"use strict";
/*********************************************************************
 *
 *  $Id: yocto_gyro.ts 72057 2026-02-17 09:44:53Z mvuilleu $
 *
 *  Implements the high-level API for Qt 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.YGyro = exports.YQt = void 0;
const yocto_api_js_1 = require("./yocto_api.js");
//--- (generated code: YQt class start)
/**
 * YQt Class: Base interface to access quaternion components, available for instance in the Yocto-3D-V2
 *
 * The YQt class provides direct access to the 3D attitude estimation
 * provided by Yoctopuce inertial sensors. The four instances of YQt
 * provide direct access to the individual quaternion components representing the
 * orientation. It is usually not needed to use the YQt class
 * directly, as the YGyro class provides a more convenient higher-level
 * interface.
 */
//--- (end of generated code: YQt class start)
class YQt extends yocto_api_js_1.YSensor {
    // API symbols as static members
    //--- (end of generated code: YQt attributes declaration)
    //--- (generated code: YQt return codes)
    //--- (end of generated code: YQt return codes)
    constructor(yapi, func) {
        //--- (generated code: YQt constructor)
        super(yapi, func);
        this._valueCallbackQt = null;
        this._timedReportCallbackQt = null;
        this._className = 'Qt';
        //--- (end of generated code: YQt constructor)
    }
    //--- (generated code: YQt implementation)
    /**
     * Retrieves a quaternion component 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 quaternion component is online at the time
     * it is invoked. The returned object is nevertheless valid.
     * Use the method YQt.isOnline() to test if the quaternion component is
     * indeed online at a given time. In case of ambiguity when looking for
     * a quaternion component 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 quaternion component, for instance
     *         Y3DMK002.qt1.
     *
     * @return a YQt object allowing you to drive the quaternion component.
     */
    static FindQt(func) {
        let obj;
        obj = yocto_api_js_1.YFunction._FindFromCache('Qt', func);
        if (obj == null) {
            obj = new YQt(yocto_api_js_1.YAPI, func);
            yocto_api_js_1.YFunction._AddToCache('Qt', func, obj);
        }
        return obj;
    }
    /**
     * Retrieves a quaternion component 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 quaternion component is online at the time
     * it is invoked. The returned object is nevertheless valid.
     * Use the method YQt.isOnline() to test if the quaternion component is
     * indeed online at a given time. In case of ambiguity when looking for
     * a quaternion component 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 quaternion component, for instance
     *         Y3DMK002.qt1.
     *
     * @return a YQt object allowing you to drive the quaternion component.
     */
    static FindQtInContext(yctx, func) {
        let obj;
        obj = yocto_api_js_1.YFunction._FindFromCacheInContext(yctx, 'Qt', func);
        if (obj == null) {
            obj = new YQt(yctx, func);
            yocto_api_js_1.YFunction._AddToCache('Qt', 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._valueCallbackQt = 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._valueCallbackQt != null) {
            try {
                await this._valueCallbackQt(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._timedReportCallbackQt = callback;
        return 0;
    }
    async _invokeTimedReportCallback(value) {
        if (this._timedReportCallbackQt != null) {
            try {
                await this._timedReportCallbackQt(this, value);
            }
            catch (e) {
                this._yapi.imm_log('Exception in timedReportCallback:', e);
            }
        }
        else {
            await super._invokeTimedReportCallback(value);
        }
        return 0;
    }
    /**
     * Continues the enumeration of quaternion components started using yFirstQt().
     * Caution: You can't make any assumption about the returned quaternion components order.
     * If you want to find a specific a quaternion component, use Qt.findQt()
     * and a hardwareID or a logical name.
     *
     * @return a pointer to a YQt object, corresponding to
     *         a quaternion component currently online, or a null pointer
     *         if there are no more quaternion components to enumerate.
     */
    nextQt() {
        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 YQt.FindQtInContext(this._yapi, next_hwid);
    }
    /**
     * Starts the enumeration of quaternion components currently accessible.
     * Use the method YQt.nextQt() to iterate on
     * next quaternion components.
     *
     * @return a pointer to a YQt object, corresponding to
     *         the first quaternion component currently online, or a null pointer
     *         if there are none.
