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#ifndef __VISIONCONFIGCLIENT_H__
#define __VISIONCONFIGCLIENT_H__
#include <string>
#include <future>
#include <functional>
#include <exception>
#include "messages/Frame.pb.h"
#include "messages/VisionConfig.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 VisionConfig
{
// todogr move somewhere else
const std::string none = "";
enum FunctionUids
{
eUidSetSensorSettings = 0x50001,
eUidGetSensorSettings = 0x50002,
eUidGetOptionValue = 0x50003,
eUidSetOptionValue = 0x50004,
eUidGetOptionInformation = 0x50005,
eUidVisionTopic = 0x50006,
eUidDoSensorFocusAction = 0x50007,
eUidGetIntrinsicParameters = 0x50008,
eUidGetIntrinsicParametersProfile = 0x50009,
eUidSetIntrinsicParameters = 0x5000a,
eUidGetExtrinsicParameters = 0x5000b,
eUidSetExtrinsicParameters = 0x5000c,
};
class VisionConfigClient
{
static const uint32_t m_serviceVersion = 1;
static const uint32_t m_serviceId = eIdVisionConfig;
NotificationHandler m_notificationHandler;
protected:
IRouterClient* const m_clientRouter;
public:
VisionConfigClient(IRouterClient* clientRouter);
static uint32_t getUniqueFctId(uint16_t fctId);
void SetSensorSettings(const SensorSettings& sensorsettings, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void SetSensorSettings_callback(const SensorSettings& sensorsettings, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
std::future<void> SetSensorSettings_async(const SensorSettings& sensorsettings, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
SensorSettings GetSensorSettings(const SensorIdentifier& sensoridentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void GetSensorSettings_callback(const SensorIdentifier& sensoridentifier, std::function< void (const Error&, const SensorSettings&) > callback, uint32_t deviceId = 0);
std::future<SensorSettings> GetSensorSettings_async(const SensorIdentifier& sensoridentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
OptionValue GetOptionValue(const OptionIdentifier& optionidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void GetOptionValue_callback(const OptionIdentifier& optionidentifier, std::function< void (const Error&, const OptionValue&) > callback, uint32_t deviceId = 0);
std::future<OptionValue> GetOptionValue_async(const OptionIdentifier& optionidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void SetOptionValue(const OptionValue& optionvalue, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void SetOptionValue_callback(const OptionValue& optionvalue, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
std::future<void> SetOptionValue_async(const OptionValue& optionvalue, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
OptionInformation GetOptionInformation(const OptionIdentifier& optionidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void GetOptionInformation_callback(const OptionIdentifier& optionidentifier, std::function< void (const Error&, const OptionInformation&) > callback, uint32_t deviceId = 0);
std::future<OptionInformation> GetOptionInformation_async(const OptionIdentifier& optionidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
Kinova::Api::Common::NotificationHandle OnNotificationVisionTopic(std::function< void (VisionNotification) > callback, const Kinova::Api::Common::NotificationOptions& notificationoptions, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void DoSensorFocusAction(const SensorFocusAction& sensorfocusaction, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void DoSensorFocusAction_callback(const SensorFocusAction& sensorfocusaction, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
std::future<void> DoSensorFocusAction_async(const SensorFocusAction& sensorfocusaction, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
IntrinsicParameters GetIntrinsicParameters(const SensorIdentifier& sensoridentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void GetIntrinsicParameters_callback(const SensorIdentifier& sensoridentifier, std::function< void (const Error&, const IntrinsicParameters&) > callback, uint32_t deviceId = 0);
std::future<IntrinsicParameters> GetIntrinsicParameters_async(const SensorIdentifier& sensoridentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
IntrinsicParameters GetIntrinsicParametersProfile(const IntrinsicProfileIdentifier& intrinsicprofileidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void GetIntrinsicParametersProfile_callback(const IntrinsicProfileIdentifier& intrinsicprofileidentifier, std::function< void (const Error&, const IntrinsicParameters&) > callback, uint32_t deviceId = 0);
std::future<IntrinsicParameters> GetIntrinsicParametersProfile_async(const IntrinsicProfileIdentifier& intrinsicprofileidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void SetIntrinsicParameters(const IntrinsicParameters& intrinsicparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void SetIntrinsicParameters_callback(const IntrinsicParameters& intrinsicparameters, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
std::future<void> SetIntrinsicParameters_async(const IntrinsicParameters& intrinsicparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
ExtrinsicParameters GetExtrinsicParameters(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void GetExtrinsicParameters_callback(std::function< void (const Error&, const ExtrinsicParameters&) > callback, uint32_t deviceId = 0);
std::future<ExtrinsicParameters> GetExtrinsicParameters_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void SetExtrinsicParameters(const ExtrinsicParameters& extrinsicparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
void SetExtrinsicParameters_callback(const ExtrinsicParameters& extrinsicparameters, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
std::future<void> SetExtrinsicParameters_async(const ExtrinsicParameters& extrinsicparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
private:
void messageHeaderValidation(const Frame& msgFrame){ /* todogr ... */ }
};
}
}
}
#endif |