Add C programming language APIs.

components/drivers/sensors/sensor.cpp

@@ -71,7 +71,7 @@ int SensorBase::publish(sensors_event_t *event)
     if (this->evtHandler != NULL)
     {
         /* invoke subscribed handler */
-        (*evtHandler)(this, event, this->userData);
+        (*evtHandler)(event, this->userData);
     }
 
     return 0;
@@ -189,3 +189,39 @@ int SensorManager::pollSensor(SensorBase *sensor, sensors_event_t *events, int n
 	return index;
 }
 
+int rt_sensor_subscribe(int type, SensorEventHandler_t *handler, void *user_data)
+{
+	return SensorManager::subscribe(type, handler, user_data);
+}
+
+rt_sensor_t rt_sensor_get_default(int type)
+{
+	return (rt_sensor_t)SensorManager::getDefaultSensor(type);
+}
+
+int rt_sensor_poll(rt_sensor_t sensor, sensors_event_t *event)
+{
+    SensorBase *sensor_base;
+	if (sensor == NULL || event == NULL) return -1;
+
+	return sensor_base->poll(event);
+}
+
+int rt_sensor_configure(rt_sensor_t sensor, SensorConfig *config)
+{
+    SensorBase *sensor_base;
+	if (sensor == NULL || config == NULL) return -1;
+
+    sensor_base = (SensorBase*)sensor;
+	return sensor_base->setConfig(config);
+}
+
+int rt_sensor_activate(rt_sensor_t sensor, int enable)
+{
+    SensorBase *sensor_base;
+	if (sensor == NULL) return -1;
+	
+    sensor_base = (SensorBase*)sensor;
+	return sensor_base->activate(enable);
+}
+

components/drivers/sensors/sensor.h

@@ -36,7 +36,9 @@
 #include <rtdevice.h>
 #include <stdint.h>
 
+#ifdef __CC_ARM /* skip warning in armcc */
 #pragma anon_unions
+#endif
 
 /**
  * Handles must be higher than SENSORS_HANDLE_BASE and must be unique.
@@ -918,7 +920,6 @@ typedef sensors_event_t sensors_meta_data_event_t;
 
 typedef struct sensor_t
 {
-
     /* Name of this sensor.
      * All sensors of the same "type" must have a different "name".
      */
@@ -1028,10 +1029,6 @@ enum SensorDataRate
     SENSOR_DATARATE_0_10HZ,
 };
 
-class SensorBase;
-class SensorManager;
-typedef void (*SensorEventHandler_t)(SensorBase *sensor, sensors_event_t *event, void *user_data);
-
 /**
  * Sensor Configuration
  */
@@ -1048,6 +1045,12 @@ typedef struct SensorConfig
     } range;
 }SensorConfig;
 
+typedef void (*SensorEventHandler_t)(sensors_event_t *event, void *user_data);
+
+#ifdef __cplusplus
+class SensorBase;
+class SensorManager;
+
 /**
  * Sensor Base Class
  */
@@ -1105,6 +1108,25 @@ public:
     static int sensorEventReady(SensorBase *sensor);
     static int pollSensor(SensorBase *sensor, sensors_event_t *events, int number, int duration);
 };
+#endif
+
+/* C programming language APIs */
+/* rt_sensor_t is a C typedef for SensorBase */
+typedef void* rt_sensor_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+rt_sensor_t rt_sensor_get_default(int type);
 
+int rt_sensor_subscribe(rt_sensor_t sensor, SensorEventHandler_t *handler, void *user_data);
+int rt_sensor_activate (rt_sensor_t sensor, int enable);
+int rt_sensor_configure(rt_sensor_t sensor, SensorConfig *config);
+int rt_sensor_poll(rt_sensor_t sensor, sensors_event_t *event);
+
+#ifdef __cplusplus
+}
 #endif
 
+#endif