/**
* <summary>
* Retrieves a quaternion component for a given identifier in a YAPI context.
* <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 quaternion component is online at the time
* it is invoked. The returned object is nevertheless valid.
* Use the method <c>YQt.isOnline()</c> 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.
* </para>
* </summary>
* <param name="yctx">
* a YAPI context
* </param>
* <param name="func">
* a string that uniquely characterizes the quaternion component
* </param>
* <returns>
* a <c>YQt</c> object allowing you to drive the quaternion component.
* </returns>
*/
public static YQt FindQtInContext(YAPIContext yctx, string func)
{
YQt obj;
obj = (YQt)YFunction._FindFromCacheInContext(yctx, "Qt", func);
if (obj == null)
{
obj = new YQt(yctx, func);
YFunction._AddToCache("Qt", func, obj);
}
return(obj);
}
/**
* <summary>
* Retrieves a quaternion component 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 quaternion component is online at the time
* it is invoked. The returned object is nevertheless valid.
* Use the method <c>YQt.isOnline()</c> 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.
* </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 quaternion component
* </param>
* <returns>
* a <c>YQt</c> object allowing you to drive the quaternion component.
* </returns>
*/
public static YQt FindQt(string func)
{
YQt obj;
obj = (YQt)YFunction._FindFromCache("Qt", func);
if (obj == null)
{
obj = new YQt(func);
YFunction._AddToCache("Qt", func, obj);
}
return(obj);
}
protected static async Task yInternalGyroCallback(YQt obj, String value)
{
YGyro gyro = (YGyro)await obj.get_userData();
if (gyro == null)
{
return;
}
string tmp = obj.imm_get_functionId().Substring(2);
int idx = Convert.ToInt32(tmp);
double dbl_value = Convert.ToDouble(value);
await gyro._invokeGyroCallbacks(idx, dbl_value);
}
public virtual async Task <int> _loadQuaternion()
{
int now_stamp;
int age_ms;
now_stamp = (int)((YAPIContext.GetTickCount()) & (0x7FFFFFFF));
age_ms = (((now_stamp - _qt_stamp)) & (0x7FFFFFFF));
if ((age_ms >= 10) || (_qt_stamp == 0))
{
if (await this.load(10) != YAPI.SUCCESS)
{
return(YAPI.DEVICE_NOT_FOUND);
}
if (_qt_stamp == 0)
{
_qt_w = YQt.FindQtInContext(_yapi, "" + _serial + ".qt1");
_qt_x = YQt.FindQtInContext(_yapi, "" + _serial + ".qt2");
_qt_y = YQt.FindQtInContext(_yapi, "" + _serial + ".qt3");
_qt_z = YQt.FindQtInContext(_yapi, "" + _serial + ".qt4");
}
if (await _qt_w.load(9) != YAPI.SUCCESS)
{
return(YAPI.DEVICE_NOT_FOUND);
}
if (await _qt_x.load(9) != YAPI.SUCCESS)
{
return(YAPI.DEVICE_NOT_FOUND);
}
if (await _qt_y.load(9) != YAPI.SUCCESS)
{
return(YAPI.DEVICE_NOT_FOUND);
}
if (await _qt_z.load(9) != YAPI.SUCCESS)
{
return(YAPI.DEVICE_NOT_FOUND);
}
_w = await _qt_w.get_currentValue();
_x = await _qt_x.get_currentValue();
_y = await _qt_y.get_currentValue();
_z = await _qt_z.get_currentValue();
_qt_stamp = now_stamp;
}
return(YAPI.SUCCESS);
}
