ibeo_alasca/ibeo_alasca.H

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// Copyright (C) 2007 University of Louisiana at Lafayette
// Authors: Chandan Uddaraju


#ifndef CAJUN_IBEO_ALASCA_H
#define CAJUN_IBEO_ALASCA_H


#include "ibeo_object_data.H"
#include "scan_msg.H"


namespace cajun
{
class input_buffer_t;

using namespace ibeo;

class ibeo_alasca_t
{
public:
        ibeo_alasca_t ();
        ~ibeo_alasca_t ();

        int create_tcp_socket ();

        bool connect_tcp_interface (int ,char *, int);

        void handle_input (int fd_);
        void debug (bool flag) { m_debug = flag; }

        class observer_t
        {
        public:
                enum message_t
                {
                        STATUS_OK,
                        STATUS_FULL_BUFFER,
                        STATUS_GARBAGE_DATA,
                        UNKNOWN_MESSAGE_FORMAT,
                        ERROR_DECODING_OBJECT_DATA,
                        ERROR_DECODING_SCAN_DATA,
                };

                virtual ~observer_t () {}

                virtual void scan (double tstamp_, scan_msg_t const &msg_) {}
                virtual void ibeo_object (object_data_t ) {}
                virtual void publish_status (double tstamp_, message_t msg_) {}
        };

        void register_observer (observer_t *observer)
                { m_observer = observer; }

protected:
        bool m_garbage_data;
        input_buffer_t *m_ib;
        observer_t *m_observer;
        bool m_debug;

        object_data_t m_object_data;

        static unsigned const BUFFER_SIZE                       = 103808;

        bool decode_msg (msg_t const &msg_);
};

};
#endif

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