224 lines
8.8 KiB
C
224 lines
8.8 KiB
C
|
#ifndef ARCLIENTCONFIGHANDLER_H
|
||
|
|
#define ARCLIENTCONFIGHANDLER_H
|
||
|
|
|
||
|
|
#include "Aria.h"
|
||
|
|
#include "ArClientBase.h"
|
||
|
|
|
||
|
|
/// Client handler for receiving and updating ArConfig data via ArNetworking.
|
||
|
|
/**
|
||
|
|
* ArClientHandlerConfig processes the network packets that describe a
|
||
|
|
* robot's ArConfig. It also provides a means to save the modified
|
||
|
|
* configuration data to the robot server. This class is designed to
|
||
|
|
* work in conjunction with the ArServerHandlerConfig. See the server
|
||
|
|
* handler documentation for a complete description of the networking
|
||
|
|
* interface.
|
||
|
|
*
|
||
|
|
* This class should be thread safe, with the exception of
|
||
|
|
* unThreadSafeGetConfig. (If you want to use this method, surround it
|
||
|
|
* with calls to lock() and unlock().)
|
||
|
|
*
|
||
|
|
* Note that you can't add callbacks or remove callbacks from within a
|
||
|
|
* callback function.
|
||
|
|
**/
|
||
|
|
class ArClientHandlerConfig
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/// Constructor
|
||
|
|
AREXPORT ArClientHandlerConfig(ArClientBase *client,
|
||
|
|
bool ignoreBounds = false,
|
||
|
|
const char *robotName = NULL,
|
||
|
|
const char *logPrefix = NULL);
|
||
|
|
/// Destructor
|
||
|
|
AREXPORT virtual ~ArClientHandlerConfig(void);
|
||
|
|
|
||
|
|
/// Requests the config from the server
|
||
|
|
AREXPORT void requestConfigFromServer(void);
|
||
|
|
/// Tells the server to reload the configuration
|
||
|
|
AREXPORT void reloadConfigOnServer(void);
|
||
|
|
|
||
|
|
/// Threadsafe way to get the config to play with
|
||
|
|
AREXPORT ArConfig getConfigCopy(void);
|
||
|
|
|
||
|
|
/// Adds a gotConfig callback
|
||
|
|
AREXPORT void addGotConfigCB(ArFunctor *functor,
|
||
|
|
ArListPos::Pos position = ArListPos::LAST);
|
||
|
|
/// Removes a gotConfig callback
|
||
|
|
AREXPORT void remGotConfigCB(ArFunctor *functor);
|
||
|
|
/// Adds a save config to server succeeded callback
|
||
|
|
AREXPORT void addSaveConfigSucceededCB(ArFunctor *functor,
|
||
|
|
ArListPos::Pos position = ArListPos::LAST);
|
||
|
|
/// Removes a save config to server succeeded callback
|
||
|
|
AREXPORT void remSaveConfigSucceededCB(ArFunctor *functor);
|
||
|
|
/// Adds a save config to server failed callback
|
||
|
|
AREXPORT void addSaveConfigFailedCB(ArFunctor1<const char *> *functor,
|
||
|
|
ArListPos::Pos position = ArListPos::LAST);
|
||
|
|
/// Removes a save config to server failed callback
|
||
|
|
AREXPORT void remSaveConfigFailedCB(ArFunctor1<const char *> *functor);
|
||
|
|
|
||
|
|
/// Returns true if config gotten
|
||
|
|
AREXPORT bool haveGottenConfig(void);
|
||
|
|
/// Sends the config back to the server
|
||
|
|
AREXPORT void saveConfigToServer(void);
|
||
|
|
/// Sends the config back to the server
|
||
|
|
AREXPORT void saveConfigToServer(
|
||
|
|
ArConfig *config,
|
||
|
|
const std::set<std::string,
|
||
|
|
ArStrCaseCmpOp> *ignoreTheseSections = NULL);
|
||
|
|
|
||
|
|
/// Returns if we've requested some defaults
|
||
|
|
AREXPORT bool haveRequestedDefaults(void);
|
||
|
|
/// Returns if we've gotten our requested defaults
|
||
|
|
AREXPORT bool haveGottenDefaults(void);
|
||
|
|
|
||
|
|
/// Sees if we can request defaults (both types)
|
||
|
|
AREXPORT bool canRequestDefaults(void);
|
||
|
|
|
||
|
|
AREXPORT bool requestDefaultConfigFromServer(void);
|
||
|
|
AREXPORT ArConfig *getDefaultConfig();
|
||
|
|
|
||
|
|
/// Requests defaults for all sections from the server; modifies the config
|
||
|
|
AREXPORT bool requestConfigDefaults(void);
|
||
|
|
/// Requests defaults for one section from the server; modifies the config
|
||
|
|
AREXPORT bool requestSectionDefaults(const char *section);
|
||
|
|
|
||
|
|
|
||
|
|
/// Adds a got config defaults callback
|
||
|
|
AREXPORT void addGotConfigDefaultsCB(ArFunctor *functor,
|
||
|
|
ArListPos::Pos position = ArListPos::LAST);
|
||
|
|
/// Removes a got config defaults callback
|
||
|
|
AREXPORT void remGotConfigDefaultsCB(ArFunctor *functor);
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
// Last Editable Priority
|
||
|
|
//
|
||
|
|
// This value designates the last priority (highest numerical value) for
|
||
|
|
// which parameters may be edited. For example, when this value is set to
|
||
|
|
// EXPERT, then the user may not edit FACTORY parameters.
