//#define WATCHDOG 1
#include <stdio.h>
#include <math.h>
#ifdef ADEPT_PKG
#include <Aria.h>
#else
#include </usr/include/Aria/Aria.h>
//Aria/Aria.h>
#endif
#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
#include "geometry_msgs/Pose.h"
#include "geometry_msgs/PoseStamped.h"
#include <sensor_msgs/PointCloud.h>  //for sonar data
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h> // can optionally publish sonar as new type pointcloud2
#include "nav_msgs/Odometry.h"
#include "rosaria/BumperState.h"
#include "tf/tf.h"
#include "tf/transform_listener.h"  //for tf::getPrefixParam
#include <tf/transform_broadcaster.h>
#include "tf/transform_datatypes.h"
#include <dynamic_reconfigure/server.h>
#include <rosaria/RosAriaConfig.h>
#include "std_msgs/Float64.h"
#include "std_msgs/Float32.h"
#include "std_msgs/Int8.h"
#include "std_msgs/Bool.h"
#include "std_srvs/Empty.h"
#include "sensor_msgs/JointState.h"

#include "rosaria_msgs/RestrictionsMsg.h"
#include "rosaria_msgs/RobotInfoMsg.h"


#include <sstream>


// Node that interfaces between ROS and mobile robot base features via ARIA library. 
//
// RosAria uses the roscpp client library, see http://www.ros.org/wiki/roscpp for
// information, tutorials and documentation.
class RosAriaNode
{
public:
    RosAriaNode(ros::NodeHandle n);
    virtual ~RosAriaNode();
    
public:
    int Setup();
    void cmdvel_cb( const geometry_msgs::TwistConstPtr &);

    // Olek new subscribers
    void restrictions_cb( const rosaria_msgs::RestrictionsMsg &);
    void userstop_cb(const std_msgs::Bool &);
    void masterstop_cb(const std_msgs::Bool &);
    void clutch_cb(const std_msgs::Bool &);

    //void cmd_enable_motors_cb();
    //void cmd_disable_motors_cb();
    void spin();
    void publish();
    void sonarConnectCb();
    void dynamic_reconfigureCB(rosaria::RosAriaConfig &config, uint32_t level);
    void readParameters();

protected:
    int WATCHDOG;
    ros::NodeHandle n;
    ros::Publisher wheel_pub;
    ros::Publisher pose_pub;
    ros::Publisher bumpers_pub;
    ros::Publisher sonar_pub;
    ros::Publisher sonar_pointcloud2_pub;
    ros::Publisher voltage_pub;

    ros::Publisher recharge_state_pub;
    std_msgs::Int8 recharge_state;

    ros::Publisher state_of_charge_pub;

    ros::Publisher motors_state_pub;
    std_msgs::Bool motors_state;
    bool published_motors_state;

    ros::Subscriber cmdvel_sub;

    // Olek new subscribers
    ros::Subscriber restrictions_sub;
    ros::Subscriber userstop_sub;
    ros::Subscriber masterstop_sub;
    ros::Subscriber clutch_sub;

    bool userstop_state;
    bool masterstop_state;
    bool clutch_state;

    ros::ServiceServer enable_srv;
    ros::ServiceServer disable_srv;
    bool enable_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
    bool disable_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);

    ros::Publisher stop_motors_pub;
    ros::ServiceServer stop_motors_srv;
    ros::ServiceServer start_motors_srv;
    bool stop_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
    bool start_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);

    //Gripper
    ros::ServiceServer gripper_open_srv;
    ros::ServiceServer gripper_close_srv;
    ros::ServiceServer gripper_up_srv;
    ros::ServiceServer gripper_down_srv;

    bool gripper_open_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
    bool gripper_close_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
    bool gripper_up_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
    bool gripper_down_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);

    ros::Time veltime;

    std::string serial_port;
    int serial_baud;

    float maxVel;
    float maxRot;
    float minDist;

    ArRobotConnector *conn;
    ArRobot *robot;
    ArGripper* gripper;

    sensor_msgs::JointState Wheel;
    nav_msgs::Odometry position;
    rosaria::BumperState bumpers;
    ArPose pos;
    ArFunctorC<RosAriaNode> myPublishCB;
    //ArRobot::ChargeState batteryCharge;

    //for odom->base_link transform
    tf::TransformBroadcaster odom_broadcaster;
    geometry_msgs::TransformStamped odom_trans;
    //for resolving tf names.
    std::string tf_prefix;
    std::string frame_id_odom;
    std::string frame_id_base_link;
    std::string frame_id_bumper;
    std::string frame_id_sonar;

    // flag indicating whether sonar was enabled or disabled on the robot
    bool sonar_enabled;

