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#ifndef YARPINTERFACE_HPP_
#define YARPINTERFACE_HPP_

//iSpike includes
#include <iSpike/YarpPortDetails.hpp>
#include <iSpike/Bitmap.hpp>

//Other includes
#include <string>
#include <boost/asio.hpp>
#include <boost/mpl/vector.hpp>
using namespace std;
using boost::asio::ip::tcp;

namespace ispike {

        class YarpConnection {
                public:
                        YarpConnection(std::string ip, unsigned port);
                        ~YarpConnection();
                        int connect_to_port(std::string ip, unsigned port);
                        map<string, YarpPortDetails>& getPortMap() { return portMap; }
                        string getSocketString();
                        void prepare_to_read_binary();
                        void prepare_to_read_text();
                        bool read_image(Bitmap& bitmap);
                        std::string read_until(string until);
                        int write_text(std::string message);


                private:
                        //==========================  VARIABLES  ===========================
                        map<string, YarpPortDetails> portMap;

                        tcp::socket* connectionSocket;
                        boost::asio::io_service io_service;

                        //===========================  METHODS  ============================
                        void disconnect();
                        int read_binary(unsigned char* buffer, int length);
                        unsigned char read_char();
                        int read_data_header();
                        int read_int(unsigned char* buf);
                        string read_text();
                        int write_binary(unsigned char* buffer, int length);

        };

}

#endif /* YARPINTERFACE_HPP_ */