urgCapture.h

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#ifndef URG_CAPTURE_H
#define URG_CAPTURE_H

#include "urgInterface.h"
#include <exception>
#include <string>


class URGCapture {
public:
  enum {
    HeaderError = -2,
    RecvSizeError = -3,
    MissmatchLF = -4,
  };
  virtual ~URGCapture(void) {}

  virtual const char* what(void) = 0;

  virtual int connect(const char* device, long baudrate) = 0;

  virtual int connectSocket(const char* host, short port) = 0;

  virtual void disconnect(void) = 0;

  virtual bool isConnected(void) = 0;

  virtual void set_recvTimeout(int timeout) = 0;

  virtual void setTimestampMode(bool withTimestamp) = 0;

  virtual int capture(long length[],
                      int first_index, int last_index, int group,
                      URGInterface::urgParams_t& params,
                      unsigned long* raw_timestamp = NULL) = 0;

  virtual int getCaptureTimes(void) = 0;

  virtual int send(const char* data, int size) = 0;

  virtual int recv(char* data, int maxsize, long timeout = 0) = 0;

  virtual int recv_line(char* data, int maxsize, long timeout = 0) = 0;

  virtual int laser(bool on) = 0;
};


class URGCapture_Exception : public std::exception {
  std::string error_message;

public:
  URGCapture_Exception(const char* message) throw ()
    : error_message(message) {}
  virtual ~URGCapture_Exception(void) throw () {}

  virtual const char* what(void) const throw() {
    return error_message.c_str();
  }
};

#endif /* !URG_CAPTURE_H */