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#ifndef __VISIONCONFIGCLIENT_H__
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#define __VISIONCONFIGCLIENT_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/VisionConfig.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 VisionConfig
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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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eUidSetSensorSettings = 0x50001,
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eUidGetSensorSettings = 0x50002,
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eUidGetOptionValue = 0x50003,
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eUidSetOptionValue = 0x50004,
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eUidGetOptionInformation = 0x50005,
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eUidVisionTopic = 0x50006,
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eUidDoSensorFocusAction = 0x50007,
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eUidGetIntrinsicParameters = 0x50008,
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eUidGetIntrinsicParametersProfile = 0x50009,
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eUidSetIntrinsicParameters = 0x5000a,
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eUidGetExtrinsicParameters = 0x5000b,
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eUidSetExtrinsicParameters = 0x5000c,
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};
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class VisionConfigClient
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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 = eIdVisionConfig;
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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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VisionConfigClient(IRouterClient* clientRouter);
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static uint32_t getUniqueFctId(uint16_t fctId);
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void SetSensorSettings(const SensorSettings& sensorsettings, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetSensorSettings_callback(const SensorSettings& sensorsettings, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetSensorSettings_async(const SensorSettings& sensorsettings, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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SensorSettings GetSensorSettings(const SensorIdentifier& sensoridentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetSensorSettings_callback(const SensorIdentifier& sensoridentifier, std::function< void (const Error&, const SensorSettings&) > callback, uint32_t deviceId = 0);
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std::future<SensorSettings> GetSensorSettings_async(const SensorIdentifier& sensoridentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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OptionValue GetOptionValue(const OptionIdentifier& optionidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetOptionValue_callback(const OptionIdentifier& optionidentifier, std::function< void (const Error&, const OptionValue&) > callback, uint32_t deviceId = 0);
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std::future<OptionValue> GetOptionValue_async(const OptionIdentifier& optionidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetOptionValue(const OptionValue& optionvalue, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetOptionValue_callback(const OptionValue& optionvalue, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetOptionValue_async(const OptionValue& optionvalue, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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OptionInformation GetOptionInformation(const OptionIdentifier& optionidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetOptionInformation_callback(const OptionIdentifier& optionidentifier, std::function< void (const Error&, const OptionInformation&) > callback, uint32_t deviceId = 0);
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std::future<OptionInformation> GetOptionInformation_async(const OptionIdentifier& optionidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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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});
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void DoSensorFocusAction(const SensorFocusAction& sensorfocusaction, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void DoSensorFocusAction_callback(const SensorFocusAction& sensorfocusaction, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> DoSensorFocusAction_async(const SensorFocusAction& sensorfocusaction, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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IntrinsicParameters GetIntrinsicParameters(const SensorIdentifier& sensoridentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetIntrinsicParameters_callback(const SensorIdentifier& sensoridentifier, std::function< void (const Error&, const IntrinsicParameters&) > callback, uint32_t deviceId = 0);
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std::future<IntrinsicParameters> GetIntrinsicParameters_async(const SensorIdentifier& sensoridentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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IntrinsicParameters GetIntrinsicParametersProfile(const IntrinsicProfileIdentifier& intrinsicprofileidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetIntrinsicParametersProfile_callback(const IntrinsicProfileIdentifier& intrinsicprofileidentifier, std::function< void (const Error&, const IntrinsicParameters&) > callback, uint32_t deviceId = 0);
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std::future<IntrinsicParameters> GetIntrinsicParametersProfile_async(const IntrinsicProfileIdentifier& intrinsicprofileidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetIntrinsicParameters(const IntrinsicParameters& intrinsicparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetIntrinsicParameters_callback(const IntrinsicParameters& intrinsicparameters, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetIntrinsicParameters_async(const IntrinsicParameters& intrinsicparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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ExtrinsicParameters GetExtrinsicParameters(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void GetExtrinsicParameters_callback(std::function< void (const Error&, const ExtrinsicParameters&) > callback, uint32_t deviceId = 0);
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std::future<ExtrinsicParameters> GetExtrinsicParameters_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetExtrinsicParameters(const ExtrinsicParameters& extrinsicparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
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void SetExtrinsicParameters_callback(const ExtrinsicParameters& extrinsicparameters, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
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std::future<void> SetExtrinsicParameters_async(const ExtrinsicParameters& extrinsicparameters, 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 |
