/**
* @internal
* @param string $data
*/
public function callbackWrapperCurrentReached($data)
{
$result = array();
$payload = unpack('v1current', $data);
array_push($result, IPConnection::fixUnpackedInt16($payload['current']));
call_user_func_array($this->registeredCallbacks[self::CALLBACK_CURRENT_REACHED], $result);
}
/**
* Returns the threshold as set by BrickletVoltage::setVoltageCallbackThreshold().
*
*
* @return array
*/
public function getVoltageCallbackThreshold()
{
$result = array();
$payload = '';
$data = $this->sendRequest(self::FUNCTION_GET_VOLTAGE_CALLBACK_THRESHOLD, $payload);
$payload = unpack('c1option/v1min/v1max', $data);
$result['option'] = chr($payload['option']);
$result['min'] = IPConnection::fixUnpackedInt16($payload['min']);
$result['max'] = IPConnection::fixUnpackedInt16($payload['max']);
return $result;
}
/**
* Returns the temperature in °C/10 as measured inside the microcontroller. The
* value returned is not the ambient temperature!
*
* The temperature is only proportional to the real temperature and it has an
* accuracy of +-15%. Practically it is only useful as an indicator for
* temperature changes.
*
* .. versionadded:: 1.2.1~(Firmware)
*
*
* @return int
*/
public function getChipTemperature()
{
$payload = '';
$data = $this->sendRequest(self::FUNCTION_GET_CHIP_TEMPERATURE, $payload);
$payload = unpack('v1temperature', $data);
return IPConnection::fixUnpackedInt16($payload['temperature']);
}
/**
* @internal
* @param string $data
*/
public function callbackWrapperTemperatureReached($data)
{
$result = array();
$payload = unpack('v1temperature', $data);
array_push($result, IPConnection::fixUnpackedInt16($payload['temperature']));
call_user_func_array($this->registeredCallbacks[self::CALLBACK_TEMPERATURE_REACHED], $result);
}
/**
* @internal
* @param string $data
*/
public function callbackWrapperPositionReached($data)
{
$result = array();
$payload = unpack('v1x/v1y', $data);
array_push($result, IPConnection::fixUnpackedInt16($payload['x']));
array_push($result, IPConnection::fixUnpackedInt16($payload['y']));
call_user_func_array($this->registeredCallbacks[self::CALLBACK_POSITION_REACHED], $result);
}
/**
* @internal
* @param string $data
*/
public function callbackWrapperCurrentVelocity($data)
{
$result = array();
$payload = unpack('v1velocity', $data);
array_push($result, IPConnection::fixUnpackedInt16($payload['velocity']));
call_user_func_array($this->registeredCallbacks[self::CALLBACK_CURRENT_VELOCITY], $result);
}
/**
* @internal
* @param string $data
*/
public function callbackWrapperOrientation($data)
{
$result = array();
$payload = unpack('v1roll/v1pitch/v1yaw', $data);
array_push($result, IPConnection::fixUnpackedInt16($payload['roll']));
array_push($result, IPConnection::fixUnpackedInt16($payload['pitch']));
array_push($result, IPConnection::fixUnpackedInt16($payload['yaw']));
call_user_func_array($this->registeredCallbacks[self::CALLBACK_ORIENTATION], $result);
}
/**
* @internal
* @param string $data
*/
public function callbackWrapperVelocityReached($data)
{
$result = array();
$payload = unpack('C1servo_num/v1velocity', $data);
array_push($result, $payload['servo_num']);
array_push($result, IPConnection::fixUnpackedInt16($payload['velocity']));
call_user_func_array($this->registeredCallbacks[self::CALLBACK_VELOCITY_REACHED], $result);
}