    // enable and publish sonar topics. set to true when first subscriber connects, set to false when last subscriber disconnects.
    bool publish_sonar;
    bool publish_sonar_pointcloud2;

    // Debug Aria
    bool debug_aria;
    std::string aria_log_filename;
    
    // Robot Parameters
    int TicksMM, DriftFactor, RevCount;  // Odometry Calibration Settings
    
    // dynamic_reconfigure
    dynamic_reconfigure::Server<rosaria::RosAriaConfig> *dynamic_reconfigure_server;

    //Damian zmienna mówiąca czy robot jest zatrzymany awaryjnie
    bool stop_robot;
    std_msgs::Bool stop_motors_msg;

    ros::Time watchdog;
};

void RosAriaNode::readParameters()
{
    // Robot Parameters
    robot->lock();
    ros::NodeHandle n_("~");
    if (n_.hasParam("TicksMM"))
    {
        n_.getParam( "TicksMM", TicksMM);
        ROS_INFO("Setting TicksMM from ROS Parameter: %d", TicksMM);
        robot->comInt(93, TicksMM);
    }
    else
    {
        TicksMM = robot->getOrigRobotConfig()->getTicksMM();
        n_.setParam( "TicksMM", TicksMM);
        ROS_INFO("Setting TicksMM from robot controller stored configuration: %d", TicksMM);
    }

    if (n_.hasParam("DriftFactor"))
    {
        n_.getParam( "DriftFactor", DriftFactor);
        ROS_INFO("Setting DriftFactor from ROS Parameter: %d", DriftFactor);
        robot->comInt(89, DriftFactor);
    }
    else
    {
        DriftFactor = robot->getOrigRobotConfig()->getDriftFactor();
        n_.setParam( "DriftFactor", DriftFactor);
        ROS_INFO("Setting DriftFactor from robot controller stored configuration: %d", DriftFactor);
    }

    if (n_.hasParam("RevCount"))
    {
        n_.getParam( "RevCount", RevCount);
        ROS_INFO("Setting RevCount from ROS Parameter: %d", RevCount);
        robot->comInt(88, RevCount);
    }
    else
    {
        RevCount = robot->getOrigRobotConfig()->getRevCount();
        n_.setParam( "RevCount", RevCount);
        ROS_INFO("Setting RevCount from robot controller stored configuration: %d", RevCount);
    }
    if (n_.hasParam("WatchDog"))
    {
        n_.getParam( "WatchDog", WATCHDOG);
        ROS_INFO("Setting WatchDog from ROS Parameter: %d", WATCHDOG);
    }
    else
    {
        n_.setParam( "WatchDog", WATCHDOG);
        ROS_INFO("Setting default WatchDog : %d", WATCHDOG);
    }
    robot->unlock();
}

void RosAriaNode::dynamic_reconfigureCB(rosaria::RosAriaConfig &config, uint32_t level)
{
    //
    // Odometry Settings
    //
    robot->lock();
    if(TicksMM != config.TicksMM and config.TicksMM > 0)
    {
        ROS_INFO("Setting TicksMM from Dynamic Reconfigure: %d -> %d ", TicksMM, config.TicksMM);
        TicksMM = config.TicksMM;
        robot->comInt(93, TicksMM);
    }

    if(DriftFactor != config.DriftFactor)
    {
        ROS_INFO("Setting DriftFactor from Dynamic Reconfigure: %d -> %d ", DriftFactor, config.DriftFactor);
        DriftFactor = config.DriftFactor;
        robot->comInt(89, DriftFactor);
    }

    if(RevCount != config.RevCount and config.RevCount > 0)
    {
        ROS_INFO("Setting RevCount from Dynamic Reconfigure: %d -> %d ", RevCount, config.RevCount);
        RevCount = config.RevCount;
        robot->comInt(88, RevCount);
    }

    //
    // Acceleration Parameters
    //
    int value;
    value = config.trans_accel * 1000;
    if(value != robot->getTransAccel() and value > 0)
    {
        ROS_INFO("Setting TransAccel from Dynamic Reconfigure: %d", value);
        robot->setTransAccel(value);
    }

    value = config.trans_decel * 1000;
    if(value != robot->getTransDecel() and value > 0)
    {
        ROS_INFO("Setting TransDecel from Dynamic Reconfigure: %d", value);
        robot->setTransDecel(value);
    }

    value = config.lat_accel * 1000;
    if(value != robot->getLatAccel() and value > 0)
    {
        ROS_INFO("Setting LatAccel from Dynamic Reconfigure: %d", value);
        if (robot->getAbsoluteMaxLatAccel() > 0 )
            robot->setLatAccel(value);
    }

