/*********************************************************************
 *
 * $Id: yocto_gyro.js 63507 2024-11-28 10:44:36Z seb $
 *
 * Implements the high-level API for Gyro 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.
 *
 *********************************************************************/

'use strict';

//--- (generated code: YQt return codes)
//--- (end of generated code: YQt return codes)
//--- (generated code: YQt definitions)
//--- (end of generated code: YQt definitions)

//--- (generated code: YGyro return codes)
//--- (end of generated code: YGyro return codes)
//--- (generated code: YGyro definitions)
//--- (end of generated code: YGyro definitions)

//--- (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 YSensor
{
    constructor(obj_yapi,str_func)
    {
        //--- (generated code: YQt constructor)
        super(obj_yapi, str_func);
        /** @member {string} **/
        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 {string} : a string that uniquely characterizes the quaternion component, for instance
     *         Y3DMK002.qt1.
     *
     * @return {YQt} a YQt object allowing you to drive the quaternion component.
     */
    static FindQt(func)
    {
        /** @type {YFunction} **/
        let obj;
        obj = YFunction._FindFromCache('Qt', func);
        if (obj == null) {
            obj = new YQt(YAPI, func);
            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 {YAPIContext} : a YAPI context
     * @param func {string} : a string that uniquely characterizes the quaternion component, for instance
     *         Y3DMK002.qt1.
     *
     * @return {YQt} a YQt object allowing you to drive the quaternion component.
     */
    static FindQtInContext(yctx,func)
    {
        /** @type {YFunction} **/
        let obj;
        obj = YFunction._FindFromCacheInContext(yctx, 'Qt', func);
        if (obj == null) {
            obj = new YQt(yctx, func);
            YFunction._AddToCache('Qt', func, obj);
        }
        return obj;
    }

    /**
     * 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 {YQt | null} 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()
    {
        /** @type {object} **/
        let resolve = this._yapi.imm_resolveFunction(this._className, this._func);
        if(resolve.errorType != YAPI.SUCCESS) return null;
        /** @type {string|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 {YQt | null} a pointer to a YQt object, corresponding to
     *         the first quaternion component currently online, or a null pointer
     *         if there are none.
     */
    static FirstQt()
    {
        /** @type {string|null} **/
        let next_hwid = 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 {YAPIContext} : a YAPI context.
     *
     * @return {YQt | null} 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)
    {
        /** @type {string|null} **/
        let next_hwid = yctx.imm_getFirstHardwareId('Qt');
        if(next_hwid == null) return null;
        return YQt.FindQtInContext(yctx, next_hwid);
    }

    //--- (end of generated code: YQt implementation)
}

//
// YQtProxy Class: synchronous proxy to YQt objects
//
// This class is used to provide a pseudo-synchronous API on top
// of YQt objects, that normally use async methods since
// they involve I/O. Getters retrieve the cached value, and
// setters trigger the set action but return synchronously.
// The load_async callback-based method is provided for
// backward-compatibility in order to trigger a background
// reload of cached values.
//
// To get a function proxy from a function, use get_syncProxy
//
/** @extends {YFunctionProxy} **/
class YQtProxy extends YSensorProxy {
  constructor(obj_func)
  {
    super(obj_func);
  }

  //--- (generated code: YQt accessors declaration)
    //--- (end of generated code: YQt accessors declaration)
}

async function yInternalGyroCallback(YQt_obj, str_value)
{
    var gyro = await YQt_obj.get_userData();
    if(!gyro) return;
    var idx = parseInt(YQt_obj.imm_get_functionId().slice(2));
    gyro._invokeGyroCallbacks(idx, parseInt(str_value));
}

//--- (generated code: YQt functions)

YoctoLibExport('YQt', YQt);
YoctoLibExport('YQtProxy', YQtProxy);
YQt.imm_Init();

//--- (end of generated code: YQt functions)

//--- (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)
class YGyro extends YSensor
{
    constructor(obj_yapi,str_func)
    {
        //--- (generated code: YGyro constructor)
        super(obj_yapi, str_func);
        /** @member {string} **/
        this._className                  = 'Gyro';
        /** @member {number} **/
        this._bandwidth                  = YGyro.BANDWIDTH_INVALID;
        /** @member {number} **/
        this._xValue                     = YGyro.XVALUE_INVALID;
        /** @member {number} **/
        this._yValue                     = YGyro.YVALUE_INVALID;
        /** @member {number} **/
        this._zValue                     = YGyro.ZVALUE_INVALID;
        /** @member {number} **/
        this._qt_stamp                   = 0;
        /** @member {YQt} **/
        this._qt_w                       = null;
        /** @member {YQt} **/
        this._qt_x                       = null;
        /** @member {YQt} **/
        this._qt_y                       = null;
        /** @member {YQt} **/
        this._qt_z                       = null;
        /** @member {number} **/
        this._w                          = 0;
        /** @member {number} **/
        this._x                          = 0;
        /** @member {number} **/
        this._y                          = 0;
        /** @member {number} **/
        this._z                          = 0;
        /** @member {number} **/
        this._angles_stamp               = 0;
        /** @member {number} **/
        this._head                       = 0;
        /** @member {number} **/
        this._pitch                      = 0;
        /** @member {number} **/
        this._roll                       = 0;
        /** @member {function} **/
        this._quatCallback               = null;
        /** @member {function} **/
        this._anglesCallback             = null;
        //--- (end of generated code: YGyro constructor)
    }

