Squashed commit of the following:

commit aa5d107e
Author: Mark Verrijt <mark.verrijt@vectioneer.com>
Date:   Thu Feb 29 10:03:47 2024 +0100

    Update for usage with latest motorcortex-cpp

commit 74661107
Author: Mark Verrijt <mark.verrijt@vectioneer.com>
Date:   Fri Jan 21 09:36:21 2022 +0100

    Add ESTOP to StateEvents

commit 857b54ae
Author: Mark Verrijt <mark.verrijt@vectioneer.com>
Date:   Wed Nov 17 10:41:24 2021 +0100

    Add check for Shutdown and ForcedIdle for switchToLogicState() functions

commit d40285ec
Author: Mark Verrijt <mark.verrijt@vectioneer.com>
Date:   Fri Jun 18 10:51:54 2021 +0200

    minor fix (has_id = true for cartesian pose in cartToJoint)

commit 4da2dfa6
Author: Mark <mark@vectioneer.com>
Date:   Wed Feb 10 10:29:22 2021 +0100

    Fix isMoving to return true whilst transition to/from and in Freeze state, fix for issue #3

commit af9e4492
Author: Alexey Zakharov <alexey.zakharov@vectioneer.com>
Date:   Mon Jan 18 20:09:06 2021 +0100

    merged Mark's fix for the interpreter.

commit a70b38cd
Author: Mark <mark@vectioneer.com>
Date:   Fri Jan 15 20:51:48 2021 +0100

    moveToStart does nothing when intepreter state is PAUSE

commit dfecece9
Author: Mark <mark@vectioneer.com>
Date:   Fri Jan 15 13:39:01 2021 +0100

    Potential fix for moveToStart returning to early, alexey to verify

commit 4a6ceef3
Author: Mark <mark@vectioneer.com>
Date:   Mon Jan 11 10:00:44 2021 +0100

    Fix motionSL.pb.h

commit fc8569a7
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Mon Dec 14 17:54:33 2020 +0100

    added new operator checkState;

commit 483c88c6
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Fri Dec 11 16:05:00 2020 +0100

    added command status;

commit 6d001af8
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Fri Dec 11 12:46:23 2020 +0100

    added command id to the motion commands;

commit 6a6876cc
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Fri Dec 11 12:19:56 2020 +0100

    testing with latest mcx-motion

commit dc8b5538
Author: Mark <mark@vectioneer.com>
Date:   Fri Dec 11 11:16:58 2020 +0100

    Revert "Added missing addMoveJ function for multiple waypoints"

    This reverts commit 819f3f4a25f184613b0eeb1ed7c13a1194baefb4.

commit c3372ddb
Author: Mark <mark@vectioneer.com>
Date:   Fri Dec 11 11:15:56 2020 +0100

    Added missing addMoveJ function for multiple waypoints

commit c4da5ff2
Author: Mark <mark@vectioneer.com>
Date:   Fri Dec 11 11:10:27 2020 +0100

    default timeout to max

commit 8659a867
Author: Mark <mark@vectioneer.com>
Date:   Thu Dec 10 13:16:06 2020 +0100

    Fixing movTostart

commit 91465a18
Author: Mark <mark@vectioneer.com>
Date:   Thu Dec 10 12:49:57 2020 +0100

    Revert "Removed PROGRAM_DONE"

    This reverts commit ac30f391474ed34df0aa6752a573fc99d0f9e095.

commit 3cda2264
Author: Mark <mark@vectioneer.com>
Date:   Thu Dec 10 11:49:52 2020 +0100

    Removed PROGRAM_DONE

commit f7b386d1
Author: Mark <mark@vectioneer.com>
Date:   Wed Dec 9 17:27:15 2020 +0100

    Changed Mode and ModeEvent numbers to coincide with motorcortex-robot

commit 45770e7b
Author: Mark <mark@vectioneer.com>
Date:   Wed Dec 9 09:30:06 2020 +0100

    Updated motionSL

commit 408b46bd
Author: Mark <mark@vectioneer.com>
Date:   Mon Jun 29 13:52:09 2020 +0200

    Added interpreter state check in move2start

commit c075bb5a
Author: Mark <mark@vectioneer.com>
Date:   Mon Jun 15 11:40:40 2020 +0200

    Fix pb include

commit a0188825
Author: Mark <mark@vectioneer.com>
Date:   Fri May 1 11:19:02 2020 +0200

    Update fat0 script to work with addSet for cutting

commit 0551c16d
Author: Mark <mark@vectioneer.com>
Date:   Fri May 1 10:19:28 2020 +0200

