text: /*
  Adept MobileRobots Robotics Interface for Applications (ARIA)
  Copyright (C) 2004-2005 ActivMedia Robotics LLC
  Copyright (C) 2006-2010 MobileRobots Inc.
  Copyright (C) 2011-2015 Adept Technology, Inc.
  Copyright (C) 2016 Omron Adept Technologies, Inc.
  
       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
  
  If you wish to redistribute ARIA under different terms, contact 
  Adept MobileRobots for information about a commercial version of ARIA at 
  robots@mobilerobots.com or 
  Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
  */
  #ifndef ARFILECONNECTION_H
  #define ARFILECONNECTION_H
  
  #include "ArDeviceConnection.h"
  #include <string>
  
  #include "ariaTypedefs.h"
  #include "ArSocket.h"
  
  /// Reads/writes data to a plain file or character device. Used occasionally
  /// by certain tests/debugging.  For real connections, use ArSerialConnection or
  /// ArFileDeviceConnection instead.
  class ArFileDeviceConnection: public ArDeviceConnection
  {
   public:
    /// Constructor
    AREXPORT ArFileDeviceConnection();
    /// Destructor also closes connection
    AREXPORT virtual ~ArFileDeviceConnection();
  
    /// Opens a connection to the given host and port
    AREXPORT int open(const char *infilename = NULL, const char *outfilename = NULL, int outflags = 0);
    bool openSimple() { return this->open() == 0; }
    AREXPORT virtual bool close(void);
    AREXPORT virtual int read(const char *data, unsigned int size, 
  			    unsigned int msWait = 0);
    AREXPORT virtual int write(const char *data, unsigned int size);
    virtual int getStatus() { return myStatus; }
    AREXPORT virtual const char *getOpenMessage(int err);
    AREXPORT virtual ArTime getTimeRead(int index);
    AREXPORT virtual bool isTimeStamping(void);
  
    /// If >0 then only read at most this many bytes during read(), regardless of supplied size argument
    void setForceReadBufferSize(unsigned int s) { myForceReadBufferSize = s; }
  
    /// If >0 then add additional, artificial delay in read() by sleeping this many miliseconds per byte read in read().
    void setReadByteDelay(float d) { myReadByteDelay = d; }
  
  protected:
    std::string myInFileName;
    std::string myOutFileName;
    int myInFD;
    int myOutFD;
    int myStatus;
    unsigned int myForceReadBufferSize;
    float myReadByteDelay;
  };
  
  #endif
  