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