/*********************************************************************
 *
 *  $Id: yocto_motor.h 52567 2022-12-25 12:00:14Z seb $
 *
 *  Declares yFindMotor(), the high-level API for Motor 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
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 *********************************************************************/


#ifndef YOCTO_MOTOR_H
#define YOCTO_MOTOR_H

#include <cfloat>
#include <cmath>

#include "yocto_api.h"

#ifdef YOCTOLIB_NAMESPACE
namespace YOCTOLIB_NAMESPACE
{
#endif

//--- (YMotor return codes)
//--- (end of YMotor return codes)
//--- (YMotor yapiwrapper)
//--- (end of YMotor yapiwrapper)
//--- (YMotor definitions)
class YMotor; // forward declaration

typedef void (*YMotorValueCallback)(YMotor *func, const string& functionValue);
#ifndef _Y_MOTORSTATUS_ENUM
#define _Y_MOTORSTATUS_ENUM
typedef enum {
    Y_MOTORSTATUS_IDLE = 0,
    Y_MOTORSTATUS_BRAKE = 1,
    Y_MOTORSTATUS_FORWD = 2,
    Y_MOTORSTATUS_BACKWD = 3,
    Y_MOTORSTATUS_LOVOLT = 4,
    Y_MOTORSTATUS_HICURR = 5,
    Y_MOTORSTATUS_HIHEAT = 6,
    Y_MOTORSTATUS_FAILSF = 7,
    Y_MOTORSTATUS_INVALID = -1,
} Y_MOTORSTATUS_enum;
#endif
#define Y_DRIVINGFORCE_INVALID          (YAPI_INVALID_DOUBLE)
#define Y_BRAKINGFORCE_INVALID          (YAPI_INVALID_DOUBLE)
#define Y_CUTOFFVOLTAGE_INVALID         (YAPI_INVALID_DOUBLE)
#define Y_OVERCURRENTLIMIT_INVALID      (YAPI_INVALID_UINT)
#define Y_FREQUENCY_INVALID             (YAPI_INVALID_DOUBLE)
#define Y_STARTERTIME_INVALID           (YAPI_INVALID_UINT)
#define Y_FAILSAFETIMEOUT_INVALID       (YAPI_INVALID_UINT)
#define Y_COMMAND_INVALID               (YAPI_INVALID_STRING)
//--- (end of YMotor definitions)

//--- (YMotor declaration)
/**
 * YMotor Class: motor control interface, available for instance in the Yocto-Motor-DC
 *
 * The YMotor class allows you to drive a DC motor. It can be used to configure the
 * power sent to the motor to make it turn both ways, but also to drive accelerations
 * and decelerations. The motor will then accelerate automatically: you will not
 * have to monitor it. The API also allows to slow down the motor by shortening
 * its terminals: the motor will then act as an electromagnetic brake.
 */
class YOCTO_CLASS_EXPORT YMotor: public YFunction {
#ifdef __BORLANDC__
#pragma option push -w-8022
#endif
//--- (end of YMotor declaration)
protected:
    //--- (YMotor attributes)
    // Attributes (function value cache)
    Y_MOTORSTATUS_enum _motorStatus;
    double          _drivingForce;
    double          _brakingForce;
    double          _cutOffVoltage;
    int             _overCurrentLimit;
    double          _frequency;
    int             _starterTime;
    int             _failSafeTimeout;
    string          _command;
    YMotorValueCallback _valueCallbackMotor;

    friend YMotor *yFindMotor(const string& func);
    friend YMotor *yFirstMotor(void);

    // Function-specific method for parsing of JSON output and caching result
    virtual int     _parseAttr(YJSONObject *json_val);

