yocto_multiaxiscontroller.h

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/*********************************************************************
 *
 * $Id: yocto_multiaxiscontroller.h 28748 2017-10-03 08:23:39Z seb $
 *
 * Declares yFindMultiAxisController(), the high-level API for MultiAxisController functions
 *
 * - - - - - - - - - License information: - - - - - - - - -
 *
 *  Copyright (C) 2011 and beyond by Yoctopuce Sarl, Switzerland.
 *
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 *
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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_MULTIAXISCONTROLLER_H
#define YOCTO_MULTIAXISCONTROLLER_H

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

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

typedef void (*YMultiAxisControllerValueCallback)(YMultiAxisController *func, const string& functionValue);
#ifndef _Y_GLOBALSTATE_ENUM
#define _Y_GLOBALSTATE_ENUM
typedef enum {
    Y_GLOBALSTATE_ABSENT = 0,
    Y_GLOBALSTATE_ALERT = 1,
    Y_GLOBALSTATE_HI_Z = 2,
    Y_GLOBALSTATE_STOP = 3,
    Y_GLOBALSTATE_RUN = 4,
    Y_GLOBALSTATE_BATCH = 5,
    Y_GLOBALSTATE_INVALID = -1,
} Y_GLOBALSTATE_enum;
#endif
#define Y_NAXIS_INVALID                 (YAPI_INVALID_UINT)
#define Y_COMMAND_INVALID               (YAPI_INVALID_STRING)
//--- (end of YMultiAxisController definitions)

//--- (YMultiAxisController declaration)
class YOCTO_CLASS_EXPORT YMultiAxisController: public YFunction {
#ifdef __BORLANDC__
#pragma option push -w-8022
#endif
//--- (end of YMultiAxisController declaration)
protected:
    //--- (YMultiAxisController attributes)
    // Attributes (function value cache)
    int             _nAxis;
    Y_GLOBALSTATE_enum _globalState;
    string          _command;
    YMultiAxisControllerValueCallback _valueCallbackMultiAxisController;

    friend YMultiAxisController *yFindMultiAxisController(const string& func);
    friend YMultiAxisController *yFirstMultiAxisController(void);

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

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

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

    static const int NAXIS_INVALID = YAPI_INVALID_UINT;
    static const Y_GLOBALSTATE_enum GLOBALSTATE_ABSENT = Y_GLOBALSTATE_ABSENT;
    static const Y_GLOBALSTATE_enum GLOBALSTATE_ALERT = Y_GLOBALSTATE_ALERT;
    static const Y_GLOBALSTATE_enum GLOBALSTATE_HI_Z = Y_GLOBALSTATE_HI_Z;
    static const Y_GLOBALSTATE_enum GLOBALSTATE_STOP = Y_GLOBALSTATE_STOP;
    static const Y_GLOBALSTATE_enum GLOBALSTATE_RUN = Y_GLOBALSTATE_RUN;
    static const Y_GLOBALSTATE_enum GLOBALSTATE_BATCH = Y_GLOBALSTATE_BATCH;
    static const Y_GLOBALSTATE_enum GLOBALSTATE_INVALID = Y_GLOBALSTATE_INVALID;
    static const string COMMAND_INVALID;

    int                 get_nAxis(void);

    inline int          nAxis(void)
    { return this->get_nAxis(); }

    int             set_nAxis(int newval);
    inline int      setNAxis(int newval)
    { return this->set_nAxis(newval); }

    Y_GLOBALSTATE_enum  get_globalState(void);

    inline Y_GLOBALSTATE_enum globalState(void)
    { return this->get_globalState(); }

    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 YMultiAxisController* FindMultiAxisController(string func);

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

    virtual int         _invokeValueCallback(string value);

    virtual int         sendCommand(string command);

    virtual int         reset(void);

    virtual int         findHomePosition(vector<double> speed);

    virtual int         moveTo(vector<double> absPos);

    virtual int         moveRel(vector<double> relPos);

    virtual int         pause(int waitMs);

    virtual int         emergencyStop(void);

    virtual int         abortAndBrake(void);

    virtual int         abortAndHiZ(void);


    inline static YMultiAxisController* Find(string func)
    { return YMultiAxisController::FindMultiAxisController(func); }

           YMultiAxisController *nextMultiAxisController(void);
    inline YMultiAxisController *next(void)
    { return this->nextMultiAxisController();}

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

//--- (YMultiAxisController functions declaration)

inline YMultiAxisController* yFindMultiAxisController(const string& func)
{ return YMultiAxisController::FindMultiAxisController(func);}
inline YMultiAxisController* yFirstMultiAxisController(void)
{ return YMultiAxisController::FirstMultiAxisController();}

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

#endif