ArSickPacketReceiver.h

/*
ActivMedia Robotics Interface for Applications (ARIA)
Copyright (C) 2004,2005 ActivMedia Robotics, LLC


     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 
ActivMedia Robotics for information about a commercial version of ARIA at 
robots@activmedia.com or 
ActivMedia Robotics, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481

*/

#ifndef ARSICKPACKETRECEIVER_H
#define ARSICKPACKETRECEIVER_H

#include "ariaTypedefs.h"
#include "ArDeviceConnection.h"
#include "ArSickPacket.h"

class ArSickPacketReceiver
{
public:
  ArSickPacketReceiver(unsigned char receivingAddress = 0, 
                                bool allocatePackets = false,
                                bool useBase0Address = false);
  ArSickPacketReceiver(ArDeviceConnection *deviceConnection, 
                                unsigned char receivingAddress = 0,
                                bool allocatePackets = false,
                                bool useBase0Address = false);
  virtual ~ArSickPacketReceiver();
  
  ArSickPacket *receivePacket(unsigned int msWait = 0);

  void setDeviceConnection(ArDeviceConnection *deviceConnection);
  ArDeviceConnection *getDeviceConnection(void);
  
  bool isAllocatingPackets(void) { return myAllocatePackets; }

protected:
  ArDeviceConnection *myDeviceConn;
  bool myAllocatePackets;
  ArSickPacket myPacket;
  unsigned char myReceivingAddress;
  bool myUseBase0Address;
  enum { STATE_START, STATE_ADDR, STATE_START_COUNT, STATE_ACQUIRE_DATA };
};

#endif // ARSICKPACKETRECEIVER_H

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