Class IClient
Defined in File friClientIf.h
Inheritance Relationships
Derived Type
public KUKA::FRI::LBRClient
(Class LBRClient)
Class Documentation
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class IClient
FRI client interface.
This is the callback interface that should be implemented by FRI clients. Callbacks are automatically called by the client application (ClientApplication) whenever new FRI messages arrive.
Subclassed by KUKA::FRI::LBRClient
Public Functions
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inline virtual ~IClient()
Virtual destructor.
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virtual void onStateChange(ESessionState oldState, ESessionState newState) = 0
Callback that is called whenever the FRI session state changes.
- Parameters:
oldState – previous FRI session state
newState – current FRI session state
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virtual void monitor() = 0
Callback for the FRI session states ‘Monitoring Wait’ and ‘Monitoring Ready’.
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virtual void waitForCommand() = 0
Callback for the FRI session state ‘Commanding Wait’.
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virtual void command() = 0
Callback for the FRI session state ‘Commanding’.
Protected Functions
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virtual ClientData *createData() = 0
Method to create and initialize the client data structure (used internally).
- Returns:
newly allocated client data structure
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inline virtual ~IClient()