ArNetPacketReceiverTcp.h

Go to the documentation of this file.

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 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 NLNETPACKETRECEIVERTCP_H
#define NLNETPACKETRECEIVERTCP_H

#include "Aria.h"
#include "ArNetPacket.h"

class ArNetPacketReceiverTcp
{
public:
  AREXPORT ArNetPacketReceiverTcp();
  AREXPORT ~ArNetPacketReceiverTcp();
  
  AREXPORT void setSocket(ArSocket *socket);
  AREXPORT ArSocket *getSocket(void);

  AREXPORT void setProcessPacketCB(ArFunctor1<ArNetPacket *> *functor);

  AREXPORT ArFunctor1<ArNetPacket *> *getProcessPacketCB(void);

  AREXPORT bool readData(void);
  
  void setQuiet(bool quiet) { myQuiet = quiet; }
  bool getQuiet(void) { return myQuiet; }
protected:
  enum Ret { 
    RET_CONN_CLOSED, // the connection was closed
    RET_GOT_PACKET, // we got a good packet
    RET_BAD_PACKET, // we got a bad packet (checksum wrong)
    RET_FAILED_READ, // our read failed (no data)
    RET_TIMED_OUT}; // we were reading and timed out
  AREXPORT Ret readPacket(int msWait);


  enum State { STATE_SYNC1, STATE_SYNC2, STATE_LENGTH1,
               STATE_LENGTH2, STATE_ACQUIRE_DATA };
  State myState;
  ArFunctor1<ArNetPacket *> *myProcessPacketCB;
  bool myQuiet;
  ArSocket *mySocket;
  ArTime myLastPacket;
  ArNetPacket myPacket;
  char myReadBuff[ArNetPacket::MAX_LENGTH+ArNetPacket::HEADER_LENGTH+ArNetPacket::FOOTER_LENGTH];
  int myReadCount;
  int myReadLength;
  int myReadCommand;
  unsigned char mySync1;
  unsigned char mySync2;

};

#endif // NLNETPACKETRECEIVERTCP

---