yocto_motor.h

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/*********************************************************************
 *
 * $Id: yocto_motor.h 28748 2017-10-03 08:23:39Z seb $
 *
 * Declares yFindMotor(), the high-level API for Motor functions
 *
 * - - - - - - - - - License information: - - - - - - - - -
 *
 *  Copyright (C) 2011 and beyond by Yoctopuce Sarl, Switzerland.
 *
 *  Yoctopuce Sarl (hereafter Licensor) grants to you a perpetual
 *  non-exclusive license to use, modify, copy and integrate this
 *  file into your software for the sole purpose of interfacing
 *  with Yoctopuce products.
 *
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 *  source or object form, as long as the sole purpose of this
 *  code is to interface with Yoctopuce products. You must retain
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#ifndef YOCTO_MOTOR_H
#define YOCTO_MOTOR_H

#include "yocto_api.h"
#include <cfloat>
#include <cmath>
#include <map>

//--- (YMotor return codes)
//--- (end of YMotor return codes)
//--- (YMotor definitions)
class YMotor; // forward declaration

typedef void (*YMotorValueCallback)(YMotor *func, const string& functionValue);
#ifndef _Y_MOTORSTATUS_ENUM
#define _Y_MOTORSTATUS_ENUM
typedef enum {
    Y_MOTORSTATUS_IDLE = 0,
    Y_MOTORSTATUS_BRAKE = 1,
    Y_MOTORSTATUS_FORWD = 2,
    Y_MOTORSTATUS_BACKWD = 3,
    Y_MOTORSTATUS_LOVOLT = 4,
    Y_MOTORSTATUS_HICURR = 5,
    Y_MOTORSTATUS_HIHEAT = 6,
    Y_MOTORSTATUS_FAILSF = 7,
    Y_MOTORSTATUS_INVALID = -1,
} Y_MOTORSTATUS_enum;
#endif
#define Y_DRIVINGFORCE_INVALID          (YAPI_INVALID_DOUBLE)
#define Y_BRAKINGFORCE_INVALID          (YAPI_INVALID_DOUBLE)
#define Y_CUTOFFVOLTAGE_INVALID         (YAPI_INVALID_DOUBLE)
#define Y_OVERCURRENTLIMIT_INVALID      (YAPI_INVALID_INT)
#define Y_FREQUENCY_INVALID             (YAPI_INVALID_DOUBLE)
#define Y_STARTERTIME_INVALID           (YAPI_INVALID_INT)
#define Y_FAILSAFETIMEOUT_INVALID       (YAPI_INVALID_UINT)
#define Y_COMMAND_INVALID               (YAPI_INVALID_STRING)
//--- (end of YMotor definitions)

//--- (YMotor declaration)
class YOCTO_CLASS_EXPORT YMotor: public YFunction {
#ifdef __BORLANDC__
#pragma option push -w-8022
#endif
//--- (end of YMotor declaration)
protected:
    //--- (YMotor attributes)
    // Attributes (function value cache)
    Y_MOTORSTATUS_enum _motorStatus;
    double          _drivingForce;
    double          _brakingForce;
    double          _cutOffVoltage;
    int             _overCurrentLimit;
    double          _frequency;
    int             _starterTime;
    int             _failSafeTimeout;
    string          _command;
    YMotorValueCallback _valueCallbackMotor;

    friend YMotor *yFindMotor(const string& func);
    friend YMotor *yFirstMotor(void);

    // Function-specific method for parsing of JSON output and caching result
    virtual int     _parseAttr(YJSONObject* json_val);

    // Constructor is protected, use yFindMotor factory function to instantiate
    YMotor(const string& func);
    //--- (end of YMotor attributes)

public:
    ~YMotor();
    //--- (YMotor accessors declaration)