    value = config.lat_decel * 1000;
    if(value != robot->getLatDecel() and value > 0)
    {
        ROS_INFO("Setting LatDecel from Dynamic Reconfigure: %d", value);
        if (robot->getAbsoluteMaxLatDecel() > 0 )
            robot->setLatDecel(value);
    }

    value = config.rot_accel * 180/M_PI;
    if(value != robot->getRotAccel() and value > 0)
    {
        ROS_INFO("Setting RotAccel from Dynamic Reconfigure: %d", value);
        robot->setRotAccel(value);
    }

    value = config.rot_decel * 180/M_PI;
    if(value != robot->getRotDecel() and value > 0)
    {
        ROS_INFO("Setting RotDecel from Dynamic Reconfigure: %d", value);
        robot->setRotDecel(value);
    }
    robot->unlock();
}

void RosAriaNode::sonarConnectCb()
{
    publish_sonar = (sonar_pub.getNumSubscribers() > 0);
    publish_sonar_pointcloud2 = (sonar_pointcloud2_pub.getNumSubscribers() > 0);
    robot->lock();
    if (publish_sonar || publish_sonar_pointcloud2)
    {
        robot->enableSonar();
        sonar_enabled = false;
    }
    else if(!publish_sonar && !publish_sonar_pointcloud2)
    {
        robot->disableSonar();
        sonar_enabled = true;
    }
    robot->unlock();
}

RosAriaNode::RosAriaNode(ros::NodeHandle nh) : 
    myPublishCB(this, &RosAriaNode::publish), serial_port(""), serial_baud(0),
    sonar_enabled(false), publish_sonar(false), publish_sonar_pointcloud2(false)
{
    // read in runtime parameters
    n = nh;

    // port and baud
    n.param( "port", serial_port, std::string("/dev/ttyUSB0") );
    ROS_INFO( "RosAria: using port: [%s]", serial_port.c_str() );

    n.param("baud", serial_baud, 0);
    if(serial_baud != 0)
        ROS_INFO("RosAria: using serial port baud rate %d", serial_baud);

    // handle debugging more elegantly
    n.param( "debug_aria", debug_aria, false ); // default not to debug
    n.param( "aria_log_filename", aria_log_filename, std::string("Aria.log") );

    // Figure out what frame_id's to use. if a tf_prefix param is specified,
    // it will be added to the beginning of the frame_ids.
    //
    // e.g. rosrun ... _tf_prefix:=MyRobot (or equivalently using <param>s in
    // roslaunch files)
    // will result in the frame_ids being set to /MyRobot/odom etc,
    // rather than /odom. This is useful for Multi Robot Systems.
    // See ROS Wiki for further details.
    tf_prefix = tf::getPrefixParam(n);
    frame_id_odom = tf::resolve(tf_prefix, "odom");
    frame_id_base_link = tf::resolve(tf_prefix, "base_link");
    frame_id_bumper = tf::resolve(tf_prefix, "bumpers_frame");
    frame_id_sonar = tf::resolve(tf_prefix, "sonar_frame");

    // advertise services for data topics
    // second argument to advertise() is queue size.
    // other argmuments (optional) are callbacks, or a boolean "latch" flag (whether to send current data to new
    // subscribers when they subscribe).
    // See ros::NodeHandle API docs.
    pose_pub = n.advertise<nav_msgs::Odometry>("pose",1000);
    bumpers_pub = n.advertise<rosaria::BumperState>("bumper_state",1000);
    sonar_pub = n.advertise<sensor_msgs::PointCloud>("sonar", 50,
                                                     boost::bind(&RosAriaNode::sonarConnectCb, this),
                                                     boost::bind(&RosAriaNode::sonarConnectCb, this));
    sonar_pointcloud2_pub = n.advertise<sensor_msgs::PointCloud2>("sonar_pointcloud2", 50,
                                                                  boost::bind(&RosAriaNode::sonarConnectCb, this),
                                                                  boost::bind(&RosAriaNode::sonarConnectCb, this));

    voltage_pub = n.advertise<std_msgs::Float64>("battery_voltage", 1000);
    wheel_pub   = n.advertise<sensor_msgs::JointState>("wheels",1000);
    recharge_state_pub = n.advertise<std_msgs::Int8>("battery_recharge_state", 5, true /*latch*/ );
    recharge_state.data = -2;
    state_of_charge_pub = n.advertise<std_msgs::Float32>("battery_state_of_charge", 100);

    motors_state_pub = n.advertise<std_msgs::Bool>("motors_state", 5, true /*latch*/ );
    stop_motors_pub = n.advertise<std_msgs::Bool>("stop_motors_state", 5, true /*latch*/ );
    motors_state.data = false;
    published_motors_state = false;

