#!/usr/bin/env python

# Software License Agreement (BSD License)
#
# Copyright (c) 2017-2020, Dataspeed Inc.
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# Redistribution and use in source and binary forms, with or without modification,
# are permitted provided that the following conditions are met:
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#       this list of conditions and the following disclaimer.
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import rospy
import sys
from dataspeed_pds_msgs.msg import Relay

def main():
  msg = Relay()
  try:
    try:
      if int(sys.argv[1]) > 23 or int(sys.argv[1]) < 0:
        raise ValueError("Channel number out of bounds.")
      else:
        msg.channel = int(sys.argv[1])
    except ValueError:
      print("Error: Invalid channel number '%s'" % sys.argv[1])
      print("Please enter a number 0-23.")
      return
    try:
      if int(sys.argv[2]) > 2 or int(sys.argv[2]) < 0:
        raise ValueError("Request type out of bounds")
      else:
        msg.request.request = int(sys.argv[2])
    except ValueError:
      if sys.argv[2] == "on":
        msg.request = 1
      elif sys.argv[2] == "off":
        msg.request = 0
      elif sys.argv[2] == "toggle":
        msg.request = 2
      else:
        print("Error: Invalid value for request %s" % sys.argv[1])
        print("Try one of these:")
        print("    0, off, 1, on, 2, toggle")
        return
  except IndexError:
    print("Error: Invalid or missing arguments.")
    print("Format:")
    print("    request <channel #> <on/off/toggle>")
    return
  rospy.init_node('request', anonymous=True);
  pub = rospy.Publisher('/pds/relay', Relay, queue_size=1)
  rospy.sleep(0.5)
  pub.publish(msg)
  rospy.sleep(0.5)

if __name__ == '__main__':
  main()

