#ifndef _SVRDATA_H_
#define _SVRDATA_H_

#include <new>
#include <iostream>
#include <pthread.h>

#include "Singleton.h"
#include "friComm.h"


class SvrData: public Singleton
{
private:
    struct {
        float jointPos[LBR_MNJ];
        float cartPos[FRI_CART_FRM_DIM];
        float jacobian[FRI_CART_VEC * LBR_MNJ];
        float forceAndTorque[FRI_CART_VEC];
    } messured;
    struct {
        float jointPos[LBR_MNJ];
        float cartPos[FRI_CART_FRM_DIM];
        float pose[3][4]; //TODO what is this for
    } commanded;
    
    float velocity;
    float accelaration;

    struct {
        struct {
            float* velocity;
            float* accelaration;
            float* torque;
            float* range;
        } max;
        unsigned int joints;
    } robot;

    pthread_mutex_t mutexsum;

    /// private constructor, because the database is a singleton
    SvrData();

    static bool instanceFlag;
    static SvrData* single;

public:
    ~SvrData(void);
    SvrData* getInstance();

    float getMaxTorque(unsigned int pos);
    int   getMaxTorque(float* data, size_t size);

    float getMaxAccelaration(unsigned int pos);
    int   getMaxAccelaration(float* data, size_t size);

    float getMaxRange(unsigned int pos);
    int   getMaxRange(float* data, size_t size);

    unsigned int getJoints();

    float getTrajectoryVelocity();
    int   setTrajectoryVelocity(float);

    float getTrajectoryAccelaration();
    float setTrajectoryAccelaration(float);
};
#endif