/*********************************************************************
 *
 *  $Id: yocto_tilt.h 59978 2024-03-18 15:04:46Z mvuilleu $
 *
 *  Declares yFindTilt(), the high-level API for Tilt 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_TILT_H
#define YOCTO_TILT_H

#include <cfloat>
#include <cmath>

#include "yocto_api.h"

#ifdef YOCTOLIB_NAMESPACE
namespace YOCTOLIB_NAMESPACE
{
#endif

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

typedef void (*YTiltValueCallback)(YTilt *func, const string& functionValue);
class YMeasure; // forward declaration
typedef void (*YTiltTimedReportCallback)(YTilt *func, YMeasure measure);
#ifndef _Y_AXIS_ENUM
#define _Y_AXIS_ENUM
typedef enum {
    Y_AXIS_X = 0,
    Y_AXIS_Y = 1,
    Y_AXIS_Z = 2,
    Y_AXIS_INVALID = -1,
} Y_AXIS_enum;
#endif
#define Y_BANDWIDTH_INVALID             (YAPI_INVALID_UINT)
//--- (end of YTilt definitions)

//--- (YTilt declaration)
/**
 * YTilt Class: tilt sensor control interface, available for instance in the Yocto-3D-V2 or the Yocto-Inclinometer
 *
 * The YSensor class is the parent class for all Yoctopuce sensor types. It can be
 * used to read the current value and unit of any sensor, read the min/max
 * value, configure autonomous recording frequency and access recorded data.
 * It also provide a function to register a callback invoked each time the
 * observed value changes, or at a predefined interval. Using this class rather
 * than a specific subclass makes it possible to create generic applications
 * that work with any Yoctopuce sensor, even those that do not yet exist.
 * Note: The YAnButton class is the only analog input which does not inherit
 * from YSensor.
 */
class YOCTO_CLASS_EXPORT YTilt: public YSensor {
#ifdef __BORLANDC__
#pragma option push -w-8022
#endif
//--- (end of YTilt declaration)
protected:
    //--- (YTilt attributes)
    // Attributes (function value cache)
    int             _bandwidth;
    Y_AXIS_enum     _axis;
    YTiltValueCallback _valueCallbackTilt;
    YTiltTimedReportCallback _timedReportCallbackTilt;

    friend YTilt *yFindTilt(const string& func);
    friend YTilt *yFirstTilt(void);

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

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

public:
    virtual ~YTilt();
    //--- (YTilt accessors declaration)

    static const int BANDWIDTH_INVALID = YAPI_INVALID_UINT;
    static const Y_AXIS_enum AXIS_X = Y_AXIS_X;
    static const Y_AXIS_enum AXIS_Y = Y_AXIS_Y;
    static const Y_AXIS_enum AXIS_Z = Y_AXIS_Z;
    static const Y_AXIS_enum AXIS_INVALID = Y_AXIS_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 YTilt::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); }

    Y_AXIS_enum         get_axis(void);

    inline Y_AXIS_enum  axis(void)
    { return this->get_axis(); }

    /**
     * Retrieves a tilt sensor 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 tilt sensor is online at the time
     * it is invoked. The returned object is nevertheless valid.
     * Use the method isOnline() to test if the tilt sensor is
     * indeed online at a given time. In case of ambiguity when looking for
     * a tilt sensor 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 tilt sensor, for instance
     *         Y3DMK002.tilt1.
     *
     * @return a YTilt object allowing you to drive the tilt sensor.
     */
    static YTilt*       FindTilt(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(YTiltValueCallback 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(YTiltTimedReportCallback callback);
    using YSensor::registerTimedReportCallback;

    virtual int         _invokeTimedReportCallback(YMeasure value);

    /**
     * Performs a zero calibration for the tilt measurement (Yocto-Inclinometer only).
     * When this method is invoked, a simple shift (translation)
     * is applied so that the current position is reported as a zero angle.
     * Be aware that this shift will also affect the measurement boundaries.
     *
     * @return YAPI::SUCCESS if the call succeeds.
     *
     * On failure, throws an exception or returns a negative error code.
     */
    virtual int         calibrateToZero(void);

    /**
     * Cancels any previous zero calibration for the tilt measurement (Yocto-Inclinometer only).
     * This function restores the factory zero calibration.
     *
     * @return YAPI::SUCCESS if the call succeeds.
     *
     * On failure, throws an exception or returns a negative error code.
     */
    virtual int         restoreZeroCalibration(void);


    inline static YTilt *Find(string func)
    { return YTilt::FindTilt(func); }

    /**
     * Continues the enumeration of tilt sensors started using yFirstTilt().
     * Caution: You can't make any assumption about the returned tilt sensors order.
     * If you want to find a specific a tilt sensor, use Tilt.findTilt()
     * and a hardwareID or a logical name.
     *
     * @return a pointer to a YTilt object, corresponding to
     *         a tilt sensor currently online, or a NULL pointer
     *         if there are no more tilt sensors to enumerate.
     */
           YTilt           *nextTilt(void);
    inline YTilt           *next(void)
    { return this->nextTilt();}

    /**
     * Starts the enumeration of tilt sensors currently accessible.
     * Use the method YTilt::nextTilt() to iterate on
     * next tilt sensors.
     *
     * @return a pointer to a YTilt object, corresponding to
     *         the first tilt sensor currently online, or a NULL pointer
     *         if there are none.
     */
           static YTilt *FirstTilt(void);
    inline static YTilt *First(void)
    { return YTilt::FirstTilt();}
#ifdef __BORLANDC__
#pragma option pop
#endif
    //--- (end of YTilt accessors declaration)
};

//--- (YTilt functions declaration)

/**
 * Retrieves a tilt sensor 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 tilt sensor is online at the time
 * it is invoked. The returned object is nevertheless valid.
 * Use the method isOnline() to test if the tilt sensor is
 * indeed online at a given time. In case of ambiguity when looking for
 * a tilt sensor 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 tilt sensor, for instance
 *         Y3DMK002.tilt1.
 *
 * @return a YTilt object allowing you to drive the tilt sensor.
 */
inline YTilt *yFindTilt(const string& func)
{ return YTilt::FindTilt(func);}
/**
 * Starts the enumeration of tilt sensors currently accessible.
 * Use the method YTilt::nextTilt() to iterate on
 * next tilt sensors.
 *
 * @return a pointer to a YTilt object, corresponding to
 *         the first tilt sensor currently online, or a NULL pointer
 *         if there are none.
 */
inline YTilt *yFirstTilt(void)
{ return YTilt::FirstTilt();}

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

#ifdef YOCTOLIB_NAMESPACE
// end of namespace definition
}
#endif

#endif