    Update protobuf files

commit dd999af7
Author: mark <mark.verrijt@vectioneer.com>
Date:   Fri Mar 27 19:13:45 2020 +0100

    Updated fat script and extended moveJ functionality

commit 2b2eb38f
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Mon Mar 16 14:52:54 2020 +0100

    added set command

commit 4ecfcab3
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Fri Jan 31 11:38:52 2020 +0100

    updated paths; removed setWheelsRad and wheels dist from API because it is set from PArameter file;

commit 2ac12d61
Author: mark <mark.verrijt@vectioneer.com>
Date:   Mon Jan 27 15:10:32 2020 +0100

    json include in install

commit 09fc2183
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Mon Jan 27 13:55:49 2020 +0100

    fixed estop acknowledge; ran all the tests against latest code;

commit 90688962
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Fri Jan 24 14:29:31 2020 +0100

    added json configuration of the paths

commit e9198813
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Thu Jan 23 21:07:22 2020 +0100

    moved mobile platoform's parameter paths to a json

commit dd7b51bb
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Wed Jan 22 14:53:13 2020 +0100

    fixed state switching;

commit 3a90ed40
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Wed Jan 22 11:49:57 2020 +0100

    added tls_connection_test; refactored intrepreter logic; added priva unit test;

commit 5e21e7ee
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Wed Dec 25 18:11:23 2019 +0100

    added moveTo command; tested sequential motion, canceled motion;

commit beebad81
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Mon Dec 23 14:32:41 2019 +0100

    implementing mobile platform control API

commit f2e77963
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Sat Dec 21 10:39:30 2019 +0100

    refactoring

commit c9618d20
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Thu Dec 19 15:20:52 2019 +0100

    updated namespace; added version; working on mobility example;

commit 47273767
Author: Alexey Zakharov <alexey@vectioneer.com>
Date:   Wed Dec 18 16:55:53 2019 +0100

    refactoring states and modes

commit 8f7de48f
Author: mark <mark.verrijt@vectioneer.com>
Date:   Fri Oct 25 19:05:42 2019 +0200

    Updated cut_side_link

commit 5af68b7f
Author: mark <mark.verrijt@vectioneer.com>
Date:   Mon Oct 21 16:13:44 2019 +0200

    Fixed measure timing function and updated example robot

commit e1a5b023
Author: mark <mark.verrijt@vectioneer.com>
Date:   Mon Oct 21 15:12:32 2019 +0200

    Added interpreter state PROGRAM_DONE

commit 6a04485c
Author: mark <mark.verrijt@vectioneer.com>
Date:   Sat Oct 19 08:22:47 2019 +0200

    Break do-while on timeout

commit c5ceb2e7
Author: mark <mark.verrijt@vectioneer.com>
Date:   Fri Oct 18 21:57:37 2019 +0200

    wait for interpreter to exit transition before checking state for move2start

commit 2a2dd7a8
Author: mark <mark.verrijt@vectioneer.com>
Date:   Fri Oct 18 15:31:11 2019 +0200

    Fixed timeout for acknowledge

commit 9cf2ae55
Author: mark <mark.verrijt@vectioneer.com>
Date:   Tue Oct 15 22:38:24 2019 +0200

    Removed freeze state from engage()

commit c4000ae4
Author: mark <mark.verrijt@vectioneer.com>
Date:   Mon Oct 14 20:54:53 2019 +0200

    Added auto-semi-auto to interpreter switching

commit cf158ae6
Author: mark <mark.verrijt@vectioneer.com>
Date:   Mon Oct 14 19:50:58 2019 +0200

    Fixed timeouts

commit b1a67097
Author: mark <mark.verrijt@vectioneer.com>
Date:   Mon Oct 14 18:34:56 2019 +0200

    Updated acknowledge command

commit 867168f5
Author: mark <mark.verrijt@vectioneer.com>
Date:   Mon Oct 14 17:11:40 2019 +0200

    Refactored robot commands, synced state numbers

commit 8dc588b4
Author: mark <mark.verrijt@vectioneer.com>
Date:   Mon Oct 14 14:01:59 2019 +0200

    Fixed idle and engage functions

commit d594eeda
Author: mark <mark.verrijt@vectioneer.com>
Date:   Sun Oct 13 12:13:09 2019 +0200

    Updated idle function

commit 6c435240
Author: mark <mark.verrijt@vectioneer.com>
Date:   Sat Oct 12 21:39:40 2019 +0200

    Made robot_command compatible with executeEvent

commit f0949f3e
Author: mark <mark.verrijt@vectioneer.com>
Date:   Sat Oct 12 13:59:06 2019 +0200

    State and Modes same as robot project