// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim

#ifndef EUTOBOT_NODE__SENSORS__JOINT_STATE_HPP_
#define EUTOBOT_NODE__SENSORS__JOINT_STATE_HPP_

#include <sensor_msgs/msg/joint_state.hpp>

#include <memory>
#include <string>

#include "eutobot_node/sensors/sensors.hpp"

namespace robotis
{
namespace eutobot
{
namespace sensors
{
constexpr uint8_t JOINT_NUM = 2;

// ref) http://emanual.robotis.com/docs/en/dxl/x/xl430-w250/#goal-velocity104
constexpr double RPM_TO_MS = 0.229 * 0.0034557519189487725;

// 0.087890625[deg] * 3.14159265359 / 180 = 0.001533981f
constexpr double TICK_TO_RAD = 0.001533981;

class JointState : public Sensors
{
public:
  explicit JointState(
    std::shared_ptr<rclcpp::Node> & nh,
    const std::string & topic_name = "joint_states",
    const std::string & frame_id = "base_link");

  void publish(
    const rclcpp::Time & now,
    std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper) override;

private:
  rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr pub_;
};
}  // namespace sensors
}  // namespace eutobot
}  // namespace robotis
#endif  // EUTOBOT_NODE__SENSORS__JOINT_STATE_HPP_
