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#include "scout_teleop.h"

using namespace std;

TeleopScout::TeleopScout(string scoutname)

{

    fl_set = fr_set = bl_set = br_set = true;

    fl_speed = fr_speed = bl_speed = br_speed = 0;

    motors_pub = node.advertise<motors::set_motors>(

                    scoutname+"/set_motors", QUEUE_SIZE);

    key_input_sub = node.subscribe(scoutname+"/teleop_input",

                                        QUEUE_SIZE,

                                        &TeleopScout::teleop_input_callback,

                                        this);

}

void TeleopScout::teleop_input_callback(

            const scoutsim::teleop_input::ConstPtr& msg)

{

    last_key = msg->last_key;

    last_time = msg->header.stamp;

    //ROS_INFO("received key: 0x%02X ", last_key);

    //ROS_INFO("at last time: %f\n", last_time.toSec()); 

}

void TeleopScout::keyListenerLoop()

{        

    ROS_INFO("waiting for userinput commands...\n");

    ROS_INFO("current max wait time is:  %f\n", MAX_WAIT_TIME.toSec());

    while(ros::ok())

    {

        // if we haven't passed the waiting threshold

        if(last_time + MAX_WAIT_TIME > ros::Time::now())

        {

            switch(last_key)

            {

                // TODO: for some reason negative speeds go forward, not backward

                case KEYCODE_L:

                    //ROS_INFO("LEFT");

                    fl_speed = bl_speed = 200;

                    fr_speed = br_speed = -200;

                    break;

                case KEYCODE_R:

                    //ROS_INFO("RIGHT");

                    fl_speed = bl_speed = -200;

                    fr_speed = br_speed = 200;

                    break;

                case KEYCODE_U:

                    //ROS_INFO("UP");

                    fl_speed = bl_speed = -200;

                    fr_speed = br_speed = -200;

                    break;

                case KEYCODE_D:

                    //ROS_INFO("DOWN");

                    fl_speed = bl_speed = 200;

                    fr_speed = br_speed = 200;

                    break;

                default:

                    //don't publish a message yet; no change to key, 

                    // and no timeout yet

                    //ROS_INFO("no time out yet\n");

                    ros::spinOnce();

                    continue;

                    break;

            }

        }

        else if (fl_speed != 0 || fr_speed != 0 || 

                 bl_speed != 0 || br_speed != 0)

        {

            ROS_INFO("no key press; stopping movement");

            fl_speed = fr_speed = bl_speed = br_speed = 0;

        }

        //send command to the motors

        motors::set_motors msg;

        msg.fl_set = fl_set;

        msg.fr_set = fr_set;

        msg.bl_set = bl_set;

        msg.br_set = br_set;

        msg.fl_speed = fl_speed;

        msg.fr_speed = fr_speed;

        msg.bl_speed = bl_speed;

        msg.br_speed = br_speed;

        motors_pub.publish(msg);

        ros::spinOnce();

    }

    return;

}

int main(int argc, char** argv)

{

    string scoutname = "";

    if(argc != 2)

    {

        cout << "Opens up a teleop process to send input to the motors" << endl;

        cout << "(Remember to create a scout_teleop_userinput process as well to actually capture keyboard input!)" << endl;

        cout << "Usage: " << argv[0] <<" <scoutname>" << endl;

        exit(0);

    }

    scoutname = argv[1];

    ros::init(argc, argv, scoutname+"_scout_teleop");

    TeleopScout teleop_scout = TeleopScout(scoutname);

    teleop_scout.keyListenerLoop();

    return(0);

}