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// File:		wd.h
//
// Version:		1.0
//
// Written by:	Danny Kent (jaus AT dannykent DOT com)
//
// Date:		08/24/06
//
// Description:	This file contains the skeleton C header file code for implementing the wd.c file

#ifndef WD_H
#define WD_H

#include <jaus.h>
#include "vehicle.h"

#ifndef FALSE
#define FALSE 0
#endif
#ifndef TRUE
#define TRUE 1
#endif

#define WD_THREAD_DESIRED_RATE_HZ			50.0	// USER: Modify this rate as needed

OjCmpt wdCreate(void);
void wdDestroy(OjCmpt wd);
// USER: Insert prototypes for added public function here
ReportWrenchEffortMessage wdGetReportedWrench(OjCmpt wd);
SetWrenchEffortMessage wdGetCommandedWrench(OjCmpt wd);
ReportVelocityStateMessage wdGetVss(OjCmpt wd);
ReportGlobalPoseMessage wdGetGpos(OjCmpt wd);
SetTravelSpeedMessage wdGetTravelSpeed(OjCmpt wd);
SetGlobalWaypointMessage wdGetGlobalWaypoint(OjCmpt wd);

JausState wdGetPdState(OjCmpt wd);
JausBoolean wdGetPdWrenchScStatus(OjCmpt wd);
JausBoolean wdGetPdStatusScStatus(OjCmpt wd);
JausBoolean wdGetVssScStatus(OjCmpt wd);
JausBoolean wdGetGposScStatus(OjCmpt wd);
JausBoolean wdGetInControlStatus(OjCmpt wd);
VehicleState wdGetDesiredVehicleState(OjCmpt wd);
double wdGetWaypointDistanceM(OjCmpt wd);
int wdGetActiveWaypoint(OjCmpt wd);
int wdGetWaypointCount(OjCmpt wd);
void wdToggleRequestControl(OjCmpt wd);
JausBoolean wdGetRequestControl(OjCmpt wd);
void wdCreateWaypoint(OjCmpt wd);
void wdSetSpeed(OjCmpt wd);

#endif // WD_H