robot_state.h

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#ifndef ROBOT_STATE_H_
#define ROBOT_STATE_H_

#include <inttypes.h>
#include <vector>
#include <stdlib.h>
#include <string.h>
#include <mutex>
#include <netinet/in.h>
#include <condition_variable>

class RobotState{
private:
        std::vector<double> joint_position_actual_; //Actual joint positions
        std::vector<double> joint_velocity_actual_; //Actual joint velocity
        std::vector<double> tool_position_actual_; //Actual Cartesian coordinates of the tool: (x,y,z)
        std::vector<double> tool_orientation_actual_; //Actual Cartesian orientation of the tool: (w,x,y,z)
        std::vector<double> joint_temperatures_actual_; //Temperature of each joint in degrees celsius
        std::vector<double> joint_current_actual_; //Current of each joint
        std::vector<double> joint_voltage_actual_; //Voltage of each joint
        std::vector<double> tcp_force_actual_; //Actual tcp force

        double end_speed_actual_; //Actual speed of the tool given in Cartesian coordinates

        
        std::mutex val_lock_; // Locks the variables while unpack parses data;

        std::condition_variable* pMsg_cond_; //Signals that new vars are available
        bool data_published_; //to avoid spurious wakes
        bool controller_updated_; //to avoid spurious wakes

public:
        RobotState(std::condition_variable& msg_cond);
        ~RobotState();

        std::vector<double> getJonitPosition();
        std::vector<double> getJonitVelocity();
        std::vector<double> getTcpForce();
        std::vector<double> getToolPosition();
        std::vector<double> getToolOrientation();
        std::vector<double> getJointTemperatures();
        std::vector<double> getJointCurrent();
        std::vector<double> getJointVoltage();

        double getEndSpeed();

        void setDataPublished();
        bool getDataPublished();
        bool getControllerUpdated();
        void setControllerUpdated();
        void unpack(uint8_t * buf);
};

#endif /* ROBOT_STATE_H_ */