s*\\*\\s*\\)\\s*\\(\\s*void\\s*\\*\\)\\s*$': 'Function'
-  },
-
-
-  // custom c -> js type mapping for pointers
-  // ARRAY_TYPEMAPS: {
-  //    <pointer data type>: {
-  //      arrayType: <swig generated array type that will replace pointers of data type>,
-  //      classes: [ <class that contains arrayType>, ... ]
-  //    }, ...
-  // }
-  // POINTER_TYPEMAPS: {
-  //    <class that contains pointerType>: {
-  //      <c pointer data type>: <js swig generated pointer type that will replace pointers of data type>, ...
-  //    }, ...
-  // }
-  ARRAY_TYPEMAPS: {},
-  POINTER_TYPEMAPS: {},
-
-
-  // add command line options for this module
-  addOptions: function(opts) {
-    xml2js.opts = opts;
-    return opts
-      .option('-i, --inputdir [directory]', 'directory for xml files', __dirname + '/xml/mraa')
-      .option('-c, --custom [file]', 'json for customizations')
-      .option('-t, --typemaps [directory]', 'directory for custom pointer type maps')
-      .option('-g, --imagedir [directory]', 'directory to link to where the images will be kept', '')
-      .option('-s, --strict', 'leave out methods/variables if unknown type')
-  },
-
-
-  // parse doxygen xml -> js-format specs
-  // TODO: figure out whether we need to document any protected methods/variables
-  parse: function() {
-    var XML_GRAMMAR_SPEC = 'grammars/xml.peg';
-    var NAMESPACE_SPEC = xml2js.opts.inputdir + '/namespace' + xml2js.opts.module + '.xml';
-    var CLASS_SPEC = function(c) { return xml2js.opts.inputdir + '/' + c + '.xml'; }
-    var TYPES_SPEC = xml2js.opts.inputdir + '/types_8h.xml';
-    xml2js.MODULE = xml2js.opts.module;
-    return Promise.join(createXmlParser(XML_GRAMMAR_SPEC),
-                        xml2js.opts.typemaps ? initCustomPointerTypemaps(xml2js.opts.typemaps) : Promise.resolve(),
-                        fs.readFileAsync(NAMESPACE_SPEC, 'utf8'),
-                        fs.existsSync(TYPES_SPEC) ? fs.readFileAsync(TYPES_SPEC, 'utf8') : Promise.resolve(null),
-                        function(xmlparser, ignore, xml, xml_types) {
-      if (xml_types != null) {
-        _.extend(xml2js.ENUMS, getEnums(xmlparser.parse(xml_types)[0], false));
-        _.extend(xml2js.ENUMS_BY_GROUP, getEnums(xmlparser.parse(xml_types)[0], true));
-      }
-      var spec_c = xmlparser.parse(xml)[0];
-      _.extend(xml2js.ENUMS, getEnums(spec_c, false));
-      _.extend(xml2js.ENUMS_BY_GROUP, getEnums(spec_c, true));
-      _.extend(xml2js.METHODS, getMethods(spec_c));
-      _.each(getSubclassNames(spec_c), function(className) { xml2js.CLASSES[className] = {} });
-      var parseClasses = _.map(getSubclasses(spec_c), function(c) {
-        return fs.readFileAsync(CLASS_SPEC(c), 'utf8').then(function(xml) {
-          try {
-            var spec_c = xmlparser.parse(xml)[0];
-            var className = getName(spec_c);
-            _.extend(xml2js.CLASSES[className], {
-              description: getDescription(spec_c),
-              parent: getParent(spec_c, className),
-              enums: getEnums(spec_c, false, className),
-              enums_by_group: getEnums(spec_c, true, className),
-              variables: getVariables(spec_c, className),
-              methods: getMethods(spec_c, className)
-            });
-          } catch(e) {
-            console.log(e.toString() + ': class ' + className + ' was not parsed correctly.');
-          }
-        });
-      });
-      var parseGroups = fs.readdirAsync(xml2js.opts.inputdir).then(function(files) {
-        var groupxmlfiles = _.filter(files, function(fn) {
-          return ((path.extname(fn) == '.xml') && (path.basename(fn).search(/^group/) != -1));
-        });
-        return Promise.all(_.map(groupxmlfiles, function(fn) {
-          return fs.readFileAsync(xml2js.opts.inputdir + '/' + fn, 'utf8').then(function(xml) {
-            var spec_c = xmlparser.parse(xml)[0];
-            if (_.isEmpty(getSubmodules(spec_c))) {
-              var group = getName(spec_c);
-              var classes = getSubclassNames(spec_c);
-              xml2js.CLASSGROUPS[group] = {
-                description: getDescription(spec_c),
-                classes: classes
-              };
-              _.each(classes, function(c) {
-                if (_.has(xml2js.CLASSES, c)) {
-                  xml2js.CLASSES[c].group = group;
-                } else {
-                  console.log('Warning: Group ' + group + ' has unknown class ' + c);
-                }
-              });
-            }
-          });
-        }));
-      });
-      return Promise.all(parseClasses.concat(parseGroups));
-    }).then(function() {
-      if (!_.isEmpty(xml2js.CLASSGROUPS)) {
-        // try to categorize ungrouped classes, if any
-        var grouped = _.flatten(_.pluck(_.values(xml2js.CLASSGROUPS), 'classes'));
-        var ungrouped = _.difference(_.keys(xml2js.CLASSES), grouped);
-        _.each(ungrouped, function(c) {
-          _.each(findUsage(c), function(group) {
-            xml2js.CLASSGROUPS[group].classes.push(c);
-          });
-        });
-        grouped = _.flatten(_.pluck(_.values(xml2js.CLASSGROUPS), 'classes'));
-        ungrouped = _.difference(_.keys(xml2js.CLASSES), grouped);
-        // try to categorize ungrouped enums, if any
-        _.each(xml2js.ENUMS_BY_GROUP, function(enumGroupSpec, enumGroupName) {
-          _.each(findUsage(enumGroupName, true), function(c) {
-            xml2js.CLASSES[c].enums_by_group[enumGroupName] = enumGroupSpec;            
-            _.each(enumGroupSpec.members, function(enumName) {
-              xml2js.CLASSES[c].enums[enumName] = xml2js.ENUMS[enumName];
-              delete xml2js.ENUMS[enumName];
-            });
-            delete xml2js.ENUMS_BY_GROUP[enumGroupName];
-          });
-        });
-      }
-    }).then(function() {
-      if (xml2js.opts.custom && fs.existsSync(xml2js.opts.custom)) {
-        return fs.readFileAsync(xml2js.opts.custom, 'utf8').then(function(custom) {
-          try {
-            customizeMethods(JSON.parse(custom));
-          } catch(e) {
-            console.log('invalid custom.json, ignored. ' + e.toString());
-          }
-        });
-      } else {
-        console.log(xml2js.opts.custom ? ('Error: No such customization file exists: ' + xml2js.opts.custom) : 'No customizations given.');
-      }
-    }).then(function() {
-      generateCustomPointerClasses();       
-      validateMethods();
-      validateVars();
-      return _.pick(xml2js, 'MODULE', 'ENUMS', 'ENUMS_BY_GROUP', 'METHODS', 'CLASSES', 'CLASSGROUPS');
-    });
-  }
-};
-
-
-// create an xml parser
-function createXmlParser(XML_GRAMMAR_SPEC) {
-  return fs.readFileAsync(XML_GRAMMAR_SPEC, 'utf8').then(function(xmlgrammar) {
-    return peg.buildParser(xmlgrammar);
-  });
-}
-
-
-// configure c->js typemaps from custom swig directives
-// TODO: many built in assumptions based on current upm file structures & .i customizations
-function initCustomPointerTypemaps(typemapsdir) {
-  return fs.readdirAsync(typemapsdir).then(function(dirs) {
-    return Promise.all(_.map(dirs, function(dir) {
-      // get all js*.i directives from class-specific subdirectories, to be parsed below for %typemaps directives
-      return fs.readdirAsync(typemapsdir + '/' + dir).then(function(files) {
-        var directive = _.find(files, function(fn) {
-          return ((path.extname(fn) == '.i') && (path.basename(fn).search(/^js/) != -1));
-        });
-        var data = {};
-        if (directive) {
-          data[dir] = typemapsdir + '/' + dir + '/' + directive;
-        }
-        return data;
-      }).catch(function(e) {
-        // get all .i directives from top level directory, and parse for %array_class directives
-        if (e.code == 'ENOTDIR') {
-          var fn = dir;
-          if (path.extname(fn) == '.i') {
-            return fs.readFileAsync(typemapsdir + '/' + fn, 'utf8').then(function(directives) {
-              var arraytypes = _.filter(directives.split(/\n/), function(line) {
-                return (line.search(/^%array_class/) != -1);
-              });
-              _.each(arraytypes, function(arraytype) {
-                var parsed = arraytype.match(/%array_class\(([A-Za-z0-9_]+)[\s]*,[\s]*([A-Za-z0-9_]+)\)/);
-                if (parsed) {
-                  var from = parsed[1];
-                  var to = parsed[2];
-                  xml2js.ARRAY_TYPEMAPS[from] = { arrayType: to, classes: [] };
-                } else {
-                  console.log('Incorrectly parsed array_class from ' + fn + ': ' + arraytype);
-                }
-              });
-            });
-          }
-        } else {
-          throw e;
-        }
-      });
-    }));
-  }).then(function(__directivesFiles) {
-    // parse for %typemaps & %pointer_functions directives
-    var _directivesFiles = _.filter(__directivesFiles, function(data) { return !_.isEmpty(data); });
-    var directivesFiles = _.object(_.map(_directivesFiles, _.keys), _.flatten(_.map(_directivesFiles, _.values)));
-    return Promise.all(_.map(directivesFiles, function(directivesFn, className) {
-      return fs.readFileAsync(directivesFn, 'utf8').then(function(directives) {
-        var typemaps = _.filter(directives.split(/\n/), function(line) {
-          return (line.search(/^%typemap/) != -1);
-        });
-        _.each(typemaps, function(typemap) {
-          var parsed = typemap.match(/%typemap\((in|out)\)[\s]+([A-Za-z0-9_]+[\s]*[\*])/);
-          if (parsed) {
-            var dir = parsed[1]; // TODO: ignored for now
-            var type = normalizePointer(parsed[2]);
-            var datatype = getPointerDataType(type);
-            if (_.has(xml2js.ARRAY_TYPEMAPS, datatype)) {
-              xml2js.ARRAY_TYPEMAPS[datatype].classes.push(className);
-            } else {
-              console.log('Ignored typemap from ' + directivesFn + ': ' + typemap.replace('{', '') + ' (no %array_class directive found for ' + datatype + ')');
-            }
-          } else {
-            console.log('Ignored typemap from ' + directivesFn + ': ' + typemap.replace('{', '') + ' (only considering in/out typemaps of pointer types)');
-          }
-        });
-        var ptrfns = _.filter(directives.split(/\n/), function(line) {
-          return (line.search(/^%pointer_functions/) != -1);
-        });
-        _.each(ptrfns, function(ptrfn) {
-          var parsed = ptrfn.match(/%pointer_functions\(([A-Za-z0-9_]+)[\s]*,[\s]*([A-Za-z0-9_]+)\)/);
-          if (parsed) {
-            var from = parsed[1];
-            var to = parsed[2];
-            if (!_.has(xml2js.POINTER_TYPEMAPS, className)) {
-              xml2js.POINTER_TYPEMAPS[className] = {};
-            }
-            xml2js.POINTER_TYPEMAPS[className][from] = to;
-          }
-        });
-      });
-    }));
-  });
-}
-
-
-// generate class specs for custom pointer types
-function generateCustomPointerClasses() {
-  var arrayTypes = _.pluck(_.values(xml2js.ARRAY_TYPEMAPS), 'arrayType');
-  var pointerTypes = _.uniq(_.flatten(_.map(_.values(xml2js.POINTER_TYPEMAPS), _.values)));
-  _.each(arrayTypes, function(arrayType) {
-    var dataType = _.findKey(xml2js.ARRAY_TYPEMAPS, function(to) { return to.arrayType == arrayType; });
-    xml2js.CLASSES[arrayType] = {
-      description: 'Array of type ' + dataType + '.',
-      enums: {},
-      enums_by_group: {},
-      variables: {},
-      methods: {}
-    };
-    xml2js.CLASSES[arrayType].methods[arrayType] = {
-      description: 'Instantiates the array.',
-      params: {
-        nelements: {
-          type: 'Number',
-          description: 'number of elements in the array'
-        }
-      },
-      return: {}
-    };
-    xml2js.CLASSES[arrayType].methods.getitem = {
-      description: 'Access a particular element in the array.',
-      params: {
-        index: {
-          type: 'Number',
-          description: 'index of array to read from'
-        },
-      },
-      return: {
-        type: getType(dataType),
-        description: 'the value of the element found at the given index of the array'
-      }
-    };
-    xml2js.CLASSES[arrayType].methods.setitem = {
-      description: 'Modify a particular element in the array.',
-      params: {
-        index: {
-          type: 'Number',
-          description: 'index of array to write to'
-        },
-        value: {
-          type: getType(dataType),
-          description: 'the value to set the element found at the given index of the array'
-        }
-      },
-      return: {}
-    };
-  });
-  var pointerDataTypeMap = _.reduce(_.map(_.values(xml2js.POINTER_TYPEMAPS), _.invert), function(memo, typemap) {
-    return _.extend(memo, typemap);
-  }, {});
-  _.each(pointerTypes, function(pointerType) {
-    var dataType = pointerDataTypeMap[pointerType];
-    xml2js.CLASSES[pointerType] = {
-      description: 'Proxy object to data of type ' + dataType + '.',
-      enums: {},
-      enums_by_group: {},
-      variables: {},
-      methods: {}
-    };
-    xml2js.CLASSES[pointerType].methods[pointerType] = {
-      description: 'Instantiates the proxy object.',
-      params: {},
-      return: {}
-    };
-    xml2js.CLASSES[pointerType].methods.value = {
-      description: 'Get the value of the object.',
-      params: {},
-      return: {
-        type: getType(dataType),
-        description: 'the value of the object'
-      }
-    };
-    xml2js.CLASSES[pointerType].methods.assign = {
-      description: 'Set the value of the object.',
-      params: {
-        value: {
-          type: getType(dataType),
-          description: 'the value to set the object to'
-        }
-      },
-      return: {}
-    };
-  });
-}
-
-
-// search for usage of a type
-function findUsage(type, classOnly) {
-  var filterClasses = function(fn) { return _.without(_.map(xml2js.CLASSES, fn), undefined); };
-  var usesType = function(classSpec, className) {
-    var methodsOfType = (_.find(classSpec.methods, function(methodSpec, methodName) {
-      return ((!_.isEmpty(methodSpec.return) && methodSpec.return.type == type) || 
-              (_.contains(_.pluck(methodSpec.params, 'type'), type)));
-    }) != undefined);
-    var variablesOfType = _.contains(_.pluck(classSpec.variable, 'type'), type);
-    return ((methodsOfType || variablesOfType) ? className : undefined);
-  };
-  var extendsType = function(classSpec, className) {
-    return ((classSpec.parent == type) ? className : undefined);
-  };
-  var classes = _.union(filterClasses(usesType), filterClasses(extendsType));
-  if (classOnly) {
-    return classes;
-  } else {
-    return _.without(_.uniq(_.pluck(_.pick(xml2js.CLASSES, classes), 'group')), undefined);
-  }
-}
-
-
-// override autogenerated methods with custom configuration 
-function customizeMethods(custom) {
-  _.each(custom, function(classMethods, className) {
-    _.extend(xml2js.CLASSES[className].methods, _.pick(classMethods, function(methodSpec, methodName) {
-      return isValidMethodSpec(methodSpec, className + '.' + methodName);
-    }));
-  });
-}
-
-
-// make sure methods have valid types, otherwise warn (& don't include if strict)
-function validateMethods() {
-  xml2js.METHODS = _.pick(xml2js.METHODS, function(methodSpec, methodName) {
-    return hasValidTypes(methodSpec, methodName);
-  });
-  _.each(xml2js.CLASSES, function(classSpec, className) {
-    var valid = _.pick(classSpec.methods, function(methodSpec, methodName) {
-      return hasValidTypes(methodSpec, className + '.' + methodName, className);
-    });
-    if (xml2js.opts.strict) {
-      xml2js.CLASSES[className].methods = valid;
-    }
-  });
-}
-
-
-// make sure variables have valid types, otherwise warn (& don't include if strict)
-function validateVars() {
-  _.each(xml2js.CLASSES, function(classSpec, className) {
-    var valid = _.pick(classSpec.variables, function(varSpec, varName) {
-      return ofValidType(varSpec, className + '.' + varName, className);
-    });
-    if (xml2js.opts.strict) {
-      xml2js.CLASSES[className].variables = valid;
-    }
-  });
-}
-
-
-// verify that the json spec is well formatted
-function isValidMethodSpec(methodSpec, methodName) {
-  var valid = true;
-  var printIgnoredMethodOnce = _.once(function() { console.log(methodName + ' from ' + path.basename(xml2js.opts.custom) + ' is omitted from JS documentation.'); });
-  function checkRule(rule, errMsg) {
-    if (!rule) {
-      printIgnoredMethodOnce();
-      console.log('  ' + errMsg);
-      valid = false;
-    }
-  }
-  checkRule(_.has(methodSpec, 'description'), 'no description given');
-  checkRule(_.has(methodSpec, 'params'), 'no params given (specify "params": {} for no params)');
-  _.each(methodSpec.params, function(paramSpec, paramName) {
-    checkRule(_.has(paramSpec, 'type'), 'no type given for param ' + paramName);
-    checkRule(_.has(paramSpec, 'description'), 'no description given for param ' + paramName);
-  });
-  checkRule(_.has(methodSpec, 'return'), 'no return given (specify "return": {} for no return value)');
-  checkRule(_.has(methodSpec.return, 'type'), 'no type given for return value');
-  checkRule(_.has(methodSpec.return, 'description'), 'no description given for return value');
-  return valid;
-}
-
-
-// get enum specifications
-function getEnums(spec_c, bygroup, parent) {
-  var spec_js = {};
-  var enumGroups = _.find(getChildren(spec_c, 'sectiondef'), function(section) {
-    var kind = getAttr(section, 'kind');
-    return ((kind == 'enum') || (kind == 'public-type'));
-  });
-  if (enumGroups) {
-    _.each(enumGroups.children, function(enumGroup) {
-      var enumGroupName = getText(getChild(enumGroup, 'name'), 'name');
-      var enumGroupDescription = getText(getChild(enumGroup, 'detaileddescription'), 'description');
-      var enumGroupVals = getChildren(enumGroup, 'enumvalue');
-      if (bygroup) {
-        spec_js[enumGroupName] = {
-          description: enumGroupDescription,
-          members: []
-        };
-      }
-      _.each(enumGroupVals, function(e) {
-        // TODO: get prefix as option
-        var enumName = getText(getChild(e, 'name'), 'name').replace(/^MRAA_/, '');
-        var enumDescription = getText(getChild(e, 'detaileddescription'), 'description');
-        if (!bygroup) {
-          spec_js[enumName] = {
-            type: enumGroupName,
-            description: enumDescription
-          };
-        } else {
-          spec_js[enumGroupName].members.push(enumName);
-        }
-      });
-    });
-  }
-  return spec_js;
-}
-
-
-// get the name for the module/group/class
-function getName(spec_c) {
-  return getText(getChild(spec_c, 'compoundname'), 'name').replace(xml2js.opts.module + '::', '');
-}
-
-
-// get the description for the module/group/class
-function getDescription(spec_c) {
-  return getText(getChild(spec_c, 'detaileddescription'), 'description');
-}
-
-
-// get the classes (xml file names) for the given module
-function getSubclasses(spec_c) {
-  return _.map(getChildren(spec_c, 'innerclass'), function(innerclass) {
-    return getAttr(innerclass, 'refid');
-  });
-}
-
-
-// get the classes (class names) for the given module
-function getSubclassNames(spec_c) {
-  return _.map(getChildren(spec_c, 'innerclass'), function(innerclass) {
-    return getText(innerclass).replace(xml2js.opts.module + '::', '');
-  });
-}
-
-
-// get the submodules (xml file names) for the given module
-function getSubmodules(spec_c) {
-  return _.map(getChildren(spec_c, 'innergroup'), function(innergroup) {
-    return getAttr(innergroup, 'refid');
-  });
-}
-
-
-// get parent class, if any
-function getParent(spec_c, className) {
-  var parent = getChild(spec_c, 'basecompoundref');
-  if (parent) {
-    parent = getText(parent);
-    if (!_.has(xml2js.CLASSES, parent)) {
-      console.log('WARNING: Class ' + className + ' has unknown parent class ' + parent);
-    }
-  }
-  return parent;
-}
-
-
-function hasParams(paramsSpec) {
-  return !(_.isEmpty(paramsSpec) ||
-           ((_.size(paramsSpec) == 1) && getText(getChild(paramsSpec[0], 'type')) == 'void'));
-}
-
-
-// get method specifications for top-level module or a given class
-// TODO: overloaded functions
-// TODO: functions w/ invalid parameter(s)/return
-function getMethods(spec_c, parent) {
-  var spec_js = {};
-  var methods = _.find(getChildren(spec_c, 'sectiondef'), function(section) {
-    var kind = getAttr(section, 'kind');
-    return ((kind == 'public-func') || (kind == 'func'));
-  });
-  if (methods) {
-    _.each(methods.children, function(method) {
-      var methodName = getText(getChild(method, 'name'), 'name');
-      if (methodName[0] != '~') { // filter out destructors
-        try {
-          var description = getChild(method, 'detaileddescription');
-          var methodDescription = getText(description, 'description');
-          var paramsSpec = getChildren(method, 'param');
-          var params = {};
-          if (hasParams(paramsSpec)) {
-              params = getParams(paramsSpec, getParamsDetails(description), methodName, parent);
-          }
-          var returnSpec = getChild(method, 'type');
-          var retval = {};
-          if (!_.isEmpty(returnSpec)) {
-            retval = getReturn(returnSpec, getReturnDetails(description), methodName, parent);
-          }
-          methodName = getUniqueMethodName(methodName, spec_js, parent);
-          spec_js[methodName] = {
-            description: methodDescription,
-            params: params,
-            return: retval
-          };
-        } catch(e) {
-          console.log((parent ? (parent + '.') : '') + methodName + ' is omitted from JS documentation.');
-          console.log('  ' + e.toString());
-        }
-      }
-    });
-  }
-  return spec_js;
-}
-
-
-// get a unique string to represent the name of an overloaded method
-function getUniqueMethodName(methodName, module, parent) {
-  if (methodName in module) {
-    do {
-      methodName += '!';
-    } while (methodName in module);
-  }
-  return methodName;
-}
-
-
-// get variable specifications for a class
-function getVariables(spec_c, parent) {
-  var spec_js = {};
-  var vars = _.find(getChildren(spec_c, 'sectiondef'), function(section) {
-    var kind = getAttr(section, 'kind');
-    return (kind == 'public-attrib');
-  });
-  if (vars) {
-    _.each(_.filter(vars.children, function(variable) {
-      return (getAttr(variable, 'kind') == 'variable');
-    }), function(variable) {
-      var varName = getText(getChild(variable, 'name'), 'name');
-      var varType = getType(getText(getChild(variable, 'type')), parent);
-      var varDescription = getText(getChild(variable, 'detaileddescription'));
-      spec_js[varName] = {
-        type: varType,
-        description: varDescription
-      }
-    });
-  }
-  return spec_js;
-}
-
-
-// get return value specs of a method
-function getReturn(spec_c, details, method, parent) {
-  var retType = getType(getText(spec_c, 'type'), parent);
-  var retDescription = (details ? getText(details, 'description') : '');
-  return ((retType == 'void') ? {} : {
-    type: retType,
-    description: retDescription
-  });
-}
-
-
-// get paramater specs of a method
-function getParams(spec_c, details, method, parent) {
-  var spec_js = {};
-  _.each(spec_c, function(param) {
-    try {
-      var paramType = getType(getText(getChild(param, 'type'), 'type'), parent);
-      var paramName = getText(getChild(param, 'declname'), 'name');
-      spec_js[paramName] = { type: paramType };
-    } catch(e) {
-      if (paramType == '...') {
-        spec_js['arguments'] = { type: paramType };
-      } else {
-        throw e;
-      }
-    }
-  });
-  _.each(details, function(param) {
-    var getParamName = function(p) { return getText(getChild(getChild(p, 'parameternamelist'), 'parametername'), 'name'); }
-    var paramName = getParamName(param);
-    var paramDescription = getText(getChild(param, 'parameterdescription'), 'description');
-    if (_.has(spec_js, paramName)) {
-      spec_js[paramName].description = paramDescription;
-    } else {
-      var msg = ' has documentation for an unknown parameter: ' + paramName + '. ';
-      var suggestions = _.difference(_.keys(spec_js), _.map(details, getParamName));
-      var msgAddendum = (!_.isEmpty(suggestions) ? ('Did you mean ' + suggestions.join(', or ') + '?') : '');
-      console.log('Warning: ' + (parent ? (parent + '.') : '') + method + msg + msgAddendum);
-    }
-  });
-  return spec_js;
-}
-
-
-// get the equivalent javascript type from the given c type
-function getType(type_c, parent) {
-  var type_js = type_c;
-  _.find(xml2js.TYPEMAPS, function(to, from) {
-    var pattern = new RegExp(from, 'i');
-    if (type_c.search(pattern) == 0) {
-      type_js = to;
-      return true;
-    }
-  });
-  if (isPointer(type_js)) {
-    var dataType = getPointerDataType(type_js);
-    var className = parent.toLowerCase();
-    if (_.has(xml2js.ARRAY_TYPEMAPS, dataType) && _.contains(xml2js.ARRAY_TYPEMAPS[dataType].classes, className)) {
-      type_js = xml2js.ARRAY_TYPEMAPS[dataType].arrayType;
-    } else if (_.has(xml2js.POINTER_TYPEMAPS, className) && _.has(xml2js.POINTER_TYPEMAPS[className], dataType)) {
-      type_js = xml2js.POINTER_TYPEMAPS[className][dataType];
-    } else if (_.has(xml2js.CLASSES, dataType)) { // TODO: verify that swig does this mapping
-      type_js = dataType;
-    } else {
-      type_js = dataType + ' &#42;'
-    }
-  }
-  return type_js;
-}
-
-
-// verify that all types associated with the method are valid
-function hasValidTypes(methodSpec, methodName, parent) {
-  var valid = true;
-  var msg = (xml2js.opts.strict ? ' is omitted from JS documentation.' : ' has invalid type(s).');
-  var printIgnoredMethodOnce = _.once(function() { console.log(methodName + msg); });
-  _.each(methodSpec.params, function(paramSpec, paramName) {
-    if (!isValidType(paramSpec.type, parent)) {
-      valid = false;
-      printIgnoredMethodOnce();
-      console.log('  Error: parameter ' + paramName + ' has invalid type ' + typeToString(paramSpec.type));
-    }
-  });
-  if (!_.isEmpty(methodSpec.return) && !isValidType(methodSpec.return.type, parent)) {
-    valid = false;
-    printIgnoredMethodOnce();
-    console.log('  Error: returns invalid type ' + typeToString(methodSpec.return.type));
-  }
-  return valid;
-}
-
-
-// verify that type of variable is valid
-function ofValidType(varSpec, varName, parent) {
-  if (isValidType(varSpec.type, parent)) {
-    return true;
-  } else {
-    var msgAddendum = (xml2js.opts.strict ? ' Omitted from JS documentation.' : '');
-    console.log('Error: ' + varName + ' is of invalid type ' + typeToString(varSpec.type) + '.' + msgAddendum);
-    return false;
-  }
-}
-
-
-// verify whether the given type is valid JS
-function isValidType(type, parent) {
-  return (_.contains(_.values(xml2js.TYPEMAPS), type) ||
-          _.has(xml2js.CLASSES, type) ||
-          _.has(xml2js.ENUMS_BY_GROUP, type) ||
-          _.contains(['Buffer', 'Function', 'mraa_result_t'], type) ||
-          _.has((parent ? xml2js.CLASSES[parent].enums_by_group : []), type) ||
-          isValidPointerType(type, parent));
-}
-
-
-function isValidPointerType(type, parent) {
-  var className = parent.toLowerCase();
-  var arrayTypemap = _.find(xml2js.ARRAY_TYPEMAPS, function(to) { return to.arrayType == type; });
-  var valid = ((arrayTypemap && _.contains(arrayTypemap.classes, className)) ||
-          (_.has(xml2js.POINTER_TYPEMAPS, className) && (_.contains(_.values(xml2js.POINTER_TYPEMAPS[className]), type))));
-  return valid;
-}
-
-
-// determines whether a type looks like a c pointer
-function isPointer(type) {
-  return (type.search(/\w+\s*(\*|&amp;)$/) != -1);
-}
-
-
-// remove extraneous whitespace from pointer types as canonical representation
-function normalizePointer(ptr) {
-  return ptr.replace(/\s*$/, '');
-}
-
-
-// get the data type of a pointer (e.g. int is the data type of int*)
-function getPointerDataType(ptr) {
-  return ptr.replace(/\s*(\*|&amp;)$/, '');
-}
-
-
-// print more human friendly type for error messages
-function typeToString(type) {
-  return type.replace('&#42;', '*');
-}
-
-
-// get the detailed description of a method's parameters
-function getParamsDetails(spec_c) {
-  var paras = getChildren(spec_c, 'para');
-  var details = _.find(_.map(paras, function(para) {
-    return getChild(para, 'parameterlist');
-  }), function(obj) { return (obj != undefined); });
-  return (details ? details.children : undefined);
-}
-
-
-// get the detailed description of a method's return value
-function  getReturnDetails(spec_c) {
-  var paras = getChildren(spec_c, 'para');
-  return _.find(_.map(paras, function(para) {
-    return getChild(para, 'simplesect');
-  }), function(obj) { return ((obj != undefined) && (getAttr(obj, 'kind') == 'return')); });
-}
-
-
-// get (and flatten) the text of the given object
-function getText(obj, why) {
-  // TODO: links ignored for now, patched for types for
-  var GENERATE_LINK = function(x) { return x + ' '; }
-  return _.reduce(obj.children, function(text, elem) {
-    if (_.isString(elem)) {
-      return text += elem.trim() + ' ';
-    } else if (_.isPlainObject(elem)) {
-      switch(elem.name) {
-        case 'para':
-          return text += getText(elem, why) + '  \n';
-        case 'ref':
-          return text += GENERATE_LINK(getText(elem, why));
-        case 'parameterlist':
-        case 'simplesect':
-          return text; // to be handled elsewhere
-        case 'programlisting':
-        case 'htmlonly':
-          return text; // ignored
-        // TODO: html doesn't seem to work for yuidoc, using markdown for now
-        case 'itemizedlist':
-          return text += '\n' + getText(elem, why) + '  \n  \n';
-        case 'listitem':
-          return text += '+ ' + getText(elem, why) + '\n';
-        case 'bold':
-          return text += '__' + getText(elem, why).trim() + '__ ';
-        case 'ulink':
-          return text += '[' + getText(elem, why).trim() + '](' + getAttr(elem, 'url').trim() + ') ';
-        case 'image':
-          // TODO: copy images over; hard coded for now
-          var fn = getAttr(elem, 'name');
-          return text += '  \n  \n![' + fn + '](' + xml2js.opts.imagedir + '/' + fn + ') ';
-        case 'linebreak':
-          return text += '  \n';
-        case 'ndash':
-          return text += '&ndash; ';
-        default:
-          // TODO: incomplete list of doxygen xsd implemented
-          console.warn('NYI Unknown Object Type: ' + elem.name);
-          return text;
-          //throw new Error('NYI Unknown Object Type: ' + elem.name);
-      }
-    } else {
-      throw new Error('NYI Unknown Type: ' + (typeof elem));
-    }
-  }, '').trim();
-}
-
-
-// get the value of attribute with the given name of the given object
-function getAttr(obj, name) {
-  return _.find(obj.attr, function(item) {
-    return item.name == name;
-  }).value;
-}
-
-
-// get the child object with the given name of the given object
-function getChild(obj, name) {
-  return _.find(obj.children, function(child) {
-    return child.name == name;
-  });
-}
-
-
-// get all children objects with the given name of the given object
-function getChildren(obj, name) {
-  return _.filter(obj.children, function(child) {
-    return child.name == name;
-  });
-}
-
-
-// debug helper: print untruncated object
-function printObj(obj) {
-  console.log(util.inspect(obj, false, null));
-}
-
-
-module.exports = xml2js;