     */
    static FirstQt() {
        let next_hwid = yocto_api_js_1.YAPI.imm_getFirstHardwareId('Qt');
        if (next_hwid == null)
            return null;
        return YQt.FindQt(next_hwid);
    }
    /**
     * Starts the enumeration of quaternion components currently accessible.
     * Use the method YQt.nextQt() to iterate on
     * next quaternion components.
     *
     * @param yctx : a YAPI context.
     *
     * @return a pointer to a YQt object, corresponding to
     *         the first quaternion component currently online, or a null pointer
     *         if there are none.
     */
    static FirstQtInContext(yctx) {
        let next_hwid = yctx.imm_getFirstHardwareId('Qt');
        if (next_hwid == null)
            return null;
        return YQt.FindQtInContext(yctx, next_hwid);
    }
}
exports.YQt = YQt;
async function yInternalGyroCallback(YQt_obj, str_value) {
    const gyro = await YQt_obj.get_userData();
    if (!gyro)
        return;
    const idx = parseInt(YQt_obj.imm_get_functionId().slice(2));
    await gyro._invokeGyroCallbacks(idx, parseInt(str_value));
}
//--- (generated code: YGyro class start)
/**
 * YGyro Class: gyroscope control interface, available for instance in the Yocto-3D-V2
 *
 * The YGyro class allows you to read and configure Yoctopuce gyroscopes.
 * 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 rotation
 * vector separately, as well as the possibility to deal with quaternion-based
 * orientation estimates.
 */
//--- (end of generated code: YGyro class start)
/** @extends {YFunction} **/
class YGyro extends yocto_api_js_1.YSensor {
    //--- (end of generated code: YGyro attributes declaration)
    constructor(yapi, func) {
        //--- (generated code: YGyro constructor)
        super(yapi, func);
        this._bandwidth = YGyro.BANDWIDTH_INVALID;
        this._xValue = YGyro.XVALUE_INVALID;
        this._yValue = YGyro.YVALUE_INVALID;
        this._zValue = YGyro.ZVALUE_INVALID;
        this._valueCallbackGyro = null;
        this._timedReportCallbackGyro = null;
        this._qt_stamp = 0;
        this._w = 0;
        this._x = 0;
        this._y = 0;
        this._z = 0;
        this._angles_stamp = 0;
        this._head = 0;
        this._pitch = 0;
        this._roll = 0;
        this._quatCallback = null;
        this._anglesCallback = null;
        // API symbols as object properties
        this.BANDWIDTH_INVALID = yocto_api_js_1.YAPI.INVALID_UINT;
        this.XVALUE_INVALID = yocto_api_js_1.YAPI.INVALID_DOUBLE;
        this.YVALUE_INVALID = yocto_api_js_1.YAPI.INVALID_DOUBLE;
        this.ZVALUE_INVALID = yocto_api_js_1.YAPI.INVALID_DOUBLE;
        this._className = 'Gyro';
        //--- (end of generated code: YGyro constructor)
        this._qt_w = YQt.FindQtInContext(this._yapi, this._serial + '.qt1');
        this._qt_x = YQt.FindQtInContext(this._yapi, this._serial + '.qt2');
        this._qt_y = YQt.FindQtInContext(this._yapi, this._serial + '.qt3');
        this._qt_z = YQt.FindQtInContext(this._yapi, this._serial + '.qt4');
    }
    //--- (generated code: YGyro implementation)
    imm_parseAttr(name, val) {
        switch (name) {
            case 'bandwidth':
                this._bandwidth = val;
                return 1;
            case 'xValue':
                this._xValue = Math.round(val / 65.536) / 1000.0;
                return 1;
            case 'yValue':
                this._yValue = Math.round(val / 65.536) / 1000.0;
                return 1;
            case 'zValue':
                this._zValue = Math.round(val / 65.536) / 1000.0;
                return 1;
        }
        return super.imm_parseAttr(name, val);
    }
    /**
     * 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 YGyro.BANDWIDTH_INVALID.
