/* ***********************************************************
 * This file was automatically generated on 2016-02-10.      *
 *                                                           *
 * JavaScript Bindings Version 2.0.8                         *
 *                                                           *
 * If you have a bugfix for this file and want to commit it, *
 * please fix the bug in the generator. You can find a link  *
 * to the generators git repository on tinkerforge.com       *
 *************************************************************/

var Device = require('./Device');

BrickletLaserRangeFinder.DEVICE_IDENTIFIER = 255;
BrickletLaserRangeFinder.DEVICE_DISPLAY_NAME = 'Laser Range Finder Bricklet';
BrickletLaserRangeFinder.CALLBACK_DISTANCE = 20;
BrickletLaserRangeFinder.CALLBACK_VELOCITY = 21;
BrickletLaserRangeFinder.CALLBACK_DISTANCE_REACHED = 22;
BrickletLaserRangeFinder.CALLBACK_VELOCITY_REACHED = 23;
BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE = 1;
BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY = 2;
BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 3;
BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE_CALLBACK_PERIOD = 4;
BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_PERIOD = 5;
BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY_CALLBACK_PERIOD = 6;
BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 7;
BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD = 8;
BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD = 9;
BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY_CALLBACK_THRESHOLD = 10;
BrickletLaserRangeFinder.FUNCTION_SET_DEBOUNCE_PERIOD = 11;
BrickletLaserRangeFinder.FUNCTION_GET_DEBOUNCE_PERIOD = 12;
BrickletLaserRangeFinder.FUNCTION_SET_MOVING_AVERAGE = 13;
BrickletLaserRangeFinder.FUNCTION_GET_MOVING_AVERAGE = 14;
BrickletLaserRangeFinder.FUNCTION_SET_MODE = 15;
BrickletLaserRangeFinder.FUNCTION_GET_MODE = 16;
BrickletLaserRangeFinder.FUNCTION_ENABLE_LASER = 17;
BrickletLaserRangeFinder.FUNCTION_DISABLE_LASER = 18;
BrickletLaserRangeFinder.FUNCTION_IS_LASER_ENABLED = 19;
BrickletLaserRangeFinder.FUNCTION_GET_IDENTITY = 255;
BrickletLaserRangeFinder.THRESHOLD_OPTION_OFF = 'x';
BrickletLaserRangeFinder.THRESHOLD_OPTION_OUTSIDE = 'o';
BrickletLaserRangeFinder.THRESHOLD_OPTION_INSIDE = 'i';
BrickletLaserRangeFinder.THRESHOLD_OPTION_SMALLER = '<';
BrickletLaserRangeFinder.THRESHOLD_OPTION_GREATER = '>';
BrickletLaserRangeFinder.MODE_DISTANCE = 0;
BrickletLaserRangeFinder.MODE_VELOCITY_MAX_13MS = 1;
BrickletLaserRangeFinder.MODE_VELOCITY_MAX_32MS = 2;
BrickletLaserRangeFinder.MODE_VELOCITY_MAX_64MS = 3;
BrickletLaserRangeFinder.MODE_VELOCITY_MAX_127MS = 4;

function BrickletLaserRangeFinder(uid, ipcon) {
	//Measures distance up to 40m with laser light

	/*
	Creates an object with the unique device ID *uid* and adds it to
	the IP Connection *ipcon*.
	*/
	Device.call(this, this, uid, ipcon);
	BrickletLaserRangeFinder.prototype = Object.create(Device);
	this.responseExpected = {};
	this.callbackFormats = {};
	this.APIVersion = [2, 0, 0];
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD] = Device.RESPONSE_EXPECTED_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE_CALLBACK_PERIOD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_PERIOD] = Device.RESPONSE_EXPECTED_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY_CALLBACK_PERIOD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD] = Device.RESPONSE_EXPECTED_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD] = Device.RESPONSE_EXPECTED_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY_CALLBACK_THRESHOLD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_DEBOUNCE_PERIOD] = Device.RESPONSE_EXPECTED_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_DEBOUNCE_PERIOD] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_MOVING_AVERAGE] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_MOVING_AVERAGE] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_SET_MODE] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_MODE] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_ENABLE_LASER] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_DISABLE_LASER] = Device.RESPONSE_EXPECTED_FALSE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_IS_LASER_ENABLED] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.responseExpected[BrickletLaserRangeFinder.CALLBACK_DISTANCE] = Device.RESPONSE_EXPECTED_ALWAYS_FALSE;
	this.responseExpected[BrickletLaserRangeFinder.CALLBACK_VELOCITY] = Device.RESPONSE_EXPECTED_ALWAYS_FALSE;
	this.responseExpected[BrickletLaserRangeFinder.CALLBACK_DISTANCE_REACHED] = Device.RESPONSE_EXPECTED_ALWAYS_FALSE;
	this.responseExpected[BrickletLaserRangeFinder.CALLBACK_VELOCITY_REACHED] = Device.RESPONSE_EXPECTED_ALWAYS_FALSE;
	this.responseExpected[BrickletLaserRangeFinder.FUNCTION_GET_IDENTITY] = Device.RESPONSE_EXPECTED_ALWAYS_TRUE;
	this.callbackFormats[BrickletLaserRangeFinder.CALLBACK_DISTANCE] = 'H';
	this.callbackFormats[BrickletLaserRangeFinder.CALLBACK_VELOCITY] = 'h';
	this.callbackFormats[BrickletLaserRangeFinder.CALLBACK_DISTANCE_REACHED] = 'H';
	this.callbackFormats[BrickletLaserRangeFinder.CALLBACK_VELOCITY_REACHED] = 'h';

