#include "ros/ros.h"
#include "sensor_msgs/JointState.h"
#include <vector>
#include <sstream>
#include <iostream>
#include <fstream>
using namespace std;
/**
 * This tutorial demonstrates simple sending of messages over the ROS system.
 */
int main(int argc, char **argv)
{
  /**
   * The ros::init() function needs to see argc and argv so that it can perform
   * any ROS arguments and name remapping that were provided at the command line. For programmatic
   * remappings you can use a different version of init() which takes remappings
   * directly, but for most command-line programs, passing argc and argv is the easiest
   * way to do it.  The third argument to init() is the name of the node.
   *
   * You must call one of the versions of ros::init() before using any other
   * part of the ROS system.
   */
   vector<double> values;
   ifstream infile ;
   infile.open("/home/x/catkin_ws_PTU/src/flir_ptu/flir_ptu_driver/src/data1.csv");
   while(infile)
   {
        string s;
        if(getline(infile,s)) break;
        istringstream ss( s );
        vector <string> record;
        while (ss)
        {
            string s;
            if (!getline( ss, s, ',' )) break;
            values.push_back( atof(s.c_str()));
        }

    }

   for(int i = 0;i<values.size();i++ )
   {
       cout << values[i] << endl;
    }
  ros::init(argc, argv, "talker");

  /**
   * NodeHandle is the main access point to communications with the ROS system.
   * The first NodeHandle constructed will fully initialize this node, and the last
   * NodeHandle destructed will close down the node.
   */
  ros::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
   * publis 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.
   */
  ros::Publisher command_pub = n.advertise<sensor_msgs::JointState>("/ptu/cmd", 1);

  ros::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 i = 0;
  while (ros::ok())
  {
    /**
     * This is a message object. You stuff it with data, and then publish it.
     */
    sensor_msgs::JointState msg;

    double pan_vel = 0.0;
    double tilt_vel = 0.0;


    std::vector<double> vel(2);
    vel[0] = pan_vel;
    vel[1] = values[i];
    cout << "vel: " << vel[i] << endl;

    msg.velocity = vel;


    /**
     * 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.
     */
    command_pub.publish(msg);
    if(i<100)
    {
        i++;
    }
    else
    {
        cout << "re" << endl;
    }
    //ros::Duration(1).sleep();
    ros::spinOnce();

    loop_rate.sleep();
  }


  return 0;
}