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/* mros2 on Mbed Example
 * Copyright (c) 2021 smorita_emb
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "mbed.h"
#include "mbed-trace/mbed_trace.h"
#include "mros2.h"
#include "std_msgs/msg/string.hpp"
#include "EthernetInterface.h"

mros2::Subscriber sub;
mros2::Publisher pub;

void userCallback(std_msgs::msg::String *msg)
{
  printf("subscribed msg: '%s'\r\n", msg->data.c_str());
  printf("publishing msg: '%s'\r\n", msg->data.c_str());
  pub.publish(*msg);
}

DigitalOut led1(LED1);
#define IP_ADDRESS ("192.168.11.2") /* IP address, if you want to change*/
#define SUBNET_MASK ("255.255.255.0") /* Subnet mask */
#define DEFAULT_GATEWAY ("192.168.11.1") /* Default gateway */
int main() {
    EthernetInterface network;
    network.set_dhcp(false);
    network.set_network(IP_ADDRESS, SUBNET_MASK, DEFAULT_GATEWAY);
    nsapi_size_or_error_t result = network.connect();

    printf("mbed mros2 start!\r\n");
    mros2::init(0, NULL);
    printf("mROS 2 initialization is completed\r\n");

    mros2::Node node = mros2::Node::create_node("mros2_node");
    pub = node.create_publisher<std_msgs::msg::String>("to_linux", 10);
    sub = node.create_subscription("to_stm", 10, userCallback);
    std_msgs::msg::String msg;

    printf("ready to pub/sub message\r\n");
    mros2::spin();

    return 0;
}