// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_TILT_LASER_LISTENER_H_
#define JSK_PCL_ROS_TILT_LASER_LISTENER_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/JointState.h>
#include <jsk_recognition_msgs/TimeRange.h>
#include "jsk_pcl_ros/line_segment_collector.h"
#include <std_srvs/Empty.h>

namespace jsk_pcl_ros
{
  class StampedJointAngle
  {
  public:
    typedef boost::shared_ptr<StampedJointAngle> Ptr;
    StampedJointAngle(const std_msgs::Header& header_arg, const double& value);
    virtual ~StampedJointAngle() {}
    std_msgs::Header header;
    virtual double getValue() { return value_; }
  protected:
    double value_;
  private:
    
  };
  
  class TiltLaserListener: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    TiltLaserListener(): DiagnosticNodelet("TiltLaserListener") { };
    enum LaserType {
      INFINITE_SPINDLE, INFINITE_SPINDLE_HALF, TILT, TILT_HALF_UP, TILT_HALF_DOWN
    };
  protected:
    ////////////////////////////////////////////////////////
    // methods
    ////////////////////////////////////////////////////////
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void jointCallback(const sensor_msgs::JointState::ConstPtr& msg);
    virtual void updateDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
    virtual void processTiltHalfUp(const ros::Time& stamp, const double& value);
    virtual void processTiltHalfDown(const ros::Time& stamp, const double& value);
    virtual void processTilt(const ros::Time& stamp, const double& value);
    virtual void processInfiniteSpindle(
      const ros::Time& stamp, const double& joint_angle, const double& velocity,
      const double& threshold);
    virtual void publishTimeRange(const ros::Time& stamp,
                                  const ros::Time& start,
                                  const ros::Time& end);
    virtual bool clearCacheCallback(
      std_srvs::Empty::Request& req,
      std_srvs::Empty::Response& res);
    ////////////////////////////////////////////////////////
    // ROS variables
    ////////////////////////////////////////////////////////
    ros::Subscriber sub_;
    ros::Publisher trigger_pub_;
    ros::Publisher cloud_pub_;
    ros::ServiceServer clear_cache_service_;
    ros::ServiceClient assemble_cloud_srv_;
    
    ////////////////////////////////////////////////////////
    // parameters
    ////////////////////////////////////////////////////////
    LaserType laser_type_;
    std::string joint_name_;
    double prev_angle_;
    double prev_velocity_;
    double overwrap_angle_;
    ros::Time start_time_;
    bool use_laser_assembler_;
    boost::mutex mutex_;
    TimeStampedVector<StampedJointAngle::Ptr> buffer_;
  private:
    
  };
}

#endif
