#include <libsurvive/survive_api.h>
#include <libsurvive/survive.h>

#include <os_generic.h>
#include <stdio.h>
#include <string.h>

#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <vive_events/EventStamped.h>
#include <vive_events/ViveEvents.h>
#include <inttypes.h>

#define MAX_TRIGGER 0x7f80
#define HALF_TRACKPAD 0x7fff

// event types
enum {BUTTON_EVENT_NONE, BUTTON_EVENT_PRESSED, BUTTON_EVENT_RELEASED, BUTTON_EVENT_AXIS};

// axis IDs
enum {AXIS_NONE, TRIGGER_AXIS1, TRACKPAD_AXIS1, TRACKPAD_AXIS2 };

// buton IDs
enum {BUTTON_AXIS, BUTTON_TRACKPAD_TOUCH, BUTTON_TRACKPAD_PRESS, BUTTON_SYSTEM, BUTTON_GRIP, BUTTON_MENU, BUTTON_TRIGGER=24};
enum {BUTTON_GRIP_WIRED=2, BUTTON_MENU_WIRED=12, BUTTON_SYSTEM_WIRED};
enum {BUTTON_TRACKER=3, BUTTON_TRACKER_WIRED=13};

//haptic
bool haptic = false;
unsigned int hapticFrequency;

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

geometry_msgs::PoseStamped createPoseMsg(SurvivePose pose);
vive_events::EventStamped handleButtonEvent(const SurviveSimpleButtonEvent* buttonEvent, bool isWired, bool isTracker);
ViveEvents::EventType getTrackerEventType(int lastTrackpadAxis1Val, int lastTrackpadAxis2Val);
void surviveFeedbackCB(const vive_events::EventStamped::ConstPtr& msg_ptr);