     */
    async get_bandwidth() {
        let res;
        if (this._cacheExpiration <= this._yapi.GetTickCount()) {
            if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
                return YGyro.BANDWIDTH_INVALID;
            }
        }
        res = this._bandwidth;
        return res;
    }
    /**
     * 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.
     */
    async set_bandwidth(newval) {
        let rest_val;
        rest_val = String(newval);
        return await this._setAttr('bandwidth', rest_val);
    }
    /**
     * Returns the angular velocity around the X axis of the device, as a floating point number.
     *
     * @return a floating point number corresponding to the angular velocity around the X axis of the
     * device, as a floating point number
     *
     * On failure, throws an exception or returns YGyro.XVALUE_INVALID.
     */
    async get_xValue() {
        let res;
        if (this._cacheExpiration <= this._yapi.GetTickCount()) {
            if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
                return YGyro.XVALUE_INVALID;
            }
        }
        res = this._xValue;
        return res;
    }
    /**
     * Returns the angular velocity around the Y axis of the device, as a floating point number.
     *
     * @return a floating point number corresponding to the angular velocity around the Y axis of the
     * device, as a floating point number
     *
     * On failure, throws an exception or returns YGyro.YVALUE_INVALID.
     */
    async get_yValue() {
        let res;
        if (this._cacheExpiration <= this._yapi.GetTickCount()) {
            if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
                return YGyro.YVALUE_INVALID;
            }
        }
        res = this._yValue;
        return res;
    }
    /**
     * Returns the angular velocity around the Z axis of the device, as a floating point number.
     *
     * @return a floating point number corresponding to the angular velocity around the Z axis of the
     * device, as a floating point number
     *
     * On failure, throws an exception or returns YGyro.ZVALUE_INVALID.
     */
    async get_zValue() {
        let res;
        if (this._cacheExpiration <= this._yapi.GetTickCount()) {
            if (await this.load(this._yapi.defaultCacheValidity) != this._yapi.SUCCESS) {
                return YGyro.ZVALUE_INVALID;
            }
        }
        res = this._zValue;
        return res;
    }
    /**
     * Retrieves a gyroscope 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 gyroscope is online at the time
     * it is invoked. The returned object is nevertheless valid.
     * Use the method YGyro.isOnline() to test if the gyroscope is
     * indeed online at a given time. In case of ambiguity when looking for
     * a gyroscope 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 gyroscope, for instance
     *         Y3DMK002.gyro.
     *
     * @return a YGyro object allowing you to drive the gyroscope.
     */
    static FindGyro(func) {
        let obj;
        obj = yocto_api_js_1.YFunction._FindFromCache('Gyro', func);
        if (obj == null) {
            obj = new YGyro(yocto_api_js_1.YAPI, func);
            yocto_api_js_1.YFunction._AddToCache('Gyro', func, obj);
        }
        return obj;
    }
    /**
     * Retrieves a gyroscope 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 gyroscope is online at the time
     * it is invoked. The returned object is nevertheless valid.
     * Use the method YGyro.isOnline() to test if the gyroscope is
     * indeed online at a given time. In case of ambiguity when looking for
     * a gyroscope 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 gyroscope, for instance
     *         Y3DMK002.gyro.
     *
     * @return a YGyro object allowing you to drive the gyroscope.
