/*
 *
 *  $Id: YMotor.java 43580 2021-01-26 17:46:01Z mvuilleu $
 *
 *  Implements FindMotor(), the high-level API for Motor 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.
 *
 */

package com.yoctopuce.YoctoAPI;
import java.util.Locale;

//--- (YMotor return codes)
//--- (end of YMotor return codes)
//--- (YMotor yapiwrapper)
//--- (end of YMotor yapiwrapper)
//--- (YMotor class start)
/**
 * YMotor Class: motor control interface, available for instance in the Yocto-Motor-DC
 *
 * The YMotor class allows you to drive a DC motor. It can be used to configure the
 * power sent to the motor to make it turn both ways, but also to drive accelerations
 * and decelerations. The motor will then accelerate automatically: you will not
 * have to monitor it. The API also allows to slow down the motor by shortening
 * its terminals: the motor will then act as an electromagnetic brake.
 */
@SuppressWarnings({"UnusedDeclaration", "UnusedAssignment"})
public class YMotor extends YFunction
{
//--- (end of YMotor class start)
//--- (YMotor definitions)
    /**
     * invalid motorStatus value
     */
    public static final int MOTORSTATUS_IDLE = 0;
    public static final int MOTORSTATUS_BRAKE = 1;
    public static final int MOTORSTATUS_FORWD = 2;
    public static final int MOTORSTATUS_BACKWD = 3;
    public static final int MOTORSTATUS_LOVOLT = 4;
    public static final int MOTORSTATUS_HICURR = 5;
    public static final int MOTORSTATUS_HIHEAT = 6;
    public static final int MOTORSTATUS_FAILSF = 7;
    public static final int MOTORSTATUS_INVALID = -1;
    /**
     * invalid drivingForce value
     */
    public static final double DRIVINGFORCE_INVALID = YAPI.INVALID_DOUBLE;
    /**
     * invalid brakingForce value
     */
    public static final double BRAKINGFORCE_INVALID = YAPI.INVALID_DOUBLE;
    /**
     * invalid cutOffVoltage value
     */
    public static final double CUTOFFVOLTAGE_INVALID = YAPI.INVALID_DOUBLE;
    /**
     * invalid overCurrentLimit value
     */
    public static final int OVERCURRENTLIMIT_INVALID = YAPI.INVALID_UINT;
    /**
     * invalid frequency value
     */
    public static final double FREQUENCY_INVALID = YAPI.INVALID_DOUBLE;
    /**
     * invalid starterTime value
     */
    public static final int STARTERTIME_INVALID = YAPI.INVALID_UINT;
    /**
     * invalid failSafeTimeout value
     */
    public static final int FAILSAFETIMEOUT_INVALID = YAPI.INVALID_UINT;
    /**
     * invalid command value
     */
    public static final String COMMAND_INVALID = YAPI.INVALID_STRING;
    protected int _motorStatus = MOTORSTATUS_INVALID;
    protected double _drivingForce = DRIVINGFORCE_INVALID;
    protected double _brakingForce = BRAKINGFORCE_INVALID;
    protected double _cutOffVoltage = CUTOFFVOLTAGE_INVALID;
    protected int _overCurrentLimit = OVERCURRENTLIMIT_INVALID;
    protected double _frequency = FREQUENCY_INVALID;
    protected int _starterTime = STARTERTIME_INVALID;
    protected int _failSafeTimeout = FAILSAFETIMEOUT_INVALID;
    protected String _command = COMMAND_INVALID;
    protected UpdateCallback _valueCallbackMotor = null;

    /**
     * Deprecated UpdateCallback for Motor
     */
    public interface UpdateCallback
    {
        /**
         *
         * @param function      : the function object of which the value has changed
         * @param functionValue : the character string describing the new advertised value
         */
        void yNewValue(YMotor function, String functionValue);
    }

    /**
     * TimedReportCallback for Motor
     */
    public interface TimedReportCallback
    {
        /**
         *
         * @param function : the function object of which the value has changed
         * @param measure  : measure
         */
        void timedReportCallback(YMotor  function, YMeasure measure);
    }
    //--- (end of YMotor definitions)


