/*
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 ARTCPCONNECTION_H
#define ARTCPCONNECTION_H

#include "ArDeviceConnection.h"
#include <string>

#include "ariaTypedefs.h"
#include "ArSocket.h"

/// For connecting to a device through a TCP network socket
/// @ingroup UtilityClasses
class ArTcpConnection: public ArDeviceConnection
{
 public:
  /// Constructor
  AREXPORT ArTcpConnection();
  /// Destructor also closes connection
  AREXPORT virtual ~ArTcpConnection();

  /// Opens a connection to the given host and port
  AREXPORT int open(const char * host = NULL, int port = 8101);

  AREXPORT void setPort(const char *host = NULL, int port = 8101);
  AREXPORT virtual bool openSimple(void);  
  AREXPORT virtual int getStatus(void);
  AREXPORT virtual bool close(void);
  AREXPORT virtual int read(const char *data, unsigned int size, 
			    unsigned int msWait = 0);
  AREXPORT virtual int write(const char *data, unsigned int size);
  AREXPORT virtual const char * getOpenMessage(int messageNumber);
  AREXPORT virtual ArTime getTimeRead(int index);
  AREXPORT virtual bool isTimeStamping(void);

  /// Gets the name of the host connected to
  AREXPORT std::string getHost(void);
  /// Gets the number of the port connected to
  AREXPORT int getPort(void);

  /// Internal function used by open and openSimple
  AREXPORT int internalOpen(void);

  /// Sets the tcp connection to use this socket instead of its own
  AREXPORT void setSocket(ArSocket *socket);
  /// Gets the socket this tcp connection is using
  AREXPORT ArSocket *getSocket(void);
  /// Sets the status of the device, ONLY use this if you're playing
  /// with setSocket and know what you're doing
  AREXPORT void setStatus(int status);

  enum Open { 
      OPEN_NET_FAIL = 1, ///< Some critical part of the network isn't working
      OPEN_BAD_HOST, ///< Could not find the host
      OPEN_NO_ROUTE, ///< Know where the host is, but can't get to it
      OPEN_CON_REFUSED ///< Got to the host but it didn't allow a connection
  };



protected:
  void buildStrMap(void);
  
  ArStrMap myStrMap;
  bool myOwnSocket;
  ArSocket *mySocket;
  int myStatus;
  
  std::string myHostName;
  int myPortNum;
};

#endif //ARTCPCONNECTION_H