     */
    static FindGyroInContext(yctx, func) {
        let obj;
        obj = yocto_api_js_1.YFunction._FindFromCacheInContext(yctx, 'Gyro', func);
        if (obj == null) {
            obj = new YGyro(yctx, func);
            yocto_api_js_1.YFunction._AddToCache('Gyro', 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._valueCallbackGyro = 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._valueCallbackGyro != null) {
            try {
                await this._valueCallbackGyro(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._timedReportCallbackGyro = callback;
        return 0;
    }
    async _invokeTimedReportCallback(value) {
        if (this._timedReportCallbackGyro != null) {
            try {
                await this._timedReportCallbackGyro(this, value);
            }
            catch (e) {
                this._yapi.imm_log('Exception in timedReportCallback:', e);
            }
        }
        else {
            await super._invokeTimedReportCallback(value);
        }
        return 0;
    }
    async _loadQuaternion() {
        let now_stamp;
        let age_ms;
        now_stamp = (this._yapi.GetTickCount() & 0x7FFFFFFF);
        age_ms = ((now_stamp - this._qt_stamp) & 0x7FFFFFFF);
        if ((age_ms >= 10) || (this._qt_stamp == 0)) {
            if (await this.load(10) != this._yapi.SUCCESS) {
                return this._yapi.DEVICE_NOT_FOUND;
            }
            if (this._qt_stamp == 0) {
                this._qt_w = YQt.FindQtInContext(this._yapi, this._serial + '.qt1');
                this._qt_x = YQt.FindQtInContext(this._yapi, this._serial + '.qt2');
                this._qt_y = YQt.FindQtInContext(this._yapi, this._serial + '.qt3');
                this._qt_z = YQt.FindQtInContext(this._yapi, this._serial + '.qt4');
            }
            if (await this._qt_w.load(9) != this._yapi.SUCCESS) {
                return this._yapi.DEVICE_NOT_FOUND;
            }
            if (await this._qt_x.load(9) != this._yapi.SUCCESS) {
                return this._yapi.DEVICE_NOT_FOUND;
            }
            if (await this._qt_y.load(9) != this._yapi.SUCCESS) {
                return this._yapi.DEVICE_NOT_FOUND;
            }
            if (await this._qt_z.load(9) != this._yapi.SUCCESS) {
                return this._yapi.DEVICE_NOT_FOUND;
            }
            this._w = await this._qt_w.get_currentValue();
            this._x = await this._qt_x.get_currentValue();
            this._y = await this._qt_y.get_currentValue();
            this._z = await this._qt_z.get_currentValue();
            this._qt_stamp = now_stamp;
        }
        return this._yapi.SUCCESS;
    }
    async _loadAngles() {
        let sqw;
        let sqx;
        let sqy;
        let sqz;
        let norm;
        let delta;
        if (await this._loadQuaternion() != this._yapi.SUCCESS) {
            return this._yapi.DEVICE_NOT_FOUND;
        }
        if (this._angles_stamp != this._qt_stamp) {
            sqw = this._w * this._w;
            sqx = this._x * this._x;
            sqy = this._y * this._y;
            sqz = this._z * this._z;
            norm = sqx + sqy + sqz + sqw;
            delta = this._y * this._w - this._x * this._z;
            if (delta > 0.499 * norm) {
                // singularity at north pole
                this._pitch = 90.0;
                this._head = Math.round(2.0 * 1800.0 / Math.PI * Math.atan2(this._x, -this._w)) / 10.0;
            }
            else {
                if (delta < -0.499 * norm) {
                    // singularity at south pole
                    this._pitch = -90.0;
                    this._head = Math.round(-2.0 * 1800.0 / Math.PI * Math.atan2(this._x, -this._w)) / 10.0;
                }
                else {
                    this._roll = Math.round(1800.0 / Math.PI * Math.atan2(2.0 * (this._w * this._x + this._y * this._z), sqw - sqx - sqy + sqz)) / 10.0;
                    this._pitch = Math.round(1800.0 / Math.PI * Math.asin(2.0 * delta / norm)) / 10.0;
                    this._head = Math.round(1800.0 / Math.PI * Math.atan2(2.0 * (this._x * this._y + this._z * this._w), sqw + sqx - sqy - sqz)) / 10.0;
                }
            }
            this._angles_stamp = this._qt_stamp;
        }
        return this._yapi.SUCCESS;
    }
    /**
     * Returns the estimated roll angle, based on the integration of
     * gyroscopic measures combined with acceleration and
     * magnetic field measurements.
     * The axis corresponding to the roll angle can be mapped to any
     * of the device X, Y or Z physical directions using methods of
     * the class YRefFrame.
     *
     * @return a floating-point number corresponding to roll angle
     *         in degrees, between -180 and +180.
     */
    async get_roll() {
        await this._loadAngles();
        return this._roll;
    }
    /**
     * Returns the estimated pitch angle, based on the integration of
     * gyroscopic measures combined with acceleration and
     * magnetic field measurements.
     * The axis corresponding to the pitch angle can be mapped to any
     * of the device X, Y or Z physical directions using methods of
     * the class YRefFrame.
