/*
 * @brief turtlebot_test_fsm_node implements a simple state machine,
 * generating cmd_vel messages to drive the TurtleBot with varying velocities,
 * f.e. a figure of eight.
 * A simple test for TurtleBot functionality and stability.
 *
 * Copyright (C) 2019 Ing.-Buero Dr. Michael Lehning, Hildesheim
 * Copyright (C) 2019 SICK AG, Waldkirch
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *       http://www.apache.org/licenses/LICENSE-2.0
 *
 *   Unless required by applicable law or agreed to in writing, software
 *   distributed under the License is distributed on an "AS IS" BASIS,
 *   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *   See the License for the specific language governing permissions and
 *   limitations under the License.
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of SICK AG nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission
 *     * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 *      Authors:
 *         Michael Lehning <michael.lehning@lehning.de>
 *
 *  Copyright 2019 SICK AG
 *  Copyright 2019 Ing.-Buero Dr. Michael Lehning
 *
 */
#include <ros/ros.h>
#include <string>
#include <vector>
#include "sick_line_guidance_demo/turtlebot_test_fsm.h"
#include "sick_line_guidance_demo/time_format.h"

/*
 * @brief turtlebot_test_fsm_node implements a simple state machine,
 * generating cmd_vel messages to drive the TurtleBot with
 * varying velocities, f.e. a figure of eight.
 * Simple test for TurtleBot functionality and stability.
 */
int main(int argc, char** argv)
{
  // ros init
  ros::init(argc, argv, "turtlebot_test_fsm_node");
  ros::NodeHandle nh;

  // Run a final state machine (FSM) to drive a figure of eight.
  // Output: geometry_msgs::Twist messages on topic "/cmd_vel"
  sick_line_guidance_demo::TurtlebotTestFSM turtlebot_test_fsm(&nh, "/ols", "/odom", "/cmd_vel");
  ROS_INFO_STREAM(sick_line_guidance_demo::TimeFormat::formatDateTime() << "turtlebot_test_fsm_node: starting");
  turtlebot_test_fsm.startFSM();
  
  // Run ros event loop
  ros::spin();

  // Exit
  std::cout << "turtlebot_test_fsm_node: stopping..." << std::endl;
  ROS_INFO_STREAM(sick_line_guidance_demo::TimeFormat::formatDateTime() << "turtlebot_test_fsm_node: stopping...");
  turtlebot_test_fsm.stopFSM();
  std::cout << "turtlebot_test_fsm_node: exiting..." << std::endl;
  ROS_INFO_STREAM(sick_line_guidance_demo::TimeFormat::formatDateTime() << "turtlebot_test_fsm_node: exiting...");

  return 0;
}

