' ********************************************************************
'
'  $Id: svn_id $
'
'  Implements yFindCompass(), the high-level API for Compass functions
'
'  - - - - - - - - - License information: - - - - - - - - -
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' *********************************************************************


Imports YDEV_DESCR = System.Int32
Imports YFUN_DESCR = System.Int32
Imports System.Runtime.InteropServices
Imports System.Text

Module yocto_compass

    REM --- (YCompass return codes)
    REM --- (end of YCompass return codes)
    REM --- (YCompass dlldef)
    REM --- (end of YCompass dlldef)
   REM --- (YCompass yapiwrapper)
   REM --- (end of YCompass yapiwrapper)
  REM --- (YCompass globals)

  Public Const Y_BANDWIDTH_INVALID As Integer = YAPI.INVALID_UINT
  Public Const Y_AXIS_X As Integer = 0
  Public Const Y_AXIS_Y As Integer = 1
  Public Const Y_AXIS_Z As Integer = 2
  Public Const Y_AXIS_INVALID As Integer = -1
  Public Const Y_MAGNETICHEADING_INVALID As Double = YAPI.INVALID_DOUBLE
  Public Delegate Sub YCompassValueCallback(ByVal func As YCompass, ByVal value As String)
  Public Delegate Sub YCompassTimedReportCallback(ByVal func As YCompass, ByVal measure As YMeasure)
  REM --- (end of YCompass globals)

  REM --- (YCompass class start)

  '''*
  ''' <summary>
  '''   The <c>YCompass</c> class allows you to read and configure Yoctopuce compass functions.
  ''' <para>
  '''   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 YCompass
    Inherits YSensor
    REM --- (end of YCompass class start)

    REM --- (YCompass definitions)
    Public Const BANDWIDTH_INVALID As Integer = YAPI.INVALID_UINT
    Public Const AXIS_X As Integer = 0
    Public Const AXIS_Y As Integer = 1
    Public Const AXIS_Z As Integer = 2
    Public Const AXIS_INVALID As Integer = -1
    Public Const MAGNETICHEADING_INVALID As Double = YAPI.INVALID_DOUBLE
    REM --- (end of YCompass definitions)

    REM --- (YCompass attributes declaration)
    Protected _bandwidth As Integer
    Protected _axis As Integer
    Protected _magneticHeading As Double
    Protected _valueCallbackCompass As YCompassValueCallback
    Protected _timedReportCallbackCompass As YCompassTimedReportCallback
    REM --- (end of YCompass attributes declaration)

    Public Sub New(ByVal func As String)
      MyBase.New(func)
      _classname = "Compass"
      REM --- (YCompass attributes initialization)
      _bandwidth = BANDWIDTH_INVALID
      _axis = AXIS_INVALID
      _magneticHeading = MAGNETICHEADING_INVALID
      _valueCallbackCompass = Nothing
      _timedReportCallbackCompass = Nothing
      REM --- (end of YCompass attributes initialization)
    End Sub

    REM --- (YCompass private methods declaration)

    Protected Overrides Function _parseAttr(ByRef json_val As YJSONObject) As Integer
      If json_val.has("bandwidth") Then
        _bandwidth = CInt(json_val.getLong("bandwidth"))
      End If
      If json_val.has("axis") Then
        _axis = CInt(json_val.getLong("axis"))
      End If
      If json_val.has("magneticHeading") Then
        _magneticHeading = Math.Round(json_val.getDouble("magneticHeading") / 65.536) / 1000.0
      End If
      Return MyBase._parseAttr(json_val)
    End Function

    REM --- (end of YCompass private methods declaration)

    REM --- (YCompass public methods declaration)
    '''*
    ''' <summary>
    '''   Returns the measure update frequency, measured in Hz.
    ''' <para>
    ''' </para>
    ''' <para>
    ''' </para>
    ''' </summary>
    ''' <returns>
    '''   an integer corresponding to the measure update frequency, measured in Hz
    ''' </returns>
    ''' <para>
    '''   On failure, throws an exception or returns <c>YCompass.BANDWIDTH_INVALID</c>.
    ''' </para>
    '''/
    Public Function get_bandwidth() As Integer
      Dim res As Integer = 0
      If (Me._cacheExpiration <= YAPI.GetTickCount()) Then
        If (Me.load(YAPI._yapiContext.GetCacheValidity()) <> YAPI.SUCCESS) Then
          Return BANDWIDTH_INVALID
        End If
      End If
      res = Me._bandwidth
      Return res
    End Function


