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#include "ros.h"

#include <std_msgs/UInt16.h>

ros::Publisher *ptest_out;

void callback(const std_msgs::UInt16& msg)

{

  ptest_out->publish(&msg);

}

int main()

{

  ros::NodeHandle nh;

  std_msgs::UInt16 msg;

  ros::Subscriber<std_msgs::UInt16> test_in("test_in", callback);

  ros::Publisher test_out("test_out", &msg);

  ptest_out = &test_out;

  msg.data = 0;

  nh.initNode();

  nh.subscribe(test_in);

  nh.advertise(test_out);

  while (1)

  {

    nh.spinOnce();

  }

  return 0;

}

/*extern "C"

{

#include <stdlib.h>

#include <string.h>

}

#include "Atmega128rfa1.h"

int main()

{

  char time[20];

  Atmega128rfa1 avr;

  avr.init();

  unsigned long now, next = 0;

  while (1)

  {

    now = avr.time();

    if (now > next) {

      next = now + 100;

      ultoa(avr.time(), time, 10);

      avr.write((uint8_t*) time, strlen(time));

      avr.write((uint8_t*) "\n\r", 1);

    }

  }

  return 0;

}*/