yocto_steppermotor.h

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/*********************************************************************
 *
 * $Id: yocto_steppermotor.h 29495 2017-12-22 16:45:20Z mvuilleu $
 *
 * Declares yFindStepperMotor(), the high-level API for StepperMotor functions
 *
 * - - - - - - - - - License information: - - - - - - - - -
 *
 *  Copyright (C) 2011 and beyond by Yoctopuce Sarl, Switzerland.
 *
 *  Yoctopuce Sarl (hereafter Licensor) grants to you a perpetual
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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_STEPPERMOTOR_H
#define YOCTO_STEPPERMOTOR_H

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

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

typedef void (*YStepperMotorValueCallback)(YStepperMotor *func, const string& functionValue);
#ifndef _Y_MOTORSTATE_ENUM
#define _Y_MOTORSTATE_ENUM
typedef enum {
    Y_MOTORSTATE_ABSENT = 0,
    Y_MOTORSTATE_ALERT = 1,
    Y_MOTORSTATE_HI_Z = 2,
    Y_MOTORSTATE_STOP = 3,
    Y_MOTORSTATE_RUN = 4,
    Y_MOTORSTATE_BATCH = 5,
    Y_MOTORSTATE_INVALID = -1,
} Y_MOTORSTATE_enum;
#endif
#ifndef _Y_STEPPING_ENUM
#define _Y_STEPPING_ENUM
typedef enum {
    Y_STEPPING_MICROSTEP16 = 0,
    Y_STEPPING_MICROSTEP8 = 1,
    Y_STEPPING_MICROSTEP4 = 2,
    Y_STEPPING_HALFSTEP = 3,
    Y_STEPPING_FULLSTEP = 4,
    Y_STEPPING_INVALID = -1,
} Y_STEPPING_enum;
#endif
#define Y_DIAGS_INVALID                 (YAPI_INVALID_UINT)
#define Y_STEPPOS_INVALID               (YAPI_INVALID_DOUBLE)
#define Y_SPEED_INVALID                 (YAPI_INVALID_DOUBLE)
#define Y_PULLINSPEED_INVALID           (YAPI_INVALID_DOUBLE)
#define Y_MAXACCEL_INVALID              (YAPI_INVALID_DOUBLE)
#define Y_MAXSPEED_INVALID              (YAPI_INVALID_DOUBLE)
#define Y_OVERCURRENT_INVALID           (YAPI_INVALID_UINT)
#define Y_TCURRSTOP_INVALID             (YAPI_INVALID_UINT)
#define Y_TCURRRUN_INVALID              (YAPI_INVALID_UINT)
#define Y_ALERTMODE_INVALID             (YAPI_INVALID_STRING)
#define Y_AUXMODE_INVALID               (YAPI_INVALID_STRING)
#define Y_AUXSIGNAL_INVALID             (YAPI_INVALID_INT)
#define Y_COMMAND_INVALID               (YAPI_INVALID_STRING)
//--- (end of YStepperMotor definitions)

//--- (YStepperMotor declaration)
class YOCTO_CLASS_EXPORT YStepperMotor: public YFunction {
#ifdef __BORLANDC__
#pragma option push -w-8022
#endif
//--- (end of YStepperMotor declaration)
protected:
    //--- (YStepperMotor attributes)
    // Attributes (function value cache)
    Y_MOTORSTATE_enum _motorState;
    int             _diags;
    double          _stepPos;
    double          _speed;
    double          _pullinSpeed;
    double          _maxAccel;
    double          _maxSpeed;
    Y_STEPPING_enum _stepping;
    int             _overcurrent;
    int             _tCurrStop;
    int             _tCurrRun;
    string          _alertMode;
    string          _auxMode;
    int             _auxSignal;
    string          _command;
    YStepperMotorValueCallback _valueCallbackStepperMotor;

    friend YStepperMotor *yFindStepperMotor(const string& func);
    friend YStepperMotor *yFirstStepperMotor(void);

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

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

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

    static const Y_MOTORSTATE_enum MOTORSTATE_ABSENT = Y_MOTORSTATE_ABSENT;
    static const Y_MOTORSTATE_enum MOTORSTATE_ALERT = Y_MOTORSTATE_ALERT;
    static const Y_MOTORSTATE_enum MOTORSTATE_HI_Z = Y_MOTORSTATE_HI_Z;
    static const Y_MOTORSTATE_enum MOTORSTATE_STOP = Y_MOTORSTATE_STOP;
    static const Y_MOTORSTATE_enum MOTORSTATE_RUN = Y_MOTORSTATE_RUN;
    static const Y_MOTORSTATE_enum MOTORSTATE_BATCH = Y_MOTORSTATE_BATCH;
    static const Y_MOTORSTATE_enum MOTORSTATE_INVALID = Y_MOTORSTATE_INVALID;
    static const int DIAGS_INVALID = YAPI_INVALID_UINT;
    static const double STEPPOS_INVALID;
    static const double SPEED_INVALID;
    static const double PULLINSPEED_INVALID;
    static const double MAXACCEL_INVALID;
    static const double MAXSPEED_INVALID;
    static const Y_STEPPING_enum STEPPING_MICROSTEP16 = Y_STEPPING_MICROSTEP16;
    static const Y_STEPPING_enum STEPPING_MICROSTEP8 = Y_STEPPING_MICROSTEP8;
    static const Y_STEPPING_enum STEPPING_MICROSTEP4 = Y_STEPPING_MICROSTEP4;
    static const Y_STEPPING_enum STEPPING_HALFSTEP = Y_STEPPING_HALFSTEP;
    static const Y_STEPPING_enum STEPPING_FULLSTEP = Y_STEPPING_FULLSTEP;
    static const Y_STEPPING_enum STEPPING_INVALID = Y_STEPPING_INVALID;
    static const int OVERCURRENT_INVALID = YAPI_INVALID_UINT;
    static const int TCURRSTOP_INVALID = YAPI_INVALID_UINT;
    static const int TCURRRUN_INVALID = YAPI_INVALID_UINT;
    static const string ALERTMODE_INVALID;
    static const string AUXMODE_INVALID;
    static const int AUXSIGNAL_INVALID = YAPI_INVALID_INT;
    static const string COMMAND_INVALID;

