#include "SvrData.h"
bool SvrData::instanceFlag = false;
SvrData* SvrData::single = 0;

SvrData::SvrData(void)
{
    velocity = 20;
    accelaration = 10;
    robot.joints = LBR_MNJ;
    
    robot.max.velocity = new float[robot.joints];
    robot.max.accelaration = new float[robot.joints];
    robot.max.torque = new float[robot.joints];
    robot.max.range = new float[robot.joints];

    double maxVelJnt[] = {110.0,110.0,128.0,128.0,204.0,184.0,184.0};
    double maxAccJnt[] = {1.0,1.0,1.0,1.0,2.0,1.0,1.0};
    double maxTrqJnt[] = {176.0,176.0,100.0,100.0,100.0,38.0,38.0};
    double maxRangeJnt[] = {170.0,120.0,170.0,120.0,170.0,120.0,170.0};


    for (int i = 0; i < robot.joints; ++i)
    {
        robot.max.velocity[i] = maxVelJnt[i];
        robot.max.accelaration[i] = maxAccJnt[i];
        robot.max.torque[i] = maxTrqJnt[i];
        robot.max.range[i] = maxRangeJnt[i];
    }
}
SvrData::~SvrData()
{
    if (robot.max.velocity != 0)
        delete[] robot.max.velocity;

    if (robot.max.accelaration != 0)
        delete[] robot.max.accelaration;

    if (robot.max.torque != 0)
        delete[] robot.max.torque;

    if (robot.max.velocity != 0)
        delete[] robot.max.range;

    robot.max.velocity = 0;
    robot.max.accelaration = 0;
    robot.max.torque = 0;
    robot.max.range = 0;
}

SvrData* SvrData::getInstance ()
{
    if (instanceFlag)
        return single;

    single = new SvrData();
    instanceFlag = true;
    return single;
}