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 Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
 All rights reserved.

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 provided that the following conditions are met:

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#include <unistd.h>

#include <iostream>
#include <string>
#include <vector>
#include <map>
#include <fstream>

#include <ros/ros.h>

#include <tf/transform_listener.h>

#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

#include <haptic_force/Force.h>
#include <pressure_cells/Cop.h>
#include <phantom_control/State.h>
#include <humanoid_control/Humanoid.h>
#include <pressure_cells/SenVal.h>

using namespace std;
using namespace ros;

class Conversion
{
    public:
        
        Conversion():
        n_("~")
        {
            arduino_1_values_report_name_ = ros::names::remap("arduino_1_values_report");
            arduino_2_values_report_name_ = ros::names::remap("arduino_2_values_report");
            
            cop_left_right_report_name_ = ros::names::remap("cop_left_right_report");
            cop_left_report_name_ = ros::names::remap("cop_left_report");
            cop_right_report_name_ = ros::names::remap("cop_right_report");

            force_report_name_ = ros::names::remap("force_report_name_");
            humanoid_state_report_name_ = ros::names::remap("humanoid_state_report");
            phantom_state_report_name_ = ros::names::remap("phantom_state_report");
            
            remove(arduino_1_values_report_name_.c_str());
            remove(arduino_2_values_report_name_.c_str());
            
            remove(cop_left_right_report_name_.c_str());
            remove(cop_left_report_name_.c_str());
            remove(cop_right_report_name_.c_str());

            remove(force_report_name_.c_str());
            remove(humanoid_state_report_name_.c_str());
            remove(phantom_state_report_name_.c_str());
            
            arduino_1_handler_ = n_.subscribe<pressure_cells::SenVal> ("/arduino_1_values",1000,boost::bind(&Conversion::ArduinoHandler,this,_1,arduino_1_values_report_name_));
            arduino_2_handler_ = n_.subscribe<pressure_cells::SenVal> ("/arduino_2_values",1000,boost::bind(&Conversion::ArduinoHandler,this,_1,arduino_2_values_report_name_));
            
            cop_left_right_handler_ = n_.subscribe<pressure_cells::Cop> ("/cop_left_right",1000,boost::bind(&Conversion::COPHandler,this,_1,cop_left_right_report_name_));
            cop_left_handler_ = n_.subscribe<pressure_cells::Cop> ("/cop_left",1000,boost::bind(&Conversion::COPHandler,this,_1,cop_left_report_name_));
            cop_right_handler_ = n_.subscribe<pressure_cells::Cop> ("/cop_right",1000,boost::bind(&Conversion::COPHandler,this,_1,cop_right_report_name_));
            
            force_report_handler_ = n_.subscribe ("/force",1000, &Conversion::ForceHandler, this);
            
            humanoid_state_handler_ = n_.subscribe("/humanoid_state",1000, &Conversion::HumanoidHandler, this);
            
            phantom_state_handler_ = n_.subscribe ("/phantom_state",1000, &Conversion::PhantomHandler, this);
        }
        
        ~Conversion()
        {
            
        }
        
        void ArduinoHandler(const pressure_cells::SenVal::ConstPtr& ard_values, string report_name)
        {
            ofstream report_ard;
            report_ard.open(report_name.c_str(),ios::app);
            
            boost::format fm("%.6f");// %.13f %.13f %.13f %.13f");
            fm % ard_values->header.stamp.toSec();// % ard_values.sen1 % ard_values.sen2 % ard_values.sen3 % ard_values.sen4;
    
            report_ard<<ard_values->header.seq<<" "<<fm.str()<<" "<< ard_values->sen1<<" "<< ard_values->sen2 <<" "<< ard_values->sen3 <<" "<<ard_values->sen4<<endl;
            
            report_ard.close();
        }
        
        void COPHandler(const pressure_cells::Cop::ConstPtr& cop_values, string report_name)
        {
            ofstream report_cop;
            report_cop.open(report_name.c_str(),ios::app);
            
