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// Copyright (c) 2021, BlueSpace.ai, Inc.
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//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
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//  are permitted provided that the following conditions are met:
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//  	this list of conditions, and the following disclaimer.
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//  2.	Redistributions in binary form must reproduce the above copyright notice,
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//  3.	Neither the names of the copyright holders nor the names of their contributors
//  	may be used to endorse or promote products derived from this software without
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#ifndef ORIENTATIONPUBLISHER_H
#define ORIENTATIONPUBLISHER_H

#include "packetcallback.h"
#include <geometry_msgs/msg/quaternion_stamped.hpp>

struct OrientationPublisher : public PacketCallback
{
    rclcpp::Publisher<geometry_msgs::msg::QuaternionStamped>::SharedPtr pub;
    std::string frame_id = DEFAULT_FRAME_ID;

    OrientationPublisher(rclcpp::Node &node)
    {
        int pub_queue_size = 5;
        node.get_parameter("publisher_queue_size", pub_queue_size);
        pub = node.create_publisher<geometry_msgs::msg::QuaternionStamped>("/filter/quaternion", pub_queue_size);
        node.get_parameter("frame_id", frame_id);
    }

    void operator()(const XsDataPacket &packet, rclcpp::Time timestamp)
    {
        if (packet.containsOrientation())
        {
            geometry_msgs::msg::QuaternionStamped msg;

            msg.header.stamp = timestamp;
            msg.header.frame_id = frame_id;

            XsQuaternion q = packet.orientationQuaternion();

            msg.quaternion.w = q.w();
            msg.quaternion.x = q.x();
            msg.quaternion.y = q.y();
            msg.quaternion.z = q.z();

            pub->publish(msg);
        }
    }
};

#endif
