#!/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 StowedSwitch(Switch):
    def __init__(self):
        """ TODO : Flanke abstellen, nur auf HIGH / LOW abfragen """
        self.pin = Pin.limit_stowed
        self.pin_out = Pin.limit_stowed_out
        self.event_based = False  # detect only status changes
        self.setup_pwr_low()
        self.SwitchPub =  rospy.Publisher('stowed_switch', msg.String, queue_size=1)

        Switch.__init__(self)
        

if __name__ == '__main__':  # name == main when ros opens ***.py
    # initialize the node
    # rospy.init_node('Switch')
    # instantiate class
    try:
        # my_switch = StowedSwitch()
        stow_switch = StowedSwitch()
        # raised_switch = RaisedSwitch()
    except rospy.ROSInterruptException:
        pass