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 RangeFinder 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,
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* 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, YAPIContext, YFunction, YSensor } from './yocto_api.js';
//--- (YRangeFinder class start)
/**
* YRangeFinder Class: range finder control interface, available for instance in the Yocto-RangeFinder
*
* The YRangeFinder class allows you to read and configure Yoctopuce range finders.
* It inherits from YSensor class the core functions to read measures,
* to register callback functions, and to access the autonomous datalogger.
* This class adds the ability to easily perform a one-point linear calibration
* to compensate the effect of a glass or filter placed in front of the sensor.
*/
//--- (end of YRangeFinder class start)
export class YRangeFinder extends YSensor {
//--- (end of YRangeFinder attributes declaration)
constructor(yapi, func) {
//--- (YRangeFinder constructor)
super(yapi, func);
this._rangeFinderMode = YRangeFinder.RANGEFINDERMODE_INVALID;
this._timeFrame = YRangeFinder.TIMEFRAME_INVALID;
this._quality = YRangeFinder.QUALITY_INVALID;
this._hardwareCalibration = YRangeFinder.HARDWARECALIBRATION_INVALID;
this._currentTemperature = YRangeFinder.CURRENTTEMPERATURE_INVALID;
this._command = YRangeFinder.COMMAND_INVALID;
this._valueCallbackRangeFinder = null;
this._timedReportCallbackRangeFinder = null;
// API symbols as object properties
this.RANGEFINDERMODE_DEFAULT = 0;
this.RANGEFINDERMODE_LONG_RANGE = 1;
this.RANGEFINDERMODE_HIGH_ACCURACY = 2;
this.RANGEFINDERMODE_HIGH_SPEED = 3;
this.RANGEFINDERMODE_INVALID = -1;
this.TIMEFRAME_INVALID = YAPI.INVALID_LONG;
this.QUALITY_INVALID = YAPI.INVALID_UINT;
this.HARDWARECALIBRATION_INVALID = YAPI.INVALID_STRING;
this.CURRENTTEMPERATURE_INVALID = YAPI.INVALID_DOUBLE;
this.COMMAND_INVALID = YAPI.INVALID_STRING;
this._className = 'RangeFinder';
//--- (end of YRangeFinder constructor)
}
//--- (YRangeFinder implementation)
imm_parseAttr(name, val) {
switch (name) {
case 'rangeFinderMode':
this._rangeFinderMode = val;
return 1;
case 'timeFrame':
this._timeFrame = val;
return 1;
case 'quality':
this._quality = val;
return 1;
case 'hardwareCalibration':
this._hardwareCalibration = val;
return 1;
case 'currentTemperature':
this._currentTemperature = Math.round(val / 65.536) / 1000.0;
return 1;
case 'command':
this._command = val;
return 1;
}
return super.imm_parseAttr(name, val);
}
/**
* Changes the measuring unit for the measured range. That unit is a string.
* String value can be " or mm. Any other value is ignored.
* Remember to call the saveToFlash() method of the module if the modification must be kept.
* WARNING: if a specific calibration is defined for the rangeFinder function, a
* unit system change will probably break it.
*
* @param newval : a string corresponding to the measuring unit for the measured range
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async set_unit(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('unit', rest_val);
}
/**
* Returns the range finder running mode. The rangefinder running mode
* allows you to put priority on precision, speed or maximum range.
*
* @return a value among YRangeFinder.RANGEFINDERMODE_DEFAULT,
* YRangeFinder.RANGEFINDERMODE_LONG_RANGE, YRangeFinder.RANGEFINDERMODE_HIGH_ACCURACY and
* YRangeFinder.RANGEFINDERMODE_HIGH_SPEED corresponding to the range finder running mode
*
* On failure, throws an exception or returns YRangeFinder.RANGEFINDERMODE_INVALID.
*/
async get_rangeFinderMode() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YRangeFinder.RANGEFINDERMODE_INVALID;
}
}
res = this._rangeFinderMode;
return res;
}
/**
* Changes the rangefinder running mode, allowing you to put priority on
* precision, speed or maximum range.
* Remember to call the saveToFlash() method of the module if the modification must be kept.
*
* @param newval : a value among YRangeFinder.RANGEFINDERMODE_DEFAULT,
* YRangeFinder.RANGEFINDERMODE_LONG_RANGE, YRangeFinder.RANGEFINDERMODE_HIGH_ACCURACY and
* YRangeFinder.RANGEFINDERMODE_HIGH_SPEED corresponding to the rangefinder running mode, allowing you
* to put priority on
* precision, speed or maximum range
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async set_rangeFinderMode(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('rangeFinderMode', rest_val);
}
/**
* Returns the time frame used to measure the distance and estimate the measure
* reliability. The time frame is expressed in milliseconds.
