00001 #ifndef URG_CONNECTION_H
00002 #define URG_CONNECTION_H
00003 
00016 #ifdef __cplusplus
00017 extern "C" {
00018 #endif
00019 
00020 #include "urg_serial.h"
00021 #include "urg_tcpclient.h"
00022 
00023 
00030 enum {
00031     URG_CONNECTION_TIMEOUT = -1, 
00032 };
00033 
00034 
00041 typedef enum {
00042     URG_SERIAL,                 
00043     URG_ETHERNET,               
00044 } urg_connection_type_t;
00045 
00046 
00053 typedef struct
00054 {
00055     urg_connection_type_t type; 
00056     urg_serial_t serial;        
00057     urg_tcpclient_t tcpclient;  
00058 } urg_connection_t;
00059 
00060 
00127 extern int connection_open(urg_connection_t *connection,
00128                            urg_connection_type_t connection_type,
00129                            const char *device, long baudrate_or_port);
00130 
00131 
00151 extern void connection_close(urg_connection_t *connection);
00152 
00153 
00160 extern int connection_set_baudrate(urg_connection_t *connection, long baudrate);
00161 
00162 
00195 extern int connection_write(urg_connection_t *connection,
00196                             const char *data, int size);
00197 
00198 
00246 extern int connection_read(urg_connection_t *connection,
00247                            char *data, int max_size, int timeout);
00248 
00249 
00294 extern int connection_readline(urg_connection_t *connection,
00295                                char *data, int max_size, int timeout);
00296 
00297 #ifdef __cplusplus
00298 }
00299 #endif
00300 
00301 #endif /* !URG_CONNECTION_H */