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 Servo 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 } from './yocto_api.js';
//--- (YServo class start)
/**
* YServo Class: RC servo motor control interface, available for instance in the Yocto-Servo
*
* The YServo class is designed to drive remote-control servo motors
* outputs. This class allows you not only to move
* a servo to a given position, but also to specify the time interval
* in which the move should be performed. This makes it possible to
* synchronize two servos involved in a same move.
*/
//--- (end of YServo class start)
export class YServo extends YFunction {
//--- (end of YServo attributes declaration)
constructor(yapi, func) {
//--- (YServo constructor)
super(yapi, func);
this._position = YServo.POSITION_INVALID;
this._enabled = YServo.ENABLED_INVALID;
this._range = YServo.RANGE_INVALID;
this._neutral = YServo.NEUTRAL_INVALID;
this._move = {};
this._positionAtPowerOn = YServo.POSITIONATPOWERON_INVALID;
this._enabledAtPowerOn = YServo.ENABLEDATPOWERON_INVALID;
this._valueCallbackServo = null;
// API symbols as object properties
this.POSITION_INVALID = YAPI.INVALID_INT;
this.ENABLED_FALSE = 0;
this.ENABLED_TRUE = 1;
this.ENABLED_INVALID = -1;
this.RANGE_INVALID = YAPI.INVALID_UINT;
this.NEUTRAL_INVALID = YAPI.INVALID_UINT;
this.POSITIONATPOWERON_INVALID = YAPI.INVALID_INT;
this.ENABLEDATPOWERON_FALSE = 0;
this.ENABLEDATPOWERON_TRUE = 1;
this.ENABLEDATPOWERON_INVALID = -1;
this._className = 'Servo';
//--- (end of YServo constructor)
}
//--- (YServo implementation)
imm_parseAttr(name, val) {
switch (name) {
case 'position':
this._position = val;
return 1;
case 'enabled':
this._enabled = val;
return 1;
case 'range':
this._range = val;
return 1;
case 'neutral':
this._neutral = val;
return 1;
case 'move':
this._move = val;
return 1;
case 'positionAtPowerOn':
this._positionAtPowerOn = val;
return 1;
case 'enabledAtPowerOn':
this._enabledAtPowerOn = val;
return 1;
}
return super.imm_parseAttr(name, val);
}
/**
* Returns the current servo position.
*
* @return an integer corresponding to the current servo position
*
* On failure, throws an exception or returns YServo.POSITION_INVALID.
*/
async get_position() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YServo.POSITION_INVALID;
}
}
res = this._position;
return res;
}
/**
* Changes immediately the servo driving position.
*
* @param newval : an integer corresponding to immediately the servo driving position
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async set_position(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('position', rest_val);
}
/**
* Returns the state of the RC servo motors.
*
* @return either YServo.ENABLED_FALSE or YServo.ENABLED_TRUE, according to the state of the RC servo motors
*
* On failure, throws an exception or returns YServo.ENABLED_INVALID.
*/
async get_enabled() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YServo.ENABLED_INVALID;
}
}
res = this._enabled;
return res;
}
/**
* Stops or starts the RC servo motor.
*
* @param newval : either YServo.ENABLED_FALSE or YServo.ENABLED_TRUE
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async set_enabled(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('enabled', rest_val);
}
/**
* Returns the current range of use of the servo.
*
* @return an integer corresponding to the current range of use of the servo
*
* On failure, throws an exception or returns YServo.RANGE_INVALID.
*/
async get_range() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YServo.RANGE_INVALID;
}
}
res = this._range;
return res;
}
/**
* Changes the range of use of the servo, specified in per cents.
* A range of 100% corresponds to a standard control signal, that varies
* from 1 [ms] to 2 [ms], When using a servo that supports a double range,
* from 0.5 [ms] to 2.5 [ms], you can select a range of 200%.
* Be aware that using a range higher than what is supported by the servo
* is likely to damage the servo. Remember to call the matching module
* saveToFlash() method, otherwise this call will have no effect.
*
* @param newval : an integer corresponding to the range of use of the servo, specified in per cents
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async set_range(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('range', rest_val);
}
/**
* Returns the duration in microseconds of a neutral pulse for the servo.
*
* @return an integer corresponding to the duration in microseconds of a neutral pulse for the servo
*
* On failure, throws an exception or returns YServo.NEUTRAL_INVALID.
*/
async get_neutral() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YServo.NEUTRAL_INVALID;
}
}
res = this._neutral;
return res;
}
/**
* Changes the duration of the pulse corresponding to the neutral position of the servo.
* The duration is specified in microseconds, and the standard value is 1500 [us].
* This setting makes it possible to shift the range of use of the servo.
* Be aware that using a range higher than what is supported by the servo is
* likely to damage the servo. Remember to call the matching module
* saveToFlash() method, otherwise this call will have no effect.
*
* @param newval : an integer corresponding to the duration of the pulse corresponding to the neutral
* position of the servo
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async set_neutral(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('neutral', rest_val);
}
async get_move() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YServo.MOVE_INVALID;
}
}
res = this._move;
return res;
}
async set_move(newval) {
let rest_val;
rest_val = String(newval.target) + ':' + String(newval.ms);
return await this._setAttr('move', rest_val);
}
/**
* Performs a smooth move at constant speed toward a given position.
*
* @param target : new position at the end of the move
* @param ms_duration : total duration of the move, in milliseconds
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async move(target, ms_duration) {
let rest_val;
rest_val = String(target) + ':' + String(ms_duration);
return await this._setAttr('move', rest_val);
}
/**
* Returns the servo position at device power up.
