/*
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 ARROBOTBATTERYPACKETREADER_H
#define ARROBOTBATTERYPACKETREADER_H

#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArFunctor.h"

class ArRobot;
class ArRobotPacket;

/// This class will read a config packet from the robot
class ArRobotBatteryPacketReader
{
public:
  /// Constructor
  AREXPORT ArRobotBatteryPacketReader(ArRobot *robot);
  /// Destructor
  AREXPORT ~ArRobotBatteryPacketReader();
  /// Request a single packet.. 
  AREXPORT void requestSinglePacket(void);
  /// Request a continous stream of packets
  AREXPORT void requestContinuousPackets(void);
  /// Stop the stream of packets
  AREXPORT void stopPackets(void);
  /// See if we've requested packets
  AREXPORT bool haveRequestedPackets(void);
  /// See if we've gotten the data
  bool hasPacketArrived(void) const { return myPacketArrived; }
  /// Gets the number of batteries
  int getNumBatteries(void) const { return myNumBatteries; }
  /// Gets the number of bytes per battery
  int getNumBytesPerBattery(void) const { return myNumBytesPerBattery; }
  /// Gets the flags1 for a particular battery
  int getFlags1(int battery) { return myFlags1[battery]; }
  /// Gets the flags2 for a particular battery
  int getFlags2(int battery) { return myFlags2[battery]; }
  /// Gets the flags3 for a particular battery
  int getFlags3(int battery) { return myFlags3[battery]; }
  /// Gets the relative state of charge for a particular battery
  int getRelSOC(int battery) { return myRelSOC[battery]; }
  /// Gets the absolute state of charge for a particular battery
  int getAbsSOC(int battery) { return myAbsSOC[battery]; }


protected:
  /// internal, packet handler
  AREXPORT bool packetHandler(ArRobotPacket *packet);
  /// internal, packet handler
  AREXPORT void connectCallback(void);

  // the robot
  ArRobot *myRobot;

  int myNumBatteries;
  int myNumBytesPerBattery;
  std::map<int, int> myFlags1;
  std::map<int, int> myFlags2;
  std::map<int, int> myFlags3;
  std::map<int, int> myRelSOC;
  std::map<int, int> myAbsSOC;


  // whether our data has been received or not
  bool myPacketArrived;
  // last time we requested a packet (we'll only ask every 200 ms)
  ArTime myLastPacketRequest;

  bool myRequestedBatteryPackets;

  // the callback
  ArRetFunctor1C<bool, ArRobotBatteryPacketReader, ArRobotPacket *> myPacketHandlerCB;
  ArFunctorC<ArRobotBatteryPacketReader> myConnectCB;
};

#endif // ARROBOTBATTERYPACKETREADER_H