/*********************************************************************
 *
 *  $Id: svn_id $
 *
 *  Implements FindOrientation(), the high-level API for Orientation 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.
 *
 *********************************************************************/

using System;
using System.Collections.Generic;
using System.Threading.Tasks;
namespace com.yoctopuce.YoctoAPI
{

//--- (YOrientation return codes)
//--- (end of YOrientation return codes)
//--- (YOrientation class start)
/**
 * <summary>
 *   YOrientation Class: orientation sensor control interface
 * <para>
 *   The <c>YOrientation</c> class allows you to read and configure Yoctopuce orientation sensors.
 *   It inherits from <c>YSensor</c> class the core functions to read measurements,
 *   to register callback functions, and to access the autonomous datalogger.
 * </para>
 * </summary>
 */
public class YOrientation : YSensor
{
//--- (end of YOrientation class start)
//--- (YOrientation definitions)
    /**
     * <summary>
     *   invalid counterClockwise value
     * </summary>
     */
    public const int COUNTERCLOCKWISE_FALSE = 0;
    public const int COUNTERCLOCKWISE_TRUE = 1;
    public const int COUNTERCLOCKWISE_INVALID = -1;
    /**
     * <summary>
     *   invalid command value
     * </summary>
     */
    public const  string COMMAND_INVALID = YAPI.INVALID_STRING;
    /**
     * <summary>
     *   invalid zeroOffset value
     * </summary>
     */
    public const  double ZEROOFFSET_INVALID = YAPI.INVALID_DOUBLE;
    protected int _counterClockwise = COUNTERCLOCKWISE_INVALID;
    protected string _command = COMMAND_INVALID;
    protected double _zeroOffset = ZEROOFFSET_INVALID;
    protected ValueCallback _valueCallbackOrientation = null;
    protected TimedReportCallback _timedReportCallbackOrientation = null;

    public new delegate Task ValueCallback(YOrientation func, string value);
    public new delegate Task TimedReportCallback(YOrientation func, YMeasure measure);
    //--- (end of YOrientation definitions)


    /**
     * <summary>
     * </summary>
     * <param name="func">
     *   functionid
     * </param>
     */
    protected YOrientation(YAPIContext ctx, string func)
        : base(ctx, func, "Orientation")
    {
        //--- (YOrientation attributes initialization)
        //--- (end of YOrientation attributes initialization)
    }

    /**
     * <summary>
     * </summary>
     * <param name="func">
     *   functionid
     * </param>
     */
    protected YOrientation(string func)
        : this(YAPI.imm_GetYCtx(), func)
    {
    }

    //--- (YOrientation implementation)
#pragma warning disable 1998
    internal override void imm_parseAttr(YJSONObject json_val)
    {
        if (json_val.has("counterClockwise")) {
            _counterClockwise = json_val.getInt("counterClockwise") > 0 ? 1 : 0;
        }
        if (json_val.has("command")) {
            _command = json_val.getString("command");
        }
        if (json_val.has("zeroOffset")) {
            _zeroOffset = Math.Round(json_val.getDouble("zeroOffset") / 65.536) / 1000.0;
        }
        base.imm_parseAttr(json_val);
    }

    /**
     * <summary>
     *   Returns a value indicating whether the sensor is operating in a counterclockwise direction.
     * <para>
     * </para>
     * <para>
     * </para>
     * </summary>
     * <returns>
     *   either <c>YOrientation.COUNTERCLOCKWISE_FALSE</c> or <c>YOrientation.COUNTERCLOCKWISE_TRUE</c>,
     *   according to a value indicating whether the sensor is operating in a counterclockwise direction
     * </returns>
     * <para>
     *   On failure, throws an exception or returns <c>YOrientation.COUNTERCLOCKWISE_INVALID</c>.
     * </para>
     */
    public async Task<int> get_counterClockwise()
    {
        int res;
        if (_cacheExpiration <= YAPIContext.GetTickCount()) {
            if (await this.load(await _yapi.GetCacheValidity()) != YAPI.SUCCESS) {
                return COUNTERCLOCKWISE_INVALID;
            }
        }
        res = _counterClockwise;
        return res;
    }