    //--- (generated code: YGyro implementation)

    imm_parseAttr(name, val)
    {
        switch(name) {
        case 'bandwidth':
            this._bandwidth = parseInt(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 {Promise<number>} an integer corresponding to the measure update frequency, measured in Hz
     *
     * On failure, throws an exception or returns YGyro.BANDWIDTH_INVALID.
     */
    async get_bandwidth()
    {
        /** @type {number} **/
        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 {number} : an integer corresponding to the measure update frequency, measured in Hz
     *
     * @return {Promise<number>} YAPI.SUCCESS if the call succeeds.
     *
     * On failure, throws an exception or returns a negative error code.
     */
    async set_bandwidth(newval)
    {
        /** @type {string} **/
        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 {Promise<number>} 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()
    {
        /** @type {number} **/
        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 {Promise<number>} 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()
    {
        /** @type {number} **/
        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 {Promise<number>} 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()
    {
        /** @type {number} **/
        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 {string} : a string that uniquely characterizes the gyroscope, for instance
     *         Y3DMK002.gyro.
     *
     * @return {YGyro} a YGyro object allowing you to drive the gyroscope.
     */
    static FindGyro(func)
    {
        /** @type {YFunction} **/
        let obj;
        obj = YFunction._FindFromCache('Gyro', func);
        if (obj == null) {
            obj = new YGyro(YAPI, func);
            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 {YAPIContext} : a YAPI context
     * @param func {string} : a string that uniquely characterizes the gyroscope, for instance
     *         Y3DMK002.gyro.
     *
     * @return {YGyro} a YGyro object allowing you to drive the gyroscope.
     */
    static FindGyroInContext(yctx,func)
    {
        /** @type {YFunction} **/
        let obj;
        obj = YFunction._FindFromCacheInContext(yctx, 'Gyro', func);
        if (obj == null) {
            obj = new YGyro(yctx, func);
            YFunction._AddToCache('Gyro', func, obj);
        }
        return obj;
    }

    async _loadQuaternion()
    {
        /** @type {number} **/
        let now_stamp;
        /** @type {number} **/
        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()
    {
        /** @type {number} **/
        let sqw;
        /** @type {number} **/
        let sqx;
        /** @type {number} **/
        let sqy;
        /** @type {number} **/
        let sqz;
        /** @type {number} **/
        let norm;
        /** @type {number} **/
        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 {Promise<number>} 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 {Promise<number>} 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 {Promise<number>} 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 {Promise<number>} 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 {Promise<number>} 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 {Promise<number>} 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 {Promise<number>} 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 {YGyro.YQuatCallback | null} : 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 {YGyro.YAnglesCallback | null} : 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 {YGyro | null} 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()
    {
        /** @type {object} **/
        let resolve = this._yapi.imm_resolveFunction(this._className, this._func);
        if(resolve.errorType != YAPI.SUCCESS) return null;
        /** @type {string|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 {YGyro | null} a pointer to a YGyro object, corresponding to
     *         the first gyro currently online, or a null pointer
     *         if there are none.
     */
    static FirstGyro()
    {
        /** @type {string|null} **/
        let next_hwid = 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 {YAPIContext} : a YAPI context.
     *
     * @return {YGyro | null} a pointer to a YGyro object, corresponding to
     *         the first gyro currently online, or a null pointer
     *         if there are none.
     */
    static FirstGyroInContext(yctx)
    {
        /** @type {string|null} **/
        let next_hwid = yctx.imm_getFirstHardwareId('Gyro');
        if(next_hwid == null) return null;
        return YGyro.FindGyroInContext(yctx, next_hwid);
    }

    static imm_Const()
    {
        return Object.assign(super.imm_Const(), {
            BANDWIDTH_INVALID            : YAPI.INVALID_UINT,
            XVALUE_INVALID               : YAPI.INVALID_DOUBLE,
            YVALUE_INVALID               : YAPI.INVALID_DOUBLE,
            ZVALUE_INVALID               : YAPI.INVALID_DOUBLE
        });
    }

    //--- (end of generated code: YGyro implementation)
}

//
// YGyroProxy Class: synchronous proxy to YGyro objects
//
// This class is used to provide a pseudo-synchronous API on top
// of YGyro objects, that normally use async methods since
// they involve I/O. Getters retrieve the cached value, and
// setters trigger the set action but return synchronously.
// The load_async callback-based method is provided for
// backward-compatibility in order to trigger a background
// reload of cached values.
//
// To get a function proxy from a function, use get_syncProxy
//
/** @extends {YFunctionProxy} **/
class YGyroProxy extends YSensorProxy
{
    constructor(obj_func)
    {
        super(obj_func);
    }

    //--- (generated code: YGyro accessors declaration)

    /**
     * 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.
     */
    get_bandwidth()
    {
        return this.liveFunc._bandwidth;
    }

    /**
     * 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.
     */
    set_bandwidth(newval)
    {
        this.liveFunc.set_bandwidth(newval);
        return this._yapi.SUCCESS;
    }

    /**
     * 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.
     */
    get_xValue()
    {
        return this.liveFunc._xValue;
    }

    /**
     * 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.
     */
    get_yValue()
    {
        return this.liveFunc._yValue;
    }

    /**
     * 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.
     */
    get_zValue()
    {
        return this.liveFunc._zValue;
    }

    /**
     * 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
     */
    registerQuaternionCallback(callback)
    {
        this.liveFunc.registerQuaternionCallback(callback);
        return YAPI_SUCCESS;
    }

    /**
     * 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
     */
    registerAnglesCallback(callback)
    {
        this.liveFunc.registerAnglesCallback(callback);
        return YAPI_SUCCESS;
    }
    //--- (end of generated code: YGyro accessors declaration)
}

//--- (generated code: YGyro functions)

YoctoLibExport('YGyro', YGyro);
YoctoLibExport('YGyroProxy', YGyroProxy);
YGyro.imm_Init();

//--- (end of generated code: YGyro functions)