    /**
     *
     * @param func : functionid
     */
    protected YMotor(YAPIContext ctx, String func)
    {
        super(ctx, func);
        _className = "Motor";
        //--- (YMotor attributes initialization)
        //--- (end of YMotor attributes initialization)
    }

    /**
     *
     * @param func : functionid
     */
    protected YMotor(String func)
    {
        this(YAPI.GetYCtx(true), func);
    }

    //--- (YMotor implementation)
    @SuppressWarnings("EmptyMethod")
    @Override
    protected void  _parseAttr(YJSONObject json_val) throws Exception
    {
        if (json_val.has("motorStatus")) {
            _motorStatus = json_val.getInt("motorStatus");
        }
        if (json_val.has("drivingForce")) {
            _drivingForce = Math.round(json_val.getDouble("drivingForce") * 1000.0 / 65536.0) / 1000.0;
        }
        if (json_val.has("brakingForce")) {
            _brakingForce = Math.round(json_val.getDouble("brakingForce") * 1000.0 / 65536.0) / 1000.0;
        }
        if (json_val.has("cutOffVoltage")) {
            _cutOffVoltage = Math.round(json_val.getDouble("cutOffVoltage") * 1000.0 / 65536.0) / 1000.0;
        }
        if (json_val.has("overCurrentLimit")) {
            _overCurrentLimit = json_val.getInt("overCurrentLimit");
        }
        if (json_val.has("frequency")) {
            _frequency = Math.round(json_val.getDouble("frequency") * 1000.0 / 65536.0) / 1000.0;
        }
        if (json_val.has("starterTime")) {
            _starterTime = json_val.getInt("starterTime");
        }
        if (json_val.has("failSafeTimeout")) {
            _failSafeTimeout = json_val.getInt("failSafeTimeout");
        }
        if (json_val.has("command")) {
            _command = json_val.getString("command");
        }
        super._parseAttr(json_val);
    }

    /**
     * Return the controller state. Possible states are:
     * IDLE   when the motor is stopped/in free wheel, ready to start;
     * FORWD  when the controller is driving the motor forward;
     * BACKWD when the controller is driving the motor backward;
     * BRAKE  when the controller is braking;
     * LOVOLT when the controller has detected a low voltage condition;
     * HICURR when the controller has detected an over current condition;
     * HIHEAT when the controller has detected an overheat condition;
     * FAILSF when the controller switched on the failsafe security.
     *
     * When an error condition occurred (LOVOLT, HICURR, HIHEAT, FAILSF), the controller
     * status must be explicitly reset using the resetStatus function.
     *
     *  @return a value among YMotor.MOTORSTATUS_IDLE, YMotor.MOTORSTATUS_BRAKE, YMotor.MOTORSTATUS_FORWD,
     *  YMotor.MOTORSTATUS_BACKWD, YMotor.MOTORSTATUS_LOVOLT, YMotor.MOTORSTATUS_HICURR,
     * YMotor.MOTORSTATUS_HIHEAT and YMotor.MOTORSTATUS_FAILSF
     *
     * @throws YAPI_Exception on error
     */
    public int get_motorStatus() throws YAPI_Exception
    {
        int res;
        synchronized (this) {
            if (_cacheExpiration <= YAPIContext.GetTickCount()) {
                if (load(_yapi._defaultCacheValidity) != YAPI.SUCCESS) {
                    return MOTORSTATUS_INVALID;
                }
            }
            res = _motorStatus;
        }
        return res;
    }

