C++ Core: Add base class per sensor/actuator type

Adding base classes for UPM sensors and actuators.

Signed-off-by: Noel Eck <noel.eck@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 +1,89 @@
+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 wget -q https://github.com/docker/compose/releases/download/1.9.0/docker-compose-`uname -s`-`uname -m` -O /usr/local/bin/docker-compose
+
+jobs:
+  fast_finish: true
+  allow_failures:
+    - env: TARGET=ipk
+  include:
+    - &run-with-clang-minimal
+      stage: Clang 3.8 - minimal with unit tests
+      env: TARGET=minimal
+      before_script: docker-compose pull ${TARGET}
+      script:
+        - export CC=clang-3.8 CXX=clang++-3.8
+        - BUILDARCH=MOCK docker-compose run ${TARGET}
+    - &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=cordova
+    - <<: *run-additional-jobs
+      env: TARGET=examples
+    - <<: *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

@@ -8,6 +8,7 @@ option (BUILDFTI "Build Funtion Table Interface (FTI) in C sensor libraries" OFF
 option (BUILDSWIGPYTHON "Build swig python modules" ON)
 option (BUILDSWIGNODE "Build swig node modules" ON)
 option (BUILDSWIGJAVA "Build swig java modules" OFF)
+option (BUILDCORDOVA "Build cordova bindings" OFF)
 option (BUILDEXAMPLES "Build C/C++/JAVA examples" OFF)
 option (IPK "Generate IPK using CPack" OFF)
 option (RPM "Generate RPM using CPack" OFF)
@@ -91,7 +92,11 @@ endfunction ()
 # Compiler flags common to both C and CXX
 # Enable -Wall
 # GCC-6 added -Wmisleading-indentation to -Wall, skip these for now
-set (C_CXX_WARNING_FLAGS -Wall -Wno-misleading-indentation -Wno-strict-aliasing)
+set (C_CXX_WARNING_FLAGS -Wall
+    -Wno-misleading-indentation
+    -Wno-strict-aliasing
+    -Wno-deprecated-declarations # Temp fix for MRAA deprecated methods
+    )
 
 # Warnings as errors?
 if (WERROR)
@@ -104,6 +109,7 @@ endif (WERROR)
 upm_add_compile_flags(C ${C_CXX_WARNING_FLAGS}
   -Winit-self
   -Wimplicit
+  -Wsign-compare
   -Wmissing-parameter-type)
 
 # Set CXX compiler warning flags at top-level scope and emit a warning about
@@ -111,6 +117,7 @@ upm_add_compile_flags(C ${C_CXX_WARNING_FLAGS}
 upm_add_compile_flags(CXX ${C_CXX_WARNING_FLAGS}
   -Wnon-virtual-dtor
   -Woverloaded-virtual
+  -Wsign-compare
   -Wreorder)
 
 # Allow exception error handling for Android C++
@@ -123,10 +130,10 @@ 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 1.7.0)
+set(MRAA_MINIMUM 1.9.0)
 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})
+find_library(MRAA_LIBRARY NAMES mraa HINTS ${MRAA_LIBDIR})
 
 # Test MRAA for various compile options
 include (CheckLibraryExists)
@@ -149,6 +156,9 @@ find_package (JPEG)
 # Find nodejs
 if (BUILDSWIGNODE)
   find_package (Node REQUIRED)
+  if (BUILDTESTS)
+    find_package (Npm REQUIRED)
+  endif (BUILDTESTS)
 endif (BUILDSWIGNODE)
 
 # Find JAVA/JNI
@@ -157,9 +167,20 @@ if (BUILDSWIGJAVA)
   find_package (JNI REQUIRED)
   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})
+  find_library(MRAAJAVA_LIBRARY NAMES mraajava HINTS ${MRAA_LIBDIR})
 endif (BUILDSWIGJAVA)
 
+# Cordova binding
+if (BUILDCORDOVA)
+  if (NOT BUILDSWIGJAVA)
+    message(FATAL_ERROR "Cordova bindings require JAVA packages, please enable BUILDSWIGJAVA (-DBUILDSWIGJAVA=on).")
+  endif()
+
+  find_package (Node REQUIRED)
+  find_package (Npm REQUIRED)
+  find_package (UpmCordovaGenerator 0.2.1 REQUIRED)
+endif (BUILDCORDOVA)
+
 # Find swig if any wrapper is enabled
 if (BUILDSWIGPYTHON OR BUILDSWIGNODE OR BUILDSWIGJAVA)
   find_package (SWIG 3.0.5 REQUIRED)
@@ -208,7 +229,7 @@ include (GetGitRevisionDescription)
 git_describe (VERSION "--tags")
 # If git_describe fails, use a dirty version
 if (${VERSION} MATCHES -NOTFOUND)
-  set (VERSION "v1.3.0")
+  set (VERSION "v1.6.0")
   message (WARNING "Failed to retrieve UPM version with 'git describe' (using "
       "${VERSION}). Check that git is installed and this is a valid git repo.")
 endif ()
@@ -270,93 +291,131 @@ else()
   set (C_EXTENSIONS OFF)
 endif()
 
-# The doc target depends on each sensor target
+# The doc target depends on the C/C++ source and all libraries
 #
 # doc
+#   ├──> src
+#   ├──> include
 #   ├──> libupm_sensor0
 #   ├──> libupm_sensor1
-#   ├──> libupm_sensor2
+#   ├──> ...
 #   └──> libupm_sensor_n
 #
 # The pydoc target builds documentation with sphinx via inspection by loading
-# each python module.  Those modules must include the CXX documentation via
+# each python2 module.  Those modules must include the CXX documentation via
 # a monolithic swig file generated by doxy2swig
 #
 # pydoc
 #  └──> _pyupm_sensor0_python2
-#        ├──────> libupm_sensor0
-#        └──────> doxy2swig
+#        ├──> libupm_sensor0
+#        └──> doxy2swig
 #
 # The doxy2swig target is dependent upon the doc target IF BUILDDOC=ON,
-# otherwise doxy2swig uses an empty file.  Doxy2swig also depends on each
-# sensor target
 #
 # doxy2swig
-#  ├──> BUILDDOC=ON───> doc
-#  └──> libupm_sensor0
+#  └──> BUILDDOC=ON───> doc
 #
 # The jsdoc target builds js documentation via yuidoc and only requires
 # the doc target
 #
 # jsdoc ─> doc
 #
-if (BUILDDOC)
+function (CreateDocumentationTargets)
   # 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()
 
-  # Check if Sphinx is installed and add target to generate API documentationa
+    # Custom command to run doxygen (note depends on ALL UPM C++ targets)
+    add_custom_command (
+      OUTPUT ${CMAKE_BINARY_DIR}/xml/index.xml
+      DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile ${UPM_TARGETS_CXX}
+      COMMAND ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
+      COMMAND tar -czf html/xml.tar.gz -C xml .
+      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+      COMMENT "Generating C/C++ API documentation with Doxygen"
+      VERBATIM)
+    add_custom_target(doc DEPENDS ${CMAKE_BINARY_DIR}/xml/index.xml)
+  else ()
+    message (SEND_ERROR "ERROR - Failed to find a compatible version of Doxygen. API doc will not be generated")
+  endif (DOXYGEN_FOUND AND DOXYGEN_VERSION VERSION_GREATER "1.8")
+
+  # Check if Sphinx is installed and add target to generate API documentation
   # Currently, the per-module documentation for python is generated from the
   # python2 modules.
+  # Since python2 is required for documentation, only copy from python2 paths, this
+  # ensures that sphinx doesn't run across python2 and python3 binaries.  When running
+  # the sphinx tools, explicitly run from the python2 interpreter (tested with the sphinx
+  # 1.3.6 python2 and python3 modules).
   if(BUILDSWIGPYTHON)
-    find_package (Sphinx REQUIRED)
-    configure_file (${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
+    # Generate python module documentation from doxygen collateral
+    #
+    # doxygen index.xml -> doxy2swig.py -> pyupm_doxy2swig.i
+    add_custom_command (
+      OUTPUT ${CMAKE_BINARY_DIR}/src/pyupm_doxy2swig.i
+      COMMAND ${PYTHON2_EXECUTABLE} ${CMAKE_SOURCE_DIR}/src/doxy2swig.py
+              ${CMAKE_BINARY_DIR}/xml/index.xml --quiet
+              ${CMAKE_BINARY_DIR}/src/pyupm_doxy2swig.i
+      COMMENT "Generating pyupm_doxy2swig.i from Doxygen output for use by SWIG"
       DEPENDS doc
-      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-      COMMENT "Generating API documentation with Sphinx" VERBATIM
-    )
+      VERBATIM)
+    add_custom_target(pyupm_doxy2swig DEPENDS ${CMAKE_BINARY_DIR}/src/pyupm_doxy2swig.i)
+    foreach (_python2_target ${UPM_TARGETS_PYTHON2})
+      add_dependencies(${_python2_target} pyupm_doxy2swig)
+    endforeach()
+
+    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_command (
+        OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/pydoc.stamp
+        COMMAND rm -r -f ${CMAKE_BINARY_DIR}/pyupm && mkdir -p ${CMAKE_BINARY_DIR}/pyupm
+        COMMAND find ${CMAKE_BINARY_DIR}/src -path "*python${MIN_VER_PYTHON2}/_pyupm_*.so" -exec cp {} ${CMAKE_BINARY_DIR}/pyupm \;
+        COMMAND find ${CMAKE_BINARY_DIR}/src -path "*python${MIN_VER_PYTHON2}/pyupm_*.py" -exec cp {} ${CMAKE_BINARY_DIR}/pyupm \;
+        COMMAND ${PYTHON2_EXECUTABLE} ${SPHINX_API_EXECUTABLE} -f -o pydoc  ${CMAKE_BINARY_DIR}/pyupm
+        # TODO: use a separate cmake FILE module for string replacement instead
+        COMMAND ${PYTHON2_EXECUTABLE} ${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
+        COMMAND cmake -E touch ${CMAKE_CURRENT_BINARY_DIR}/pydoc.stamp
+        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+        COMMENT "Generating Python API documentation with Sphinx"
+        DEPENDS doc ${UPM_TARGETS_PYTHON2}
+        VERBATIM)
+      add_custom_target(pydoc DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/pydoc.stamp)
+    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_command (
+        OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/jsdoc/jsdoc.stamp
+        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
+        COMMAND cmake -E touch ${CMAKE_CURRENT_BINARY_DIR}/jsdoc/jsdoc.stamp
+        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+        COMMENT "Generating Javascript API documentation with Yuidoc"
+        DEPENDS doc
+        VERBATIM)
+      add_custom_target(jsdoc DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/jsdoc/jsdoc.stamp)
+    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)
+endfunction()
 
 if (IPK)
  # Get target package arch from Yocto ADT sysroot if set or host OS, mapping to Ubuntu name if necessary
@@ -423,9 +482,6 @@ endif()
 # UPM common headers
 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)
 
