#*********************************************************************
#*
#* $Id: yocto_servo.py 10410 2013-03-17 21:50:55Z seb $
#*
#* Implements yFindServo(), the high-level API for Servo functions
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__docformat__ = 'restructuredtext en'
from yoctopuce.yocto_api import *
class YServo(YFunction):
    """
    Yoctopuce application programming interface allows you not only to move
    a servo to a given position, but also to specify the time interval
    in which the move should be performed. This makes it possible to
    synchronize two servos involved in a same move.
    
    """
    #--- (globals)


    #--- (end of globals)

    #--- (YServo definitions)


    LOGICALNAME_INVALID             = YAPI.INVALID_STRING
    ADVERTISEDVALUE_INVALID         = YAPI.INVALID_STRING
    POSITION_INVALID                = YAPI.INVALID_LONG
    RANGE_INVALID                   = YAPI.INVALID_LONG
    NEUTRAL_INVALID                 = YAPI.INVALID_LONG
    MOVE_INVALID                    = None



    _ServoCache ={}

    #--- (end of YServo definitions)

    #--- (YServo implementation)

    def __init__(self,func):
        super(YServo,self).__init__("Servo", func)
        #--- (YServo implementation)
        self._callback = None
        self._logicalName = YServo.LOGICALNAME_INVALID
        self._advertisedValue = YServo.ADVERTISEDVALUE_INVALID
        self._position = YServo.POSITION_INVALID
        self._range = YServo.RANGE_INVALID
        self._neutral = YServo.NEUTRAL_INVALID
        self._move = YServo.MOVE_INVALID

    def _parse(self, j):
        if j.recordtype != YAPI.TJSONRECORDTYPE.JSON_STRUCT: return -1
        for member in j.members:
            if member.name == "logicalName":
                self._logicalName = member.svalue
            elif member.name == "advertisedValue":
                self._advertisedValue = member.svalue
            elif member.name == "position":
                self._position = member.ivalue
            elif member.name == "range":
                self._range = member.ivalue
            elif member.name == "neutral":
                self._neutral = member.ivalue
            elif member.name == "move":
                if member.recordtype != YAPI.TJSONRECORDTYPE.JSON_STRUCT: self._move = -1
                self._move = {"moving":None,"target":None,"ms":None }
                for submemb in member.members:
                    if submemb.name == "moving":
                        self._move["moving"]  = submemb.ivalue
                    elif submemb.name == "target": 
                        self._move["target"] = submemb.ivalue
                    elif submemb.name == "ms": 
                        self._move["ms"] = submemb.ivalue
        return 0

    def get_logicalName(self):
        """
        Returns the logical name of the servo.
        
        @return a string corresponding to the logical name of the servo
        
        On failure, throws an exception or returns YServo.LOGICALNAME_INVALID.
        """
        if self._cacheExpiration <= YAPI.GetTickCount():
            if YAPI.YISERR(self.load(YAPI.DefaultCacheValidity)):
                return YServo.LOGICALNAME_INVALID
        return self._logicalName

    def set_logicalName(self, newval):
        """
        Changes the logical name of the servo. You can use yCheckLogicalName()
        prior to this call to make sure that your parameter is valid.
        Remember to call the saveToFlash() method of the module if the
        modification must be kept.
        
        @param newval : a string corresponding to the logical name of the servo
        
        @return YAPI.SUCCESS if the call succeeds.
        
        On failure, throws an exception or returns a negative error code.
        """
        rest_val = newval
        return self._setAttr("logicalName", rest_val)


    def get_advertisedValue(self):
        """
        Returns the current value of the servo (no more than 6 characters).
        
        @return a string corresponding to the current value of the servo (no more than 6 characters)
        
        On failure, throws an exception or returns YServo.ADVERTISEDVALUE_INVALID.
        """
        if self._cacheExpiration <= YAPI.GetTickCount():
            if YAPI.YISERR(self.load(YAPI.DefaultCacheValidity)):
                return YServo.ADVERTISEDVALUE_INVALID
        return self._advertisedValue

    def get_position(self):
        """
        Returns the current servo position.
        
        @return an integer corresponding to the current servo position
        
        On failure, throws an exception or returns YServo.POSITION_INVALID.
        """
        if self._cacheExpiration <= YAPI.GetTickCount():
            if YAPI.YISERR(self.load(YAPI.DefaultCacheValidity)):
                return YServo.POSITION_INVALID
        return self._position

    def set_position(self, newval):
        """
        Changes immediately the servo driving position.
        
        @param newval : an integer corresponding to immediately the servo driving position
        
        @return YAPI.SUCCESS if the call succeeds.
        
        On failure, throws an exception or returns a negative error code.
        """
        rest_val = str(newval)
        return self._setAttr("position", rest_val)


    def get_range(self):
        """
        Returns the current range of use of the servo.
        
        @return an integer corresponding to the current range of use of the servo
        
        On failure, throws an exception or returns YServo.RANGE_INVALID.
        """
        if self._cacheExpiration <= YAPI.GetTickCount():
            if YAPI.YISERR(self.load(YAPI.DefaultCacheValidity)):
                return YServo.RANGE_INVALID
        return self._range

    def set_range(self, newval):
        """
        Changes the range of use of the servo, specified in per cents.
        A range of 100% corresponds to a standard control signal, that varies
        from 1 [ms] to 2 [ms], When using a servo that supports a double range,
        from 0.5 [ms] to 2.5 [ms], you can select a range of 200%.
        Be aware that using a range higher than what is supported by the servo
        is likely to damage the servo.
        
