#ifndef ROSKEYBOARDTELEOPNODE_H
#define ROSKEYBOARDTELEOPNODE_H

#include <termios.h>
#include <signal.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/poll.h>

#include <boost/thread/thread.hpp>
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

#define KEYCODE_W 0x77
#define KEYCODE_A 0x61
#define KEYCODE_S 0x73
#define KEYCODE_D 0x64

#define KEYCODE_A_CAP 0x41
#define KEYCODE_D_CAP 0x44
#define KEYCODE_S_CAP 0x53
#define KEYCODE_W_CAP 0x57



class RosKeyboardTeleopNode
{
private:
    double walk_vel_;
    double run_vel_;
    double yaw_rate_;
    double yaw_rate_run_;

    geometry_msgs::Twist cmdvel_;
    ros::NodeHandle n_;
    ros::Publisher pub_;

public:
    RosKeyboardTeleopNode();

    ~RosKeyboardTeleopNode() { }
    void keyboardLoop();

    void stopRobot()
    {
        cmdvel_.linear.x = 0.0;
        cmdvel_.angular.z = 0.0;
        pub_.publish(cmdvel_);
    }
};

extern int kfd;
extern struct termios cooked, raw;
extern bool done;
extern RosKeyboardTeleopNode* tbk;

#endif // ROSKEYBOARDTELEOPNODE_H