/*********************************************************************
 *
 *  $Id: yocto_accelerometer.h 72057 2026-02-17 09:44:53Z mvuilleu $
 *
 *  Declares yFindAccelerometer(), the high-level API for Accelerometer functions
 *
 *  - - - - - - - - - License information: - - - - - - - - -
 *
 *  Copyright (C) 2011 and beyond by Yoctopuce Sarl, Switzerland.
 *
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 *  source or object form, as long as the sole purpose of this
 *  code is to interface with Yoctopuce products. You must retain
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 *  You should refer to Yoctopuce General Terms and Conditions
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#ifndef YOCTO_ACCELEROMETER_H
#define YOCTO_ACCELEROMETER_H

#include <cfloat>
#include <cmath>

#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 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
     */
    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