	this.getDistance = function(returnCallback, errorCallback) {
		/*
		Returns the measured distance. The value has a range of 0 to 4000
		and is given in cm.
		
		The Laser Range Finder Bricklet knows different modes. Distances
		are only measured in the distance measurement mode,
		see :func:`SetMode`. Also the laser has to be enabled, see
		:func:`EnableLaser`.
		
		If you want to get the distance periodically, it is recommended to
		use the callback :func:`Distance` and set the period with 
		:func:`SetDistanceCallbackPeriod`.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE, [], '', 'H', returnCallback, errorCallback);
	};
	this.getVelocity = function(returnCallback, errorCallback) {
		/*
		Returns the measured velocity. The value has a range of 0 to 12700
		and is given in 1/100 m/s.
		
		The Laser Range Finder Bricklet knows different modes. Velocity 
		is only measured in the velocity measurement modes, 
		see :func:`SetMode`. Also the laser has to be enabled, see
		:func:`EnableLaser`.
		
		If you want to get the velocity periodically, it is recommended to
		use the callback :func:`Velocity` and set the period with 
		:func:`SetVelocityCallbackPeriod`.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY, [], '', 'h', returnCallback, errorCallback);
	};
	this.setDistanceCallbackPeriod = function(period, returnCallback, errorCallback) {
		/*
		Sets the period in ms with which the :func:`Distance` callback is triggered
		periodically. A value of 0 turns the callback off.
		
		:func:`Distance` is only triggered if the distance value has changed since the
		last triggering.
		
		The default value is 0.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD, [period], 'I', '', returnCallback, errorCallback);
	};
	this.getDistanceCallbackPeriod = function(returnCallback, errorCallback) {
		/*
		Returns the period as set by :func:`SetDistanceCallbackPeriod`.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE_CALLBACK_PERIOD, [], '', 'I', returnCallback, errorCallback);
	};
	this.setVelocityCallbackPeriod = function(period, returnCallback, errorCallback) {
		/*
		Sets the period in ms with which the :func:`Velocity` callback is triggered
		periodically. A value of 0 turns the callback off.
		
		:func:`Velocity` is only triggered if the velocity value has changed since the
		last triggering.
		
		The default value is 0.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_PERIOD, [period], 'I', '', returnCallback, errorCallback);
	};
	this.getVelocityCallbackPeriod = function(returnCallback, errorCallback) {
		/*
		Returns the period as set by :func:`SetVelocityCallbackPeriod`.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY_CALLBACK_PERIOD, [], '', 'I', returnCallback, errorCallback);
	};
	this.setDistanceCallbackThreshold = function(option, min, max, returnCallback, errorCallback) {
		/*
		Sets the thresholds for the :func:`DistanceReached` callback. 
		
		The following options are possible:
		
		.. csv-table::
		 :header: "Option", "Description"
		 :widths: 10, 100
		
		 "'x'",    "Callback is turned off"
		 "'o'",    "Callback is triggered when the distance value is *outside* the min and max values"
		 "'i'",    "Callback is triggered when the distance value is *inside* the min and max values"
		 "'<'",    "Callback is triggered when the distance value is smaller than the min value (max is ignored)"
		 "'>'",    "Callback is triggered when the distance value is greater than the min value (max is ignored)"
		
		The default value is ('x', 0, 0).
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD, [option, min, max], 'c H H', '', returnCallback, errorCallback);
	};
	this.getDistanceCallbackThreshold = function(returnCallback, errorCallback) {
		/*
		Returns the threshold as set by :func:`SetDistanceCallbackThreshold`.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD, [], '', 'c H H', returnCallback, errorCallback);
	};
	this.setVelocityCallbackThreshold = function(option, min, max, returnCallback, errorCallback) {
		/*
		Sets the thresholds for the :func:`VelocityReached` callback. 
		
