urg_connection.h

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#ifndef URG_CONNECTION_H
#define URG_CONNECTION_H

#ifdef __cplusplus
extern "C" {
#endif

#include "urg_c/urg_serial.h"
#include "urg_c/urg_tcpclient.h"


enum {
    URG_CONNECTION_TIMEOUT = -1, 
};


typedef enum {
    URG_SERIAL,                 
    URG_ETHERNET,               
} urg_connection_type_t;


typedef struct
{
    urg_connection_type_t type; 
    urg_serial_t serial;        
    urg_tcpclient_t tcpclient;  
} urg_connection_t;


extern int connection_open(urg_connection_t *connection,
                           urg_connection_type_t connection_type,
                           const char *device, long baudrate_or_port);


extern void connection_close(urg_connection_t *connection);


extern int connection_set_baudrate(urg_connection_t *connection, long baudrate);


extern int connection_write(urg_connection_t *connection,
                            const char *data, int size);


extern int connection_read(urg_connection_t *connection,
                           char *data, int max_size, int timeout);


extern int connection_readline(urg_connection_t *connection,
                               char *data, int max_size, int timeout);

#ifdef __cplusplus
}
#endif

#endif /* !URG_CONNECTION_H */