/*

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 ARROBOTPACKETRECEIVER_H
#define ARROBOTPACKETRECEIVER_H

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

class ArDeviceConnection;

/// Given a device connection it receives packets from the robot through it
class ArRobotPacketReceiver
{
public:
  /// Constructor without an already assigned device connection
  AREXPORT ArRobotPacketReceiver(bool allocatePackets = false,
				 unsigned char sync1 = 0xfa, 
				 unsigned char sync2 = 0xfb);
  /// Constructor with assignment of a device connection
  AREXPORT ArRobotPacketReceiver(ArDeviceConnection *deviceConnection, 
				 bool allocatePackets = false,
				 unsigned char sync1 = 0xfa, 
				 unsigned char sync2 = 0xfb);
  /// Destructor
  AREXPORT virtual ~ArRobotPacketReceiver();
  
  /// Receives a packet from the robot if there is one available
  AREXPORT ArRobotPacket *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;
  ArRobotPacket myPacket;
  enum { STATE_SYNC1, STATE_SYNC2, STATE_ACQUIRE_DATA };
  unsigned char mySync1;
  unsigned char mySync2;
};

#endif // ARROBOTPACKETRECEIVER_H