#!/usr/bin/env python3
import math
import rospy
from sensor_msgs.msg import JointState
from pymycobot.ultraArm import ultraArm


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):
        radians_to_angles = round(math.degrees(value), 2)
        data_list.append(radians_to_angles)
        
    rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
    ua.set_angles(data_list, 25)


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()