    // subscribe to services
    cmdvel_sub = n.subscribe( "cmd_vel", 1, (boost::function <void(const geometry_msgs::TwistConstPtr&)>)
                              boost::bind(&RosAriaNode::cmdvel_cb, this, _1 ));

    // Olek new subscribers
    restrictions_sub = n.subscribe( "/PIONIER/restrictions", 1, &RosAriaNode::restrictions_cb,this);
    userstop_sub = n.subscribe( "user_stop", 1, &RosAriaNode::userstop_cb,this);
    masterstop_sub = n.subscribe( "/PIONIER/master_stop", 1, &RosAriaNode::masterstop_cb,this);
    clutch_sub = n.subscribe( "clutch", 1, &RosAriaNode::clutch_cb,this);


    // advertise enable/disable services
    enable_srv = n.advertiseService("enable_motors", &RosAriaNode::enable_motors_cb, this);
    disable_srv = n.advertiseService("disable_motors", &RosAriaNode::disable_motors_cb, this);

    //Damian Gripper
    gripper_open_srv = n.advertiseService("gripper_open", &RosAriaNode::gripper_open_cb, this);
    gripper_close_srv = n.advertiseService("gripper_close", &RosAriaNode::gripper_close_cb, this);
    gripper_up_srv = n.advertiseService("gripper_up", &RosAriaNode::gripper_up_cb, this);
    gripper_down_srv = n.advertiseService("gripper_down", &RosAriaNode::gripper_down_cb, this);

    //Damian usługi stopu awaryjnego
    stop_motors_srv = n.advertiseService("stop_motors", &RosAriaNode::stop_motors_cb, this);
    start_motors_srv = n.advertiseService("start_motors", &RosAriaNode::start_motors_cb, this);
    stop_robot=false;
    stop_motors_msg.data=false;

    maxVel=1.4;
    maxRot=1;
    minDist = 0.7;


    veltime = ros::Time::now();


}

RosAriaNode::~RosAriaNode()
{
    // disable motors and sonar.
    robot->disableMotors();
    robot->disableSonar();

    robot->stopRunning();
    robot->waitForRunExit();
    Aria::shutdown();
}

int RosAriaNode::Setup()
{
    WATCHDOG=1;
    // Note, various objects are allocated here which are never deleted (freed), since Setup() is only supposed to be
    // called once per instance, and these objects need to persist until the process terminates.

    robot = new ArRobot();
    gripper = new ArGripper(robot);
    ArArgumentBuilder *args = new ArArgumentBuilder(); //  never freed
    ArArgumentParser *argparser = new ArArgumentParser(args); // Warning never freed
    argparser->loadDefaultArguments(); // adds any arguments given in /etc/Aria.args.  Useful on robots with unusual serial port or baud rate (e.g. pioneer lx)

    // Now add any parameters given via ros params (see RosAriaNode constructor):

    // if serial port parameter contains a ':' character, then interpret it as hostname:tcpport
    // for wireless serial connection. Otherwise, interpret it as a serial port name.
    size_t colon_pos = serial_port.find(":");
    if (colon_pos != std::string::npos)
    {
        args->add("-remoteHost"); // pass robot's hostname/IP address to Aria
        args->add(serial_port.substr(0, colon_pos).c_str());
        args->add("-remoteRobotTcpPort"); // pass robot's TCP port to Aria
        args->add(serial_port.substr(colon_pos+1).c_str());
    }
    else
    {
        args->add("-robotPort"); // pass robot's serial port to Aria
        args->add(serial_port.c_str());
    }

    // if a baud rate was specified in baud parameter
    if(serial_baud != 0)
    {
        args->add("-robotBaud");
        char tmp[100];
        snprintf(tmp, 100, "%d", serial_baud);
        args->add(tmp);
    }

    if( debug_aria )
    {
        // turn on all ARIA debugging
        args->add("-robotLogPacketsReceived"); // log received packets
        args->add("-robotLogPacketsSent"); // log sent packets
        args->add("-robotLogVelocitiesReceived"); // log received velocities
        args->add("-robotLogMovementSent");
        args->add("-robotLogMovementReceived");
        ArLog::init(ArLog::File, ArLog::Verbose, aria_log_filename.c_str(), true);
    }


    // Connect to the robot
    conn = new ArRobotConnector(argparser, robot); // warning never freed
    if (!conn->connectRobot()) {
        ROS_ERROR("RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device.)");
        return 1;
    }

    // causes ARIA to load various robot-specific hardware parameters from the robot parameter file in /usr/local/Aria/params
    if(!Aria::parseArgs())
    {
        ROS_ERROR("RosAria: ARIA error parsing ARIA startup parameters!");
        return 1;
    }

    readParameters();

    // Start dynamic_reconfigure server
    dynamic_reconfigure_server = new dynamic_reconfigure::Server<rosaria::RosAriaConfig>;

