/home/verbeek/openrobotino_src/openrobotino1/lib/rec/robotino/com/CompactBHA.h

//  Copyright (C) 2004-2011, Robotics Equipment Corporation GmbH

#ifndef _REC_ROBOTINO_COM_COMPACTBHA_H_
#define _REC_ROBOTINO_COM_COMPACTBHA_H_

#include "rec/robotino/com/Actor.h"

#include <vector>

namespace rec
{
        namespace robotino
        {
                namespace com
                {
                        class CompactBHAImpl;

                        class
#ifdef WIN32
#  ifdef rec_robotino_com_EXPORTS
                __declspec(dllexport)
#endif
#  ifdef rec_robotino_com2_EXPORTS
                __declspec(dllexport)
#endif
#  ifdef rec_robotino_com3_EXPORTS
                __declspec(dllexport)
#endif
#endif
                        CompactBHA : public Actor
                        {
                        public:
                                CompactBHA();

                                virtual ~CompactBHA();

                                void setComId( const ComId& id );

                                void connectToServer();

                                void disconnectFromServer();

                                void setAddress( const std::string& address );

                                std::string address() const;

                                bool isConnected() const;

                                void setPressures( const std::vector<float>& pressures );

                                virtual void readingsCallback( const std::vector<float>& pressures );

                                virtual void error( const std::string& message );

                                virtual void log( const std::string& message );

                                virtual void connected();

                                virtual void disconnected();

                        private:
                                CompactBHAImpl* _impl;
                        };
                }
        }
}

#endif //_REC_ROBOTINO_COM_COMPACTBHA_H_

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