RemoteRouter.h

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#ifndef REMOTEROUTER_H_
#define REMOTEROUTER_H_

#include <string>
#include "Wireless/Socket.h"
#include "Wireless/Wireless.h"
#include "Events/RemoteEvents.h"
#include "Events/EventProxy.h"
#include "Events/EventListener.h"
#include "Shared/RemoteState.h"

#include <vector>
#include <list>

class RemoteState;

/* ! This class allows a client robot to subscribe to events and state updates on a remote robot. It receives events and state from EventProxy on the 
  * remote server robot. It is started automatically. Subscribe to events on remote robots using EventRouter::addRemoteListener() and state updates using
  * EventRouter::requestRemoteStateUpdates()
  */
class RemoteRouter : public RemoteEvents, public EventListener {
  public:

  //! constructor
  RemoteRouter(int host);
  
  //! destructor
  virtual ~RemoteRouter();

  //! Request state data from a remote robot every 'interval' amount of time. Use EventRouter::requestRemoteStateUpdates() rather than calling this directly.
  void requestStateUpdates(RemoteState::StateType type, unsigned int interval);
  
  //! Cancels state data updates from a remote dog for the given StateType. Use EventRouter::stopRemoteStateUpdates() rather than calling this directly.
  void stopStateUpdates(RemoteState::StateType type);

  //! Add remote listener by EGID. Use EventRouter::addRemoteListener() rather than calling this directly.
  void addListener(EventBase::EventGeneratorID_t egid);

  //! Add remote listener by EGID and SID. Use EventRouter::addRemoteListener() rather than calling this directly.
  void addListener(EventBase::EventGeneratorID_t egid,
           size_t sid);

  //! Add remote listener by EGID, SID, and ETID. Use EventRouter::addRemoteListener() rather than calling this directly.
  void addListener(EventBase::EventGeneratorID_t egid,
           size_t sid,
           EventBase::EventTypeID_t etid);

  //! Remove remote listener by EGID. Use EventRouter::removeRemoteListener() rather than calling this directly.
  void removeListener(EventBase::EventGeneratorID_t egid);

  //! Remove remote listener by EGID and SID. Use EventRouter::removeRemoteListener() rather than calling this directly.
  void removeListener(EventBase::EventGeneratorID_t egid,
            size_t sid);

  //! Remove remote listener by EGID, SID, and ETID. Use EventRouter::removeRemoteListener() rather than calling this directly.
  void removeListener(EventBase::EventGeneratorID_t egid,
            size_t sid,
            EventBase::EventTypeID_t etid);

  RemoteState *rstate;

  //! Processes timer events which wait for connections to remote EventProxy.
  void processEvent(const EventBase& event);
  
  //! Receives data from remote EventProxy and forwards it to the correct function according to the data type (Event or State)
  int processData(char *data, int bytes);

  protected:

  //! Returns true when robot is connected to remote robot
  bool isReady() {
    return !waitingForPort && isConnected();
  }

  //! Connect robot on specified port
  void connect(int port);

  bool waitingForPort;
  std::list<RemoteRequest> requestQueue;
  bool timerActive;
  int waitTime;
  
  int remoteHost;
  
  //! Add a remote request to the request queue
  void sendRemoteRequest(RemoteRequest& info);
  
  //! Decode the event from the buffer and post it locally
  void forwardEvent(std::vector<char>& event);
  
  RemoteRouter(RemoteRouter&);
  RemoteRouter &operator=(const RemoteRouter&);
};

#endif /*REMOTEROUTER_H_*/