/*
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 ARROBOTPACKETSENDER_H
#define ARROBOTPACKETSENDER_H

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

class ArDeviceConnection;

/// Given a device connection this sends commands through it to the robot

class ArRobotPacketSender
{
public:
  /// Constructor without an already assigned device connection
  AREXPORT ArRobotPacketSender(unsigned char sync1 = 0xfa,
			       unsigned char sync2 = 0xfb);
  /// Constructor with assignment of a device connection
  AREXPORT ArRobotPacketSender(ArDeviceConnection *deviceConnection,
			       unsigned char sync1 = 0xfa,
			       unsigned char sync2 = 0xfb);
  /// Constructor with assignment of a device connection and tracking
  AREXPORT ArRobotPacketSender(ArDeviceConnection *deviceConnection,
			       unsigned char sync1,
			       unsigned char sync2,
						bool tracking,
						const char *trackingLogName);
  /// Destructor
  AREXPORT virtual ~ArRobotPacketSender();

  /// Sends a command to the robot with no arguments
  AREXPORT bool com(unsigned char command);
  /// Sends a command to the robot with an int for argument
  AREXPORT bool comInt(unsigned char command, short int argument);
  /// Sends a command to the robot with two bytes for argument
  AREXPORT bool com2Bytes(unsigned char command, char high, char low);
  /// Sends a command to the robot with a length-prefixed string for argument
  AREXPORT bool comStr(unsigned char command, const char *argument);
  /// Sends a command to the robot with a length-prefixed string for argument
  AREXPORT bool comStrN(unsigned char command, const char *str, int size);
  /// Sends a command containing exactly the data in the given buffer as argument
  AREXPORT bool comDataN(unsigned char command, const char *data, int size);
  /// Sends a ArRobotPacket
  AREXPORT bool sendPacket(ArRobotPacket *packet);
  
  /// Sets the device this instance sends commands to
  AREXPORT void setDeviceConnection(ArDeviceConnection *deviceConnection);
  /// Gets the device this instance sends commands to
  AREXPORT ArDeviceConnection *getDeviceConnection(void);

  /// 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 setPacketSentCallback(ArFunctor1<ArRobotPacket *> *functor);
protected:
  bool connValid(void);
  ArDeviceConnection * myDeviceConn;
  ArRobotPacket myPacket;

	bool myTracking;
	std::string myTrackingLogName;

  ArMutex mySendingMutex;

  ArFunctor1<ArRobotPacket *> *myPacketSentCallback;

  enum { INTARG = 0x3B, NINTARG = 0x1B, STRARG = 0x2B };
};


#endif //ARROBOTPACKETSENDER_H