<?php
/*********************************************************************
 *
 *  $Id: svn_id $
 *
 *  Implements YCompass, the high-level API for Compass 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.
 *
 *********************************************************************/

//--- (YCompass return codes)
//--- (end of YCompass return codes)
//--- (YCompass definitions)
if (!defined('Y_AXIS_X')) {
    define('Y_AXIS_X', 0);
}
if (!defined('Y_AXIS_Y')) {
    define('Y_AXIS_Y', 1);
}
if (!defined('Y_AXIS_Z')) {
    define('Y_AXIS_Z', 2);
}
if (!defined('Y_AXIS_INVALID')) {
    define('Y_AXIS_INVALID', -1);
}
if (!defined('Y_BANDWIDTH_INVALID')) {
    define('Y_BANDWIDTH_INVALID', YAPI_INVALID_UINT);
}
if (!defined('Y_MAGNETICHEADING_INVALID')) {
    define('Y_MAGNETICHEADING_INVALID', YAPI_INVALID_DOUBLE);
}
//--- (end of YCompass definitions)
    #--- (YCompass yapiwrapper)

   #--- (end of YCompass yapiwrapper)

//--- (YCompass declaration)
//vvvv YCompass.php

/**
 * YCompass Class: compass function control interface, available for instance in the Yocto-3D-V2
 *
 * The YCompass class allows you to read and configure Yoctopuce compass functions.
 * It inherits from YSensor class the core functions to read measurements,
 * to register callback functions, and to access the autonomous datalogger.
 */
class YCompass extends YSensor
{
    const BANDWIDTH_INVALID = YAPI::INVALID_UINT;
    const AXIS_X = 0;
    const AXIS_Y = 1;
    const AXIS_Z = 2;
    const AXIS_INVALID = -1;
    const MAGNETICHEADING_INVALID = YAPI::INVALID_DOUBLE;
    //--- (end of YCompass declaration)

    //--- (YCompass attributes)
    protected int $_bandwidth = self::BANDWIDTH_INVALID;      // UInt31
    protected int $_axis = self::AXIS_INVALID;           // Axis
    protected float $_magneticHeading = self::MAGNETICHEADING_INVALID; // MeasureVal

    //--- (end of YCompass attributes)

    function __construct(string $str_func)
    {
        //--- (YCompass constructor)
        parent::__construct($str_func);
        $this->_className = 'Compass';

        //--- (end of YCompass constructor)
    }

    //--- (YCompass implementation)

    function _parseAttr(string $name, mixed $val): int
    {
        switch ($name) {
        case 'bandwidth':
            $this->_bandwidth = intval($val);
            return 1;
        case 'axis':
            $this->_axis = intval($val);
            return 1;
        case 'magneticHeading':
            $this->_magneticHeading = round($val / 65.536) / 1000.0;
            return 1;
        }
        return parent::_parseAttr($name, $val);
    }

    /**
     * Returns the measure update frequency, measured in Hz.
     *
     * @return int  an integer corresponding to the measure update frequency, measured in Hz
     *
     * On failure, throws an exception or returns YCompass::BANDWIDTH_INVALID.
     * @throws YAPI_Exception on error
     */
    public function get_bandwidth(): int
    {
        // $res                    is a int;
        if ($this->_cacheExpiration <= YAPI::GetTickCount()) {
            if ($this->load(YAPI::$_yapiContext->GetCacheValidity()) != YAPI::SUCCESS) {
                return self::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 int $newval : an integer corresponding to the measure update frequency, measured in Hz
     *
     * @return int  YAPI::SUCCESS if the call succeeds.
     *
     * On failure, throws an exception or returns a negative error code.
     * @throws YAPI_Exception on error
     */
    public function set_bandwidth(int $newval): int
    {
        $rest_val = strval($newval);
        return $this->_setAttr("bandwidth", $rest_val);
    }

    /**
     * @throws YAPI_Exception on error
     */
    public function get_axis(): int
    {
        // $res                    is a enumAXIS;
        if ($this->_cacheExpiration <= YAPI::GetTickCount()) {
            if ($this->load(YAPI::$_yapiContext->GetCacheValidity()) != YAPI::SUCCESS) {
                return self::AXIS_INVALID;
            }
        }
        $res = $this->_axis;
        return $res;
    }

