RosBridgeReadThread.h

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#ifndef   _TRANSPORT_ROSBRIDGEREADTHREAD_H_
#define   _TRANSPORT_ROSBRIDGEREADTHREAD_H_
 
#include <string>
 
#include "madara/threads/BaseThread.h"
#include "gams/utility/ros/RosParser.h"
 
// ROS includes
#ifdef __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpedantic"
#pragma GCC diagnostic ignored "-Wreorder"
#endif
 
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "topic_tools/shape_shifter.h"
 
#ifdef __GNUC__
#pragma GCC diagnostic pop
#endif
 
namespace gams
{
  namespace transports
  {
    class RosBridgeReadThread : public madara::threads::BaseThread
    {
    public:
      RosBridgeReadThread(
        const std::string & id,
        const madara::transport::TransportSettings & settings,
        madara::transport::BandwidthMonitor & send_monitor,
        madara::transport::BandwidthMonitor & receive_monitor,
        madara::transport::PacketScheduler & packet_scheduler,
        std::vector<std::string> topics,
        std::map<std::string,std::string> topic_map);
      
      virtual ~RosBridgeReadThread();
      
      virtual void init(madara::knowledge::KnowledgeBase & knowledge);
 
      virtual void run(void);
 
      void messageCallback(const topic_tools::ShapeShifter::ConstPtr& msg,
        const std::string &topic_name );
 
      unsigned int message_count();
 
    private:
      madara::knowledge::ThreadSafeContext * context_;
      
      const std::string id_;
      
      madara::transport::QoSTransportSettings settings_;
      
      madara::utility::ScopedArray <char> buffer_;
 
      madara::knowledge::CompiledExpression  on_data_received_;
        
      madara::transport::BandwidthMonitor & send_monitor_;
      
      madara::transport::BandwidthMonitor & receive_monitor_;
      
      madara::transport::PacketScheduler & packet_scheduler_;
 
      std::vector<ros::Subscriber> subscribers_;
 
      gams::utility::ros::RosParser * parser_;
 
      // Enabled topics
      std::vector<std::string> topics_;
      // Topic map
      std::map<std::string,std::string> topic_map_;
 
      unsigned int message_count_;
 
    };
  }
} // end namespace threads
 
#endif // _TRANSPORT_ROSBRIDGEREADTHREAD_H_