#!/usr/bin/env python
import roslib; roslib.load_manifest('teleop_twist_keyboard')
import rospy

from geometry_msgs.msg import Twist

import sys, select, termios, tty

msg = """
Reading from the keyboard  and Publishing to Twist!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .
For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >
t : up (+z)
b : down (-z)
anything else : stop
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
CTRL-C to quit
"""

moveBindings = {
		'i':(1,0,0,0),
		'o':(1,0,0,-1),
		'j':(0,0,0,1),
		'l':(0,0,0,-1),
		'u':(1,0,0,1),
		',':(-1,0,0,0),
		'.':(-1,0,0,1),
		'm':(-1,0,0,-1),
		'O':(1,-1,0,0),
		'I':(1,0,0,0),
		'J':(0,1,0,0),
		'L':(0,-1,0,0),
		'U':(1,1,0,0),
		'<':(-1,0,0,0),
		'>':(-1,-1,0,0),
		'M':(-1,1,0,0),
		't':(0,0,1,0),
		'b':(0,0,-1,0),
	       }

speedBindings={
		'q':(1.1,1.1),
		'z':(.9,.9),
		'w':(1.1,1),
		'x':(.9,1),
		'e':(1,1.1),
		'c':(1,.9),
	      }

def getKey():
	tty.setraw(sys.stdin.fileno())
	select.select([sys.stdin], [], [], 0)
	key = sys.stdin.read(1)
	termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
	return key


def vels(speed,turn):
    return "currently:\tspeed %s\tturn %s " % (speed,turn)

if __name__=="__main__":
    settings = termios.tcgetattr(sys.stdin)

    pub = rospy.Publisher('cmd_vel', Twist, queue_size = 1)
    rospy.init_node('teleop_twist_keyboard')

    speed = rospy.get_param("~speed", 0.3)
    turn = rospy.get_param("~turn", 1.0)
    x = 0
    y = 0
    z = 0
    th = 0
    status = 0

    try:
        print(msg)
        print(vels(speed,turn))
        while(1):
            key = getKey()
            if key in moveBindings.keys():
                x = moveBindings[key][0]
                y = moveBindings[key][1]
                z = moveBindings[key][2]
                th = moveBindings[key][3]
            elif key in speedBindings.keys():
                speed = speed * speedBindings[key][0]
                turn = turn * speedBindings[key][1]

                print(vels(speed,turn))
                if (status == 14):
                    print(msg)
                status = (status + 1) % 15
            else:
                x = 0
                y = 0
                z = 0
                th = 0
                if (key == '\x03'):
                    break

            twist = Twist()
            twist.linear.x = x*speed; twist.linear.y = y*speed; twist.linear.z = z*speed;
            twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = th*turn
            pub.publish(twist)

    except:
        print(e)

    finally:
        twist = Twist()
        twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
        twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
        pub.publish(twist)

        termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)

