yocto_motor.cpp

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/*********************************************************************
 *
 * $Id: yocto_motor.cpp 28748 2017-10-03 08:23:39Z seb $
 *
 * Implements 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.
 *
 *  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.
 *
 *********************************************************************/


#define _CRT_SECURE_NO_DEPRECATE //do not use windows secure crt
#include "yocto_motor.h"
#include "yapi/yjson.h"
#include "yapi/yapi.h"
#include <string.h>
#include <stdio.h>
#include <math.h>
#include <stdlib.h>
#define  __FILE_ID__  "motor"

YMotor::YMotor(const string& func): YFunction(func)
//--- (YMotor initialization)
    ,_motorStatus(MOTORSTATUS_INVALID)
    ,_drivingForce(DRIVINGFORCE_INVALID)
    ,_brakingForce(BRAKINGFORCE_INVALID)
    ,_cutOffVoltage(CUTOFFVOLTAGE_INVALID)
    ,_overCurrentLimit(OVERCURRENTLIMIT_INVALID)
    ,_frequency(FREQUENCY_INVALID)
    ,_starterTime(STARTERTIME_INVALID)
    ,_failSafeTimeout(FAILSAFETIMEOUT_INVALID)
    ,_command(COMMAND_INVALID)
    ,_valueCallbackMotor(NULL)
//--- (end of YMotor initialization)
{
    _className="Motor";
}

YMotor::~YMotor()
{
//--- (YMotor cleanup)
//--- (end of YMotor cleanup)
}
//--- (YMotor implementation)
// static attributes
const double YMotor::DRIVINGFORCE_INVALID = YAPI_INVALID_DOUBLE;
const double YMotor::BRAKINGFORCE_INVALID = YAPI_INVALID_DOUBLE;
const double YMotor::CUTOFFVOLTAGE_INVALID = YAPI_INVALID_DOUBLE;
const double YMotor::FREQUENCY_INVALID = YAPI_INVALID_DOUBLE;
const string YMotor::COMMAND_INVALID = YAPI_INVALID_STRING;

int YMotor::_parseAttr(YJSONObject* json_val)
{
    if(json_val->has("motorStatus")) {
        _motorStatus =  (Y_MOTORSTATUS_enum)json_val->getInt("motorStatus");
    }
    if(json_val->has("drivingForce")) {
        _drivingForce =  floor(json_val->getDouble("drivingForce") * 1000.0 / 65536.0 + 0.5) / 1000.0;
    }
    if(json_val->has("brakingForce")) {
        _brakingForce =  floor(json_val->getDouble("brakingForce") * 1000.0 / 65536.0 + 0.5) / 1000.0;
    }
    if(json_val->has("cutOffVoltage")) {
        _cutOffVoltage =  floor(json_val->getDouble("cutOffVoltage") * 1000.0 / 65536.0 + 0.5) / 1000.0;
    }
    if(json_val->has("overCurrentLimit")) {
        _overCurrentLimit =  json_val->getInt("overCurrentLimit");
    }
    if(json_val->has("frequency")) {
        _frequency =  floor(json_val->getDouble("frequency") * 1000.0 / 65536.0 + 0.5) / 1000.0;
    }
    if(json_val->has("starterTime")) {
        _starterTime =  json_val->getInt("starterTime");
    }
    if(json_val->has("failSafeTimeout")) {
        _failSafeTimeout =  json_val->getInt("failSafeTimeout");
    }
    if(json_val->has("command")) {
        _command =  json_val->getString("command");
    }
    return YFunction::_parseAttr(json_val);
}


Y_MOTORSTATUS_enum YMotor::get_motorStatus(void)
{
    Y_MOTORSTATUS_enum res;
    yEnterCriticalSection(&_this_cs);
    try {
        if (_cacheExpiration <= YAPI::GetTickCount()) {
            if (this->_load_unsafe(YAPI::DefaultCacheValidity) != YAPI_SUCCESS) {
                {
                    yLeaveCriticalSection(&_this_cs);
                    return YMotor::MOTORSTATUS_INVALID;
                }
            }
        }
        res = _motorStatus;
    } catch (std::exception) {
        yLeaveCriticalSection(&_this_cs);
        throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YMotor::set_motorStatus(Y_MOTORSTATUS_enum newval)
{
    string rest_val;
    int res;
    yEnterCriticalSection(&_this_cs);
    try {
        char buf[32]; sprintf(buf, "%d", newval); rest_val = string(buf);
        res = _setAttr("motorStatus", rest_val);
    } catch (std::exception) {
         yLeaveCriticalSection(&_this_cs);
         throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YMotor::set_drivingForce(double newval)
{
    string rest_val;
    int res;
    yEnterCriticalSection(&_this_cs);
    try {
        char buf[32]; sprintf(buf,"%d", (int)floor(newval * 65536.0 + 0.5)); rest_val = string(buf);
        res = _setAttr("drivingForce", rest_val);
    } catch (std::exception) {
         yLeaveCriticalSection(&_this_cs);
         throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

