#!/usr/bin/env python3
# -*- coding: utf-8 -*-

"""[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 math
import rospy
from sensor_msgs.msg import JointState

import pymycobot
from packaging import version
# min low version require
MAX_REQUIRE_VERSION = '3.5.3'
current_verison = pymycobot.__version__
print('current pymycobot library version: {}'.format(current_verison))
if version.parse(current_verison) > version.parse(MAX_REQUIRE_VERSION):
    raise RuntimeError('The version of pymycobot library must be less than {} . The current version is {}. Please downgrade the library version.'.format(MAX_REQUIRE_VERSION, current_verison))
else:
    print('pymycobot library version meets the requirements!')
    from pymycobot.myarm import MyArm


mc = None


def callback(data):
    # rospy.loginfo(rospy.get_caller_id() + "%s", 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)
    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/ttyAMA0")
    baud = rospy.get_param("~baud", 115200)
    print(port, baud)
    mc = MyArm(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()