|
||
|
|
//
|
||
|
|
// If editable priority levels are supported and the client wishes to
|
||
|
|
// receive parameters of ineditable priorities, then the method
|
||
|
|
// requestLastEditablePriority should be called (and completed) before
|
||
|
|
// requestConfigFromServer is called.
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
|
||
|
|
/// Returns whether the server supports the last editable priority request.
|
||
|
|
AREXPORT bool isLastEditablePriorityAvailable();
|
||
|
|
|
||
|
|
/// Requests the last editable priority from the server
|
||
|
|
AREXPORT bool requestLastEditablePriorityFromServer();
|
||
|
|
|
||
|
|
/// Returns whether the last editable priority has been received from the server
|
||
|
|
AREXPORT bool haveGottenLastEditablePriority();
|
||
|
|
/// Returns the last editable priority of the config
|
||
|
|
AREXPORT ArPriority::Priority getLastEditablePriority();
|
||
|
|
|
||
|
|
/// Adds callback invoked when the last editable priority packet is received
|
||
|
|
AREXPORT void addGotLastEditablePriorityCB
|
||
|
|
(ArFunctor *functor,
|
||
|
|
int position = 50);
|
||
|
|
/// Removes the specified callback from the list of last editable priority callbacks
|
||
|
|
AREXPORT void remGotLastEditablePriorityCB(ArFunctor *functor);
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
|
||
|
|
/// Unthreadsafe way to get the config to play with (see long docs)
|
||
|
|
AREXPORT ArConfig *getConfig(void);
|
||
|
|
/// Locks the config for if you're using the unthreadsafe getConfig
|
||
|
|
AREXPORT int lock(void);
|
||
|
|
/// Try to lock for the config for if you're using the unthreadsafe getConfig
|
||
|
|
AREXPORT int tryLock(void);
|
||
|
|
/// Unlocks the config for if you're using the unthreadsafe getConfig
|
||
|
|
AREXPORT int unlock(void);
|
||
|
|
|
||
|
|
/// Turn on this flag to reduce the number of verbose log messages.
