yoctolib-esm
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Yoctopuce library for TypeScript/JavaScript, as an ECMAScript 2015 module
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JavaScript
/*********************************************************************
*
* $Id: svn_id $
*
* Implements the high-level API for Orientation 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.
*
*********************************************************************/
import { YAPI, YFunction, YSensor } from './yocto_api.js';
//--- (YOrientation class start)
/**
* YOrientation Class: orientation sensor control interface
*
* The YOrientation class allows you to read and configure Yoctopuce orientation sensors.
* It inherits from YSensor class the core functions to read measurements,
* to register callback functions, and to access the autonomous datalogger.
*/
//--- (end of YOrientation class start)
export class YOrientation extends YSensor {
//--- (end of YOrientation attributes declaration)
constructor(yapi, func) {
//--- (YOrientation constructor)
super(yapi, func);
this._counterClockwise = YOrientation.COUNTERCLOCKWISE_INVALID;
this._command = YOrientation.COMMAND_INVALID;
this._zeroOffset = YOrientation.ZEROOFFSET_INVALID;
this._valueCallbackOrientation = null;
this._timedReportCallbackOrientation = null;
// API symbols as object properties
this.COUNTERCLOCKWISE_FALSE = 0;
this.COUNTERCLOCKWISE_TRUE = 1;
this.COUNTERCLOCKWISE_INVALID = -1;
this.COMMAND_INVALID = YAPI.INVALID_STRING;
this.ZEROOFFSET_INVALID = YAPI.INVALID_DOUBLE;
this._className = 'Orientation';
//--- (end of YOrientation constructor)
}
//--- (YOrientation implementation)
imm_parseAttr(name, val) {
switch (name) {
case 'counterClockwise':
this._counterClockwise = val;
return 1;
case 'command':
this._command = val;
return 1;
case 'zeroOffset':
this._zeroOffset = Math.round(val / 65.536) / 1000.0;
return 1;
}
return super.imm_parseAttr(name, val);
}
/**
* Returns a value indicating whether the sensor is operating in a counterclockwise direction.
*
* @return either YOrientation.COUNTERCLOCKWISE_FALSE or YOrientation.COUNTERCLOCKWISE_TRUE, according
* to a value indicating whether the sensor is operating in a counterclockwise direction
*
* On failure, throws an exception or returns YOrientation.COUNTERCLOCKWISE_INVALID.
*/
async get_counterClockwise() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YOrientation.COUNTERCLOCKWISE_INVALID;
}
}
res = this._counterClockwise;
return res;
}
/**
* Defines the operating direction of the sensor.
* Remember to call the saveToFlash() method of the module if the
* modification must be kept.
*
* @param newval : either YOrientation.COUNTERCLOCKWISE_FALSE or YOrientation.COUNTERCLOCKWISE_TRUE
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async set_counterClockwise(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('counterClockwise', rest_val);
}
async get_command() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YOrientation.COMMAND_INVALID;
}
}
res = this._command;
return res;
}
async set_command(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('command', rest_val);
}
/**
* Sets an offset between the orientation reported by the sensor and the actual orientation. This
* can typically be used to compensate for mechanical offset. This offset can also be set
* automatically using the zero() method.
* Remember to call the saveToFlash() method of the module if the modification must be kept.
*
* @param newval : a floating point number
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async set_zeroOffset(newval) {
let rest_val;
rest_val = String(Math.round(newval * 65536.0));
return await this._setAttr('zeroOffset', rest_val);
}
/**
* Returns the Offset between the orientation reported by the sensor and the actual orientation.
*
* @return a floating point number corresponding to the Offset between the orientation reported by the
* sensor and the actual orientation
*
* On failure, throws an exception or returns YOrientation.ZEROOFFSET_INVALID.
*/
async get_zeroOffset() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YOrientation.ZEROOFFSET_INVALID;
}
}
res = this._zeroOffset;
return res;
}
/**
* Retrieves an orientation 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 orientation sensor is online at the time
* it is invoked. The returned object is nevertheless valid.
