/********************************************************************* * * $Id: yocto_accelerometer.h 59978 2024-03-18 15:04:46Z mvuilleu $ * * Declares yFindAccelerometer(), the high-level API for Accelerometer 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. * *********************************************************************/ #ifndef YOCTO_ACCELEROMETER_H #define YOCTO_ACCELEROMETER_H #include #include #include "yocto_api.h" #ifdef YOCTOLIB_NAMESPACE namespace YOCTOLIB_NAMESPACE { #endif //--- (YAccelerometer return codes) //--- (end of YAccelerometer return codes) //--- (YAccelerometer yapiwrapper) //--- (end of YAccelerometer yapiwrapper) //--- (YAccelerometer definitions) class YAccelerometer; // forward declaration typedef void (*YAccelerometerValueCallback)(YAccelerometer *func, const string& functionValue); class YMeasure; // forward declaration typedef void (*YAccelerometerTimedReportCallback)(YAccelerometer *func, YMeasure measure); #ifndef _Y_GRAVITYCANCELLATION_ENUM #define _Y_GRAVITYCANCELLATION_ENUM typedef enum { Y_GRAVITYCANCELLATION_OFF = 0, Y_GRAVITYCANCELLATION_ON = 1, Y_GRAVITYCANCELLATION_INVALID = -1, } Y_GRAVITYCANCELLATION_enum; #endif #define Y_BANDWIDTH_INVALID (YAPI_INVALID_UINT) #define Y_XVALUE_INVALID (YAPI_INVALID_DOUBLE) #define Y_YVALUE_INVALID (YAPI_INVALID_DOUBLE) #define Y_ZVALUE_INVALID (YAPI_INVALID_DOUBLE) //--- (end of YAccelerometer definitions) //--- (YAccelerometer declaration) /** * YAccelerometer Class: accelerometer control interface, available for instance in the Yocto-3D-V2 or * the Yocto-Inclinometer * * The YAccelerometer class allows you to read and configure Yoctopuce accelerometers. * It inherits from YSensor class the core functions to read measurements, * to register callback functions, and to access the autonomous datalogger. * This class adds the possibility to access x, y and z components of the acceleration * vector separately. */ class YOCTO_CLASS_EXPORT YAccelerometer: public YSensor { #ifdef __BORLANDC__ #pragma option push -w-8022 #endif //--- (end of YAccelerometer declaration) protected: //--- (YAccelerometer attributes) // Attributes (function value cache) int _bandwidth; double _xValue; double _yValue; double _zValue; Y_GRAVITYCANCELLATION_enum _gravityCancellation; YAccelerometerValueCallback _valueCallbackAccelerometer; YAccelerometerTimedReportCallback _timedReportCallbackAccelerometer; friend YAccelerometer *yFindAccelerometer(const string& func); friend YAccelerometer *yFirstAccelerometer(void); // Function-specific method for parsing of JSON output and caching result virtual int _parseAttr(YJSONObject *json_val); // Constructor is protected, use yFindAccelerometer factory function to instantiate YAccelerometer(const string& func); //--- (end of YAccelerometer attributes) public: virtual ~YAccelerometer(); //--- (YAccelerometer accessors declaration) static const int BANDWIDTH_INVALID = YAPI_INVALID_UINT; static const double XVALUE_INVALID; static const double YVALUE_INVALID; static const double ZVALUE_INVALID; static const Y_GRAVITYCANCELLATION_enum GRAVITYCANCELLATION_OFF = Y_GRAVITYCANCELLATION_OFF; static const Y_GRAVITYCANCELLATION_enum GRAVITYCANCELLATION_ON = Y_GRAVITYCANCELLATION_ON; static const Y_GRAVITYCANCELLATION_enum GRAVITYCANCELLATION_INVALID = Y_GRAVITYCANCELLATION_INVALID; /** * Returns the measure update frequency, measured in Hz. * * @return an integer corresponding to the measure update frequency, measured in Hz * * On failure, throws an exception or returns YAccelerometer::BANDWIDTH_INVALID. */ int get_bandwidth(void); inline int bandwidth(void) { return this->get_bandwidth(); } /** * Changes the measure update frequency, measured in Hz. When the * frequency is lower, the device performs averaging. * Remember to call the saveToFlash() * method of the module if the modification must be kept. * * @param newval : an integer corresponding to the measure update frequency, measured in Hz * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_bandwidth(int newval); inline int setBandwidth(int newval) { return this->set_bandwidth(newval); } /** * Returns the X component of the acceleration, as a floating point number. * * @return a floating point number corresponding to the X component of the acceleration, as a floating point number * * On failure, throws an exception or returns YAccelerometer::XVALUE_INVALID. */ double get_xValue(void); inline double xValue(void) { return this->get_xValue(); } /** * Returns the Y component of the acceleration, as a floating point number. * * @return a floating point number corresponding to the Y component of the acceleration, as a floating point number * * On failure, throws an exception or returns YAccelerometer::YVALUE_INVALID. */ double get_yValue(void); inline double yValue(void) { return this->get_yValue(); } /** * Returns the Z component of the acceleration, as a floating point number. * * @return a floating point number corresponding to the Z component of the acceleration, as a floating point number * * On failure, throws an exception or returns YAccelerometer::ZVALUE_INVALID. */ double get_zValue(void); inline double zValue(void) { return this->get_zValue(); } Y_GRAVITYCANCELLATION_enum get_gravityCancellation(void); inline Y_GRAVITYCANCELLATION_enum gravityCancellation(void) { return this->get_gravityCancellation(); } int set_gravityCancellation(Y_GRAVITYCANCELLATION_enum newval); inline int setGravityCancellation(Y_GRAVITYCANCELLATION_enum newval) { return this->set_gravityCancellation(newval); } /** * Retrieves an accelerometer for a given