/home/verbeek/openrobotino_src/openrobotino1/lib/rec/robotino/server/v1/Server.h

#ifndef _REC_ROBOTINO_SERVER_V1_SERVER_H_
#define _REC_ROBOTINO_SERVER_V1_SERVER_H_

#include "rec/robotino/server/defines.h"
#include "rec/robotino/server/ServerImpl.h"
#include "rec/iocontrol/remotestate/SensorState.h"
#include "rec/iocontrol/remotestate/SetState.h"

#include <QObject>
#include <QMutex>
#include <QWaitCondition>
#include <QTime>
#include <QHostAddress>

namespace rec
{
        namespace robotino
        {
                namespace server
                {
                        namespace v1
                        {
                                class Server : public rec::robotino::server::ServerImpl
                                {
                                        Q_OBJECT
                                public:
                                        Server( bool isMaster );

                                        void setSensorState( const rec::iocontrol::remotestate::SensorState& sensorState );

                                        void run( QTcpSocket& socket, const QByteArray& alreadyReceived );

                        Q_SIGNALS:
                                        void setStateReceived( const rec::iocontrol::remotestate::SetState& );

                                        void cameraControlReceived( unsigned int width, unsigned int height );

                                        void clientImageRequest( bool enable, quint32 address, quint16 port );

                                private:
                                        bool readMessageData( QTcpSocket& socket, const QByteArray& headerData );

                                        void cleanup();

                                        int _readTimeout;

                                        rec::iocontrol::remotestate::SensorState _sensorState;

                                        QTime _setSensorStateTimer;
                                        QMutex _mutex;
                                        QWaitCondition _sensorStateSet;

                                        rec::iocontrol::remotestate::SetState _setState;

                                        bool _isImageRequest;
                                        quint32 _imageReceiverAddress;
                                        quint16 _imageReceiverPort;
                                };
                        }
                }
        }
}

#endif //_REC_ROBOTINO_SERVER_V1_SERVER_H_

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