mb704x: Initial implementation; C; FTI; C++ wraps C

Signed-off-by: Jon Trulson <jtrulson@ics.com>

src/mb704x/mb704x_fti.c

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+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "mb704x.h"
+#include "upm_fti.h"
+
+/**
+ * This file implements the Function Table Interface (FTI) for this sensor
+ */
+
+const char upm_mb704x_name[] = "MB704X";
+const char upm_mb704x_description[] = "MB704x MaxSonar-WR Ultrasonic Ranger";
+const upm_protocol_t upm_mb704x_protocol[] = {UPM_I2C};
+const upm_sensor_t upm_mb704x_category[] = {UPM_DISTANCE};
+
+// forward declarations
+const void* upm_mb704x_get_ft(upm_sensor_t sensor_type);
+void* upm_mb704x_init_name();
+void upm_mb704x_close(void *dev);
+upm_result_t upm_mb704x_get_distance(void *dev, float *value,
+                                     upm_distance_u unit);
+
+const upm_sensor_descriptor_t upm_es08a_get_descriptor()
+{
+    upm_sensor_descriptor_t usd;
+
+    usd.name = upm_mb704x_name;
+    usd.description = upm_mb704x_description;
+    usd.protocol_size = 1;
+    usd.protocol = upm_mb704x_protocol;
+    usd.category_size = 1;
+    usd.category = upm_mb704x_category;
+
+    return usd;
+}
+
+static const upm_sensor_ft ft =
+{
+  .upm_sensor_init_name = &upm_mb704x_init_name,
+  .upm_sensor_close = &upm_mb704x_close,
+};
+
+static const upm_distance_ft dft =
+{
+  .upm_distance_get_value = upm_mb704x_get_distance
+};
+
+const void* upm_mb704x_get_ft(upm_sensor_t sensor_type)
+{
+  switch(sensor_type)
+    {
+    case UPM_SENSOR:
+      return &ft;
+
+    case UPM_DISTANCE:
+      return &dft;
+
+    default:
+      return NULL;
+    }
+}
+
+void *upm_mb704x_init_name()
+{
+  return NULL;
+}
+
+void upm_mb704x_close(void *dev)
+{
+  mb704x_close((mb704x_context)dev);
+}
+
+upm_result_t upm_mb704x_get_distance(void *dev, float *value,
+                                     upm_distance_u unit)
+{
+    int rv;
+
+    if ((rv = mb704x_get_range((mb704x_context)dev)) < 0)
+        return UPM_ERROR_OPERATION_FAILED;
+
+    switch(unit)
+    {
+    case CENTIMETER:
+        *value = (float)rv;
+    case INCH:
+        *value = ((float)rv * 0.393701);
+    default:
+        return UPM_ERROR_INVALID_PARAMETER;
+    }
+
+    return UPM_SUCCESS;
+}