/*

ARIA header files for use with ARNL 1.7.1

Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. 
Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc.
All rights reserved.

This copy of Aria was relicensed for use with Arnl and the Arnl
license by MobileRobots Inc.  If you wish to download a seperate
distribution of Aria licensed under the GPL or a commercial license go to
http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots
Inc, at robots@mobilerobots.com or MobileRobots Inc,
10 Columbia Drive, Amherst, NH 03031; 800-639-9481

MobileRobots Inc hereby grants to other individuals or
organizations permission to use this software with Arnl and in
compliance with the Arnl license.  This software may not be
distributed to others except by MobileRobots Inc.

MobileRobots Inc does not make any representations about the
suitability of this software for any purpose.  It is provided "as is"
without express or implied warranty.

*/
#ifndef ARLMS2XXPACKETRECEIVER_H
#define ARLMS2XXPACKETRECEIVER_H

#include "ariaTypedefs.h"
#include "ArDeviceConnection.h"
#include "ArLMS2xxPacket.h"

/// Given a device connection it receives packets from the sick through it
class ArLMS2xxPacketReceiver
{
public:
  /// Constructor without an already assigned device connection
  AREXPORT ArLMS2xxPacketReceiver(unsigned char receivingAddress = 0, 
				bool allocatePackets = false,
				bool useBase0Address = false);
  /// Constructor with assignment of a device connection
  AREXPORT ArLMS2xxPacketReceiver(ArDeviceConnection *deviceConnection, 
				unsigned char receivingAddress = 0,
				bool allocatePackets = false,
				bool useBase0Address = false);
  /// Destructor
  AREXPORT virtual ~ArLMS2xxPacketReceiver();
  
  /// Receives a packet from the robot if there is one available
  AREXPORT ArLMS2xxPacket *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; }

protected:
  ArDeviceConnection *myDeviceConn;
  bool myAllocatePackets;
  ArLMS2xxPacket myPacket;
  unsigned char myReceivingAddress;
  bool myUseBase0Address;
  enum { STATE_START, STATE_ADDR, STATE_START_COUNT, STATE_ACQUIRE_DATA };
};

typedef ArLMS2xxPacketReceiver ArSickPacketReceiver;

#endif // ARSICKPACKETRECEIVER_H
