|
|
#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
|
|
|
{
|
|
|
|
|
|
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){ }
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
#endif |