doxy/samples.mapping.txt

@@ -33,7 +33,7 @@ lcm1602-i2c.cxx	Lcm1602_i2cSample.java	lcm1602-i2c.js	lcm1602-i2c.py
 ldt0028.cxx	LDT0028Sample.java	ldt0028.js	ldt0028.py
 light.cxx	LightSample.java	light.js	light.py
 lol.cxx	LoLSample.java	lol.js	lol.py
-lsm303.cxx	LSM303Sample.java	lsm303.js	lsm303.py
+lsm303dlh.cxx	LSM303DLHSample.java	lsm303dlh.js	lsm303dlh.py
 m24lr64e.cxx	M24LR64ESample.java	m24lr64e.js	m24lr64e.py
 max44000.cxx	MAX44000Sample.java	max44000.js	max44000.py
 mic.cxx	MicrophoneSample.java	mic.js	mic.py

examples/CMakeLists.txt

@@ -50,6 +50,11 @@ function (add_example example_src)
     # Parse function parameters
     cmake_parse_arguments(add_example "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
+    # Attempt to remove this example source file from a list of example
+    # sources.  This allows for handling special case examples.
+    list (REMOVE_ITEM example_src_list ${example_src})
+    set (example_src_list ${example_src_list} PARENT_SCOPE)
+
     # Get the base filename from the full filename
     # For file /some/path/to/sensorfoo-bar.c, example_name = sensorfoo-bar
     get_filename_component(example_name ${example_src} NAME_WE)
@@ -84,7 +89,7 @@ function (add_example example_src)
     # If a dependency target does NOT exist, print a warning and skip
     foreach(_dep_target ${lib_target_names})
         if (NOT TARGET ${_dep_target})
-            message(STATUS "Missing CMake target (${_dep_target}), skipping example ${example_src}")
+            message(STATUS "Example ${example_src} is missing a required CMake target (${_dep_target}), skipping...")
             return()
         endif ()
     endforeach ()
@@ -94,12 +99,8 @@ function (add_example example_src)
 
     # Add each dependency to the library target
     foreach(_dep_target ${lib_target_names})
-        target_link_libraries(${this_target_name} ${_dep_target} ${CMAKE_THREAD_LIBS_INIT})
+        target_link_libraries(${this_target_name} ${_dep_target} ${CMAKE_THREAD_LIBS_INIT} utilities-c)
     endforeach ()
-
-    # Special case...
-    list (REMOVE_ITEM example_src_list ${example_src})
-    set (example_src_list ${example_src_list} PARENT_SCOPE)
 endfunction (add_example example_src)
 
 # Add subdirectories if BUILDEXAMPLES=on

examples/c++/a110x-intr.cxx

@@ -22,55 +22,58 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+#include <stddef.h>
+
 #include "a110x.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
 // Our pulse counter
 volatile unsigned int counter = 0;
 
 // Our interrupt handler
-void hallISR(void *arg)
+void
+hallISR(void* arg)
 {
-  counter++;
+    counter++;
 }
 
-int main ()
+int
+main()
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // Instantiate an A110X sensor on digital pin D2
-  upm::A110X* hall = new upm::A110X(2);
+    //! [Interesting]
+    // Instantiate an A110X sensor on digital pin D2
+    upm::A110X hall(2);
 
-  // This example uses a user-supplied interrupt handler to count
-  // pulses that occur when a magnetic field of the correct polarity
-  // is detected.  This could be used to measure the rotations per
-  // minute (RPM) of a rotor for example.
+    // This example uses a user-supplied interrupt handler to count
+    // pulses that occur when a magnetic field of the correct polarity
+    // is detected.  This could be used to measure the rotations per
+    // minute (RPM) of a rotor for example.
 
-  hall->installISR(hallISR, NULL);
+    hall.installISR(hallISR, NULL);
 
-  while (shouldRun)
-    {
-      cout << "Pulses detected: " << counter << endl;
+    while (shouldRun) {
+        cout << "Pulses detected: " << counter << endl;
 
-      sleep(1);
+        upm_delay(1);
     }
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete hall;
-  return 0;
+    return 0;
 }

examples/c++/a110x.cxx

@@ -22,46 +22,46 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "a110x.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main ()
+int
+main()
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // Instantiate an A110X sensor on digital pin D2
-  upm::A110X* hall = new upm::A110X(2);
+    //! [Interesting]
+    // Instantiate an A110X sensor on digital pin D2
+    upm::A110X hall(2);
 
-  // check every second for the presence of a magnetic field (south
-  // polarity)
-  while (shouldRun)
-    {
-      bool val = hall->magnetDetected();
-      if (val)
-        cout << "Magnet (south polarity) detected." << endl;
-      else
-        cout << "No magnet detected." << endl;
+    // check every second for the presence of a magnetic field (south
+    // polarity)
+    while (shouldRun) {
+        bool val = hall.magnetDetected();
+        if (val)
+            cout << "Magnet (south polarity) detected." << endl;
+        else
+            cout << "No magnet detected." << endl;
 
-      sleep(1);
+        upm_delay(1);
     }
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete hall;
-  return 0;
+    return 0;
 }

examples/c++/abp.cxx

@@ -22,40 +22,41 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "abp.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
     if (signo == SIGINT)
         shouldRun = false;
 }
 
-
-int main ()
+int
+main()
 {
     signal(SIGINT, sig_handler);
 
-//! [Interesting]
+    //! [Interesting]
     // Instantiate an ABP sensor on i2c bus 0
-    upm::ABP* abp = new upm::ABP(0, ABP_DEFAULT_ADDRESS);
+    upm::ABP abp(0, ABP_DEFAULT_ADDRESS);
     while (shouldRun) {
-        abp->update();
-        cout << "Retrieved pressure: " << abp->getPressure() << endl;
-        cout << "Retrieved Temperature: " << abp->getTemperature() << endl;
+        abp.update();
+        cout << "Retrieved pressure: " << abp.getPressure() << endl;
+        cout << "Retrieved Temperature: " << abp.getTemperature() << endl;
 
-        sleep(1);
+        upm_delay(1);
     }
-//! [Interesting]
+    //! [Interesting]
 
     cout << "Exiting..." << endl;
 
-    delete abp;
     return 0;
 }

examples/c++/ad8232.cxx

@@ -22,44 +22,45 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "ad8232.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 bool shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main()
+int
+main()
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // Instantiate a Ad8232 sensor on digital pins 10 (LO+), 11 (LO-)
-  // and an analog pin, 0 (OUTPUT)
-  upm::AD8232 *ad8232 = new upm::AD8232(10, 11, 0);
+    //! [Interesting]
+    // Instantiate a Ad8232 sensor on digital pins 10 (LO+), 11 (LO-)
+    // and an analog pin, 0 (OUTPUT)
+    upm::AD8232 ad8232(10, 11, 0);
 
