#ifndef MONITOR_HPP
#define MONITOR_HPP

#include <unitree/idl/go2/SportModeState_.hpp>
#include <unitree/idl/ros2/Odometry_.hpp>
#include <unitree/robot/channel/channel_subscriber.hpp>
#include <memory>

namespace custom {

class Monitor {
public:
    Monitor();
    ~Monitor();
    
    void initialize();

private:
    void sportModeStateCallback(const void* message);
    void odometryCallback(const void* message);
    
    std::unique_ptr<unitree::robot::ChannelSubscriber<unitree_go::msg::dds_::SportModeState_>> sport_mode_state_subscriber_;
    std::unique_ptr<unitree::robot::ChannelSubscriber<nav_msgs::msg::dds_::Odometry_>> odometry_subscriber_;
};

} // namespace custom

#endif // MONITOR_HPP