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