#!/usr/bin/env python

# -*- coding: utf-8 -*-
"""
Created on Mon Feb 10 17:09:57 2020

@author: Maxi
"""

import roslib
import rospy
import sys

import std_msgs.msg as msg
from dynamic_reconfigure.server import Server as DynamicReconfigureServer

# Import custom message data and dynamic reconfigure variables.
from Steve.msg import node_example
from Steve.cfg import node_example_paramsConfig as ConfigType

import RPi.GPIO as GPIO
import Pin
from Switch import Switch


class ForwardSwitch(Switch):
    def __init__(self):
        self.pin = Pin.limit_forward
        self.pin_out = Pin.limit_forward_out
        self.event_based = True
        self.setup_pwr_high()
        self.SwitchPub = rospy.Publisher('forward_switch', msg.String, queue_size=1)

        Switch.__init__(self)


if __name__ == '__main__':  # name == main when ros opens ***.py
    # instantiate class
    try:
        forward_switch = ForwardSwitch()
    except rospy.ROSInterruptException:
        pass