/*
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 ARROBOTPACKETRECEIVER_H
#define ARROBOTPACKETRECEIVER_H

#include "ariaTypedefs.h"
#include "ArRobotPacket.h"


class ArDeviceConnection;

/// Given a device connection it receives packets from the robot through it
class ArRobotPacketReceiver
{
public:
  /// Constructor without an already assigned device connection
  AREXPORT ArRobotPacketReceiver(bool allocatePackets = false,
				 unsigned char sync1 = 0xfa, 
				 unsigned char sync2 = 0xfb);
  /// Constructor with assignment of a device connection
  AREXPORT ArRobotPacketReceiver(ArDeviceConnection *deviceConnection, 
				 bool allocatePackets = false,
				 unsigned char sync1 = 0xfa, 
				 unsigned char sync2 = 0xfb);
  /// Constructor with assignment of a device connection and tracking
  AREXPORT ArRobotPacketReceiver(ArDeviceConnection *deviceConnection, 
				 bool allocatePackets,
				 unsigned char sync1, 
				 unsigned char sync2,
					bool tracking,
					const char *trackingLogName);
  /// Destructor
  AREXPORT virtual ~ArRobotPacketReceiver();
  
  /// Receives a packet from the robot if there is one available
  AREXPORT ArRobotPacket *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; }
  /// Sets whether or not the receiver is allocating packets
  AREXPORT void setAllocatingPackets(bool allocatePackets) 
    { myAllocatePackets = allocatePackets; }

#ifdef DEBUG_SPARCS_TESTING
  AREXPORT void setSync1(unsigned char s1) { mySync1 = s1; }
  AREXPORT void setSync2(unsigned char s2) { mySync2 = s2; }
#endif

	AREXPORT void setTracking(bool tracking)
	{ myTracking = tracking; }

	AREXPORT void setTrackingLogName(const char *trackingLogName)
	{ myTrackingLogName = trackingLogName; }

  /// Sets the callback that gets called with the finalized version of
  /// every packet set... this is ONLY for very internal very
  /// specialized use
  AREXPORT void setPacketReceivedCallback(ArFunctor1<ArRobotPacket *> *functor);
protected:
  ArDeviceConnection *myDeviceConn;
	bool myTracking;
	std::string myTrackingLogName;

  bool myAllocatePackets;
  ArRobotPacket myPacket;
  enum { STATE_SYNC1, STATE_SYNC2, STATE_ACQUIRE_DATA };
  unsigned char mySync1;
  unsigned char mySync2;

  ArFunctor1<ArRobotPacket *> *myPacketReceivedCallback;
};

#endif // ARROBOTPACKETRECEIVER_H