    '''*
    ''' <summary>
    '''   Changes the measure update frequency, measured in Hz.
    ''' <para>
    '''   When the
    '''   frequency is lower, the device performs averaging.
    '''   Remember to call the <c>saveToFlash()</c>
    '''   method of the module if the modification must be kept.
    ''' </para>
    ''' <para>
    ''' </para>
    ''' </summary>
    ''' <param name="newval">
    '''   an integer corresponding to the measure update frequency, measured in Hz
    ''' </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 Function set_bandwidth(ByVal newval As Integer) As Integer
      Dim rest_val As String
      rest_val = Ltrim(Str(newval))
      Return _setAttr("bandwidth", rest_val)
    End Function
    Public Function get_axis() As Integer
      Dim res As Integer
      If (Me._cacheExpiration <= YAPI.GetTickCount()) Then
        If (Me.load(YAPI._yapiContext.GetCacheValidity()) <> YAPI.SUCCESS) Then
          Return AXIS_INVALID
        End If
      End If
      res = Me._axis
      Return res
    End Function

    '''*
    ''' <summary>
    '''   Returns the magnetic heading, regardless of the configured bearing.
    ''' <para>
    ''' </para>
    ''' <para>
    ''' </para>
    ''' </summary>
    ''' <returns>
    '''   a floating point number corresponding to the magnetic heading, regardless of the configured bearing
    ''' </returns>
    ''' <para>
    '''   On failure, throws an exception or returns <c>YCompass.MAGNETICHEADING_INVALID</c>.
    ''' </para>
    '''/
    Public Function get_magneticHeading() As Double
      Dim res As Double = 0
      If (Me._cacheExpiration <= YAPI.GetTickCount()) Then
        If (Me.load(YAPI._yapiContext.GetCacheValidity()) <> YAPI.SUCCESS) Then
          Return MAGNETICHEADING_INVALID
        End If
      End If
      res = Me._magneticHeading
      Return res
    End Function

    '''*
    ''' <summary>
    '''   Retrieves a compass function 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 compass function is online at the time
    '''   it is invoked. The returned object is nevertheless valid.
    '''   Use the method <c>YCompass.isOnline()</c> to test if the compass function is
    '''   indeed online at a given time. In case of ambiguity when looking for
    '''   a compass function 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 compass function, for instance
    '''   <c>Y3DMK002.compass</c>.
    ''' </param>
    ''' <returns>
    '''   a <c>YCompass</c> object allowing you to drive the compass function.
    ''' </returns>
    '''/
    Public Shared Function FindCompass(func As String) As YCompass
      Dim obj As YCompass
      obj = CType(YFunction._FindFromCache("Compass", func), YCompass)
      If ((obj Is Nothing)) Then
        obj = New YCompass(func)
        YFunction._AddToCache("Compass", func, obj)
      End If
      Return obj
    End Function

    '''*
    ''' <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 Nothing pointer as argument.
    ''' </para>
    ''' <para>
    ''' </para>
    ''' </summary>
    ''' <param name="callback">
    '''   the callback function to call, or a Nothing 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 Overloads Function registerValueCallback(callback As YCompassValueCallback) As Integer
      Dim val As String
      If (Not (callback Is Nothing)) Then
        YFunction._UpdateValueCallbackList(Me, True)
      Else
        YFunction._UpdateValueCallbackList(Me, False)
      End If
      Me._valueCallbackCompass = callback
      REM // Immediately invoke value callback with current value
      If (Not (callback Is Nothing) AndAlso Me.isOnline()) Then
        val = Me._advertisedValue
        If (Not (val = "")) Then
          Me._invokeValueCallback(val)
        End If
      End If
      Return 0
    End Function

    Public Overrides Function _invokeValueCallback(value As String) As Integer
      If (Not (Me._valueCallbackCompass Is Nothing)) Then
        Me._valueCallbackCompass(Me, value)
      Else
        MyBase._invokeValueCallback(value)
      End If
      Return 0
    End Function

    '''*
    ''' <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 Nothing pointer as argument.
    ''' </para>
    ''' <para>
    ''' </para>
    ''' </summary>
    ''' <param name="callback">
    '''   the callback function to call, or a Nothing 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 Overloads Function registerTimedReportCallback(callback As YCompassTimedReportCallback) As Integer
      Dim sensor As YSensor
      sensor = Me
      If (Not (callback Is Nothing)) Then
        YFunction._UpdateTimedReportCallbackList(sensor, True)
      Else
        YFunction._UpdateTimedReportCallbackList(sensor, False)
      End If
      Me._timedReportCallbackCompass = callback
      Return 0
    End Function