    // Constructor is protected, use yFindMotor factory function to instantiate
    YMotor(const string& func);
    //--- (end of YMotor attributes)

public:
    virtual ~YMotor();
    //--- (YMotor accessors declaration)

    static const Y_MOTORSTATUS_enum MOTORSTATUS_IDLE = Y_MOTORSTATUS_IDLE;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_BRAKE = Y_MOTORSTATUS_BRAKE;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_FORWD = Y_MOTORSTATUS_FORWD;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_BACKWD = Y_MOTORSTATUS_BACKWD;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_LOVOLT = Y_MOTORSTATUS_LOVOLT;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_HICURR = Y_MOTORSTATUS_HICURR;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_HIHEAT = Y_MOTORSTATUS_HIHEAT;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_FAILSF = Y_MOTORSTATUS_FAILSF;
    static const Y_MOTORSTATUS_enum MOTORSTATUS_INVALID = Y_MOTORSTATUS_INVALID;
    static const double DRIVINGFORCE_INVALID;
    static const double BRAKINGFORCE_INVALID;
    static const double CUTOFFVOLTAGE_INVALID;
    static const int OVERCURRENTLIMIT_INVALID = YAPI_INVALID_UINT;
    static const double FREQUENCY_INVALID;
    static const int STARTERTIME_INVALID = YAPI_INVALID_UINT;
    static const int FAILSAFETIMEOUT_INVALID = YAPI_INVALID_UINT;
    static const string COMMAND_INVALID;

    /**
     * Return the controller state. Possible states are:
     * IDLE   when the motor is stopped/in free wheel, ready to start;
     * FORWD  when the controller is driving the motor forward;
     * BACKWD when the controller is driving the motor backward;
     * BRAKE  when the controller is braking;
     * LOVOLT when the controller has detected a low voltage condition;
     * HICURR when the controller has detected an over current condition;
     * HIHEAT when the controller has detected an overheat condition;
     * FAILSF when the controller switched on the failsafe security.
     *
     * When an error condition occurred (LOVOLT, HICURR, HIHEAT, FAILSF), the controller
     * status must be explicitly reset using the resetStatus function.
     *
     * @return a value among YMotor::MOTORSTATUS_IDLE, YMotor::MOTORSTATUS_BRAKE, YMotor::MOTORSTATUS_FORWD,
     * YMotor::MOTORSTATUS_BACKWD, YMotor::MOTORSTATUS_LOVOLT, YMotor::MOTORSTATUS_HICURR,
     * YMotor::MOTORSTATUS_HIHEAT and YMotor::MOTORSTATUS_FAILSF
     *
     * On failure, throws an exception or returns YMotor::MOTORSTATUS_INVALID.
     */
    Y_MOTORSTATUS_enum  get_motorStatus(void);

    inline Y_MOTORSTATUS_enum motorStatus(void)
    { return this->get_motorStatus(); }

    int             set_motorStatus(Y_MOTORSTATUS_enum newval);
    inline int      setMotorStatus(Y_MOTORSTATUS_enum newval)
    { return this->set_motorStatus(newval); }

    /**
     * Changes immediately the power sent to the motor. The value is a percentage between -100%
     * to 100%. If you want go easy on your mechanics and avoid excessive current consumption,
     * try to avoid brutal power changes. For example, immediate transition from forward full power
     * to reverse full power is a very bad idea. Each time the driving power is modified, the
     * braking power is set to zero.
     *
     * @param newval : a floating point number corresponding to immediately the power sent to the motor
     *
     * @return YAPI::SUCCESS if the call succeeds.
     *
     * On failure, throws an exception or returns a negative error code.
     */
    int             set_drivingForce(double newval);
    inline int      setDrivingForce(double newval)
    { return this->set_drivingForce(newval); }

