#ifndef __DEFINES_H__
#define __DEFINES_H__

#define SVR_NAME			"lwrsvr 4.11d"
#define SVR_DEFAULT_PORT	8000
#define SVR_HANDSHAKE		"Hello Robot"
#define SVR_HELLO_MSG		std::string("welcome to ") + SVR_NAME + ("!")
#define SVR_ACCEPTED		std::string("accepted")
#define SVR_FAILED			std::string("Failed.")
#define STRING_WHITESPACES  " \t\r\n"
#define SVR_TRUE_RSP		"true"
#define SVR_FALSE_RSP		"false"
#define M_PI				3.141592654f




//Begin SVR_COMMANDS
#define CMD_GetPositionJoints			"GPJ"
#define CMD_GetPositionHomRowWise		"GPHRW"
#define CMD_GetForceTorqueTcp			"GFT"
#define CMD_MovePTPJoints				"MPTPJ"
#define CMD_MoveHomRowWiseStatus		"MHRWS"
#define CMD_SetSpeed					"SS"
#define CMD_SetAccel					"SA"
#define CMD_StartPotFieldMode			"STPF"
#define CMD_StopPotFieldMode			"SPPF"
#define CMD_SetPos						"SP"
#define CMD_SetJoints					"SJ"
#define CMD_QUIT						"Quit"
#define CMD_ISKUKA						"IsKukaLWR"
#define CMD_MoveCartesian				"MC"
#define CMD_DoUltrasound				"DU"
//End SVR_COMMANDS

#endif /* __DEFINES_H__ */