/home/toby/moos-ivp/MOOS-2375-Oct0611/Core/MOOSLIB/MOOSCommClient.h

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//
//   MOOS - Mission Oriented Operating Suite 
//  
//   A suit of Applications and Libraries for Mobile Robotics Research 
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
//   Oxford University. 
//    
//   This software was written by Paul Newman at MIT 2001-2002 and Oxford 
//   University 2003-2005. email: pnewman@robots.ox.ac.uk. 
//      
//   This file is part of a  MOOS Core Component. 
//        
//   This program is free software; you can redistribute it and/or 
//   modify it under the terms of the GNU General Public License as 
//   published by the Free Software Foundation; either version 2 of the 
//   License, or (at your option) any later version. 
//          
//   This program is distributed in the hope that it will be useful, 
//   but WITHOUT ANY WARRANTY; without even the implied warranty of 
//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 
//   General Public License for more details. 
//            
//   You should have received a copy of the GNU General Public License 
//   along with this program; if not, write to the Free Software 
//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 
//   02111-1307, USA. 
//
// MOOSCommClient.h: interface for the CMOOSCommClient class.
//

#if !defined(MOOSCommClientH)
#define MOOSCommClientH

#include <MOOSGenLib/MOOSLock.h>
#include <MOOSGenLib/MOOSThread.h>
#include <iostream>
#include <iomanip>
#include "MOOSCommObject.h"
#include <set>
#include <string>
#include <memory>


#define OUTBOX_PENDING_LIMIT 1000
#define INBOX_PENDING_LIMIT 1000
#define CLIENT_DEFAULT_FUNDAMENTAL_FREQ 5
#define CLIENT_MAX_FUNDAMENTAL_FREQ 200

#ifndef UNUSED_PARAMETER
    #ifdef _WIN32
        #define UNUSED_PARAMETER(a) a
    #else
        #define UNUSED_PARAMETER(a) 
    #endif
#endif

class XPCTcpSocket;

namespace MOOS
{
  class CMOOSSkewFilter;
}

//extern std::auto_ptr<std::ofstream> SkewLog;

class CMOOSCommClient  :public CMOOSCommObject
{
public:

    CMOOSCommClient();
    
    virtual ~CMOOSCommClient();
    

    bool Notify(const std::string &sVar, const std::string & sVal, double dfTime=-1);
    bool Notify(const std::string &sVar, const std::string & sVal, const std::string & sSrcAux, double dfTime=-1);

    bool Notify(const std::string & sVar,double dfVal, double dfTime=-1);
    bool Notify(const std::string & sVar,double dfVal, const std::string & sSrcAux,double dfTime=-1);

    bool Notify(const std::string & sVar,void *  pData, unsigned int nDataSize, double dfTime=-1);
    bool Notify(const std::string & sVar,void *  pData, unsigned int nDataSize, const std::string & sSrcAux,double dfTime=-1);
        
        
    bool Register(const std::string & sVar,double dfInterval);

    bool UnRegister(const std::string & sVar);

    bool IsConnected();

    bool Fetch(MOOSMSG_LIST  & MsgList);

    bool Post(CMOOSMsg  & Msg);

    bool ClientLoop();

    virtual bool DoClientWork();

    bool Run(const char * sServer,long lPort, const char * sMyName, unsigned int nFundamentalFreq=5);

    void SetOnConnectCallBack(bool (*pfn)(void * pParamCaller), void * pCallerParam);


    void SetOnDisconnectCallBack(bool (*pfn)(void * pParamCaller), void * pCallerParam);

    void SetOnMailCallBack(bool (*pfn)(void * pParamCaller), void * pCallerParam);
    
    bool HasMailCallBack();
    
    bool ServerRequest(const std::string &sWhat, MOOSMSG_LIST & MsgList, double dfTimeOut = 2.0, bool bContinuouslyClearBox = true);



    static bool PeekMail(MOOSMSG_LIST &Mail, const std::string &sKey, CMOOSMsg &Msg,bool bErase = false, bool bFindYoungest = false);
    
    
    static bool PeekAndCheckMail(MOOSMSG_LIST &Mail, const std::string &sKey, CMOOSMsg &Msg,bool bErase = false, bool bFindYoungest = false);
      
    bool Peek(MOOSMSG_LIST &List, int nIDRequired, bool bClearBox = true);


    static std::string GetLocalIPAddress();
    
    std::string GetDescription();
    
    bool FakeSource(bool bFake);

    bool Close(bool bNice =true);

    std::set<std::string> GetPublished(){return m_Published;};
    
    bool IsRegisteredFor(const std::string & sVariable);

    std::set<std::string> GetRegistered(){return m_Registered;};
    
    void SetQuiet(bool bQ){m_bQuiet = bQ;};

    void DoLocalTimeCorrection(bool b){m_bDoLocalTimeCorrection = b;};
    
    void SetVerboseDebug(bool bT){m_bVerboseDebug = bT;};
    
    bool SetCommsTick(int nCommsTick);

protected:
    bool ClearResources();
    
    int m_nNextMsgID;
    
    void DoBanner();
    
    bool OnCloseConnection();
    
    bool m_bConnected;
    
    bool m_bFakeSource;
    
    bool HandShake();
    
    unsigned int m_nOutPendingLimit;
    
    unsigned int m_nInPendingLimit;
    
    std::string m_sMyName;
    
    CMOOSLock m_OutLock;
    CMOOSLock m_InLock;

    bool ConnectToServer();
    
    bool StartThreads();
    

    XPCTcpSocket* m_pSocket;
    
    std::string m_sDBHost;
    
    long m_lPort;
    
    bool  m_bQuit;
    
    bool  m_bMailPresent;

    bool UpdateMOOSSkew(double dfRQTime, double dfTXTime,double dfRXTime);
    
    /*thread to handle communications with a server object*/
    CMOOSThread m_ClientThread;
    
    MOOSMSG_LIST m_OutBox;
    
    MOOSMSG_LIST m_InBox;
    
    void * m_pConnectCallBackParam;
    
    bool (*m_pfnConnectCallBack)( void * pConnectParam);
    
    
    void * m_pDisconnectCallBackParam;
    
    bool (*m_pfnDisconnectCallBack)( void * pParam);
    
    void * m_pMailCallBackParam;
    
    bool (*m_pfnMailCallBack)(void* pParam);
    
    
    unsigned int m_nFundamentalFreq;

    std::set<std::string> m_Registered;

    std::set<std::string> m_Published;

    bool m_bQuiet;
    
    bool m_bVerboseDebug;

    bool m_bDoLocalTimeCorrection;
    
    std::auto_ptr< MOOS::CMOOSSkewFilter > m_pSkewFilter;
    
    bool m_bClientLoopIsRunning;
};

#endif // !defined(MOOSCommClientH)