| #ifndef __INTERCONNECTCONFIGCLIENT_H__
|
| #define __INTERCONNECTCONFIGCLIENT_H__
|
|
|
| #include <string>
|
| #include <future>
|
| #include <functional>
|
| #include <exception>
|
|
|
| #include "messages/Frame.pb.h"
|
| #include "messages/InterconnectConfig.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 InterconnectConfig
|
| {
|
|
|
| const std::string none = "";
|
|
|
| enum FunctionUids
|
| {
|
| eUidGetUARTConfiguration = 0xe0001,
|
| eUidSetUARTConfiguration = 0xe0002,
|
| eUidGetEthernetConfiguration = 0xe0003,
|
| eUidSetEthernetConfiguration = 0xe0004,
|
| eUidGetGPIOConfiguration = 0xe0005,
|
| eUidSetGPIOConfiguration = 0xe0006,
|
| eUidGetGPIOState = 0xe0007,
|
| eUidSetGPIOState = 0xe0008,
|
| eUidGetI2CConfiguration = 0xe0009,
|
| eUidSetI2CConfiguration = 0xe000a,
|
| eUidI2CRead = 0xe000b,
|
| eUidI2CReadRegister = 0xe000c,
|
| eUidI2CWrite = 0xe000d,
|
| eUidI2CWriteRegister = 0xe000e,
|
| };
|
|
|
| class InterconnectConfigClient
|
| {
|
| static const uint32_t m_serviceVersion = 1;
|
| static const uint32_t m_serviceId = eIdInterconnectConfig;
|
| NotificationHandler m_notificationHandler;
|
|
|
| protected:
|
| IRouterClient* const m_clientRouter;
|
|
|
| public:
|
| InterconnectConfigClient(IRouterClient* clientRouter);
|
| static uint32_t getUniqueFctId(uint16_t fctId);
|
|
|
| Kinova::Api::Common::UARTConfiguration GetUARTConfiguration(const Kinova::Api::Common::UARTDeviceIdentification& uartdeviceidentification, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetUARTConfiguration_callback(const Kinova::Api::Common::UARTDeviceIdentification& uartdeviceidentification, std::function< void (const Error&, const Kinova::Api::Common::UARTConfiguration&) > callback, uint32_t deviceId = 0);
|
| std::future<Kinova::Api::Common::UARTConfiguration> GetUARTConfiguration_async(const Kinova::Api::Common::UARTDeviceIdentification& uartdeviceidentification, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetUARTConfiguration(const Kinova::Api::Common::UARTConfiguration& uartconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetUARTConfiguration_callback(const Kinova::Api::Common::UARTConfiguration& uartconfiguration, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetUARTConfiguration_async(const Kinova::Api::Common::UARTConfiguration& uartconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| EthernetConfiguration GetEthernetConfiguration(const EthernetDeviceIdentification& ethernetdeviceidentification, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetEthernetConfiguration_callback(const EthernetDeviceIdentification& ethernetdeviceidentification, std::function< void (const Error&, const EthernetConfiguration&) > callback, uint32_t deviceId = 0);
|
| std::future<EthernetConfiguration> GetEthernetConfiguration_async(const EthernetDeviceIdentification& ethernetdeviceidentification, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetEthernetConfiguration(const EthernetConfiguration& ethernetconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetEthernetConfiguration_callback(const EthernetConfiguration& ethernetconfiguration, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetEthernetConfiguration_async(const EthernetConfiguration& ethernetconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| GPIOConfiguration GetGPIOConfiguration(const GPIOIdentification& gpioidentification, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetGPIOConfiguration_callback(const GPIOIdentification& gpioidentification, std::function< void (const Error&, const GPIOConfiguration&) > callback, uint32_t deviceId = 0);
|
| std::future<GPIOConfiguration> GetGPIOConfiguration_async(const GPIOIdentification& gpioidentification, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetGPIOConfiguration(const GPIOConfiguration& gpioconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetGPIOConfiguration_callback(const GPIOConfiguration& gpioconfiguration, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetGPIOConfiguration_async(const GPIOConfiguration& gpioconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| GPIOState GetGPIOState(const GPIOIdentification& gpioidentification, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetGPIOState_callback(const GPIOIdentification& gpioidentification, std::function< void (const Error&, const GPIOState&) > callback, uint32_t deviceId = 0);
|
| std::future<GPIOState> GetGPIOState_async(const GPIOIdentification& gpioidentification, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetGPIOState(const GPIOState& gpiostate, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetGPIOState_callback(const GPIOState& gpiostate, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetGPIOState_async(const GPIOState& gpiostate, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| I2CConfiguration GetI2CConfiguration(const I2CDeviceIdentification& i2cdeviceidentification, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetI2CConfiguration_callback(const I2CDeviceIdentification& i2cdeviceidentification, std::function< void (const Error&, const I2CConfiguration&) > callback, uint32_t deviceId = 0);
|
| std::future<I2CConfiguration> GetI2CConfiguration_async(const I2CDeviceIdentification& i2cdeviceidentification, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetI2CConfiguration(const I2CConfiguration& i2cconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetI2CConfiguration_callback(const I2CConfiguration& i2cconfiguration, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetI2CConfiguration_async(const I2CConfiguration& i2cconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| I2CData I2CRead(const I2CReadParameter& i2creadparameter, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void I2CRead_callback(const I2CReadParameter& i2creadparameter, std::function< void (const Error&, const I2CData&) > callback, uint32_t deviceId = 0);
|
| std::future<I2CData> I2CRead_async(const I2CReadParameter& i2creadparameter, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| I2CData I2CReadRegister(const I2CReadRegisterParameter& i2creadregisterparameter, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void I2CReadRegister_callback(const I2CReadRegisterParameter& i2creadregisterparameter, std::function< void (const Error&, const I2CData&) > callback, uint32_t deviceId = 0);
|
| std::future<I2CData> I2CReadRegister_async(const I2CReadRegisterParameter& i2creadregisterparameter, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void I2CWrite(const I2CWriteParameter& i2cwriteparameter, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void I2CWrite_callback(const I2CWriteParameter& i2cwriteparameter, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> I2CWrite_async(const I2CWriteParameter& i2cwriteparameter, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void I2CWriteRegister(const I2CWriteRegisterParameter& i2cwriteregisterparameter, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void I2CWriteRegister_callback(const I2CWriteRegisterParameter& i2cwriteregisterparameter, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> I2CWriteRegister_async(const I2CWriteRegisterParameter& i2cwriteregisterparameter, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
|
|
| private:
|
| void messageHeaderValidation(const Frame& msgFrame){ }
|
| };
|
| }
|
| }
|
| }
|
|
|
| #endif |