@@ -438,6 +494,12 @@ if (BUILDTESTS)
   add_subdirectory (tests)
 endif()
 
+# Setup documentation AFTER all source targets have been added
+if (BUILDDOC)
+  CreateDocumentationTargets()
+endif()
+
 # Install C headers
 install(DIRECTORY include/ DESTINATION include/upm
-    FILES_MATCHING PATTERN "*.h")
+    COMPONENT ${CMAKE_PROJECT_NAME}-dev
+    FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp")

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
 
@@ -129,7 +138,7 @@ unable to compile code that was working fine before a library update, make sure
 you check the [API changes](docs/apichanges.md) section first.
 
 **NOTE** - Several important API changes are currently underway for some of our
-widely used libraries including `libupm-grove` and `libupm-i2clcd`!
+widely used libraries including `libupm-grove`
 
 ### Changelog
 Version changelog [here](docs/changelog.md).

cmake/modules/FindNode.cmake

@@ -1,69 +1,66 @@
- # Macro to add directory to NODEJS_INCLUDE_DIRS if it exists and is not /usr/include
- macro(add_include_dir dir)
+# Macro to add directory to NODEJS_INCLUDE_DIRS if it exists and is not /usr/include
+macro(add_include_dir dir)
     if (IS_DIRECTORY ${dir} AND NOT ${dir} STREQUAL "/usr/include")
-      set(NODEJS_INCLUDE_DIRS ${NODEJS_INCLUDE_DIRS} ${dir})
+        set(NODEJS_INCLUDE_DIRS ${NODEJS_INCLUDE_DIRS} ${dir})
     endif()
 endmacro()
 
-
 find_program (NODEJS_EXECUTABLE NAMES node nodejs
     HINTS
     $ENV{NODE_DIR}
     PATH_SUFFIXES bin
-    DOC "Node.js interpreter"
-)
+    DOC "Node.js interpreter")
 
 include (FindPackageHandleStandardArgs)
 
 # If compat-libuv package exists, it must be at start of include path
 find_path (UV_ROOT_DIR "uv.h" PATHS /usr/include/compat-libuv010 NO_DEFAULT_PATH)
 if (UV_ROOT_DIR)
-  # set (NODEJS_INCLUDE_DIRS ${UV_ROOT_DIR})
-  add_include_dir(${UV_ROOT_DIR})
+    # set (NODEJS_INCLUDE_DIRS ${UV_ROOT_DIR})
+    add_include_dir(${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" "src/node.h"
-  PATHS /usr/include/nodejs /usr/local/include/nodejs /usr/local/include)
+find_path (NODE_ROOT_DIR
+    NAMES node.h src/node.h
+    PATH_SUFFIXES node node4 node5 node6 node7 node8 nodejs
+    PATHS /usr/include /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(${NODE_ROOT_DIR}/deps/uv/include)
+    add_include_dir(${NODE_ROOT_DIR})
+    add_include_dir(${NODE_ROOT_DIR}/deps/uv/include)
+    add_include_dir(${NODE_ROOT_DIR}/deps/v8/include)
+    add_include_dir(${NODE_ROOT_DIR}/include/deps/uv/include)
+    add_include_dir(${NODE_ROOT_DIR}/include/deps/v8/include)
+    add_include_dir(${NODE_ROOT_DIR}/include/node)
+    add_include_dir(${NODE_ROOT_DIR}/include/src)
+    add_include_dir(${NODE_ROOT_DIR}/src)
 else()
-  unset(NODEJS_INCLUDE_DIRS)
-  message(ERROR " - node.h not found")
+    unset(NODEJS_INCLUDE_DIRS)
+    message(ERROR " - node.h not found")
 endif()
 
 # Check that v8.h is in NODEJS_INCLUDE_DIRS
 find_path (V8_ROOT_DIR "v8.h" PATHS ${NODEJS_INCLUDE_DIRS})
 if (NOT V8_ROOT_DIR)
-  unset(NODEJS_INCLUDE_DIRS)
-  message(ERROR " - v8.h not found")
+    unset(NODEJS_INCLUDE_DIRS)
+    message(ERROR " - v8.h not found")
 endif()
 
 # Check that uv.h is in NODEJS_INCLUDE_DIRS
 find_path (UV_ROOT_DIR "uv.h" PATHS ${NODEJS_INCLUDE_DIRS})
 if (NOT UV_ROOT_DIR)
-  unset(NODEJS_INCLUDE_DIRS)
-  message(ERROR " - uv.h not found")
+    unset(NODEJS_INCLUDE_DIRS)
+    message(ERROR " - uv.h not found")
 endif()
 
-find_package_handle_standard_args (Nodejs DEFAULT_MSG
-    NODEJS_EXECUTABLE
-    NODEJS_INCLUDE_DIRS
-)
-
 if (NODEJS_EXECUTABLE)
     execute_process(COMMAND ${NODEJS_EXECUTABLE} --version
-                    OUTPUT_VARIABLE _VERSION
-                    RESULT_VARIABLE _NODE_VERSION_RESULT)
+        OUTPUT_VARIABLE _VERSION
+        RESULT_VARIABLE _NODE_VERSION_RESULT)
     execute_process(COMMAND ${NODEJS_EXECUTABLE} -e "console.log(process.versions.v8)"
-                    OUTPUT_VARIABLE _V8_VERSION
-                    RESULT_VARIABLE _V8_RESULT)
+        OUTPUT_VARIABLE _V8_VERSION
+        RESULT_VARIABLE _V8_RESULT)
     if (NOT _NODE_VERSION_RESULT AND NOT _V8_RESULT)
         string (REPLACE "v" "" NODE_VERSION_STRING "${_VERSION}")
         string (REPLACE "." ";" _VERSION_LIST "${NODE_VERSION_STRING}")
@@ -88,13 +85,15 @@ if (NODEJS_EXECUTABLE)
         set (V8_VERSION_MINOR "28")
         set (V8_VERSION_PATCH "72")
         set (V8_VERSION_STRING "3.28.72")
-        message ("defaulted to node 0.10.30")
+        message (STATUS "defaulted to node 0.10.30")
     endif ()
     string (REGEX REPLACE "\n" "" NODE_VERSION_STRING ${NODE_VERSION_STRING})
     string (REGEX REPLACE "\n" "" V8_VERSION_STRING ${V8_VERSION_STRING})
-    message (STATUS "Node version is ${NODE_VERSION_STRING}")
-    message (STATUS "Node using v8 ${V8_VERSION_STRING}")
-    mark_as_advanced (NODEJS_EXECUTABLE)
-endif ()
 
-mark_as_advanced (NODEJS_EXECUTABLE)
+    mark_as_advanced (NODEJS_EXECUTABLE)
+
+    find_package_handle_standard_args (Nodejs
+        REQUIRED_VARS NODEJS_EXECUTABLE NODEJS_INCLUDE_DIRS
+        VERSION_VAR NODE_VERSION_STRING)
+    message(STATUS "Found v8: ${V8_ROOT_DIR}/v8.h (found version \"${V8_VERSION_STRING}\")")
+endif ()

