/*
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 ARLOGFILECONNECTION_H
#define ARLOGFILECONNECTION_H

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

#include "ariaTypedefs.h"

/// For connecting through a log file
class ArLogFileConnection: public ArDeviceConnection
{
 public:
  /// Constructor
  AREXPORT ArLogFileConnection();
  /// Destructor also closes connection
  AREXPORT virtual ~ArLogFileConnection();

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

  AREXPORT void setLogFile(const char *fname = NULL);
  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 const char *getLogFile(void);

  /* This doens't exist in the C++ file so I'm commenting it out
  /// Gets the initial pose of the robot
  AREXPORT ArPose getLogPose(void);
  */

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

  enum Open { 
      OPEN_FILE_NOT_FOUND = 1,  ///< Can't find the file
      OPEN_NOT_A_LOG_FILE       ///< Doesn't look like a log file
  };

  // robot parameters
  ArPose myPose;     
  bool havePose;
  char myName[100];
  char myType[20];
  char mySubtype[20];

protected:
  void buildStrMap(void);
  ArStrMap myStrMap;

  int myStatus;
  int stopAfter;                // temp here for returning one packet at a time
  
  const char *myLogFile;
  FILE *myFD;                   // file descriptor

};

#endif //ARLOGFILECONNECTION_H