-  // Output the raw numbers from the ADC, for plotting elsewhere.
-  // A return of 0 indicates a Lead Off (LO) condition.
-  // In theory, this data could be fed to software like Processing 
-  // (https://www.processing.org/) to plot the data just like an 
-  // EKG you would see in a hospital.
-  while (shouldRun)
-    {
-      cout << ad8232->value() << endl;      
-      usleep(1000);
+    // Output the raw numbers from the ADC, for plotting elsewhere.
+    // A return of 0 indicates a Lead Off (LO) condition.
+    // In theory, this data could be fed to software like Processing
+    // (https://www.processing.org/) to plot the data just like an
+    // EKG you would see in a hospital.
+    while (shouldRun) {
+        cout << ad8232.value() << endl;
+        upm_delay_us(1000);
     }
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting" << endl;
+    cout << "Exiting" << endl;
 
-  delete ad8232;
-  return 0;
+    return 0;
 }

examples/c++/adafruitms1438-stepper.cxx

@@ -22,61 +22,56 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
-#include <signal.h>
 #include <iostream>
+
 #include "adafruitms1438.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 using namespace upm;
 
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-//! [Interesting]
-  // Instantiate an Adafruit MS 1438 on I2C bus 0
+    //! [Interesting]
+    // Instantiate an Adafruit MS 1438 on I2C bus 0
 
-  upm::AdafruitMS1438 *ms = 
-    new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS, 
-                            ADAFRUITMS1438_DEFAULT_I2C_ADDR);
+    upm::AdafruitMS1438 ms(ADAFRUITMS1438_I2C_BUS, ADAFRUITMS1438_DEFAULT_I2C_ADDR);
 
-  // Setup for use with a stepper motor connected to the M1 & M2 ports
+    // Setup for use with a stepper motor connected to the M1 & M2 ports
 
-  // set a PWM period of 50Hz
+    // set a PWM period of 50Hz
 
-  // disable first, to be safe
-  ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);
+    // disable first, to be safe
+    ms.disableStepper(AdafruitMS1438::STEPMOTOR_M12);
 
-  // configure for a NEMA-17, 200 steps per revolution
-  ms->stepConfig(AdafruitMS1438::STEPMOTOR_M12, 200);
+    // configure for a NEMA-17, 200 steps per revolution
+    ms.stepConfig(AdafruitMS1438::STEPMOTOR_M12, 200);
 
-  // set speed at 10 RPM's
-  ms->setStepperSpeed(AdafruitMS1438::STEPMOTOR_M12, 10);
-  ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, 
-                          AdafruitMS1438::DIR_CW);
+    // set speed at 10 RPM's
+    ms.setStepperSpeed(AdafruitMS1438::STEPMOTOR_M12, 10);
+    ms.setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, AdafruitMS1438::DIR_CW);
 
-  // enable
-  cout << "Enabling..." << endl;
-  ms->enableStepper(AdafruitMS1438::STEPMOTOR_M12);
+    // enable
+    cout << "Enabling..." << endl;
+    ms.enableStepper(AdafruitMS1438::STEPMOTOR_M12);
 
-  cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
-  ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 200);
+    cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
+    ms.stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 200);
 
-  cout << "Sleeping for 2 seconds..." << endl;
-  sleep(2);
-  cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed." 
-       << endl;
+    cout << "Sleeping for 2 seconds..." << endl;
+    upm_delay(2);
+    cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed." << endl;
 
-  ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, 
-                          AdafruitMS1438::DIR_CCW);
-  ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 100);
+    ms.setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, AdafruitMS1438::DIR_CCW);
+    ms.stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 100);
 
-  cout << "Disabling..." << endl;
-  ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);
+    cout << "Disabling..." << endl;
+    ms.disableStepper(AdafruitMS1438::STEPMOTOR_M12);
 
-  cout << "Exiting" << endl;
+    cout << "Exiting" << endl;
 
-//! [Interesting]
+    //! [Interesting]
 
-  delete ms;
-  return 0;
+    return 0;
 }

examples/c++/adafruitms1438.cxx

@@ -22,54 +22,51 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
-#include <signal.h>
 #include <iostream>
+
 #include "adafruitms1438.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 using namespace upm;
 
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-//! [Interesting]
-  // Instantiate an Adafruit MS 1438 on I2C bus 0
+    //! [Interesting]
+    // Instantiate an Adafruit MS 1438 on I2C bus 0
 
-  upm::AdafruitMS1438 *ms = 
-    new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS, 
-                            ADAFRUITMS1438_DEFAULT_I2C_ADDR);
+    upm::AdafruitMS1438 ms(ADAFRUITMS1438_I2C_BUS, ADAFRUITMS1438_DEFAULT_I2C_ADDR);
 
-  // Setup for use with a DC motor connected to the M3 port
+    // Setup for use with a DC motor connected to the M3 port
 
-  // set a PWM period of 50Hz
-  ms->setPWMPeriod(50);
+    // set a PWM period of 50Hz
+    ms.setPWMPeriod(50);
 
-  // disable first, to be safe
-  ms->disableMotor(AdafruitMS1438::MOTOR_M3);
+    // disable first, to be safe
+    ms.disableMotor(AdafruitMS1438::MOTOR_M3);
 
-  // set speed at 50%
-  ms->setMotorSpeed(AdafruitMS1438::MOTOR_M3, 50);
-  ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CW);
+    // set speed at 50%
+    ms.setMotorSpeed(AdafruitMS1438::MOTOR_M3, 50);
+    ms.setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CW);
 
-  cout << "Spin M3 at half speed for 3 seconds, then reverse for 3 seconds."
-       << endl;
+    cout << "Spin M3 at half speed for 3 seconds, then reverse for 3 seconds." << endl;
 
-  ms->enableMotor(AdafruitMS1438::MOTOR_M3);
+    ms.enableMotor(AdafruitMS1438::MOTOR_M3);
 
-  sleep(3);
+    upm_delay(3);
 
-  cout << "Reversing M3" << endl;
-  ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CCW);
+    cout << "Reversing M3" << endl;
+    ms.setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CCW);
 
-  sleep(3);
+    upm_delay(3);
 
-  cout << "Stopping M3" << endl;
-  ms->disableMotor(AdafruitMS1438::MOTOR_M3);
+    cout << "Stopping M3" << endl;
+    ms.disableMotor(AdafruitMS1438::MOTOR_M3);
 
-  cout << "Exiting" << endl;
+    cout << "Exiting" << endl;
 
-//! [Interesting]
+    //! [Interesting]
 
-  delete ms;
-  return 0;
+    return 0;
 }

examples/c++/adafruitss.cxx

@@ -22,56 +22,57 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-
 /**
  * Description
  * Demo program for Adafruit 16 channel servo shield/controller
  * Physical setup for tests is a single servo attached to one channel.
  * Note - when 3 or more GWS servos attached results unpredictable.
- * Adafruit do recommend a Cap be installed on the board which should alleviate the issue.
+ * Adafruit do recommend a Cap be installed on the board which should alleviate
+ * the issue.
  * I (and Adafruit) are unable to give any Capacitor sizing data.
  */
 
 #include <iostream>
+
 #include "adafruitss.hpp"
-#include <unistd.h>
+#include "upm_utilities.h"
 
 using namespace std;
 
-int main() {
+int
+main()
+{
+    int n;
 
-int n;
+    //! [Interesting]
+    upm::adafruitss servos(6, 0x40);
 
-//! [Interesting]
-  upm::adafruitss* servos = new upm::adafruitss(6,0x40);
+    for (;;) {
+        cout << "Setting all to 0" << endl;
+        for (n = 0; n < 16; n++)
+            servos.servo(n, 1, 0); // GWS Mini Servo = Type 1.
+        upm_delay_us(1000000);     // Wait 1 second
 
-  for (;;)
-  {
-    cout << "Setting all to 0" << endl;
-    for (n = 0; n < 16; n++)
-        servos->servo(n, 1, 0); // GWS Mini Servo = Type 1.
-    usleep(1000000); // Wait 1 second
+        cout << "Setting all to 45" << endl;
+        for (n = 0; n < 16; n++)
+            servos.servo(n, 1, 45);
+        upm_delay_us(1000000); // Wait 1 second
 
-    cout << "Setting all to 45" << endl;
-    for (n = 0; n < 16; n++)
-        servos->servo(n, 1, 45);
-    usleep(1000000); // Wait 1 second
+        cout << "Setting all to 90" << endl;
+        for (n = 0; n < 16; n++)
+            servos.servo(n, 1, 90);
+        upm_delay_us(1000000); // Wait 1 second
 
-    cout << "Setting all to 90" << endl;
-    for (n = 0; n < 16; n++)
-        servos->servo(n, 1, 90);
-    usleep(1000000); // Wait 1 second
+        cout << "Setting all to 135" << endl;
+        for (n = 0; n < 16; n++)
+            servos.servo(n, 1, 135);
+        upm_delay_us(1000000); // Wait 1 second
 
-    cout << "Setting all to 135" << endl;
-    for (n = 0; n < 16; n++)
-        servos->servo(n, 1, 135);
-    usleep(1000000); // Wait 1 second
-
-    cout << "Setting all to 180" << endl;
-    for (n = 0; n < 16; n++)
-        servos->servo(n, 1, 160);
-    usleep(2000000); // Wait 1 second
-  }
-//! [Interesting]
-  return 0;
+        cout << "Setting all to 180" << endl;
+        for (n = 0; n < 16; n++)
+            servos.servo(n, 1, 160);
+        upm_delay_us(2000000); // Wait 1 second
+    }
+    //! [Interesting]
+    return 0;
 }

examples/c++/adc121c021.cxx

@@ -22,45 +22,44 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
-#include <signal.h>
 #include <iostream>
+#include <signal.h>
+
 #include "adc121c021.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // Instantiate an ADC121C021 on I2C bus 0
+    //! [Interesting]
+    // Instantiate an ADC121C021 on I2C bus 0
 
-  upm::ADC121C021 *adc = new upm::ADC121C021(ADC121C021_I2C_BUS, 
-                                             ADC121C021_DEFAULT_I2C_ADDR);
+    upm::ADC121C021 adc(ADC121C021_I2C_BUS, ADC121C021_DEFAULT_I2C_ADDR);
 
-  // An analog sensor, such as a Grove light sensor,
-  // must be attached to the adc 
-  // Prints the value and corresponding voltage every 50 milliseconds
-  while (shouldRun)
-    {
-      uint16_t val = adc->value();
-      cout << "ADC value: " << val << " Volts = " 
-           << adc->valueToVolts(val) << endl;
-      usleep(50000);
+    // An analog sensor, such as a Grove light sensor,
+    // must be attached to the adc
+    // Prints the value and corresponding voltage every 50 milliseconds
+    while (shouldRun) {
+        uint16_t val = adc.value();
+        cout << "ADC value: " << val << " Volts = " << adc.valueToVolts(val) << endl;
+        upm_delay_us(50000);
     }
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete adc;
-  return 0;
+    return 0;
 }

examples/c++/adis16448.cxx

@@ -12,9 +12,12 @@
 // This example code runs on an Intel Edison and uses mraa to acquire data
 // from an ADIS16448. This data is then scaled and printed onto the terminal.
 //
-// This software has been tested to connect to an ADIS16448 through a level shifter
-// such as the TI TXB0104. The SPI lines (DIN, DOUT, SCLK, /CS) are all wired through
-// the level shifter and the ADIS16448 is also being powered by the Intel Edison.
+// This software has been tested to connect to an ADIS16448 through a level
+// shifter
+// such as the TI TXB0104. The SPI lines (DIN, DOUT, SCLK, /CS) are all wired
+// through
+// the level shifter and the ADIS16448 is also being powered by the Intel
+// Edison.
 //
 // Permission is hereby granted, free of charge, to any person obtaining
 // a copy of this software and associated documentation files (the
@@ -36,31 +39,29 @@
 // WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 //
 //////////////////////////////////////////////////////////////////////////////////////
-#include <unistd.h>
 #include <iostream>
-#include <signal.h>
 
 #include "adis16448.hpp"
+#include "upm_utilities.h"
 
 int
-main(int argc, char **argv)
+main(int argc, char** argv)
 {
-    while(true)
-    {
-    //! [Interesting]
-        upm::ADIS16448* imu = new upm::ADIS16448(0,3); //upm::ADIS16448(SPI,RST)
+    while (true) {
+        //! [Interesting]
+        upm::ADIS16448 imu(0, 3); // upm::ADIS16448(SPI,RST)
 
-        //Read the specified register, scale it, and display it on the screen
-        std::cout << "XGYRO_OUT:" << imu->gyroScale(imu->regRead(XGYRO_OUT)) << std::endl;
-        std::cout << "YGYRO_OUT:" << imu->gyroScale(imu->regRead(YGYRO_OUT)) << std::endl;
-        std::cout << "ZGYRO_OUT:" << imu->gyroScale(imu->regRead(ZGYRO_OUT)) << std::endl;
+        // Read the specified register, scale it, and display it on the screen
+        std::cout << "XGYRO_OUT:" << imu.gyroScale(imu.regRead(XGYRO_OUT)) << std::endl;
+        std::cout << "YGYRO_OUT:" << imu.gyroScale(imu.regRead(YGYRO_OUT)) << std::endl;
+        std::cout << "ZGYRO_OUT:" << imu.gyroScale(imu.regRead(ZGYRO_OUT)) << std::endl;
         std::cout << " " << std::endl;
-        std::cout << "XACCL_OUT:" << imu->accelScale(imu->regRead(XACCL_OUT)) << std::endl;
-        std::cout << "YACCL_OUT:" << imu->accelScale(imu->regRead(YACCL_OUT)) << std::endl;
-        std::cout << "ZACCL_OUT:" << imu->accelScale(imu->regRead(ZACCL_OUT)) << std::endl;
+        std::cout << "XACCL_OUT:" << imu.accelScale(imu.regRead(XACCL_OUT)) << std::endl;
+        std::cout << "YACCL_OUT:" << imu.accelScale(imu.regRead(YACCL_OUT)) << std::endl;
+        std::cout << "ZACCL_OUT:" << imu.accelScale(imu.regRead(ZACCL_OUT)) << std::endl;
         std::cout << " " << std::endl;
-    //! [Interesting]
-        sleep(1);
+        //! [Interesting]
+        upm_delay(1);
     }
     return (0);
 }

examples/c++/ads1x15-adc-sensor.cxx

@@ -22,59 +22,50 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
+#include <exception>
 #include <iostream>
+#include <stddef.h>
+
 #include "ads1015.hpp"
+#include "iADC.hpp"
 #include "mraa/gpio.hpp"
+#include "upm_utilities.h"
 
 #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()
+int
+main()
 {
-   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;
-}
+    /* Create an instance of the ADS1015 sensor */
+    upm::ADS1015 sensor(EDISON_I2C_BUS);
+    mraa::Gpio gpio(EDISON_GPIO_SI7005_CS);
+    gpio.dir(mraa::DIR_OUT_HIGH);
 
-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;
+    /* Show usage from the IADC interface */
+    upm::IADC* adc = static_cast<upm::IADC*>(&sensor);
+
+    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;
+            }
+        }
+        upm_delay(1);
+    }
+
+    return 0;
 }
 
 //! [Interesting]

examples/c++/ads1x15-ads1015.cxx

@@ -29,11 +29,13 @@
  */
 
 #include <fstream>
+#include <iostream>
 #include <string>
 #include <thread>
-#include <unistd.h>
 
 #include "ads1015.hpp"
+#include "ads1x15.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 using namespace upm;
@@ -41,39 +43,41 @@ using namespace upm;
 bool running = true; // Controls main read/write loop
 
 // Thread function
-void stop()
+void
+stop()
 {
-    sleep(10);
+    upm_delay(10);
     running = false;
 }
 
-int main()
+int
+main()
 {
     //! [Interesting]
-    long id = 0; // Sample number
+    long id = 0;                        // Sample number
     string fileName = "./ads1015.data"; // Output filename
     ofstream f;
 
     // Initialize and configure the ADS1015
-    ADS1015 *ads1015 = new upm::ADS1015(0, 0x48);
+    ADS1015 ads1015(0, 0x48);
 
     // Put the ADC into differential mode for pins A0 and A1
-    ads1015->getSample(ADS1X15::DIFF_0_1);
+    ads1015.getSample(ADS1X15::DIFF_0_1);
 
     // Set the gain based on expected VIN range to -/+ 2.048 V
     // Can be adjusted based on application to as low as -/+ 0.256 V, see API
     // documentation for details
-    ads1015->setGain(ADS1X15::GAIN_TWO);
+    ads1015.setGain(ADS1X15::GAIN_TWO);
 
     // Set the sample rate to 3300 samples per second (max) and turn on continuous
     // sampling
-    ads1015->setSPS(ADS1015::SPS_3300);
-    ads1015->setContinuous(true);
+    ads1015.setSPS(ADS1015::SPS_3300);
+    ads1015.setContinuous(true);
 
     // Enable exceptions from the output stream
     f.exceptions(ofstream::failbit | ofstream::badbit);
     // Open the file
-    try{
+    try {
         f.open(fileName);
 
         // Output formatting
@@ -81,19 +85,18 @@ int main()
         f.precision(7);
 
         // Start the thread that will stop logging after 10 seconds
-        thread timer (stop);
+        thread timer(stop);
 
         // Read sensor data and write it to the output file every ms
-        while(running){
-            f << id++ << " " << ads1015->getLastSample() << endl;
-            usleep(1000);
+        while (running) {
+            f << id++ << " " << ads1015.getLastSample() << endl;
+            upm_delay_us(1000);
         }
 
         // Clean-up and exit
         timer.join();
         f.close();
-        delete ads1015;
-    } catch (ios_base::failure &e) {
+    } catch (ios_base::failure& e) {
         cout << "Failed to write to file: " << e.what() << endl;
         return 1;
     }
@@ -101,4 +104,3 @@ int main()
     //! [Interesting]
     return 0;
 }
-

examples/c++/ads1x15-ads1115.cxx

@@ -28,11 +28,13 @@
  */
 
 #include <fstream>
+#include <iostream>
 #include <string>
 #include <thread>
-#include <unistd.h>
 
 #include "ads1115.hpp"
+#include "ads1x15.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 using namespace upm;
@@ -40,16 +42,18 @@ using namespace upm;
 bool running = true; // Controls main read/write loop
 
 // Thread function
-void stop()
+void
+stop()
 {
-    sleep(10);
+    upm_delay(10);
     running = false;
 }
 
-int main()
+int
+main()
 {
     //! [Interesting]
-    long id = 0; // Sample number
+    long id = 0;                        // Sample number
     string fileName = "./ads1115.data"; // Output filename
     ofstream f;
 
@@ -57,26 +61,26 @@ int main()
     // There are two ADS1115 chips on the DFRobot Joule Shield on the same I2C bus
     //     - 0x48 gives access to pins A0 - A3
     //     - 0x49 gives access to pins A4 - A7
-    ADS1115 *ads1115 = new upm::ADS1115(0, 0x48);
+    ADS1115 ads1115(0, 0x48);
 
     // Put the ADC into differential mode for pins A0 and A1,
     // the SM-24 Geophone is connected to these pins
-    ads1115->getSample(ADS1X15::DIFF_0_1);
+    ads1115.getSample(ADS1X15::DIFF_0_1);
 
     // Set the gain based on expected VIN range to -/+ 2.048 V
     // Can be adjusted based on application to as low as -/+ 0.256 V, see API
     // documentation for details
-    ads1115->setGain(ADS1X15::GAIN_TWO);
+    ads1115.setGain(ADS1X15::GAIN_TWO);
 
     // Set the sample rate to 860 samples per second (max) and turn on continuous
     // sampling
-    ads1115->setSPS(ADS1115::SPS_860);
-    ads1115->setContinuous(true);
+    ads1115.setSPS(ADS1115::SPS_860);
+    ads1115.setContinuous(true);
 
     // Enable exceptions from the output stream
     f.exceptions(ofstream::failbit | ofstream::badbit);
     // Open the file
-    try{
+    try {
         f.open(fileName);
 
         // Output formatting
@@ -84,19 +88,18 @@ int main()
         f.precision(7);
 
         // Start the thread that will stop logging after 10 seconds
-        thread timer (stop);
+        thread timer(stop);
 