* Use the method YOrientation.isOnline() to test if the orientation sensor is
* indeed online at a given time. In case of ambiguity when looking for
* an orientation 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 orientation sensor, for instance
* MyDevice.orientation.
*
* @return a YOrientation object allowing you to drive the orientation sensor.
*/
static FindOrientation(func) {
let obj;
obj = YFunction._FindFromCache('Orientation', func);
if (obj == null) {
obj = new YOrientation(YAPI, func);
YFunction._AddToCache('Orientation', func, obj);
}
return obj;
}
/**
* Retrieves an orientation sensor for a given identifier in a YAPI context.
* The identifier can be specified using several formats:
*
* - FunctionLogicalName
* - ModuleSerialNumber.FunctionIdentifier
* - ModuleSerialNumber.FunctionLogicalName
* - ModuleLogicalName.FunctionIdentifier
* - ModuleLogicalName.FunctionLogicalName
*
*
* This function does not require that the orientation sensor is online at the time
* it is invoked. The returned object is nevertheless valid.
* Use the method YOrientation.isOnline() to test if the orientation sensor is
* indeed online at a given time. In case of ambiguity when looking for
* an orientation 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.
*
* @param yctx : a YAPI context
* @param func : a string that uniquely characterizes the orientation sensor, for instance
* MyDevice.orientation.
*
* @return a YOrientation object allowing you to drive the orientation sensor.
*/
static FindOrientationInContext(yctx, func) {
let obj;
obj = YFunction._FindFromCacheInContext(yctx, 'Orientation', func);
if (obj == null) {
obj = new YOrientation(yctx, func);
YFunction._AddToCache('Orientation', func, obj);
}
return obj;
}
/**
* Registers the callback function that is invoked on every change of advertised value.
* The callback is then 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. The callback is called once juste after beeing
* registered, passing the current advertised value of the function, provided that it is not an empty string.
* 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
*/
async registerValueCallback(callback) {
let val;
if (callback != null) {
await YFunction._UpdateValueCallbackList(this, true);
}
else {
await YFunction._UpdateValueCallbackList(this, false);
}
this._valueCallbackOrientation = callback;
// Immediately invoke value callback with current value
if (callback != null && await this.isOnline()) {
val = this._advertisedValue;
if (!(val == '')) {
await this._invokeValueCallback(val);
}
}
return 0;
}
async _invokeValueCallback(value) {
if (this._valueCallbackOrientation != null) {
try {
await this._valueCallbackOrientation(this, value);
}
catch (e) {
this._yapi.imm_log('Exception in valueCallback:', e);
}
}
else {
await super._invokeValueCallback(value);
}
return 0;
}
/**
* 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
*/
async registerTimedReportCallback(callback) {
let sensor;
sensor = this;
if (callback != null) {
await YFunction._UpdateTimedReportCallbackList(sensor, true);
}
else {
await YFunction._UpdateTimedReportCallbackList(sensor, false);
}
this._timedReportCallbackOrientation = callback;
return 0;
}
async _invokeTimedReportCallback(value) {
if (this._timedReportCallbackOrientation != null) {
try {
await this._timedReportCallbackOrientation(this, value);
}
catch (e) {
this._yapi.imm_log('Exception in timedReportCallback:', e);
}
}
else {
await super._invokeTimedReportCallback(value);
}
return 0;
}
async sendCommand(command) {
return await this.set_command(command);
}
/**
* Reset the sensor's zero to current position by automatically setting a new offset.
* Remember to call the saveToFlash() method of the module if the modification must be kept.
*
* @return YAPI.SUCCESS if the call succeeds.
* On failure, throws an exception or returns a negative error code.
*/
async zero() {
return await this.sendCommand('Z');
}
/**
* Modifies the calibration of the MA600A sensor using an array of 32
* values representing the offset in degrees between the true values and
* those measured regularly every 11.25 degrees starting from zero. The calibration
* is applied immediately and is stored permanently in the MA600A sensor.
