' ********************************************************************
'
'  $Id: svn_id $
'
'  Implements yFindTilt(), the high-level API for Tilt 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_tilt

    REM --- (YTilt return codes)
    REM --- (end of YTilt return codes)
    REM --- (YTilt dlldef)
    REM --- (end of YTilt dlldef)
   REM --- (YTilt yapiwrapper)
   REM --- (end of YTilt yapiwrapper)
  REM --- (YTilt 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 Delegate Sub YTiltValueCallback(ByVal func As YTilt, ByVal value As String)
  Public Delegate Sub YTiltTimedReportCallback(ByVal func As YTilt, ByVal measure As YMeasure)
  REM --- (end of YTilt globals)

  REM --- (YTilt class start)

  '''*
  ''' <summary>
  '''   The <c>YSensor</c> class is the parent class for all Yoctopuce sensor types.
  ''' <para>
  '''   It can be
  '''   used to read the current value and unit of any sensor, read the min/max
  '''   value, configure autonomous recording frequency and access recorded data.
  '''   It also provides a function to register a callback invoked each time the
  '''   observed value changes, or at a predefined interval. Using this class rather
  '''   than a specific subclass makes it possible to create generic applications
  '''   that work with any Yoctopuce sensor, even those that do not yet exist.
  '''   Note: The <c>YAnButton</c> class is the only analog input which does not inherit
  '''   from <c>YSensor</c>.
  ''' </para>
  ''' </summary>
  '''/
  Public Class YTilt
    Inherits YSensor
    REM --- (end of YTilt class start)

    REM --- (YTilt 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
    REM --- (end of YTilt definitions)

    REM --- (YTilt attributes declaration)
    Protected _bandwidth As Integer
    Protected _axis As Integer
    Protected _valueCallbackTilt As YTiltValueCallback
    Protected _timedReportCallbackTilt As YTiltTimedReportCallback
    REM --- (end of YTilt attributes declaration)

    Public Sub New(ByVal func As String)
      MyBase.New(func)
      _classname = "Tilt"
      REM --- (YTilt attributes initialization)
      _bandwidth = BANDWIDTH_INVALID
      _axis = AXIS_INVALID
      _valueCallbackTilt = Nothing
      _timedReportCallbackTilt = Nothing
      REM --- (end of YTilt attributes initialization)
    End Sub

    REM --- (YTilt 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
      Return MyBase._parseAttr(json_val)
    End Function

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

    REM --- (YTilt 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>YTilt.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>
    '''   Retrieves a tilt sensor 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 tilt sensor is online at the time
    '''   it is invoked. The returned object is nevertheless valid.
    '''   Use the method <c>YTilt.isOnline()</c> to test if the tilt sensor is
    '''   indeed online at a given time. In case of ambiguity when looking for
    '''   a tilt sensor 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 tilt sensor, for instance
    '''   <c>Y3DMK002.tilt1</c>.
    ''' </param>
    ''' <returns>
    '''   a <c>YTilt</c> object allowing you to drive the tilt sensor.
    ''' </returns>
    '''/
    Public Shared Function FindTilt(func As String) As YTilt
      Dim obj As YTilt
      obj = CType(YFunction._FindFromCache("Tilt", func), YTilt)
      If ((obj Is Nothing)) Then
        obj = New YTilt(func)
        YFunction._AddToCache("Tilt", 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 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 the character string describing
    '''   the new advertised value.
    ''' @noreturn
    ''' </param>
    '''/
    Public Overloads Function registerValueCallback(callback As YTiltValueCallback) As Integer
      Dim val As String
      If (Not (callback Is Nothing)) Then
        YFunction._UpdateValueCallbackList(Me, True)
      Else
        YFunction._UpdateValueCallbackList(Me, False)
      End If
      Me._valueCallbackTilt = 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._valueCallbackTilt Is Nothing)) Then
        Me._valueCallbackTilt(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 YTiltTimedReportCallback) 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._timedReportCallbackTilt = callback
      Return 0
    End Function

