ArRobotPacketSender.h

/*
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 ARROBOTPACKETSENDER_H
#define ARROBOTPACKETSENDER_H

#include "ariaTypedefs.h"
#include "ArRobotPacket.h"

class ArDeviceConnection;


class ArRobotPacketSender
{
public:
  AREXPORT ArRobotPacketSender(unsigned char sync1 = 0xfa,
                   unsigned char sync2 = 0xfb);
  AREXPORT ArRobotPacketSender(ArDeviceConnection *deviceConnection,
                   unsigned char sync1 = 0xfa,
                   unsigned char sync2 = 0xfb);
  AREXPORT virtual ~ArRobotPacketSender();

  AREXPORT bool com(unsigned char command);
  AREXPORT bool comInt(unsigned char command, short int argument);
  AREXPORT bool com2Bytes(unsigned char command, char high, char low);
  AREXPORT bool comStr(unsigned char command, const char *argument);
  AREXPORT bool comStrN(unsigned char command, const char *str, int size);
  AREXPORT bool comDataN(unsigned char command, const char *data, int size);
  
  AREXPORT void setDeviceConnection(ArDeviceConnection *deviceConnection);
  AREXPORT ArDeviceConnection *getDeviceConnection(void);

protected:
  bool connValid(void);
  ArDeviceConnection * myDeviceConn;
  ArRobotPacket myPacket;
  enum { INTARG = 0x3B, NINTARG = 0x1B, STRARG = 0x2B };
};


#endif //ARROBOTPACKETSENDER_H

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