         // Read sensor data and write it to the output file every ms
-        while(running){
-            f << id++ << " " << ads1115->getLastSample() << endl;
-            usleep(1000);
+        while (running) {
+            f << id++ << " " << ads1115.getLastSample() << endl;
+            upm_delay_us(1000);
         }
 
         // Clean-up and exit
         timer.join();
         f.close();
-        delete ads1115;
-    } catch (ios_base::failure &e) {
+    } catch (ios_base::failure& e) {
         cout << "Failed to write to file: " << e.what() << endl;
         return 1;
     }
@@ -104,4 +107,3 @@ int main()
     //! [Interesting]
     return 0;
 }
-

examples/c++/ads1x15.cxx

@@ -22,301 +22,306 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include "mraa.hpp"
-
 #include <iostream>
-#include <unistd.h>
+
 #include "ads1015.hpp"
 #include "ads1115.hpp"
+#include "ads1x15.hpp"
 
-
-
-int main()
+int
+main()
 {
+    using namespace std;
+    using namespace upm;
+    int command;
+    //! [Interesting]
+    // Select the device you are testing here and adjust case 6 for the correct
+    // sample rates.
+    upm::ADS1115 ads(1, 0x49);
+    float inputVoltage;
+    int ans;
 
-     using namespace std;
-     using namespace upm;
-     int command;
-     //! [Interesting]
-     //Select the device you are testing here and adjust case 6 for the correct sample rates.
-     //upm::ADS1015 *ads = new upm::ADS1015(1);
-     upm::ADS1115 *ads = new upm::ADS1115(1, 0x49);
-     float inputVoltage;
-     int ans;
+    do {
+        cout << endl;
+        cout << "1 - get Conversion \t";
+        cout << "2 - get last conversion" << endl;
+        cout << "3 - get Gain \t\t";
+        cout << "4 - set Gain" << endl;
+        ;
+        cout << "5 - get Data Rate \t";
+        cout << "6 - set Data Rate" << endl;
+        cout << "7 - Set Upper Threshold \t";
+        cout << "8 - Set Lower Threshold \t";
+        cout << "9 - Display Thresholds \t";
+        cout << "10 - Set Default Thresholds \t";
+        cout << "11 - Set conversion ready" << endl;
+        cout << "12 - get Comp Que \t";
+        cout << "13 - set Comp Que" << endl;
+        cout << "14 - get Comp Pol \t";
+        cout << "15 - set Comp Pol" << endl;
+        cout << "16 - get Comp mode \t";
+        cout << "17 - set Comp mode " << endl;
+        cout << "18 - get Comp Latch\t";
+        cout << "19 - set Comp Latch " << endl;
+        cout << "20 - get Continuous \t";
+        cout << "21 - set Continuous \t" << endl;
+        cout << "-1 - exit" << endl;
+        cout << "Enter a command: ";
+        cin >> command;
 
-     do
-     {
-
-          cout << endl;
-          cout << "1 - get Conversion \t" ;
-          cout << "2 - get last conversion" << endl;
-          cout << "3 - get Gain \t\t";
-          cout << "4 - set Gain"  << endl;;
-          cout << "5 - get Data Rate \t";
-          cout << "6 - set Data Rate" << endl;
-          cout << "7 - Set Upper Threshold \t" ;
-          cout << "8 - Set Lower Threshold \t";
-          cout << "9 - Display Thresholds \t";
-          cout << "10 - Set Default Thresholds \t";
-          cout << "11 - Set conversion ready" << endl;
-          cout << "12 - get Comp Que \t" ;
-          cout << "13 - set Comp Que" << endl;
-          cout << "14 - get Comp Pol \t";
-          cout << "15 - set Comp Pol" << endl;
-          cout << "16 - get Comp mode \t";
-          cout << "17 - set Comp mode " << endl;
-          cout << "18 - get Comp Latch\t";
-          cout << "19 - set Comp Latch " << endl;
-          cout << "20 - get Continuous \t";
-          cout << "21 - set Continuous \t" << endl;
-          cout << "-1 - exit" << endl;
-          cout << "Enter a command: ";
-          cin >> command;
-
-
-          switch(command)
-          {
+        switch (command) {
+            case 2:
+                cout << ads.getLastSample() << endl;
+                break;
+            case 3:
+                cout << std::hex << ads.getGain() << endl;
+                break;
+            case 5:
+                cout << std::hex << ads.getSPS() << endl;
+                break;
+            case 4:
+                int gain;
+                ADS1015::ADSGAIN set_gain;
+                cout << "select one of the following:" << endl;
+                cout << "1 -> gain 2/3 \t 2 -> gain1 \t 3 -> gain 2" << endl;
+                cout << "4 -> gain 4 \t 5 -> gain 8 \t 6 -> gain 15" << endl;
+                cin >> gain;
+                switch (gain) {
+                    case 1:
+                        set_gain = ADS1X15::GAIN_TWOTHIRDS;
+                        break;
+                    case 2:
+                        set_gain = ADS1X15::GAIN_ONE;
+                        break;
+                    case 3:
+                        set_gain = ADS1X15::GAIN_TWO;
+                        break;
+                    case 4:
+                        set_gain = ADS1X15::GAIN_FOUR;
+                        break;
+                    case 5:
+                        set_gain = ADS1X15::GAIN_EIGHT;
+                        break;
+                    case 6:
+                        set_gain = ADS1X15::GAIN_SIXTEEN;
+                        break;
+                    default:
+                        set_gain = ADS1X15::GAIN_ONE;
+                }
+                ads.setGain(set_gain);
+                break;
+            case 6:
+                int rate;
+                /*ADS1015::ADSDATARATE set_rate;
+          cout << "select one of the following:" << endl;
+          cout << "1 -> SPS_120 \t 2 -> SPS_250 \t 3 -> SPS_490 \t 4 -> SPS_920" <<
+          endl;
+          cout << "5 -> SPS_1600 \t 6 -> SPS_2400 \t 7 -> SPS_3300" << endl;
+          cin >> rate;
+          switch(rate){
+          case 1:
+               set_rate = ADS1015::SPS_128;
+               break;
           case 2:
-               cout << ads->getLastSample() << endl;
+               set_rate = ADS1015::SPS_250;
                break;
           case 3:
-               cout << std::hex << ads->getGain() << endl;
-               break;
-          case 5:
-               cout << std::hex << ads->getSPS() << endl;
+               set_rate = ADS1015::SPS_490;
                break;
           case 4:
-               int gain;
-               ADS1015::ADSGAIN set_gain;
-               cout << "select one of the following:" << endl;
-               cout << "1 -> gain 2/3 \t 2 -> gain1 \t 3 -> gain 2" << endl;
-               cout << "4 -> gain 4 \t 5 -> gain 8 \t 6 -> gain 15" << endl;
-               cin >> gain;
-               switch(gain){
-               case 1:
-                    set_gain = ADS1X15::GAIN_TWOTHIRDS;
-                    break;
-               case 2:
-                    set_gain = ADS1X15::GAIN_ONE;
-                    break;
-               case 3:
-                    set_gain = ADS1X15::GAIN_TWO;
-                    break;
-               case 4:
-                    set_gain = ADS1X15::GAIN_FOUR;
-                    break;
-               case 5:
-                    set_gain = ADS1X15::GAIN_EIGHT;
-                    break;
-               case 6:
-                    set_gain = ADS1X15::GAIN_SIXTEEN;
-                    break;
-               default:
-                    set_gain = ADS1X15::GAIN_ONE;
-               }
-               ads->setGain(set_gain);
+               set_rate = ADS1015::SPS_920;
+               break;
+          case 5:
+               set_rate = ADS1015::SPS_1600;
                break;
           case 6:
-               int rate;
-               /*ADS1015::ADSDATARATE set_rate;
-               cout << "select one of the following:" << endl;
-               cout << "1 -> SPS_120 \t 2 -> SPS_250 \t 3 -> SPS_490 \t 4 -> SPS_920" << endl;
-               cout << "5 -> SPS_1600 \t 6 -> SPS_2400 \t 7 -> SPS_3300" << endl;
-               cin >> rate;
-               switch(rate){
-               case 1:
-                    set_rate = ADS1015::SPS_128;
-                    break;
-               case 2:
-                    set_rate = ADS1015::SPS_250;
-                    break;
-               case 3:
-                    set_rate = ADS1015::SPS_490;
-                    break;
-               case 4:
-                    set_rate = ADS1015::SPS_920;
-                    break;
-               case 5:
-                    set_rate = ADS1015::SPS_1600;
-                    break;
-               case 6:
-                    set_rate = ADS1015::SPS_2400;
-                    break;
-               case 7:
-                    set_rate = ADS1015::SPS_3300;
-                    break;
-               default:
-                    set_rate = ADS1015::SPS_1600;
-               } */
-               ADS1115::ADSDATARATE set_rate;
-               cout << "select one of the following:" << endl;
-               cout << "1 -> SPS_8 \t 2 -> SPS_16 \t 3 -> SPS_32 \t 4 -> SPS_64" << endl;
-               cout << "5 -> SPS_128 \t 6 -> SPS_250 \t 7 -> SPS_475 \t 8-> SPS_860" << endl;
-               cin >> rate;
-               switch(rate){
-               case 1:
-                    set_rate = ADS1115::SPS_8;
-                    break;
-               case 2:
-                    set_rate = ADS1115::SPS_16;
-                    break;
-               case 3:
-                    set_rate = ADS1115::SPS_32;
-                    break;
-               case 4:
-                    set_rate = ADS1115::SPS_64;
-                    break;
-               case 5:
-                    set_rate = ADS1115::SPS_128;
-                    break;
-               case 6:
-                    set_rate = ADS1115::SPS_250;
-                    break;
-               case 7:
-                    set_rate = ADS1115::SPS_475;
-                    break;
-               case 8:
-                    set_rate = ADS1115::SPS_860;
-                    break;
-               default:
-                    set_rate = ADS1115::SPS_128;
-               }
-
-               ads->setSPS(set_rate);
-               break;
-          case 1:
-               int mode;
-               ADS1X15::ADSMUXMODE set_mode;
-               cout << "select one of the following:" << endl;
-               cout << "1 -> MUX_0_1 \t 2 -> MUX_0_3 \t 3 -> MUX_1_3 \t 4 -> MUX_2_3" << endl;
-               cout << "5 -> SINGLE_0 \t 6 -> SINGLE_1 \t 7 -> SINGLE_2 \t 8 -> SINGLE_3" << endl;
-               cin >> mode;
-               switch(mode){
-               case 1:
-                    set_mode = ADS1X15::DIFF_0_1;
-                    break;
-               case 2:
-                    set_mode = ADS1X15::DIFF_0_3;
-                    break;
-               case 3:
-                    set_mode = ADS1X15::DIFF_1_3;
-                    break;
-               case 4:
-                    set_mode = ADS1X15::DIFF_2_3;
-                    break;
-               case 5:
-                    set_mode = ADS1X15::SINGLE_0;
-                    break;
-               case 6:
-                    set_mode = ADS1X15::SINGLE_1;
-                    break;
-               case 7:
-                    set_mode = ADS1X15::SINGLE_2;
-                    break;
-               case 8:
-                    set_mode = ADS1X15::SINGLE_3;
-                    break;
-               default:
-                    set_mode = ADS1X15::DIFF_0_1;
-                    break;
-               }
-               cout << ads->getSample(set_mode) << endl;
+               set_rate = ADS1015::SPS_2400;
                break;
           case 7:
-               cout << " enter a float value: " ;
-               cin >> inputVoltage;
-               ads->setThresh(ADS1115::THRESH_HIGH, inputVoltage);
-               break;
-          case 8:
-               cout << " enter a float value: " ;
-               cin >> inputVoltage;
-               ads->setThresh(ADS1115::THRESH_LOW, inputVoltage);
-               break;
-          case 9:
-               cout << "Upper " << ads->getThresh(ADS1X15::THRESH_HIGH) << endl;
-               cout << "Lower " << ads->getThresh(ADS1X15::THRESH_LOW) << endl;
-               break;
-          case 10:
-               ads->setThresh(ADS1115::THRESH_DEFAULT);
-               break;
-          case 11:
-               ads->setThresh(ADS1015::CONVERSION_RDY);
-               break;
-          case 12:
-               cout << ads->getCompQue() << endl;
-               break;
-          case 13:
-               int que;
-               cout << "select one of the following:" << endl;
-               cout << "1 -> CQUE_1CONV \t 2 -> CQUE_2CONV \t 3 -> CQUE_3CONV \t 4 -> CQUE_NONE" << endl;
-               cin >> que;
-               switch(que){
-               case 1:
-                    ads->setCompQue(ADS1X15::CQUE_1CONV);
-                    break;
-               case 2:
-                    ads->setCompQue(ADS1X15::CQUE_2CONV);
-                    break;
-               case 3:
-                    ads->setCompQue(ADS1X15::CQUE_4CONV);
-                    break;
-               case 4:
-               default:
-                    ads->setCompQue(ADS1X15::CQUE_NONE);
-                    break;
-               }
-               break;
-          case 14:
-               cout << ads->getCompPol() << endl;
-               break;
-          case 15:
-               cout << "select one of the following:" << endl;
-               cout << "1 -> active high \t 2 -> active low" << endl;
-               cin >> ans;
-               if(ans == 1) ads->setCompPol(true);
-                else ads->setCompPol(false);
-               break;
-          case 16:
-               cout << ads->getCompMode() << endl;
-               break;
-          case 17:
-               cout << "select one of the following:" << endl;
-               cout << "1 -> Window \t 2 -> Traditional (default)" << endl;
-               cin >> ans;
-               if(ans == 1) ads->setCompMode(true);
-                else ads->setCompMode();
-               break;
-          case 18:
-               cout << ads->getCompLatch() << endl;
-               break;
-          case 19:
-               cout << "select one of the following:" << endl;
-               cout << "1 -> Latching  \t 2 -> Non-latching (default)" << endl;
-               cin >> ans;
-               if(ans == 1) ads->setCompLatch(true);
-                else ads->setCompLatch();
-               break;
-          case 20:
-               cout << ads->getContinuous() << endl;
-               break;
-          case 21:
-               cout << "select one of the following:" << endl;
-               cout << "1 -> Power Down (default)  \t 2 -> Continuous" << endl;
-               cin >> ans;
-               if(ans == 1) ads->setContinuous(true);
-                else ads->setContinuous();
-               break;
-          case -1:
+               set_rate = ADS1015::SPS_3300;
                break;
           default:
+               set_rate = ADS1015::SPS_1600;
+          } */
+                ADS1115::ADSDATARATE set_rate;
+                cout << "select one of the following:" << endl;
+                cout << "1 -> SPS_8 \t 2 -> SPS_16 \t 3 -> SPS_32 \t 4 -> SPS_64" << endl;
+                cout << "5 -> SPS_128 \t 6 -> SPS_250 \t 7 -> SPS_475 \t 8-> SPS_860" << endl;
+                cin >> rate;
+                switch (rate) {
+                    case 1:
+                        set_rate = ADS1115::SPS_8;
+                        break;
+                    case 2:
+                        set_rate = ADS1115::SPS_16;
+                        break;
+                    case 3:
+                        set_rate = ADS1115::SPS_32;
+                        break;
+                    case 4:
+                        set_rate = ADS1115::SPS_64;
+                        break;
+                    case 5:
+                        set_rate = ADS1115::SPS_128;
+                        break;
+                    case 6:
+                        set_rate = ADS1115::SPS_250;
+                        break;
+                    case 7:
+                        set_rate = ADS1115::SPS_475;
+                        break;
+                    case 8:
+                        set_rate = ADS1115::SPS_860;
+                        break;
+                    default:
+                        set_rate = ADS1115::SPS_128;
+                }
 
-               break;
-          }
+                ads.setSPS(set_rate);
+                break;
+            case 1:
+                int mode;
+                ADS1X15::ADSMUXMODE set_mode;
+                cout << "select one of the following:" << endl;
+                cout << "1 -> MUX_0_1 \t 2 -> MUX_0_3 \t 3 -> MUX_1_3 \t 4 -> MUX_2_3" << endl;
+                cout << "5 -> SINGLE_0 \t 6 -> SINGLE_1 \t 7 -> SINGLE_2 \t 8 -> "
+                        "SINGLE_3"
+                     << endl;
+                cin >> mode;
+                switch (mode) {
+                    case 1:
+                        set_mode = ADS1X15::DIFF_0_1;
+                        break;
+                    case 2:
+                        set_mode = ADS1X15::DIFF_0_3;
+                        break;
+                    case 3:
+                        set_mode = ADS1X15::DIFF_1_3;
+                        break;
+                    case 4:
+                        set_mode = ADS1X15::DIFF_2_3;
+                        break;
+                    case 5:
+                        set_mode = ADS1X15::SINGLE_0;
+                        break;
+                    case 6:
+                        set_mode = ADS1X15::SINGLE_1;
+                        break;
+                    case 7:
+                        set_mode = ADS1X15::SINGLE_2;
+                        break;
+                    case 8:
+                        set_mode = ADS1X15::SINGLE_3;
+                        break;
+                    default:
+                        set_mode = ADS1X15::DIFF_0_1;
+                        break;
+                }
+                cout << ads.getSample(set_mode) << endl;
+                break;
+            case 7:
+                cout << " enter a float value: ";
+                cin >> inputVoltage;
+                ads.setThresh(ADS1115::THRESH_HIGH, inputVoltage);
+                break;
+            case 8:
+                cout << " enter a float value: ";
+                cin >> inputVoltage;
+                ads.setThresh(ADS1115::THRESH_LOW, inputVoltage);
+                break;
+            case 9:
+                cout << "Upper " << ads.getThresh(ADS1X15::THRESH_HIGH) << endl;
+                cout << "Lower " << ads.getThresh(ADS1X15::THRESH_LOW) << endl;
+                break;
+            case 10:
+                ads.setThresh(ADS1115::THRESH_DEFAULT);
+                break;
+            case 11:
+                ads.setThresh(ADS1015::CONVERSION_RDY);
+                break;
+            case 12:
+                cout << ads.getCompQue() << endl;
+                break;
+            case 13:
+                int que;
+                cout << "select one of the following:" << endl;
+                cout << "1 -> CQUE_1CONV \t 2 -> CQUE_2CONV \t 3 -> CQUE_3CONV \t 4 -> "
+                        "CQUE_NONE"
+                     << endl;
+                cin >> que;
+                switch (que) {
+                    case 1:
+                        ads.setCompQue(ADS1X15::CQUE_1CONV);
+                        break;
+                    case 2:
+                        ads.setCompQue(ADS1X15::CQUE_2CONV);
+                        break;
+                    case 3:
+                        ads.setCompQue(ADS1X15::CQUE_4CONV);
+                        break;
+                    case 4:
+                    default:
+                        ads.setCompQue(ADS1X15::CQUE_NONE);
+                        break;
+                }
+                break;
+            case 14:
+                cout << ads.getCompPol() << endl;
+                break;
+            case 15:
+                cout << "select one of the following:" << endl;
+                cout << "1 -> active high \t 2 -> active low" << endl;
+                cin >> ans;
+                if (ans == 1)
+                    ads.setCompPol(true);
+                else
+                    ads.setCompPol(false);
+                break;
+            case 16:
+                cout << ads.getCompMode() << endl;
+                break;
+            case 17:
+                cout << "select one of the following:" << endl;
+                cout << "1 -> Window \t 2 -> Traditional (default)" << endl;
+                cin >> ans;
+                if (ans == 1)
+                    ads.setCompMode(true);
+                else
+                    ads.setCompMode();
+                break;
+            case 18:
+                cout << ads.getCompLatch() << endl;
+                break;
+            case 19:
+                cout << "select one of the following:" << endl;
+                cout << "1 -> Latching  \t 2 -> Non-latching (default)" << endl;
+                cin >> ans;
+                if (ans == 1)
+                    ads.setCompLatch(true);
+                else
+                    ads.setCompLatch();
+                break;
+            case 20:
+                cout << ads.getContinuous() << endl;
+                break;
+            case 21:
+                cout << "select one of the following:" << endl;
+                cout << "1 -> Power Down (default)  \t 2 -> Continuous" << endl;
+                cin >> ans;
+                if (ans == 1)
+                    ads.setContinuous(true);
+                else
+                    ads.setContinuous();
+                break;
+            case -1:
+                break;
+            default:
 
