/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARLMS2XXPACKETRECEIVER_H
#define ARLMS2XXPACKETRECEIVER_H

#include "ariaTypedefs.h"
#include "ArDeviceConnection.h"
#include "ArLMS2xxPacket.h"

/// Given a device connection it receives packets from the sick through it
class ArLMS2xxPacketReceiver
{
public:
  /// Constructor without an already assigned device connection
  AREXPORT ArLMS2xxPacketReceiver(unsigned char receivingAddress = 0, 
				bool allocatePackets = false,
				bool useBase0Address = false);
  /// Constructor with assignment of a device connection
  AREXPORT ArLMS2xxPacketReceiver(ArDeviceConnection *deviceConnection, 
				unsigned char receivingAddress = 0,
				bool allocatePackets = false,
				bool useBase0Address = false);
  /// Destructor
  AREXPORT virtual ~ArLMS2xxPacketReceiver();
  
  /// Receives a packet from the robot if there is one available
  AREXPORT ArLMS2xxPacket *receivePacket(unsigned int msWait = 0);

  /// Sets the device this instance receives packets from
  AREXPORT void setDeviceConnection(ArDeviceConnection *deviceConnection);
  /// Gets the device this instance receives packets from
  AREXPORT ArDeviceConnection *getDeviceConnection(void);
  
  /// Gets whether or not the receiver is allocating packets
  AREXPORT bool isAllocatingPackets(void) { return myAllocatePackets; }

protected:
  ArDeviceConnection *myDeviceConn;
  bool myAllocatePackets;
  ArLMS2xxPacket myPacket;
  unsigned char myReceivingAddress;
  bool myUseBase0Address;
  enum { STATE_START, STATE_ADDR, STATE_START_COUNT, STATE_ACQUIRE_DATA };
};

typedef ArLMS2xxPacketReceiver ArSickPacketReceiver;

#endif // ARSICKPACKETRECEIVER_H