"use strict";
/*********************************************************************
 *
 *  $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,
 *  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.
 *
 *********************************************************************/
Object.defineProperty(exports, "__esModule", { value: true });
exports.YRangeFinder = void 0;
const yocto_api_js_1 = require("./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 measurements,
 * 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)
class YRangeFinder extends yocto_api_js_1.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 = yocto_api_js_1.YAPI.INVALID_LONG;
        this.QUALITY_INVALID = yocto_api_js_1.YAPI.INVALID_UINT;
        this.HARDWARECALIBRATION_INVALID = yocto_api_js_1.YAPI.INVALID_STRING;
        this.CURRENTTEMPERATURE_INVALID = yocto_api_js_1.YAPI.INVALID_DOUBLE;
        this.COMMAND_INVALID = yocto_api_js_1.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 = yocto_api_js_1.YFunction._FindFromCache('RangeFinder', func);
        if (obj == null) {
            obj = new YRangeFinder(yocto_api_js_1.YAPI, func);
            yocto_api_js_1.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 = yocto_api_js_1.YFunction._FindFromCacheInContext(yctx, 'RangeFinder', func);
        if (obj == null) {
            obj = new YRangeFinder(yctx, func);
            yocto_api_js_1.YFunction._AddToCache('RangeFinder', 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 yocto_api_js_1.YFunction._UpdateValueCallbackList(this, true);
        }
        else {
            await yocto_api_js_1.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 yocto_api_js_1.YFunction._UpdateTimedReportCallbackList(sensor, true);
        }
        else {
            await yocto_api_js_1.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 yocto_api_js_1.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 != yocto_api_js_1.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 = yocto_api_js_1.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);
    }
}
exports.YRangeFinder = YRangeFinder;
// 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 = yocto_api_js_1.YAPI.INVALID_LONG;
YRangeFinder.QUALITY_INVALID = yocto_api_js_1.YAPI.INVALID_UINT;
YRangeFinder.HARDWARECALIBRATION_INVALID = yocto_api_js_1.YAPI.INVALID_STRING;
YRangeFinder.CURRENTTEMPERATURE_INVALID = yocto_api_js_1.YAPI.INVALID_DOUBLE;
YRangeFinder.COMMAND_INVALID = yocto_api_js_1.YAPI.INVALID_STRING;
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