*
* @return an integer corresponding to the time frame used to measure the distance and estimate the measure
* reliability
*
* On failure, throws an exception or returns YRangeFinder.TIMEFRAME_INVALID.
*/
async get_timeFrame() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YRangeFinder.TIMEFRAME_INVALID;
}
}
res = this._timeFrame;
return res;
}
/**
* Changes the time frame used to measure the distance and estimate the measure
* reliability. The time frame is expressed in milliseconds. A larger timeframe
* improves stability and reliability, at the cost of higher latency, but prevents
* the detection of events shorter than the time frame.
* Remember to call the saveToFlash() method of the module if the modification must be kept.
*
* @param newval : an integer corresponding to the time frame used to measure the distance and estimate the measure
* reliability
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async set_timeFrame(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('timeFrame', rest_val);
}
/**
* Returns a measure quality estimate, based on measured dispersion.
*
* @return an integer corresponding to a measure quality estimate, based on measured dispersion
*
* On failure, throws an exception or returns YRangeFinder.QUALITY_INVALID.
*/
async get_quality() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YRangeFinder.QUALITY_INVALID;
}
}
res = this._quality;
return res;
}
async get_hardwareCalibration() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YRangeFinder.HARDWARECALIBRATION_INVALID;
}
}
res = this._hardwareCalibration;
return res;
}
async set_hardwareCalibration(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('hardwareCalibration', rest_val);
}
/**
* Returns the current sensor temperature, as a floating point number.
*
* @return a floating point number corresponding to the current sensor temperature, as a floating point number
*
* On failure, throws an exception or returns YRangeFinder.CURRENTTEMPERATURE_INVALID.
*/
async get_currentTemperature() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YRangeFinder.CURRENTTEMPERATURE_INVALID;
}
}
res = this._currentTemperature;
return res;
}
async get_command() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YRangeFinder.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);
}
/**
* Retrieves a range finder 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 range finder is online at the time
* it is invoked. The returned object is nevertheless valid.
* Use the method YRangeFinder.isOnline() to test if the range finder is
* indeed online at a given time. In case of ambiguity when looking for
* a range finder 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 range finder, for instance
* YRNGFND1.rangeFinder1.
*
* @return a YRangeFinder object allowing you to drive the range finder.
*/
static FindRangeFinder(func) {
let obj;
obj = YFunction._FindFromCache('RangeFinder', func);
if (obj == null) {
obj = new YRangeFinder(YAPI, func);
YFunction._AddToCache('RangeFinder', func, obj);
}
return obj;
}
/**
* Retrieves a range finder 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 range finder is online at the time
* it is invoked. The returned object is nevertheless valid.
* Use the method YRangeFinder.isOnline() to test if the range finder is
* indeed online at a given time. In case of ambiguity when looking for
* a range finder 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 range finder, for instance
* YRNGFND1.rangeFinder1.
*
* @return a YRangeFinder object allowing you to drive the range finder.
*/
static FindRangeFinderInContext(yctx, func) {
let obj;
obj = YFunction._FindFromCacheInContext(yctx, 'RangeFinder', func);
if (obj == null) {
obj = new YRangeFinder(yctx, func);
YFunction._AddToCache('RangeFinder', func, obj);
}
return obj;
}
/**
* 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
*/
async registerValueCallback(callback) {
let val;
if (callback != null) {
await YFunction._UpdateValueCallbackList(this, true);
}
else {
await YFunction._UpdateValueCallbackList(this, false);
}
this._valueCallbackRangeFinder = 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._valueCallbackRangeFinder != null) {
try {
await this._valueCallbackRangeFinder(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._timedReportCallbackRangeFinder = callback;
return 0;
}
async _invokeTimedReportCallback(value) {
if (this._timedReportCallbackRangeFinder != null) {
try {
await this._timedReportCallbackRangeFinder(this, value);
}
catch (e) {
this._yapi.imm_log('Exception in timedReportCallback:', e);
}
}
else {
await super._invokeTimedReportCallback(value);
}
return 0;
}
/**
* Returns the temperature at the time when the latest calibration was performed.
* This function can be used to determine if a new calibration for ambient temperature
* is required.
*
* @return a temperature, as a floating point number.
* On failure, throws an exception or return YAPI.INVALID_DOUBLE.
*/
async get_hardwareCalibrationTemperature() {
let hwcal;
hwcal = await this.get_hardwareCalibration();
if (!(hwcal.substr(0, 1) == '@')) {
return this._yapi.INVALID_DOUBLE;
}
return YAPIContext.imm_atoi(hwcal.substr(1, (hwcal).length));
}
/**
* Triggers a sensor calibration according to the current ambient temperature. That
* calibration process needs no physical interaction with the sensor. It is performed
* automatically at device startup, but it is recommended to start it again when the
* temperature delta since the latest calibration exceeds 8 degrees Celsius.