double YMotor::get_drivingForce(void)
{
    double res = 0.0;
    yEnterCriticalSection(&_this_cs);
    try {
        if (_cacheExpiration <= YAPI::GetTickCount()) {
            if (this->_load_unsafe(YAPI::DefaultCacheValidity) != YAPI_SUCCESS) {
                {
                    yLeaveCriticalSection(&_this_cs);
                    return YMotor::DRIVINGFORCE_INVALID;
                }
            }
        }
        res = _drivingForce;
    } catch (std::exception) {
        yLeaveCriticalSection(&_this_cs);
        throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YMotor::set_brakingForce(double newval)
{
    string rest_val;
    int res;
    yEnterCriticalSection(&_this_cs);
    try {
        char buf[32]; sprintf(buf,"%d", (int)floor(newval * 65536.0 + 0.5)); rest_val = string(buf);
        res = _setAttr("brakingForce", rest_val);
    } catch (std::exception) {
         yLeaveCriticalSection(&_this_cs);
         throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

double YMotor::get_brakingForce(void)
{
    double res = 0.0;
    yEnterCriticalSection(&_this_cs);
    try {
        if (_cacheExpiration <= YAPI::GetTickCount()) {
            if (this->_load_unsafe(YAPI::DefaultCacheValidity) != YAPI_SUCCESS) {
                {
                    yLeaveCriticalSection(&_this_cs);
                    return YMotor::BRAKINGFORCE_INVALID;
                }
            }
        }
        res = _brakingForce;
    } catch (std::exception) {
        yLeaveCriticalSection(&_this_cs);
        throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YMotor::set_cutOffVoltage(double newval)
{
    string rest_val;
    int res;
    yEnterCriticalSection(&_this_cs);
    try {
        char buf[32]; sprintf(buf,"%d", (int)floor(newval * 65536.0 + 0.5)); rest_val = string(buf);
        res = _setAttr("cutOffVoltage", rest_val);
    } catch (std::exception) {
         yLeaveCriticalSection(&_this_cs);
         throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

double YMotor::get_cutOffVoltage(void)
{
    double res = 0.0;
    yEnterCriticalSection(&_this_cs);
    try {
        if (_cacheExpiration <= YAPI::GetTickCount()) {
            if (this->_load_unsafe(YAPI::DefaultCacheValidity) != YAPI_SUCCESS) {
                {
                    yLeaveCriticalSection(&_this_cs);
                    return YMotor::CUTOFFVOLTAGE_INVALID;
                }
            }
        }
        res = _cutOffVoltage;
    } catch (std::exception) {
        yLeaveCriticalSection(&_this_cs);
        throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YMotor::get_overCurrentLimit(void)
{
    int res = 0;
    yEnterCriticalSection(&_this_cs);
    try {
        if (_cacheExpiration <= YAPI::GetTickCount()) {
            if (this->_load_unsafe(YAPI::DefaultCacheValidity) != YAPI_SUCCESS) {
                {
                    yLeaveCriticalSection(&_this_cs);
                    return YMotor::OVERCURRENTLIMIT_INVALID;
                }
            }
        }
        res = _overCurrentLimit;
    } catch (std::exception) {
        yLeaveCriticalSection(&_this_cs);
        throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YMotor::set_overCurrentLimit(int newval)
{
    string rest_val;
    int res;
    yEnterCriticalSection(&_this_cs);
    try {
        char buf[32]; sprintf(buf, "%d", newval); rest_val = string(buf);
        res = _setAttr("overCurrentLimit", rest_val);
    } catch (std::exception) {
         yLeaveCriticalSection(&_this_cs);
         throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YMotor::set_frequency(double newval)
{
    string rest_val;
    int res;
    yEnterCriticalSection(&_this_cs);
    try {
        char buf[32]; sprintf(buf,"%d", (int)floor(newval * 65536.0 + 0.5)); rest_val = string(buf);
        res = _setAttr("frequency", rest_val);
    } catch (std::exception) {
         yLeaveCriticalSection(&_this_cs);
         throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