-     }while (command != -1 );
+                break;
+        }
+    } while (command != -1);
 
-     delete ads;
-     //! [Interesting]
+    //! [Interesting]
 
-     return 0;
+    return 0;
 }

examples/c++/adxl335.cxx

@@ -22,57 +22,58 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+#include <string>
+
 #include "adxl335.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main ()
+int
+main()
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // Instantiate an ADXL335 accelerometer on analog pins A0, A1, and A2
-  upm::ADXL335* accel = new upm::ADXL335(0, 1, 2);
+    //! [Interesting]
+    // Instantiate an ADXL335 accelerometer on analog pins A0, A1, and A2
+    upm::ADXL335 accel(0, 1, 2);
 
-  cout << "Please make sure the sensor is completely still. Sleeping for"
-       << " 2 seconds." << endl;
-  sleep(2);
-  cout << "Calibrating..." << endl;
+    cout << "Please make sure the sensor is completely still. Sleeping for"
+         << " 2 seconds." << endl;
+    upm_delay(2);
+    cout << "Calibrating..." << endl;
 
-  accel->calibrate();
+    accel.calibrate();
 
-  while (shouldRun)
-    {
-      int x, y, z;
-      float aX, aY, aZ;
+    while (shouldRun) {
+        int x, y, z;
+        float aX, aY, aZ;
 
-      accel->values(&x, &y, &z);
-      cout << "Raw Values: X: " << x << " Y: " << y << " Z: " << z << endl;
+        accel.values(&x, &y, &z);
+        cout << "Raw Values: X: " << x << " Y: " << y << " Z: " << z << endl;
 
-      accel->acceleration(&aX, &aY, &aZ);
-      cout << "Acceleration: X: " << aX << "g" << endl;
-      cout << "Acceleration: Y: " << aY << "g" << endl;
-      cout << "Acceleration: Z: " << aZ << "g" << endl;
-      cout << endl;
+        accel.acceleration(&aX, &aY, &aZ);
+        cout << "Acceleration: X: " << aX << "g" << endl;
+        cout << "Acceleration: Y: " << aY << "g" << endl;
+        cout << "Acceleration: Z: " << aZ << "g" << endl;
+        cout << endl;
 
-      usleep(200000);
+        upm_delay_us(200000);
     }
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting" << endl;
+    cout << "Exiting" << endl;
 
-  delete accel;
-  return 0;
+    return 0;
 }

examples/c++/adxl345.cxx

@@ -22,30 +22,32 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
+#include <stdio.h>
+
 #include "adxl345.hpp"
+#include "upm_utilities.h"
 
 int
-main(int argc, char **argv)
+main(int argc, char** argv)
 {
-//! [Interesting]
-    int16_t *raw;
-    float *acc;
+    //! [Interesting]
+    int16_t* raw;
+    float* acc;
 
     // Note: Sensor only works at 3.3V on the Intel Edison with Arduino breakout
-    upm::Adxl345* accel = new upm::Adxl345(0);
+    upm::Adxl345 accel(0);
 
-    while(true){
-        accel->update(); // Update the data
-        raw = accel->getRawValues(); // Read raw sensor data
-        acc = accel->getAcceleration(); // Read acceleration (g)
-        fprintf(stdout, "Current scale: 0x%2xg\n", accel->getScale());
+    while (true) {
+        accel.update();                // Update the data
+        raw = accel.getRawValues();    // Read raw sensor data
+        acc = accel.getAcceleration(); // Read acceleration (g)
+        fprintf(stdout, "Current scale: 0x%2xg\n", accel.getScale());
         fprintf(stdout, "Raw: %6d %6d %6d\n", raw[0], raw[1], raw[2]);
         fprintf(stdout, "AccX: %5.2f g\n", acc[0]);
         fprintf(stdout, "AccY: %5.2f g\n", acc[1]);
         fprintf(stdout, "AccZ: %5.2f g\n", acc[2]);
-        sleep(1);
+        upm_delay(1);
     }
-//! [Interesting]
+    //! [Interesting]
     return 0;
 }

examples/c++/adxrs610.cxx

@@ -22,50 +22,51 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "adxrs610.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 bool shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main()
+int
+main()
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
+    //! [Interesting]
 
-  // Instantiate a ADXRS610 sensor on analog pin A0 (dataout), and
-  // analog A1 (temp out) with an analog reference voltage of
-  // 5.0
-  upm::ADXRS610 *sensor = new upm::ADXRS610(0, 1, 5.0);
+    // Instantiate a ADXRS610 sensor on analog pin A0 (dataout), and
+    // analog A1 (temp out) with an analog reference voltage of
+    // 5.0
+    upm::ADXRS610 sensor(0, 1, 5.0);
 
-  // set a deadband region around the zero point to report 0.0 (optional)
-  sensor->setDeadband(0.015);
+    // set a deadband region around the zero point to report 0.0 (optional)
+    sensor.setDeadband(0.015);
 
-  // Every tenth of a second, sample the ADXRS610 and output it's
-  // corresponding temperature and angular velocity 
+    // Every tenth of a second, sample the ADXRS610 and output it's
+    // corresponding temperature and angular velocity
 
-  while (shouldRun)
-    {
-      cout << "Vel (deg/s): " << sensor->getAngularVelocity() << endl;
-      cout << "Temp (C): " << sensor->getTemperature() << endl;
+    while (shouldRun) {
+        cout << "Vel (deg/s): " << sensor.getAngularVelocity() << endl;
+        cout << "Temp (C): " << sensor.getTemperature() << endl;
 
-      usleep(100000);
+        upm_delay_us(100000);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting" << endl;
+    cout << "Exiting" << endl;
 
-  delete sensor;
-  return 0;
+    return 0;
 }

examples/c++/am2315.cxx

@@ -22,16 +22,15 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+#include <stdio.h>
 
 #include "am2315.hpp"
+#include "upm_utilities.h"
 
 volatile int doWork = 0;
 
-upm::AM2315 *sensor = NULL;
-
 void
 sig_handler(int signo)
 {
@@ -42,34 +41,30 @@ sig_handler(int signo)
 }
 
 int
-main(int argc, char **argv)
+main(int argc, char** argv)
 {
     // Register signal handler
     signal(SIGINT, sig_handler);
 
     //! [Interesting]
-    float humidity    = 0.0;
+    float humidity = 0.0;
     float temperature = 0.0;
 
-    sensor = new upm::AM2315(0, AM2315_I2C_ADDRESS);
+    upm::AM2315 sensor(0, AM2315_I2C_ADDRESS);
 
-    sensor->testSensor();
+    sensor.testSensor();
 
     while (!doWork) {
-        humidity    = sensor->getHumidity();
-        temperature = sensor->getTemperature();
+        humidity = sensor.getHumidity();
+        temperature = sensor.getTemperature();
 
-        std::cout << "humidity value = " <<
-                    humidity <<
-                    ", temperature value = " <<
-                    temperature << std::endl;
-        usleep (500000);
+        std::cout << "humidity value = " << humidity << ", temperature value = " << temperature
+                  << std::endl;
+        upm_delay_us(500000);
     }
     //! [Interesting]
 
     std::cout << "exiting application" << std::endl;
 
-    delete sensor;
-
     return 0;
 }

examples/c++/apa102.cxx

@@ -23,9 +23,6 @@
  */
 
 #include "apa102.hpp"
-#include <iostream>
-#include <signal.h>
-#include <unistd.h>
 
 using namespace std;
 
@@ -34,18 +31,17 @@ main(int argc, char** argv)
 {
     //! [Interesting]
     // Instantiate a strip of 30 LEDs on SPI bus 0
-    upm::APA102* ledStrip = new upm::APA102(800, 0);
+    upm::APA102 ledStrip(800, 0);
 
     // Set all LEDs to Red
-    ledStrip->setAllLeds(31, 255, 0, 0);
+    ledStrip.setAllLeds(31, 255, 0, 0);
 
     // Set a section (10 to 20) to blue
-    ledStrip->setLeds(10, 20, 31, 0, 0, 255);
+    ledStrip.setLeds(10, 20, 31, 0, 0, 255);
 
     // Set a single LED to green
-    ledStrip->setLed(15, 31, 0, 255, 0);
+    ledStrip.setLed(15, 31, 0, 255, 0);
 
-    delete ledStrip;
     //! [Interesting]
     return 0;
 }

examples/c++/apds9002.cxx

@@ -22,41 +22,41 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "apds9002.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main ()
+int
+main()
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // Instantiate a Grove Luminance sensor on analog pin A0
-  upm::APDS9002* luminance = new upm::APDS9002(0);
+    //! [Interesting]
+    // Instantiate a Grove Luminance sensor on analog pin A0
+    upm::APDS9002 luminance(0);
 
-  while (shouldRun)
-    {
-      int val = luminance->value();
-      cout << "Luminance value is " << val << endl;
+    while (shouldRun) {
+        int val = luminance.value();
+        cout << "Luminance value is " << val << endl;
 
-      sleep(1);
+        upm_delay(1);
     }
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting" << endl;
+    cout << "Exiting" << endl;
 
-  delete luminance;
-  return 0;
+    return 0;
 }

examples/c++/apds9930.cxx

@@ -22,10 +22,11 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "apds9930.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
@@ -44,31 +45,30 @@ main()
     signal(SIGINT, sig_handler);
     //! [Interesting]
     // Instantiate a Digital Proximity and Ambient Light sensor on iio device 4
-    upm::APDS9930* light_proximity = new upm::APDS9930(4);
+    upm::APDS9930 light_proximity(4);
 
-    // Kernel driver implement sleep 5000-5100us after enable illuminance sensor
-    light_proximity->enableIlluminance(true);
+    // Kernel driver implement upm_delay 5000-5100us after enable illuminance
+    // sensor
+    light_proximity.enableIlluminance(true);
 
-    // Kernel driver implement sleep 5000-5100us after enable proximity sensor
-    light_proximity->enableProximity(true);
+    // Kernel driver implement upm_delay 5000-5100us after enable proximity sensor
+    light_proximity.enableProximity(true);
 
     // Tested this value works. Please change it on your platform
-    usleep(120000);
+    upm_delay_us(120000);
 
     while (shouldRun) {
-        float lux = light_proximity->getAmbient();
+        float lux = light_proximity.getAmbient();
         cout << "Luminance value is " << lux << endl;
-        float proximity = light_proximity->getProximity();
+        float proximity = light_proximity.getProximity();
         cout << "Proximity value is " << proximity << endl;
-        sleep(1);
+        upm_delay(1);
     }
-    light_proximity->enableProximity(false);
-    light_proximity->enableIlluminance(false);
+    light_proximity.enableProximity(false);
+    light_proximity.enableIlluminance(false);
     //! [Interesting]
 
     cout << "Exiting" << endl;
 
-    delete light_proximity;
-
     return 0;
 }

examples/c++/at42qt1070.cxx

@@ -22,69 +22,68 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
-#include <signal.h>
 #include <iostream>
+#include <signal.h>
+
 #include "at42qt1070.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-void printButtons(upm::AT42QT1070 *touch)
+void
+printButtons(upm::AT42QT1070& touch)
 {
-  bool buttonPressed = false;
-  uint8_t buttons = touch->getButtons();
+    bool buttonPressed = false;
+    uint8_t buttons = touch.getButtons();
 
-  cout << "Buttons Pressed: ";
-  for (int i=0; i<7; i++)
-    {
-      if (buttons & (1 << i))
-        {
-          cout << i << " ";
-          buttonPressed = true;
+    cout << "Buttons Pressed: ";
+    for (int i = 0; i < 7; i++) {
+        if (buttons & (1 << i)) {
+            cout << i << " ";
+            buttonPressed = true;
         }
     }
 
-  if (!buttonPressed)
-    cout << "None";
+    if (!buttonPressed)
+        cout << "None";
 
-  cout << endl;
+    cout << endl;
 
-  if (touch->isCalibrating())
-    cout << "Calibration is occurring." << endl;
+    if (touch.isCalibrating())
+        cout << "Calibration is occurring." << endl;
 
-  if (touch->isOverflowed())
-    cout << "Overflow was detected." << endl;
+    if (touch.isOverflowed())
+        cout << "Overflow was detected." << endl;
 }
 
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // Instantiate an AT42QT1070 on I2C bus 0
+    //! [Interesting]
+    // Instantiate an AT42QT1070 on I2C bus 0
 
-  upm::AT42QT1070 *touch = new upm::AT42QT1070(AT42QT1070_I2C_BUS, 
-                                               AT42QT1070_DEFAULT_I2C_ADDR);
+    upm::AT42QT1070 touch(AT42QT1070_I2C_BUS, AT42QT1070_DEFAULT_I2C_ADDR);
 
-  while (shouldRun)
-    {
-      touch->updateState();
-      printButtons(touch);
-      usleep(100000);
+    while (shouldRun) {
+        touch.updateState();
+        printButtons(touch);
+        upm_delay_us(100000);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete touch;
-  return 0;
+    return 0;
 }

examples/c++/bh1750.cxx

@@ -22,44 +22,45 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "bh1750.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 bool shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main()
+int
+main()
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
+    //! [Interesting]
 
-  // Instantiate a BH1750 sensor using defaults (I2C bus (0), using
-  // the default I2C address (0x23), and setting the mode to highest
-  // resolution, lowest power mode).
-  upm::BH1750 *sensor = new upm::BH1750();
+    // Instantiate a BH1750 sensor using defaults (I2C bus (0), using
+    // the default I2C address (0x23), and setting the mode to highest
+    // resolution, lowest power mode).
+    upm::BH1750 sensor;
 
-  // Every second, sample the BH1750 and output the measured lux value
+    // Every second, sample the BH1750 and output the measured lux value
 
-  while (shouldRun)
-    {
-      cout << "Detected Light Level (lux): " << sensor->getLux() << endl;
-      sleep(1);
+    while (shouldRun) {
+        cout << "Detected Light Level (lux): " << sensor.getLux() << endl;
+        upm_delay(1);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting" << endl;
+    cout << "Exiting" << endl;
 
-  delete sensor;
-  return 0;
+    return 0;
 }

examples/c++/biss0001.cxx

@@ -22,47 +22,47 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "biss0001.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main ()
+int
+main()
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // Instantiate a Grove Motion sensor on GPIO pin D2
-  upm::BISS0001* motion = new upm::BISS0001(2);
+    //! [Interesting]
+    // Instantiate a Grove Motion sensor on GPIO pin D2
+    upm::BISS0001 motion(2);
 
-  while (shouldRun)
-  {
-      bool val = motion->value();
+    while (shouldRun) {
+        bool val = motion.value();
 
-      if (val)
-        cout << "Detecting moving object";
-      else
-        cout << "No moving objects detected";
+        if (val)
+            cout << "Detecting moving object";
+        else
+            cout << "No moving objects detected";
 
-      cout << endl;
+        cout << endl;
 
-      sleep(1);
-  }
-//! [Interesting]
+        upm_delay(1);
+    }
+    //! [Interesting]
 
-  cout << "Exiting" << endl;
+    cout << "Exiting" << endl;
 
-  delete motion;
-  return 0;
+    return 0;
 }

examples/c++/bma220.cxx

@@ -22,49 +22,48 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "bma220.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
-//! [Interesting]
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
 
-  // Instantiate an BMA220 using default parameters (bus 0, addr 0x0a)
-  upm::BMA220 *sensor = new upm::BMA220();
+    // Instantiate an BMA220 using default parameters (bus 0, addr 0x0a)
+    upm::BMA220 sensor;
 
-  // Output data every half second until interrupted
-  while (shouldRun)
-    {
-      sensor->update();
+    // Output data every half second until interrupted
+    while (shouldRun) {
+        sensor.update();
 
-      float x, y, z;
+        float x, y, z;
 
-      sensor->getAccelerometer(&x, &y, &z);
-      cout << "Accelerometer: ";
-      cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;
+        sensor.getAccelerometer(&x, &y, &z);
+        cout << "Accelerometer: ";
+        cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;
 
-      usleep(500000);
+        upm_delay_us(500000);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete sensor;
-  
-  return 0;
+    return 0;
 }

examples/c++/bma250e.cxx

@@ -22,60 +22,56 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "bma250e.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
-//! [Interesting]
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
 
-  // Instantiate an BMA250E using default I2C parameters
-  upm::BMA250E sensor;
+    // Instantiate an BMA250E using default I2C parameters
+    upm::BMA250E sensor;
 
-  // For SPI, bus 0, you would pass -1 as the address, and a valid pin
-  // for CS: BMA250E(0, -1, 10);
+    // For SPI, bus 0, you would pass -1 as the address, and a valid pin
+    // for CS: BMA250E(0, -1, 10);
 
-  // now output data every 250 milliseconds
-  while (shouldRun)
-    {
-      float x, y, z;
+    // now output data every 250 milliseconds
+    while (shouldRun) {
+        float x, y, z;
 
-      sensor.update();
+        sensor.update();
 
-      sensor.getAccelerometer(&x, &y, &z);
-      cout << "Accelerometer x: " << x
-           << " y: " << y
-           << " z: " << z
-           << " g"
-           << endl;
+        sensor.getAccelerometer(&x, &y, &z);
+        cout << "Accelerometer x: " << x << " y: " << y << " z: " << z << " g" << endl;
 
-      // we show both C and F for temperature
-      cout << "Compensation Temperature: " << sensor.getTemperature()
-           << " C / " << sensor.getTemperature(true) << " F"
-           << endl;
+        // we show both C and F for temperature
+        cout << "Compensation Temperature: " << sensor.getTemperature() << " C / "
+             << sensor.getTemperature(true) << " F" << endl;
 
-      cout << endl;
+        cout << endl;
 
-      usleep(250000);
+        upm_delay_us(250000);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  return 0;
+    return 0;
 }

examples/c++/bmg160.cxx

@@ -22,60 +22,56 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "bmg160.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
-//! [Interesting]
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
 
-  // Instantiate an BMG160 using default I2C parameters
-  upm::BMG160 sensor;
+    // Instantiate an BMG160 using default I2C parameters
+    upm::BMG160 sensor;
 
-  // For SPI, bus 0, you would pass -1 as the address, and a valid pin
-  // for CS: BMG160(0, -1, 10);
+    // For SPI, bus 0, you would pass -1 as the address, and a valid pin
+    // for CS: BMG160(0, -1, 10);
 
-  // now output data every 250 milliseconds
-  while (shouldRun)
-    {
-      float x, y, z;
+    // now output data every 250 milliseconds
+    while (shouldRun) {
+        float x, y, z;
 
-      sensor.update();
+        sensor.update();
 
-      sensor.getGyroscope(&x, &y, &z);
-      cout << "Gyroscope x: " << x
-           << " y: " << y
-           << " z: " << z
-           << " degrees/s"
-           << endl;
+        sensor.getGyroscope(&x, &y, &z);
+        cout << "Gyroscope x: " << x << " y: " << y << " z: " << z << " degrees/s" << endl;
 
-      // we show both C and F for temperature
-      cout << "Compensation Temperature: " << sensor.getTemperature()
-           << " C / " << sensor.getTemperature(true) << " F"
-           << endl;
+        // we show both C and F for temperature
+        cout << "Compensation Temperature: " << sensor.getTemperature() << " C / "
+             << sensor.getTemperature(true) << " F" << endl;
 
-      cout << endl;
+        cout << endl;
 
-      usleep(250000);
+        upm_delay_us(250000);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  return 0;
+    return 0;
 }

examples/c++/bmi160.cxx

@@ -22,61 +22,57 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "bmi160.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
-//! [Interesting]
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
 