    /**
     * Return the controller state. Possible states are:
     * IDLE   when the motor is stopped/in free wheel, ready to start;
     * FORWD  when the controller is driving the motor forward;
     * BACKWD when the controller is driving the motor backward;
     * BRAKE  when the controller is braking;
     * LOVOLT when the controller has detected a low voltage condition;
     * HICURR when the controller has detected an over current condition;
     * HIHEAT when the controller has detected an overheat condition;
     * FAILSF when the controller switched on the failsafe security.
     *
     * When an error condition occurred (LOVOLT, HICURR, HIHEAT, FAILSF), the controller
     * status must be explicitly reset using the resetStatus function.
     *
     *  @return a value among YMotor.MOTORSTATUS_IDLE, YMotor.MOTORSTATUS_BRAKE, YMotor.MOTORSTATUS_FORWD,
     *  YMotor.MOTORSTATUS_BACKWD, YMotor.MOTORSTATUS_LOVOLT, YMotor.MOTORSTATUS_HICURR,
     * YMotor.MOTORSTATUS_HIHEAT and YMotor.MOTORSTATUS_FAILSF
     *
     * @throws YAPI_Exception on error
     */
    public int getMotorStatus() throws YAPI_Exception
    {
        return get_motorStatus();
    }

    public int set_motorStatus(int  newval)  throws YAPI_Exception
    {
        String rest_val;
        synchronized (this) {
            rest_val = Integer.toString(newval);
            _setAttr("motorStatus",rest_val);
        }
        return YAPI.SUCCESS;
    }


    /**
     * Changes immediately the power sent to the motor. The value is a percentage between -100%
     * to 100%. If you want go easy on your mechanics and avoid excessive current consumption,
     * try to avoid brutal power changes. For example, immediate transition from forward full power
     * to reverse full power is a very bad idea. Each time the driving power is modified, the
     * braking power is set to zero.
     *
     * @param newval : a floating point number corresponding to immediately the power sent to the motor
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int set_drivingForce(double  newval)  throws YAPI_Exception
    {
        String rest_val;
        synchronized (this) {
            rest_val = Long.toString(Math.round(newval * 65536.0));
            _setAttr("drivingForce",rest_val);
        }
        return YAPI.SUCCESS;
    }

    /**
     * Changes immediately the power sent to the motor. The value is a percentage between -100%
     * to 100%. If you want go easy on your mechanics and avoid excessive current consumption,
     * try to avoid brutal power changes. For example, immediate transition from forward full power
     * to reverse full power is a very bad idea. Each time the driving power is modified, the
     * braking power is set to zero.
     *
     * @param newval : a floating point number corresponding to immediately the power sent to the motor
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int setDrivingForce(double newval)  throws YAPI_Exception
    {
        return set_drivingForce(newval);
    }

    /**
     * Returns the power sent to the motor, as a percentage between -100% and +100%.
     *
     *  @return a floating point number corresponding to the power sent to the motor, as a percentage
     * between -100% and +100%
     *
     * @throws YAPI_Exception on error
     */
    public double get_drivingForce() throws YAPI_Exception
    {
        double res;
        synchronized (this) {
            if (_cacheExpiration <= YAPIContext.GetTickCount()) {
                if (load(_yapi._defaultCacheValidity) != YAPI.SUCCESS) {
                    return DRIVINGFORCE_INVALID;
                }
            }
            res = _drivingForce;
        }
        return res;
    }

    /**
     * Returns the power sent to the motor, as a percentage between -100% and +100%.
     *
     *  @return a floating point number corresponding to the power sent to the motor, as a percentage
     * between -100% and +100%
     *
     * @throws YAPI_Exception on error
     */
    public double getDrivingForce() throws YAPI_Exception
    {
        return get_drivingForce();
    }

    /**
     * Changes immediately the braking force applied to the motor (in percents).
     * The value 0 corresponds to no braking (free wheel). When the braking force
     * is changed, the driving power is set to zero. The value is a percentage.
     *
     *  @param newval : a floating point number corresponding to immediately the braking force applied to
     * the motor (in percents)
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int set_brakingForce(double  newval)  throws YAPI_Exception
    {
        String rest_val;
        synchronized (this) {
            rest_val = Long.toString(Math.round(newval * 65536.0));
            _setAttr("brakingForce",rest_val);
        }
        return YAPI.SUCCESS;
    }