cmake/modules/FindNpm.cmake

@@ -0,0 +1,71 @@
+# FindNpm
+# --------
+#
+# Find npm
+#
+# This module finds an installed npm.  It sets the following variables:
+#
+#   NPM_FOUND - Set to true if npm is found
+#   NPM_DIR - The directory where npm is installed
+#   NPM_GLOBAL_NODE_MODULE_DIR - The global node_modules directory
+#   NPM_EXECUTABLE - The path to the npm executable
+#   NPM_VERSION  - The version number of the npm executable
+
+find_program(NPM_EXECUTABLE NAMES npm HINTS /usr)
+
+# If npm was found, fill in the rest
+if (NPM_EXECUTABLE)
+    # Set the global node_modules location
+    execute_process(COMMAND ${NPM_EXECUTABLE} root -g
+        OUTPUT_VARIABLE NPM_GLOBAL_NODE_MODULE_DIR
+        ERROR_VARIABLE NPM_root_g_error
+        RESULT_VARIABLE NPM_root_g_result_code)
+    # Remove and newlines
+    string (STRIP ${NPM_GLOBAL_NODE_MODULE_DIR} NPM_GLOBAL_NODE_MODULE_DIR)
+    if(NPM_root_g_result_code)
+        if(NPM_FIND_REQUIRED)
+            message(SEND_ERROR "Command \"${NPM_EXECUTABLE} root -g\" failed with output:\n${NPM_root_g_error}")
+        else ()
+            message(STATUS "Command \"${NPM_EXECUTABLE} root -g\" failed with output:\n${NPM_root_g_error}")
+        endif ()
+    endif()
+    unset(NPM_root_g_error)
+    unset(NPM_root_g_result_code)
+
+    # Set the NPM dir
+    if (EXISTS "${NPM_GLOBAL_NODE_MODULE_DIR}/npm")
+        set(NPM_DIR "${NPM_GLOBAL_NODE_MODULE_DIR}/npm")
+    endif()
+
+    # Set the VERSION
+    execute_process(COMMAND ${NPM_EXECUTABLE} -v
+        OUTPUT_VARIABLE NPM_VERSION
+        ERROR_VARIABLE NPM_version_error
+        RESULT_VARIABLE NPM_version_result_code)
+
+    if(NPM_version_result_code)
+        if(NPM_FIND_REQUIRED)
+            message(SEND_ERROR "Command \"${NPM_EXECUTABLE} -v\" failed with output:\n${NPM_version_error}")
+        else()
+            message(STATUS "Command \"${NPM_EXECUTABLE} -v\" failed with output:\n${NPM_version_error}")
+        endif ()
+    endif ()
+    unset(NPM_version_error)
+    unset(NPM_version_result_code)
+
+    # Remove and newlines
+    string (STRIP ${NPM_VERSION} NPM_VERSION)
+
+    set (NPM_FOUND TRUE)
+else()
+    # Fail on REQUIRED
+    if (Npm_FIND_REQUIRED)
+        message(SEND_ERROR "Failed to find npm executable")
+    endif()
+endif ()
+
+find_package_handle_standard_args(NPM
+    REQUIRED_VARS NPM_EXECUTABLE NPM_DIR
+    VERSION_VAR NPM_VERSION )
+
+mark_as_advanced(NPM_DIR NPM_GLOBAL_NODE_MODULE_DIR NPM_EXECUTABLE NPM_VERSION)

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/FindUpmCordovaGenerator.cmake

@@ -0,0 +1,20 @@
+find_program (UPM_CORDOVA_BINDING NAMES upm-cordova-binding
+    DOC "UPM Cordova binding generator")
+
+include (FindPackageHandleStandardArgs)
+
+# Get version
+if (UPM_CORDOVA_BINDING)
+    execute_process(COMMAND ${NPM_EXECUTABLE} info upm-cordova-binding version
+        OUTPUT_VARIABLE UPM_CORDOVA_BINDING_VERSION
+        ERROR_VARIABLE UPM_CORDOVA_BINDING_VERSION
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        ERROR_STRIP_TRAILING_WHITESPACE)
+endif()
+
+find_package_handle_standard_args(UpmCordovaGenerator
+    REQUIRED_VARS UPM_CORDOVA_BINDING
+    VERSION_VAR UPM_CORDOVA_BINDING_VERSION
+    FAIL_MESSAGE "Unable to find the npm package for generating UPM Cordova bindings.  The generator can be installed via: 'npm install -g upm-cordova-binding'")
+
+mark_as_advanced (UPM_CORDOVA_BINDING UPM_CORDOVA_BINDING_VERSION)

cmake/modules/version.hpp.in

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

docker-compose.yaml

@@ -0,0 +1,137 @@
+version: '2.1'
+
+services:
+
+  base:
+    image: inteliotdevkit/upm-base
+    environment:
+      - http_proxy
+      - https_proxy
+      - no_proxy
+      - BUILDDOC=${BUILDDOC:-OFF}
+      - BUILDCPP=${BUILDCPP:-ON}
+      - BUILDFTI=${BUILDFTI:-ON}
+      - BUILDSWIGPYTHON=${BUILDSWIGPYTHON:-OFF}
+      - BUILDSWIGJAVA=${BUILDSWIGJAVA:-OFF}
+      - BUILDCORDOVA=${BUILDCORDOVA:-OFF}
+      - BUILDSWIGNODE=${BUILDSWIGNODE:-OFF}
+      - BUILDEXAMPLES=${BUILDEXAMPLES:-OFF}
+      - 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}
+
+  all:
+    extends: base
+    image: inteliotdevkit/upm-all
+
+  minimal:
+    extends: base
+    environment:
+      - BUILDFTI=OFF
+    command: bash -c "./scripts/run-cmake.sh && cd build && make && ctest -R unit --output-on-failure"
+
+  doc:
+    extends: all
+    environment:
+      - BUILDSWIGPYTHON=ON
+      - BUILDSWIGJAVA=ON
+      - BUILDSWIGNODE=ON
+      - BUILDDOC=ON
+    command: bash -c "./scripts/run-cmake.sh && ./scripts/build-doc.sh"
+
+  examples:
+    extends: all
+    environment:
+      - BUILDSWIGPYTHON=ON
+      - BUILDSWIGJAVA=ON
+      - BUILDSWIGNODE=ON
+      - BUILDEXAMPLES=ON
+    command: bash -c "./scripts/run-cmake.sh && cd build && make -j8"
+
+  ipk:
+    extends: all
+    environment:
+      - IPK=ON
+      - BUILDDOC=OFF
+    command: bash -c "./scripts/run-cmake.sh && make -Cbuild -j8 package"
+
+  rpm:
+    extends: all
+    environment:
+      - RPM=ON
+      - BUILDDOC=OFF
+    command: bash -c "./scripts/run-cmake.sh && make -Cbuild -j8 package"
+
+  npm:
+    extends: all
+    environment:
+      - NPM=ON
+      - BUILDDOC=OFF
+    command: bash -c "./scripts/run-cmake.sh && make -Cbuild -j8 npmpkg"
+
+  sonar-scan:
+    extends: all
+    environment:
+      - BUILDSWIGPYTHON=ON
+      - BUILDSWIGNODE=ON
+      - BUILDSWIGJAVA=ON
+      - BUILDEXAMPLES=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: inteliotdevkit/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: inteliotdevkit/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: inteliotdevkit/upm-android
+    environment:
+      - BUILDTESTS=OFF
+    command: bash -c "./scripts/build-android.sh"
+
+  cordova:
+    extends: all
+    environment:
+      - BUILDSWIGJAVA=ON
+      - BUILDCORDOVA=ON
+    command: bash -c "./scripts/run-cmake.sh && cd build && make -j8 && make -j8"
+
+  node4:
+    extends: base
+    image: inteliotdevkit/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: inteliotdevkit/upm-node5
+
+  node6:
+    extends: node4
+    image: inteliotdevkit/upm-node6

docs/apichanges.md

@@ -4,6 +4,28 @@ API Changes                       {#apichanges}
 Here's a list of other API changes made to the library that break source/binary
 compatibility between releases:
 
+# vNext
+ * The interface of **kx122** has been modified to return values instead of
+ receiving pointers.  This applies to member functions: getWhoAmI,
+ getInterruptSource, getBufferStatus, getRawBufferSamples, and getBufferSamples.
+
+# v1.6.0
+
+ * Several C libraries had their init function pin type modified from uint8_t
+ to int allowing usage with subplatforms
+ * Our **led** class constructor has been overloaded with a string based
+ variant that uses the new MRAA LED APIs
+ * The **i2clcd** library has finally been renamed to **lcd** and is now
+ mostly considered a bundle for ssd lcd display controllers only
+ * The **zfm20** class constructor has been overloaded with a string variant
+ that allows initialization using any UART device
+
+# 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
@@ -132,13 +154,13 @@ compatibility between releases:
  * **lcm1602/jhd1313m1** These drivers had been rewritten in C, with
  C++ wrappers and placed into their own libraries in the previous
  version of UPM, however, the original C++ implementation was kept in
- the lcd/i2clcd library for compatibility reasons with existing code.
+ the lcd library for compatibility reasons with existing code.
  To avoid collisions with the header files, the new *lcm1602* and
  *jhd1313m1* drivers had their C++ headers renamed to use a **.hxx**
  suffix.
 
     In this version of UPM, the *lcm1602* and *jhd1313m1* drivers have
-    been removed from the lcd/i2clcd library.  In addition, the header
+    been removed from the lcd library.  In addition, the header
     files for the new implementation have been renamed from their
     **.hxx** suffix to the normal **.hpp** suffix.
 