|
||
|
|
AREXPORT void setQuiet(bool isQuiet);
|
||
|
|
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
// Packet Handlers
|
||
|
|
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
|
||
|
|
/// Handles the packet from the GetConfigBySectionsV3
|
||
|
|
AREXPORT void handleGetConfigBySectionsV3(ArNetPacket *packet);
|
||
|
|
|
||
|
|
/// Handles the packet from the GetConfigBySectionsV2
|
||
|
|
AREXPORT void handleGetConfigBySectionsV2(ArNetPacket *packet);
|
||
|
|
|
||
|
|
/// Handles the packet from the GetConfigBySections
|
||
|
|
AREXPORT void handleGetConfigBySections(ArNetPacket *packet);
|
||
|
|
|
||
|
|
/// Handles the packet from the GetConfigSectionFlags
|
||
|
|
AREXPORT void handleGetConfigSectionFlags(ArNetPacket *packet);
|
||
|
|
|
||
|
|
/// Handles the packet from the getConfig
|
||
|
|
AREXPORT void handleGetConfig(ArNetPacket *packet);
|
||
|
|
|
||
|
|
/// Handles the return packet from the setConfig (saveConfigToServer)
|
||
|
|
AREXPORT void handleSetConfig(ArNetPacket *packet);
|
||
|
|
|
||
|
|
/// Handles the return packet from the setConfigBySections (saveConfigToServer)
|
||
|
|
AREXPORT void handleSetConfigBySections(ArNetPacket *packet);
|
||
|
|
|
||
|
|
/// Handles the return packet from the setConfigBySectionsV2 (saveConfigToServer)
|
||
|
|
AREXPORT void handleSetConfigBySectionsV2(ArNetPacket *packet);
|
||
|
|
|
||
|
|
/// Handles the return packet from getConfigDefaults
|
||
|
|
AREXPORT void handleGetConfigDefaults(ArNetPacket *packet);
|
||
|
|
|
||
|
|
/// Handles the return packet from getLastEditablePriority
|
||
|
|
AREXPORT void handleGetLastEditablePriority(ArNetPacket *packet);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
|
||
|
|
AREXPORT void handleGetConfigData(ArNetPacket *packet,
|
||
|
|
bool isMultiplePackets,
|
||
|
|
int version);
|
||
|
|
|
||
|
|
|
||
|
|
protected:
|
||
|
|
|
||
|
|
std::string myRobotName;
|
||
|
|
std::string myLogPrefix;
|
||
|
|
|
||
|
|
std::list<ArFunctor *> myGotConfigCBList;
|
||
|
|
std::list<ArFunctor *> mySaveConfigSucceededCBList;
|
||
|
|
std::list<ArFunctor1<const char *> *> mySaveConfigFailedCBList;
|
||
|
|
std::list<ArFunctor *> myGotConfigDefaultsCBList;
|
||
|
|
ArCallbackList myGotLastEditablePriorityCBList;
|
||
|
|
|
||
|
|
ArClientBase *myClient;
|
||
|
|
|
||
|
|
ArConfig myConfig;
|
||
|
|
ArConfig *myDefaultConfig;
|
||
|
|
ArPriority::Priority myLastEditablePriority;
|
||
|
|
|
||
|
|
ArMutex myDataMutex;
|
||
|
|
ArMutex myCallbackMutex;
|
||
|
|
|
||
|
|
bool myHaveRequestedLastEditablePriority;
|
||
|
|
bool myHaveGottenLastEditablePriority;
|
||
|
|
bool myHaveRequestedConfig;
|
||
|
|
bool myHaveGottenConfig;
|
||
|
|
bool myHaveRequestedDefaults;
|
||
|
|
bool myHaveGottenDefaults;
|
||
|
|
bool myHaveRequestedDefaultCopy;
|
||
|
|
|
||
|
|
bool myIsQuiet;
|
||
|
|
|
||
|
|
ArFunctor1C<ArClientHandlerConfig, ArNetPacket *> myHandleGetConfigBySectionsV3CB;
|
||
|
|
ArFunctor1C<ArClientHandlerConfig, ArNetPacket *> myHandleGetConfigBySectionsV2CB;
|
||
|
|
ArFunctor1C<ArClientHandlerConfig, ArNetPacket *> myHandleGetConfigBySectionsCB;
|
||
|
|
ArFunctor1C<ArClientHandlerConfig, ArNetPacket *> myHandleGetConfigCB;
|
||
|
|
ArFunctor1C<ArClientHandlerConfig, ArNetPacket *> myHandleSetConfigCB;
|
||
|
|
ArFunctor1C<ArClientHandlerConfig, ArNetPacket *> myHandleSetConfigBySectionsCB;
|
||
|
|
ArFunctor1C<ArClientHandlerConfig, ArNetPacket *> myHandleSetConfigBySectionsV2CB;
|
||
|
|
ArFunctor1C<ArClientHandlerConfig,
|
||
|
|
ArNetPacket *> myHandleGetConfigDefaultsCB;
|
||
|
|
ArFunctor1C<ArClientHandlerConfig,
|
||
|
|
ArNetPacket *> myHandleGetDefaultConfigCB;
|
||
|
|
ArFunctor1C<ArClientHandlerConfig,
|
||
|
|
ArNetPacket *> myHandleGetConfigSectionFlagsCB;
|
||
|
|
ArFunctor1C<ArClientHandlerConfig,
|
||
|
|
ArNetPacket *> myHandleGetLastEditablePriorityCB;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|