// include the api
#include "stros.h"

int main (int argc, char const *argv[])
{
  // create new node, the argv[1] is the parameter file
  // that is used to configure the node using the INI syntax 
  // (see below)
	ros_node_t* node = stros_init_node("/dummy",argv[1]);
	// create new publisher
	publisher* pub = create_publisher(node, "/chatter", MSG_STRING);
	// deploy the node to the system
	stros_node_deploy(node);
	
	char* msg;
	while(stros_ok())
	{
		msg = __s("Hello from STRos it's now : %u",(unsigned)time(NULL));
		LOG("Publishing : %s\n", msg);
		// publish a message and wait for 1 second
		publish(pub,(void*)msg);
		sleep(1);
	}
	return 0;
}

#include "stros.h"
/*
  The callback function which will be called
  when the subscriber receives data from the 
  topic
*/
void callback(void* data)
{
	char* msg = (char*) data;
	LOG("Receive : %s\n", msg);
}

int main (int argc, char const *argv[])
{
	ros_node_t* node = stros_init_node("/dummy",argv[1]);
	// subscribe topic /chatter
	subscribe_to( node,"/chatter",MSG_STRING,callback);
	stros_node_deploy(node);
	// enter loop and wait for comming data
	spin();
	return 0;
}