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
@@ -105,22 +106,22 @@ make install
 Often developers are only interested in building one module or even just the
 python/node module to do some quick testing using scripting. In order to do
 this you need to use the target name for the python or node module you want to
-rebuild. For example the lcd module target name is i2clcd. Therefore the python
-module target name will be prefixed by _pyupm_. Just do the following to build
-only that module. Modules not using the UPM cmake macros may have different
-naming.
+rebuild. For example, the lcd module target will have a python2 target prefixed
+by _pyupm_ (_pyupm_lcd-python2). Modules not using the UPM cmake macros may
+have different naming.  To build the python2 lcd module (and all dependencies),
+use the following make target:
 
 ~~~~~~~~~~~~~
-make _pyupm_i2clcd
+make _pyupm_lcd-python2
 ~~~~~~~~~~~~~
 
 Sometimes you want to build a small C++ example against an installed library.
 This is fairly easy if installed system-wide. Just link against the correct
-library (in this case libupm-i2clcd) and then add /usr/include/upm to the
+library (in this case libupm-lcd) and then add /usr/include/upm to the
 loader path:
 
 ~~~~~~~~~~~~
-g++ test.cxx -lupm-i2clcd -I/usr/include/upm
+g++ test.cxx -lupm-lcd -I/usr/include/upm
 ~~~~~~~~~~~~
 
 You can also use pkg-config to return the information to you, which is
@@ -128,5 +129,131 @@ considered the correct way if including UPM in a build system like cmake or
 autotools on linux.
 
 ~~~~~~~~~~~
-pkg-config --cflags --libs upm-i2clcd
+pkg-config --cflags --libs upm-lcd
 ~~~~~~~~~~~
+
+## Building for Android Things
+
+Requirements:
+* [io.mraa.at](https://search.maven.org/#artifactdetails%7Cio.mraa.at%7Cmraa%7C1.8.0%7Caar)
+* [io.mraa.at.upm](https://search.maven.org/#artifactdetails%7Cio.mraa.at.upm%7Cupm_zfm20%7C1.3.0%7Caar)
+* [Android NDK](https://developer.android.com/ndk/downloads/index.html) >= 14b
+
+### Android NDK r14b
+
+~~~~~~~~~~~~~{.sh}
+NDK_HOME="/path/to/android-ndk-r14b"
+MRAA_INSTALL_DIR="/path/to/mraa/install"
+
+cmake -DBUILDSWIG=ON \
+      -DBUILDSWIGPYTHON=OFF \
+      -DBUILDSWIGNODE=OFF \
+      -DBUILDSWIGJAVA=ON \
+      -DANDROID_COMPILER_FLAGS_CXX='-std=c++11' \
+      -DANDROID_PIE=1 \
+      -DANDROID_PLATFORM=android-24 \
+      -DANDROID_STL_FORCE_FEATURES=ON \
+      -DANDROID_STL=c++_shared \
+      -DANDROID_TOOLCHAIN_NAME=x86-i686 \
+      -DCMAKE_TOOLCHAIN_FILE=$NDK_HOME/build/cmake/android.toolchain.cmake \
+      -DCMAKE_FIND_ROOT_PATH=$MRAA_INSTALL_DIR \
+      ..
+~~~~~~~~~~~~~
+
+## 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=$(pwd):/usr/src/app \
+      --env BUILDSWIGPYTHON=ON \
+      --env BUILDSWIGJAVA=OFF \
+      --env BUILDSWIGNODE=OFF \
+      inteliotdevkit/upm-python \
+      bash -c "./scripts/run-cmake.sh && make -Cbuild"
+```
+
+### Proxy considerations
+
+If, for some reason, you are behind a proxy, find below a list of common problems related
+to proxy settings:
+
+**docker cannot pull images from docker.io**
+
+ Visit [this link](https://docs.docker.com/engine/admin/systemd/#httphttps-proxy)
+ to configure docker daemon behind a proxy.
+
+**docker run fails to access the internet**
+
+docker-compose will automatically take `http_proxy`, `https_proxy`, and `no_proxy`
+environment variables and use it as build arguments. Be sure to properly configure
+this variables before building.
+
+docker, unlinke docker-compose, do not take the proxy settings from the environment
+automatically. You need to send them as environment arguments:
+
+```sh
+# From the repository root folder
+$ 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 \
+    inteliotdevkit/upm-python \
+    bash -c "./scripts/run-cmake.sh && make -Cbuild"
+```

docs/changelog.md

@@ -4,6 +4,30 @@ Changelog                         {#changelog}
 Here's a list summarizing some of the key undergoing changes to our library
 from earlier versions:
 
+### v1.6.0
+
+ * Extended LED library to support the new MRAA gpio-leds APIs
+ * Many CMake changes around SWIG wrapper generation and improved FindNodejs
+ detection module
+ * Several code fixes based on static code analysis
+ * Improved documentation generation and Travis CI builds
+ * Cleaned-up doxygen tags in headers and class names in JSON library files
+ * New sensor: lis3dh
+
+### 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

docs/contributions.md

@@ -125,6 +125,8 @@ function make_new_sensor {
     # Search/replace the new files, replacing all instances of sensortemplate
     perl -p -i -e "s/SensorTemplate/${SensorName}/g" src/${sensorname}/* examples/*/*${sensorname}* examples/*/*${SensorName}*
     perl -p -i -e "s/sensortemplate/${sensorname}/g" src/${sensorname}/* examples/*/*${sensorname}* examples/*/*${SensorName}*
+    # Remove objects starting with "//" from the new library descriptor .json file
+    perl -p -i -e 'BEGIN{undef $/;} s/\s+"\/\/.*?},//smg' src/${sensorname}/${sensorname}.json
     # Add mynewmodule example target for java
     perl -p -i -e "s/^((.*)SensorTemplateSample sensortemplate(.*))/\1\n\2${SensorName}Sample ${sensorname}\3/g" examples/java/CMakeLists.txt
     # Add mynewmodule example mappings for doxygen

docs/creating_java_bindings.md

@@ -12,89 +12,87 @@ 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++
-  /*  
-   * Function reads from sensor, places read value in variable bar and  
-   * returns true if succesful. Function returns false if read failed.  
-   */  
-  bool func(int *bar); 
+  /*
+   * Function reads from sensor, places read value in variable bar and
+   * returns true if succesful. Function returns false if read failed.
+   */
+  bool func(int *bar);
   ```
   __Replaced by:__
   ```c++
-  /*  
-   * Function reads from sensor and returns read value.  
-   * Or throws std::runtime_error if a read error occurs  
-   */  
-  int func();  
+  /*
+   * Function reads from sensor and returns read value.
+   * Or throws std::runtime_error if a read error occurs
+   */
+  int func();
   ```
 
 2. Functions that return multiple values through pointers, that make sense to be grouped together into an array<sup>1</sup> (e.g. speed values, acceleration values), should be __replaced by__ functions that return a pointer to an array in which the elements are the returned values. Afterwards, [wrap the C array with a Java array](#wrapping-unbound-c-arrays-with-java-arrays-if-array-is-output). E.g.:
   ```c++
-  /*  
-  * Function returns the acceleration on the three  
-  * axis in the given variables.  
-  */  
-  void getAccel(int *accelX, int *accelY, int *accelZ);  
+  /*
+  * Function returns the acceleration on the three
+  * axis in the given variables.
+  */
+  void getAccel(int *accelX, int *accelY, int *accelZ);
   ```
 
-  __Replaced by:__  
+  __Replaced by:__
   ```c++
-  /*  
-   * Function returns the acceleration on the three  
-   * axis as elements of a 3-element array.  
-   */  
-  int *getAccel();  
+  /*
+   * Function returns the acceleration on the three
+   * axis as elements of a 3-element array.
+   */
+  int *getAccel();
   ```
 
 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  
-   */  
-  void getData(int *light, int *air);  
+  /*
+   * Function returns the light intensity and air pollution
+   */
+  void getData(int *light, int *air);
   ```
 
-  __Replaced by:__  
+  __Replaced by:__
   ```c++
-  int getLight();  
-  int getAir();  
+  int getLight();
+  int getAir();
   ```
 
 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  
-   */  
-  void getData(int *temp, int *humid);  
+  /*
+   * Function returns the light intensity and air pollution
+   */
+  void getData(int *temp, int *humid);
   ```
 
-  __Replaced by:__  
+  __Replaced by:__
   ```c++
-  void getData();  
-  int getTemp();  
-  int getHumid();   
+  void getData();
+  int getTemp();
+  int getHumid();
   ```
 
   <sup>1</sup>this depends on the interpretation of the returned data. For example, arguments that return the temperature and light intensity, don't make sense to be grouped into an array of size 2. But acceleration on the three axis can be grouped together in an array of size 3. where accelX is accel[0], accelY is accel[1], accelZ is accel[2].
@@ -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++
@@ -126,18 +124,18 @@ The exception.i library file provides support for creating language independent
 
 
 ```c++
-// Language independent exception handler  
-%include exception.i  
+// Language independent exception handler
+%include exception.i
 
-%exception {  
-    try {  
-            $action  
-        } catch(OutOfMemory) {  
-            SWIG_exception(SWIG_MemoryError, "Out of memory");  
-    } catch(...) {  
-            SWIG_exception(SWIG_RuntimeError,"Unknown exception");  
-    }  
-}  
+%exception {
+    try {
+            $action
+        } catch(OutOfMemory) {
+            SWIG_exception(SWIG_MemoryError, "Out of memory");
+    } catch(...) {
+            SWIG_exception(SWIG_RuntimeError,"Unknown exception");
+    }
+}
 ```
 
 In the upm library, the upm_exception.i interface file provides the functionality to catch common exceptions and propagate them through SWIG. It uses the exception.i library file and is language independent.
@@ -155,19 +153,19 @@ 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++
-%exception {  
-    try {  
-        $action  
-    } catch (std::out_of_range &e) {  
-        jclass clazz = jenv->FindClass("java/lang/Exception");  
-        jenv->ThrowNew(clazz, "Range error");  
-        return $null;  
-    }  
-}  
+%exception {
+    try {
+        $action
+    } catch (std::out_of_range &e) {
+        jclass clazz = jenv->FindClass("java/lang/Exception");
+        jenv->ThrowNew(clazz, "Range error");
+        return $null;
+    }
+}
 ```
 
 Where FindClass and ThrowNew are [JNI functions](http://docs.oracle.com/javase/8/docs/technotes/guides/jni/spec/functions.html).
@@ -179,110 +177,99 @@ The C++ compiler does not force the code to catch any exception.
 The %exception directive does not specify if a method throws a checked exception (does not add classes to the throws clause). For this, the  %javaexception(classes) directive is used; where classes is a string containing one or more comma separated Java classes.
 
 ```c++
-%javaexception("java.lang.Exception") {  
-    try {  
-        $action  
-    } catch (std::out_of_range &e) {  
-        jclass clazz = jenv->FindClass("java/lang/Exception");  
-        jenv->ThrowNew(clazz, "Range error");  
-        return $null;  
-    }  
-}  
+%javaexception("java.lang.Exception") {
+    try {
+        $action
+    } catch (std::out_of_range &e) {
+        jclass clazz = jenv->FindClass("java/lang/Exception");
+        jenv->ThrowNew(clazz, "Range error");
+        return $null;
+    }
+}
 ```
 