double YMotor::get_frequency(void)
{
    double res = 0.0;
    yEnterCriticalSection(&_this_cs);
    try {
        if (_cacheExpiration <= YAPI::GetTickCount()) {
            if (this->_load_unsafe(YAPI::DefaultCacheValidity) != YAPI_SUCCESS) {
                {
                    yLeaveCriticalSection(&_this_cs);
                    return YMotor::FREQUENCY_INVALID;
                }
            }
        }
        res = _frequency;
    } catch (std::exception) {
        yLeaveCriticalSection(&_this_cs);
        throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YMotor::get_starterTime(void)
{
    int res = 0;
    yEnterCriticalSection(&_this_cs);
    try {
        if (_cacheExpiration <= YAPI::GetTickCount()) {
            if (this->_load_unsafe(YAPI::DefaultCacheValidity) != YAPI_SUCCESS) {
                {
                    yLeaveCriticalSection(&_this_cs);
                    return YMotor::STARTERTIME_INVALID;
                }
            }
        }
        res = _starterTime;
    } catch (std::exception) {
        yLeaveCriticalSection(&_this_cs);
        throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YMotor::set_starterTime(int newval)
{
    string rest_val;
    int res;
    yEnterCriticalSection(&_this_cs);
    try {
        char buf[32]; sprintf(buf, "%d", newval); rest_val = string(buf);
        res = _setAttr("starterTime", rest_val);
    } catch (std::exception) {
         yLeaveCriticalSection(&_this_cs);
         throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YMotor::get_failSafeTimeout(void)
{
    int res = 0;
    yEnterCriticalSection(&_this_cs);
    try {
        if (_cacheExpiration <= YAPI::GetTickCount()) {
            if (this->_load_unsafe(YAPI::DefaultCacheValidity) != YAPI_SUCCESS) {
                {
                    yLeaveCriticalSection(&_this_cs);
                    return YMotor::FAILSAFETIMEOUT_INVALID;
                }
            }
        }
        res = _failSafeTimeout;
    } catch (std::exception) {
        yLeaveCriticalSection(&_this_cs);
        throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YMotor::set_failSafeTimeout(int newval)
{
    string rest_val;
    int res;
    yEnterCriticalSection(&_this_cs);
    try {
        char buf[32]; sprintf(buf, "%d", newval); rest_val = string(buf);
        res = _setAttr("failSafeTimeout", rest_val);
    } catch (std::exception) {
         yLeaveCriticalSection(&_this_cs);
         throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

string YMotor::get_command(void)
{
    string res;
    yEnterCriticalSection(&_this_cs);
    try {
        if (_cacheExpiration <= YAPI::GetTickCount()) {
            if (this->_load_unsafe(YAPI::DefaultCacheValidity) != YAPI_SUCCESS) {
                {
                    yLeaveCriticalSection(&_this_cs);
                    return YMotor::COMMAND_INVALID;
                }
            }
        }
        res = _command;
    } catch (std::exception) {
        yLeaveCriticalSection(&_this_cs);
        throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YMotor::set_command(const string& newval)
{
    string rest_val;
    int res;
    yEnterCriticalSection(&_this_cs);
    try {
        rest_val = newval;
        res = _setAttr("command", rest_val);
    } catch (std::exception) {
         yLeaveCriticalSection(&_this_cs);
         throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

YMotor* YMotor::FindMotor(string func)
{
    YMotor* obj = NULL;
    int taken = 0;
    if (YAPI::_apiInitialized) {
        yEnterCriticalSection(&YAPI::_global_cs);
        taken = 1;
    }try {
        obj = (YMotor*) YFunction::_FindFromCache("Motor", func);
        if (obj == NULL) {
            obj = new YMotor(func);
            YFunction::_AddToCache("Motor", func, obj);
        }
    } catch (std::exception) {
        if (taken) yLeaveCriticalSection(&YAPI::_global_cs);
        throw;
    }
    if (taken) yLeaveCriticalSection(&YAPI::_global_cs);
    return obj;
}

int YMotor::registerValueCallback(YMotorValueCallback callback)
{
    string val;
    if (callback != NULL) {
        YFunction::_UpdateValueCallbackList(this, true);
    } else {
        YFunction::_UpdateValueCallbackList(this, false);
    }
    _valueCallbackMotor = callback;
    // Immediately invoke value callback with current value
    if (callback != NULL && this->isOnline()) {
        val = _advertisedValue;
        if (!(val == "")) {
            this->_invokeValueCallback(val);
        }
    }
    return 0;
}

int YMotor::_invokeValueCallback(string value)
{
    if (_valueCallbackMotor != NULL) {
        _valueCallbackMotor(this, value);
    } else {
        YFunction::_invokeValueCallback(value);
    }
    return 0;
}

int YMotor::keepALive(void)
{
    return this->set_command("K");
}

int YMotor::resetStatus(void)
{
    return this->set_motorStatus(Y_MOTORSTATUS_IDLE);
}

int YMotor::drivingForceMove(double targetPower,int delay)
{
    return this->set_command(YapiWrapper::ysprintf("P%d,%d",(int) floor(targetPower*10+0.5),delay));
}

int YMotor::brakingForceMove(double targetPower,int delay)
{
    return this->set_command(YapiWrapper::ysprintf("B%d,%d",(int) floor(targetPower*10+0.5),delay));
}

YMotor *YMotor::nextMotor(void)
{
    string  hwid;

    if(YISERR(_nextFunction(hwid)) || hwid=="") {
        return NULL;
    }
    return YMotor::FindMotor(hwid);
}

YMotor* YMotor::FirstMotor(void)
{
    vector<YFUN_DESCR>   v_fundescr;
    YDEV_DESCR             ydevice;
    string              serial, funcId, funcName, funcVal, errmsg;

    if(YISERR(YapiWrapper::getFunctionsByClass("Motor", 0, v_fundescr, sizeof(YFUN_DESCR), errmsg)) ||
       v_fundescr.size() == 0 ||
       YISERR(YapiWrapper::getFunctionInfo(v_fundescr[0], ydevice, serial, funcId, funcName, funcVal, errmsg))) {
        return NULL;
    }
    return YMotor::FindMotor(serial+"."+funcId);
}

//--- (end of YMotor implementation)

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