/*

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 ARROBOTCONNECTOR_H
#define ARROBOTCONNECTOR_H

#include "ariaTypedefs.h"
#include "ArSerialConnection.h"
#include "ArTcpConnection.h"
#include "ArArgumentBuilder.h"
#include "ArArgumentParser.h"
#include "ariaUtil.h"

class ArRobot;

/**
   ArRobotConnector makes a robot connection either through a TCP
   port (for the simulator or for robots with Ethernet-serial bridge
   devices instead of onboard computers), or through a direct serial 
   port connection.  Normally, it first attempts a TCP connection on 
   @a localhost port 8101, to use a simulator if running. If the simulator
   is not running, then it normally then connects using the serial port
   (the first serial port, COM1, by default).  Various other connection
   parameters are configurable through command-line arguments.
  
   When you create your ArRobotConnector, pass it command line parameters via
   either the argc and argv variables from main(), or pass it an
   ArArgumentBuilder or ArArgumentParser object. (ArArgumentBuilder
   is able to obtain command line parameters from a Windows program
   that uses WinMain() instead of main()).
   ArRobotConnector registers a callback with the global Aria class. Use
   Aria::parseArgs() to parse all command line parameters to the program, and
   Aria::logOptions() to print out information about all registered command-line parameters.

   The following command-line arguments are checked:
   @verbinclude ArRobotConnector_options

   You can prepare an ArRobot object for connection (with various connection
   options configured via the command line parameters) and initiate the connection
   attempt by that object by calling connectRobot().
    
   After it's connected, you must then begin the robot processing cycle by calling
   ArRobot::runAsync() or ArRobot::run().

   You can then configure ArRobotConnector for the SICK laser based on the robot connection, and 
   command line parameters with setupLaser(). After calling setupLaser(),
   you must then run the laser processing thread (with ArRangeDeviceLaser::runAsync() or
   ArRangeDeviceLaser()::run()) and then use ArRobotConnector::connectLaser() to connect
   with the laser if specifically requested on the command line using the -connectLaser option
   (or simply call ArRangeDeviceLaser::blockingConnect() (or similar) to attempt a laser connection regardless
   of whether or not the -connectLaser option was given; use this latter technique if your program 
   always prefers or requires use of the laser).

**/
class ArRobotConnector
{
public:
  /// Constructor that takes argument parser
  AREXPORT ArRobotConnector(ArArgumentParser *parser, ArRobot *robot, 
			    bool autoParseArgs = true);
  /// Destructor
  AREXPORT ~ArRobotConnector(void);
  /// Sets up the given robot to be connected
  AREXPORT bool setupRobot(void);
  /// Sets up an arbitrary robot to be connected
  AREXPORT bool setupRobot(ArRobot *robot);
  /// Sets up the robot then connects it
  AREXPORT bool connectRobot(void);
  /// Sets up the robot then connects it
  AREXPORT bool connectRobot(ArRobot *robot);
  /// Function to parse the arguments given in the constructor
  AREXPORT bool parseArgs(void);
  /// Function to parse the arguments given in an arbitrary parser
  AREXPORT bool parseArgs(ArArgumentParser *parser);
  /// Log the options the simple connector has
  AREXPORT void logOptions(void) const;
  /// Gets the remote host, if one was used, or NULL if it wasn't
  AREXPORT const char *getRemoteHost(void) const;
  /// Gets if the remote connection is a sim
  AREXPORT bool getRemoteIsSim(void) const;
  /// Gets the robot this connector is using (mostly for backwards compatibility stuff)
  AREXPORT ArRobot *getRobot(void);
protected:
  // the robot we've set up (so we can find its params)
  ArRobot *myRobot; 
  // if we're using the sim or not
  bool myUsingSim;
  // if we're connecting via tcp (not to the sim), what remote host
  const char *myRemoteHost;
  // robot port, if there isn't one this'll be NULL, which will just
  // be the default of ArUtil::COM1
  const char *myRobotPort;
  // baud for the serial
  int myRobotBaud;
  // robot tcp port if we're doing a remote host (defaults to 8101)
  int myRemoteRobotTcpPort;
  
  // whether we're connecting to a remote sim or not (so we don't try
  // to open a port for the laser)
  bool myRemoteIsSim;
  // variables to hold if we're logging or not
  bool myRobotLogPacketsReceived;
  bool myRobotLogPacketsSent;
  bool myRobotLogMovementReceived;
  bool myRobotLogMovementSent;
  bool myRobotLogVelocitiesReceived;
  bool myRobotLogActions;

  // if we're auto parsing the arguments when setupRobot or
  // connectRobot are called
  bool myAutoParseArgs;
  /// If we've parsed the args already or not
  bool myHaveParsedArgs;
  

  // our parser
  ArArgumentParser *myParser;
  bool myOwnParser;

  // a few device connections to use to connect to the robot
  ArTcpConnection myRobotTcpConn;
  ArSerialConnection myRobotSerConn;

  ArRetFunctorC<bool, ArRobotConnector> myParseArgsCB;
  ArConstFunctorC<ArRobotConnector> myLogOptionsCB;
};


#endif