    // Setup Parameter Minimums
    rosaria::RosAriaConfig dynConf_min;
    dynConf_min.trans_accel = robot->getAbsoluteMaxTransAccel() / 1000;
    dynConf_min.trans_decel = robot->getAbsoluteMaxTransDecel() / 1000;
    // TODO: Fix rqt dynamic_reconfigure gui to handle empty intervals
    // Until then, set unit length interval.
    dynConf_min.lat_accel = ((robot->getAbsoluteMaxLatAccel() > 0.0) ? robot->getAbsoluteMaxLatAccel() : 0.1) / 1000;
    dynConf_min.lat_decel = ((robot->getAbsoluteMaxLatDecel() > 0.0) ? robot->getAbsoluteMaxLatDecel() : 0.1) / 1000;
    dynConf_min.rot_accel = robot->getAbsoluteMaxRotAccel() * M_PI/180;
    dynConf_min.rot_decel = robot->getAbsoluteMaxRotDecel() * M_PI/180;

    // I'm setting these upper bounds relitivly arbitrarily, feel free to increase them.
    dynConf_min.TicksMM     = 10;
    dynConf_min.DriftFactor = -200;
    dynConf_min.RevCount    = -32760;

    dynamic_reconfigure_server->setConfigMin(dynConf_min);


    rosaria::RosAriaConfig dynConf_max;
    dynConf_max.trans_accel = robot->getAbsoluteMaxTransAccel() / 1000;
    dynConf_max.trans_decel = robot->getAbsoluteMaxTransDecel() / 1000;
    // TODO: Fix rqt dynamic_reconfigure gui to handle empty intervals
    // Until then, set unit length interval.
    dynConf_max.lat_accel = ((robot->getAbsoluteMaxLatAccel() > 0.0) ? robot->getAbsoluteMaxLatAccel() : 0.1) / 1000;
    dynConf_max.lat_decel = ((robot->getAbsoluteMaxLatDecel() > 0.0) ? robot->getAbsoluteMaxLatDecel() : 0.1) / 1000;
    dynConf_max.rot_accel = robot->getAbsoluteMaxRotAccel() * M_PI/180;
    dynConf_max.rot_decel = robot->getAbsoluteMaxRotDecel() * M_PI/180;

    // I'm setting these upper bounds relitivly arbitrarily, feel free to increase them.
    dynConf_max.TicksMM     = 200;
    dynConf_max.DriftFactor = 200;
    dynConf_max.RevCount    = 32760;

    dynamic_reconfigure_server->setConfigMax(dynConf_max);


    rosaria::RosAriaConfig dynConf_default;
    dynConf_default.trans_accel = robot->getTransAccel() / 1000;
    dynConf_default.trans_decel = robot->getTransDecel() / 1000;
    dynConf_default.lat_accel   = robot->getLatAccel() / 1000;
    dynConf_default.lat_decel   = robot->getLatDecel() / 1000;
    dynConf_default.rot_accel   = robot->getRotAccel() * M_PI/180;
    dynConf_default.rot_decel   = robot->getRotDecel() * M_PI/180;

    dynConf_default.TicksMM     = TicksMM;
    dynConf_default.DriftFactor = DriftFactor;
    dynConf_default.RevCount    = RevCount;

    dynamic_reconfigure_server->setConfigDefault(dynConf_max);

    dynamic_reconfigure_server->setCallback(boost::bind(&RosAriaNode::dynamic_reconfigureCB, this, _1, _2));

    // Enable the motors
    robot->enableMotors();

    // disable sonars on startup
    robot->disableSonar();

    // callback will  be called by ArRobot background processing thread for every SIP data packet received from robot
    robot->addSensorInterpTask("ROSPublishingTask", 100, &myPublishCB);

    // Initialize bumpers with robot number of bumpers
    bumpers.front_bumpers.resize(robot->getNumFrontBumpers());
    bumpers.rear_bumpers.resize(robot->getNumRearBumpers());

    // Run ArRobot background processing thread
    robot->runAsync(true);
    return 0;
}

void RosAriaNode::spin()
{
    ros::spin();
}

void RosAriaNode::publish()
{
    robot->requestEncoderPackets();
    Wheel.header.stamp = ros::Time::now();
    Wheel.name.resize(2);
    Wheel.position.resize(2);
    Wheel.velocity.resize(2);
    Wheel.effort.resize(0);

    Wheel.name[0]="Wheel_L";
    Wheel.name[1]="Wheel_R";
    Wheel.position[0]=robot->getLeftEncoder();
    Wheel.position[1]=robot->getRightEncoder();
    Wheel.velocity[0]=robot->getLeftVel();
    Wheel.velocity[1]=robot->getRightVel();
    wheel_pub.publish(Wheel);





