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#ifndef _SCOUT_TELEOP_

#define _SCOUT_TELEOP_

#include <ros/ros.h>

#include <motors/set_motors.h>

#include <signal.h>

#include <termios.h>

#include <stdio.h>

#include <scoutsim/teleop_input.h>

#define QUEUE_SIZE 10

#define KEYCODE_R 0x43 

#define KEYCODE_L 0x44

#define KEYCODE_U 0x41

#define KEYCODE_D 0x42

#define KEYCODE_Q 0x71

#define KEYCODE_S 0x73

// a second

#define MAX_WAIT_TIME ros::Duration(0.5)

class TeleopScout

{

    public:

        TeleopScout(std::string scoutname);

        void keyListenerLoop();

    private:

        ros::NodeHandle node;

        bool fl_set, fr_set, bl_set, br_set;

        int fl_speed, fr_speed, bl_speed, br_speed;

        char last_key;

        ros::Time last_time;

        void teleop_input_callback(const scoutsim::teleop_input::ConstPtr& msg);

        ros::Publisher motors_pub;

        ros::Subscriber key_input_sub;

};

#endif