#ifndef NEWDEVICE_H_
#define NEWDEVICE_H_
#include "SimulatedDevice.h"
#include <ros/ros.h>
using namespace uwsim;

/* You will need to add your code HERE */
class NewDevice_Factory : public SimulatedDeviceFactory
{
public:
  //this is the only place the device/interface type is set
  NewDevice_Factory(std::string type_ = "NewDevice") :
      SimulatedDeviceFactory(type_)
  {
  }
  ;

  SimulatedDeviceConfig::Ptr processConfig(const xmlpp::Node* node, ConfigFile * config);
  bool applyConfig(SimulatedIAUV * auv, Vehicle &vehicleChars, SceneBuilder *sceneBuilder, size_t iteration);
  std::vector<boost::shared_ptr<ROSInterface> > getInterface(ROSInterfaceInfo & rosInterface,
                                                            std::vector<boost::shared_ptr<SimulatedIAUV> > & iauvFile);
};

#include "ConfigXMLParser.h"
#include <osg/Node>
#include "SimulatedIAUV.h"
#include <osg/PositionAttitudeTransform>

class NewDevice_Config : public SimulatedDeviceConfig
{
public:
  //XML members
  std::string relativeTo;
  double position[3], orientation[3];
  //constructor
  NewDevice_Config(std::string type_) :
      SimulatedDeviceConfig(type_)
  {
  }
};

class NewDevice : public SimulatedDevice
{
public:
  osg::Node *parent; 

  NewDevice(NewDevice_Config * cfg,osg::Node *trackNode);
};

#include "ROSInterface.h"

class NewDevice_ROSPublisher : public ROSPublisherInterface
{
  NewDevice * dev;
public:
  NewDevice_ROSPublisher(NewDevice *dev, std::string topic, int rate) :
      ROSPublisherInterface(topic, rate), dev(dev)
  {
  }

  void createPublisher(ros::NodeHandle &nh);
  void publish();

  ~NewDevice_ROSPublisher()
  {
  }
};

#endif