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/* Author: Dave Coleman
   Desc:   MoveIt! robot simulator using ros_control
*/

#include <ros_control_boilerplate/generic_hw_control_loop.h>
#include <moveit_sim_controller/moveit_sim_hw_interface.h>

// Support released kinetic & melodic versions of GenericHWControlLoop
// can be dropped once kinetic is not supported anymore
template <typename ...> using void_t = void;
template <typename T, typename = void> struct WithRun : public T { using T::T; void run(){ ros::waitForShutdown(); } };
template<typename T> struct WithRun<T, void_t<decltype(&T::run)> > : public T { using T::T; };

int main(int argc, char** argv)
{
  ros::init(argc, argv, "moveit_sim_hw_main");
  ros::NodeHandle nh;

  // NOTE: We run the ROS loop in a separate thread as external calls such
  // as service callbacks to load controllers can block the (main) control loop
  ros::AsyncSpinner spinner(2);
  spinner.start();

  // Create the hardware interface specific to your robot
  std::shared_ptr<moveit_sim_controller::MoveItSimHWInterface> moveit_sim_hw_iface(
      new moveit_sim_controller::MoveItSimHWInterface(nh));
  moveit_sim_hw_iface->init();

  // Start the control loop
  WithRun<ros_control_boilerplate::GenericHWControlLoop> control_loop(nh, moveit_sim_hw_iface);
  control_loop.run(); // blocks until shutdown is signaled

  return 0;
}
