group.hpp

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#pragma once

#include "hebi.h"
#include "util.hpp"

#include <functional>
#include <memory>
#include <mutex>
#include <vector>

namespace hebi {

class LogFile;
class GroupCommand;
class GroupFeedback;
class GroupInfo;

using GroupFeedbackHandler = std::function<void (const GroupFeedback&)>;

class Group final
{
  private:
    HebiGroupPtr internal_;

    const int number_of_modules_;

    std::mutex handler_lock_;

    std::vector<GroupFeedbackHandler> handlers_;

    #ifndef DOXYGEN_OMIT_INTERNAL

    friend void callbackWrapper(HebiGroupFeedbackPtr group_feedback, void* user_data);
    #endif // DOXYGEN_OMIT_INTERNAL

    void callAttachedHandlers(HebiGroupFeedbackPtr group_feedback);

  public:
    static const int32_t DEFAULT_TIMEOUT_MS = 500;

    #ifndef DOXYGEN_OMIT_INTERNAL

    Group(HebiGroupPtr group,
          float initial_feedback_frequency = 0.0f,
          int32_t initial_command_lifetime = 0);
    #endif // DOXYGEN_OMIT_INTERNAL

    ~Group() noexcept; /* annotating specified destructor as noexcept is best-practice */

    int size();

    bool setCommandLifetimeMs(int32_t ms);

    bool sendCommand(const GroupCommand& group_command);

    bool sendCommandWithAcknowledgement(const GroupCommand& group_command, int32_t timeout_ms=DEFAULT_TIMEOUT_MS);

    bool sendFeedbackRequest();

    bool getNextFeedback(GroupFeedback& feedback, int32_t timeout_ms=DEFAULT_TIMEOUT_MS);

    bool requestInfo(GroupInfo& info, int32_t timeout_ms=DEFAULT_TIMEOUT_MS);

    std::string startLog(const std::string& dir);

    std::string startLog(const std::string& dir, const std::string& file);

    std::shared_ptr<LogFile> stopLog();

    bool setFeedbackFrequencyHz(float frequency);
    float getFeedbackFrequencyHz();
    void addFeedbackHandler(GroupFeedbackHandler handler);
    void clearFeedbackHandlers();

    static std::shared_ptr<Group> createImitation(size_t size);

  private:
    HEBI_DISABLE_COPY_MOVE(Group)
};

} // namespace hebi