    /**
     * <summary>
     *   Defines the operating direction of the sensor.
     * <para>
     *   Remember to call the <c>saveToFlash()</c> method of the module if the
     *   modification must be kept.
     * </para>
     * <para>
     * </para>
     * </summary>
     * <param name="newval">
     *   either <c>YOrientation.COUNTERCLOCKWISE_FALSE</c> or <c>YOrientation.COUNTERCLOCKWISE_TRUE</c>
     * </param>
     * <para>
     * </para>
     * <returns>
     *   <c>YAPI.SUCCESS</c> if the call succeeds.
     * </returns>
     * <para>
     *   On failure, throws an exception or returns a negative error code.
     * </para>
     */
    public async Task<int> set_counterClockwise(int  newval)
    {
        string rest_val;
        rest_val = (newval > 0 ? "1" : "0");
        await _setAttr("counterClockwise",rest_val);
        return YAPI.SUCCESS;
    }

    /**
     * <summary>
     *   throws an exception on error
     * </summary>
     */
    public async Task<string> get_command()
    {
        string res;
        if (_cacheExpiration <= YAPIContext.GetTickCount()) {
            if (await this.load(await _yapi.GetCacheValidity()) != YAPI.SUCCESS) {
                return COMMAND_INVALID;
            }
        }
        res = _command;
        return res;
    }


    public async Task<int> set_command(string  newval)
    {
        string rest_val;
        rest_val = newval;
        await _setAttr("command",rest_val);
        return YAPI.SUCCESS;
    }

    /**
     * <summary>
     *   Sets an offset between the orientation reported by the sensor and the actual orientation.
     * <para>
     *   This
     *   can typically be used  to compensate for mechanical offset. This offset can also be set
     *   automatically using the zero() method.
     *   Remember to call the <c>saveToFlash()</c> method of the module if the modification must be kept.
     * </para>
     * <para>
     * </para>
     * </summary>
     * <param name="newval">
     *   a floating point number
     * </param>
     * <para>
     * </para>
     * <returns>
     *   <c>YAPI.SUCCESS</c> if the call succeeds.
     * </returns>
     * <para>
     *   On failure, throws an exception or returns a negative error code.
     * </para>
     */
    public async Task<int> set_zeroOffset(double  newval)
    {
        string rest_val;
        rest_val = Math.Round(newval * 65536.0).ToString();
        await _setAttr("zeroOffset",rest_val);
        return YAPI.SUCCESS;
    }

    /**
     * <summary>
     *   Returns the Offset between the orientation reported by the sensor and the actual orientation.
     * <para>
     * </para>
     * <para>
     * </para>
     * </summary>
     * <returns>
     *   a floating point number corresponding to the Offset between the orientation reported by the sensor
     *   and the actual orientation
     * </returns>
     * <para>
     *   On failure, throws an exception or returns <c>YOrientation.ZEROOFFSET_INVALID</c>.
     * </para>
     */
    public async Task<double> get_zeroOffset()
    {
        double res;
        if (_cacheExpiration <= YAPIContext.GetTickCount()) {
            if (await this.load(await _yapi.GetCacheValidity()) != YAPI.SUCCESS) {
                return ZEROOFFSET_INVALID;
            }
        }
        res = _zeroOffset;
        return res;
    }