    Y_MOTORSTATE_enum   get_motorState(void);

    inline Y_MOTORSTATE_enum motorState(void)
    { return this->get_motorState(); }

    int                 get_diags(void);

    inline int          diags(void)
    { return this->get_diags(); }

    int             set_stepPos(double newval);
    inline int      setStepPos(double newval)
    { return this->set_stepPos(newval); }

    double              get_stepPos(void);

    inline double       stepPos(void)
    { return this->get_stepPos(); }

    double              get_speed(void);

    inline double       speed(void)
    { return this->get_speed(); }

    int             set_pullinSpeed(double newval);
    inline int      setPullinSpeed(double newval)
    { return this->set_pullinSpeed(newval); }

    double              get_pullinSpeed(void);

    inline double       pullinSpeed(void)
    { return this->get_pullinSpeed(); }

    int             set_maxAccel(double newval);
    inline int      setMaxAccel(double newval)
    { return this->set_maxAccel(newval); }

    double              get_maxAccel(void);

    inline double       maxAccel(void)
    { return this->get_maxAccel(); }

    int             set_maxSpeed(double newval);
    inline int      setMaxSpeed(double newval)
    { return this->set_maxSpeed(newval); }

    double              get_maxSpeed(void);

    inline double       maxSpeed(void)
    { return this->get_maxSpeed(); }

    Y_STEPPING_enum     get_stepping(void);

    inline Y_STEPPING_enum stepping(void)
    { return this->get_stepping(); }

    int             set_stepping(Y_STEPPING_enum newval);
    inline int      setStepping(Y_STEPPING_enum newval)
    { return this->set_stepping(newval); }

    int                 get_overcurrent(void);

    inline int          overcurrent(void)
    { return this->get_overcurrent(); }

    int             set_overcurrent(int newval);
    inline int      setOvercurrent(int newval)
    { return this->set_overcurrent(newval); }

    int                 get_tCurrStop(void);

    inline int          tCurrStop(void)
    { return this->get_tCurrStop(); }

    int             set_tCurrStop(int newval);
    inline int      setTCurrStop(int newval)
    { return this->set_tCurrStop(newval); }

    int                 get_tCurrRun(void);

    inline int          tCurrRun(void)
    { return this->get_tCurrRun(); }

    int             set_tCurrRun(int newval);
    inline int      setTCurrRun(int newval)
    { return this->set_tCurrRun(newval); }

    string              get_alertMode(void);

    inline string       alertMode(void)
    { return this->get_alertMode(); }

    int             set_alertMode(const string& newval);
    inline int      setAlertMode(const string& newval)
    { return this->set_alertMode(newval); }

    string              get_auxMode(void);

    inline string       auxMode(void)
    { return this->get_auxMode(); }

    int             set_auxMode(const string& newval);
    inline int      setAuxMode(const string& newval)
    { return this->set_auxMode(newval); }

    int                 get_auxSignal(void);

    inline int          auxSignal(void)
    { return this->get_auxSignal(); }

    int             set_auxSignal(int newval);
    inline int      setAuxSignal(int newval)
    { return this->set_auxSignal(newval); }

    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 YStepperMotor* FindStepperMotor(string func);

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

    virtual int         _invokeValueCallback(string value);

    virtual int         sendCommand(string command);

    virtual int         reset(void);

    virtual int         findHomePosition(double speed);

    virtual int         changeSpeed(double speed);

    virtual int         moveTo(double absPos);

    virtual int         moveRel(double relPos);

    virtual int         moveRelSlow(double relPos,double maxSpeed);

    virtual int         pause(int waitMs);

    virtual int         emergencyStop(void);

    virtual int         alertStepOut(void);

    virtual int         alertStepDir(int dir);

    virtual int         abortAndBrake(void);

    virtual int         abortAndHiZ(void);


    inline static YStepperMotor* Find(string func)
    { return YStepperMotor::FindStepperMotor(func); }

           YStepperMotor   *nextStepperMotor(void);
    inline YStepperMotor   *next(void)
    { return this->nextStepperMotor();}

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

//--- (YStepperMotor functions declaration)

inline YStepperMotor* yFindStepperMotor(const string& func)
{ return YStepperMotor::FindStepperMotor(func);}
inline YStepperMotor* yFirstStepperMotor(void)
{ return YStepperMotor::FirstStepperMotor();}

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

#endif