/*

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 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);
  /// 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);
  
  /// 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);

protected:
  bool connValid(void);
  ArDeviceConnection * myDeviceConn;
  ArRobotPacket myPacket;
  enum { INTARG = 0x3B, NINTARG = 0x1B, STRARG = 0x2B };
};


#endif //ARROBOTPACKETSENDER_H