    /**
     * Changes immediately the braking force applied to the motor (in percents).
     * The value 0 corresponds to no braking (free wheel). When the braking force
     * is changed, the driving power is set to zero. The value is a percentage.
     *
     *  @param newval : a floating point number corresponding to immediately the braking force applied to
     * the motor (in percents)
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int setBrakingForce(double newval)  throws YAPI_Exception
    {
        return set_brakingForce(newval);
    }

    /**
     * Returns the braking force applied to the motor, as a percentage.
     * The value 0 corresponds to no braking (free wheel).
     *
     * @return a floating point number corresponding to the braking force applied to the motor, as a percentage
     *
     * @throws YAPI_Exception on error
     */
    public double get_brakingForce() throws YAPI_Exception
    {
        double res;
        synchronized (this) {
            if (_cacheExpiration <= YAPIContext.GetTickCount()) {
                if (load(_yapi._defaultCacheValidity) != YAPI.SUCCESS) {
                    return BRAKINGFORCE_INVALID;
                }
            }
            res = _brakingForce;
        }
        return res;
    }

    /**
     * Returns the braking force applied to the motor, as a percentage.
     * The value 0 corresponds to no braking (free wheel).
     *
     * @return a floating point number corresponding to the braking force applied to the motor, as a percentage
     *
     * @throws YAPI_Exception on error
     */
    public double getBrakingForce() throws YAPI_Exception
    {
        return get_brakingForce();
    }

    /**
     * Changes the threshold voltage under which the controller automatically switches to error state
     * and prevents further current draw. This setting prevent damage to a battery that can
     * occur when drawing current from an "empty" battery.
     * Note that whatever the cutoff threshold, the controller switches to undervoltage
     * error state if the power supply goes under 3V, even for a very brief time.
     * Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     *  @param newval : a floating point number corresponding to the threshold voltage under which the
     * controller automatically switches to error state
     *         and prevents further current draw
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int set_cutOffVoltage(double  newval)  throws YAPI_Exception
    {
        String rest_val;
        synchronized (this) {
            rest_val = Long.toString(Math.round(newval * 65536.0));
            _setAttr("cutOffVoltage",rest_val);
        }
        return YAPI.SUCCESS;
    }

    /**
     * Changes the threshold voltage under which the controller automatically switches to error state
     * and prevents further current draw. This setting prevent damage to a battery that can
     * occur when drawing current from an "empty" battery.
     * Note that whatever the cutoff threshold, the controller switches to undervoltage
     * error state if the power supply goes under 3V, even for a very brief time.
     * Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     *  @param newval : a floating point number corresponding to the threshold voltage under which the
     * controller automatically switches to error state
     *         and prevents further current draw
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int setCutOffVoltage(double newval)  throws YAPI_Exception
    {
        return set_cutOffVoltage(newval);
    }

    /**
     * Returns the threshold voltage under which the controller automatically switches to error state
     * and prevents further current draw. This setting prevents damage to a battery that can
     * occur when drawing current from an "empty" battery.
     *
     *  @return a floating point number corresponding to the threshold voltage under which the controller
     * automatically switches to error state
     *         and prevents further current draw
     *
     * @throws YAPI_Exception on error
     */
    public double get_cutOffVoltage() throws YAPI_Exception
    {
        double res;
        synchronized (this) {
            if (_cacheExpiration <= YAPIContext.GetTickCount()) {
                if (load(_yapi._defaultCacheValidity) != YAPI.SUCCESS) {
                    return CUTOFFVOLTAGE_INVALID;
                }
            }
            res = _cutOffVoltage;
        }
        return res;
    }

    /**
     * Returns the threshold voltage under which the controller automatically switches to error state
     * and prevents further current draw. This setting prevents damage to a battery that can
     * occur when drawing current from an "empty" battery.
     *
     *  @return a floating point number corresponding to the threshold voltage under which the controller
     * automatically switches to error state
     *         and prevents further current draw
     *
     * @throws YAPI_Exception on error
     */
    public double getCutOffVoltage() throws YAPI_Exception
    {
        return get_cutOffVoltage();
    }

