/*********************************************************************
 *
 * $Id: YQt.cs 72057 2026-02-17 09:44:53Z mvuilleu $
 *
 * Implements FindQt(), 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.
 *
 *********************************************************************/

using System;
using System.Threading.Tasks;

namespace com.yoctopuce.YoctoAPI
{
    //--- (generated code: YQt return codes)
//--- (end of generated code: YQt return codes)
    //--- (generated code: YQt class start)
/**
 * <summary>
 *   YQt Class: Base interface to access quaternion components, available for instance in the Yocto-3D-V2
 * <para>
 *   The <c>YQt</c> class provides direct access to the 3D attitude estimation
 *   provided by Yoctopuce inertial sensors. The four instances of <c>YQt</c>
 *   provide direct access to the individual quaternion components representing the
 *   orientation. It is usually not needed to use the <c>YQt</c> class
 *   directly, as the <c>YGyro</c> class provides a more convenient higher-level
 *   interface.
 * </para>
 * </summary>
 */
public class YQt : YSensor
{
//--- (end of generated code: YQt class start)
//--- (generated code: YQt definitions)
    protected ValueCallback _valueCallbackQt = null;
    protected TimedReportCallback _timedReportCallbackQt = null;

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


        /**
     * <summary>
     * </summary>
     * <param name="func">
     *   functionid
     * </param>
     */

        protected YQt(YAPIContext ctx, String func)
            : base(ctx, func, "Qt")
        {
            //--- (generated code: YQt attributes initialization)
        //--- (end of generated code: YQt attributes initialization)
        }

        /**
     * <summary>
     * </summary>
     * <param name="func">
     *   functionid
     * </param>
     */

        protected YQt(String func)
            : this(YAPI.imm_GetYCtx(), func)
        {}

        //--- (generated code: YQt implementation)
#pragma warning disable 1998
    internal override void imm_parseAttr(YJSONObject json_val)
    {
        base.imm_parseAttr(json_val);
    }

    /**
     * <summary>
     *   Retrieves a quaternion component 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 quaternion component is online at the time
     *   it is invoked. The returned object is nevertheless valid.
     *   Use the method <c>YQt.isOnline()</c> 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.
     * </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 quaternion component, for instance
     *   <c>Y3DMK002.qt1</c>.
     * </param>
     * <returns>
     *   a <c>YQt</c> object allowing you to drive the quaternion component.
     * </returns>
     */
    public static YQt FindQt(string func)
    {
        YQt obj;
        obj = (YQt) YFunction._FindFromCache("Qt", func);
        if (obj == null) {
            obj = new YQt(func);
            YFunction._AddToCache("Qt", func, obj);
        }
        return obj;
    }

    /**
     * <summary>
     *   Retrieves a quaternion component 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 quaternion component is online at the time
     *   it is invoked. The returned object is nevertheless valid.
     *   Use the method <c>YQt.isOnline()</c> 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.
     * </para>
     * </summary>
     * <param name="yctx">
     *   a YAPI context
     * </param>
     * <param name="func">
     *   a string that uniquely characterizes the quaternion component, for instance
     *   <c>Y3DMK002.qt1</c>.
     * </param>
     * <returns>
     *   a <c>YQt</c> object allowing you to drive the quaternion component.
     * </returns>
     */
    public static YQt FindQtInContext(YAPIContext yctx,string func)
    {
        YQt obj;
        obj = (YQt) YFunction._FindFromCacheInContext(yctx, "Qt", func);
        if (obj == null) {
            obj = new YQt(yctx, func);
            YFunction._AddToCache("Qt", 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);
        }
        _valueCallbackQt = 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 (_valueCallbackQt != null) {
            await _valueCallbackQt(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);
        }
        _timedReportCallbackQt = callback;
        return 0;
    }

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

    /**
     * <summary>
     *   Continues the enumeration of quaternion components started using <c>yFirstQt()</c>.
     * <para>
     *   Caution: You can't make any assumption about the returned quaternion components order.
     *   If you want to find a specific a quaternion component, use <c>Qt.findQt()</c>
     *   and a hardwareID or a logical name.
     * </para>
     * </summary>
     * <returns>
     *   a pointer to a <c>YQt</c> object, corresponding to
     *   a quaternion component currently online, or a <c>null</c> pointer
     *   if there are no more quaternion components to enumerate.
     * </returns>
     */
    public YQt nextQt()
    {
        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 FindQtInContext(_yapi, next_hwid);
    }

    /**
     * <summary>
     *   Starts the enumeration of quaternion components currently accessible.
     * <para>
     *   Use the method <c>YQt.nextQt()</c> to iterate on
     *   next quaternion components.
     * </para>
     * </summary>
     * <returns>
     *   a pointer to a <c>YQt</c> object, corresponding to
     *   the first quaternion component currently online, or a <c>null</c> pointer
     *   if there are none.
     * </returns>
     */
    public static YQt FirstQt()
    {
        YAPIContext yctx = YAPI.imm_GetYCtx();
        string next_hwid = yctx._yHash.imm_getFirstHardwareId("Qt");
        if (next_hwid == null)  return null;
        return FindQtInContext(yctx, next_hwid);
    }

    /**
     * <summary>
     *   Starts the enumeration of quaternion components currently accessible.
     * <para>
     *   Use the method <c>YQt.nextQt()</c> to iterate on
     *   next quaternion components.
     * </para>
     * </summary>
     * <param name="yctx">
     *   a YAPI context.
     * </param>
     * <returns>
     *   a pointer to a <c>YQt</c> object, corresponding to
     *   the first quaternion component currently online, or a <c>null</c> pointer
     *   if there are none.
     * </returns>
     */
    public static YQt FirstQtInContext(YAPIContext yctx)
    {
        string next_hwid = yctx._yHash.imm_getFirstHardwareId("Qt");
        if (next_hwid == null)  return null;
        return FindQtInContext(yctx, next_hwid);
    }

#pragma warning restore 1998
    //--- (end of generated code: YQt implementation)
    }

}