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#ifndef __ACTUATORCONFIGCLIENT_H__
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#define __ACTUATORCONFIGCLIENT_H__
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#include <string>
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#include <future>
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#include <functional>
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#include <exception>
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#include "messages/Frame.pb.h"
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#include "messages/ActuatorConfig.pb.h"
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#include "common/Frame.h"
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#include "client/IRouterClient.h"
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#include "client/NotificationHandler.h"
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#if __cplusplus >= 201402L
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#define DEPRECATED [[ deprecated ]]
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#define DEPRECATED_MSG(msg) [[ deprecated(msg) ]]
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#elif defined(__GNUC__)
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#define DEPRECATED __attribute__ ((deprecated))
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#define DEPRECATED_MSG(msg) __attribute__ ((deprecated(msg)))
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#elif defined(_MSC_VER)
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#define DEPRECATED __declspec(deprecated)
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#define DEPRECATED_MSG(msg) __declspec(deprecated(msg))
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#else
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#define DEPRECATED
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#define DEPRECATED_MSG
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#endif
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namespace Kinova
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{
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namespace Api
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{
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namespace ActuatorConfig
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{
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const std::string none = "";
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enum FunctionUids
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{
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eUidGetAxisOffsets = 0xa0001,
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eUidSetAxisOffsets = 0xa0002,
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eUidReadTorqueCalibration = 0xa0003,
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eUidWriteTorqueCalibration = 0xa0004,
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eUidSetTorqueOffset = 0xa0005,
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eUidGetControlMode = 0xa0006,
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eUidSetControlMode = 0xa0007,
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eUidGetActivatedControlLoop = 0xa0008,
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eUidSetActivatedControlLoop = 0xa0009,
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eUidGetVectorDriveParameters = 0xa000a,
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eUidSetVectorDriveParameters = 0xa000b,
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eUidGetEncoderDerivativeParameters = 0xa000c,
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eUidSetEncoderDerivativeParameters = 0xa000d,
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eUidGetControlLoopParameters = 0xa000e,
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eUidSetControlLoopParameters = 0xa000f,
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eUidStartFrequencyResponse = 0xa0010,
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eUidStopFrequencyResponse = 0xa0011,
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eUidStartStepResponse = 0xa0012,
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eUidStopStepResponse = 0xa0013,
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eUidStartRampResponse = 0xa0014,
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eUidStopRampResponse = 0xa0015,
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eUidSelectCustomData = 0xa0016,
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eUidGetSelectedCustomData = 0xa0017,
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eUidSetCommandMode = 0xa0018,
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eUidClearFaults = 0xa0019,
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eUidSetServoing = 0xa001a,
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eUidMoveToPosition = 0xa001b,
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eUidGetCommandMode = 0xa001c,
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eUidGetServoing = 0xa001d,
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eUidGetTorqueOffset = 0xa001e,
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eUidSetCoggingFeedforwardMode = 0xa001f,
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eUidGetCoggingFeedforwardMode = 0xa0020,
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};
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class ActuatorConfigClient
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{
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static const uint32_t m_serviceVersion = 1;
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static const uint32_t m_serviceId = eIdActuatorConfig;
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NotificationHandler m_notificationHandler;
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protected:
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IRouterClient* const m_clientRouter;
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public:
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ActuatorConfigClient(IRouterClient* clientRouter);
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static uint32_t getUniqueFctId(uint16_t fctId);
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AxisOffsets GetAxisOffsets(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetAxisOffsets_callback(std::function< void (const Error&, const AxisOffsets&) > callback, uint32_t deviceId = 0);
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std::future<AxisOffsets> GetAxisOffsets_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetAxisOffsets(const AxisPosition& axisposition, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetAxisOffsets_callback(const AxisPosition& axisposition, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetAxisOffsets_async(const AxisPosition& axisposition, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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TorqueCalibration ReadTorqueCalibration(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void ReadTorqueCalibration_callback(std::function< void (const Error&, const TorqueCalibration&) > callback, uint32_t deviceId = 0);
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std::future<TorqueCalibration> ReadTorqueCalibration_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void WriteTorqueCalibration(const TorqueCalibration& torquecalibration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void WriteTorqueCalibration_callback(const TorqueCalibration& torquecalibration, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> WriteTorqueCalibration_async(const TorqueCalibration& torquecalibration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetTorqueOffset(const TorqueOffset& torqueoffset, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetTorqueOffset_callback(const TorqueOffset& torqueoffset, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetTorqueOffset_async(const TorqueOffset& torqueoffset, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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ControlModeInformation GetControlMode(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetControlMode_callback(std::function< void (const Error&, const ControlModeInformation&) > callback, uint32_t deviceId = 0);
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std::future<ControlModeInformation> GetControlMode_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetControlMode(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetControlMode_callback(const ControlModeInformation& controlmodeinformation, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetControlMode_async(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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ControlLoop GetActivatedControlLoop(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetActivatedControlLoop_callback(std::function< void (const Error&, const ControlLoop&) > callback, uint32_t deviceId = 0);
