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#ifndef __BASECYCLICCLIENT_H__
#define __BASECYCLICCLIENT_H__
#include <string>
#include <future>
#include <functional>
#include <exception>
#include "messages/Frame.pb.h"
#include "messages/BaseCyclic.pb.h"
#include "common/Frame.h"
#include "client/IRouterClient.h"
#include "client/NotificationHandler.h"
#if __cplusplus >= 201402L
#define DEPRECATED [[ deprecated ]]
#define DEPRECATED_MSG(msg) [[ deprecated(msg) ]]
#elif defined(__GNUC__)
#define DEPRECATED __attribute__ ((deprecated))
#define DEPRECATED_MSG(msg) __attribute__ ((deprecated(msg)))
#elif defined(_MSC_VER)
#define DEPRECATED __declspec(deprecated)
#define DEPRECATED_MSG(msg) __declspec(deprecated(msg))
#else
#define DEPRECATED
#define DEPRECATED_MSG
#endif
namespace Kinova
{
namespace Api
{
namespace BaseCyclic
{
// todogr move somewhere else
const std::string none = "";
enum FunctionUids
{
eUidRefresh = 0x30001,
eUidRefreshCommand = 0x30002,
eUidRefreshFeedback = 0x30003,
eUidRefreshCustomData = 0x30004,
};
class BaseCyclicClient
{
static const uint32_t m_serviceVersion = 1;
static const uint32_t m_serviceId = eIdBaseCyclic;
NotificationHandler m_notificationHandler;
protected:
IRouterClient* const m_clientRouter;
public:
BaseCyclicClient(IRouterClient* clientRouter);
static uint32_t getUniqueFctId(uint16_t fctId);
Feedback Refresh(const Command& command, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void Refresh_callback(const Command& command, std::function< void (const Error&, const Feedback&) > callback, uint32_t deviceId = 0);
std::future<Feedback> Refresh_async(const Command& command, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void RefreshCommand(const Command& command, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void RefreshCommand_callback(const Command& command, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
std::future<void> RefreshCommand_async(const Command& command, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
Feedback RefreshFeedback(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void RefreshFeedback_callback(std::function< void (const Error&, const Feedback&) > callback, uint32_t deviceId = 0);
std::future<Feedback> RefreshFeedback_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
CustomData RefreshCustomData(const CustomData& customdata, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void RefreshCustomData_callback(const CustomData& customdata, std::function< void (const Error&, const CustomData&) > callback, uint32_t deviceId = 0);
std::future<CustomData> RefreshCustomData_async(const CustomData& customdata, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
private:
void messageHeaderValidation(const Frame& msgFrame){ /* todogr ... */ }
};
}
}
}
#endif |