    /**
     * <summary>
     *   Retrieves an orientation sensor for a given identifier.
     * <para>
     *   The identifier can be specified using several formats:
     * </para>
     * <para>
     * </para>
     * <para>
     *   - FunctionLogicalName
     * </para>
     * <para>
     *   - ModuleSerialNumber.FunctionIdentifier
     * </para>
     * <para>
     *   - ModuleSerialNumber.FunctionLogicalName
     * </para>
     * <para>
     *   - ModuleLogicalName.FunctionIdentifier
     * </para>
     * <para>
     *   - ModuleLogicalName.FunctionLogicalName
     * </para>
     * <para>
     * </para>
     * <para>
     *   This function does not require that the orientation sensor is online at the time
     *   it is invoked. The returned object is nevertheless valid.
     *   Use the method <c>YOrientation.isOnline()</c> to test if the orientation sensor is
     *   indeed online at a given time. In case of ambiguity when looking for
     *   an orientation sensor 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.
     * </para>
     * <para>
     *   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.
     * </para>
     * <para>
     * </para>
     * </summary>
     * <param name="func">
     *   a string that uniquely characterizes the orientation sensor, for instance
     *   <c>MyDevice.orientation</c>.
     * </param>
     * <returns>
     *   a <c>YOrientation</c> object allowing you to drive the orientation sensor.
     * </returns>
     */
    public static YOrientation FindOrientation(string func)
    {
        YOrientation obj;
        obj = (YOrientation) YFunction._FindFromCache("Orientation", func);
        if (obj == null) {
            obj = new YOrientation(func);
            YFunction._AddToCache("Orientation", func, obj);
        }
        return obj;
    }

    /**
     * <summary>
     *   Retrieves an orientation sensor for a given identifier in a YAPI context.
     * <para>
     *   The identifier can be specified using several formats:
     * </para>
     * <para>
     * </para>
     * <para>
     *   - FunctionLogicalName
     * </para>
     * <para>
     *   - ModuleSerialNumber.FunctionIdentifier
     * </para>
     * <para>
     *   - ModuleSerialNumber.FunctionLogicalName
     * </para>
     * <para>
     *   - ModuleLogicalName.FunctionIdentifier
     * </para>
     * <para>
     *   - ModuleLogicalName.FunctionLogicalName
     * </para>
     * <para>
     * </para>
     * <para>
     *   This function does not require that the orientation sensor is online at the time
     *   it is invoked. The returned object is nevertheless valid.
     *   Use the method <c>YOrientation.isOnline()</c> to test if the orientation sensor is
     *   indeed online at a given time. In case of ambiguity when looking for
     *   an orientation sensor 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.
     * </para>
     * </summary>
     * <param name="yctx">
     *   a YAPI context
     * </param>
     * <param name="func">
     *   a string that uniquely characterizes the orientation sensor, for instance
     *   <c>MyDevice.orientation</c>.
     * </param>
     * <returns>
     *   a <c>YOrientation</c> object allowing you to drive the orientation sensor.
     * </returns>
     */
    public static YOrientation FindOrientationInContext(YAPIContext yctx,string func)
    {
        YOrientation obj;
        obj = (YOrientation) YFunction._FindFromCacheInContext(yctx, "Orientation", func);
        if (obj == null) {
            obj = new YOrientation(yctx, func);
            YFunction._AddToCache("Orientation", func, obj);
        }
        return obj;
    }

    /**
     * <summary>
     *   Registers the callback function that is invoked on every change of advertised value.
     * <para>
     *   The callback is then invoked only during the execution of <c>ySleep</c> or <c>yHandleEvents</c>.
     *   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.
     * </para>
     * <para>
     * </para>
     * </summary>
     * <param name="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
     * </param>
     */
    public async Task<int> registerValueCallback(ValueCallback callback)
    {
        string val;
        if (callback != null) {
            await YFunction._UpdateValueCallbackList(this, true);
        } else {
            await YFunction._UpdateValueCallbackList(this, false);
        }
        _valueCallbackOrientation = callback;
        // Immediately invoke value callback with current value
        if (callback != null && await this.isOnline()) {
            val = _advertisedValue;
            if (!(val == "")) {
                await this._invokeValueCallback(val);
            }
        }
        return 0;
    }

    public override async Task<int> _invokeValueCallback(string value)
    {
        if (_valueCallbackOrientation != null) {
            await _valueCallbackOrientation(this, value);
        } else {
            await base._invokeValueCallback(value);
        }
        return 0;
    }

