Class IClient

Inheritance Relationships

Derived Type

Class Documentation

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

inline virtual ~IClient()

Virtual destructor.

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

virtual void monitor() = 0

Callback for the FRI session states ‘Monitoring Wait’ and ‘Monitoring Ready’.

virtual void waitForCommand() = 0

Callback for the FRI session state ‘Commanding Wait’.

virtual void command() = 0

Callback for the FRI session state ‘Commanding’.

Protected Functions

virtual ClientData *createData() = 0

Method to create and initialize the client data structure (used internally).

Returns:

newly allocated client data structure