-  // Instantiate a BMI160 instance using default i2c bus and address
-  upm::BMI160 *sensor = new upm::BMI160();
+    // Instantiate a BMI160 instance using default i2c bus and address
+    upm::BMI160 sensor;
 
-  while (shouldRun)
-    {
-      // update our values from the sensor
-      sensor->update();
+    while (shouldRun) {
+        // update our values from the sensor
+        sensor.update();
 
-      float dataX, dataY, dataZ;
+        float dataX, dataY, dataZ;
 
-      sensor->getAccelerometer(&dataX, &dataY, &dataZ);
-      cout << "Accelerometer: ";
-      cout << "AX: " << dataX << " AY: " << dataY << " AZ: "
-           << dataZ << endl;
+        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.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;
+        sensor.getMagnetometer(&dataX, &dataY, &dataZ);
+        cout << "Magnetometer:  ";
+        cout << "MX: " << dataX << " MY: " << dataY << " MZ: " << dataZ << endl;
 
-      cout << endl;
+        cout << endl;
 
-      usleep(500000);
+        upm_delay_us(500000);
     }
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete sensor;
-
-  return 0;
+    return 0;
 }

examples/c++/bmm150.cxx

@@ -22,55 +22,52 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "bmm150.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
-//! [Interesting]
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
 
-  // Instantiate an BMM150 using default I2C parameters
-  upm::BMM150 sensor;
+    // Instantiate an BMM150 using default I2C parameters
+    upm::BMM150 sensor;
 
-  // For SPI, bus 0, you would pass -1 as the address, and a valid pin
-  // for CS: BMM150(0, -1, 10);
+    // For SPI, bus 0, you would pass -1 as the address, and a valid pin
+    // for CS: BMM150(0, -1, 10);
 
-  // now output data every 250 milliseconds
-  while (shouldRun)
-    {
-      float x, y, z;
+    // now output data every 250 milliseconds
+    while (shouldRun) {
+        float x, y, z;
 
-      sensor.update();
+        sensor.update();
 
-      sensor.getMagnetometer(&x, &y, &z);
-      cout << "Magnetometer x: " << x
-           << " y: " << y
-           << " z: " << z
-           << " uT"
-           << endl;
+        sensor.getMagnetometer(&x, &y, &z);
+        cout << "Magnetometer x: " << x << " y: " << y << " z: " << z << " uT" << endl;
 
-      cout << endl;
+        cout << endl;
 
-      usleep(250000);
+        upm_delay_us(250000);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  return 0;
+    return 0;
 }

examples/c++/bmp280-bme280.cxx

@@ -22,57 +22,54 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
 
 #include "bme280.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 using namespace upm;
 
 bool shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
-//! [Interesting]
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
 
-  // Instantiate a BME280 instance using default i2c bus and address
-  upm::BME280 *sensor = new upm::BME280();
+    // Instantiate a BME280 instance using default i2c bus and address
+    upm::BME280 sensor;
 
-  // For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
-  // BME280(0, -1, 10);
+    // For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
+    // BME280(0, -1, 10);
 
-  while (shouldRun)
-    {
-      // update our values from the sensor
-      sensor->update();
+    while (shouldRun) {
+        // update our values from the sensor
+        sensor.update();
 
-      // we show both C and F for temperature
-      cout << "Compensation Temperature: " << sensor->getTemperature()
-           << " C / " << sensor->getTemperature(true) << " F"
-           << endl;
-      cout << "Pressure: " << sensor->getPressure() << " Pa" << endl;
-      cout << "Computed Altitude: " << sensor->getAltitude() << " m" << endl;
-      cout << "Humidity: " << sensor->getHumidity() << " %RH" << endl;
+        // we show both C and F for temperature
+        cout << "Compensation Temperature: " << sensor.getTemperature() << " C / "
+             << sensor.getTemperature(true) << " F" << endl;
+        cout << "Pressure: " << sensor.getPressure() << " Pa" << endl;
+        cout << "Computed Altitude: " << sensor.getAltitude() << " m" << endl;
+        cout << "Humidity: " << sensor.getHumidity() << " %RH" << endl;
 
-      cout << endl;
+        cout << endl;
 
-      sleep(1);
+        upm_delay(1);
     }
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete sensor;
-
-  return 0;
+    return 0;
 }

examples/c++/bmp280.cxx

@@ -24,56 +24,53 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
 
 #include "bmp280.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 using namespace upm;
 
 bool shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
-//! [Interesting]
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
 
-  // Instantiate a BMP280 instance using default i2c bus and address
-  upm::BMP280 *sensor = new upm::BMP280();
+    // Instantiate a BMP280 instance using default i2c bus and address
+    upm::BMP280 sensor;
 
-  // For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
-  // BMP280(0, -1, 10);
+    // For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
+    // BMP280(0, -1, 10);
 
-  while (shouldRun)
-    {
-      // update our values from the sensor
-      sensor->update();
+    while (shouldRun) {
+        // update our values from the sensor
+        sensor.update();
 
-      // we show both C and F for temperature
-      cout << "Compensation Temperature: " << sensor->getTemperature()
-           << " C / " << sensor->getTemperature(true) << " F"
-           << endl;
-      cout << "Pressure: " << sensor->getPressure() << " Pa" << endl;
-      cout << "Computed Altitude: " << sensor->getAltitude() << " m" << endl;
+        // we show both C and F for temperature
+        cout << "Compensation Temperature: " << sensor.getTemperature() << " C / "
+             << sensor.getTemperature(true) << " F" << endl;
+        cout << "Pressure: " << sensor.getPressure() << " Pa" << endl;
+        cout << "Computed Altitude: " << sensor.getAltitude() << " m" << endl;
 
-      cout << endl;
+        cout << endl;
 
-      sleep(1);
+        upm_delay(1);
     }
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete sensor;
-
-  return 0;
+    return 0;
 }

examples/c++/bmpx8x.cxx

@@ -27,52 +27,47 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
 
 #include "bmpx8x.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 bool shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
     if (signo == SIGINT)
         shouldRun = false;
 }
 
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
     signal(SIGINT, sig_handler);
-//! [Interesting]
+    //! [Interesting]
 
     // Instantiate a BMPX8X sensor on I2C using defaults.
     upm::BMPX8X sensor;
 
     // Print the pressure, altitude, sea level, and
     // temperature values every 0.5 seconds
-    while (shouldRun)
-    {
+    while (shouldRun) {
         sensor.update();
 
-        cout << "Pressure: "
-             << sensor.getPressure()
-             << " Pa, Temperature: "
-             << sensor.getTemperature()
-             << " C, Altitude: "
-             << sensor.getAltitude()
-             << " m, Sea level: "
-             << sensor.getSealevelPressure()
-             << " Pa"
-             << endl;
+        cout << "Pressure: " << sensor.getPressure()
+             << " Pa, Temperature: " << sensor.getTemperature()
+             << " C, Altitude: " << sensor.getAltitude()
+             << " m, Sea level: " << sensor.getSealevelPressure() << " Pa" << endl;
 
-        usleep(500000);
+        upm_delay_us(500000);
     }
 
     cout << "Exiting..." << endl;
 
-//! [Interesting]
+    //! [Interesting]
     return 0;
 }

examples/c++/bmx055-bmc150.cxx

@@ -22,59 +22,52 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "bmc150.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
-//! [Interesting]
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
 
-  // Instantiate an BMC150 using default I2C parameters
-  upm::BMC150 sensor;
+    // Instantiate an BMC150 using default I2C parameters
+    upm::BMC150 sensor;
 
-  // now output data every 250 milliseconds
-  while (shouldRun)
-    {
-      float x, y, z;
+    // now output data every 250 milliseconds
+    while (shouldRun) {
+        float x, y, z;
 
-      sensor.update();
+        sensor.update();
 
-      sensor.getAccelerometer(&x, &y, &z);
-      cout << "Accelerometer x: " << x
-           << " y: " << y
-           << " z: " << z
-           << " g"
-           << endl;
+        sensor.getAccelerometer(&x, &y, &z);
+        cout << "Accelerometer x: " << x << " y: " << y << " z: " << z << " g" << endl;
 
-      sensor.getMagnetometer(&x, &y, &z);
-      cout << "Magnetometer x: " << x
-           << " y: " << y
-           << " z: " << z
-           << " uT"
-           << endl;
+        sensor.getMagnetometer(&x, &y, &z);
+        cout << "Magnetometer x: " << x << " y: " << y << " z: " << z << " uT" << endl;
 
-      cout << endl;
+        cout << endl;
 
-      usleep(250000);
+        upm_delay_us(250000);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  return 0;
+    return 0;
 }

examples/c++/bmx055-bmi055.cxx

@@ -22,59 +22,52 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "bmi055.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
-//! [Interesting]
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
 
-  // Instantiate an BMI055 using default I2C parameters
-  upm::BMI055 sensor;
+    // Instantiate an BMI055 using default I2C parameters
+    upm::BMI055 sensor;
 
-  // now output data every 250 milliseconds
-  while (shouldRun)
-    {
-      float x, y, z;
+    // now output data every 250 milliseconds
+    while (shouldRun) {
+        float x, y, z;
 
-      sensor.update();
+        sensor.update();
 
-      sensor.getAccelerometer(&x, &y, &z);
-      cout << "Accelerometer x: " << x
-           << " y: " << y
-           << " z: " << z
-           << " g"
-           << endl;
+        sensor.getAccelerometer(&x, &y, &z);
+        cout << "Accelerometer x: " << x << " y: " << y << " z: " << z << " g" << endl;
 
-      sensor.getGyroscope(&x, &y, &z);
-      cout << "Gyroscope x: " << x
-           << " y: " << y
-           << " z: " << z
-           << " degrees/s"
-           << endl;
+        sensor.getGyroscope(&x, &y, &z);
+        cout << "Gyroscope x: " << x << " y: " << y << " z: " << z << " degrees/s" << endl;
 
-      cout << endl;
+        cout << endl;
 
-      usleep(250000);
+        upm_delay_us(250000);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  return 0;
+    return 0;
 }

examples/c++/bmx055.cxx

@@ -22,66 +22,55 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "bmx055.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
-//! [Interesting]
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
 
-  // Instantiate an BMX055 using default I2C parameters
-  upm::BMX055 sensor;
+    // Instantiate an BMX055 using default I2C parameters
+    upm::BMX055 sensor;
 
-  // now output data every 250 milliseconds
-  while (shouldRun)
-    {
-      float x, y, z;
+    // now output data every 250 milliseconds
+    while (shouldRun) {
+        float x, y, z;
 
-      sensor.update();
+        sensor.update();
 
-      sensor.getAccelerometer(&x, &y, &z);
-      cout << "Accelerometer x: " << x
-           << " y: " << y
-           << " z: " << z
-           << " g"
-           << endl;
+        sensor.getAccelerometer(&x, &y, &z);
+        cout << "Accelerometer x: " << x << " y: " << y << " z: " << z << " g" << endl;
 
-      sensor.getGyroscope(&x, &y, &z);
-      cout << "Gyroscope x: " << x
-           << " y: " << y
-           << " z: " << z
-           << " degrees/s"
-           << endl;
+        sensor.getGyroscope(&x, &y, &z);
+        cout << "Gyroscope x: " << x << " y: " << y << " z: " << z << " degrees/s" << endl;
 
-      sensor.getMagnetometer(&x, &y, &z);
-      cout << "Magnetometer x: " << x
-           << " y: " << y
-           << " z: " << z
-           << " uT"
-           << endl;
+        sensor.getMagnetometer(&x, &y, &z);
+        cout << "Magnetometer x: " << x << " y: " << y << " z: " << z << " uT" << endl;
 
-      cout << endl;
+        cout << endl;
 
-      usleep(250000);
+        upm_delay_us(250000);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  return 0;
+    return 0;
 }

examples/c++/bno055.cxx

@@ -22,108 +22,82 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "bno055.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
-//! [Interesting]
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
 
-  // Instantiate an BNO055 using default parameters (bus 0, addr
-  // 0x28).  The default running mode is NDOF absolute orientation
-  // mode.
-  upm::BNO055 *sensor = new upm::BNO055();
+    // Instantiate an BNO055 using default parameters (bus 0, addr
+    // 0x28).  The default running mode is NDOF absolute orientation
+    // mode.
+    upm::BNO055 sensor;
 
-  // First we need to calibrate....
-  cout << "First we need to calibrate.  4 numbers will be output every"
-       << endl;
-  cout << "second for each sensor.  0 means uncalibrated, and 3 means"
-       << endl;
-  cout << "fully calibrated."
-       << endl;
-  cout << "See the UPM documentation on this sensor for instructions on"
-       << endl;
-  cout << "what actions are required to calibrate."
-       << endl;
-  cout << endl;
+    // First we need to calibrate....
+    cout << "First we need to calibrate.  4 numbers will be output every" << endl;
+    cout << "second for each sensor.  0 means uncalibrated, and 3 means" << endl;
+    cout << "fully calibrated." << endl;
+    cout << "See the UPM documentation on this sensor for instructions on" << endl;
+    cout << "what actions are required to calibrate." << endl;
+    cout << endl;
 
-  // do the calibration...
-  while (shouldRun && !sensor->isFullyCalibrated())
-    {
-      int mag, acc, gyr, sys;
-      sensor->getCalibrationStatus(&mag, &acc, &gyr, &sys);
+    // do the calibration...
+    while (shouldRun && !sensor.isFullyCalibrated()) {
+        int mag, acc, gyr, sys;
+        sensor.getCalibrationStatus(&mag, &acc, &gyr, &sys);
 
-      cout << "Magnetometer: " << mag
-           << " Accelerometer: " << acc
-           << " Gyroscope: " << gyr
-           << " System: " << sys
-           << endl;
+        cout << "Magnetometer: " << mag << " Accelerometer: " << acc << " Gyroscope: " << gyr
+             << " System: " << sys << endl;
 
-      sleep(1);
+        upm_delay(1);
     }
 
-  cout << endl;
-  cout << "Calibration complete." << endl;
-  cout << endl;
+    cout << endl;
+    cout << "Calibration complete." << endl;
+    cout << endl;
 
-  // now output various fusion data every 250 milliseconds
-  while (shouldRun)
-    {
-      float w, x, y, z;
+    // now output various fusion data every 250 milliseconds
+    while (shouldRun) {
+        float w, x, y, z;
 
-      sensor->update();
+        sensor.update();
 
-      sensor->getEulerAngles(&x, &y, &z);
-      cout << "Euler: Heading: " << x
-           << " Roll: " << y
-           << " Pitch: " << z
-           << " degrees"
-           << endl;
+        sensor.getEulerAngles(&x, &y, &z);
+        cout << "Euler: Heading: " << x << " Roll: " << y << " Pitch: " << z << " degrees" << endl;
 
-      sensor->getQuaternions(&w, &x, &y, &z);
-      cout << "Quaternion: W: " << w
-           << " X: " << x
-           << " Y: " << y
-           << " Z: " << z
-           << endl;
+        sensor.getQuaternions(&w, &x, &y, &z);
+        cout << "Quaternion: W: " << w << " X: " << x << " Y: " << y << " Z: " << z << endl;
 
-      sensor->getLinearAcceleration(&x, &y, &z);
-      cout << "Linear Acceleration: X: " << x
-           << " Y: " << y
-           << " Z: " << z
-           << " m/s^2"
-           << endl;
+        sensor.getLinearAcceleration(&x, &y, &z);
+        cout << "Linear Acceleration: X: " << x << " Y: " << y << " Z: " << z << " m/s^2" << endl;
 
-      sensor->getGravityVectors(&x, &y, &z);
-      cout << "Gravity Vector: X: " << x
-           << " Y: " << y
-           << " Z: " << z
-           << " m/s^2"
-           << endl;
+        sensor.getGravityVectors(&x, &y, &z);
+        cout << "Gravity Vector: X: " << x << " Y: " << y << " Z: " << z << " m/s^2" << endl;
 
-      cout << endl;
-      usleep(250000);
+        cout << endl;
+        upm_delay_us(250000);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete sensor;
-
-  return 0;
+    return 0;
 }

examples/c++/button.cxx

@@ -22,28 +22,28 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
+
 #include "button.hpp"
+#include "upm_utilities.h"
 
 int
-main(int argc, char **argv)
+main(int argc, char** argv)
 {
     // This example uses GPIO 0
-//! [Interesting]
+    //! [Interesting]
 
     // Create the button object using GPIO pin 0
-    upm::Button* button = new upm::Button(0);
+    upm::Button button(0);
 
     // Read the input and print, waiting one second between readings
-    while( 1 ) {
-        std::cout << button->name() << " value is " << button->value() << std::endl;
-        sleep(1);
+    while (1) {
+        std::cout << button.name() << " value is " << button.value() << std::endl;
+        upm_delay(1);
     }
 
     // Delete the button object
-    delete button;
-//! [Interesting]
+    //! [Interesting]
 
     return 0;
 }

examples/c++/buzzer.cxx

@@ -22,36 +22,32 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
-#include <signal.h>
-#include "buzzer.hpp"
 
+#include "buzzer.hpp"
+#include "buzzer_tones.h"
+#include "upm_utilities.h"
 
 int
-main(int argc, char **argv) {
+main(int argc, char** argv)
+{
     //! [Interesting]
-    int chord[] = { BUZZER_DO, BUZZER_RE, BUZZER_MI,
-                    BUZZER_FA, BUZZER_SOL, BUZZER_LA,
-                    BUZZER_SI };
+    int chord[] = { BUZZER_DO, BUZZER_RE, BUZZER_MI, BUZZER_FA, BUZZER_SOL, BUZZER_LA, BUZZER_SI };
 
     // create Buzzer instance
-    upm::Buzzer* sound = new upm::Buzzer(5);
+    upm::Buzzer sound(5);
     // print sensor name
-    std::cout << sound->name() << std::endl;
+    std::cout << sound.name() << std::endl;
 
     // play each sound (DO, RE, MI, etc...) for .5 seconds, pausing
     // for 0.1 seconds between notes
-    for (int chord_ind = 0; chord_ind < 7; chord_ind++)
-    {
-        std::cout << sound->playSound(chord[chord_ind], 500000) << std::endl;
+    for (int chord_ind = 0; chord_ind < 7; chord_ind++) {
+        std::cout << sound.playSound(chord[chord_ind], 500000) << std::endl;
         upm_delay_ms(100);
     }
     //! [Interesting]
 
     std::cout << "exiting application" << std::endl;
 
-    delete sound;
-
     return 0;
 }

examples/c++/cjq4435.cxx

@@ -22,56 +22,54 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "cjq4435.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
     if (signo == SIGINT)
         shouldRun = false;
 }
 
-
-int main ()
+int
+main()
 {
     signal(SIGINT, sig_handler);
 
-//! [Interesting]
+    //! [Interesting]
     // Instantiate a CJQ4435 MOSFET on a PWM capable digital pin D3
-    upm::CJQ4435* mosfet = new upm::CJQ4435(3);
+    upm::CJQ4435 mosfet(3);
 
-    mosfet->setPeriodMS(10);
-    mosfet->enable(true);
+    mosfet.setPeriodMS(10);
+    mosfet.enable(true);
 
-    while (shouldRun)
-    {
+    while (shouldRun) {
         // start with a duty cycle of 0.0 (off) and increment to 1.0 (on)
-        for (float i=0.0; i <= 1.0; i+=0.1)
-        {
-            mosfet->setDutyCycle(i);
-            usleep(100000);
+        for (float i = 0.0; i <= 1.0; i += 0.1) {
+            mosfet.setDutyCycle(i);
+            upm_delay_us(100000);
         }
-        sleep(1);
+        upm_delay(1);
         // Now take it back down
         // start with a duty cycle of 1.0 (on) and decrement to 0.0 (off)
-        for (float i=1.0; i >= 0.0; i-=0.1)
-        {
-            mosfet->setDutyCycle(i);
-            usleep(100000);
+        for (float i = 1.0; i >= 0.0; i -= 0.1) {
+            mosfet.setDutyCycle(i);
+            upm_delay_us(100000);
         }
-        sleep(1);
+        upm_delay(1);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
     cout << "Exiting..." << endl;
 
