SeaNet.hpp

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#ifndef _SEANET_H_
#define _SEANET_H_ 

#include <iodrivers_base/Driver.hpp>
#include "SeaNetTypes.hpp"
#include "SeaNetTypesInternal.hpp"

namespace sea_net {
class SeaNetPacket;
class HeadConfigPacket;

class SeaNet : public ::iodrivers_base::Driver
{
public:
        SeaNet(const DeviceType type);
        ~SeaNet();

        void openSerial(std::string const& port, int baudrate=115200);

        void openURI(std::string const& uri);

        void clear();

        void reboot(int timeout);

        PacketType readPacket(int timeout);

        void waitForPacket(PacketType type, int timeout);

        void getVersion(VersionData &version, int timeout);

        bool isFullDuplex(int timeout);

        bool isFullDublex(int timeout);
        
        void setWriteTimeout(uint32_t timeout);

        SeaNetPacket const& getSeaNetPacket() const;

        void requestData();

        bool hasPendingData() const;

        void receiveData(int timeout);

protected:
        void writeHeadCommand(HeadCommand &hc, int timeout);
        virtual int extractPacket(uint8_t const* buffer, size_t buffer_size) const;

protected:
        SeaNetPacket sea_net_packet;
        DeviceType device_type;
        bool has_pending_data;
}; };
#endif