		The following options are possible:
		
		.. csv-table::
		 :header: "Option", "Description"
		 :widths: 10, 100
		
		 "'x'",    "Callback is turned off"
		 "'o'",    "Callback is triggered when the velocity is *outside* the min and max values"
		 "'i'",    "Callback is triggered when the velocity is *inside* the min and max values"
		 "'<'",    "Callback is triggered when the velocity is smaller than the min value (max is ignored)"
		 "'>'",    "Callback is triggered when the velocity is greater than the min value (max is ignored)"
		
		The default value is ('x', 0, 0).
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD, [option, min, max], 'c h h', '', returnCallback, errorCallback);
	};
	this.getVelocityCallbackThreshold = function(returnCallback, errorCallback) {
		/*
		Returns the threshold as set by :func:`SetVelocityCallbackThreshold`.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_VELOCITY_CALLBACK_THRESHOLD, [], '', 'c h h', returnCallback, errorCallback);
	};
	this.setDebouncePeriod = function(debounce, returnCallback, errorCallback) {
		/*
		Sets the period in ms with which the threshold callbacks
		
		* :func:`DistanceReached`,
		* :func:`VelocityReached`,
		
		are triggered, if the thresholds
		
		* :func:`SetDistanceCallbackThreshold`,
		* :func:`SetVelocityCallbackThreshold`,
		
		keep being reached.
		
		The default value is 100.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_DEBOUNCE_PERIOD, [debounce], 'I', '', returnCallback, errorCallback);
	};
	this.getDebouncePeriod = function(returnCallback, errorCallback) {
		/*
		Returns the debounce period as set by :func:`SetDebouncePeriod`.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_DEBOUNCE_PERIOD, [], '', 'I', returnCallback, errorCallback);
	};
	this.setMovingAverage = function(distanceAverageLength, velocityAverageLength, returnCallback, errorCallback) {
		/*
		Sets the length of a `moving averaging <https://en.wikipedia.org/wiki/Moving_average>`__
		for the distance and velocity.
		
		Setting the length to 0 will turn the averaging completely off. With less
		averaging, there is more noise on the data.
		
		The range for the averaging is 0-30.
		
		The default value is 10.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_MOVING_AVERAGE, [distanceAverageLength, velocityAverageLength], 'B B', '', returnCallback, errorCallback);
	};
	this.getMovingAverage = function(returnCallback, errorCallback) {
		/*
		Returns the length moving average as set by :func:`SetMovingAverage`.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_MOVING_AVERAGE, [], '', 'B B', returnCallback, errorCallback);
	};
	this.setMode = function(mode, returnCallback, errorCallback) {
		/*
		The LIDAR has five different modes. One mode is for distance
		measurements and four modes are for velocity measurements with
		different ranges.
		
		The following modes are available:
		
		* 0: Distance is measured with resolution 1.0 cm and range 0-400 cm
		* 1: Velocity is measured with resolution 0.1 m/s and range is 0-12.7 m/s
		* 2: Velocity is measured with resolution 0.25 m/s and range is 0-31.75 m/s
		* 3: Velocity is measured with resolution 0.5 m/s and range is 0-63.5 m/s
		* 4: Velocity is measured with resolution 1.0 m/s and range is 0-127 m/s
		
		The default mode is 0 (distance is measured).
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_SET_MODE, [mode], 'B', '', returnCallback, errorCallback);
	};
	this.getMode = function(returnCallback, errorCallback) {
		/*
		Returns the mode as set by :func:`SetMode`.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_MODE, [], '', 'B', returnCallback, errorCallback);
	};
	this.enableLaser = function(returnCallback, errorCallback) {
		/*
		Activates the laser of the LIDAR.
		
		We recommend that you wait 250ms after enabling the laser before
		the first call of :func:`GetDistance` to ensure stable measurements.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_ENABLE_LASER, [], '', '', returnCallback, errorCallback);
	};
	this.disableLaser = function(returnCallback, errorCallback) {
		/*
		Deactivates the laser of the LIDAR.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_DISABLE_LASER, [], '', '', returnCallback, errorCallback);
	};
	this.isLaserEnabled = function(returnCallback, errorCallback) {
		/*
		Returns *true* if the laser is enabled, *false* otherwise.
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_IS_LASER_ENABLED, [], '', '?', returnCallback, errorCallback);
	};
	this.getIdentity = function(returnCallback, errorCallback) {
		/*
		Returns the UID, the UID where the Bricklet is connected to, 
		the position, the hardware and firmware version as well as the
		device identifier.
		
		The position can be 'a', 'b', 'c' or 'd'.
		
		The device identifier numbers can be found :ref:`here <device_identifier>`.
		|device_identifier_constant|
		*/
		this.ipcon.sendRequest(this, BrickletLaserRangeFinder.FUNCTION_GET_IDENTITY, [], '', 's8 s8 c B3 B3 H', returnCallback, errorCallback);
	};
}

module.exports = BrickletLaserRangeFinder;
