#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "sensor_msgs/msg/joint_state.hpp"

class MotorDriverNode : public rclcpp::Node
{
public:
  MotorDriverNode() : Node("motor_driver_node")
  {
    // 订阅速度命令
    cmd_vel_sub_ = this->create_subscription<geometry_msgs::msg::Twist>(
      "cmd_vel", 10, std::bind(&MotorDriverNode::cmdVelCallback, this, std::placeholders::_1));
    
    // 发布关节状态
    joint_state_pub_ = this->create_publisher<sensor_msgs::msg::JointState>(
      "joint_states", 10);
    
    // 初始化硬件接口
    initHardwareInterface();
    
    // 创建定时器，定期发布关节状态
    timer_ = this->create_wall_timer(
      std::chrono::milliseconds(50), std::bind(&MotorDriverNode::publishJointStates, this));
  }

private:
  void cmdVelCallback(const geometry_msgs::msg::Twist::SharedPtr msg)
  {
    // 将ROS速度命令转换为电机PWM值
    double linear = msg->linear.x;
    double angular = msg->angular.z;
    
    // 控制电机
    setMotorSpeeds(linear, angular);
  }

  void publishJointStates()
  {
    // 读取电机编码器值
    auto joint_state = std::make_unique<sensor_msgs::msg::JointState>();
    joint_state->header.stamp = this->now();
    // 填充关节状态数据
    // ...
    
    joint_state_pub_->publish(std::move(joint_state));
  }

  void initHardwareInterface()
  {
    // 初始化电机控制器接口
    // ...
  }

  void setMotorSpeeds(double linear, double angular)
  {
    // 实现差速驱动转换
    // ...
    
    // 发送PWM信号到电机
    // ...
  }

  rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;
  rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr joint_state_pub_;
  rclcpp::TimerBase::SharedPtr timer_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  auto node = std::make_shared<MotorDriverNode>();
  rclcpp::spin(node);
  rclcpp::shutdown();
  return 0;
}