yocto_rangefinder.h

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/*********************************************************************
 *
 * $Id: yocto_rangefinder.h 28748 2017-10-03 08:23:39Z seb $
 *
 * Declares yFindRangeFinder(), the high-level API for RangeFinder 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
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#ifndef YOCTO_RANGEFINDER_H
#define YOCTO_RANGEFINDER_H

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

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

typedef void (*YRangeFinderValueCallback)(YRangeFinder *func, const string& functionValue);
class YMeasure; // forward declaration
typedef void (*YRangeFinderTimedReportCallback)(YRangeFinder *func, YMeasure measure);
#ifndef _Y_RANGEFINDERMODE_ENUM
#define _Y_RANGEFINDERMODE_ENUM
typedef enum {
    Y_RANGEFINDERMODE_DEFAULT = 0,
    Y_RANGEFINDERMODE_LONG_RANGE = 1,
    Y_RANGEFINDERMODE_HIGH_ACCURACY = 2,
    Y_RANGEFINDERMODE_HIGH_SPEED = 3,
    Y_RANGEFINDERMODE_INVALID = -1,
} Y_RANGEFINDERMODE_enum;
#endif
#define Y_HARDWARECALIBRATION_INVALID   (YAPI_INVALID_STRING)
#define Y_CURRENTTEMPERATURE_INVALID    (YAPI_INVALID_DOUBLE)
#define Y_COMMAND_INVALID               (YAPI_INVALID_STRING)
//--- (end of YRangeFinder definitions)

//--- (YRangeFinder declaration)
class YOCTO_CLASS_EXPORT YRangeFinder: public YSensor {
#ifdef __BORLANDC__
#pragma option push -w-8022
#endif
//--- (end of YRangeFinder declaration)
protected:
    //--- (YRangeFinder attributes)
    // Attributes (function value cache)
    Y_RANGEFINDERMODE_enum _rangeFinderMode;
    string          _hardwareCalibration;
    double          _currentTemperature;
    string          _command;
    YRangeFinderValueCallback _valueCallbackRangeFinder;
    YRangeFinderTimedReportCallback _timedReportCallbackRangeFinder;

    friend YRangeFinder *yFindRangeFinder(const string& func);
    friend YRangeFinder *yFirstRangeFinder(void);

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

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

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

    static const Y_RANGEFINDERMODE_enum RANGEFINDERMODE_DEFAULT = Y_RANGEFINDERMODE_DEFAULT;
    static const Y_RANGEFINDERMODE_enum RANGEFINDERMODE_LONG_RANGE = Y_RANGEFINDERMODE_LONG_RANGE;
    static const Y_RANGEFINDERMODE_enum RANGEFINDERMODE_HIGH_ACCURACY = Y_RANGEFINDERMODE_HIGH_ACCURACY;
    static const Y_RANGEFINDERMODE_enum RANGEFINDERMODE_HIGH_SPEED = Y_RANGEFINDERMODE_HIGH_SPEED;
    static const Y_RANGEFINDERMODE_enum RANGEFINDERMODE_INVALID = Y_RANGEFINDERMODE_INVALID;
    static const string HARDWARECALIBRATION_INVALID;
    static const double CURRENTTEMPERATURE_INVALID;
    static const string COMMAND_INVALID;

    int             set_unit(const string& newval);
    inline int      setUnit(const string& newval)
    { return this->set_unit(newval); }

    Y_RANGEFINDERMODE_enum get_rangeFinderMode(void);

    inline Y_RANGEFINDERMODE_enum rangeFinderMode(void)
    { return this->get_rangeFinderMode(); }

    int             set_rangeFinderMode(Y_RANGEFINDERMODE_enum newval);
    inline int      setRangeFinderMode(Y_RANGEFINDERMODE_enum newval)
    { return this->set_rangeFinderMode(newval); }

    string              get_hardwareCalibration(void);

    inline string       hardwareCalibration(void)
    { return this->get_hardwareCalibration(); }

    int             set_hardwareCalibration(const string& newval);
    inline int      setHardwareCalibration(const string& newval)
    { return this->set_hardwareCalibration(newval); }

    double              get_currentTemperature(void);

    inline double       currentTemperature(void)
    { return this->get_currentTemperature(); }

    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 YRangeFinder* FindRangeFinder(string func);

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

    virtual int         _invokeValueCallback(string value);

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

    virtual int         _invokeTimedReportCallback(YMeasure value);

    virtual double      get_hardwareCalibrationTemperature(void);

    virtual int         triggerTemperatureCalibration(void);

    virtual int         triggerSpadCalibration(void);

    virtual int         triggerOffsetCalibration(double targetDist);

    virtual int         triggerXTalkCalibration(double targetDist);

    virtual int         cancelCoverGlassCalibrations(void);


    inline static YRangeFinder* Find(string func)
    { return YRangeFinder::FindRangeFinder(func); }

           YRangeFinder    *nextRangeFinder(void);
    inline YRangeFinder    *next(void)
    { return this->nextRangeFinder();}

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

//--- (YRangeFinder functions declaration)

inline YRangeFinder* yFindRangeFinder(const string& func)
{ return YRangeFinder::FindRangeFinder(func);}
inline YRangeFinder* yFirstRangeFinder(void)
{ return YRangeFinder::FirstRangeFinder();}

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

#endif