| #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 |