    // Note, this is called via SensorInterpTask callback (myPublishCB, named "ROSPublishingTask"). ArRobot object 'robot' sholud not be locked or unlocked.
    pos = robot->getPose();
    tf::poseTFToMsg(tf::Transform(tf::createQuaternionFromYaw(pos.getTh()*M_PI/180), tf::Vector3(pos.getX()/1000,
                                                                                                 pos.getY()/1000, 0)), position.pose.pose); //Aria returns pose in mm.
    position.twist.twist.linear.x = robot->getVel()/1000; //Aria returns velocity in mm/s.
    position.twist.twist.linear.y = robot->getLatVel()/1000.0;
    position.twist.twist.angular.z = robot->getRotVel()*M_PI/180;

    position.header.frame_id = frame_id_odom;
    position.child_frame_id = frame_id_base_link;
    position.header.stamp = ros::Time::now();
    pose_pub.publish(position);

    ROS_DEBUG("RosAria: publish: (time %f) pose x: %f, y: %f, angle: %f; linear vel x: %f, y: %f; angular vel z: %f",
              position.header.stamp.toSec(),
              (double)position.pose.pose.position.x,
              (double)position.pose.pose.position.y,
              (double)position.pose.pose.orientation.w,
              (double) position.twist.twist.linear.x,
              (double) position.twist.twist.linear.y,
              (double) position.twist.twist.angular.z
              );


    // publishing transform odom->base_link
    odom_trans.header.stamp = ros::Time::now();
    odom_trans.header.frame_id = frame_id_odom;
    odom_trans.child_frame_id = frame_id_base_link;

    odom_trans.transform.translation.x = pos.getX()/1000;
    odom_trans.transform.translation.y = pos.getY()/1000;
    odom_trans.transform.translation.z = 0.0;
    odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(pos.getTh()*M_PI/180);

    odom_broadcaster.sendTransform(odom_trans);

    // getStallValue returns 2 bytes with stall bit and bumper bits, packed as (00 00 FrontBumpers RearBumpers)
    int stall = robot->getStallValue();
    unsigned char front_bumpers = (unsigned char)(stall >> 8);
    unsigned char rear_bumpers = (unsigned char)(stall);

    bumpers.header.frame_id = frame_id_bumper;
    bumpers.header.stamp = ros::Time::now();

    std::stringstream bumper_info(std::stringstream::out);
    // Bit 0 is for stall, next bits are for bumpers (leftmost is LSB)
    for (unsigned int i=0; i<robot->getNumFrontBumpers(); i++)
    {
        bumpers.front_bumpers[i] = (front_bumpers & (1 << (i+1))) == 0 ? 0 : 1;
        bumper_info << " " << (front_bumpers & (1 << (i+1)));
    }
    ROS_DEBUG("RosAria: Front bumpers:%s", bumper_info.str().c_str());

    bumper_info.str("");
    // Rear bumpers have reverse order (rightmost is LSB)
    unsigned int numRearBumpers = robot->getNumRearBumpers();
    for (unsigned int i=0; i<numRearBumpers; i++)
    {
        bumpers.rear_bumpers[i] = (rear_bumpers & (1 << (numRearBumpers-i))) == 0 ? 0 : 1;
        bumper_info << " " << (rear_bumpers & (1 << (numRearBumpers-i)));
    }
    ROS_DEBUG("RosAria: Rear bumpers:%s", bumper_info.str().c_str());

    bumpers_pub.publish(bumpers);

    //Publish battery information
    // TODO: Decide if BatteryVoltageNow (normalized to (0,12)V)  is a better option
    std_msgs::Float64 batteryVoltage;
    batteryVoltage.data = robot->getRealBatteryVoltageNow();
    voltage_pub.publish(batteryVoltage);

    if(robot->haveStateOfCharge())
    {
        std_msgs::Float32 soc;
        soc.data = robot->getStateOfCharge()/100.0;
        state_of_charge_pub.publish(soc);
    }

    // publish recharge state if changed
    char s = robot->getChargeState();
    if(s != recharge_state.data)
    {
        ROS_INFO("RosAria: publishing new recharge state %d.", s);
        recharge_state.data = s;
        recharge_state_pub.publish(recharge_state);
    }

    // publish motors state if changed
    bool e = robot->areMotorsEnabled();
    if(e != motors_state.data || !published_motors_state)
    {
        ROS_INFO("RosAria: publishing stop motors state %d.", e);
        motors_state.data = e;
        motors_state_pub.publish(motors_state);
        published_motors_state = true;
    }

