group.hpp

#pragma once
 
#include <functional>
#include <memory>
#include <mutex>
#include <vector>
 
#include "aios.h"
 
namespace Pnd {
 
class GroupFeedback;
class GroupCommand;
 
using GroupFeedbackHandler = std::function<void(const GroupFeedback &)>;
 
class Group final {
 public:
  Group(PndGroupPtr group, float initial_feedback_frequency = 0.0f,
        int32_t initial_command_lifetime = 0);
 
  ~Group() noexcept;
 
  int size();
 
  bool setCommandLifetimeMs(int32_t ms);
 
  bool sendCommand(const GroupCommand &group_command);
 
  bool sendFeedbackRequest(
      PndFeedbackCode feedbackCode = PndFeedbackAll);
 
  bool getNextFeedback(GroupFeedback &feedback,
                       int32_t timeout_ms = DEFAULT_TIMEOUT_MS);
 
  bool setFeedbackFrequencyHz(float frequency);
 
  float getFeedbackFrequencyHz();
 
  void addFeedbackHandler(GroupFeedbackHandler handler);
 
  void clearFeedbackHandlers();
 
  PndFeedbackErrorPtr getError(int idx);
 
 private:
  PndGroupPtr internal_;
 
  const int number_of_modules_;
 
  std::mutex handler_lock_;
 
  std::vector<GroupFeedbackHandler> handlers_;
 
  friend void callbackWrapper(PndGroupFeedbackPtr group_feedback,
                              void *user_data);
 
  void callAttachedHandlers(PndGroupFeedbackPtr group_feedback);
 
 public:
  static const int32_t DEFAULT_TIMEOUT_MS = 500;
};
 
}  // namespace Pnd