    static const Y_MOTORSTATUS_enum MOTORSTATUS_IDLE = Y_MOTORSTATUS_IDLE;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_BRAKE = Y_MOTORSTATUS_BRAKE;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_FORWD = Y_MOTORSTATUS_FORWD;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_BACKWD = Y_MOTORSTATUS_BACKWD;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_LOVOLT = Y_MOTORSTATUS_LOVOLT;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_HICURR = Y_MOTORSTATUS_HICURR;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_HIHEAT = Y_MOTORSTATUS_HIHEAT;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_FAILSF = Y_MOTORSTATUS_FAILSF;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_INVALID = Y_MOTORSTATUS_INVALID;
    static const double DRIVINGFORCE_INVALID;
    static const double BRAKINGFORCE_INVALID;
    static const double CUTOFFVOLTAGE_INVALID;
    static const int OVERCURRENTLIMIT_INVALID = YAPI_INVALID_INT;
    static const double FREQUENCY_INVALID;
    static const int STARTERTIME_INVALID = YAPI_INVALID_INT;
    static const int FAILSAFETIMEOUT_INVALID = YAPI_INVALID_UINT;
    static const string COMMAND_INVALID;

    Y_MOTORSTATUS_enum  get_motorStatus(void);

    inline Y_MOTORSTATUS_enum motorStatus(void)
    { return this->get_motorStatus(); }

    int             set_motorStatus(Y_MOTORSTATUS_enum newval);
    inline int      setMotorStatus(Y_MOTORSTATUS_enum newval)
    { return this->set_motorStatus(newval); }

    int             set_drivingForce(double newval);
    inline int      setDrivingForce(double newval)
    { return this->set_drivingForce(newval); }

    double              get_drivingForce(void);

    inline double       drivingForce(void)
    { return this->get_drivingForce(); }

    int             set_brakingForce(double newval);
    inline int      setBrakingForce(double newval)
    { return this->set_brakingForce(newval); }

    double              get_brakingForce(void);

    inline double       brakingForce(void)
    { return this->get_brakingForce(); }

    int             set_cutOffVoltage(double newval);
    inline int      setCutOffVoltage(double newval)
    { return this->set_cutOffVoltage(newval); }

    double              get_cutOffVoltage(void);

    inline double       cutOffVoltage(void)
    { return this->get_cutOffVoltage(); }

    int                 get_overCurrentLimit(void);

    inline int          overCurrentLimit(void)
    { return this->get_overCurrentLimit(); }

    int             set_overCurrentLimit(int newval);
    inline int      setOverCurrentLimit(int newval)
    { return this->set_overCurrentLimit(newval); }

    int             set_frequency(double newval);
    inline int      setFrequency(double newval)
    { return this->set_frequency(newval); }

    double              get_frequency(void);

    inline double       frequency(void)
    { return this->get_frequency(); }

    int                 get_starterTime(void);

    inline int          starterTime(void)
    { return this->get_starterTime(); }

    int             set_starterTime(int newval);
    inline int      setStarterTime(int newval)
    { return this->set_starterTime(newval); }

    int                 get_failSafeTimeout(void);

    inline int          failSafeTimeout(void)
    { return this->get_failSafeTimeout(); }

    int             set_failSafeTimeout(int newval);
    inline int      setFailSafeTimeout(int newval)
    { return this->set_failSafeTimeout(newval); }

    string              get_command(void);

    inline string       command(void)
    { return this->get_command(); }

    int             set_command(const string& newval);
    inline int      setCommand(const string& newval)
    { return this->set_command(newval); }

    static YMotor*      FindMotor(string func);

    virtual int         registerValueCallback(YMotorValueCallback callback);
    using YFunction::registerValueCallback;

    virtual int         _invokeValueCallback(string value);

    virtual int         keepALive(void);

    virtual int         resetStatus(void);

    virtual int         drivingForceMove(double targetPower,int delay);

    virtual int         brakingForceMove(double targetPower,int delay);


    inline static YMotor* Find(string func)
    { return YMotor::FindMotor(func); }

           YMotor          *nextMotor(void);
    inline YMotor          *next(void)
    { return this->nextMotor();}

           static YMotor* FirstMotor(void);
    inline static YMotor* First(void)
    { return YMotor::FirstMotor();}
#ifdef __BORLANDC__
#pragma option pop
#endif
    //--- (end of YMotor accessors declaration)
};

//--- (YMotor functions declaration)

inline YMotor* yFindMotor(const string& func)
{ return YMotor::FindMotor(func);}
inline YMotor* yFirstMotor(void)
{ return YMotor::FirstMotor();}

//--- (end of YMotor functions declaration)

#endif