     *
     * @return a floating-point number corresponding to pitch angle
     *         in degrees, between -90 and +90.
     */
    async get_pitch() {
        await this._loadAngles();
        return this._pitch;
    }
    /**
     * Returns the estimated heading angle, based on the integration of
     * gyroscopic measures combined with acceleration and
     * magnetic field measurements.
     * The axis corresponding to the heading can be mapped to any
     * of the device X, Y or Z physical directions using methods of
     * the class YRefFrame.
     *
     * @return a floating-point number corresponding to heading
     *         in degrees, between 0 and 360.
     */
    async get_heading() {
        await this._loadAngles();
        return this._head;
    }
    /**
     * Returns the w component (real part) of the quaternion
     * describing the device estimated orientation, based on the
     * integration of gyroscopic measures combined with acceleration and
     * magnetic field measurements.
     *
     * @return a floating-point number corresponding to the w
     *         component of the quaternion.
     */
    async get_quaternionW() {
        await this._loadQuaternion();
        return this._w;
    }
    /**
     * Returns the x component of the quaternion
     * describing the device estimated orientation, based on the
     * integration of gyroscopic measures combined with acceleration and
     * magnetic field measurements. The x component is
     * mostly correlated with rotations on the roll axis.
     *
     * @return a floating-point number corresponding to the x
     *         component of the quaternion.
     */
    async get_quaternionX() {
        await this._loadQuaternion();
        return this._x;
    }
    /**
     * Returns the y component of the quaternion
     * describing the device estimated orientation, based on the
     * integration of gyroscopic measures combined with acceleration and
     * magnetic field measurements. The y component is
     * mostly correlated with rotations on the pitch axis.
     *
     * @return a floating-point number corresponding to the y
     *         component of the quaternion.
     */
    async get_quaternionY() {
        await this._loadQuaternion();
        return this._y;
    }
    /**
     * Returns the x component of the quaternion
     * describing the device estimated orientation, based on the
     * integration of gyroscopic measures combined with acceleration and
     * magnetic field measurements. The x component is
     * mostly correlated with changes of heading.
     *
     * @return a floating-point number corresponding to the z
     *         component of the quaternion.
     */
    async get_quaternionZ() {
        await this._loadQuaternion();
        return this._z;
    }
    /**
     * Registers a callback function that will be invoked each time that the estimated
     * device orientation has changed. The call frequency is typically around 95Hz during a move.
     * 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 invoke, or a null pointer.
     *         The callback function should take five arguments:
     *         the YGyro object of the turning device, and the floating
     *         point values of the four components w, x, y and z
     *         (as floating-point numbers).
     * @noreturn
     */
    async registerQuaternionCallback(callback) {
        this._quatCallback = callback;
        if (callback != null) {
            if (await this._loadQuaternion() != this._yapi.SUCCESS) {
                return this._yapi.DEVICE_NOT_FOUND;
            }
            await this._qt_w.set_userData(this);
            await this._qt_x.set_userData(this);
            await this._qt_y.set_userData(this);
            await this._qt_z.set_userData(this);
            await this._qt_w.registerValueCallback(yInternalGyroCallback);
            await this._qt_x.registerValueCallback(yInternalGyroCallback);
            await this._qt_y.registerValueCallback(yInternalGyroCallback);
            await this._qt_z.registerValueCallback(yInternalGyroCallback);
        }
        else {
            if (!(this._anglesCallback != null)) {
                await this._qt_w.registerValueCallback(null);
                await this._qt_x.registerValueCallback(null);
                await this._qt_y.registerValueCallback(null);
                await this._qt_z.registerValueCallback(null);
            }
        }
        return 0;
    }
    /**
     * Registers a callback function that will be invoked each time that the estimated
     * device orientation has changed. The call frequency is typically around 95Hz during a move.
     * 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 invoke, or a null pointer.
     *         The callback function should take four arguments:
     *         the YGyro object of the turning device, and the floating
     *         point values of the three angles roll, pitch and heading
     *         in degrees (as floating-point numbers).