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

    '''*
    ''' <summary>
    '''   Performs a zero calibration for the tilt measurement (Yocto-Inclinometer only).
    ''' <para>
    '''   When this method is invoked, a simple shift (translation)
    '''   is applied so that the current position is reported as a zero angle.
    '''   Be aware that this shift will also affect the measurement boundaries.
    ''' </para>
    ''' </summary>
    ''' <returns>
    '''   <c>YAPI.SUCCESS</c> if the call succeeds.
    ''' </returns>
    ''' <para>
    '''   On failure, throws an exception or returns a negative error code.
    ''' </para>
    '''/
    Public Overridable Function calibrateToZero() As Integer
      Dim currentRawVal As Double = 0
      Dim rawVals As List(Of Double) = New List(Of Double)()
      Dim refVals As List(Of Double) = New List(Of Double)()
      currentRawVal = Me.get_currentRawValue()
      rawVals.Clear()
      refVals.Clear()
      rawVals.Add(currentRawVal)
      refVals.Add(0.0)


      Return Me.calibrateFromPoints(rawVals, refVals)
    End Function

    '''*
    ''' <summary>
    '''   Cancels any previous zero calibration for the tilt measurement (Yocto-Inclinometer only).
    ''' <para>
    '''   This function restores the factory zero calibration.
    ''' </para>
    ''' </summary>
    ''' <returns>
    '''   <c>YAPI.SUCCESS</c> if the call succeeds.
    ''' </returns>
    ''' <para>
    '''   On failure, throws an exception or returns a negative error code.
    ''' </para>
    '''/
    Public Overridable Function restoreZeroCalibration() As Integer
      Return Me._setAttr("calibrationParam", "0")
    End Function


    '''*
    ''' <summary>
    '''   Continues the enumeration of tilt sensors started using <c>yFirstTilt()</c>.
    ''' <para>
    '''   Caution: You can't make any assumption about the returned tilt sensors order.
    '''   If you want to find a specific a tilt sensor, use <c>Tilt.findTilt()</c>
    '''   and a hardwareID or a logical name.
    ''' </para>
    ''' </summary>
    ''' <returns>
    '''   a pointer to a <c>YTilt</c> object, corresponding to
    '''   a tilt sensor currently online, or a <c>Nothing</c> pointer
    '''   if there are no more tilt sensors to enumerate.
    ''' </returns>
    '''/
    Public Function nextTilt() As YTilt
      Dim hwid As String = ""
      If (YISERR(_nextFunction(hwid))) Then
        Return Nothing
      End If
      If (hwid = "") Then
        Return Nothing
      End If
      Return YTilt.FindTilt(hwid)
    End Function

    '''*
    ''' <summary>
    '''   Starts the enumeration of tilt sensors currently accessible.
    ''' <para>
    '''   Use the method <c>YTilt.nextTilt()</c> to iterate on
    '''   next tilt sensors.
    ''' </para>
    ''' </summary>
    ''' <returns>
    '''   a pointer to a <c>YTilt</c> object, corresponding to
    '''   the first tilt sensor currently online, or a <c>Nothing</c> pointer
    '''   if there are none.
    ''' </returns>
    '''/
    Public Shared Function FirstTilt() As YTilt
      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("Tilt", 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 YTilt.FindTilt(serial + "." + funcId)
    End Function

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

  End Class

  REM --- (YTilt functions)

  '''*
  ''' <summary>
  '''   Retrieves a tilt sensor 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 tilt sensor is online at the time
  '''   it is invoked. The returned object is nevertheless valid.
  '''   Use the method <c>YTilt.isOnline()</c> to test if the tilt sensor is
  '''   indeed online at a given time. In case of ambiguity when looking for
  '''   a tilt sensor 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 tilt sensor, for instance
  '''   <c>Y3DMK002.tilt1</c>.
  ''' </param>
  ''' <returns>
  '''   a <c>YTilt</c> object allowing you to drive the tilt sensor.
  ''' </returns>
  '''/
  Public Function yFindTilt(ByVal func As String) As YTilt
    Return YTilt.FindTilt(func)
  End Function

  '''*
  ''' <summary>
  '''   Starts the enumeration of tilt sensors currently accessible.
  ''' <para>
  '''   Use the method <c>YTilt.nextTilt()</c> to iterate on
  '''   next tilt sensors.
  ''' </para>
  ''' </summary>
  ''' <returns>
  '''   a pointer to a <c>YTilt</c> object, corresponding to
  '''   the first tilt sensor currently online, or a <c>Nothing</c> pointer
  '''   if there are none.
  ''' </returns>
  '''/
  Public Function yFirstTilt() As YTilt
    Return YTilt.FirstTilt()
  End Function


  REM --- (end of YTilt functions)

End Module