-    delete mosfet;
     return 0;
 }

examples/c++/collision.cxx

@@ -22,48 +22,45 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
 #include <iostream>
-#include <unistd.h>
 #include <signal.h>
+
 #include "collision.hpp"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // The was tested with the Collision Sensor
-  // Instantiate a Collision on digital pin D2
-  upm::Collision* collision = new upm::Collision(2);
+    //! [Interesting]
+    // The was tested with the Collision Sensor
+    // Instantiate a Collision on digital pin D2
+    upm::Collision collision(2);
 
-  bool collisionState = false;
-  cout << "No collision" << endl;
-  while (shouldRun)
-  {
-	if (collision->isColliding() && !collisionState)
-	{
-		cout << "Collision!" << endl;
-		collisionState = true;
-	}
-	else if (collisionState)
-	{
-		cout << "No collision" << endl;
-		collisionState = false;
-	}
-  }
+    bool collisionState = false;
+    cout << "No collision" << endl;
+    while (shouldRun) {
+        if (collision.isColliding() && !collisionState) {
+            cout << "Collision!" << endl;
+            collisionState = true;
+        } else if (collisionState) {
+            cout << "No collision" << endl;
+            collisionState = false;
+        }
+    }
 
-//! [Interesting]
-  cout << "Exiting" << endl;
+    //! [Interesting]
+    cout << "Exiting" << endl;
 
-  delete collision;
-  return 0;
+    return 0;
 }

examples/c++/curieimu.cxx

@@ -24,58 +24,50 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
-#include <iostream>
 #include "curieimu.hpp"
+#include "upm_utilities.h"
 #include "mraa.h"
 #include "mraa/firmata.h"
+#include <iostream>
 #include <math.h>
+#include <unistd.h>
 
 int
-main(int argc, char **argv)
+main(int argc, char** argv)
 {
     //! [Interesting]
     mraa_init();
     mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0");
 
-    upm::CurieImu* sensor = new upm::CurieImu();
+    upm::CurieImu sensor;
 
-    std::cout << "temperature is: " << (sensor->getTemperature() * pow(0.5, 9) + 23) << std::endl;
+    std::cout << "temperature is: " << (sensor.getTemperature() * pow(0.5, 9) + 23) << std::endl;
 
-    sensor->updateAccel();
-    int x = sensor->getAccelX(),
-        y = sensor->getAccelY(),
-        z = sensor->getAccelZ();
+    sensor.updateAccel();
+    int x = sensor.getAccelX(), y = sensor.getAccelY(), z = sensor.getAccelZ();
     printf("accelerometer is: %d, %d, %d\n", x, y, z);
 
-    sensor->updateGyro();
-    int a = sensor->getGyroX(),
-        b = sensor->getGyroY(),
-        c = sensor->getGyroZ();
+    sensor.updateGyro();
+    int a = sensor.getGyroX(), b = sensor.getGyroY(), c = sensor.getGyroZ();
     printf("gyroscope is: %d, %d, %d\n", a, b, c);
 
     int axis, direction;
-    sensor->enableShockDetection(true);
-    for(int i=0; i<300; i++) {
-      if (sensor->isShockDetected()) {
-        sensor->getNextShock();
-        axis = sensor->getAxis();
-        direction = sensor->getDirection();
-        printf("shock data is: %d, %d\n", axis, direction);
-      }
-      usleep(10000);
+    sensor.enableShockDetection(true);
+    for (int i = 0; i < 300; i++) {
+        if (sensor.isShockDetected()) {
+            sensor.getNextShock();
+            axis = sensor.getAxis();
+            direction = sensor.getDirection();
+            printf("shock data is: %d, %d\n", axis, direction);
+        }
+        upm_delay_us(10000);
     }
 
-    sensor->updateMotion();
-    int m = sensor->getAccelX(),
-        n = sensor->getAccelY(),
-        o = sensor->getAccelZ(),
-        p = sensor->getGyroX(),
-        q = sensor->getGyroY(),
-        r = sensor->getGyroZ();
+    sensor.updateMotion();
+    int m = sensor.getAccelX(), n = sensor.getAccelY(), o = sensor.getAccelZ(),
+        p = sensor.getGyroX(), q = sensor.getGyroY(), r = sensor.getGyroZ();
     printf("motion is: %d, %d, %d, %d, %d, %d\n", m, n, o, p, q, r);
 
-    delete sensor;
     //! [Interesting]
 
     return 0;

examples/c++/cwlsxxa.cxx

@@ -22,61 +22,57 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
 
 #include "cwlsxxa.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 bool shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Initializing..." << endl;
+    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);
+    // Instantiate an CWLSXXA instance, using A0 for CO2, A1 for
+    // humidity and A2 for temperature
+    upm::CWLSXXA sensor(0, 1, 2);
 
-  // update and print available values every second
-  while (shouldRun)
-    {
-      // update our values from the sensor
-      sensor->update();
+    // 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;
+        // we show both C and F for temperature
+        cout << "Temperature: " << sensor.getTemperature() << " C / " << sensor.getTemperature(true)
+             << " F" << endl;
 
-      cout << "Humidity: " << sensor->getHumidity()
-           << " %" << endl;
+        cout << "Humidity: " << sensor.getHumidity() << " %" << endl;
 
-      cout << "CO2: " << sensor->getCO2()
-           << " ppm" << endl;
+        cout << "CO2: " << sensor.getCO2() << " ppm" << endl;
 
-      cout << endl;
+        cout << endl;
 
-      sleep(1);
+        upm_delay(1);
     }
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete sensor;
+    //! [Interesting]
 
-//! [Interesting]
-
-  return 0;
+    return 0;
 }

examples/c++/dfrec.cxx

@@ -22,60 +22,53 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
 
 #include "dfrec.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 bool shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main()
+int
+main()
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
+    //! [Interesting]
 
-  // Instantiate a DFRobot EC sensor on analog pin A0, with a ds18b20
-  // temperature sensor connected to UART 0, and a device index (for
-  // the ds1820b uart bus) of 0, and an analog reference voltage of
-  // 5.0.
-  upm::DFREC *sensor = new upm::DFREC(0, 0, 0, 5.0);
+    // Instantiate a DFRobot EC sensor on analog pin A0, with a ds18b20
+    // temperature sensor connected to UART 0, and a device index (for
+    // the ds1820b uart bus) of 0, and an analog reference voltage of
+    // 5.0.
+    upm::DFREC sensor(0, 0, 0, 5.0);
 
-  // Every 2 seconds, update and print values
-  while (shouldRun)
-    {
-      sensor->update();
+    // Every 2 seconds, update and print values
+    while (shouldRun) {
+        sensor.update();
 
-      cout << "EC = "
-           << sensor->getEC()
-           << " ms/cm"
-           << endl;
+        cout << "EC = " << sensor.getEC() << " ms/cm" << endl;
 
-      cout << "Volts = "
-           << sensor->getVolts()
-           << ", Temperature = "
-           << sensor->getTemperature()
-           << " C"
-           << endl;
+        cout << "Volts = " << sensor.getVolts() << ", Temperature = " << sensor.getTemperature()
+             << " C" << endl;
 
-      cout << endl;
+        cout << endl;
 
-      sleep(2);
+        upm_delay(2);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting" << endl;
+    cout << "Exiting" << endl;
 
-  delete sensor;
-  return 0;
+    return 0;
 }

examples/c++/dfrorp.cxx

@@ -22,66 +22,63 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
 
 #include "dfrorp.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 bool shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main()
+int
+main()
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
+    //! [Interesting]
 
-  // Instantiate a DFRobot ORP sensor on analog pin A0 with an analog
-  // reference voltage of 5.0.
-  upm::DFRORP *sensor = new upm::DFRORP(0, 5.0);
+    // Instantiate a DFRobot ORP sensor on analog pin A0 with an analog
+    // reference voltage of 5.0.
+    upm::DFRORP sensor(0, 5.0);
 
-  // To calibrate:
-  //
-  // Disconnect the sensor probe (but leave the sensor interface board
-  // connected).  Then run one of the examples while holding down the
-  // 'calibrate' button on the device.  Read the ORP value reported
-  // (it should be fairly small).
-  //
-  // This value is what you should supply to setCalibrationOffset().
-  // Then reconnect the probe to the interface board and you should be
-  // ready to go.
-  //
-  // DO NOT press the calibrate button on the interface board while
-  // the probe is attached or you can permanently damage the probe.
-  sensor->setCalibrationOffset(0.97);
+    // To calibrate:
+    //
+    // Disconnect the sensor probe (but leave the sensor interface board
+    // connected).  Then run one of the examples while holding down the
+    // 'calibrate' button on the device.  Read the ORP value reported
+    // (it should be fairly small).
+    //
+    // This value is what you should supply to setCalibrationOffset().
+    // Then reconnect the probe to the interface board and you should be
+    // ready to go.
+    //
+    // DO NOT press the calibrate button on the interface board while
+    // the probe is attached or you can permanently damage the probe.
+    sensor.setCalibrationOffset(0.97);
 
-  // Every second, update and print values
-  while (shouldRun)
-    {
-      sensor->update();
+    // Every second, update and print values
+    while (shouldRun) {
+        sensor.update();
 
-      cout << "ORP: "
-           << sensor->getORP()
-           << " mV"
-           << endl;
+        cout << "ORP: " << sensor.getORP() << " mV" << endl;
 
-      cout << endl;
+        cout << endl;
 
-      sleep(1);
+        upm_delay(1);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting" << endl;
+    cout << "Exiting" << endl;
 
-  delete sensor;
-  return 0;
+    return 0;
 }

examples/c++/dfrph.cxx

@@ -22,55 +22,55 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "dfrph.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 bool shouldRun = true;
 
-#define DFRPH_AREF   5.0
+#define DFRPH_AREF 5.0
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main()
+int
+main()
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
+    //! [Interesting]
 
-  // Instantiate a DFRPH sensor on analog pin A0, with an analog
-  // reference voltage of DFRPH_AREF
-  upm::DFRPH *sensor = new upm::DFRPH(0, DFRPH_AREF);
+    // Instantiate a DFRPH sensor on analog pin A0, with an analog
+    // reference voltage of DFRPH_AREF
+    upm::DFRPH sensor(0, DFRPH_AREF);
 
+    // After calibration, set the offset (based on calibration with a pH
+    // 7.0 buffer solution).  See the UPM sensor documentation for
+    // calibrations instructions.
+    sensor.setOffset(0.065);
 
-  // After calibration, set the offset (based on calibration with a pH
-  // 7.0 buffer solution).  See the UPM sensor documentation for
-  // calibrations instructions.
-  sensor->setOffset(0.065);
+    // Every second, sample the pH and output it's corresponding
+    // analog voltage.
 
-  // Every second, sample the pH and output it's corresponding
-  // analog voltage.
+    while (shouldRun) {
+        cout << "Detected volts: " << sensor.volts() << endl;
+        cout << "pH value: " << sensor.pH() << endl;
+        cout << endl;
 
-  while (shouldRun)
-    {
-      cout << "Detected volts: " << sensor->volts() << endl;
-      cout << "pH value: " << sensor->pH() << endl;
-      cout << endl;
-
-      sleep(1);
+        upm_delay(1);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting" << endl;
+    cout << "Exiting" << endl;
 
-  delete sensor;
-  return 0;
+    return 0;
 }

examples/c++/ds1307.cxx

@@ -22,56 +22,54 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
+#include <string>
+
 #include "ds1307.hpp"
 
 using namespace std;
 
-void printTime(upm::DS1307 *rtc)
+void
+printTime(upm::DS1307& rtc)
 {
-  cout << "The time is: " << 
-    rtc->month << "/" << rtc->dayOfMonth << "/" << rtc->year << " " 
-       << rtc->hours << ":" << rtc->minutes << ":" << rtc->seconds;
+    cout << "The time is: " << rtc.month << "/" << rtc.dayOfMonth << "/" << rtc.year << " "
+         << rtc.hours << ":" << rtc.minutes << ":" << rtc.seconds;
 
-  if (rtc->amPmMode)
-    cout << ((rtc->pm) ? " PM " : " AM ");
+    if (rtc.amPmMode)
+        cout << ((rtc.pm) ? " PM " : " AM ");
 
-  cout << endl;
+    cout << endl;
 
-  cout << "Clock is in " << ((rtc->amPmMode) ? "AM/PM mode" : "24hr mode")
-       << endl;
+    cout << "Clock is in " << ((rtc.amPmMode) ? "AM/PM mode" : "24hr mode") << endl;
 }
 
 int
-main(int argc, char **argv)
+main(int argc, char** argv)
 {
-//! [Interesting]
-  // Instantiate a DS1037 on I2C bus 0
-  upm::DS1307 *rtc = new upm::DS1307(0);
+    //! [Interesting]
+    // Instantiate a DS1037 on I2C bus 0
+    upm::DS1307 rtc(0);
 
-  // always do this first
-  cout << "Loading the current time... " << endl;
-  if (!rtc->loadTime())
-    {
-      cerr << "rtc->loadTime() failed." << endl;
-      return 0;
+    // always do this first
+    cout << "Loading the current time... " << endl;
+    if (!rtc.loadTime()) {
+        cerr << "rtc.loadTime() failed." << endl;
+        return 0;
     }
 
-  printTime(rtc);
+    printTime(rtc);
 
-  // set the year as an example
-  cout << "setting the year to 50" << endl;
-  rtc->year = 50;
+    // set the year as an example
+    cout << "setting the year to 50" << endl;
+    rtc.year = 50;
 
-  rtc->setTime();
+    rtc.setTime();
 
-  // reload the time and print it
-  rtc->loadTime();
-  printTime(rtc);
+    // reload the time and print it
+    rtc.loadTime();
+    printTime(rtc);
 
-  //! [Interesting]
+    //! [Interesting]
 
-  delete rtc;
-  return 0;
+    return 0;
 }

examples/c++/ds1808lc.cxx

@@ -1,43 +1,41 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
 #include <iostream>
+#include <stdlib.h>
 #include <string>
+
 #include "ds1808lc.hpp"
 
-#define EDISON_I2C_BUS 1            // Edison I2C-1
-#define DS1808_GPIO_PWR 15          // Edison GP165
+#define EDISON_I2C_BUS 1   // Edison I2C-1
+#define DS1808_GPIO_PWR 15 // Edison GP165
 
-void printState(upm::ILightController &lightController)
+void
+printState(upm::ILightController& lightController)
 {
-    if (lightController.isPowered())
-    {
-        std::cout << "Light is powered, brightness = " << lightController.getBrightness() << std::endl;
-    }
-    else
-    {
+    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
+main(int argc, char** argv)
 {
     //! [Interesting]
     upm::DS1808LC lightController(DS1808_GPIO_PWR, EDISON_I2C_BUS);
-    std::cout <<  "Existing state: "; printState(lightController);
-    if (argc == 2)
-    {
+    std::cout << "Existing state: ";
+    printState(lightController);
+    if (argc == 2) {
         std::string arg = argv[1];
         int brightness = ::atoi(argv[1]);
-        if (brightness > 0)
-        {
+        if (brightness > 0) {
             lightController.setPowerOn();
             lightController.setBrightness(brightness);
-        }
-        else
+        } else
             lightController.setPowerOff();
     }
-    std::cout <<  "Now: ";printState(lightController);
+    std::cout << "Now: ";
+    printState(lightController);
     //! [Interesting]
     return 0;
 }

examples/c++/ds18b20.cxx

@@ -22,65 +22,61 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
 
 #include "ds18b20.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 bool shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Initializing..." << endl;
+    cout << "Initializing..." << endl;
 
-  // Instantiate an DS18B20 instance using the default values (uart 0)
-  upm::DS18B20 sensor;
+    // Instantiate an DS18B20 instance using the default values (uart 0)
+    upm::DS18B20 sensor;
 
-  cout << "Found " << sensor.devicesFound() << " device(s)" << endl;
-  cout << endl;
+    cout << "Found " << sensor.devicesFound() << " device(s)" << endl;
+    cout << endl;
 
-  // bail if we didn't find anything
-  if (!sensor.devicesFound())
-    return 1;
+    // bail if we didn't find anything
+    if (!sensor.devicesFound())
+        return 1;
 
-  // update and print available values every 2 seconds
-  while (shouldRun)
-    {
-      // update our values for all of the detected sensors
-      sensor.update(-1);
+    // update and print available values every 2 seconds
+    while (shouldRun) {
+        // update our values for all of the detected sensors
+        sensor.update(-1);
 
-      // we show both C and F for temperature for the sensors
-      int i;
-      for (i=0; i<sensor.devicesFound(); i++)
-      {
-          cout << "Device "
-               << i
-               << ": Temperature: "
-               << sensor.getTemperature(i)
-               << " C / " << sensor.getTemperature(i, true) << " F"
-               << endl;
-      }
-      cout << endl;
+        // we show both C and F for temperature for the sensors
+        int i;
+        for (i = 0; i < sensor.devicesFound(); i++) {
+            cout << "Device " << i << ": Temperature: " << sensor.getTemperature(i) << " C / "
+                 << sensor.getTemperature(i, true) << " F" << endl;
+        }
+        cout << endl;
 
-      sleep(2);
+        upm_delay(2);
     }
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-//! [Interesting]
+    //! [Interesting]
 
-  return 0;
+    return 0;
 }

examples/c++/ds2413.cxx

@@ -22,38 +22,37 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
-#include <stdio.h>
+
 #include "ds2413.hpp"
 
 using namespace std;
 using namespace upm;
 
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-//! [Interesting]
-  // Instantiate a DS2413 Module on a Dallas 1-wire bus connected to UART 0
-  upm::DS2413* sensor = new upm::DS2413(0);
+    //! [Interesting]
+    // Instantiate a DS2413 Module on a Dallas 1-wire bus connected to UART 0
+    upm::DS2413 sensor(0);
 
-  // find all of the DS2413 devices present on the bus
-  sensor->init();
+    // find all of the DS2413 devices present on the bus
+    sensor.init();
 
-  // how many devices were found?
-  cout << "Found "<< sensor->devicesFound() << " device(s)" << endl;
+    // how many devices were found?
+    cout << "Found " << sensor.devicesFound() << " device(s)" << endl;
 
-  // read the gpio and latch values from the first device
-  // the lower 4 bits are of the form:
-  // <gpioB latch> <gpioB value> <gpioA latch> <gpioA value>
-  cout << "GPIO device 0 values: " << sensor->readGpios(0) << endl;
+    // read the gpio and latch values from the first device
+    // the lower 4 bits are of the form:
+    // <gpioB latch> <gpioB value> <gpioA latch> <gpioA value>
+    cout << "GPIO device 0 values: " << sensor.readGpios(0) << endl;
 
-  // set the gpio latch values of the first device
-  cout << "Setting GPIO latches to on" << endl;
-  sensor->writeGpios(0, 0x03);
+    // set the gpio latch values of the first device
+    cout << "Setting GPIO latches to on" << endl;
+    sensor.writeGpios(0, 0x03);
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete sensor;
-//! [Interesting]
-  return 0;
+    //! [Interesting]
+    return 0;
 }

examples/c++/e50hx.cxx

@@ -22,91 +22,84 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+#include <string>
 
 #include "e50hx.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 using namespace upm;
 
 bool shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
+    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.
+    //! [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";
+    string defaultDev = "/dev/ttyUSB0";
 
-  // if an argument was specified, use it as the device instead
-  if (argc > 1)
-    defaultDev = string(argv[1]);
+    // 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;
+    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);
+    // 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(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);
+    // 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);
+    // Uncomment to enable debugging output
+    // sensor.setDebug(true);
 
