00001 /* 00002 MobileRobots Advanced Robotics Interface for Applications (ARIA) 00003 Copyright (C) 2004, 2005 ActivMedia Robotics LLC 00004 Copyright (C) 2006, 2007 MobileRobots Inc. 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 MobileRobots for information about a commercial version of ARIA at 00022 robots@mobilerobots.com or 00023 MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481 00024 */ 00025 00026 #ifndef ARROBOTPACKETRECEIVER_H 00027 #define ARROBOTPACKETRECEIVER_H 00028 00029 #include "ariaTypedefs.h" 00030 #include "ArRobotPacket.h" 00031 00032 class ArDeviceConnection; 00033 00035 class ArRobotPacketReceiver 00036 { 00037 public: 00039 AREXPORT ArRobotPacketReceiver(bool allocatePackets = false, 00040 unsigned char sync1 = 0xfa, 00041 unsigned char sync2 = 0xfb); 00043 AREXPORT ArRobotPacketReceiver(ArDeviceConnection *deviceConnection, 00044 bool allocatePackets = false, 00045 unsigned char sync1 = 0xfa, 00046 unsigned char sync2 = 0xfb); 00048 AREXPORT virtual ~ArRobotPacketReceiver(); 00049 00051 AREXPORT ArRobotPacket *receivePacket(unsigned int msWait = 0); 00052 00054 AREXPORT void setDeviceConnection(ArDeviceConnection *deviceConnection); 00056 AREXPORT ArDeviceConnection *getDeviceConnection(void); 00057 00059 AREXPORT bool isAllocatingPackets(void) { return myAllocatePackets; } 00060 00061 protected: 00062 ArDeviceConnection *myDeviceConn; 00063 bool myAllocatePackets; 00064 ArRobotPacket myPacket; 00065 enum { STATE_SYNC1, STATE_SYNC2, STATE_ACQUIRE_DATA }; 00066 unsigned char mySync1; 00067 unsigned char mySync2; 00068 }; 00069 00070 #endif // ARROBOTPACKETRECEIVER_H
1.4.0