            boost::format fm("%.6f");
            fm % cop_values->header.stamp.toSec() ;
    
            report_cop<<cop_values->header.seq<<" "<<fm.str()<<" "<< cop_values->copx <<" "<<cop_values->copy<<endl;
            
            report_cop.close();
        }
        
        void ForceHandler(const haptic_force::ForcePtr& force_values)
        {
            ofstream report_force;
            report_force.open(force_report_name_.c_str(),ios::app);
            
            boost::format fm("%.6f");
            fm % force_values->header.stamp.toSec();
    
            report_force<<force_values->header.seq<<" "<<fm.str()<<" "<< force_values->force[0]<<" "<< force_values->force[1]<<" "<< force_values->force[2]<<endl;
            
            report_force.close();
            
        }

        void HumanoidHandler(const humanoid_control::HumanoidPtr& humanoid_values)
        {
            ofstream report_humanoid;
            report_humanoid.open(humanoid_state_report_name_.c_str(),ios::app);
            
            boost::format fm("%.6f");
            fm % humanoid_values->header.stamp.toSec();
    
            report_humanoid<<humanoid_values->header.seq<<" "<<fm.str();
            
            for (int i = 0; i < 12; i++)
            {
                report_humanoid<<" "<<humanoid_values->speed_wanted[i];
            }
            for (int i = 0; i < 12; i++)
            {
                report_humanoid<<" "<<humanoid_values->joint_now[i];
            }
            for (int i = 0; i < 12; i++)
            {
                report_humanoid<<" "<<humanoid_values->joint_wanted[i];
            }

            report_humanoid<<endl;

            report_humanoid.close();
            
        }

        void PhantomHandler(const phantom_control::StatePtr& phantom_values)
        {
            ofstream report_phantom;
            report_phantom.open(phantom_state_report_name_.c_str(),ios::app);
            
            boost::format fm("%.6f");
            fm % phantom_values->header.stamp.toSec();
    
            report_phantom<<phantom_values->header.seq<<" "<<fm.str();
            
            for (int i = 0; i < 3; i++)
            {
                report_phantom<<" "<<phantom_values->position[i];
            }
            for (int i = 0; i < 3; i++)
            {
                report_phantom<<" "<<phantom_values->rot[i];
            }
            for (int i = 0; i < 3; i++)
            {
                report_phantom<<" "<<phantom_values->joints[i];
            }
            for (int i = 0; i < 3; i++)
            {
                report_phantom<<" "<<phantom_values->force[i];
            }
            for (int i = 0; i < 2; i++)
            {
                report_phantom<<" "<<phantom_values->buttons[i];
            }
            
            report_phantom<<" "<<phantom_values->home;
            
            for (int i = 0; i < 3; i++)
            {
                report_phantom<<" "<<phantom_values->home_pos[i];
            }

            report_phantom<<endl;

            report_phantom.close();
            
        }
        
        string arduino_1_values_report_name_;
        string arduino_2_values_report_name_;
        
        string cop_left_right_report_name_;
        string cop_left_report_name_;
        string cop_right_report_name_;

        string force_report_name_;
        string humanoid_state_report_name_;
        string phantom_state_report_name_;
        
        ros::Subscriber arduino_1_handler_; 
        ros::Subscriber arduino_2_handler_;
        
        ros::Subscriber cop_left_right_handler_;
        ros::Subscriber cop_left_handler_;
        ros::Subscriber cop_right_handler_;
        
        ros::Subscriber force_report_handler_;
        ros::Subscriber humanoid_state_handler_;
        ros::Subscriber phantom_state_handler_;
        
        ros::NodeHandle n_;
};

int main(int argc,char**argv)
{
    ros::init(argc, argv, "bag2txt");
            
    Conversion convert;
    
    cout<<"spining ..."<<endl;
    ros::spin();
    
    return 0;
}