-  cout << endl;
-  cout << "Device Description: " << sensor->getDeviceDescription() << endl;
-  cout << "Device Location: " << sensor->getDeviceLocation() << endl;
-  cout << endl;
+    cout << endl;
+    cout << "Device Description: " << sensor.getDeviceDescription() << endl;
+    cout << "Device Location: " << sensor.getDeviceLocation() << 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;
+    // 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 << "System Type: " << sensor.getAnalogValue(E50HX::AV_System_Type) << endl;
 
-      cout << "Energy Consumption: " << sensor->getAnalogInput(E50HX::AI_Energy)
-           << " " << sensor->getAnalogInputUnits(E50HX::AI_Energy)
-           << 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 << "Power Up Counter: " << sensor.getAnalogInput(E50HX::AI_Power_Up_Count) << endl;
 
-      cout << endl;
-      sleep(5);
+        cout << endl;
+        upm_delay(5);
     }
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete sensor;
+    //! [Interesting]
 
-//! [Interesting]
-
-  return 0;
+    return 0;
 }

examples/c++/ecezo.cxx

@@ -22,51 +22,44 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
-#include <signal.h>
-
-#include <upm_utilities.h>
 #include <ecezo.hpp>
+#include <iostream>
+#include <signal.h>
+#include <upm_utilities.h>
 
 using namespace std;
 using namespace upm;
 
 bool shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main()
+int
+main()
 {
     signal(SIGINT, sig_handler);
 
     //! [Interesting]
 
     // Instantiate a ECEZO sensor on uart 0 at 9600 baud.
-    upm::ECEZO *sensor = new upm::ECEZO(0, 9600, false);
+    upm::ECEZO sensor(0, 9600, false);
 
     // For I2C, assuming the device is configured for address 0x64 on
     // I2C bus 0, you could use something like:
     //
-    // upm::ECEZO *sensor = new upm::ECEZO(0, 0x64, true);
+    // upm::ECEZO sensor(0, 0x64, true);
 
-    while (shouldRun)
-    {
+    while (shouldRun) {
         // this will take about 1 second to complete
-        sensor->update();
+        sensor.update();
 
-        cout << "EC "
-             << sensor->getEC()
-             << " uS/cm, TDS "
-             << sensor->getTDS()
-             << " mg/L, Salinity "
-             << sensor->getSalinity()
-             << " PSS-78, SG "
-             << sensor->getSG()
-             << endl;
+        cout << "EC " << sensor.getEC() << " uS/cm, TDS " << sensor.getTDS() << " mg/L, Salinity "
+             << sensor.getSalinity() << " PSS-78, SG " << sensor.getSG() << endl;
 
         upm_delay(5);
     }
@@ -75,7 +68,5 @@ int main()
 
     cout << "Exiting..." << endl;
 
-    delete sensor;
-
     return 0;
 }

examples/c++/ecs1030.cxx

@@ -22,14 +22,13 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
-#include <stdlib.h>
+#include <stdio.h>
+
 #include "ecs1030.hpp"
 
 int is_running = 0;
-upm::ECS1030 *sensor = NULL;
 
 void
 sig_handler(int signo)
@@ -42,20 +41,20 @@ sig_handler(int signo)
 
 //! [Interesting]
 int
-main(int argc, char **argv)
+main(int argc, char** argv)
 {
-    sensor = new upm::ECS1030(0);
+    upm::ECS1030 sensor(0);
     signal(SIGINT, sig_handler);
 
     while (!is_running) {
-        std::cout << "I = " << sensor->getCurrency_A () << ", Power = " << sensor->getPower_A () << std::endl;
-        std::cout << "I = " << sensor->getCurrency_B () << ", Power = " << sensor->getPower_B () << std::endl;
+        std::cout << "I = " << sensor.getCurrency_A() << ", Power = " << sensor.getPower_A()
+                  << std::endl;
+        std::cout << "I = " << sensor.getCurrency_B() << ", Power = " << sensor.getPower_B()
+                  << std::endl;
     }
 
     std::cout << "exiting application" << std::endl;
 
-    delete sensor;
-
     return 0;
 }
 //! [Interesting]

examples/c++/ehr.cxx

@@ -22,57 +22,57 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "ehr.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-
-int main()
+int
+main()
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // Instantiate a  Ear-clip Heart Rate sensor on digital pin D2
-  upm::EHR* heart = new upm::EHR(2);
+    //! [Interesting]
+    // Instantiate a  Ear-clip Heart Rate sensor on digital pin D2
+    upm::EHR heart(2);
 
-  // set the beat counter to 0, init the clock and start counting beats
-  heart->clearBeatCounter();
-  heart->initClock();
-  heart->startBeatCounter();
+    // set the beat counter to 0, init the clock and start counting beats
+    heart.clearBeatCounter();
+    heart.initClock();
+    heart.startBeatCounter();
 
-  while (shouldRun)
-    {
-      // we grab these just for display purposes in this example
-      uint32_t millis = heart->getMillis();
-      uint32_t beats = heart->beatCounter();
+    while (shouldRun) {
+        // we grab these just for display purposes in this example
+        uint32_t millis = heart.getMillis();
+        uint32_t beats = heart.beatCounter();
 
-      // heartRate() requires that at least 5 seconds pass before
-      // returning anything other than 0
-      int hr = heart->heartRate();
+        // heartRate() requires that at least 5 seconds pass before
+        // returning anything other than 0
+        int hr = heart.heartRate();
 
-      // output milliseconds passed, beat count, and computed heart rate
-      cout << "Millis: " << millis << " Beats: " << beats;
-      cout << " Heart Rate: " << hr << endl;
+        // output milliseconds passed, beat count, and computed heart rate
+        cout << "Millis: " << millis << " Beats: " << beats;
+        cout << " Heart Rate: " << hr << endl;
 
-      sleep(1);
+        upm_delay(1);
     }
 
-  heart->stopBeatCounter();
-//! [Interesting]
+    heart.stopBeatCounter();
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete heart;
-  return 0;
+    return 0;
 }

examples/c++/eldriver.cxx

@@ -22,45 +22,46 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
 #include <iostream>
-#include <unistd.h>
 #include <signal.h>
+
 #include "eldriver.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // The was tested with the  El Driver Module
-  // Instantiate a  El Driver on digital pin D2
-  upm::ElDriver* eldriver = new upm::ElDriver(2);
+    //! [Interesting]
+    // This was tested with the El Driver Module
+    // Instantiate an El Driver on digital pin D2
+    upm::ElDriver eldriver(2);
 
-  bool lightState = true;
+    bool lightState = true;
 
-  while (shouldRun)
-  {
-	if (lightState)
-		eldriver->on();
-	else
-		eldriver->off();
-	lightState = !lightState;
-	sleep(1);
-  }
+    while (shouldRun) {
+        if (lightState)
+            eldriver.on();
+        else
+            eldriver.off();
+        lightState = !lightState;
+        upm_delay(1);
+    }
 
-//! [Interesting]
-  eldriver->off();
-  cout << "Exiting" << endl;
+    //! [Interesting]
+    eldriver.off();
+    cout << "Exiting" << endl;
 
-  delete eldriver;
-  return 0;
+    return 0;
 }

examples/c++/electromagnet.cxx

@@ -22,58 +22,60 @@
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
 #include <iostream>
-#include <time.h>
 #include <signal.h>
+#include <sys/time.h>
+#include <time.h>
+
 #include "electromagnet.hpp"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-float get_time()
+float
+get_time()
 {
-	return ((float)(clock()))/CLOCKS_PER_SEC;
+    return ((float) (clock())) / CLOCKS_PER_SEC;
 }
 
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // The was tested with the  Electromagnetic Module
-  // Instantiate a  Electromagnet on digital pin D2
-  upm::Electromagnet* magnet = new upm::Electromagnet(2);
-  cout << "Starting up magnet...." << endl;
-  magnet->off();
+    //! [Interesting]
+    // The was tested with the  Electromagnetic Module
+    // Instantiate a  Electromagnet on digital pin D2
+    upm::Electromagnet magnet(2);
+    cout << "Starting up magnet...." << endl;
+    magnet.off();
 
-  bool magnetState = false;
-  float time_passed = get_time();
+    bool magnetState = false;
+    float time_passed = get_time();
 
-  // Turn magnet on and off every 5 seconds
-  while (shouldRun)
-  {
-	if ((get_time() - time_passed) > 5.0)
-	{
-		magnetState = !magnetState;
-		if (magnetState)
-			magnet->on();
-		else
-			magnet->off();
-		cout << "Turning magnet " << ((magnetState) ? "on" : "off") << endl;
-		time_passed = get_time();
-	}
-  }
+    // Turn magnet on and off every 5 seconds
+    while (shouldRun) {
+        if ((get_time() - time_passed) > 5.0) {
+            magnetState = !magnetState;
+            if (magnetState)
+                magnet.on();
+            else
+                magnet.off();
+            cout << "Turning magnet " << ((magnetState) ? "on" : "off") << endl;
+            time_passed = get_time();
+        }
+    }
 
-//! [Interesting]
-  magnet->off();
-  cout << "Exiting" << endl;
+    //! [Interesting]
+    magnet.off();
+    cout << "Exiting" << endl;
 
-  delete magnet;
-  return 0;
+    return 0;
 }

examples/c++/emg.cxx

@@ -21,40 +21,41 @@
 * 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 "emg.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 int shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // The was tested with the EMG Muscle Signal Reader Sensor Module
-  // Instantiate a EMG on analog pin A0
-  upm::EMG *emg = new upm::EMG(0);
-  cout << "Calibrating...." << endl;
-  emg->calibrate();
+    //! [Interesting]
+    // The was tested with the EMG Muscle Signal Reader Sensor Module
+    // Instantiate a EMG on analog pin A0
+    upm::EMG emg(0);
+    cout << "Calibrating...." << endl;
+    emg.calibrate();
 
-  while (shouldRun)
-  {
-    cout << emg->value() << endl;
-    usleep(100000);
-  }
+    while (shouldRun) {
+        cout << emg.value() << endl;
+        upm_delay_us(100000);
+    }
 
-//! [Interesting]
-  cout << "Exiting" << endl;
-  delete emg;
-  return 0;
+    //! [Interesting]
+    cout << "Exiting" << endl;
+    return 0;
 }

examples/c++/enc03r.cxx

@@ -22,10 +22,11 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "enc03r.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
@@ -34,47 +35,43 @@ bool shouldRun = true;
 // analog voltage, usually 3.3 or 5.0
 #define CALIBRATION_SAMPLES 1000
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
     if (signo == SIGINT)
         shouldRun = false;
 }
 
-int main()
+int
+main()
 {
     signal(SIGINT, sig_handler);
 
-//! [Interesting]
+    //! [Interesting]
 
     // Instantiate a ENC03R on analog pin A0
-    upm::ENC03R *gyro = new upm::ENC03R(0);
+    upm::ENC03R gyro(0);
 
     // The first thing we need to do is calibrate the sensor.
     cout << "Please place the sensor in a stable location, and do not" << endl;
     cout << "move it while calibration takes place." << endl;
     cout << "This may take a couple of minutes." << endl;
 
-    gyro->calibrate(CALIBRATION_SAMPLES);
-    cout << "Calibration complete.  Reference value: "
-         << gyro->calibrationValue() << endl;
+    gyro.calibrate(CALIBRATION_SAMPLES);
+    cout << "Calibration complete.  Reference value: " << gyro.calibrationValue() << endl;
 
     // Read the input and print both the raw value and the angular velocity,
     // waiting 0.1 seconds between readings
-    while (shouldRun)
-    {
-        gyro->update();
+    while (shouldRun) {
+        gyro.update();
 
-        cout << "Angular velocity: "
-             << gyro->angularVelocity()
-             << " deg/s"
-             << endl;
+        cout << "Angular velocity: " << gyro.angularVelocity() << " deg/s" << endl;
 
-        usleep(100000);
+        upm_delay_us(100000);
     }
-//! [Interesting]
+    //! [Interesting]
 
     cout << "Exiting" << endl;
 
-    delete gyro;
     return 0;
 }

examples/c++/flex.cxx

@@ -22,45 +22,46 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
 #include <signal.h>
+
 #include "flex.hpp"
+#include "upm_utilities.h"
 
 using namespace std;
 
 bool shouldRun = true;
 
-void sig_handler(int signo)
+void
+sig_handler(int signo)
 {
-  if (signo == SIGINT)
-    shouldRun = false;
+    if (signo == SIGINT)
+        shouldRun = false;
 }
 
-int main()
+int
+main()
 {
-  signal(SIGINT, sig_handler);
+    signal(SIGINT, sig_handler);
 
-//! [Interesting]
-  // The was tested with a Spectra Symbol flex sensor.
-  // We attached a 22K resistor to a breadboard,
-  // with 1 end attached to GND and the other connected to
-  // both the flex sensor and A0.
-  // The flex sensor was connected on 1 pin to the 22K resistor and A0
-  // and on the other pin to 5V.
+    //! [Interesting]
+    // The was tested with a Spectra Symbol flex sensor.
+    // We attached a 22K resistor to a breadboard,
+    // with 1 end attached to GND and the other connected to
+    // both the flex sensor and A0.
+    // The flex sensor was connected on 1 pin to the 22K resistor and A0
+    // and on the other pin to 5V.
 
-  // Instantiate a Flex sensor on analog pin A0
-  upm::Flex *flex = new upm::Flex(0);
+    // Instantiate a Flex sensor on analog pin A0
+    upm::Flex flex(0);
 
-  while (shouldRun)
-    {
-      cout << "Flex value: " << flex->value() << endl;      
-      sleep(1);
+    while (shouldRun) {
+        cout << "Flex value: " << flex.value() << endl;
+        upm_delay(1);
     }
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting" << endl;
+    cout << "Exiting" << endl;
 
-  delete flex;
-  return 0;
+    return 0;
 }

examples/c++/gas-mq2.cxx

@@ -22,16 +22,16 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
-#include "mq2.hpp"
 #include <signal.h>
-#include <stdlib.h>
-#include <sys/time.h>
+#include <stdint.h>
+#include <stdio.h>
+
+#include "gas.hpp"
+#include "mq2.hpp"
 
 int is_running = 0;
-uint16_t buffer [128];
-upm::MQ2 *sensor = NULL;
+uint16_t buffer[128];
 
 void
 sig_handler(int signo)
@@ -44,26 +44,26 @@ sig_handler(int signo)
 
 //! [Interesting]
 int
-main(int argc, char **argv)
+main(int argc, char** argv)
 {
     // Attach gas sensor to A0
-    sensor = new upm::MQ2(0);
+    upm::MQ2 sensor(0);
     signal(SIGINT, sig_handler);
 
     thresholdContext ctx;
     ctx.averageReading = 0;
     ctx.runningAverage = 0;
-    ctx.averagedOver   = 2;
+    ctx.averagedOver = 2;
 
     // Infinite loop, ends when script is cancelled
     // Repeatedly, take a sample every 2 milliseconds;
     // find the average of 128 samples; and
     // print a running graph of the averages using a resolution of 5
     while (!is_running) {
-        int len = sensor->getSampledWindow (2, 128, buffer);
+        int len = sensor.getSampledWindow(2, 128, buffer);
         if (len) {
-            int thresh = sensor->findThreshold (&ctx, 30, buffer, len);
-            sensor->printGraph(&ctx, 5);
+            int thresh = sensor.findThreshold(&ctx, 30, buffer, len);
+            sensor.printGraph(&ctx, 5);
             if (thresh) {
                 // do something ....
             }
@@ -72,8 +72,6 @@ main(int argc, char **argv)
 
     std::cout << "exiting application" << std::endl;
 
-    delete sensor;
-
     return 0;
 }
 //! [Interesting]

examples/c++/gas-mq3.cxx

@@ -22,16 +22,16 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
-#include "mq3.hpp"
 #include <signal.h>
-#include <stdlib.h>
-#include <sys/time.h>
+#include <stdint.h>
+#include <stdio.h>
+
+#include "gas.hpp"
+#include "mq3.hpp"
 
 int is_running = 0;
-uint16_t buffer [128];
-upm::MQ3 *sensor = NULL;
+uint16_t buffer[128];
 
 void
 sig_handler(int signo)
@@ -44,26 +44,26 @@ sig_handler(int signo)
 
 //! [Interesting]
 int
-main(int argc, char **argv)
+main(int argc, char** argv)
 {
     // Attach gas sensor to A0
-    sensor = new upm::MQ3(0);
+    upm::MQ3 sensor(0);
     signal(SIGINT, sig_handler);
 
     thresholdContext ctx;
     ctx.averageReading = 0;
     ctx.runningAverage = 0;
-    ctx.averagedOver   = 2;
+    ctx.averagedOver = 2;
 
     // Infinite loop, ends when script is cancelled
     // Repeatedly, take a sample every 2 milliseconds;
     // find the average of 128 samples; and
     // print a running graph of the averages using a resolution of 5
     while (!is_running) {
-        int len = sensor->getSampledWindow (2, 128, buffer);
+        int len = sensor.getSampledWindow(2, 128, buffer);
         if (len) {
-            int thresh = sensor->findThreshold (&ctx, 30, buffer, len);
-            sensor->printGraph(&ctx, 5);
+            int thresh = sensor.findThreshold(&ctx, 30, buffer, len);
+            sensor.printGraph(&ctx, 5);
             if (thresh) {
                 // do something ....
             }
@@ -72,8 +72,6 @@ main(int argc, char **argv)
 
     std::cout << "exiting application" << std::endl;
 
-    delete sensor;
-
     return 0;
 }
 //! [Interesting]

examples/c++/gas-mq4.cxx

@@ -22,12 +22,12 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
-#include "mq4.hpp"
 #include <signal.h>
-#include <stdlib.h>
-#include <sys/time.h>
+#include <stdint.h>
+
+#include "gas.hpp"
+#include "mq4.hpp"
 
 bool shouldRun = true;
 
@@ -36,46 +36,43 @@ using namespace std;
 void
 sig_handler(int signo)
 {
-  if (signo == SIGINT) 
-    {
-      shouldRun = false;
+    if (signo == SIGINT) {
+        shouldRun = false;
     }
 }
 
 //! [Interesting]
-int main(int argc, char **argv)
+int
+main(int argc, char** argv)
 {
-  // Attach gas sensor to Analog A0
-  upm::MQ4 *sensor = new upm::MQ4(0);
-  signal(SIGINT, sig_handler);
+    // Attach gas sensor to Analog A0
+    upm::MQ4 sensor(0);
+    signal(SIGINT, sig_handler);
 
-  uint16_t buffer [128];
+    uint16_t buffer[128];
 
-  thresholdContext ctx;
-  ctx.averageReading = 0;
-  ctx.runningAverage = 0;
-  ctx.averagedOver   = 2;
+    thresholdContext ctx;
+    ctx.averageReading = 0;
+    ctx.runningAverage = 0;
+    ctx.averagedOver = 2;
 
-  // Infinite loop, ends when script is cancelled
-  // Repeatedly, take a sample every 2 microseconds;
-  // find the average of 128 samples; and
-  // print a running graph of asteriskss as averages
-  while (shouldRun) 
-    {
-      int len = sensor->getSampledWindow (2, 128, buffer);
-      if (len) {
-        int thresh = sensor->findThreshold (&ctx, 30, buffer, len);
-        sensor->printGraph(&ctx, 5);
-        if (thresh) {
-          // do something ....
+    // Infinite loop, ends when script is cancelled
+    // Repeatedly, take a sample every 2 microseconds;
+    // find the average of 128 samples; and
+    // print a running graph of asteriskss as averages
+    while (shouldRun) {
+        int len = sensor.getSampledWindow(2, 128, buffer);
+        if (len) {
+            int thresh = sensor.findThreshold(&ctx, 30, buffer, len);
+            sensor.printGraph(&ctx, 5);
+            if (thresh) {
+                // do something ....
+            }
         }
-      }
     }
 
-  cout << "Exiting" << endl;
+    cout << "Exiting" << endl;
 
-  delete sensor;
-  
-  return 0;
+    return 0;
 }
 //! [Interesting]