import motion.EncoderPublisher;
import orc.Orc;

import org.ros.node.Node;
import org.ros.node.NodeMain;

import sonar.SonarPublisher;
import analogIO.AnalogIOPublisher;
import digitalIO.BreakBeamPublisher;
import digitalIO.BumperPublisher;
import digitalIO.DigitalIOPublisher;

import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.topic.Subscriber;

public class Publisher implements NodeMain {
	
	Orc orc;
	
	Thread digitalThread;
	
	Thread breakBeamThread;
	Thread bumpThread;
	
	Thread analogThread;
	
	Thread encoderThread;
	
	Thread frontSonarThread;
	Thread backSonarThread;

        Object lock;

	@Override
	public void onStart(Node node) {
	    lock = new Object();

	    orc = Orc.makeOrc();
	    
	    DigitalIOPublisher digitalPub = new DigitalIOPublisher(node, orc, lock);
	    digitalThread = new Thread(digitalPub);
	    
	    BreakBeamPublisher breakBeamPub = new BreakBeamPublisher(node, orc, lock);
	    breakBeamThread = new Thread(breakBeamPub);
	    
	    BumperPublisher bumpPub = new BumperPublisher(node, orc, lock);
	    bumpThread = new Thread(bumpPub);
	    
	    AnalogIOPublisher analogPub = new AnalogIOPublisher(node, orc, lock);
	    analogThread = new Thread(analogPub);
	    
	    EncoderPublisher encoderPub = new EncoderPublisher(node, orc, lock);
	    encoderThread = new Thread(encoderPub);
	    
	    SonarPublisher frontPub = new SonarPublisher(node, orc, true, lock);
	    frontSonarThread = new Thread(frontPub);
	    
	    SonarPublisher backPub = new SonarPublisher(node, orc, false, lock);		
	    backSonarThread = new Thread(backPub);
	    
	    //constructors are not thread safe wrt to orc, must start all threads 
	    // after all have been constructed
	    digitalThread.start();
	    breakBeamThread.start();
	    bumpThread.start();
	    analogThread.start();
	    encoderThread.start();		
	    frontSonarThread.start();
	    backSonarThread.start();
	}

	@SuppressWarnings("deprecation")
	@Override
	public void onShutdown(Node node) {
		// TODO Auto-generated method stub
		node.shutdown();
		digitalThread.stop();
		breakBeamThread.stop();
		bumpThread.stop();
		analogThread.stop();
		encoderThread.stop();
		frontSonarThread.stop();
		backSonarThread.stop();
	}

    @Override
	public void onShutdownComplete(Node node) {
    }

    @Override
	public GraphName getDefaultNodeName() {
	return new GraphName("rss/uorc_publisher");
    }

}