bool checkConnection(){
	if(!port.isOpen() && !port.getPort().empty()){
		try{
			port.open();
			ROS_WARN_THROTTLE(5, "Serial port was closed, reopened.");
		} catch (const serial::IOException& ex){
			ROS_ERROR_THROTTLE(10, "Serial port is closed, reopening failed: %s", ex.what());
		}
	}
}

int main(int argc, char **argv){

	ros::init(argc, argv, "nayan_ros");

	ros::NodeHandle n;



	imu_pub = n.advertise<nayan_msgs::nayan_imu>("nayan_ros/imu", 1000);

	debug_var_pub = n.advertise<nayan_msgs::nayan_dbg>("nayan_ros/debug_var", 1000);

	gps_pose_vel_pub = n.advertise<nayan_msgs::nayan_gps_pose_vel>("nayan_ros/gps_pose_vel", 1000);

	attitude_pub = n.advertise<nayan_msgs::nayan_attitude>("nayan_ros/attitude", 1000);

	rc_in_pub = n.advertise<nayan_msgs::nayan_rc_in>("nayan_ros/rc_in", 1000);


	vision_est_sub = n.subscribe("nayan_ros/vision_estimate", 1000, update_vision_estimate);

	pose_vel_setpt_sub = n.subscribe("nayan_ros/setpoint_pose_vel", 1000, update_setpoint_pose_vel);


	param_srv = n.advertiseService("param_set", update_param);


	ros::Duration(2).sleep();

	if (ser.isOpen()){
		ROS_INFO("Serial Port Opened!");
	}else{
		ROS_ERROR("Serial Port Cannot be Opened!");
	}

	ros::Rate loop_rate(100);

	while(ros::ok()){

		update_mavlink();

		ros::spinOnce();

		loop_rate.sleep();
	}


	return 0;
}

void receive(){
  if(!checkConnection()){
  	return;
	}
  
  // reads:
  //  3 bytes:
  //     1 byte  to compare with START_BYTE
  //     1 bytes into _msg->len
  //     1 byte  into _msg->type
  //  len+1 bytes:
  //   len bytes into _msg->data
  //     1 byte  to compare with _msg->checksum

  
  size_t amount;
  while((amount=port.available()) > 0){
    if(_pos > 0){
      amount = min((unsigned int)amount, _msg->length + 3 - _pos);
      port.read(&(_msg->data[_pos]), amount);
      _pos += amount;

      if(_pos == _msg->length + 3 && port.available()){
        uint8_t checksum;
        port.read(&checksum, 1);
        _msg->calcChecksum();

        if(checksum == _msg->checksum){
          parse(_msg);
        }else{
          ROS_WARN_THROTTLE(1, "Serial: Checksum mismatch: %u != %u", checksum, _msg->checksum);
        }
        resetMessage();
      }
  
    }else if(amount >= 3){
      uint8_t b;
      port.read(&b, 1);

      if(b != START_BYTE){
        ROS_WARN_THROTTLE(1, "Serial: Expected start byte, got this instead: %u", b);
        return;
      }
      uint8_t d[2];
      port.read(d, 2);
      uint16_t len = d[0];
			if(len > 0){
	      _msg = new Message(len - 1, d[1]); // TODO catch exception?
      	_pos = 3;
			}
    }
  }
}

int main(int argc, char** argv)
{
    ros::init(argc, argv, "IMU_Node2");
    ros::NodeHandle n;


     imu_pub = n.advertise<sensor_msgs::Imu>("/imu/data",100);


    // Change the next line according to your port name and baud rate
    try
    {

        if(device.isOpen())
           {
               ROS_INFO("Port is opened");
          }
    }
    catch(serial::SerialException& e)
    {
        ROS_FATAL("Failed to open the serial port!!!");
        ROS_BREAK();
    }

       ros::Rate r(50);
          while(ros::ok())
          {


       // Get the reply, the last value is the timeout in ms
       try{
     std::string reply;

        // ros::Duration(0.005).sleep();

           device.readline(reply);
           Roll = strtod(reply.c_str(),&pRoll)/2;
           Pitch = strtod(pRoll,&pRoll)/2;
           Yaw  = strtod(pRoll,&pRoll)/2;
           GyroX = strtod(pRoll,&pRoll);
           GyroY = strtod(pRoll,&pRoll);
           GyroZ = strtod(pRoll,&pRoll);
           AccX = strtod(pRoll,&pRoll);
           AccY = strtod(pRoll,&pRoll);
           AccZ = strtod(pRoll,&pRoll);
           Mx = strtod(pRoll,&pRoll);
           My = strtod(pRoll,&pRoll);
           Mz = strtod(pRoll,NULL);