    /**
     * <summary>
     *   Registers the callback function that is invoked on every periodic timed notification.
     * <para>
     *   The callback is invoked only during the execution of <c>ySleep</c> or <c>yHandleEvents</c>.
     *   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.
     * </para>
     * <para>
     * </para>
     * </summary>
     * <param name="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 <c>YMeasure</c> object describing
     *   the new advertised value.
     * @noreturn
     * </param>
     */
    public async Task<int> registerTimedReportCallback(TimedReportCallback callback)
    {
        YSensor sensor;
        sensor = this;
        if (callback != null) {
            await YFunction._UpdateTimedReportCallbackList(sensor, true);
        } else {
            await YFunction._UpdateTimedReportCallbackList(sensor, false);
        }
        _timedReportCallbackOrientation = callback;
        return 0;
    }

    public override async Task<int> _invokeTimedReportCallback(YMeasure value)
    {
        if (_timedReportCallbackOrientation != null) {
            await _timedReportCallbackOrientation(this, value);
        } else {
            await base._invokeTimedReportCallback(value);
        }
        return 0;
    }

    public virtual async Task<int> sendCommand(string command)
    {
        return await this.set_command(command);
    }

    /**
     * <summary>
     *   Reset the sensor's zero to current position by automatically setting a new offset.
     * <para>
     *   Remember to call the <c>saveToFlash()</c> method of the module if the modification must be kept.
     * </para>
     * </summary>
     * <returns>
     *   <c>YAPI.SUCCESS</c> if the call succeeds.
     *   On failure, throws an exception or returns a negative error code.
     * </returns>
     */
    public virtual async Task<int> zero()
    {
        return await this.sendCommand("Z");
    }

    /**
     * <summary>
     *   Modifies the calibration of the MA600A sensor using an array of 32
     *   values representing the offset in degrees between the true values and
     *   those measured regularly every 11.25 degrees starting from zero.
     * <para>
     *   The calibration
     *   is applied immediately and is stored permanently in the MA600A sensor.
     *   Before calculating the offset values, remember to clear any previous
     *   calibration using the <c>clearCalibration</c> function and set
     *   the zero offset  to 0. After a calibration change, the sensor will stop
     *   measurements for about one second.
     *   Do not confuse this function with the generic <c>calibrateFromPoints</c> function,
     *   which works at the YSensor level and is not necessarily well suited to
     *   a sensor returning circular values.
     * </para>
     * <para>
     * </para>
     * </summary>
     * <param name="offsetValues">
     *   array of 32 floating point values in the [-11.25..+11.25] range
     * </param>
     * <para>
     * </para>
     * <returns>
     *   <c>YAPI.SUCCESS</c> if the call succeeds.
     * </returns>
     * <para>
     *   On failure, throws an exception or returns a negative error code.
     * </para>
     */
    public virtual async Task<int> set_calibration(List<double> offsetValues)
    {
        string res;
        int npt;
        int idx;
        int corr;
        npt = offsetValues.Count;
        if (npt != 32) {
            this._throw(YAPI.INVALID_ARGUMENT, "Invalid calibration parameters (32 expected)");
            return YAPI.INVALID_ARGUMENT;
        }
        res = "C";
        idx = 0;
        while (idx < npt) {
            corr = (int) Math.Round(offsetValues[idx] * 128 / 11.25);
            if ((corr < -128) || (corr > 127)) {
                this._throw(YAPI.INVALID_ARGUMENT, "Calibration parameter exceeds permitted range (+/-11.25)");
                return YAPI.INVALID_ARGUMENT;
            }
            if (corr < 0) {
                corr = corr + 256;
            }
            res = ""+res+""+String.Format("{0:x02}",corr);
            idx = idx + 1;
        }
        return await this.sendCommand(res);
    }

