yocto_refframe.h

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/*********************************************************************
 *
 * $Id: yocto_refframe.h 28748 2017-10-03 08:23:39Z seb $
 *
 * Declares yFindRefFrame(), the high-level API for RefFrame 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.
 *
 *  You may reproduce and distribute copies of this file in
 *  source or object form, as long as the sole purpose of this
 *  code is to interface with Yoctopuce products. You must retain
 *  this notice in the distributed source file.
 *
 *  You should refer to Yoctopuce General Terms and Conditions
 *  for additional information regarding your rights and
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 *
 *  THE SOFTWARE AND DOCUMENTATION ARE PROVIDED 'AS IS' WITHOUT
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 *  WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS
 *  FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO
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#ifndef YOCTO_REFFRAME_H
#define YOCTO_REFFRAME_H

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

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

typedef void (*YRefFrameValueCallback)(YRefFrame *func, const string& functionValue);
#ifndef _Y_FUSIONMODE_ENUM
#define _Y_FUSIONMODE_ENUM
typedef enum {
    Y_FUSIONMODE_NDOF = 0,
    Y_FUSIONMODE_NDOF_FMC_OFF = 1,
    Y_FUSIONMODE_M4G = 2,
    Y_FUSIONMODE_COMPASS = 3,
    Y_FUSIONMODE_IMU = 4,
    Y_FUSIONMODE_INVALID = -1,
} Y_FUSIONMODE_enum;
#endif
    #ifndef _Y_MOUNTPOSITION
    #define _Y_MOUNTPOSITION
    typedef enum {
        Y_MOUNTPOSITION_BOTTOM = 0 ,
        Y_MOUNTPOSITION_TOP = 1 ,
        Y_MOUNTPOSITION_FRONT = 2 ,
        Y_MOUNTPOSITION_REAR = 3 ,
        Y_MOUNTPOSITION_RIGHT = 4 ,
        Y_MOUNTPOSITION_LEFT = 5 ,
        Y_MOUNTPOSITION_INVALID = 6
    } Y_MOUNTPOSITION;
    #endif

    #ifndef _Y_MOUNTORIENTATION
    #define _Y_MOUNTORIENTATION
    typedef enum {
        Y_MOUNTORIENTATION_TWELVE = 0 ,
        Y_MOUNTORIENTATION_THREE = 1 ,
        Y_MOUNTORIENTATION_SIX = 2 ,
        Y_MOUNTORIENTATION_NINE = 3 ,
        Y_MOUNTORIENTATION_INVALID = 4
    } Y_MOUNTORIENTATION;
    #endif

#define Y_MOUNTPOS_INVALID              (YAPI_INVALID_UINT)
#define Y_BEARING_INVALID               (YAPI_INVALID_DOUBLE)
#define Y_CALIBRATIONPARAM_INVALID      (YAPI_INVALID_STRING)
//--- (end of YRefFrame definitions)

//--- (YRefFrame declaration)
class YOCTO_CLASS_EXPORT YRefFrame: public YFunction {
#ifdef __BORLANDC__
#pragma option push -w-8022
#endif
//--- (end of YRefFrame declaration)
protected:
    //--- (YRefFrame attributes)
    // Attributes (function value cache)
    int             _mountPos;
    double          _bearing;
    string          _calibrationParam;
    Y_FUSIONMODE_enum _fusionMode;
    YRefFrameValueCallback _valueCallbackRefFrame;
    bool            _calibV2;
    int             _calibStage;
    string          _calibStageHint;
    int             _calibStageProgress;
    int             _calibProgress;
    string          _calibLogMsg;
    string          _calibSavedParams;
    int             _calibCount;
    int             _calibInternalPos;
    int             _calibPrevTick;
    vector<int>     _calibOrient;
    vector<double>  _calibDataAccX;
    vector<double>  _calibDataAccY;
    vector<double>  _calibDataAccZ;
    vector<double>  _calibDataAcc;
    double          _calibAccXOfs;
    double          _calibAccYOfs;
    double          _calibAccZOfs;
    double          _calibAccXScale;
    double          _calibAccYScale;
    double          _calibAccZScale;

    friend YRefFrame *yFindRefFrame(const string& func);
    friend YRefFrame *yFirstRefFrame(void);