    /**
     * Returns the power sent to the motor, as a percentage between -100% and +100%.
     *
     * @return a floating point number corresponding to the power sent to the motor, as a percentage
     * between -100% and +100%
     *
     * On failure, throws an exception or returns YMotor::DRIVINGFORCE_INVALID.
     */
    double              get_drivingForce(void);

    inline double       drivingForce(void)
    { return this->get_drivingForce(); }

    /**
     * Changes immediately the braking force applied to the motor (in percents).
     * The value 0 corresponds to no braking (free wheel). When the braking force
     * is changed, the driving power is set to zero. The value is a percentage.
     *
     * @param newval : a floating point number corresponding to immediately the braking force applied to
     * the motor (in percents)
     *
     * @return YAPI::SUCCESS if the call succeeds.
     *
     * On failure, throws an exception or returns a negative error code.
     */
    int             set_brakingForce(double newval);
    inline int      setBrakingForce(double newval)
    { return this->set_brakingForce(newval); }

    /**
     * Returns the braking force applied to the motor, as a percentage.
     * The value 0 corresponds to no braking (free wheel).
     *
     * @return a floating point number corresponding to the braking force applied to the motor, as a percentage
     *
     * On failure, throws an exception or returns YMotor::BRAKINGFORCE_INVALID.
     */
    double              get_brakingForce(void);

    inline double       brakingForce(void)
    { return this->get_brakingForce(); }

    /**
     * Changes the threshold voltage under which the controller automatically switches to error state
     * and prevents further current draw. This setting prevent damage to a battery that can
     * occur when drawing current from an "empty" battery.
     * Note that whatever the cutoff threshold, the controller switches to undervoltage
     * error state if the power supply goes under 3V, even for a very brief time.
     * Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     * @param newval : a floating point number corresponding to the threshold voltage under which the
     * controller automatically switches to error state
     *         and prevents further current draw
     *
     * @return YAPI::SUCCESS if the call succeeds.
     *
     * On failure, throws an exception or returns a negative error code.
     */
    int             set_cutOffVoltage(double newval);
    inline int      setCutOffVoltage(double newval)
    { return this->set_cutOffVoltage(newval); }

    /**
     * Returns the threshold voltage under which the controller automatically switches to error state
     * and prevents further current draw. This setting prevents damage to a battery that can
     * occur when drawing current from an "empty" battery.
     *
     * @return a floating point number corresponding to the threshold voltage under which the controller
     * automatically switches to error state
     *         and prevents further current draw
     *
     * On failure, throws an exception or returns YMotor::CUTOFFVOLTAGE_INVALID.
     */
    double              get_cutOffVoltage(void);

    inline double       cutOffVoltage(void)
    { return this->get_cutOffVoltage(); }

    /**
     * Returns the current threshold (in mA) above which the controller automatically
     * switches to error state. A zero value means that there is no limit.
     *
     * @return an integer corresponding to the current threshold (in mA) above which the controller automatically
     *         switches to error state
     *
     * On failure, throws an exception or returns YMotor::OVERCURRENTLIMIT_INVALID.
     */
    int                 get_overCurrentLimit(void);

    inline int          overCurrentLimit(void)
    { return this->get_overCurrentLimit(); }

    /**
     * Changes the current threshold (in mA) above which the controller automatically
     * switches to error state. A zero value means that there is no limit. Note that whatever the
     * current limit is, the controller switches to OVERCURRENT status if the current
     * goes above 32A, even for a very brief time. Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     * @param newval : an integer corresponding to the current threshold (in mA) above which the
     * controller automatically
     *         switches to error state
     *
     * @return YAPI::SUCCESS if the call succeeds.
     *
     * On failure, throws an exception or returns a negative error code.
     */
    int             set_overCurrentLimit(int newval);
    inline int      setOverCurrentLimit(int newval)
    { return this->set_overCurrentLimit(newval); }

    /**
     * Changes the PWM frequency used to control the motor. Low frequency is usually
     * more efficient and may help the motor to start, but an audible noise might be
     * generated. A higher frequency reduces the noise, but more energy is converted
     * into heat. Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     * @param newval : a floating point number corresponding to the PWM frequency used to control the motor
     *
     * @return YAPI::SUCCESS if the call succeeds.
     *
     * On failure, throws an exception or returns a negative error code.
     */
    int             set_frequency(double newval);
    inline int      setFrequency(double newval)
    { return this->set_frequency(newval); }