    /**
     * <summary>
     *   Retrieves offset correction data points previously entered using the method
     *   <c>set_calibration</c>.
     * <para>
     * </para>
     * <para>
     * </para>
     * </summary>
     * <param name="offsetValues">
     *   array of 32 floating point numbers, that will be filled by the
     *   function with the offset values for the correction points.
     * </param>
     * <para>
     * </para>
     * <returns>
     *   <c>YAPI.SUCCESS</c> if the call succeeds.
     * </returns>
     * <para>
     *   On failure, throws an exception or returns a negative error code.
     * </para>
     */
    public virtual async Task<int> get_Calibration(List<double> offsetValues)
    {
        return 0;
    }

    /**
     * <summary>
     *   Cancels any calibration set with <c>set_calibration</c>.
     * <para>
     *   This function
     *   is equivalent to calling <c>set_calibration</c> with only zeros.
     * </para>
     * </summary>
     * <returns>
     *   <c>YAPI.SUCCESS</c> if the call succeeds.
     * </returns>
     * <para>
     *   On failure, throws an exception or returns a negative error code.
     * </para>
     */
    public virtual async Task<int> clearCalibration()
    {
        return await this.sendCommand("-");
    }

    /**
     * <summary>
     *   Continues the enumeration of orientation sensors started using <c>yFirstOrientation()</c>.
     * <para>
     *   Caution: You can't make any assumption about the returned orientation sensors order.
     *   If you want to find a specific an orientation sensor, use <c>Orientation.findOrientation()</c>
     *   and a hardwareID or a logical name.
     * </para>
     * </summary>
     * <returns>
     *   a pointer to a <c>YOrientation</c> object, corresponding to
     *   an orientation sensor currently online, or a <c>null</c> pointer
     *   if there are no more orientation sensors to enumerate.
     * </returns>
     */
    public YOrientation nextOrientation()
    {
        string next_hwid;
        try {
            string hwid = _yapi._yHash.imm_resolveHwID(_className, _func);
            next_hwid = _yapi._yHash.imm_getNextHardwareId(_className, hwid);
        } catch (YAPI_Exception) {
            next_hwid = null;
        }
        if(next_hwid == null) return null;
        return FindOrientationInContext(_yapi, next_hwid);
    }

    /**
     * <summary>
     *   Starts the enumeration of orientation sensors currently accessible.
     * <para>
     *   Use the method <c>YOrientation.nextOrientation()</c> to iterate on
     *   next orientation sensors.
     * </para>
     * </summary>
     * <returns>
     *   a pointer to a <c>YOrientation</c> object, corresponding to
     *   the first orientation sensor currently online, or a <c>null</c> pointer
     *   if there are none.
     * </returns>
     */
    public static YOrientation FirstOrientation()
    {
        YAPIContext yctx = YAPI.imm_GetYCtx();
        string next_hwid = yctx._yHash.imm_getFirstHardwareId("Orientation");
        if (next_hwid == null)  return null;
        return FindOrientationInContext(yctx, next_hwid);
    }

    /**
     * <summary>
     *   Starts the enumeration of orientation sensors currently accessible.
     * <para>
     *   Use the method <c>YOrientation.nextOrientation()</c> to iterate on
     *   next orientation sensors.
     * </para>
     * </summary>
     * <param name="yctx">
     *   a YAPI context.
     * </param>
     * <returns>
     *   a pointer to a <c>YOrientation</c> object, corresponding to
     *   the first orientation sensor currently online, or a <c>null</c> pointer
     *   if there are none.
     * </returns>
     */
    public static YOrientation FirstOrientationInContext(YAPIContext yctx)
    {
        string next_hwid = yctx._yHash.imm_getFirstHardwareId("Orientation");
        if (next_hwid == null)  return null;
        return FindOrientationInContext(yctx, next_hwid);
    }

#pragma warning restore 1998
    //--- (end of YOrientation implementation)
}
}

