/*
 * URCLinterface.h
 *
 *  Created on: Jan 14, 2019
 *      Author: emanuele
 */

#ifndef URCLINTERFACE_H_
#define URCLINTERFACE_H_

#include "clientMessage.h"
#include <ctime>
#include <iostream>
#include <arpa/inet.h>
#include <spdlog/spdlog.h>
#include <boost/asio.hpp>
#include <boost/format.hpp>

using namespace std;
using namespace boost::asio;
using ip::tcp;


class UR_CLinterface {
public:
	UR_CLinterface(shared_ptr<spdlog::logger>);
	virtual ~UR_CLinterface();

	bool connect(const char* ip, uint16_t port);
	void disconnect();

	void sendCommand(std::string command);
	void sendPose(pose_t pos);
	void sendJointPose(jointPose_t pos);

	void readData();
	void parseData();

	clientData_t clientData;
private:
	shared_ptr<spdlog::logger> log;

	boost::asio::io_service io_service;
	boost::asio::streambuf receive_buffer;
	boost::system::error_code error;
	tcp::socket* rsocket;

	uint32_t lastDataLen=0;
	unsigned char* lastData=NULL;
	bool firstMessage=true;

};

#endif /* URCLINTERFACE_H_ */