rmp_io.h

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#ifndef RMP_IO_H
#define RMP_IO_H

#include <vector>
#include <cstdio>

#include <boost/thread.hpp>

#include <segwayrmp/segwayrmp.h>

namespace segwayrmp {

struct Packet {
  unsigned short id; 
  unsigned char channel; 
  unsigned char data[8]; 
  Packet() : id(0), channel(0) {
    for (int i = 0; i < 8; ++i) { data[i] = 0x00; }
  }
};

class RMPIO {
public:
    RMPIO() : canceled(false) {}
  virtual void connect() = 0;
  
  virtual void disconnect() = 0;
  
  virtual int read(unsigned char* buffer, int size) = 0;
  
  virtual int write(unsigned char* buffer, int size) = 0;
  
  void getPacket(Packet &packet);
  
  void sendPacket(Packet &packet);
  
  bool isConnected() {return this->connected;}

  void cancel() {this->canceled = true;}
  
protected:
  void fillBuffer();
  unsigned char computeChecksum(unsigned char* usb_packet);
  
  bool connected;
  bool canceled;
  
  std::vector<unsigned char> data_buffer;
};

DEFINE_EXCEPTION(PacketRetrievalException, "Error retrieving a packet from the"
  " SegwayRMP: ", "Unspecified");

} // Namespace segwayrmp

#endif