00001 /* 00002 ActivMedia Robotics Interface for Applications (ARIA) 00003 Copyright (C) 2004,2005 ActivMedia Robotics, LLC 00004 00005 00006 This program is free software; you can redistribute it and/or modify 00007 it under the terms of the GNU General Public License as published by 00008 the Free Software Foundation; either version 2 of the License, or 00009 (at your option) any later version. 00010 00011 This program is distributed in the hope that it will be useful, 00012 but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 GNU General Public License for more details. 00015 00016 You should have received a copy of the GNU General Public License 00017 along with this program; if not, write to the Free Software 00018 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 00020 If you wish to redistribute ARIA under different terms, contact 00021 ActivMedia Robotics for information about a commercial version of ARIA at 00022 robots@activmedia.com or 00023 ActivMedia Robotics, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481 00024 00025 */ 00026 00027 #ifndef ARROBOTPACKETRECEIVER_H 00028 #define ARROBOTPACKETRECEIVER_H 00029 00030 #include "ariaTypedefs.h" 00031 #include "ArRobotPacket.h" 00032 00033 class ArDeviceConnection; 00034 00036 class ArRobotPacketReceiver 00037 { 00038 public: 00040 ArRobotPacketReceiver(bool allocatePackets = false, 00041 unsigned char sync1 = 0xfa, 00042 unsigned char sync2 = 0xfb); 00044 ArRobotPacketReceiver(ArDeviceConnection *deviceConnection, 00045 bool allocatePackets = false, 00046 unsigned char sync1 = 0xfa, 00047 unsigned char sync2 = 0xfb); 00049 virtual ~ArRobotPacketReceiver(); 00050 00052 ArRobotPacket *receivePacket(unsigned int msWait = 0); 00053 00055 void setDeviceConnection(ArDeviceConnection *deviceConnection); 00057 ArDeviceConnection *getDeviceConnection(void); 00058 00060 bool isAllocatingPackets(void) { return myAllocatePackets; } 00061 00062 protected: 00063 ArDeviceConnection *myDeviceConn; 00064 bool myAllocatePackets; 00065 ArRobotPacket myPacket; 00066 enum { STATE_SYNC1, STATE_SYNC2, STATE_ACQUIRE_DATA }; 00067 unsigned char mySync1; 00068 unsigned char mySync2; 00069 }; 00070 00071 #endif // ARROBOTPACKETRECEIVER_H
1.4.0