 In the upm library, the java_exceptions.i library file provides the functionality to catch exceptions and propagate them through SWIG as Java checked exceptions. The file provides SWIG wrappers, in the form of macros, that can be applied to methods.E.g. use the __READDATA_EXCEPTION(function)__ macro for functions that read data from a sensor and throw a std::runtime_error in case of a read failure. This will result in:
 
 ```java
-void function throws IOException ();  
+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++
-/*  
- * Function returns the acceleration on the three  
- * axis as elements of a 3-element array.  
- */  
+/*
+ * Function returns the acceleration on the three
+ * axis as elements of a 3-element array.
+ */
 
-int *getAccel();  
+int *getAccel();
 ```
 
-__SWIG:__  
+__SWIG:__
 ```c++
-%typemap(jni) int* "jintArray"  
-%typemap(jstype) int* "int[]"  
-%typemap(jtype) int* "int[]"  
+%typemap(jni) int* "jintArray"
+%typemap(jstype) int* "int[]"
+%typemap(jtype) int* "int[]"
 
-%typemap(javaout) int* {  
-    return $jnicall;  
-}  
+%typemap(javaout) int* {
+    return $jnicall;
+}
 
-%typemap(out) int *getAccel {  
-    $result = JCALL1(NewIntArray, jenv, 3);  
-    JCALL4(SetIntArrayRegion, jenv, $result, 0, 3, (const signed int*)$1);  
-}  
+%typemap(out) int *getAccel {
+    $result = JCALL1(NewIntArray, jenv, 3);
+    JCALL4(SetIntArrayRegion, jenv, $result, 0, 3, (const signed int*)$1);
+}
 ```
 
-###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++
-void func(uint8_t *buffer, int length);  
+void func(uint8_t *buffer, int length);
 ```
 
-__SWIG:__  
+__SWIG:__
 ```c++
-%typemap(jtype) (uint8_t *buffer, int length) "byte[]"  
-%typemap(jstype) (uint8_t *buffer, int length) "byte[]"  
-%typemap(jni) (uint8_t *buffer, int length) "jbyteArray"  
-%typemap(javain) (uint8_t *buffer, int length) "$javainput"  
+%typemap(jtype) (uint8_t *buffer, int length) "byte[]"
+%typemap(jstype) (uint8_t *buffer, int length) "byte[]"
+%typemap(jni) (uint8_t *buffer, int length) "jbyteArray"
+%typemap(javain) (uint8_t *buffer, int length) "$javainput"
 
-%typemap(in,numinputs=1) (uint8_t *buffer, int length) {  
-	$1 = JCALL2(GetByteArrayElements, jenv, $input, NULL);  
-	$2 = JCALL1(GetArrayLength, jenv, $input);  
-}  
+%typemap(in,numinputs=1) (uint8_t *buffer, int length) {
+	$1 = JCALL2(GetByteArrayElements, jenv, $input, NULL);
+	$2 = JCALL1(GetArrayLength, jenv, $input);
+}
 ```
 
 !!!! There is a difference between TYPE *name and TYPE * name in typemaps!!!!!
 
 
-###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.  
+### 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):__
 
 We extend the sensor class with another method, _installISR\(jobject runnable\)_, which is a wrapper over the original _installISR\(void \(\*isr\)\(void \*\), void \*arg\)_ method. This will install the _mraa\_java\_isr\_callback\(\)_ method as the interrupt service routine \(ISR\) to be called, with _jobject runnable_ as argument.
 
-SWIGJAVA is a symbol that is always defined by SWIG when using Java. We enclose the _installISR\(jobject runnable\)_ method in a _\#if defined(SWIGJAVA)_ check, to ensure the code only exists when creating a wrapper for Java.
+Java callbacks are added at the SWIG interface level.  For ease-of-use, a collection of macros are available in src/_upm.i.
 
+src/a110x/a110x.i:
 ```c++
-#if defined(SWIGJAVA)
-void A110X::installISR(jobject runnable)
-{
-    installISR(mraa_java_isr_callback, runnable);
-}
-#endif
+JAVA_ADD_INSTALLISR(upm::A110X)
 ```
 
-We hide the underlying method, _installISR\(void \(\*isr\)\(void \*\), void \*arg\)_ , and expose only the _installISR\(jobject runnable\)_ to SWIG, through the use of the SWIGJAVA symbol. When SWIGJAVA is defined, we change the access modifier of the underlying method to private.
+Will expand to the following SWIG wrapper code:
 
 ```c++
-public:
-#if defined(SWIGJAVA)
-    void installISR(jobject runnable);
-#else
-    void installISR(void (*isr)(void *), void *arg);
-#endif
-private:
-#if defined(SWIGJAVA)
-    void installISR(void (*isr)(void *), void *arg);
-#endif
+SWIGINTERN void upm_A110X_installISR__SWIG_1(upm::A110X *self,jobject runnable){
+self->installISR(mraa_java_isr_callback, runnable);
+}
 ```
 
 To use callback in java, we create a ISR class, which implements the Java Runnable interface, and we override the _run\(\)_ method with the code to be executed when the interrupt is received. An example for the a110x Hall sensor that increments a counter each time an interrupt is received:
@@ -290,13 +277,13 @@ To use callback in java, we create a ISR class, which implements the Java Runnab
 ```java
 public class A110X_intrSample {
     public static int counter=0;
-        
+
     public static void main(String[] args) throws InterruptedException {
         upm_a110x.A110X hall = new upm_a110x.A110X(2);
 
