| #ifndef __VISIONCONFIGCLIENT_H__
|
| #define __VISIONCONFIGCLIENT_H__
|
|
|
| #include <string>
|
| #include <future>
|
| #include <functional>
|
| #include <exception>
|
|
|
| #include "messages/Frame.pb.h"
|
| #include "messages/VisionConfig.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 VisionConfig
|
| {
|
|
|
| const std::string none = "";
|
|
|
| enum FunctionUids
|
| {
|
| eUidSetSensorSettings = 0x50001,
|
| eUidGetSensorSettings = 0x50002,
|
| eUidGetOptionValue = 0x50003,
|
| eUidSetOptionValue = 0x50004,
|
| eUidGetOptionInformation = 0x50005,
|
| eUidVisionTopic = 0x50006,
|
| eUidDoSensorFocusAction = 0x50007,
|
| eUidGetIntrinsicParameters = 0x50008,
|
| eUidGetIntrinsicParametersProfile = 0x50009,
|
| eUidSetIntrinsicParameters = 0x5000a,
|
| eUidGetExtrinsicParameters = 0x5000b,
|
| eUidSetExtrinsicParameters = 0x5000c,
|
| };
|
|
|
| class VisionConfigClient
|
| {
|
| static const uint32_t m_serviceVersion = 1;
|
| static const uint32_t m_serviceId = eIdVisionConfig;
|
| NotificationHandler m_notificationHandler;
|
|
|
| protected:
|
| IRouterClient* const m_clientRouter;
|
|
|
| public:
|
| VisionConfigClient(IRouterClient* clientRouter);
|
| static uint32_t getUniqueFctId(uint16_t fctId);
|
|
|
| void SetSensorSettings(const SensorSettings& sensorsettings, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetSensorSettings_callback(const SensorSettings& sensorsettings, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetSensorSettings_async(const SensorSettings& sensorsettings, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| SensorSettings GetSensorSettings(const SensorIdentifier& sensoridentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetSensorSettings_callback(const SensorIdentifier& sensoridentifier, std::function< void (const Error&, const SensorSettings&) > callback, uint32_t deviceId = 0);
|
| std::future<SensorSettings> GetSensorSettings_async(const SensorIdentifier& sensoridentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| OptionValue GetOptionValue(const OptionIdentifier& optionidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetOptionValue_callback(const OptionIdentifier& optionidentifier, std::function< void (const Error&, const OptionValue&) > callback, uint32_t deviceId = 0);
|
| std::future<OptionValue> GetOptionValue_async(const OptionIdentifier& optionidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetOptionValue(const OptionValue& optionvalue, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetOptionValue_callback(const OptionValue& optionvalue, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetOptionValue_async(const OptionValue& optionvalue, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| OptionInformation GetOptionInformation(const OptionIdentifier& optionidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetOptionInformation_callback(const OptionIdentifier& optionidentifier, std::function< void (const Error&, const OptionInformation&) > callback, uint32_t deviceId = 0);
|
| std::future<OptionInformation> GetOptionInformation_async(const OptionIdentifier& optionidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| 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});
|
|
|
| void DoSensorFocusAction(const SensorFocusAction& sensorfocusaction, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void DoSensorFocusAction_callback(const SensorFocusAction& sensorfocusaction, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> DoSensorFocusAction_async(const SensorFocusAction& sensorfocusaction, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| IntrinsicParameters GetIntrinsicParameters(const SensorIdentifier& sensoridentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetIntrinsicParameters_callback(const SensorIdentifier& sensoridentifier, std::function< void (const Error&, const IntrinsicParameters&) > callback, uint32_t deviceId = 0);
|
| std::future<IntrinsicParameters> GetIntrinsicParameters_async(const SensorIdentifier& sensoridentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| IntrinsicParameters GetIntrinsicParametersProfile(const IntrinsicProfileIdentifier& intrinsicprofileidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetIntrinsicParametersProfile_callback(const IntrinsicProfileIdentifier& intrinsicprofileidentifier, std::function< void (const Error&, const IntrinsicParameters&) > callback, uint32_t deviceId = 0);
|
| std::future<IntrinsicParameters> GetIntrinsicParametersProfile_async(const IntrinsicProfileIdentifier& intrinsicprofileidentifier, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetIntrinsicParameters(const IntrinsicParameters& intrinsicparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetIntrinsicParameters_callback(const IntrinsicParameters& intrinsicparameters, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetIntrinsicParameters_async(const IntrinsicParameters& intrinsicparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| ExtrinsicParameters GetExtrinsicParameters(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetExtrinsicParameters_callback(std::function< void (const Error&, const ExtrinsicParameters&) > callback, uint32_t deviceId = 0);
|
| std::future<ExtrinsicParameters> GetExtrinsicParameters_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetExtrinsicParameters(const ExtrinsicParameters& extrinsicparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetExtrinsicParameters_callback(const ExtrinsicParameters& extrinsicparameters, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetExtrinsicParameters_async(const ExtrinsicParameters& extrinsicparameters, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
|
|
| private:
|
| void messageHeaderValidation(const Frame& msgFrame){ }
|
| };
|
| }
|
| }
|
| }
|
|
|
| #endif |
