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/**
 * @file publisher_example.cpp
 * Example subscriber for ros and px4
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#include "publisher_example.h"

using namespace px4;

PublisherExample::PublisherExample() :
	_n(),
	_rc_channels_pub(_n.advertise<px4_rc_channels>()),
	_v_att_pub(_n.advertise<px4_vehicle_attitude>()),
	_parameter_update_pub(_n.advertise<px4_parameter_update>())
{
}

int PublisherExample::main()
{
	px4::Rate loop_rate(10);

	while (px4::ok()) {
		loop_rate.sleep();
		_n.spinOnce();

		/* Publish example message */
		px4_rc_channels rc_channels_msg;
		rc_channels_msg.data().timestamp_last_valid = px4::get_time_micros();
		PX4_INFO("rc: %llu", rc_channels_msg.data().timestamp_last_valid);
		_rc_channels_pub->publish(rc_channels_msg);

		/* Publish example message */
		px4_vehicle_attitude v_att_msg;
		v_att_msg.data().timestamp = px4::get_time_micros();
		PX4_INFO("att: %llu", v_att_msg.data().timestamp);
		_v_att_pub->publish(v_att_msg);

		/* Publish example message */
		px4_parameter_update parameter_update_msg;
		parameter_update_msg.data().timestamp = px4::get_time_micros();
		PX4_INFO("param update: %llu", parameter_update_msg.data().timestamp);
		_parameter_update_pub->publish(parameter_update_msg);

	}

	return 0;
}