#!/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/ttyAMA1'
    baud: serial prot baudrate. Defaults is 115200.
"""
import time
import math
import rospy
from sensor_msgs.msg import JointState

from pymycobot.mercury import Mercury


mc = None


def callback(data):

    data_list = []
    for index, value in enumerate(data.position):
        radians_to_angles = round(math.degrees(value), 2)
        data_list.append(radians_to_angles)
        
    rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
    mc.send_angles(data_list, 25)


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

    rospy.Subscriber("joint_states", JointState, callback)
    port = rospy.get_param("~port", "/dev/ttyAMA1")
    baud = rospy.get_param("~baud", 115200)
    print(port, baud)
    mc = Mercury(port, baud)
    time.sleep(0.05)
    # mc.set_fresh_mode(1)
    # time.sleep(0.05)

    # 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()