    /**
     * Returns the PWM frequency used to control the motor.
     *
     * @return a floating point number corresponding to the PWM frequency used to control the motor
     *
     * On failure, throws an exception or returns YMotor::FREQUENCY_INVALID.
     */
    double              get_frequency(void);

    inline double       frequency(void)
    { return this->get_frequency(); }

    /**
     * Returns the duration (in ms) during which the motor is driven at low frequency to help
     * it start up.
     *
     * @return an integer corresponding to the duration (in ms) during which the motor is driven at low
     * frequency to help
     *         it start up
     *
     * On failure, throws an exception or returns YMotor::STARTERTIME_INVALID.
     */
    int                 get_starterTime(void);

    inline int          starterTime(void)
    { return this->get_starterTime(); }

    /**
     * Changes the duration (in ms) during which the motor is driven at low frequency to help
     * it start up. Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     * @param newval : an integer corresponding to the duration (in ms) during which the motor is driven
     * at low frequency to help
     *         it start up
     *
     * @return YAPI::SUCCESS if the call succeeds.
     *
     * On failure, throws an exception or returns a negative error code.
     */
    int             set_starterTime(int newval);
    inline int      setStarterTime(int newval)
    { return this->set_starterTime(newval); }

    /**
     * Returns the delay in milliseconds allowed for the controller to run autonomously without
     * receiving any instruction from the control process. When this delay has elapsed,
     * the controller automatically stops the motor and switches to FAILSAFE error.
     * Failsafe security is disabled when the value is zero.
     *
     * @return an integer corresponding to the delay in milliseconds allowed for the controller to run
     * autonomously without
     *         receiving any instruction from the control process
     *
     * On failure, throws an exception or returns YMotor::FAILSAFETIMEOUT_INVALID.
     */
    int                 get_failSafeTimeout(void);

    inline int          failSafeTimeout(void)
    { return this->get_failSafeTimeout(); }

    /**
     * Changes the delay in milliseconds allowed for the controller to run autonomously without
     * receiving any instruction from the control process. When this delay has elapsed,
     * the controller automatically stops the motor and switches to FAILSAFE error.
     * Failsafe security is disabled when the value is zero.
     * Remember to call the saveToFlash()
     * method of the module if the modification must be kept.
     *
     * @param newval : an integer corresponding to the delay in milliseconds allowed for the controller to
     * run autonomously without
     *         receiving any instruction from the control process
     *
     * @return YAPI::SUCCESS if the call succeeds.
     *
     * On failure, throws an exception or returns a negative error code.
     */
    int             set_failSafeTimeout(int newval);
    inline int      setFailSafeTimeout(int newval)
    { return this->set_failSafeTimeout(newval); }

    string              get_command(void);

    inline string       command(void)
    { return this->get_command(); }

    int             set_command(const string& newval);
    inline int      setCommand(const string& newval)
    { return this->set_command(newval); }

    /**
     * Retrieves a motor for a given identifier.
     * The identifier can be specified using several formats:
     * <ul>
     * <li>FunctionLogicalName</li>
     * <li>ModuleSerialNumber.FunctionIdentifier</li>
     * <li>ModuleSerialNumber.FunctionLogicalName</li>
     * <li>ModuleLogicalName.FunctionIdentifier</li>
     * <li>ModuleLogicalName.FunctionLogicalName</li>
     * </ul>
     *
     * This function does not require that the motor is online at the time
     * it is invoked. The returned object is nevertheless valid.
     * Use the method isOnline() to test if the motor is
     * indeed online at a given time. In case of ambiguity when looking for
     * a motor 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 motor, for instance
     *         MOTORCTL.motor.
     *
     * @return a YMotor object allowing you to drive the motor.
     */
    static YMotor*      FindMotor(string func);

    /**
     * Registers the callback function that is invoked on every change of advertised value.
     * 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 the character string describing
     *         the new advertised value.
     * @noreturn
     */
    virtual int         registerValueCallback(YMotorValueCallback callback);
    using YFunction::registerValueCallback;

    virtual int         _invokeValueCallback(string value);

