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/**
 * @brief Catapult Plugin
 *
 * This plugin simulates a catapult / handlaunch for fixed wing vehicles
 *
 * @author Jaeyoung Lim <jaeyoung@auterion.com>
 */

#ifndef _GAZEBO_CATAPULT_PLUGIN_HH_
#define _GAZEBO_CATAPULT_PLUGIN_HH_

#include <math.h>
#include <common.h>
#include <sdf/sdf.hh>

#include <gazebo/common/common.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/gazebo.hh>
#include <gazebo/util/system.hh>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/physics/physics.hh>
#include <ignition/math.hh>
#include "CommandMotorSpeed.pb.h"


#include <Odometry.pb.h>

namespace gazebo
{

typedef const boost::shared_ptr<const mav_msgs::msgs::CommandMotorSpeed> CommandMotorSpeedPtr;

enum LaunchStatus {
    VEHICLE_STANDBY,
    VEHICLE_INLAUNCH,
    VEHICLE_LAUNCHED
};

class GAZEBO_VISIBLE CatapultPlugin : public ModelPlugin
{
public:
  CatapultPlugin();
  virtual ~CatapultPlugin();

protected:
  virtual void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
  virtual void OnUpdate(const common::UpdateInfo&);

private:
  void TriggerCallback(const boost::shared_ptr<const msgs::Int> &_msg);
  void VelocityCallback(CommandMotorSpeedPtr &rot_velocities);

  std::string namespace_;
  physics::ModelPtr model_;
  physics::WorldPtr world_;
  physics::LinkPtr link_;

  event::ConnectionPtr _updateConnection;

  LaunchStatus launch_status_ = VEHICLE_STANDBY;
  common::Time trigger_time_;
  
  double max_rot_velocity_ = 3500;
  double ref_motor_rot_vel_ = 0.0;
  double arm_rot_vel_ = 100;
  double launch_duration_ = 0.01;
  double force_magnitude_ = 1.0;
  int motor_number_;
  ignition::math::Vector3d direction_ {ignition::math::Vector3d(1.0, 0.0, 2.0)};

  std::string trigger_sub_topic_ = "/gazebo/command/motor_speed";

  transport::NodePtr node_handle_;
  transport::SubscriberPtr trigger_sub_;

};     // class GAZEBO_VISIBLE CatapultPlugin
}      // namespace gazebo
#endif // _GAZEBO_CATAPULT_PLUGIN_HH_