        @param newval : an integer corresponding to the range of use of the servo, specified in per cents
        
        @return YAPI.SUCCESS if the call succeeds.
        
        On failure, throws an exception or returns a negative error code.
        """
        rest_val = str(newval)
        return self._setAttr("range", rest_val)


    def get_neutral(self):
        """
        Returns the duration in microseconds of a neutral pulse for the servo.
        
        @return an integer corresponding to the duration in microseconds of a neutral pulse for the servo
        
        On failure, throws an exception or returns YServo.NEUTRAL_INVALID.
        """
        if self._cacheExpiration <= YAPI.GetTickCount():
            if YAPI.YISERR(self.load(YAPI.DefaultCacheValidity)):
                return YServo.NEUTRAL_INVALID
        return self._neutral

    def set_neutral(self, newval):
        """
        Changes the duration of the pulse corresponding to the neutral position of the servo.
        The duration is specified in microseconds, and the standard value is 1500 [us].
        This setting makes it possible to shift the range of use of the servo.
        Be aware that using a range higher than what is supported by the servo is
        likely to damage the servo.
        
        @param newval : an integer corresponding to the duration of the pulse corresponding to the neutral
        position of the servo
        
        @return YAPI.SUCCESS if the call succeeds.
        
        On failure, throws an exception or returns a negative error code.
        """
        rest_val = str(newval)
        return self._setAttr("neutral", rest_val)


    def get_move(self):
        if self._cacheExpiration <= YAPI.GetTickCount():
            if YAPI.YISERR(self.load(YAPI.DefaultCacheValidity)):
                return YServo.MOVE_INVALID
        return self._move

    def set_move(self, newval):
        rest_val = str(newval.target)+":"+str(newval.ms)
        return self._setAttr("move", rest_val)


    def move(self , target,ms_duration):
        """
        Performs a smooth move at constant speed toward a given position.
        
        @param target      : new position at the end of the move
        @param ms_duration : total duration of the move, in milliseconds
        
        @return YAPI.SUCCESS if the call succeeds.
        
        On failure, throws an exception or returns a negative error code.
        """
        rest_val = str(target)+":"+str(ms_duration)
        return self._setAttr("move", rest_val)

    def nextServo(self):
        """
        Continues the enumeration of servos started using yFirstServo().
        
        @return a pointer to a YServo object, corresponding to
                a servo currently online, or a None pointer
                if there are no more servos to enumerate.
        """
        hwidRef = YRefParam()
        if YAPI.YISERR(self._nextFunction(hwidRef)):
            return None
        if hwidRef.value == "":
            return None
        return YServo.FindServo(hwidRef.value)

    def registerValueCallback(self, callback):
        """
        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 None pointer as argument.
        
        @param callback : the callback function to call, or a None 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
        """
        if callback is not None:
            self._registerFuncCallback(self)
        else:
            self._unregisterFuncCallback(self)
        self._callback = callback

    def set_callback(self, callback):
        self.registerValueCallback(callback)

    def setCallback(self, callback):
        self.registerValueCallback(callback)


    def advertiseValue(self,value):
        if self._callback is not None:
            self._callback(self, value)

#--- (end of YServo implementation)

#--- (Servo functions)

    @staticmethod 
    def FindServo(func):
        """
        Retrieves a servo 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 servo is online at the time
        it is invoked. The returned object is nevertheless valid.
        Use the method YServo.isOnline() to test if the servo is
        indeed online at a given time. In case of ambiguity when looking for
        a servo 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 func : a string that uniquely characterizes the servo
        
        @return a YServo object allowing you to drive the servo.
        """
        if func in YServo._ServoCache:
            return YServo._ServoCache[func]
        res =YServo(func)
        YServo._ServoCache[func] =  res
        return res

    @staticmethod 
    def  FirstServo():
        """
        Starts the enumeration of servos currently accessible.
        Use the method YServo.nextServo() to iterate on
        next servos.
        
        @return a pointer to a YServo object, corresponding to
                the first servo currently online, or a None pointer
                if there are none.
        """
        devRef = YRefParam()
        neededsizeRef = YRefParam()
        serialRef = YRefParam()
        funcIdRef = YRefParam()
        funcNameRef = YRefParam()
        funcValRef = YRefParam()
        errmsgRef = YRefParam()
        size = YAPI.C_INTSIZE
        #noinspection PyTypeChecker,PyCallingNonCallable
        p = (ctypes.c_int*1)()
        err = YAPI.apiGetFunctionsByClass("Servo", 0, p, size,  neededsizeRef, errmsgRef)

        if YAPI.YISERR(err) or not neededsizeRef.value:
            return None

        if YAPI.YISERR(YAPI.yapiGetFunctionInfo(p[0],devRef, serialRef, funcIdRef, funcNameRef,funcValRef, errmsgRef)):
            return None

        return YServo.FindServo(serialRef.value + "." + funcIdRef.value)

    @staticmethod 
    def _ServoCleanup():
        pass

  #--- (end of Servo functions)

