yocto_gyro.h

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/*********************************************************************
 *
 * $Id: yocto_gyro.h 28748 2017-10-03 08:23:39Z seb $
 *
 * Declares yFindGyro(), the high-level API for Gyro 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
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 *********************************************************************/


#ifndef YOCTO_GYRO_H
#define YOCTO_GYRO_H

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

//--- (generated code: YQt return codes)
//--- (end of generated code: YQt return codes)
//--- (generated code: YQt definitions)
class YQt; // forward declaration

typedef void (*YQtValueCallback)(YQt *func, const string& functionValue);
class YMeasure; // forward declaration
typedef void (*YQtTimedReportCallback)(YQt *func, YMeasure measure);
//--- (end of generated code: YQt definitions)

//--- (generated code: YQt declaration)
class YOCTO_CLASS_EXPORT YQt: public YSensor {
#ifdef __BORLANDC__
#pragma option push -w-8022
#endif
//--- (end of generated code: YQt declaration)
protected:
    //--- (generated code: YQt attributes)
    // Attributes (function value cache)
    YQtValueCallback _valueCallbackQt;
    YQtTimedReportCallback _timedReportCallbackQt;

    friend YQt *yFindQt(const string& func);
    friend YQt *yFirstQt(void);

    // Constructor is protected, use yFindQt factory function to instantiate
    YQt(const string& func);
    //--- (end of generated code: YQt attributes)

public:
    ~YQt();
    //--- (generated code: YQt accessors declaration)


    static YQt*         FindQt(string func);

    virtual int         registerValueCallback(YQtValueCallback callback);
    using YSensor::registerValueCallback;

    virtual int         _invokeValueCallback(string value);

    virtual int         registerTimedReportCallback(YQtTimedReportCallback callback);
    using YSensor::registerTimedReportCallback;

    virtual int         _invokeTimedReportCallback(YMeasure value);


    inline static YQt* Find(string func)
    { return YQt::FindQt(func); }

           YQt             *nextQt(void);
    inline YQt             *next(void)
    { return this->nextQt();}

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

//--- (generated code: YQt functions declaration)

inline YQt* yFindQt(const string& func)
{ return YQt::FindQt(func);}
inline YQt* yFirstQt(void)
{ return YQt::FirstQt();}

//--- (end of generated code: YQt functions declaration)



//--- (generated code: YGyro return codes)
//--- (end of generated code: YGyro return codes)
//--- (generated code: YGyro definitions)
class YGyro; // forward declaration

typedef void (*YGyroValueCallback)(YGyro *func, const string& functionValue);
class YMeasure; // forward declaration
typedef void (*YGyroTimedReportCallback)(YGyro *func, YMeasure measure);
#define Y_BANDWIDTH_INVALID             (YAPI_INVALID_INT)
#define Y_XVALUE_INVALID                (YAPI_INVALID_DOUBLE)
#define Y_YVALUE_INVALID                (YAPI_INVALID_DOUBLE)
#define Y_ZVALUE_INVALID                (YAPI_INVALID_DOUBLE)
//--- (end of generated code: YGyro definitions)

typedef void(*YQuatCallback)(YGyro *yGyro, double w, double x, double y, double z);
typedef void(*YAnglesCallback)(YGyro *yGyro, double roll, double pitch, double head);

//--- (generated code: YGyro declaration)
class YOCTO_CLASS_EXPORT YGyro: public YSensor {
#ifdef __BORLANDC__
#pragma option push -w-8022
#endif
//--- (end of generated code: YGyro declaration)
protected:
    //--- (generated code: YGyro attributes)
    // Attributes (function value cache)
    int             _bandwidth;
    double          _xValue;
    double          _yValue;
    double          _zValue;
    YGyroValueCallback _valueCallbackGyro;
    YGyroTimedReportCallback _timedReportCallbackGyro;
    int             _qt_stamp;
    YQt*            _qt_w;
    YQt*            _qt_x;
    YQt*            _qt_y;
    YQt*            _qt_z;
    double          _w;
    double          _x;
    double          _y;
    double          _z;
    int             _angles_stamp;
    double          _head;
    double          _pitch;
    double          _roll;
    YQuatCallback   _quatCallback;
    YAnglesCallback _anglesCallback;

    friend YGyro *yFindGyro(const string& func);
    friend YGyro *yFirstGyro(void);

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

    // Constructor is protected, use yFindGyro factory function to instantiate
    YGyro(const string& func);
    //--- (end of generated code: YGyro attributes)

public:
    ~YGyro();
    //--- (generated code: YGyro accessors declaration)

    static const int BANDWIDTH_INVALID = YAPI_INVALID_INT;
    static const double XVALUE_INVALID;
    static const double YVALUE_INVALID;
    static const double ZVALUE_INVALID;

    int                 get_bandwidth(void);

    inline int          bandwidth(void)
    { return this->get_bandwidth(); }

    int             set_bandwidth(int newval);
    inline int      setBandwidth(int newval)
    { return this->set_bandwidth(newval); }

    double              get_xValue(void);

    inline double       xValue(void)
    { return this->get_xValue(); }

    double              get_yValue(void);

    inline double       yValue(void)
    { return this->get_yValue(); }

    double              get_zValue(void);

    inline double       zValue(void)
    { return this->get_zValue(); }

    static YGyro*       FindGyro(string func);

    virtual int         registerValueCallback(YGyroValueCallback callback);
    using YSensor::registerValueCallback;

    virtual int         _invokeValueCallback(string value);

    virtual int         registerTimedReportCallback(YGyroTimedReportCallback callback);
    using YSensor::registerTimedReportCallback;

    virtual int         _invokeTimedReportCallback(YMeasure value);

    virtual int         _loadQuaternion(void);

    virtual int         _loadAngles(void);

    virtual double      get_roll(void);

    virtual double      get_pitch(void);

    virtual double      get_heading(void);

    virtual double      get_quaternionW(void);

    virtual double      get_quaternionX(void);

    virtual double      get_quaternionY(void);

    virtual double      get_quaternionZ(void);

    virtual int         registerQuaternionCallback(YQuatCallback callback);

    virtual int         registerAnglesCallback(YAnglesCallback callback);

    virtual int         _invokeGyroCallbacks(int qtIndex,double qtValue);


    inline static YGyro* Find(string func)
    { return YGyro::FindGyro(func); }

           YGyro           *nextGyro(void);
    inline YGyro           *next(void)
    { return this->nextGyro();}

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

//--- (generated code: YGyro functions declaration)

inline YGyro* yFindGyro(const string& func)
{ return YGyro::FindGyro(func);}
inline YGyro* yFirstGyro(void)
{ return YGyro::FirstGyro();}

//--- (end of generated code: YGyro functions declaration)

#endif