    /**
     * Returns the current threshold (in mA) above which the controller automatically
     * switches to error state. A zero value means that there is no limit.
     *
     * @return an integer corresponding to the current threshold (in mA) above which the controller automatically
     *         switches to error state
     *
     * @throws YAPI_Exception on error
     */
    public int get_overCurrentLimit() throws YAPI_Exception
    {
        int res;
        synchronized (this) {
            if (_cacheExpiration <= YAPIContext.GetTickCount()) {
                if (load(_yapi._defaultCacheValidity) != YAPI.SUCCESS) {
                    return OVERCURRENTLIMIT_INVALID;
                }
            }
            res = _overCurrentLimit;
        }
        return res;
    }

    /**
     * Returns the current threshold (in mA) above which the controller automatically
     * switches to error state. A zero value means that there is no limit.
     *
     * @return an integer corresponding to the current threshold (in mA) above which the controller automatically
     *         switches to error state
     *
     * @throws YAPI_Exception on error
     */
    public int getOverCurrentLimit() throws YAPI_Exception
    {
        return get_overCurrentLimit();
    }

    /**
     * Changes the current threshold (in mA) above which the controller automatically
     * switches to error state. A zero value means that there is no limit. Note that whatever the
     * current limit is, the controller switches to OVERCURRENT status if the current
     * goes above 32A, even for a very brief time. Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     *  @param newval : an integer corresponding to the current threshold (in mA) above which the
     * controller automatically
     *         switches to error state
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int set_overCurrentLimit(int  newval)  throws YAPI_Exception
    {
        String rest_val;
        synchronized (this) {
            rest_val = Integer.toString(newval);
            _setAttr("overCurrentLimit",rest_val);
        }
        return YAPI.SUCCESS;
    }

    /**
     * Changes the current threshold (in mA) above which the controller automatically
     * switches to error state. A zero value means that there is no limit. Note that whatever the
     * current limit is, the controller switches to OVERCURRENT status if the current
     * goes above 32A, even for a very brief time. Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     *  @param newval : an integer corresponding to the current threshold (in mA) above which the
     * controller automatically
     *         switches to error state
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int setOverCurrentLimit(int newval)  throws YAPI_Exception
    {
        return set_overCurrentLimit(newval);
    }

    /**
     * Changes the PWM frequency used to control the motor. Low frequency is usually
     * more efficient and may help the motor to start, but an audible noise might be
     * generated. A higher frequency reduces the noise, but more energy is converted
     * into heat. Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     * @param newval : a floating point number corresponding to the PWM frequency used to control the motor
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int set_frequency(double  newval)  throws YAPI_Exception
    {
        String rest_val;
        synchronized (this) {
            rest_val = Long.toString(Math.round(newval * 65536.0));
            _setAttr("frequency",rest_val);
        }
        return YAPI.SUCCESS;
    }

    /**
     * Changes the PWM frequency used to control the motor. Low frequency is usually
     * more efficient and may help the motor to start, but an audible noise might be
     * generated. A higher frequency reduces the noise, but more energy is converted
     * into heat. Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     * @param newval : a floating point number corresponding to the PWM frequency used to control the motor
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int setFrequency(double newval)  throws YAPI_Exception
    {
        return set_frequency(newval);
    }

    /**
     * Returns the PWM frequency used to control the motor.
     *
     * @return a floating point number corresponding to the PWM frequency used to control the motor
     *
     * @throws YAPI_Exception on error
     */
    public double get_frequency() throws YAPI_Exception
    {
        double res;
        synchronized (this) {
            if (_cacheExpiration <= YAPIContext.GetTickCount()) {
                if (load(_yapi._defaultCacheValidity) != YAPI.SUCCESS) {
                    return FREQUENCY_INVALID;
                }
            }
            res = _frequency;
        }
        return res;
    }

    /**
     * Returns the PWM frequency used to control the motor.
     *
     * @return a floating point number corresponding to the PWM frequency used to control the motor
     *
     * @throws YAPI_Exception on error
     */
    public double getFrequency() throws YAPI_Exception
    {
        return get_frequency();
    }

