yocto_servo.h

Go to the documentation of this file.

/*********************************************************************
 *
 * $Id: yocto_servo.h 28748 2017-10-03 08:23:39Z seb $
 *
 * Declares yFindServo(), the high-level API for Servo 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
 *  obligations.
 *
 *  THE SOFTWARE AND DOCUMENTATION ARE PROVIDED 'AS IS' WITHOUT
 *  WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING
 *  WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS
 *  FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO
 *  EVENT SHALL LICENSOR BE LIABLE FOR ANY INCIDENTAL, SPECIAL,
 *  INDIRECT OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA,
 *  COST OF PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR
 *  SERVICES, ANY CLAIMS BY THIRD PARTIES (INCLUDING BUT NOT
 *  LIMITED TO ANY DEFENSE THEREOF), ANY CLAIMS FOR INDEMNITY OR
 *  CONTRIBUTION, OR OTHER SIMILAR COSTS, WHETHER ASSERTED ON THE
 *  BASIS OF CONTRACT, TORT (INCLUDING NEGLIGENCE), BREACH OF
 *  WARRANTY, OR OTHERWISE.
 *
 *********************************************************************/


#ifndef YOCTO_SERVO_H
#define YOCTO_SERVO_H

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

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

typedef void (*YServoValueCallback)(YServo *func, const string& functionValue);
#ifndef _Y_ENABLED_ENUM
#define _Y_ENABLED_ENUM
typedef enum {
    Y_ENABLED_FALSE = 0,
    Y_ENABLED_TRUE = 1,
    Y_ENABLED_INVALID = -1,
} Y_ENABLED_enum;
#endif
#ifndef _CLASS_YMOVE
#define _CLASS_YMOVE
class YOCTO_CLASS_EXPORT YMove {
public:
    int             target;
    int             ms;
    int             moving;

    YMove()
        :target(YAPI_INVALID_INT), ms(YAPI_INVALID_INT), moving(YAPI_INVALID_UINT)
    {}

    bool operator==(const YMove& o) const {
         return (target == o.target) && (ms == o.ms) && (moving == o.moving);
    }
};
#endif
#ifndef _Y_ENABLEDATPOWERON_ENUM
#define _Y_ENABLEDATPOWERON_ENUM
typedef enum {
    Y_ENABLEDATPOWERON_FALSE = 0,
    Y_ENABLEDATPOWERON_TRUE = 1,
    Y_ENABLEDATPOWERON_INVALID = -1,
} Y_ENABLEDATPOWERON_enum;
#endif
#define Y_POSITION_INVALID              (YAPI_INVALID_INT)
#define Y_RANGE_INVALID                 (YAPI_INVALID_UINT)
#define Y_NEUTRAL_INVALID               (YAPI_INVALID_UINT)
#define Y_POSITIONATPOWERON_INVALID     (YAPI_INVALID_INT)
//--- (end of YServo definitions)

//--- (YServo declaration)
class YOCTO_CLASS_EXPORT YServo: public YFunction {
#ifdef __BORLANDC__
#pragma option push -w-8022
#endif
//--- (end of YServo declaration)
protected:
    //--- (YServo attributes)
    // Attributes (function value cache)
    int             _position;
    Y_ENABLED_enum  _enabled;
    int             _range;
    int             _neutral;
    YMove           _move;
    int             _positionAtPowerOn;
    Y_ENABLEDATPOWERON_enum _enabledAtPowerOn;
    YServoValueCallback _valueCallbackServo;

    friend YServo *yFindServo(const string& func);
    friend YServo *yFirstServo(void);

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

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

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

    static const int POSITION_INVALID = YAPI_INVALID_INT;
    static const Y_ENABLED_enum ENABLED_FALSE = Y_ENABLED_FALSE;
    static const Y_ENABLED_enum ENABLED_TRUE = Y_ENABLED_TRUE;
    static const Y_ENABLED_enum ENABLED_INVALID = Y_ENABLED_INVALID;
    static const int RANGE_INVALID = YAPI_INVALID_UINT;
    static const int NEUTRAL_INVALID = YAPI_INVALID_UINT;
    static const YMove MOVE_INVALID;
    static const int POSITIONATPOWERON_INVALID = YAPI_INVALID_INT;
    static const Y_ENABLEDATPOWERON_enum ENABLEDATPOWERON_FALSE = Y_ENABLEDATPOWERON_FALSE;
    static const Y_ENABLEDATPOWERON_enum ENABLEDATPOWERON_TRUE = Y_ENABLEDATPOWERON_TRUE;
    static const Y_ENABLEDATPOWERON_enum ENABLEDATPOWERON_INVALID = Y_ENABLEDATPOWERON_INVALID;

    int                 get_position(void);

    inline int          position(void)
    { return this->get_position(); }

    int             set_position(int newval);
    inline int      setPosition(int newval)
    { return this->set_position(newval); }

    Y_ENABLED_enum      get_enabled(void);

    inline Y_ENABLED_enum enabled(void)
    { return this->get_enabled(); }

    int             set_enabled(Y_ENABLED_enum newval);
    inline int      setEnabled(Y_ENABLED_enum newval)
    { return this->set_enabled(newval); }

    int                 get_range(void);

    inline int          range(void)
    { return this->get_range(); }

    int             set_range(int newval);
    inline int      setRange(int newval)
    { return this->set_range(newval); }

    int                 get_neutral(void);

    inline int          neutral(void)
    { return this->get_neutral(); }

    int             set_neutral(int newval);
    inline int      setNeutral(int newval)
    { return this->set_neutral(newval); }

    YMove               get_move(void);

    inline YMove        move(void)
    { return this->get_move(); }

    int             set_move(YMove newval);
    inline int      setMove(YMove newval)
    { return this->set_move(newval); }

    int             move(int target,int ms_duration);

    int                 get_positionAtPowerOn(void);

    inline int          positionAtPowerOn(void)
    { return this->get_positionAtPowerOn(); }

    int             set_positionAtPowerOn(int newval);
    inline int      setPositionAtPowerOn(int newval)
    { return this->set_positionAtPowerOn(newval); }

    Y_ENABLEDATPOWERON_enum get_enabledAtPowerOn(void);

    inline Y_ENABLEDATPOWERON_enum enabledAtPowerOn(void)
    { return this->get_enabledAtPowerOn(); }

    int             set_enabledAtPowerOn(Y_ENABLEDATPOWERON_enum newval);
    inline int      setEnabledAtPowerOn(Y_ENABLEDATPOWERON_enum newval)
    { return this->set_enabledAtPowerOn(newval); }

    static YServo*      FindServo(string func);

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

    virtual int         _invokeValueCallback(string value);


    inline static YServo* Find(string func)
    { return YServo::FindServo(func); }

           YServo          *nextServo(void);
    inline YServo          *next(void)
    { return this->nextServo();}

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

//--- (YServo functions declaration)

inline YServo* yFindServo(const string& func)
{ return YServo::FindServo(func);}
inline YServo* yFirstServo(void)
{ return YServo::FirstServo();}

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

#endif