/**
* <summary>
* Registers a callback function that will be invoked each time that the estimated
* device orientation has changed.
* <para>
* The call frequency is typically around 95Hz during a move.
* 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 null pointer as argument.
* </para>
* <para>
* </para>
* </summary>
* <param name="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
* </param>
*/
public virtual int registerQuaternionCallback(YQuatCallback callback)
{
this._quatCallback = callback;
if (callback != null)
{
if (this._loadQuaternion() != YAPI.SUCCESS)
{
return(YAPI.DEVICE_NOT_FOUND);
}
this._qt_w.set_userData(this);
this._qt_x.set_userData(this);
this._qt_y.set_userData(this);
this._qt_z.set_userData(this);
this._qt_w.registerValueCallback(yInternalGyroCallback);
this._qt_x.registerValueCallback(yInternalGyroCallback);
this._qt_y.registerValueCallback(yInternalGyroCallback);
this._qt_z.registerValueCallback(yInternalGyroCallback);
}
else
{
if (!(this._anglesCallback != null))
{
this._qt_w.registerValueCallback((YQt.ValueCallback)null);
this._qt_x.registerValueCallback((YQt.ValueCallback)null);
this._qt_y.registerValueCallback((YQt.ValueCallback)null);
this._qt_z.registerValueCallback((YQt.ValueCallback)null);
}
}
return(0);
}
/**
* <summary>
* Registers a callback function that will be invoked each time that the estimated
* device orientation has changed.
* <para>
* The call frequency is typically around 95Hz during a move.
* 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 null pointer as argument.
* </para>
* <para>
* </para>
* </summary>
* <param name="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
* </param>
*/
public virtual int registerQuaternionCallback(YQuatCallback callback)
{
this._quatCallback = callback;
if (callback != null) {
if (this._loadQuaternion() != YAPI.SUCCESS) {
return YAPI.DEVICE_NOT_FOUND;
}
this._qt_w.set_userData(this);
this._qt_x.set_userData(this);
this._qt_y.set_userData(this);
this._qt_z.set_userData(this);
this._qt_w.registerValueCallback(yInternalGyroCallback);
this._qt_x.registerValueCallback(yInternalGyroCallback);
this._qt_y.registerValueCallback(yInternalGyroCallback);
this._qt_z.registerValueCallback(yInternalGyroCallback);
} else {
if (!(this._anglesCallback != null)) {
this._qt_w.registerValueCallback((YQt.ValueCallback) null);
this._qt_x.registerValueCallback((YQt.ValueCallback) null);
this._qt_y.registerValueCallback((YQt.ValueCallback) null);
this._qt_z.registerValueCallback((YQt.ValueCallback) null);
}
}
return 0;
}