         A110XISR callback = new A110XISR();
         hall.installISR(callback);
-        
+
         while(true){
             System.out.println("Counter: " + counter);
             Thread.sleep(1000);
@@ -313,41 +300,3 @@ class A110XISR implements Runnable {
     }
 }
 ```
-####Issues with java callbacks and workarounds
-
-__SWIGJAVA not defined at compile time__
-
-Consider the following files:
-* example.h - Header file for our source file
-* example.cxx - Source file containing the class Example, for which we build java bindings
-* example.i - The SWIG interface, that includes the example.h header file
-
-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
-  ```
-
-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
-  ```
-
-
-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).
-
-In this example it is simple to compile the two source codes separately, one with the compile flag, the other without, and then create the shared library (libexample.so).
-But in a big automatic build like the java upm libraries, this may prove too hard or too complicated to do. A workaround to this would be to define a custom symbol (e.q. JAVACALLBACK in the upm library) and also test for it. In short, replace:
-```c++
-#if defined(SWIGJAVA)
-```
-by
-```c++
-#if defined(SWIGJAVA) || defined(JAVACALLBACK)
-```
-

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/max31855.md

@@ -14,8 +14,7 @@ First thing to do is to create a tree structure like this in upm/src/max31855:
 
 * max31855.cxx
 * max31855.hpp
-* jsupm_max31855.i
-* pyupm_max31855.i
+* max31855.i
 * CMakeLists.txt
 
 And then an example file to use & test our lib with in upm/examples/max31855.cxx.

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
@@ -704,7 +702,7 @@ CITE_BIB_FILES         =
 # messages are off.
 # The default value is: NO.
 
-QUIET                  = NO
+QUIET                  = YES
 
 # The WARNINGS tag can be used to turn on/off the warning messages that are
 # generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES
@@ -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
@@ -704,7 +702,7 @@ CITE_BIB_FILES         =
 # messages are off.
 # The default value is: NO.
 
-QUIET                  = NO
+QUIET                  = YES
 
 # The WARNINGS tag can be used to turn on/off the warning messages that are
 # generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES
@@ -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

@@ -1,79 +1,79 @@
 # Mapping examples across provided languages
-a110x.cxx	A110XSample.java	a110x.js	a110x.py
-a110x-intr.cxx	A110X_intrSample.java	a110x-intr.js	a110x-intr.py
-adc121c021.cxx	ADC121C021Sample.java	adc121c021.js	adc121c021.py
-adxl345.cxx	Adxl345Sample.java	adxl345.js	adxl345.py
-biss0001.cxx	BISS0001Sample.java	biss0001.js	biss0001.py
-bmpx8x.cxx	BMPX8XSample.java	bmpx8x.js	bmpx8x.py
-bno055.cxx	BNO055_Example.java	bno055.js	bno055.py
-button.cxx	ButtonSample.java	button.js	button.py
-buzzer.cxx	BuzzerSample.java	buzzer.js	buzzer.py
-cjq4435.cxx	CJQ4435Sample.java	cjq4435.js	cjq4435.py
-ds1307.cxx	DS1307Sample.java	ds1307.js	ds1307.py
-enc03r.cxx	ENC03RSample.java	enc03r.js	enc03r.py
-servo-es08a.cxx	ES08ASample.java	es08a.js	es08a.py
-groveehr.cxx	GroveEHRSample.java	groveehr.js	groveehr.py
-my9221-groveledbar.cxx	GroveLEDBar.java	groveledbar.js	groveledbar.py
-grove-groveled.cxx	GroveLEDSample.java	groveled.js	groveled.py
-grovelinefinder.cxx	GroveLineFinderSample.java	grovelinefinder.js	grovelinefinder.py
-grovemoisture.cxx	GroveMoistureSample.java	grovemoisture.js	grovemoisture.py
-grovescam.cxx	GROVESCAMSample.java	grovescam.js	grovescam.py
-grovewfs.cxx	GroveWFSSample.java	grovewfs.js	grovewfs.py
-guvas12d.cxx	GUVAS12DSample.java	guvas12d.js	guvas12d.py
-h3lis331dl.cxx	H3LIS331DLSample.java	h3lis331dl.js	h3lis331dl.py
-hcsr04.cxx	HCSR04Sample.java	hcsr04.js	hcsr04.py
-hm11.cxx	HM11Sample.java	hm11.js	hm11.py
-hmc5883l.cxx	Hmc5883lSample.java	hmc5883l.js	hmc5883l.py
-htu21d.cxx	HTU21DSample.java	htu21d.js	htu21d.py
-ims.cxx	IMS_Example.java	ims.js	ims.py
-itg3200.cxx	Itg3200Sample.java	itg3200.js	itg3200.py
-jhd1313m1-lcd.cxx	Jhd1313m1_lcdSample.java	jhd1313m1-lcd.js	jhd1313m1-lcd.py
-joystick12.cxx	Joystick12Sample.java	joystick12.js	joystick12.py
-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
-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
-mma7455.cxx	MMA7455Sample.java	mma7455.js	mma7455.py
-mma7660.cxx	MMA7660Sample.java	mma7660.js	mma7660.py
-mpl3115a2.cxx	MPL3115A2Sample.java	mpl3115a2.js	mpl3115a2.py
-mpr121.cxx	MPR121Sample.java	mpr121.js	mpr121.py
-mpu9150.cxx	MPU9150Sample.java	mpu9150.js	mpu9150.py
-gas-mq2.cxx	MQ2Sample.java	mq2.js	mq2.py
-mq303a.cxx	MQ303ASample.java	mq303a.js	mq303a.py
-gas-mq5.cxx	MQ5Sample.java	mq5.js	mq5.py
-nrf24l01-receiver.cxx	NRF24L01_receiverSample.java	nrf24l01-receiver.js	nrf24l01-receiver.py
-nrf24l01-transmitter.cxx	NRF24L01_transmitterSample.java	nrf24l01-transmitter.js	nrf24l01-transmitter.py
-nunchuck.cxx	NUNCHUCKSample.java	nunchuck.js	nunchuck.py
-otp538u.cxx	OTP538USample.java	otp538u.js	otp538u.py
-ppd42ns.cxx	PPD42NSSample.java	ppd42ns.js	ppd42ns.py
-pulsensor.cxx	PulsensorSample.java	pulsensor.js	pulsensor.py
-relay.cxx	RelaySample.java	relay.js	relay.py
-rfr359f.cxx	RFR359FSample.java	rfr359f.js	rfr359f.py
-rotary.cxx	RotarySample.java	rotary.js	rotary.py
-rotaryencoder.cxx	RotaryEncoderSample.java	rotaryencoder.js	rotaryencoder.py
-rpr220.cxx	RPR220Sample.java	rpr220.js	rpr220.py
-rpr220-intr.cxx	RPR220_intrSample.java	rpr220-intr.js	rpr220-intr.py
-slide.cxx	SlideSample.java	slide.js	slide.py
-speaker.cxx	SpeakerSample.java	speaker.js	speaker.py
-i2clcd-ssd1308-oled.cxx	SSD1308_oledSample.java	ssd1308-oled.js	ssd1308-oled.py
-i2clcd-ssd1327-oled.cxx	SSD1327_oledSample.java	ssd1327-oled.js	ssd1327-oled.py
-st7735.cxx	ST7735Sample.java	st7735.js	st7735.py
-stepmotor.cxx	StepMotorSample.java	stepmotor.js	stepmotor.py
-tm1637.cxx	TM1637Sample.java	tm1637.js	tm1637.py
-gas-tp401.cxx	TP401Sample.java	tp401.js	tp401.py
-tsl2561.cxx	TSL2561Sample.java	tsl2561.js	tsl2561.py
-ttp223.cxx	TTP223Sample.java	ttp223.js	ttp223.py
-uln200xa.cxx	ULN200XASample.java	uln200xa.js	uln200xa.py
-vdiv.cxx	VDivSample.java	vdiv.js	vdiv.py
-water.cxx	WaterSample.java	water.js	water.py
-wt5001.cxx	WT5001Sample.java	wt5001.js	wt5001.py
-yg1006.cxx	YG1006Sample.java	yg1006.js	yg1006.py
-sensortemplate.cxx	SensorTemplateSample.java	sensortemplate.js	sensortemplate.py
-p9813.cxx	P9813Sample.java	p9813.js	p9813.py
+a110x.cxx A110X_Example.java a110x.js a110x.py
+a110x-intr.cxx A110X_intr_Example.java a110x-intr.js a110x-intr.py
+adc121c021.cxx ADC121C021_Example.java adc121c021.js adc121c021.py
+adxl345.cxx Adxl345_Example.java adxl345.js adxl345.py
+biss0001.cxx BISS0001_Example.java biss0001.js biss0001.py
+bmpx8x.cxx BMPX8X_Example.java bmpx8x.js bmpx8x.py
+bno055.cxx BNO055_Example.java bno055.js bno055.py
+button.cxx Button_Example.java button.js button.py
+buzzer.cxx Buzzer_Example.java buzzer.js buzzer.py
+cjq4435.cxx CJQ4435_Example.java cjq4435.js cjq4435.py
+ds1307.cxx DS1307_Example.java ds1307.js ds1307.py
+enc03r.cxx ENC03R_Example.java enc03r.js enc03r.py
+servo-es08a.cxx ES08A_Example.java es08a.js es08a.py
+groveehr.cxx GroveEHR_Example.java groveehr.js groveehr.py
+my9221-groveledbar.cxx GroveLEDBar_Example.java groveledbar.js groveledbar.py
+grove-groveled.cxx GroveLED_Example.java groveled.js groveled.py
+grovelinefinder.cxx GroveLineFinder_Example.java grovelinefinder.js grovelinefinder.py
+grovemoisture.cxx GroveMoisture_Example.java grovemoisture.js grovemoisture.py
+grovescam.cxx GROVESCAM_Example.java grovescam.js grovescam.py
+grovewfs.cxx GroveWFS_Example.java grovewfs.js grovewfs.py
+guvas12d.cxx GUVAS12D_Example.java guvas12d.js guvas12d.py
+h3lis331dl.cxx H3LIS331DL_Example.java h3lis331dl.js h3lis331dl.py
+hcsr04.cxx HCSR04_Example.java hcsr04.js hcsr04.py
+hm11.cxx HM11_Example.java hm11.js hm11.py
+hmc5883l.cxx Hmc5883l_Example.java hmc5883l.js hmc5883l.py
+htu21d.cxx HTU21D_Example.java htu21d.js htu21d.py
+ims.cxx IMS_Example.java ims.js ims.py
+itg3200.cxx Itg3200_Example.java itg3200.js itg3200.py
+jhd1313m1-lcd.cxx Jhd1313m1_lcd_Example.java jhd1313m1-lcd.js jhd1313m1-lcd.py
+joystick12.cxx Joystick12_Example.java joystick12.js joystick12.py
+lcm1602-i2c.cxx Lcm1602_i2c_Example.java lcm1602-i2c.js lcm1602-i2c.py
+ldt0028.cxx LDT0028_Example.java ldt0028.js ldt0028.py
+light.cxx Light_Example.java light.js light.py
+lol.cxx LoL_Example.java lol.js lol.py
+lsm303dlh.cxx LSM303DLH_Example.java lsm303dlh.js lsm303dlh.py
+m24lr64e.cxx M24LR64E_Example.java m24lr64e.js m24lr64e.py
+max44000.cxx MAX44000_Example.java max44000.js max44000.py
+mic.cxx Microphone_Example.java mic.js mic.py
+mma7455.cxx MMA7455_Example.java mma7455.js mma7455.py
+mma7660.cxx MMA7660_Example.java mma7660.js mma7660.py
+mpl3115a2.cxx MPL3115A2_Example.java mpl3115a2.js mpl3115a2.py
+mpr121.cxx MPR121_Example.java mpr121.js mpr121.py
+mpu9150.cxx MPU9150_Example.java mpu9150.js mpu9150.py
+gas-mq2.cxx MQ2_Example.java mq2.js mq2.py
+mq303a.cxx MQ303A_Example.java mq303a.js mq303a.py
+gas-mq5.cxx MQ5_Example.java mq5.js mq5.py
+nrf24l01-receiver.cxx NRF24L01_receiver_Example.java nrf24l01-receiver.js nrf24l01-receiver.py
+nrf24l01-transmitter.cxx NRF24L01_transmitter_Example.java nrf24l01-transmitter.js nrf24l01-transmitter.py
+nunchuck.cxx NUNCHUCK_Example.java nunchuck.js nunchuck.py
+otp538u.cxx OTP538U_Example.java otp538u.js otp538u.py
+ppd42ns.cxx PPD42NS_Example.java ppd42ns.js ppd42ns.py