identifier. * The identifier can be specified using several formats: * * - FunctionLogicalName * - ModuleSerialNumber.FunctionIdentifier * - ModuleSerialNumber.FunctionLogicalName * - ModuleLogicalName.FunctionIdentifier * - ModuleLogicalName.FunctionLogicalName * * * This function does not require that the accelerometer is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method isOnline() to test if the accelerometer is * indeed online at a given time. In case of ambiguity when looking for * an accelerometer by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * * If a call to this object's is_online() method returns FALSE although * you are certain that the matching device is plugged, make sure that you did * call registerHub() at application initialization time. * * @param func : a string that uniquely characterizes the accelerometer, for instance * Y3DMK002.accelerometer. * * @return a YAccelerometer object allowing you to drive the accelerometer. */ static YAccelerometer* FindAccelerometer(string func); /** * Registers the callback function that is invoked on every change of advertised value. * The callback is invoked only during the execution of ySleep or yHandleEvents. * This provides control over the time when the callback is triggered. For good responsiveness, remember to call * one of these two functions periodically. To unregister a callback, pass a NULL pointer as argument. * * @param callback : the callback function to call, or a NULL pointer. The callback function should take two * arguments: the function object of which the value has changed, and the character string describing * the new advertised value. * @noreturn */ virtual int registerValueCallback(YAccelerometerValueCallback callback); using YSensor::registerValueCallback; virtual int _invokeValueCallback(string value); /** * Registers the callback function that is invoked on every periodic timed notification. * The callback is invoked only during the execution of ySleep or yHandleEvents. * This provides control over the time when the callback is triggered. For good responsiveness, remember to call * one of these two functions periodically. To unregister a callback, pass a NULL pointer as argument. * * @param callback : the callback function to call, or a NULL pointer. The callback function should take two * arguments: the function object of which the value has changed, and an YMeasure object describing * the new advertised value. * @noreturn */ virtual int registerTimedReportCallback(YAccelerometerTimedReportCallback callback); using YSensor::registerTimedReportCallback; virtual int _invokeTimedReportCallback(YMeasure value); inline static YAccelerometer *Find(string func) { return YAccelerometer::FindAccelerometer(func); } /** * Continues the enumeration of accelerometers started using yFirstAccelerometer(). * Caution: You can't make any assumption about the returned accelerometers order. * If you want to find a specific an accelerometer, use Accelerometer.findAccelerometer() * and a hardwareID or a logical name. * * @return a pointer to a YAccelerometer object, corresponding to * an accelerometer currently online, or a NULL pointer * if there are no more accelerometers to enumerate. */ YAccelerometer *nextAccelerometer(void); inline YAccelerometer *next(void) { return this->nextAccelerometer();} /** * Starts the enumeration of accelerometers currently accessible. * Use the method YAccelerometer::nextAccelerometer() to iterate on * next accelerometers. * * @return a pointer to a YAccelerometer object, corresponding to * the first accelerometer currently online, or a NULL pointer * if there are none. */ static YAccelerometer *FirstAccelerometer(void); inline static YAccelerometer *First(void) { return YAccelerometer::FirstAccelerometer();} #ifdef __BORLANDC__ #pragma option pop #endif //--- (end of YAccelerometer accessors declaration) }; //--- (YAccelerometer functions declaration) /** * Retrieves an accelerometer for a given identifier. * The identifier can be specified using several formats: * * - FunctionLogicalName * - ModuleSerialNumber.FunctionIdentifier * - ModuleSerialNumber.FunctionLogicalName * - ModuleLogicalName.FunctionIdentifier * - ModuleLogicalName.FunctionLogicalName * * * This function does not require that the accelerometer is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method isOnline() to test if the accelerometer is * indeed online at a given time. In case of ambiguity when looking for * an accelerometer by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * * If a call to this object's is_online() method returns FALSE although * you are certain that the matching device is plugged, make sure that you did * call registerHub() at application initialization time. * * @param func : a string that uniquely characterizes the accelerometer, for instance * Y3DMK002.accelerometer. * * @return a YAccelerometer object allowing you to drive the accelerometer. */ inline YAccelerometer *yFindAccelerometer(const string& func) { return YAccelerometer::FindAccelerometer(func);} /** * Starts the enumeration of accelerometers currently accessible. * Use the method YAccelerometer::nextAccelerometer() to iterate on * next accelerometers. * * @return a pointer to a YAccelerometer object, corresponding to * the first accelerometer currently online, or a NULL pointer * if there are none. */ inline YAccelerometer *yFirstAccelerometer(void) { return YAccelerometer::FirstAccelerometer();} //--- (end of YAccelerometer functions declaration) #ifdef YOCTOLIB_NAMESPACE // end of namespace definition } #endif #endif