    /**
     * Returns the duration (in ms) during which the motor is driven at low frequency to help
     * it start up.
     *
     *  @return an integer corresponding to the duration (in ms) during which the motor is driven at low
     * frequency to help
     *         it start up
     *
     * @throws YAPI_Exception on error
     */
    public int get_starterTime() throws YAPI_Exception
    {
        int res;
        synchronized (this) {
            if (_cacheExpiration <= YAPIContext.GetTickCount()) {
                if (load(_yapi._defaultCacheValidity) != YAPI.SUCCESS) {
                    return STARTERTIME_INVALID;
                }
            }
            res = _starterTime;
        }
        return res;
    }

    /**
     * Returns the duration (in ms) during which the motor is driven at low frequency to help
     * it start up.
     *
     *  @return an integer corresponding to the duration (in ms) during which the motor is driven at low
     * frequency to help
     *         it start up
     *
     * @throws YAPI_Exception on error
     */
    public int getStarterTime() throws YAPI_Exception
    {
        return get_starterTime();
    }

    /**
     * Changes the duration (in ms) during which the motor is driven at low frequency to help
     * it start up. Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     *  @param newval : an integer corresponding to the duration (in ms) during which the motor is driven
     * at low frequency to help
     *         it start up
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int set_starterTime(int  newval)  throws YAPI_Exception
    {
        String rest_val;
        synchronized (this) {
            rest_val = Integer.toString(newval);
            _setAttr("starterTime",rest_val);
        }
        return YAPI.SUCCESS;
    }

    /**
     * Changes the duration (in ms) during which the motor is driven at low frequency to help
     * it start up. Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     *  @param newval : an integer corresponding to the duration (in ms) during which the motor is driven
     * at low frequency to help
     *         it start up
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int setStarterTime(int newval)  throws YAPI_Exception
    {
        return set_starterTime(newval);
    }

    /**
     * Returns the delay in milliseconds allowed for the controller to run autonomously without
     * receiving any instruction from the control process. When this delay has elapsed,
     * the controller automatically stops the motor and switches to FAILSAFE error.
     * Failsafe security is disabled when the value is zero.
     *
     *  @return an integer corresponding to the delay in milliseconds allowed for the controller to run
     * autonomously without
     *         receiving any instruction from the control process
     *
     * @throws YAPI_Exception on error
     */
    public int get_failSafeTimeout() throws YAPI_Exception
    {
        int res;
        synchronized (this) {
            if (_cacheExpiration <= YAPIContext.GetTickCount()) {
                if (load(_yapi._defaultCacheValidity) != YAPI.SUCCESS) {
                    return FAILSAFETIMEOUT_INVALID;
                }
            }
            res = _failSafeTimeout;
        }
        return res;
    }

    /**
     * Returns the delay in milliseconds allowed for the controller to run autonomously without
     * receiving any instruction from the control process. When this delay has elapsed,
     * the controller automatically stops the motor and switches to FAILSAFE error.
     * Failsafe security is disabled when the value is zero.
     *
     *  @return an integer corresponding to the delay in milliseconds allowed for the controller to run
     * autonomously without
     *         receiving any instruction from the control process
     *
     * @throws YAPI_Exception on error
     */
    public int getFailSafeTimeout() throws YAPI_Exception
    {
        return get_failSafeTimeout();
    }

    /**
     * Changes the delay in milliseconds allowed for the controller to run autonomously without
     * receiving any instruction from the control process. When this delay has elapsed,
     * the controller automatically stops the motor and switches to FAILSAFE error.
     * Failsafe security is disabled when the value is zero.
     * Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     *  @param newval : an integer corresponding to the delay in milliseconds allowed for the controller to
     * run autonomously without
     *         receiving any instruction from the control process
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int set_failSafeTimeout(int  newval)  throws YAPI_Exception
    {
        String rest_val;
        synchronized (this) {
            rest_val = Integer.toString(newval);
            _setAttr("failSafeTimeout",rest_val);
        }
        return YAPI.SUCCESS;
    }