    /**
     * Rearms the controller failsafe timer. When the motor is running and the failsafe feature
     * is active, this function should be called periodically to prove that the control process
     * is running properly. Otherwise, the motor is automatically stopped after the specified
     * timeout. Calling a motor <i>set</i> function implicitly rearms the failsafe timer.
     */
    virtual int         keepALive(void);

    /**
     * Reset the controller state to IDLE. This function must be invoked explicitly
     * after any error condition is signaled.
     */
    virtual int         resetStatus(void);

    /**
     * Changes progressively the power sent to the motor for a specific duration.
     *
     * @param targetPower : desired motor power, in percents (between -100% and +100%)
     * @param delay : duration (in ms) of the transition
     *
     * @return YAPI::SUCCESS if the call succeeds.
     *
     * On failure, throws an exception or returns a negative error code.
     */
    virtual int         drivingForceMove(double targetPower,int delay);

    /**
     * Changes progressively the braking force applied to the motor for a specific duration.
     *
     * @param targetPower : desired braking force, in percents
     * @param delay : duration (in ms) of the transition
     *
     * @return YAPI::SUCCESS if the call succeeds.
     *
     * On failure, throws an exception or returns a negative error code.
     */
    virtual int         brakingForceMove(double targetPower,int delay);


    inline static YMotor *Find(string func)
    { return YMotor::FindMotor(func); }

    /**
     * Continues the enumeration of motors started using yFirstMotor().
     * Caution: You can't make any assumption about the returned motors order.
     * If you want to find a specific a motor, use Motor.findMotor()
     * and a hardwareID or a logical name.
     *
     * @return a pointer to a YMotor object, corresponding to
     *         a motor currently online, or a NULL pointer
     *         if there are no more motors to enumerate.
     */
           YMotor          *nextMotor(void);
    inline YMotor          *next(void)
    { return this->nextMotor();}

    /**
     * Starts the enumeration of motors currently accessible.
     * Use the method YMotor::nextMotor() to iterate on
     * next motors.
     *
     * @return a pointer to a YMotor object, corresponding to
     *         the first motor currently online, or a NULL pointer
     *         if there are none.
     */
           static YMotor *FirstMotor(void);
    inline static YMotor *First(void)
    { return YMotor::FirstMotor();}
#ifdef __BORLANDC__
#pragma option pop
#endif
    //--- (end of YMotor accessors declaration)
};

//--- (YMotor functions declaration)

/**
 * Retrieves a motor for a given identifier.
 * The identifier can be specified using several formats:
 * <ul>
 * <li>FunctionLogicalName</li>
 * <li>ModuleSerialNumber.FunctionIdentifier</li>
 * <li>ModuleSerialNumber.FunctionLogicalName</li>
 * <li>ModuleLogicalName.FunctionIdentifier</li>
 * <li>ModuleLogicalName.FunctionLogicalName</li>
 * </ul>
 *
 * This function does not require that the motor is online at the time
 * it is invoked. The returned object is nevertheless valid.
 * Use the method isOnline() to test if the motor is
 * indeed online at a given time. In case of ambiguity when looking for
 * a motor 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 motor, for instance
 *         MOTORCTL.motor.
 *
 * @return a YMotor object allowing you to drive the motor.
 */
inline YMotor *yFindMotor(const string& func)
{ return YMotor::FindMotor(func);}
/**
 * Starts the enumeration of motors currently accessible.
 * Use the method YMotor::nextMotor() to iterate on
 * next motors.
 *
 * @return a pointer to a YMotor object, corresponding to
 *         the first motor currently online, or a NULL pointer
 *         if there are none.
 */
inline YMotor *yFirstMotor(void)
{ return YMotor::FirstMotor();}

//--- (end of YMotor functions declaration)

#ifdef YOCTOLIB_NAMESPACE
// end of namespace definition
}
#endif

#endif