*
* @return YAPI.SUCCESS if the call succeeds.
* On failure, throws an exception or returns a negative error code.
*/
async triggerTemperatureCalibration() {
return await this.set_command('T');
}
/**
* Triggers the photon detector hardware calibration.
* This function is part of the calibration procedure to compensate for the effect
* of a cover glass. Make sure to read the chapter about hardware calibration for details
* on the calibration procedure for proper results.
*
* @return YAPI.SUCCESS if the call succeeds.
* On failure, throws an exception or returns a negative error code.
*/
async triggerSpadCalibration() {
return await this.set_command('S');
}
/**
* Triggers the hardware offset calibration of the distance sensor.
* This function is part of the calibration procedure to compensate for the the effect
* of a cover glass. Make sure to read the chapter about hardware calibration for details
* on the calibration procedure for proper results.
*
* @param targetDist : true distance of the calibration target, in mm or inches, depending
* on the unit selected in the device
*
* @return YAPI.SUCCESS if the call succeeds.
* On failure, throws an exception or returns a negative error code.
*/
async triggerOffsetCalibration(targetDist) {
let distmm;
if (await this.get_unit() == '"') {
distmm = Math.round(targetDist * 25.4);
}
else {
distmm = Math.round(targetDist);
}
return await this.set_command('O' + String(Math.round(distmm)));
}
/**
* Triggers the hardware cross-talk calibration of the distance sensor.
* This function is part of the calibration procedure to compensate for the effect
* of a cover glass. Make sure to read the chapter about hardware calibration for details
* on the calibration procedure for proper results.
*
* @param targetDist : true distance of the calibration target, in mm or inches, depending
* on the unit selected in the device
*
* @return YAPI.SUCCESS if the call succeeds.
* On failure, throws an exception or returns a negative error code.
*/
async triggerXTalkCalibration(targetDist) {
let distmm;
if (await this.get_unit() == '"') {
distmm = Math.round(targetDist * 25.4);
}
else {
distmm = Math.round(targetDist);
}
return await this.set_command('X' + String(Math.round(distmm)));
}
/**
* Cancels the effect of previous hardware calibration procedures to compensate
* for cover glass, and restores factory settings.
* 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 cancelCoverGlassCalibrations() {
return await this.set_hardwareCalibration('');
}
/**
* Continues the enumeration of range finders started using yFirstRangeFinder().
* Caution: You can't make any assumption about the returned range finders order.
* If you want to find a specific a range finder, use RangeFinder.findRangeFinder()
* and a hardwareID or a logical name.
*
* @return a pointer to a YRangeFinder object, corresponding to
* a range finder currently online, or a null pointer
* if there are no more range finders to enumerate.
*/
nextRangeFinder() {
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 YRangeFinder.FindRangeFinderInContext(this._yapi, next_hwid);
}
/**
* Starts the enumeration of range finders currently accessible.
* Use the method YRangeFinder.nextRangeFinder() to iterate on
* next range finders.
*
* @return a pointer to a YRangeFinder object, corresponding to
* the first range finder currently online, or a null pointer
* if there are none.
*/
static FirstRangeFinder() {
let next_hwid = YAPI.imm_getFirstHardwareId('RangeFinder');
if (next_hwid == null)
return null;
return YRangeFinder.FindRangeFinder(next_hwid);
}
/**
* Starts the enumeration of range finders currently accessible.
* Use the method YRangeFinder.nextRangeFinder() to iterate on
* next range finders.
*
* @param yctx : a YAPI context.
*
* @return a pointer to a YRangeFinder object, corresponding to
* the first range finder currently online, or a null pointer
* if there are none.
*/
static FirstRangeFinderInContext(yctx) {
let next_hwid = yctx.imm_getFirstHardwareId('RangeFinder');
if (next_hwid == null)
return null;
return YRangeFinder.FindRangeFinderInContext(yctx, next_hwid);
}
}
// API symbols as static members
YRangeFinder.RANGEFINDERMODE_DEFAULT = 0;
YRangeFinder.RANGEFINDERMODE_LONG_RANGE = 1;
YRangeFinder.RANGEFINDERMODE_HIGH_ACCURACY = 2;
YRangeFinder.RANGEFINDERMODE_HIGH_SPEED = 3;
YRangeFinder.RANGEFINDERMODE_INVALID = -1;
YRangeFinder.TIMEFRAME_INVALID = YAPI.INVALID_LONG;
YRangeFinder.QUALITY_INVALID = YAPI.INVALID_UINT;
YRangeFinder.HARDWARECALIBRATION_INVALID = YAPI.INVALID_STRING;
YRangeFinder.CURRENTTEMPERATURE_INVALID = YAPI.INVALID_DOUBLE;
YRangeFinder.COMMAND_INVALID = YAPI.INVALID_STRING;
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