    /**
     * Changes the delay in milliseconds allowed for the controller to run autonomously without
     * receiving any instruction from the control process. When this delay has elapsed,
     * the controller automatically stops the motor and switches to FAILSAFE error.
     * Failsafe security is disabled when the value is zero.
     * Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     *  @param newval : an integer corresponding to the delay in milliseconds allowed for the controller to
     * run autonomously without
     *         receiving any instruction from the control process
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int setFailSafeTimeout(int newval)  throws YAPI_Exception
    {
        return set_failSafeTimeout(newval);
    }

    public String get_command() throws YAPI_Exception
    {
        String res;
        synchronized (this) {
            if (_cacheExpiration <= YAPIContext.GetTickCount()) {
                if (load(_yapi._defaultCacheValidity) != YAPI.SUCCESS) {
                    return COMMAND_INVALID;
                }
            }
            res = _command;
        }
        return res;
    }

    public int set_command(String  newval)  throws YAPI_Exception
    {
        String rest_val;
        synchronized (this) {
            rest_val = newval;
            _setAttr("command",rest_val);
        }
        return YAPI.SUCCESS;
    }


    /**
     * Retrieves a motor for a given identifier.
     * The identifier can be specified using several formats:
     * <ul>
     * <li>FunctionLogicalName</li>
     * <li>ModuleSerialNumber.FunctionIdentifier</li>
     * <li>ModuleSerialNumber.FunctionLogicalName</li>
     * <li>ModuleLogicalName.FunctionIdentifier</li>
     * <li>ModuleLogicalName.FunctionLogicalName</li>
     * </ul>
     *
     * This function does not require that the motor is online at the time
     * it is invoked. The returned object is nevertheless valid.
     * Use the method YMotor.isOnline() to test if the motor is
     * indeed online at a given time. In case of ambiguity when looking for
     * a 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 motor, for instance
     *         MOTORCTL.motor.
     *
     * @return a YMotor object allowing you to drive the motor.
     */
    public static YMotor FindMotor(String func)
    {
        YMotor obj;
        YAPIContext ctx = YAPI.GetYCtx(true);
        synchronized (ctx._functionCacheLock) {
            obj = (YMotor) YFunction._FindFromCache("Motor", func);
            if (obj == null) {
                obj = new YMotor(func);
                YFunction._AddToCache("Motor", func, obj);
            }
        }
        return obj;
    }

    /**
     * Retrieves a motor for a given identifier in a YAPI context.
     * The identifier can be specified using several formats:
     * <ul>
     * <li>FunctionLogicalName</li>
     * <li>ModuleSerialNumber.FunctionIdentifier</li>
     * <li>ModuleSerialNumber.FunctionLogicalName</li>
     * <li>ModuleLogicalName.FunctionIdentifier</li>
     * <li>ModuleLogicalName.FunctionLogicalName</li>
     * </ul>
     *
     * This function does not require that the motor is online at the time
     * it is invoked. The returned object is nevertheless valid.
     * Use the method YMotor.isOnline() to test if the motor is
     * indeed online at a given time. In case of ambiguity when looking for
     * a 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 motor, for instance
     *         MOTORCTL.motor.
     *
     * @return a YMotor object allowing you to drive the motor.
     */
    public static YMotor FindMotorInContext(YAPIContext yctx,String func)
    {
        YMotor obj;
        synchronized (yctx._functionCacheLock) {
            obj = (YMotor) YFunction._FindFromCacheInContext(yctx, "Motor", func);
            if (obj == null) {
                obj = new YMotor(yctx, func);
                YFunction._AddToCache("Motor", 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.
     *
     */
    public int registerValueCallback(UpdateCallback callback)
    {
        String val;
        if (callback != null) {
            YFunction._UpdateValueCallbackList(this, true);
        } else {
            YFunction._UpdateValueCallbackList(this, false);
        }
        _valueCallbackMotor = callback;
        // Immediately invoke value callback with current value
        if (callback != null && isOnline()) {
            val = _advertisedValue;
            if (!(val.equals(""))) {
                _invokeValueCallback(val);
            }
        }
        return 0;
    }