           ROS_INFO("Euler %.2f %.2f %.2f",Roll,Pitch,Yaw);

	   sensor_msgs::Imu imu;

           geometry_msgs::Quaternion Q;
           Q = tf::createQuaternionMsgFromRollPitchYaw(Roll*-1,Pitch*-1,Yaw*-1);

           imu.orientation.x = 0;
           imu.orientation.y = 0;
           imu.orientation.z = 0;
           imu.orientation.w = 1;


           LinearX =  (AccX/256)*9.806;
           LinearY = (AccY/256)*9.806;
           LinearZ = (AccZ/256)*9.806;

           imu.angular_velocity.x = GyroX*-1*0.07*0.01745329252;;
           imu.angular_velocity.y = GyroY*0.07*0.01745329252;;
           imu.angular_velocity.z = GyroZ*-1*0.07*0.01745329252;;

           imu.linear_acceleration.x =  LinearX*-1;
           imu.linear_acceleration.y =  LinearY;
           imu.linear_acceleration.z =  LinearZ*-1;
           imu.header.stamp = ros::Time::now();
           imu.header.frame_id = "imu";
           imu_pub.publish(imu);


       }
       catch(serial::SerialException& e)
       {
           ROS_INFO("Error %s",e.what());
       }

              r.sleep();
    }

}

void update_mavlink(void){

    mavlink_message_t msg;
    mavlink_status_t status;

	if(ser.available()){

		uint16_t num_bytes = ser.available();

		uint8_t buffer[num_bytes];

		ser.read(buffer, num_bytes);

		for(uint16_t i = 0; i < num_bytes; i++){

	        if (mavlink_parse_char(MAVLINK_COMM_0, buffer[i], &msg, &status)) {

	            handleMessage(&msg, MAVLINK_COMM_0);

	        }
		}

	}

}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "syncboard_node");
  ros::NodeHandle nh;

  Move mover;

  // Advertise topics
  ros::Publisher chatter_pub = nh.advertise<geometry_msgs::Twist>("/camera_stitch/cmd_vel", 1);
  ros::Publisher timestamps_pub = nh.advertise<std_msgs::String>("syncbox_timestamps", 1);

  //Synboard stuff
  std::string port;
  int baud;
  nh.param<std::string>("port", port, "/dev/ttyUSB0");
  nh.param("baud", baud, 9600);
  syncboard.setTimeout(serial::Timeout::max(), 500, 0, 500, 0);
  syncboard.setPort(port);
  syncboard.setBaudrate(baud);
  syncboard.open();
  mover.handshake();
  while(ros::ok()){
    ros::spinOnce();
    ros::Rate(10).sleep();
  }
  syncboard.write("s");

  return 0;
}

        bool open() {

				bool device_opened = false;

				if (is_open()) {
					if (debug)
						std::cout << "serial already opened" << std::endl;
					
				} else {
				
					m_serial.setPort(m_device_port);
					m_serial.setBaudrate(115200);
					//serial::Timeout t(1000, 1000);
					m_serial.setTimeout(serial::Timeout::simpleTimeout(2000));
					m_serial.open();

					// Open port
					if (m_serial.isOpen()) {
						m_serial.flush();
						// Check if the device is well a Wattsup
						if (identify()) {
							m_serial.flush();
							device_opened = true;
						} else {
							m_serial.close();
						}
					}
				}

				return device_opened;
        }

bool Move::burst_callback(std_srvs::Trigger::Request  &req, std_srvs::Trigger::Response &res)
{
  static unsigned int count=0;

  res.success = true; 
  res.message = "Started syncboard burst trigger"; //this trigger defaults to 5hz and is independent of robot position
  geometry_msgs::Twist output;

  output.linear.x = 0.2;		
  output.linear.y = 0.0;
  output.linear.z = 0.0;
  output.angular.x = 0.0;
  output.angular.y = 0.0;
  output.angular.z = 0.0;
  movePub.publish(output);

  syncboard.write("b");

  usleep(1700000); //TUNE THIS PARAMETER

  output.linear.x = 0.0;
  output.linear.y = 0.0;
  output.linear.z = 0.0;
  output.angular.x = 0.0;
  output.angular.y = 0.0;
  output.angular.z = 0.0;
  movePub.publish(output);

