ArDeviceConnection.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004,2005 ActivMedia Robotics LLC
Copyright (C) 2006 MobileRobots, Inc.

     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 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARDEVICECONNECTION_H
#define ARDEVICECONNECTION_H

#include <string>
#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArBasePacket.h"


class ArDeviceConnection
{
 public:
  AREXPORT ArDeviceConnection();
  AREXPORT virtual ~ArDeviceConnection();

  AREXPORT virtual int read(const char *data, unsigned int size, 
                unsigned int msWait = 0) = 0;

  AREXPORT virtual int writePacket(ArBasePacket *packet)
    { if (packet == NULL || packet->getLength() == 0) return 0;
    return write(packet->getBuf(), packet->getLength()); }

  AREXPORT virtual int write(const char *data, unsigned int size) = 0;

  AREXPORT virtual int getStatus(void) = 0;

  AREXPORT const char *getStatusMessage(int messageNumber) const;

  // a previous open
  virtual bool openSimple(void) = 0;
    

  virtual bool close(void) { return false; }

  AREXPORT virtual const char * getOpenMessage(int messageNumber) = 0;
  enum Status { 
      STATUS_NEVER_OPENED = 1, 
      STATUS_OPEN,  
      STATUS_OPEN_FAILED, 
      STATUS_CLOSED_NORMALLY, 
      STATUS_CLOSED_ERROR 
  };

  AREXPORT virtual ArTime getTimeRead(int index) = 0;

  AREXPORT virtual bool isTimeStamping(void) = 0;
 protected:
  void buildStrMap(void);
  static bool ourStrMapInited;
  static ArStrMap ourStrMap;
};

#endif

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