    @Override
    public int _invokeValueCallback(String value)
    {
        if (_valueCallbackMotor != null) {
            _valueCallbackMotor.yNewValue(this, value);
        } else {
            super._invokeValueCallback(value);
        }
        return 0;
    }

    /**
     * Rearms the controller failsafe timer. When the motor is running and the failsafe feature
     * is active, this function should be called periodically to prove that the control process
     * is running properly. Otherwise, the motor is automatically stopped after the specified
     * timeout. Calling a motor <i>set</i> function implicitly rearms the failsafe timer.
     */
    public int keepALive() throws YAPI_Exception
    {
        return set_command("K");
    }

    /**
     * Reset the controller state to IDLE. This function must be invoked explicitly
     * after any error condition is signaled.
     */
    public int resetStatus() throws YAPI_Exception
    {
        return set_motorStatus(MOTORSTATUS_IDLE);
    }

    /**
     * Changes progressively the power sent to the motor for a specific duration.
     *
     * @param targetPower : desired motor power, in percents (between -100% and +100%)
     * @param delay : duration (in ms) of the transition
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int drivingForceMove(double targetPower,int delay) throws YAPI_Exception
    {
        return set_command(String.format(Locale.US, "P%d,%d",(int) (double)Math.round(targetPower*10),delay));
    }

    /**
     * Changes progressively the braking force applied to the motor for a specific duration.
     *
     * @param targetPower : desired braking force, in percents
     * @param delay : duration (in ms) of the transition
     *
     * @return YAPI.SUCCESS if the call succeeds.
     *
     * @throws YAPI_Exception on error
     */
    public int brakingForceMove(double targetPower,int delay) throws YAPI_Exception
    {
        return set_command(String.format(Locale.US, "B%d,%d",(int) (double)Math.round(targetPower*10),delay));
    }

    /**
     * Continues the enumeration of motors started using yFirstMotor().
     * Caution: You can't make any assumption about the returned motors order.
     * If you want to find a specific a motor, use Motor.findMotor()
     * and a hardwareID or a logical name.
     *
     * @return a pointer to a YMotor object, corresponding to
     *         a motor currently online, or a null pointer
     *         if there are no more motors to enumerate.
     */
    public YMotor nextMotor()
    {
        String next_hwid;
        try {
            String hwid = _yapi._yHash.resolveHwID(_className, _func);
            next_hwid = _yapi._yHash.getNextHardwareId(_className, hwid);
        } catch (YAPI_Exception ignored) {
            next_hwid = null;
        }
        if(next_hwid == null) return null;
        return FindMotorInContext(_yapi, next_hwid);
    }

    /**
     * Starts the enumeration of motors currently accessible.
     * Use the method YMotor.nextMotor() to iterate on
     * next motors.
     *
     * @return a pointer to a YMotor object, corresponding to
     *         the first motor currently online, or a null pointer
     *         if there are none.
     */
    public static YMotor FirstMotor()
    {
        YAPIContext yctx = YAPI.GetYCtx(false);
        if (yctx == null)  return null;
        String next_hwid = yctx._yHash.getFirstHardwareId("Motor");
        if (next_hwid == null)  return null;
        return FindMotorInContext(yctx, next_hwid);
    }

    /**
     * Starts the enumeration of motors currently accessible.
     * Use the method YMotor.nextMotor() to iterate on
     * next motors.
     *
     * @param yctx : a YAPI context.
     *
     * @return a pointer to a YMotor object, corresponding to
     *         the first motor currently online, or a null pointer
     *         if there are none.
     */
    public static YMotor FirstMotorInContext(YAPIContext yctx)
    {
        String next_hwid = yctx._yHash.getFirstHardwareId("Motor");
        if (next_hwid == null)  return null;
        return FindMotorInContext(yctx, next_hwid);
    }

    //--- (end of YMotor implementation)
}