  ROS_INFO("Finished the burst");  
  count++;
  return true;
}

static void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
{
    if (chan == MAVLINK_COMM_0)
    {
    	ser.write(&ch, 1);
    }
}

bool Move::handshake(){
  int counter = 0;
  while(ros::ok()){
    syncboard.flush();
    syncboard.write("v");
    std::string result = syncboard.readline();
    if (result.length() > 0){
      ROS_INFO("Connected to syncboard.");
      return true;
    }
    if(counter++ > 50){
      ROS_WARN_ONCE("Connecting to syncboard is taking longer than expected.");
    }
    ros::Rate(10).sleep();
  }
  ROS_WARN("Syncboard handshake failed.");
  return false;  
}

void sendCommand(int robotId, int leftMotorSpeed, int rightMotorSpeed)
{
        char cmd[4];
        cmd[0] = robotId;
        cmd[1] = 128 + leftMotorSpeed;
        cmd[2] = 128 + rightMotorSpeed;
        cmd[3] = '\n';
        string cmdStr(cmd, cmd + 4);
        my_serial.write(cmdStr);
}

// Opens and configures the com-port
void configure_com_port(void)
{
  if (my_serial.isOpen())
  {
    cout << "Port is open " << endl;
  }
  else
  {
     cout << "Unable to open com-port " << endl;
  }
}

		// Get all bytes available
		bool getBytes(char * buffer, int& buf_len) {
			
			bool res = false;
			//buf_len = 0;
			try {
				while (true) {
						
						int res = 0;
						size_t available = m_serial.available();
						if (!available) {
							break;
						} else {
							res = m_serial.read((uint8_t*)buffer + buf_len, available);
						}
						
						if (res <= 0) {
								break;
						}

						buf_len += res;
						m_last_read_time = Datapoint::get_current_time();


				}

			} catch (...) {
				if (debug) {
					std::cout << "exception thrown while wattsup reading" << std::endl;
				}

				close();

			}
			
			if (buf_len > 0) {
				res = true;
			}

			return res;
		}

        bool write(Packet& p) {

				if (!is_open()) {
					close();
					return false;
				}

                memset(p.m_buf, 0, sizeof(p.m_buf));
                int n = sprintf(p.m_buf, "#%c,%c,%d", p.m_cmd, p.m_sub_cmd, p.m_count);
                char* s = p.m_buf + n;
                p.m_len = n;

                for (int i = 0; i < p.m_count; i++) {
                        if ((p.m_len + strlen(p.m_fields[i]) + 4) >= sizeof(p.m_buf)) {
                                return false;
                        }

                        n = sprintf(s, ",%s", p.m_fields[i]);
                        s += n;
                        p.m_len += n;
                }

                p.m_buf[p.m_len++] = ';';

                if (debug) {
                        cout << "[debug-write]: " << m_device_port << ": "
                             << p.m_buf << endl;
                }


				try {
					int pos = 0;
					while (pos < p.m_len) {
							int res = m_serial.write((const uint8_t *)p.m_buf + pos, p.m_len - pos);
							if (res < 0) {
									return false;
							}

							pos += res;
					}
				} catch (...) {
					if (debug) {
						std::cout << "exception thrown while wattsup writing" << std::endl;
					}
				

					close();
				}

                return true;
        }

        void close() {

                if (m_closing) return;
                m_closing = true;

				if (is_open()) {
                        // Internal logging 600s
                        Packet p;
						WattsupCommand::SetupInternalLogging600s(p);

						write(p);

                        m_serial.flush();
						
				}

				m_serial.close();

                m_buf_len = 0;
                m_commands.clear();
                m_closing = false;

