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