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

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

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

    static const int MOUNTPOS_INVALID = YAPI_INVALID_UINT;
    static const double BEARING_INVALID;
    static const string CALIBRATIONPARAM_INVALID;
    static const Y_FUSIONMODE_enum FUSIONMODE_NDOF = Y_FUSIONMODE_NDOF;
    static const Y_FUSIONMODE_enum FUSIONMODE_NDOF_FMC_OFF = Y_FUSIONMODE_NDOF_FMC_OFF;
    static const Y_FUSIONMODE_enum FUSIONMODE_M4G = Y_FUSIONMODE_M4G;
    static const Y_FUSIONMODE_enum FUSIONMODE_COMPASS = Y_FUSIONMODE_COMPASS;
    static const Y_FUSIONMODE_enum FUSIONMODE_IMU = Y_FUSIONMODE_IMU;
    static const Y_FUSIONMODE_enum FUSIONMODE_INVALID = Y_FUSIONMODE_INVALID;
    static const Y_MOUNTPOSITION MOUNTPOSITION_BOTTOM = Y_MOUNTPOSITION_BOTTOM;
    static const Y_MOUNTPOSITION MOUNTPOSITION_TOP = Y_MOUNTPOSITION_TOP;
    static const Y_MOUNTPOSITION MOUNTPOSITION_FRONT = Y_MOUNTPOSITION_FRONT;
    static const Y_MOUNTPOSITION MOUNTPOSITION_REAR = Y_MOUNTPOSITION_REAR;
    static const Y_MOUNTPOSITION MOUNTPOSITION_RIGHT = Y_MOUNTPOSITION_RIGHT;
    static const Y_MOUNTPOSITION MOUNTPOSITION_LEFT = Y_MOUNTPOSITION_LEFT;
    static const Y_MOUNTPOSITION MOUNTPOSITION_INVALID = Y_MOUNTPOSITION_INVALID;
    static const Y_MOUNTORIENTATION MOUNTORIENTATION_TWELVE = Y_MOUNTORIENTATION_TWELVE;
    static const Y_MOUNTORIENTATION MOUNTORIENTATION_THREE = Y_MOUNTORIENTATION_THREE;
    static const Y_MOUNTORIENTATION MOUNTORIENTATION_SIX = Y_MOUNTORIENTATION_SIX;
    static const Y_MOUNTORIENTATION MOUNTORIENTATION_NINE = Y_MOUNTORIENTATION_NINE;
    static const Y_MOUNTORIENTATION MOUNTORIENTATION_INVALID = Y_MOUNTORIENTATION_INVALID;

    int                 get_mountPos(void);

    inline int          mountPos(void)
    { return this->get_mountPos(); }

    int             set_mountPos(int newval);
    inline int      setMountPos(int newval)
    { return this->set_mountPos(newval); }

    int             set_bearing(double newval);
    inline int      setBearing(double newval)
    { return this->set_bearing(newval); }

    double              get_bearing(void);

    inline double       bearing(void)
    { return this->get_bearing(); }

    string              get_calibrationParam(void);

    inline string       calibrationParam(void)
    { return this->get_calibrationParam(); }

    int             set_calibrationParam(const string& newval);
    inline int      setCalibrationParam(const string& newval)
    { return this->set_calibrationParam(newval); }

    Y_FUSIONMODE_enum   get_fusionMode(void);

    inline Y_FUSIONMODE_enum fusionMode(void)
    { return this->get_fusionMode(); }

    int             set_fusionMode(Y_FUSIONMODE_enum newval);
    inline int      setFusionMode(Y_FUSIONMODE_enum newval)
    { return this->set_fusionMode(newval); }

    static YRefFrame*   FindRefFrame(string func);

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

    virtual int         _invokeValueCallback(string value);

    virtual Y_MOUNTPOSITION get_mountPosition(void);

    virtual Y_MOUNTORIENTATION get_mountOrientation(void);

    virtual int         set_mountPosition(Y_MOUNTPOSITION position,Y_MOUNTORIENTATION orientation);

    virtual int         get_calibrationState(void);

    virtual int         get_measureQuality(void);

    virtual int         _calibSort(int start,int stopidx);

    virtual int         start3DCalibration(void);

    virtual int         more3DCalibration(void);

    virtual int         more3DCalibrationV1(void);

    virtual int         more3DCalibrationV2(void);

    virtual string      get_3DCalibrationHint(void);

    virtual int         get_3DCalibrationProgress(void);

    virtual int         get_3DCalibrationStage(void);

    virtual int         get_3DCalibrationStageProgress(void);

    virtual string      get_3DCalibrationLogMsg(void);

    virtual int         save3DCalibration(void);

    virtual int         save3DCalibrationV1(void);

    virtual int         save3DCalibrationV2(void);

    virtual int         cancel3DCalibration(void);


    inline static YRefFrame* Find(string func)
    { return YRefFrame::FindRefFrame(func); }

           YRefFrame       *nextRefFrame(void);
    inline YRefFrame       *next(void)
    { return this->nextRefFrame();}

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

//--- (YRefFrame functions declaration)

inline YRefFrame* yFindRefFrame(const string& func)
{ return YRefFrame::FindRefFrame(func);}
inline YRefFrame* yFirstRefFrame(void)
{ return YRefFrame::FirstRefFrame();}

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

#endif