/****************************************************************************
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 *   Copyright (c) 2020 Auterion AG. All rights reserved.
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 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
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 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 *
 * @author Jaeyoung Lim <jaeyoung@auterion.com>
 *
 */

#ifndef JSBSIM_BRIDGE_ROS_H
#define JSBSIM_BRIDGE_ROS_H

#include "jsbsim_bridge.h"

#include <ros/ros.h>

#include <stdio.h>
#include <cstdlib>
#include <sstream>
#include <string>

#include <Eigen/Dense>

using namespace std;
using namespace Eigen;

class JSBSimBridgeRos {
 public:
  JSBSimBridgeRos(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private);
  virtual ~JSBSimBridgeRos();

 private:
  void simloopCallback(const ros::TimerEvent& event);
  void statusloopCallback(const ros::TimerEvent& event);

  ros::NodeHandle nh_;
  ros::NodeHandle nh_private_;
  ros::Timer simloop_timer_, statusloop_timer_;

  JSBSim::FGFDMExec* fdmexec_;
  ConfigurationParser config_;
  std::unique_ptr<JSBSimBridge> jsbsim_bridge_;

  std::string path;
  std::string script_path;
};
#endif