+pulsensor.cxx Pulsensor_Example.java pulsensor.js pulsensor.py
+relay.cxx Relay_Example.java relay.js relay.py
+rfr359f.cxx RFR359F_Example.java rfr359f.js rfr359f.py
+rotary.cxx Rotary_Example.java rotary.js rotary.py
+rotaryencoder.cxx RotaryEncoder_Example.java rotaryencoder.js rotaryencoder.py
+rpr220.cxx RPR220_Example.java rpr220.js rpr220.py
+rpr220-intr.cxx RPR220_intr_Example.java rpr220-intr.js rpr220-intr.py
+slide.cxx Slide_Example.java slide.js slide.py
+speaker.cxx Speaker_Example.java speaker.js speaker.py
+lcd-ssd1308-oled.cxx SSD1308_oled_Example.java ssd1308-oled.js ssd1308-oled.py
+lcd-ssd1327-oled.cxx SSD1327_oled_Example.java ssd1327-oled.js ssd1327-oled.py
+st7735.cxx ST7735_Example.java st7735.js st7735.py
+stepmotor.cxx StepMotor_Example.java stepmotor.js stepmotor.py
+tm1637.cxx TM1637_Example.java tm1637.js tm1637.py
+gas-tp401.cxx TP401_Example.java tp401.js tp401.py
+tsl2561.cxx TSL2561_Example.java tsl2561.js tsl2561.py
+ttp223.cxx TTP223_Example.java ttp223.js ttp223.py
+uln200xa.cxx ULN200XA_Example.java uln200xa.js uln200xa.py
+vdiv.cxx VDiv_Example.java vdiv.js vdiv.py
+water.cxx Water_Example.java water.js water.py
+wt5001.cxx WT5001_Example.java wt5001.js wt5001.py
+yg1006.cxx YG1006_Example.java yg1006.js yg1006.py
+sensortemplate.cxx SensorTemplate_Example.java sensortemplate.js sensortemplate.py
+p9813.cxx P9813_Example.java p9813.js p9813.py
 tcs37727.cxx tcs37727.py
 tmp006.cxx tmp006.py
 mma8x5x.cxx mma8x5x.py

examples/CMakeLists.txt

@@ -41,7 +41,7 @@
 #       a110x.c             Requires libupmc-a110x
 #       lcm1602-i2c.c       Requires libupmc-lcm1602
 #       bmp280-bme280.c     Requires libupmc-bmp280
-#       i2clcd-eboled.cxx   Requires libupm-i2clcd
+#       lcd-eboled.cxx   Requires libupm-lcd
 #
 #
 function (add_example example_src)
@@ -99,7 +99,7 @@ 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 ()
 endfunction (add_example example_src)
 
@@ -117,4 +117,16 @@ if(BUILDEXAMPLES)
     if(BUILDSWIGJAVA)
         add_subdirectory (java)
     endif()
+
+    # Add all examples as an install component (if building examples)
+    install (DIRECTORY ${PROJECT_SOURCE_DIR}/examples
+        DESTINATION ${CMAKE_INSTALL_DATADIR}/upm
+        COMPONENT ${CMAKE_PROJECT_NAME}-examples
+        FILES_MATCHING
+            PATTERN "*.c"
+            PATTERN "*.cxx"
+            PATTERN "*.hpp"
+            PATTERN "*.java"
+            PATTERN "*.js"
+            PATTERN "*.py")
 endif()

examples/c++/CMakeLists.txt

@@ -4,15 +4,15 @@ file (GLOB example_src_list RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "*.cxx")
 # - Handle special cases here --------------------------------------------------
 
 # Test humidity interface for 2 sensor libraries
-add_example(interfaces-humiditysensor.cxx TARGETS si7005 bmp280)
+add_example(core-humiditysensor.cxx TARGETS si7005 bmp280)
 # Test pressure interface for 2 sensor libraries
-add_example(interfaces-pressuresensor.cxx TARGETS bmp280 bmpx8x)
+add_example(core-pressuresensor.cxx TARGETS bmp280 bmpx8x)
 # Test temperature interface for 3 sensor libraries
-add_example(interfaces-temperaturesensor.cxx TARGETS bmp280 bmpx8x si7005)
+add_example(core-temperaturesensor.cxx TARGETS bmp280 bmpx8x si7005)
 # Test light interface for 2 sensor libraries
-add_example(interfaces-lightsensor.cxx TARGETS si1132 max44009)
+add_example(core-lightsensor.cxx TARGETS si1132 max44009)
 # Test light controller interface for 3 sensor libraries
-add_example(interfaces-lightcontroller.cxx TARGETS lp8860 ds1808lc hlg150h)
+add_example(core-lightcontroller.cxx TARGETS lp8860 ds1808lc hlg150h)
 
 # - Create an executable for all other src files in this directory -------------
 foreach (_example_src ${example_src_list})

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);
-  
-  // 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.
+    //! [Interesting]
+    // Instantiate an A110X sensor on digital pin D2
+    upm::A110X hall(2);
 
-  hall->installISR(hallISR, NULL);
+    // 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.
 
-  while (shouldRun)
-    {
-      cout << "Pulses detected: " << counter << endl;
+    hall.installISR(hallISR, NULL);
 
-      sleep(1);
+    while (shouldRun) {
+        cout << "Pulses detected: " << counter << endl;
+
+        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);
-  
-  // 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;
+    //! [Interesting]
+    // Instantiate an A110X sensor on digital pin D2
+    upm::A110X hall(2);
 
-      sleep(1);
+    // 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;
+
+        upm_delay(1);
     }
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
+    cout << "Exiting..." << endl;
 
-  delete hall;
-  return 0;
+    return 0;
 }

examples/c++/abp.cxx

@@ -21,41 +21,42 @@
  * 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 "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);
-  
-  // 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);
+    //! [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;
+        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->Name() << " 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();
-  
-  while (shouldRun)
-    {
-      int x, y, z;
-      float aX, aY, aZ;
+    accel.calibrate();
 
-      accel->values(&x, &y, &z);
-      cout << "Raw Values: X: " << x << " Y: " << y << " Z: " << z << endl;
+    while (shouldRun) {
+        int x, y, z;
+        float aX, aY, aZ;
 
-      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.values(&x, &y, &z);
+        cout << "Raw Values: X: " << x << " Y: " << y << " Z: " << z << endl;
 
-      usleep(200000);
+        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;
+
+        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);
-  
-  // set a deadband region around the zero point to report 0.0 (optional)
-  sensor->setDeadband(0.015);
+    // 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);
 
-  // Every tenth of a second, sample the ADXRS610 and output it's
-  // corresponding temperature and angular velocity 
+    // set a deadband region around the zero point to report 0.0 (optional)
+    sensor.setDeadband(0.015);
 
-  while (shouldRun)
-    {
-      cout << "Vel (deg/s): " << sensor->getAngularVelocity() << endl;
-      cout << "Temp (C): " << sensor->getTemperature() << endl;
-      
-      usleep(100000);
+    // 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;
+
+        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);
-  
-  while (shouldRun)
-    {
-      int val = luminance->value();
-      cout << "Luminance value is " << val << endl;
+    //! [Interesting]
+    // Instantiate a Grove Luminance sensor on analog pin A0
+    upm::APDS9002 luminance(0);
 
-      sleep(1);
+    while (shouldRun) {
+        int val = luminance.value();
+        cout << "Luminance value is " << val << endl;
+
+        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);
-  
-  while (shouldRun)
-  {
-      bool val = motion->value();
+    //! [Interesting]
+    // Instantiate a Grove Motion sensor on GPIO pin D2
+    upm::BISS0001 motion(2);
 
-      if (val)
-        cout << "Detecting moving object";
-      else
-        cout << "No moving objects detected";
+    while (shouldRun) {
+        bool val = motion.value();
 
-      cout << endl;
+        if (val)
+            cout << "Detecting moving object";
+        else
+            cout << "No moving objects detected";
 
-      sleep(1);
-  }
-//! [Interesting]
+        cout << endl;
 
-  cout << "Exiting" << endl;
+        upm_delay(1);
+    }
+    //! [Interesting]
 
-  delete motion;
-  return 0;
+    cout << "Exiting" << endl;
+
+    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();
-      
-      float x, y, z;
-      
-      sensor->getAccelerometer(&x, &y, &z);
-      cout << "Accelerometer: ";
-      cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;
+    // Output data every half second until interrupted
+    while (shouldRun) {
+        sensor.update();
 
-      usleep(500000);
+        float x, y, z;
+
+        sensor.getAccelerometer(&x, &y, &z);
+        cout << "Accelerometer: ";
+        cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;
+
+        upm_delay_us(500000);
     }
 
-//! [Interesting]
+    //! [Interesting]
 
-  cout << "Exiting..." << endl;
-  
-  delete sensor;
-  
-  return 0;
+    cout << "Exiting..." << endl;
+
+    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

@@ -22,37 +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_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++/core-humiditysensor.cxx

@@ -0,0 +1,92 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <exception>
+#include <iostream>
+#include <stddef.h>
+
+#include "bme280.hpp"
+#include "iHumiditySensor.hpp"
+#include "mraa/common.h"
+#include "si7005.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 iHumiditySensor to determine
+// which sensor is present and return its name.
+// iHumiditySensor is then used to get readings from sensor
+
+upm::iHumiditySensor*
+getHumiditySensor()
+{
+    upm::iHumiditySensor* humiditySensor = NULL;
+
+    try {
+        humiditySensor = new upm::BME280(mraa_get_sub_platform_id(FT4222_I2C_BUS));
+        return humiditySensor;
+    } catch (std::exception& e) {
+        std::cerr << "BME280: " << e.what() << std::endl;
+    }
+
+    try {
+        humiditySensor = new upm::SI7005(EDISON_I2C_BUS, EDISON_GPIO_SI7005_CS);
+        return humiditySensor;
+    } catch (std::exception& e) {
