#ifndef _COMMANDS_H_
#define _COMMANDS_H_

#include "SocketObject.h"
#include <stdlib.h>

static struct ClientCommand* commands;
static unsigned int commandCount;

// registers all commands
void registerCommands();

// print out all commands to the client interface
void printUsage(SocketObject& client,  std::string& arg);

//Handling request for current Joint Values
void getPositionJoints(SocketObject& client, std::string& arg);
//Get Position as POSE Matrix
void getPositionHomRowWise(SocketObject& client, std::string& arg);
//Get Force/torque values from TCP
void getForceTorqueTcp(SocketObject& client, std::string& arg);
//Move to given Joint combination
void movePTPJoints(SocketObject& client, std::string& arg);
//Move to given POSE position
void moveHomRowWiseStatus(SocketObject& client, std::string& arg);
//Set Velocity
void setSpeed(SocketObject& client, std::string& arg);
//Set Acceleration
void setAccel(SocketObject& client, std::string& arg);
//Starting Potential Field Movement Mode
void startPotFieldMode(SocketObject& client, std::string& arg);
//Stopping Potential Field Movement Mode
void stopPotFieldMode(SocketObject& client, std::string& arg);
// set a specific trajectory type
void setTrajectoryType(SocketObject& client, std::string& arg);
void getTrajectoryType(SocketObject& client, std::string& arg);
//Quit
void quit(SocketObject& client, std::string& arg);
// check if we use a kuka
void isKukaLwr(SocketObject& client, std::string& arg);

#endif