group.hpp

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#pragma once
 
#include "hebi.h"
 
#include <functional>
#include <memory>
#include <mutex>
#include <vector>
 
#include "util.hpp"
 
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