    Public Overrides Function _invokeTimedReportCallback(value As YMeasure) As Integer
      If (Not (Me._timedReportCallbackCompass Is Nothing)) Then
        Me._timedReportCallbackCompass(Me, value)
      Else
        MyBase._invokeTimedReportCallback(value)
      End If
      Return 0
    End Function


    '''*
    ''' <summary>
    '''   Continues the enumeration of compass functions started using <c>yFirstCompass()</c>.
    ''' <para>
    '''   Caution: You can't make any assumption about the returned compass functions order.
    '''   If you want to find a specific a compass function, use <c>Compass.findCompass()</c>
    '''   and a hardwareID or a logical name.
    ''' </para>
    ''' </summary>
    ''' <returns>
    '''   a pointer to a <c>YCompass</c> object, corresponding to
    '''   a compass function currently online, or a <c>Nothing</c> pointer
    '''   if there are no more compass functions to enumerate.
    ''' </returns>
    '''/
    Public Function nextCompass() As YCompass
      Dim hwid As String = ""
      If (YISERR(_nextFunction(hwid))) Then
        Return Nothing
      End If
      If (hwid = "") Then
        Return Nothing
      End If
      Return YCompass.FindCompass(hwid)
    End Function

    '''*
    ''' <summary>
    '''   Starts the enumeration of compass functions currently accessible.
    ''' <para>
    '''   Use the method <c>YCompass.nextCompass()</c> to iterate on
    '''   next compass functions.
    ''' </para>
    ''' </summary>
    ''' <returns>
    '''   a pointer to a <c>YCompass</c> object, corresponding to
    '''   the first compass function currently online, or a <c>Nothing</c> pointer
    '''   if there are none.
    ''' </returns>
    '''/
    Public Shared Function FirstCompass() As YCompass
      Dim v_fundescr(1) As YFUN_DESCR
      Dim dev As YDEV_DESCR
      Dim neededsize, err As Integer
      Dim serial, funcId, funcName, funcVal As String
      Dim errmsg As String = ""
      Dim size As Integer = Marshal.SizeOf(v_fundescr(0))
      Dim p As IntPtr = Marshal.AllocHGlobal(Marshal.SizeOf(v_fundescr(0)))

      err = yapiGetFunctionsByClass("Compass", 0, p, size, neededsize, errmsg)
      Marshal.Copy(p, v_fundescr, 0, 1)
      Marshal.FreeHGlobal(p)

      If (YISERR(err) Or (neededsize = 0)) Then
        Return Nothing
      End If
      serial = ""
      funcId = ""
      funcName = ""
      funcVal = ""
      errmsg = ""
      If (YISERR(yapiGetFunctionInfo(v_fundescr(0), dev, serial, funcId, funcName, funcVal, errmsg))) Then
        Return Nothing
      End If
      Return YCompass.FindCompass(serial + "." + funcId)
    End Function

    REM --- (end of YCompass public methods declaration)

  End Class

  REM --- (YCompass functions)

  '''*
  ''' <summary>
  '''   Retrieves a compass function 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 compass function is online at the time
  '''   it is invoked. The returned object is nevertheless valid.
  '''   Use the method <c>YCompass.isOnline()</c> to test if the compass function is
  '''   indeed online at a given time. In case of ambiguity when looking for
  '''   a compass function 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 compass function, for instance
  '''   <c>Y3DMK002.compass</c>.
  ''' </param>
  ''' <returns>
  '''   a <c>YCompass</c> object allowing you to drive the compass function.
  ''' </returns>
  '''/
  Public Function yFindCompass(ByVal func As String) As YCompass
    Return YCompass.FindCompass(func)
  End Function

  '''*
  ''' <summary>
  '''   Starts the enumeration of compass functions currently accessible.
  ''' <para>
  '''   Use the method <c>YCompass.nextCompass()</c> to iterate on
  '''   next compass functions.
  ''' </para>
  ''' </summary>
  ''' <returns>
  '''   a pointer to a <c>YCompass</c> object, corresponding to
  '''   the first compass function currently online, or a <c>Nothing</c> pointer
  '''   if there are none.
  ''' </returns>
  '''/
  Public Function yFirstCompass() As YCompass
    Return YCompass.FirstCompass()
  End Function


  REM --- (end of YCompass functions)

End Module
