group.hpp

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#pragma once

#include "hebi_group.h"
#include "group_command.hpp"
#include "group_feedback.hpp"
#include "group_info.hpp"
#include "util.hpp"

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

namespace hebi {

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

class LogFile;

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 int DEFAULT_TIMEOUT_MS = 500;

    #ifndef DOXYGEN_OMIT_INTERNAL

    Group(HebiGroupPtr group);
    #endif // DOXYGEN_OMIT_INTERNAL

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

    int size();

    bool setCommandLifetimeMs(int ms);

    bool sendCommand(const GroupCommand& group_command);

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

    bool sendFeedbackRequest();

    bool getNextFeedback(GroupFeedback* feedback, int timeout_ms=DEFAULT_TIMEOUT_MS);

    bool requestInfo(GroupInfo* info, int timeout_ms=DEFAULT_TIMEOUT_MS);

    #ifndef DOXYGEN_OMIT_INTERNAL

    bool startLog(std::string dir);

    bool startLog(std::string dir, std::string file);

    std::shared_ptr<LogFile> stopLog();
    #endif // DOXYGEN_OMIT_INTERNAL

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

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

  private:
    HEBI_DISABLE_COPY_MOVE(Group)
};

} // namespace hebi