    //Publikuje czy zatrzymane silniki
    if(stop_robot)
    {
        ROS_INFO("RosAria: publishing new motors state %d.", stop_motors_msg.data);
        stop_motors_pub.publish(stop_motors_msg);
        stop_robot = false;
    }

    // Publish sonar information, if enabled.
    if (publish_sonar || publish_sonar_pointcloud2)
    {
        sensor_msgs::PointCloud cloud;  //sonar readings.
        cloud.header.stamp = position.header.stamp; //copy time.
        // sonar sensors relative to base_link
        cloud.header.frame_id = frame_id_sonar;


        std::stringstream sonar_debug_info; // Log debugging info
        sonar_debug_info << "Sonar readings: ";

        for (int i = 0; i < robot->getNumSonar(); i++) {
            ArSensorReading* reading = NULL;
            reading = robot->getSonarReading(i);
            if(!reading) {
                ROS_WARN("RosAria: Did not receive a sonar reading.");
                continue;
            }

            // getRange() will return an integer between 0 and 5000 (5m)
            sonar_debug_info << reading->getRange() << " ";

            // local (x,y). Appears to be from the centre of the robot, since values may
            // exceed 5000. This is good, since it means we only need 1 transform.
            // x & y seem to be swapped though, i.e. if the robot is driving north
            // x is north/south and y is east/west.
            //
            //ArPose sensor = reading->getSensorPosition();  //position of sensor.
            // sonar_debug_info << "(" << reading->getLocalX()
            //                  << ", " << reading->getLocalY()
            //                  << ") from (" << sensor.getX() << ", "
            //                  << sensor.getY() << ") ;; " ;

            //add sonar readings (robot-local coordinate frame) to cloud
            geometry_msgs::Point32 p;
            p.x = reading->getLocalX() / 1000.0;
            p.y = reading->getLocalY() / 1000.0;
            p.z = 0.0;
            cloud.points.push_back(p);
        }
        ROS_DEBUG_STREAM(sonar_debug_info.str());

        // publish topic(s)

        if(publish_sonar_pointcloud2)
        {
            sensor_msgs::PointCloud2 cloud2;
            if(!sensor_msgs::convertPointCloudToPointCloud2(cloud, cloud2))
            {
                ROS_WARN("Error converting sonar point cloud message to point_cloud2 type before publishing! Not publishing this time.");
            }
            else
            {
                sonar_pointcloud2_pub.publish(cloud2);
            }
        }

        if(publish_sonar)
        {
            sonar_pub.publish(cloud);
        }
    } // end if sonar_enabled

    if(watchdog.toSec()+WATCHDOG<ros::Time::now().toSec())
    {
        robot->comInt(ArCommands::ESTOP,0);
        robot->setVel(0);
        if(robot->hasLatVel())
            robot->setLatVel(0);
        robot->setRotVel(0);
        // ROS_INFO("WATCHDOG %d", WATCHDOG);
    }
}

bool RosAriaNode::enable_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
{
    ROS_INFO("RosAria: Enable motors request.");
    robot->lock();
    if(robot->isEStopPressed())
        ROS_WARN("RosAria: Warning: Enable motors requested, but robot also has E-Stop button pressed. Motors will not enable.");
    robot->enableMotors();
    robot->unlock();
    // todo could wait and see if motors do become enabled, and send a response with an error flag if not
    return true;
}

bool RosAriaNode::disable_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
{
    ROS_INFO("RosAria: Disable motors request.");
    robot->lock();
    robot->disableMotors();
    robot->unlock();
    // todo could wait and see if motors do become disabled, and send a response with an error flag if not
    return true;
}

//Damian Metody odpowiedzialne za awaryjne ztrzymanie silników
bool RosAriaNode::start_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
{
    stop_robot=true;
    stop_motors_msg.data=false;

    ROS_INFO("RosAria: Disable motors brakes.");
    robot->lock();
    if(robot->isEStopPressed())
        ROS_WARN("RosAria: Warning: Enable motors requested, but robot also has E-Stop button pressed. Motors will not enable.");
    robot->unlock();
    return true;
}

bool RosAriaNode::stop_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
{
    robot->lock();
    stop_robot=true;
    stop_motors_msg.data=true;
    //Zatrzymuje robota
    robot->setVel(0);
    if(robot->hasLatVel())
        robot->setLatVel(0);
    robot->setRotVel(0);

    robot->comInt(ArCommands::ESTOP,0);
    ROS_INFO("RosAria: Enable motors brakes.");
    robot->unlock();
    return true;
}
bool  RosAriaNode::gripper_open_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
{
    robot->lock();
    gripper->gripOpen();
    ROS_INFO("RosAria: Gripper opening.");
    robot->unlock();
    return true;
}

bool  RosAriaNode::gripper_close_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
{
    robot->lock();
    gripper->gripClose();
    ROS_INFO("RosAria: Gripper closing.");
    robot->unlock();
    return true;
}