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std::future<ControlLoop> GetActivatedControlLoop_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetActivatedControlLoop(const ControlLoop& controlloop, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetActivatedControlLoop_callback(const ControlLoop& controlloop, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetActivatedControlLoop_async(const ControlLoop& controlloop, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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VectorDriveParameters GetVectorDriveParameters(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetVectorDriveParameters_callback(std::function< void (const Error&, const VectorDriveParameters&) > callback, uint32_t deviceId = 0);
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std::future<VectorDriveParameters> GetVectorDriveParameters_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetVectorDriveParameters(const VectorDriveParameters& vectordriveparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetVectorDriveParameters_callback(const VectorDriveParameters& vectordriveparameters, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetVectorDriveParameters_async(const VectorDriveParameters& vectordriveparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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EncoderDerivativeParameters GetEncoderDerivativeParameters(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetEncoderDerivativeParameters_callback(std::function< void (const Error&, const EncoderDerivativeParameters&) > callback, uint32_t deviceId = 0);
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std::future<EncoderDerivativeParameters> GetEncoderDerivativeParameters_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetEncoderDerivativeParameters(const EncoderDerivativeParameters& encoderderivativeparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetEncoderDerivativeParameters_callback(const EncoderDerivativeParameters& encoderderivativeparameters, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetEncoderDerivativeParameters_async(const EncoderDerivativeParameters& encoderderivativeparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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ControlLoopParameters GetControlLoopParameters(const LoopSelection& loopselection, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetControlLoopParameters_callback(const LoopSelection& loopselection, std::function< void (const Error&, const ControlLoopParameters&) > callback, uint32_t deviceId = 0);
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std::future<ControlLoopParameters> GetControlLoopParameters_async(const LoopSelection& loopselection, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetControlLoopParameters(const ControlLoopParameters& controlloopparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetControlLoopParameters_callback(const ControlLoopParameters& controlloopparameters, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetControlLoopParameters_async(const ControlLoopParameters& controlloopparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void StartFrequencyResponse(const FrequencyResponse& frequencyresponse, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void StartFrequencyResponse_callback(const FrequencyResponse& frequencyresponse, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> StartFrequencyResponse_async(const FrequencyResponse& frequencyresponse, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void StopFrequencyResponse(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void StopFrequencyResponse_callback(std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> StopFrequencyResponse_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void StartStepResponse(const StepResponse& stepresponse, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void StartStepResponse_callback(const StepResponse& stepresponse, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> StartStepResponse_async(const StepResponse& stepresponse, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void StopStepResponse(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void StopStepResponse_callback(std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> StopStepResponse_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void StartRampResponse(const RampResponse& rampresponse, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void StartRampResponse_callback(const RampResponse& rampresponse, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> StartRampResponse_async(const RampResponse& rampresponse, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void StopRampResponse(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void StopRampResponse_callback(std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> StopRampResponse_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SelectCustomData(const CustomDataSelection& customdataselection, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SelectCustomData_callback(const CustomDataSelection& customdataselection, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SelectCustomData_async(const CustomDataSelection& customdataselection, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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CustomDataSelection GetSelectedCustomData(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetSelectedCustomData_callback(std::function< void (const Error&, const CustomDataSelection&) > callback, uint32_t deviceId = 0);
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std::future<CustomDataSelection> GetSelectedCustomData_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetCommandMode(const CommandModeInformation& commandmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetCommandMode_callback(const CommandModeInformation& commandmodeinformation, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetCommandMode_async(const CommandModeInformation& commandmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void ClearFaults(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void ClearFaults_callback(std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> ClearFaults_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetServoing(const Servoing& servoing, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetServoing_callback(const Servoing& servoing, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetServoing_async(const Servoing& servoing, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void MoveToPosition(const PositionCommand& positioncommand, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void MoveToPosition_callback(const PositionCommand& positioncommand, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> MoveToPosition_async(const PositionCommand& positioncommand, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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CommandModeInformation GetCommandMode(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetCommandMode_callback(std::function< void (const Error&, const CommandModeInformation&) > callback, uint32_t deviceId = 0);
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std::future<CommandModeInformation> GetCommandMode_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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Servoing GetServoing(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetServoing_callback(std::function< void (const Error&, const Servoing&) > callback, uint32_t deviceId = 0);
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std::future<Servoing> GetServoing_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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TorqueOffset GetTorqueOffset(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetTorqueOffset_callback(std::function< void (const Error&, const TorqueOffset&) > callback, uint32_t deviceId = 0);
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std::future<TorqueOffset> GetTorqueOffset_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetCoggingFeedforwardMode(const CoggingFeedforwardModeInformation& coggingfeedforwardmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetCoggingFeedforwardMode_callback(const CoggingFeedforwardModeInformation& coggingfeedforwardmodeinformation, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetCoggingFeedforwardMode_async(const CoggingFeedforwardModeInformation& coggingfeedforwardmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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CoggingFeedforwardModeInformation GetCoggingFeedforwardMode(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetCoggingFeedforwardMode_callback(std::function< void (const Error&, const CoggingFeedforwardModeInformation&) > callback, uint32_t deviceId = 0);
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std::future<CoggingFeedforwardModeInformation> GetCoggingFeedforwardMode_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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private:
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void messageHeaderValidation(const Frame& msgFrame){ }
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};
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}
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}
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}
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#endif |
