| #ifndef __CONTROLCONFIGCLIENT_H__
|
| #define __CONTROLCONFIGCLIENT_H__
|
|
|
| #include <string>
|
| #include <future>
|
| #include <functional>
|
| #include <exception>
|
|
|
| #include "messages/Frame.pb.h"
|
| #include "messages/ControlConfig.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 ControlConfig
|
| {
|
|
|
| const std::string none = "";
|
|
|
| enum FunctionUids
|
| {
|
| eUidSetGravityVector = 0x100001,
|
| eUidGetGravityVector = 0x100002,
|
| eUidSetPayloadInformation = 0x100003,
|
| eUidGetPayloadInformation = 0x100004,
|
| eUidSetToolConfiguration = 0x100005,
|
| eUidGetToolConfiguration = 0x100006,
|
| eUidControlConfigurationTopic = 0x100007,
|
| eUidUnsubscribe = 0x100008,
|
| eUidSetCartesianReferenceFrame = 0x100009,
|
| eUidGetCartesianReferenceFrame = 0x10000a,
|
| eUidGetControlMode = 0x10000d,
|
| eUidSetJointSpeedSoftLimits = 0x10000e,
|
| eUidSetTwistLinearSoftLimit = 0x10000f,
|
| eUidSetTwistAngularSoftLimit = 0x100010,
|
| eUidSetJointAccelerationSoftLimits = 0x100011,
|
| eUidGetKinematicHardLimits = 0x100012,
|
| eUidGetKinematicSoftLimits = 0x100013,
|
| eUidGetAllKinematicSoftLimits = 0x100014,
|
| eUidSetDesiredLinearTwist = 0x100015,
|
| eUidSetDesiredAngularTwist = 0x100016,
|
| eUidSetDesiredJointSpeeds = 0x100017,
|
| eUidGetDesiredSpeeds = 0x100018,
|
| eUidResetGravityVector = 0x100019,
|
| eUidResetPayloadInformation = 0x10001a,
|
| eUidResetToolConfiguration = 0x10001b,
|
| eUidResetJointSpeedSoftLimits = 0x10001c,
|
| eUidResetTwistLinearSoftLimit = 0x10001d,
|
| eUidResetTwistAngularSoftLimit = 0x10001e,
|
| eUidResetJointAccelerationSoftLimits = 0x10001f,
|
| eUidControlModeTopic = 0x100020,
|
| };
|
|
|
| class ControlConfigClient
|
| {
|
| static const uint32_t m_serviceVersion = 1;
|
| static const uint32_t m_serviceId = eIdControlConfig;
|
| NotificationHandler m_notificationHandler;
|
|
|
| protected:
|
| IRouterClient* const m_clientRouter;
|
|
|
| public:
|
| ControlConfigClient(IRouterClient* clientRouter);
|
| static uint32_t getUniqueFctId(uint16_t fctId);
|
|
|
| void SetGravityVector(const GravityVector& gravityvector, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetGravityVector_callback(const GravityVector& gravityvector, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetGravityVector_async(const GravityVector& gravityvector, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| GravityVector GetGravityVector(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetGravityVector_callback(std::function< void (const Error&, const GravityVector&) > callback, uint32_t deviceId = 0);
|
| std::future<GravityVector> GetGravityVector_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetPayloadInformation(const PayloadInformation& payloadinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetPayloadInformation_callback(const PayloadInformation& payloadinformation, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetPayloadInformation_async(const PayloadInformation& payloadinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| PayloadInformation GetPayloadInformation(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetPayloadInformation_callback(std::function< void (const Error&, const PayloadInformation&) > callback, uint32_t deviceId = 0);
|
| std::future<PayloadInformation> GetPayloadInformation_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetToolConfiguration(const ToolConfiguration& toolconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetToolConfiguration_callback(const ToolConfiguration& toolconfiguration, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetToolConfiguration_async(const ToolConfiguration& toolconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| ToolConfiguration GetToolConfiguration(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetToolConfiguration_callback(std::function< void (const Error&, const ToolConfiguration&) > callback, uint32_t deviceId = 0);
|
| std::future<ToolConfiguration> GetToolConfiguration_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| Kinova::Api::Common::NotificationHandle OnNotificationControlConfigurationTopic(std::function< void (ControlConfigurationNotification) > callback, const Kinova::Api::Common::NotificationOptions& notificationoptions, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void Unsubscribe(const Kinova::Api::Common::NotificationHandle& notificationhandle, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetCartesianReferenceFrame(const CartesianReferenceFrameInfo& cartesianreferenceframeinfo, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetCartesianReferenceFrame_callback(const CartesianReferenceFrameInfo& cartesianreferenceframeinfo, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetCartesianReferenceFrame_async(const CartesianReferenceFrameInfo& cartesianreferenceframeinfo, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| CartesianReferenceFrameInfo GetCartesianReferenceFrame(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetCartesianReferenceFrame_callback(std::function< void (const Error&, const CartesianReferenceFrameInfo&) > callback, uint32_t deviceId = 0);
|
| std::future<CartesianReferenceFrameInfo> GetCartesianReferenceFrame_async(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 SetJointSpeedSoftLimits(const JointSpeedSoftLimits& jointspeedsoftlimits, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetJointSpeedSoftLimits_callback(const JointSpeedSoftLimits& jointspeedsoftlimits, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetJointSpeedSoftLimits_async(const JointSpeedSoftLimits& jointspeedsoftlimits, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetTwistLinearSoftLimit(const TwistLinearSoftLimit& twistlinearsoftlimit, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetTwistLinearSoftLimit_callback(const TwistLinearSoftLimit& twistlinearsoftlimit, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetTwistLinearSoftLimit_async(const TwistLinearSoftLimit& twistlinearsoftlimit, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetTwistAngularSoftLimit(const TwistAngularSoftLimit& twistangularsoftlimit, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetTwistAngularSoftLimit_callback(const TwistAngularSoftLimit& twistangularsoftlimit, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetTwistAngularSoftLimit_async(const TwistAngularSoftLimit& twistangularsoftlimit, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetJointAccelerationSoftLimits(const JointAccelerationSoftLimits& jointaccelerationsoftlimits, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetJointAccelerationSoftLimits_callback(const JointAccelerationSoftLimits& jointaccelerationsoftlimits, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetJointAccelerationSoftLimits_async(const JointAccelerationSoftLimits& jointaccelerationsoftlimits, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| KinematicLimits GetKinematicHardLimits(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetKinematicHardLimits_callback(std::function< void (const Error&, const KinematicLimits&) > callback, uint32_t deviceId = 0);