+        std::cerr << "SI7005: " << e.what() << std::endl;
+    }
+    return humiditySensor;
+}
+
+int
+main()
+{
+    upm::iHumiditySensor* sensor = getHumiditySensor();
+
+    if (sensor == NULL) {
+        std::cout << "Humidity sensor not detected" << std::endl;
+        return 1;
+    }
+
+    std::cout << "Humidity sensor " << sensor->Name() << " detected" << std::endl;
+
+    try {
+        std::map<std::string, float> values = sensor->HumidityAll();
+        for (std::map<std::string, float>::const_iterator it = values.begin();
+                it != values.end(); ++it)
+            std::cout << it->first << " = " << it->second
+                << sensor->Unit(it->first) << std::endl;
+    } catch (std::exception& e) {
+        std::cerr << e.what() << std::endl;
+    }
+
+    delete sensor;
+    return 0;
+}
+
+//! [Interesting]

examples/c++/core-lightcontroller.cxx

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

examples/c++/core-lightsensor.cxx

@@ -0,0 +1,88 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <exception>
+#include <iostream>
+#include <stddef.h>
+
+#include "iLightSensor.hpp"
+#include "max44009.hpp"
+#include "mraa/common.h"
+#include "si1132.hpp"
+#include "upm_utilities.h"
+
+#define EDISON_I2C_BUS 1
+#define FT4222_I2C_BUS 0
+
+//! [Interesting]
+// Simple example of using iLightSensor to determine
+// which sensor is present and return its name.
+// iLightSensor is then used to get readings from sensor
+
+upm::iLightSensor*
+getLightSensor()
+{
+    upm::iLightSensor* lightSensor = NULL;
+    try {
+        lightSensor = new upm::SI1132(mraa_get_sub_platform_id(FT4222_I2C_BUS));
+        return lightSensor;
+    } catch (std::exception& e) {
+        std::cerr << "SI1132: " << e.what() << std::endl;
+    }
+    try {
+        lightSensor = new upm::MAX44009(EDISON_I2C_BUS);
+        return lightSensor;
+    } catch (std::exception& e) {
+        std::cerr << "MAX44009: " << e.what() << std::endl;
+    }
+    return lightSensor;
+}
+
+int
+main()
+{
+    upm::iLightSensor* sensor = getLightSensor();
+
+    if (sensor == NULL) {
+        std::cout << "Light sensor not detected" << std::endl;
+        return 1;
+    }
+
+    std::cout << "Light sensor " << sensor->Name() << " detected" << std::endl;
+
+    try {
+        std::map<std::string, float> values = sensor->LightAll();
+        for (std::map<std::string, float>::const_iterator it = values.begin();
+                it != values.end(); ++it)
+            std::cout << it->first << " = " << it->second
+                << sensor->Unit(it->first) << std::endl;
+    } catch (std::exception& e) {
+        std::cerr << e.what() << std::endl;
+    }
+
+    delete sensor;
+    return 0;
+}
+
+//! [Interesting]

examples/c++/core-pressuresensor.cxx

@@ -0,0 +1,89 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <exception>
+#include <iostream>
+#include <stddef.h>
+
+#include "bme280.hpp"
+#include "bmpx8x.hpp"
+#include "iPressureSensor.hpp"
+#include "mraa/common.h"
+#include "upm_utilities.h"
+
+#define EDISON_I2C_BUS 1
+#define FT4222_I2C_BUS 0
+
+//! [Interesting]
+// Simple example of using iPressureSensor to determine
+// which sensor is present and return its name.
+// iPressureSensor is then used to get readings from sensor
+
+upm::iPressureSensor*
+getPressureSensor()
+{
+    upm::iPressureSensor* pressureSensor = NULL;
+    try {
+        pressureSensor = new upm::BME280(mraa_get_sub_platform_id(FT4222_I2C_BUS));
+        return pressureSensor;
+    } catch (std::exception& e) {
+        std::cerr << "BME280: " << e.what() << std::endl;
+    }
+
+    try {
+        pressureSensor = new upm::BMPX8X(EDISON_I2C_BUS);
+        return pressureSensor;
+    } catch (std::exception& e) {
+        std::cerr << "BMPX8X: " << e.what() << std::endl;
+    }
+    return pressureSensor;
+}
+
+int
+main()
+{
+    upm::iPressureSensor* sensor = getPressureSensor();
+
+    if (sensor == NULL) {
+        std::cout << "Pressure sensor not detected" << std::endl;
+        return 1;
+    }
+
+    std::cout << "Pressure sensor " << sensor->Name() << " detected" << std::endl;
+
+    try {
+        std::map<std::string, float> values = sensor->PressureAll();
+        for (std::map<std::string, float>::const_iterator it = values.begin();
+                it != values.end(); ++it)
+            std::cout << it->first << " = " << it->second
+                << sensor->Unit(it->first) << std::endl;
+    } catch (std::exception& e) {
+        std::cerr << e.what() << std::endl;
+    }
+
+    delete sensor;
+    return 0;
+}
+
+//! [Interesting]

examples/c++/core-temperaturesensor.cxx

@@ -0,0 +1,99 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <exception>
+#include <iostream>
+#include <stddef.h>
+
+#include "bme280.hpp"
+#include "bmpx8x.hpp"
+#include "iTemperatureSensor.hpp"
+#include "mraa/common.h"
+#include "si7005.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 iTemperatureSensor to determine
+// which sensor is present and return its name.
+// iTemperatureSensor is then used to get readings from sensor
+
+upm::iTemperatureSensor*
+getTemperatureSensor()
+{
+    upm::iTemperatureSensor* temperatureSensor = NULL;
+
+    try {
+        temperatureSensor = new upm::BME280(mraa_get_sub_platform_id(FT4222_I2C_BUS));
+        return temperatureSensor;
+    } catch (std::exception& e) {
+        std::cerr << "BME280: " << e.what() << std::endl;
+    }
+
+    try {
+        temperatureSensor = new upm::SI7005(EDISON_I2C_BUS, EDISON_GPIO_SI7005_CS);
+        return temperatureSensor;
+    } catch (std::exception& e) {
+        std::cerr << "SI7005: " << e.what() << std::endl;
+    }
+    try {
+        temperatureSensor = new upm::BMPX8X(EDISON_I2C_BUS);
+        return temperatureSensor;
+    } catch (std::exception& e) {
+        std::cerr << "BMPX8X: " << e.what() << std::endl;
+    }
+    return temperatureSensor;
+}
+
+int
+main()
+{
+    upm::iTemperatureSensor* sensor = getTemperatureSensor();
+
+    if (sensor == NULL) {
+        std::cout << "Temperature sensor not detected" << std::endl;
+        return 1;
+    }
+
+    std::cout << "Temperature sensor " << sensor->Name() << " detected" << std::endl;
+
+    try {
+        std::map<std::string, float> values = sensor->TemperatureAll();
+        for (std::map<std::string, float>::const_iterator it = values.begin();
+                it != values.end(); ++it)
+            std::cout << it->first << " = " << it->second
+                << sensor->Unit(it->first) << std::endl;
+    } catch (std::exception& e) {
+        std::cerr << e.what() << std::endl;
+    }
+
+    delete sensor;
+    return 0;
+}
+
+//! [Interesting]

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);
-  
-  // always do this first
-  cout << "Loading the current time... " << endl;
-  if (!rtc->loadTime())
-    {
-      cerr << "rtc->loadTime() failed." << endl;
-      return 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;
     }
-  
-  printTime(rtc);
 
-  // set the year as an example
-  cout << "setting the year to 50" << endl;
-  rtc->year = 50;
+    printTime(rtc);
 
-  rtc->setTime();
+    // set the year as an example
+    cout << "setting the year to 50" << endl;
+    rtc.year = 50;
 
-  // reload the time and print it
-  rtc->loadTime();
-  printTime(rtc);
+    rtc.setTime();
 
-  //! [Interesting]
-  
-  delete rtc;
-  return 0;
+    // reload the time and print it
+    rtc.loadTime();
+    printTime(rtc);
+
+    //! [Interesting]
+
+    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);
-  
-  // set the beat counter to 0, init the clock and start counting beats
-  heart->clearBeatCounter();
-  heart->initClock();
-  heart->startBeatCounter();
+    //! [Interesting]
+    // Instantiate a  Ear-clip Heart Rate sensor on digital pin D2
+    upm::EHR heart(2);
 
-  while (shouldRun)
-    {
-      // we grab these just for display purposes in this example
-      uint32_t millis = heart->getMillis();
-      uint32_t beats = heart->beatCounter();
+    // set the beat counter to 0, init the clock and start counting beats
+    heart.clearBeatCounter();
+    heart.initClock();
+    heart.startBeatCounter();
 
-      // heartRate() requires that at least 5 seconds pass before
-      // returning anything other than 0
-      int hr = heart->heartRate();
+    while (shouldRun) {
+        // we grab these just for display purposes in this example
+        uint32_t millis = heart.getMillis();
+        uint32_t beats = heart.beatCounter();
 
-      // output milliseconds passed, beat count, and computed heart rate
-      cout << "Millis: " << millis << " Beats: " << beats;
-      cout << " Heart Rate: " << hr << endl;
+        // heartRate() requires that at least 5 seconds pass before
+        // returning anything other than 0
+        int hr = heart.heartRate();
 
-      sleep(1);
+        // output milliseconds passed, beat count, and computed heart rate
+        cout << "Millis: " << millis << " Beats: " << beats;
+        cout << " Heart Rate: " << hr << endl;
+
+        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();
-  
-  while (shouldRun)
-  {
-    cout << emg->value() << endl;
-    usleep(100000);
-  }
+    //! [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();
 
-//! [Interesting]
-  cout << "Exiting" << endl;
-  delete emg;
-  return 0;
+    while (shouldRun) {
+        cout << emg.value() << endl;
+        upm_delay_us(100000);
+    }
+
+    //! [Interesting]
+    cout << "Exiting" << endl;
+    return 0;
 }