bool  RosAriaNode::gripper_up_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
{
    robot->lock();
    gripper->liftUp();
    ROS_INFO("RosAria: Gripper moving up");
    robot->unlock();
    return true;
}

bool  RosAriaNode::gripper_down_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
{
    robot->lock();
    gripper->liftDown();
    ROS_INFO("RosAria: Gripper moving down.");
    robot->unlock();
    return true;
}


void RosAriaNode::cmdvel_cb( const geometry_msgs::TwistConstPtr &msg)
{
    veltime = ros::Time::now();
    watchdog= ros::Time::now();
    if(stop_motors_msg.data)
    {
        ROS_INFO( "new speed: [%0.2f,%0.2f](%0.3f) but robot is stop", msg->linear.x*1e3, msg->angular.z, veltime.toSec() );
        return;
    }
    ROS_INFO( "new speed: [%0.2f,%0.2f](%0.3f)", msg->linear.x, msg->angular.z, veltime.toSec() );

    ROS_INFO( "max speed: [%0.2f,%0.2f](%0.3f)", maxVel, maxRot, veltime.toSec() );
    float x,y,z;
    x=msg->linear.x;
    y=msg->linear.y;
    z=msg->angular.z;

    if (fabs(msg->linear.x)>maxVel)
    {
        ROS_INFO( "angular velocity is too large");
        if(msg->linear.x<0) x=-maxVel;
        if(msg->linear.x>0) x=maxVel;
    }
    if (fabs(msg->linear.y)>maxVel)
    {
        ROS_INFO( "angular velocity is too large");
        if(msg->linear.y<0) y=-maxVel;
        if(msg->linear.y>0) y=maxVel;
    }
    if (fabs(msg->angular.z)>maxRot)
    {
        ROS_INFO( "rotate velocity is too large");
        if(msg->angular.z<0) z=-maxRot;
        if(msg->angular.z>0) z=maxRot;
    }


    robot->lock();
    robot->setVel(x*1e3);
    if(robot->hasLatVel())
        robot->setLatVel(y*1e3);
    robot->setRotVel(z*180/M_PI);
    robot->unlock();
    ROS_DEBUG("RosAria: sent vels to to aria (time %f): x vel %f mm/s, y vel %f mm/s, ang vel %f deg/s", veltime.toSec(),
              (double) x * 1e3, (double) y * 1.3, (double) z * 180/M_PI);
}

// Olek new subscribers
void RosAriaNode::restrictions_cb( const rosaria_msgs::RestrictionsMsg &msg)
{
    veltime = ros::Time::now();
    maxVel=msg.linear_velocity.data;
    maxRot=msg.angular_velocity.data;
    minDist=msg.distance.data;
    ROS_INFO( "new max speed: [%0.2f,%0.2f]", maxVel, maxRot);
}

void RosAriaNode::userstop_cb(const std_msgs::Bool &msg)
{
    if (msg.data == true)
    {
        // User stop released
        userstop_state = true;
    }
    else
    {
        // User stop requested
        robot->lock();

        robot->setVel(0);
        if(robot->hasLatVel())
            robot->setLatVel(0);
        robot->setRotVel(0);

        robot->comInt(ArCommands::ESTOP,0); // ?
        robot->unlock();

        userstop_state = false;
    }
}

void RosAriaNode::masterstop_cb(const std_msgs::Bool &msg)
{
    if (msg.data == true)
    {
        // Master stop released
        masterstop_state = true;
    }
    else
    {
        // Master stop requested
        robot->lock();

        robot->setVel(0);
        if(robot->hasLatVel())
            robot->setLatVel(0);
        robot->setRotVel(0);

        robot->comInt(ArCommands::ESTOP,0); // ?
        robot->unlock();
        
        masterstop_state = false;
    }
}

void RosAriaNode::clutch_cb(const std_msgs::Bool &msg)
{
    if (msg.data == true)
    {
        // Engaging clutch
        robot->lock();
        robot->enableMotors();
        robot->unlock();
        clutch_state = true;
    }
    else
    {
        // Disengaging clutch
        robot->lock();
        robot->disableMotors();
        robot->unlock();
        clutch_state = false;
    }
}


int main( int argc, char** argv )
{
    ros::init(argc,argv, "RosAria");
    ros::NodeHandle n(std::string("~"));
    Aria::init();

    RosAriaNode *node = new RosAriaNode(n);

    if( node->Setup() != 0 )
    {
        ROS_FATAL( "RosAria: ROS node setup failed... \n" );
        return -1;
    }

    node->spin();

    delete node;

    ROS_INFO( "RosAria: Quitting... \n" );
    return 0;

}