text: /*
   * Author: Jon Trulson <jtrulson@ics.com>
   * Copyright (c) 2016 Intel Corporation.
   *
   * Permission is hereby granted, free of charge, to any person obtaining
   * a copy of this software and associated documentation files (the
   * "Software"), to deal in the Software without restriction, including
   * without limitation the rights to use, copy, modify, merge, publish,
   * distribute, sublicense, and/or sell copies of the Software, and to
   * permit persons to whom the Software is furnished to do so, subject to
   * the following conditions:
   *
   * The above copyright notice and this permission notice shall be
   * included in all copies or substantial portions of the Software.
   *
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
   * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
   * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
   * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
   * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
   * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
   * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
   */
  
  #include <unistd.h>
  #include <signal.h>
  
  #include "urm37.h"
  #include "upm_utilities.h"
  
  bool shouldRun = true;
  
  void sig_handler(int signo)
  {
    if (signo == SIGINT)
      shouldRun = false;
  }
  
  int main()
  {
      signal(SIGINT, sig_handler);
  
      //! [Interesting]
  
      // Instantiate a URM37 sensor on UART 0, with the reset pin on D2
      urm37_context sensor = urm37_init(0, 2, 0, 0, 0, false);
  
      if (!sensor)
      {
          printf("urm37_init() failed.\n");
          return(1);
      }
  
      // Every half a second, sample the URM37 and output the measured
      // distance in cm.
  
      while (shouldRun)
      {
          float distance, temperature;
  
          urm37_get_distance(sensor, &distance, 0);
          printf("Detected distance (cm): %f\n", distance);
  
          urm37_get_temperature(sensor, &temperature);
          printf("Temperature (C): %f\n\n", temperature);
          upm_delay_ms(500);
      }
  
      //! [Interesting]
  
      printf("Exiting\n");
  
      urm37_close(sensor);
  
      return 0;
  }
  