|
| std::future<KinematicLimits> GetKinematicHardLimits_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| KinematicLimits GetKinematicSoftLimits(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetKinematicSoftLimits_callback(const ControlModeInformation& controlmodeinformation, std::function< void (const Error&, const KinematicLimits&) > callback, uint32_t deviceId = 0);
|
| std::future<KinematicLimits> GetKinematicSoftLimits_async(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| KinematicLimitsList GetAllKinematicSoftLimits(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetAllKinematicSoftLimits_callback(std::function< void (const Error&, const KinematicLimitsList&) > callback, uint32_t deviceId = 0);
|
| std::future<KinematicLimitsList> GetAllKinematicSoftLimits_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetDesiredLinearTwist(const LinearTwist& lineartwist, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetDesiredLinearTwist_callback(const LinearTwist& lineartwist, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetDesiredLinearTwist_async(const LinearTwist& lineartwist, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetDesiredAngularTwist(const AngularTwist& angulartwist, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetDesiredAngularTwist_callback(const AngularTwist& angulartwist, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetDesiredAngularTwist_async(const AngularTwist& angulartwist, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetDesiredJointSpeeds(const JointSpeeds& jointspeeds, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetDesiredJointSpeeds_callback(const JointSpeeds& jointspeeds, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetDesiredJointSpeeds_async(const JointSpeeds& jointspeeds, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| DesiredSpeeds GetDesiredSpeeds(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetDesiredSpeeds_callback(std::function< void (const Error&, const DesiredSpeeds&) > callback, uint32_t deviceId = 0);
|
| std::future<DesiredSpeeds> GetDesiredSpeeds_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| GravityVector ResetGravityVector(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void ResetGravityVector_callback(std::function< void (const Error&, const GravityVector&) > callback, uint32_t deviceId = 0);
|
| std::future<GravityVector> ResetGravityVector_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| PayloadInformation ResetPayloadInformation(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void ResetPayloadInformation_callback(std::function< void (const Error&, const PayloadInformation&) > callback, uint32_t deviceId = 0);
|
| std::future<PayloadInformation> ResetPayloadInformation_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| ToolConfiguration ResetToolConfiguration(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void ResetToolConfiguration_callback(std::function< void (const Error&, const ToolConfiguration&) > callback, uint32_t deviceId = 0);
|
| std::future<ToolConfiguration> ResetToolConfiguration_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| JointSpeedSoftLimits ResetJointSpeedSoftLimits(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void ResetJointSpeedSoftLimits_callback(const ControlModeInformation& controlmodeinformation, std::function< void (const Error&, const JointSpeedSoftLimits&) > callback, uint32_t deviceId = 0);
|
| std::future<JointSpeedSoftLimits> ResetJointSpeedSoftLimits_async(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| TwistLinearSoftLimit ResetTwistLinearSoftLimit(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void ResetTwistLinearSoftLimit_callback(const ControlModeInformation& controlmodeinformation, std::function< void (const Error&, const TwistLinearSoftLimit&) > callback, uint32_t deviceId = 0);
|
| std::future<TwistLinearSoftLimit> ResetTwistLinearSoftLimit_async(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| TwistAngularSoftLimit ResetTwistAngularSoftLimit(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void ResetTwistAngularSoftLimit_callback(const ControlModeInformation& controlmodeinformation, std::function< void (const Error&, const TwistAngularSoftLimit&) > callback, uint32_t deviceId = 0);
|
| std::future<TwistAngularSoftLimit> ResetTwistAngularSoftLimit_async(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| JointAccelerationSoftLimits ResetJointAccelerationSoftLimits(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void ResetJointAccelerationSoftLimits_callback(const ControlModeInformation& controlmodeinformation, std::function< void (const Error&, const JointAccelerationSoftLimits&) > callback, uint32_t deviceId = 0);
|
| std::future<JointAccelerationSoftLimits> ResetJointAccelerationSoftLimits_async(const ControlModeInformation& controlmodeinformation, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| Kinova::Api::Common::NotificationHandle OnNotificationControlModeTopic(std::function< void (ControlModeNotification) > callback, const Kinova::Api::Common::NotificationOptions& notificationoptions, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
|
|
| private:
|
| void messageHeaderValidation(const Frame& msgFrame){ }
|
| };
|
| }
|
| }
|
| }
|
|
|
| #endif |