*
* @return an integer corresponding to the servo position at device power up
*
* On failure, throws an exception or returns YServo.POSITIONATPOWERON_INVALID.
*/
async get_positionAtPowerOn() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YServo.POSITIONATPOWERON_INVALID;
}
}
res = this._positionAtPowerOn;
return res;
}
/**
* Configure the servo position at device power up. Remember to call the matching
* module saveToFlash() method, otherwise this call will have no effect.
*
* @param newval : an integer
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async set_positionAtPowerOn(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('positionAtPowerOn', rest_val);
}
/**
* Returns the servo signal generator state at power up.
*
* @return either YServo.ENABLEDATPOWERON_FALSE or YServo.ENABLEDATPOWERON_TRUE, according to the
* servo signal generator state at power up
*
* On failure, throws an exception or returns YServo.ENABLEDATPOWERON_INVALID.
*/
async get_enabledAtPowerOn() {
let res;
if (this._cacheExpiration <= this._yapi.GetTickCount()) {
if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
return YServo.ENABLEDATPOWERON_INVALID;
}
}
res = this._enabledAtPowerOn;
return res;
}
/**
* Configure the servo signal generator state at power up. Remember to call the matching module saveToFlash()
* method, otherwise this call will have no effect.
*
* @param newval : either YServo.ENABLEDATPOWERON_FALSE or YServo.ENABLEDATPOWERON_TRUE
*
* @return YAPI.SUCCESS if the call succeeds.
*
* On failure, throws an exception or returns a negative error code.
*/
async set_enabledAtPowerOn(newval) {
let rest_val;
rest_val = String(newval);
return await this._setAttr('enabledAtPowerOn', rest_val);
}
/**
* Retrieves a RC servo motor 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 RC servo motor is online at the time
* it is invoked. The returned object is nevertheless valid.
* Use the method YServo.isOnline() to test if the RC servo motor is
* indeed online at a given time. In case of ambiguity when looking for
* a RC servo motor 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 RC servo motor, for instance
* SERVORC1.servo1.
*
* @return a YServo object allowing you to drive the RC servo motor.
*/
static FindServo(func) {
let obj;
obj = YFunction._FindFromCache('Servo', func);
if (obj == null) {
obj = new YServo(YAPI, func);
YFunction._AddToCache('Servo', func, obj);
}
return obj;
}
/**
* Retrieves a RC servo motor 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 RC servo motor is online at the time
* it is invoked. The returned object is nevertheless valid.
* Use the method YServo.isOnline() to test if the RC servo motor is
* indeed online at a given time. In case of ambiguity when looking for
* a RC servo motor 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 RC servo motor, for instance
* SERVORC1.servo1.
*
* @return a YServo object allowing you to drive the RC servo motor.
*/
static FindServoInContext(yctx, func) {
let obj;
obj = YFunction._FindFromCacheInContext(yctx, 'Servo', func);
if (obj == null) {
obj = new YServo(yctx, func);
YFunction._AddToCache('Servo', 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._valueCallbackServo = 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._valueCallbackServo != null) {
try {
await this._valueCallbackServo(this, value);
}
catch (e) {
this._yapi.imm_log('Exception in valueCallback:', e);
}
}
else {
await super._invokeValueCallback(value);
}
return 0;
}
/**
* Continues the enumeration of RC servo motors started using yFirstServo().
* Caution: You can't make any assumption about the returned RC servo motors order.
* If you want to find a specific a RC servo motor, use Servo.findServo()
* and a hardwareID or a logical name.
*
* @return a pointer to a YServo object, corresponding to
* a RC servo motor currently online, or a null pointer
* if there are no more RC servo motors to enumerate.
*/
nextServo() {
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 YServo.FindServoInContext(this._yapi, next_hwid);
}
/**
* Starts the enumeration of RC servo motors currently accessible.
* Use the method YServo.nextServo() to iterate on
* next RC servo motors.
*
* @return a pointer to a YServo object, corresponding to
* the first RC servo motor currently online, or a null pointer
* if there are none.
*/
static FirstServo() {
let next_hwid = YAPI.imm_getFirstHardwareId('Servo');
if (next_hwid == null)
return null;
return YServo.FindServo(next_hwid);
}
/**
* Starts the enumeration of RC servo motors currently accessible.
* Use the method YServo.nextServo() to iterate on
* next RC servo motors.
*
* @param yctx : a YAPI context.
*
* @return a pointer to a YServo object, corresponding to
* the first RC servo motor currently online, or a null pointer
* if there are none.
*/
static FirstServoInContext(yctx) {
let next_hwid = yctx.imm_getFirstHardwareId('Servo');
if (next_hwid == null)
return null;
return YServo.FindServoInContext(yctx, next_hwid);
}
}
// API symbols as static members
YServo.MOVE_INVALID = {};
YServo.POSITION_INVALID = YAPI.INVALID_INT;
YServo.ENABLED_FALSE = 0;
YServo.ENABLED_TRUE = 1;
YServo.ENABLED_INVALID = -1;
YServo.RANGE_INVALID = YAPI.INVALID_UINT;
YServo.NEUTRAL_INVALID = YAPI.INVALID_UINT;
YServo.POSITIONATPOWERON_INVALID = YAPI.INVALID_INT;
YServo.ENABLEDATPOWERON_FALSE = 0;
YServo.ENABLEDATPOWERON_TRUE = 1;
YServo.ENABLEDATPOWERON_INVALID = -1;
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