p_var_q.h

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#ifndef __p_var_q_h
#define __p_var_q_h

#include "ros/ros.h"
#include "moto_socket.h"
#include "trajectory_msgs/JointTrajectory.h"
#include "definitions.h"
#include "utils.h"
#include <queue>
#include <fstream>

class PVarQ
// Class for position variable queue object, used to move robot
{
  public:
    PVarQ(MotoSocket* sock, std::ofstream* log_file);
    ~PVarQ(void);
    void addTraj(const trajectory_msgs::JointTrajectory& traj);
    void sendTraj();
    void run();

  protected:
    struct message
    {
      int contents[11];
    };
    std::queue<message> messages; // Internal queue of messages to be sent to robot
    MotoSocket* sock; // Socket for communication
    std::ofstream* log_file; // Used for loggin communication
    void addMessage(int command);
    int sendMessage();
    int recvMessage();
    void logMessage(message log_message, bool is_send);
    bool ack_received;
    int num_traj_recv;
    int num_traj_send;
};

#endif