    /**
     * Returns the magnetic heading, regardless of the configured bearing.
     *
     * @return float  a floating point number corresponding to the magnetic heading, regardless of the
     * configured bearing
     *
     * On failure, throws an exception or returns YCompass::MAGNETICHEADING_INVALID.
     * @throws YAPI_Exception on error
     */
    public function get_magneticHeading(): float
    {
        // $res                    is a double;
        if ($this->_cacheExpiration <= YAPI::GetTickCount()) {
            if ($this->load(YAPI::$_yapiContext->GetCacheValidity()) != YAPI::SUCCESS) {
                return self::MAGNETICHEADING_INVALID;
            }
        }
        $res = $this->_magneticHeading;
        return $res;
    }

    /**
     * Retrieves a compass function 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 compass function is online at the time
     * it is invoked. The returned object is nevertheless valid.
     * Use the method isOnline() 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.
     *
     * 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 string $func : a string that uniquely characterizes the compass function, for instance
     *         Y3DMK002.compass.
     *
     * @return YCompass  a YCompass object allowing you to drive the compass function.
     */
    public static function FindCompass(string $func): YCompass
    {
        // $obj                    is a YCompass;
        $obj = YFunction::_FindFromCache('Compass', $func);
        if ($obj == null) {
            $obj = new YCompass($func);
            YFunction::_AddToCache('Compass', $func, $obj);
        }
        return $obj;
    }

    /**
     * @throws YAPI_Exception
     */
    public function bandwidth(): int
{
    return $this->get_bandwidth();
}

    /**
     * @throws YAPI_Exception
     */
    public function setBandwidth(int $newval): int
{
    return $this->set_bandwidth($newval);
}

    /**
     * @throws YAPI_Exception
     */
    public function axis(): int
{
    return $this->get_axis();
}

    /**
     * @throws YAPI_Exception
     */
    public function magneticHeading(): float
{
    return $this->get_magneticHeading();
}

    /**
     * Continues the enumeration of compass functions started using yFirstCompass().
     * Caution: You can't make any assumption about the returned compass functions order.
     * If you want to find a specific a compass function, use Compass.findCompass()
     * and a hardwareID or a logical name.
     *
     * @return ?YCompass  a pointer to a YCompass object, corresponding to
     *         a compass function currently online, or a null pointer
     *         if there are no more compass functions to enumerate.
     */
    public function nextCompass(): ?YCompass
    {
        $resolve = YAPI::resolveFunction($this->_className, $this->_func);
        if ($resolve->errorType != YAPI::SUCCESS) {
            return null;
        }
        $next_hwid = YAPI::getNextHardwareId($this->_className, $resolve->result);
        if ($next_hwid == null) {
            return null;
        }
        return self::FindCompass($next_hwid);
    }

    /**
     * Starts the enumeration of compass functions currently accessible.
     * Use the method YCompass::nextCompass() to iterate on
     * next compass functions.
     *
     * @return ?YCompass  a pointer to a YCompass object, corresponding to
     *         the first compass function currently online, or a null pointer
     *         if there are none.
     */
    public static function FirstCompass(): ?YCompass
    {
        $next_hwid = YAPI::getFirstHardwareId('Compass');
        if ($next_hwid == null) {
            return null;
        }
        return self::FindCompass($next_hwid);
    }

    //--- (end of YCompass implementation)

}
//^^^^ YCompass.php

//--- (YCompass functions)

/**
 * Retrieves a compass function 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 compass function is online at the time
 * it is invoked. The returned object is nevertheless valid.
 * Use the method isOnline() 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.
 *
 * 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 string $func : a string that uniquely characterizes the compass function, for instance
 *         Y3DMK002.compass.
 *
 * @return YCompass  a YCompass object allowing you to drive the compass function.
 */
function yFindCompass(string $func): YCompass
{
    return YCompass::FindCompass($func);
}

/**
 * Starts the enumeration of compass functions currently accessible.
 * Use the method YCompass::nextCompass() to iterate on
 * next compass functions.
 *
 * @return ?YCompass  a pointer to a YCompass object, corresponding to
 *         the first compass function currently online, or a null pointer
 *         if there are none.
 */
function yFirstCompass(): ?YCompass
{
    return YCompass::FirstCompass();
}

//--- (end of YCompass functions)

