#!/usr/bin/env python3

"""[summary]
This file obtains the joint angle of the manipulator in ROS,
and then sends it directly to the real manipulator using `pymycobot` API.
This file is [slider_control.launch] related script.
Passable parameters:
    port: serial prot string. Defaults is '/dev/ttyUSB0'
    baud: serial prot baudrate. Defaults is 115200.
"""

import time
import rospy
from sensor_msgs.msg import JointState

from pymycobot.ultraArm import ultraArm
import math

ua = None


def callback(data):
    # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
    print(data.position)
    data_list = []
    for index, value in enumerate(data.position):
        data_list.append(round(value,3))
  
    print('data_list:',data_list)
    ua.set_radians(data_list, 80)
    # time.sleep(0.5)


def listener():
    global ua
    rospy.init_node("control_slider", anonymous=True)

    rospy.Subscriber("joint_states", JointState, callback)
    port = rospy.get_param("~port", "/dev/ttyUSB0") # Select connected device. 选择连接设备
    baud = rospy.get_param("~baud", 115200)
    print(port, baud)
    ua = ultraArm(port, baud)
    ua.power_on()
    ua.go_zero()
    
    # spin() simply keeps python from exiting until this node is stopped
    # spin() 只是阻止python退出，直到该节点停止
    print("spin ...")
    rospy.spin()


if __name__ == "__main__":
    listener()