RosBridge.h

Go to the documentation of this file.

 
#ifndef   _TRANSPORT_ROSBRIDGE_H_
#define   _TRANSPORT_ROSBRIDGE_H_
 
#include "madara/transport/Transport.h"
#include "madara/threads/Threader.h"
#include "RosBridgeReadThread.h"
#include "gams/utility/ros/GamsParser.h"
 
namespace gams
{
  namespace transports
  {
    class RosBridge : public madara::transport::Base
    {
    public:
      RosBridge(const std::string & id,
        madara::transport::TransportSettings & new_settings,
        madara::knowledge::KnowledgeBase & context,
        std::vector<std::string> topics,
        std::map<std::string, std::string> topic_map,
        std::map<std::string, std::string> pub_topic_types);
 
      virtual ~RosBridge();
      
      long send_data(const madara::knowledge::KnowledgeMap & modifieds);
 
      unsigned int in_message_count();
      unsigned int out_message_count();
      
    protected:
      madara::threads::Threader read_threads_;
      RosBridgeReadThread * read_thread_;
 
      // Enabled topics
      std::vector<std::string> topics_;
      // Topic map
      std::map<std::string, std::string> topic_map_;
 
      std::map<std::string, std::string> pub_topic_types_;
      gams::utility::ros::GamsParser * parser_;
 
      std::pair<std::string, std::string> get_update_container_pair_(
        const char * container_name);
      
      unsigned int message_count_;
    };
  }
}
 
#endif // _TRANSPORT_ROSBRIDGE_H_