				//this->fileLog("Device closed ! [" + m_device_port + "]");
        }

// Sends the given channel values with it's checksum to
// the rc-controller
void send_to_controller( const QuadroController::channel_values::ConstPtr& msg)
{
  send_data[0] = 0x00;
  send_data[1] = 0x01;
  send_data[2] = msg->channel_1;
  send_data[3] = msg->channel_2;
  send_data[4] = msg->channel_3;
  send_data[5] = msg->channel_4;
  send_data[6] = msg->channel_5;
  send_data[7] = 0x00;
  send_data[8] = 0x00;
  send_data[9] = calculate_checksum(send_data,9);
  // 0x55 is the start-byte to initiate the communication
  // prozess 
  send_data[0] = 0x55;
  my_serial.write(send_data,sizeof(send_data));
  // Uncomment to see the checksum
  //ROS_INFO("Checksum: [%d]", send_data[9]);
}

bool open(string portname, int baudrate){
  port.setPort(portname);
  port.setBaudrate(baudrate);
  serial::Timeout t = serial::Timeout::simpleTimeout(1000);
  port.setTimeout(t);
	try{
		port.open();
	} catch (const serial::IOException& ex){
		ROS_ERROR_THROTTLE(10, "IOException while attempting to open serial port '%s': %s", portname.c_str(), ex.what());
	}

  if(port.isOpen()){
		port.setPort("kbot_bridge");
    return true;
  }

  return false;
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "doa_rssi_server");
  ros::NodeHandle n2;
  tf::TransformListener listener;
  ros::Rate r(10);
  ros::ServiceServer service = n2.advertiseService("get_doa_rssi", add);
  ros::Publisher marker_pub_path = n2.advertise<visualization_msgs::Marker>("beacon_point", 10);
  tf::StampedTransform transformMtoR;
  tf::StampedTransform transform;
  string dataString;
  float doarssi[3];
  bool doarssiready = false;
  //ros::spin();//a blocking call duhh!
  ROS_INFO("ready to give DOA and RSSI!!");

   visualization_msgs::Marker markerDOA,markerIntersections,markerBeacon1,markerBeacon2,markerPath;
   markerDOA.header.frame_id  = "/map";
   markerDOA.header.stamp = ros::Time::now();
   markerDOA.ns = "markers";
   markerDOA.action   = visualization_msgs::Marker::ADD;
   markerDOA.pose.orientation.w = 1.0;
   markerDOA.id = 0;
   markerDOA.type = visualization_msgs::Marker::POINTS;
 //########POINTS markers use x and y scale for width/height respectively
   markerDOA.scale.x = 1.2;
   markerDOA.scale.y = 1.2;
   markerDOA.scale.z = 0.5;
   markerDOA.color.r = 1.0f;
   markerDOA.color.b = 1.0f;
   markerDOA.color.a = 1.0;
   geometry_msgs::Point marker_point;
   marker_point.x = 19.0;
   marker_point.y = 19.0;
   marker_point.z = 0.0;
   markerDOA.points.push_back(marker_point);
   marker_pub_path.publish(markerDOA);
  while(n2.ok())
  {
#ifndef SDR
	  try{
		 listener.lookupTransform("base_link", "beacon",
								 ros::Time(0), transform);
	  }
	  catch (tf::TransformException &ex) {
		ROS_ERROR("%s",ex.what());
		ros::Duration(1.0).sleep();
		continue;
	  }
	  phi = atan2f(transform.getOrigin().y(),transform.getOrigin().x());
	  rssi = 1/(transform.getOrigin().x()*transform.getOrigin().x()+transform.getOrigin().y()*transform.getOrigin().y());
#else
	if(robotserial.available())
	{
		dataString = robotserial.readline(100,"\n");
		cout << "odom received: "<< dataString << endl;
		char * dataStringArray = new char [dataString.length()+1];
		std::strcpy (dataStringArray, dataString.c_str());
			//printf("%s\n",dataStringArray);
		// dataStringArray now contains a c-string copy of str
		char * token = std::strtok (dataStringArray,",");
		char *unconverted;
		int i = 0;
		if(*token=='t')
		{
			while (token!=0)
			{
				//std::cout << token << "-" << atoi(token) <<'\n';
				doarssi[i] = atof(token);
				token = std::strtok(NULL,",");
				i++;
			}
			doarssiready = true;
		}
	}
#endif
	if(doarssiready==true)
	{
		phi = doarssi[1];
		rssi = doarssi[2];
		doarssiready = false;
	}
	ros::spinOnce();
	marker_pub_path.publish(markerDOA);
  }
  return 0;
}

        bool is_open() {
				return m_serial.isOpen();
        }

bool Move::trigger_callback(std_srvs::Trigger::Request  &req, std_srvs::Trigger::Response &res)
{
  syncboard.write("t");
  return true;
}