/*
* This file is part of OpenKC
*
* Copyright(c) Matthias Schöpfer (mschoepf@techfak.uni-bielefeld.de)
* http://opensource.cit-ec.de/projects/openkc
*
* This file may be licensed under the terms of of the
* GNU Lesser General Public License Version 3 (the ``LGPL''),
* or (at your option) any later version.
*
* Software distributed under the License is distributed
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
* express or implied. See the LGPL for the specific language
* governing rights and limitations.
*
* You should have received a copy of the LGPL along with this
* program. If not, go to http://www.gnu.org/licenses/lgpl.html
* or write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The development of this software was supported by the
* Excellence Cluster EXC 277 Cognitive Interaction Technology.
* The Excellence Cluster EXC 277 is a grant of the Deutsche
* Forschungsgemeinschaft (DFG) in the context of the German
* Excellence Initiative.
*
*/

#ifndef _FRI_OKC_COMM_H_
#define _FRI_OKC_COMM_H_

#ifdef HAVE_CONFIG_H
#include <config.h>
#endif

#include <fricomm.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <netdb.h>
#include <signal.h>
#include <errno.h>
#include <pthread.h>
#include <assert.h>
#include <sys/mman.h>

#include "fri_okc_types.h"
#include "fri_okc_helper.h"

#ifdef __cplusplus
extern "C" {
#endif

#define OKC_BUFFER_SIZE 8192
#define OKC_ARBITRARY_STRING_LENGTH 256


#define OKC_QUIT 0xff
#define OKC_POSITION_CONTROL 0x11
#define OKC_AXIS_CONTROL 0x22

#define OKC_MIN_FD 3

okc_handle_t*
okc_start_server (const char* host,const char* port, int mode);

int
okc_register_axis_set_absolute_callback (okc_handle_t* okc, int robot_id,
					 okc_callback_axis_t callback,
					 void* private_pointer_for_callback);

int
okc_register_cartpos_set_absolute_callback (okc_handle_t* okc, int robot_id,
					    okc_callback_cartpos_t callback,
					    void* private_pointer_for_callback);
int
okc_register_cartpos_axis_set_absolute_callback
(okc_handle_t* okc, int robot_id,
 okc_callback_cartpos_axis_t callback,
 void* private_pointer_for_callback);

int
okc_register_cartpos_axis_impedance_set_absolute_callback
(okc_handle_t* okc, int robot_id,
 okc_callback_cartpos_axis_impedance_t callback,
 void* private_pointer_for_callback);

int
okc_stop_server (okc_handle_t* okc);

int
okc_is_robot_avail (okc_handle_t* okc, int robot_id);

int
okc_is_robot_in_command_mode (okc_handle_t* okc, int robot_id);

int
okc_is_power_on (okc_handle_t* okc, int robot_id);

int
okc_set_coords_correction (okc_handle_t* okc, int robot_id,
			   coords_t k_correction);

int
okc_set_axis_correction (okc_handle_t* okc, int robot_id,
			 lbr_axis_t a_correction);

int
okc_get_connection_quality (okc_handle_t* okc, int robot_id, int* quality);

int
okc_get_position_act (okc_handle_t* okc, int robot_id, transform_t* t);

int
okc_get_coords_des (okc_handle_t* okc, int robot_id, coords_t* k);

int
okc_get_axis_act (okc_handle_t* okc, int robot_id, lbr_axis_t* l);

int
okc_get_jntpos_act (okc_handle_t* okc, int robot_id, fri_float_t* l);

int
okc_get_fri_axis_correction (okc_handle_t* okc, int robot_id,
			     lbr_axis_t* a_correction);

int
okc_get_axis_des (okc_handle_t* okc, int robot_id, lbr_axis_t* l);

int
okc_get_torques_axis_act (okc_handle_t* okc, int robot_id, lbr_axis_t* l);

int
okc_get_ft_tcp_est (okc_handle_t* okc, int robot_id, coords_t* k);

int
okc_get_status (okc_handle_t* okc, int robot_id, int* status);

int
okc_request_command_mode (okc_handle_t* okc, int robot_id);

int
okc_request_monitor_mode (okc_handle_t* okc, int robot_id);

int
okc_alter_cmdFlags (okc_handle_t* okc, int robot_id, int newFlags);

int
okc_alter_cbmode (okc_handle_t* okc, int robot_id, int cbmode);

int
okc_set_axis_stiffness (okc_handle_t* okc, int robot_id,
			lbr_axis_t a_stiff);

int
okc_set_axis_damping (okc_handle_t* okc, int robot_id,
		      lbr_axis_t a_damp);

int
okc_set_axis_stiffness_damping (okc_handle_t* okc, int robot_id,
				lbr_axis_t a_stiff, lbr_axis_t a_damp);

int
okc_set_cp_stiffness (okc_handle_t* okc, int robot_id,
		      coords_t k_stiff);

int
okc_set_cp_damping (okc_handle_t* okc, int robot_id,
		    coords_t k_damp);
int
okc_set_cp_stiffness_damping (okc_handle_t* okc, int robot_id,
			      coords_t k_stiff, coords_t k_damp);

int
okc_set_cp_addTcpFT (okc_handle_t* okc, int robot_id,
		      coords_t ExtTcpFT);

int
okc_switch_to_control (okc_handle_t* okc, int robot_id, int command);

int
okc_switch_to_cp_impedance (okc_handle_t* okc, int robot_id);

int
okc_switch_to_axis_impedance (okc_handle_t* okc, int robot_id);

int
okc_switch_to_gravcomp (okc_handle_t* okc, int robot_id);

int
okc_switch_to_position (okc_handle_t* okc, int robot_id);

int
okc_send_break_to_robot (okc_handle_t* okc, int robot_id);

int
okc_get_cycle_time (okc_handle_t* okc, int robot_id, fri_float_t* cycle_time);

int
okc_get_robot_name (okc_handle_t* okc, int robot_id, char* name,
		    size_t size_of_name);

#ifdef __cplusplus
}
#endif

#endif