yocto_servo.cpp

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/*********************************************************************
 *
 * $Id: yocto_servo.cpp 28748 2017-10-03 08:23:39Z seb $
 *
 * Implements 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
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 *
 *  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
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 *  INDIRECT OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA,
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 *********************************************************************/


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

YServo::YServo(const string& func): YFunction(func)
//--- (YServo initialization)
    ,_position(POSITION_INVALID)
    ,_enabled(ENABLED_INVALID)
    ,_range(RANGE_INVALID)
    ,_neutral(NEUTRAL_INVALID)
    ,_move(MOVE_INVALID)
    ,_positionAtPowerOn(POSITIONATPOWERON_INVALID)
    ,_enabledAtPowerOn(ENABLEDATPOWERON_INVALID)
    ,_valueCallbackServo(NULL)
//--- (end of YServo initialization)
{
    _className="Servo";
}

YServo::~YServo()
{
//--- (YServo cleanup)
//--- (end of YServo cleanup)
}
//--- (YServo implementation)
// static attributes
const YMove YServo::MOVE_INVALID = YMove();

int YServo::_parseAttr(YJSONObject* json_val)
{
    if(json_val->has("position")) {
        _position =  json_val->getInt("position");
    }
    if(json_val->has("enabled")) {
        _enabled =  (Y_ENABLED_enum)json_val->getInt("enabled");
    }
    if(json_val->has("range")) {
        _range =  json_val->getInt("range");
    }
    if(json_val->has("neutral")) {
        _neutral =  json_val->getInt("neutral");
    }
    if(json_val->has("move")) {
        YJSONObject* subjson = json_val->getYJSONObject("move");
        if (subjson->has("moving")) {
            _move.moving = subjson->getInt("moving");
        }
        if (subjson->has("target")) {
            _move.target = subjson->getInt("target");
        }
        if (subjson->has("ms")) {
            _move.ms = subjson->getInt("ms");
        }
    }
    if(json_val->has("positionAtPowerOn")) {
        _positionAtPowerOn =  json_val->getInt("positionAtPowerOn");
    }
    if(json_val->has("enabledAtPowerOn")) {
        _enabledAtPowerOn =  (Y_ENABLEDATPOWERON_enum)json_val->getInt("enabledAtPowerOn");
    }
    return YFunction::_parseAttr(json_val);
}


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

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

Y_ENABLED_enum YServo::get_enabled(void)
{
    Y_ENABLED_enum res;
    yEnterCriticalSection(&_this_cs);
    try {
        if (_cacheExpiration <= YAPI::GetTickCount()) {
            if (this->_load_unsafe(YAPI::DefaultCacheValidity) != YAPI_SUCCESS) {
                {
                    yLeaveCriticalSection(&_this_cs);
                    return YServo::ENABLED_INVALID;
                }
            }
        }
        res = _enabled;
    } catch (std::exception) {
        yLeaveCriticalSection(&_this_cs);
        throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YServo::set_enabled(Y_ENABLED_enum newval)
{
    string rest_val;
    int res;
    yEnterCriticalSection(&_this_cs);
    try {
        rest_val = (newval>0 ? "1" : "0");
        res = _setAttr("enabled", rest_val);
    } catch (std::exception) {
         yLeaveCriticalSection(&_this_cs);
         throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

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

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

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

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

YMove YServo::get_move(void)
{
    YMove res;
    yEnterCriticalSection(&_this_cs);
    try {
        if (_cacheExpiration <= YAPI::GetTickCount()) {
            if (this->_load_unsafe(YAPI::DefaultCacheValidity) != YAPI_SUCCESS) {
                {
                    yLeaveCriticalSection(&_this_cs);
                    return YServo::MOVE_INVALID;
                }
            }
        }
        res = _move;
    } catch (std::exception) {
        yLeaveCriticalSection(&_this_cs);
        throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YServo::set_move(YMove newval)
{
    string rest_val;
    int res;
    yEnterCriticalSection(&_this_cs);
    try {
        char buff[64]; sprintf(buff,"%d:%d",newval.target,newval.ms); rest_val = string(buff);
        res = _setAttr("move", rest_val);
    } catch (std::exception) {
         yLeaveCriticalSection(&_this_cs);
         throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YServo::move(int target,int ms_duration)
{
    string rest_val;
    char buff[64]; sprintf(buff,"%d:%d",target,ms_duration); rest_val = string(buff);
    return _setAttr("move", rest_val);
}

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

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

Y_ENABLEDATPOWERON_enum YServo::get_enabledAtPowerOn(void)
{
    Y_ENABLEDATPOWERON_enum res;
    yEnterCriticalSection(&_this_cs);
    try {
        if (_cacheExpiration <= YAPI::GetTickCount()) {
            if (this->_load_unsafe(YAPI::DefaultCacheValidity) != YAPI_SUCCESS) {
                {
                    yLeaveCriticalSection(&_this_cs);
                    return YServo::ENABLEDATPOWERON_INVALID;
                }
            }
        }
        res = _enabledAtPowerOn;
    } catch (std::exception) {
        yLeaveCriticalSection(&_this_cs);
        throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

int YServo::set_enabledAtPowerOn(Y_ENABLEDATPOWERON_enum newval)
{
    string rest_val;
    int res;
    yEnterCriticalSection(&_this_cs);
    try {
        rest_val = (newval>0 ? "1" : "0");
        res = _setAttr("enabledAtPowerOn", rest_val);
    } catch (std::exception) {
         yLeaveCriticalSection(&_this_cs);
         throw;
    }
    yLeaveCriticalSection(&_this_cs);
    return res;
}

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

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

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

YServo *YServo::nextServo(void)
{
    string  hwid;

    if(YISERR(_nextFunction(hwid)) || hwid=="") {
        return NULL;
    }
    return YServo::FindServo(hwid);
}

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

    if(YISERR(YapiWrapper::getFunctionsByClass("Servo", 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 YServo::FindServo(serial+"."+funcId);
}

//--- (end of YServo implementation)

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