     * @noreturn
     */
    async registerAnglesCallback(callback) {
        this._anglesCallback = callback;
        if (callback != null) {
            if (await this._loadQuaternion() != this._yapi.SUCCESS) {
                return this._yapi.DEVICE_NOT_FOUND;
            }
            await this._qt_w.set_userData(this);
            await this._qt_x.set_userData(this);
            await this._qt_y.set_userData(this);
            await this._qt_z.set_userData(this);
            await this._qt_w.registerValueCallback(yInternalGyroCallback);
            await this._qt_x.registerValueCallback(yInternalGyroCallback);
            await this._qt_y.registerValueCallback(yInternalGyroCallback);
            await this._qt_z.registerValueCallback(yInternalGyroCallback);
        }
        else {
            if (!(this._quatCallback != null)) {
                await this._qt_w.registerValueCallback(null);
                await this._qt_x.registerValueCallback(null);
                await this._qt_y.registerValueCallback(null);
                await this._qt_z.registerValueCallback(null);
            }
        }
        return 0;
    }
    async _invokeGyroCallbacks(qtIndex, qtValue) {
        switch (qtIndex - 1) {
            case 0:
                this._w = qtValue;
                break;
            case 1:
                this._x = qtValue;
                break;
            case 2:
                this._y = qtValue;
                break;
            case 3:
                this._z = qtValue;
                break;
        }
        if (qtIndex < 4) {
            return 0;
        }
        this._qt_stamp = (this._yapi.GetTickCount() & 0x7FFFFFFF);
        if (this._quatCallback != null) {
            try {
                await this._quatCallback(this, this._w, this._x, this._y, this._z);
            }
            catch (e) {
                this._yapi.imm_log('Exception in yQuaternionCallback:', e);
            }
        }
        if (this._anglesCallback != null) {
            await this._loadAngles();
            try {
                await this._anglesCallback(this, this._roll, this._pitch, this._head);
            }
            catch (e) {
                this._yapi.imm_log('Exception in yAnglesCallback:', e);
            }
        }
        return 0;
    }
    /**
     * Continues the enumeration of gyroscopes started using yFirstGyro().
     * Caution: You can't make any assumption about the returned gyroscopes order.
     * If you want to find a specific a gyroscope, use Gyro.findGyro()
     * and a hardwareID or a logical name.
     *
     * @return a pointer to a YGyro object, corresponding to
     *         a gyroscope currently online, or a null pointer
     *         if there are no more gyroscopes to enumerate.
     */
    nextGyro() {
        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 YGyro.FindGyroInContext(this._yapi, next_hwid);
    }
    /**
     * Starts the enumeration of gyroscopes currently accessible.
     * Use the method YGyro.nextGyro() to iterate on
     * next gyroscopes.
     *
     * @return a pointer to a YGyro object, corresponding to
     *         the first gyro currently online, or a null pointer
     *         if there are none.
     */
    static FirstGyro() {
        let next_hwid = yocto_api_js_1.YAPI.imm_getFirstHardwareId('Gyro');
        if (next_hwid == null)
            return null;
        return YGyro.FindGyro(next_hwid);
    }
    /**
     * Starts the enumeration of gyroscopes currently accessible.
     * Use the method YGyro.nextGyro() to iterate on
     * next gyroscopes.
     *
     * @param yctx : a YAPI context.
     *
     * @return a pointer to a YGyro object, corresponding to
     *         the first gyro currently online, or a null pointer
     *         if there are none.
     */
    static FirstGyroInContext(yctx) {
        let next_hwid = yctx.imm_getFirstHardwareId('Gyro');
        if (next_hwid == null)
            return null;
        return YGyro.FindGyroInContext(yctx, next_hwid);
    }
}
exports.YGyro = YGyro;
// API symbols as static members
YGyro.BANDWIDTH_INVALID = yocto_api_js_1.YAPI.INVALID_UINT;
YGyro.XVALUE_INVALID = yocto_api_js_1.YAPI.INVALID_DOUBLE;
YGyro.YVALUE_INVALID = yocto_api_js_1.YAPI.INVALID_DOUBLE;
YGyro.ZVALUE_INVALID = yocto_api_js_1.YAPI.INVALID_DOUBLE;
//# sourceMappingURL=yocto_gyro.js.map