/*
 * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <px4.h>
#include <px4/rc_channels.h>

#include <sstream>

/**
 * This tutorial demonstrates simple sending of messages over the PX4 middleware system.
 */
int main(int argc, char **argv)
{

	px4::init(argc, argv, "px4_publisher");

	px4::NodeHandle n;

	/**
	 * The advertise() function is how you tell ROS that you want to
	 * publish on a given topic name. This invokes a call to the ROS
	 * master node, which keeps a registry of who is publishing and who
	 * is subscribing. After this advertise() call is made, the master
	 * node will notify anyone who is trying to subscribe to this topic name,
	 * and they will in turn negotiate a peer-to-peer connection with this
	 * node.  advertise() returns a Publisher object which allows you to
	 * publish messages on that topic through a call to publish().  Once
	 * all copies of the returned Publisher object are destroyed, the topic
	 * will be automatically unadvertised.
	 *
	 * The second parameter to advertise() is the size of the message queue
	 * used for publishing messages.  If messages are published more quickly
	 * than we can send them, the number here specifies how many messages to
	 * buffer up before throwing some away.
	 */
	px4::Publisher rc_channels_pub = n.advertise<px4::rc_channels>(PX4_TOPIC(rc_channels));


	px4::Rate loop_rate(10);

	/**
	 * A count of how many messages we have sent. This is used to create
	 * a unique string for each message.
	 */
	int count = 0;

	while (px4::ok()) {
		/**
		 * This is a message object. You stuff it with data, and then publish it.
		 */
		px4::rc_channels msg;

		msg.timestamp_last_valid = px4::get_time_micros();
		PX4_INFO("%lu", msg.timestamp_last_valid);

		/**
		 * The publish() function is how you send messages. The parameter
		 * is the message object. The type of this object must agree with the type
		 * given as a template parameter to the advertise<>() call, as was done
		 * in the constructor above.
		 */
		rc_channels_pub.publish(msg);

		px4::spin_once();

		loop_rate.sleep();
		++count;
	}


	return 0;
}