| | #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 |