* Before calculating the offset values, remember to clear any previous
* calibration using the clearCalibration function and set
* the zero offset to 0. After a calibration change, the sensor will stop
* measurements for about one second.
* Do not confuse this function with the generic calibrateFromPoints function,
* which works at the YSensor level and is not necessarily well suited to
* a sensor returning circular values.
*
* @param offsetValues : array of 32 floating point values in the [-11.25..+11.25] range
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async set_calibration(offsetValues) {
let res;
let npt;
let idx;
let corr;
npt = offsetValues.length;
if (npt != 32) {
this._throw(this._yapi.INVALID_ARGUMENT, 'Invalid calibration parameters (32 expected)');
return this._yapi.INVALID_ARGUMENT;
}
res = 'C';
idx = 0;
while (idx < npt) {
corr = Math.round(offsetValues[idx] * 128 / 11.25);
if ((corr < -128) || (corr > 127)) {
this._throw(this._yapi.INVALID_ARGUMENT, 'Calibration parameter exceeds permitted range (+/-11.25)');
return this._yapi.INVALID_ARGUMENT;
}
if (corr < 0) {
corr = corr + 256;
}
res = res + '' + ('00' + (corr).toString(16)).slice(-2).toLowerCase();
idx = idx + 1;
}
return await this.sendCommand(res);
}
/**
* Retrieves offset correction data points previously entered using the method
* set_calibration.
*
* @param offsetValues : array of 32 floating point numbers, that will be filled by the
* function with the offset values for the correction points.
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async get_Calibration(offsetValues) {
return 0;
}
/**
* Cancels any calibration set with set_calibration. This function
* is equivalent to calling set_calibration with only zeros.
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async clearCalibration() {
return await this.sendCommand('-');
}
/**
* Continues the enumeration of orientation sensors started using yFirstOrientation().
* Caution: You can't make any assumption about the returned orientation sensors order.
* If you want to find a specific an orientation sensor, use Orientation.findOrientation()
* and a hardwareID or a logical name.
*
* @return a pointer to a YOrientation object, corresponding to
* an orientation sensor currently online, or a null pointer
* if there are no more orientation sensors to enumerate.
*/
nextOrientation() {
let resolve = this._yapi.imm_resolveFunction(this._className, this._func);
if (resolve.errorType != YAPI.SUCCESS)
return null;
let next_hwid = this._yapi.imm_getNextHardwareId(this._className, resolve.result);
if (next_hwid == null)
return null;
return YOrientation.FindOrientationInContext(this._yapi, next_hwid);
}
/**
* Starts the enumeration of orientation sensors currently accessible.
* Use the method YOrientation.nextOrientation() to iterate on
* next orientation sensors.
*
* @return a pointer to a YOrientation object, corresponding to
* the first orientation sensor currently online, or a null pointer
* if there are none.
*/
static FirstOrientation() {
let next_hwid = YAPI.imm_getFirstHardwareId('Orientation');
if (next_hwid == null)
return null;
return YOrientation.FindOrientation(next_hwid);
}
/**
* Starts the enumeration of orientation sensors currently accessible.
* Use the method YOrientation.nextOrientation() to iterate on
* next orientation sensors.
*
* @param yctx : a YAPI context.
*
* @return a pointer to a YOrientation object, corresponding to
* the first orientation sensor currently online, or a null pointer
* if there are none.
*/
static FirstOrientationInContext(yctx) {
let next_hwid = yctx.imm_getFirstHardwareId('Orientation');
if (next_hwid == null)
return null;
return YOrientation.FindOrientationInContext(yctx, next_hwid);
}
}
// API symbols as static members
YOrientation.COUNTERCLOCKWISE_FALSE = 0;
YOrientation.COUNTERCLOCKWISE_TRUE = 1;
YOrientation.COUNTERCLOCKWISE_INVALID = -1;
YOrientation.COMMAND_INVALID = YAPI.INVALID_STRING;
YOrientation.ZEROOFFSET_INVALID = YAPI.INVALID_DOUBLE;
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