clock_relay.h

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#ifndef CLOCK_RELAY_CLOCK_RELAY_H
#define CLOCK_RELAY_CLOCK_RELAY_H

#include "message_relay/relay_factory/topic_relay_factory.h"
#include "multimaster_msgs/GetClockOffset.h"
#include "multimaster_msgs/ClockOffset.h"

#include "ros/ros.h"

#include <string>

namespace clock_relay
{

class ClockRelay
{
enum Type
{
  SOURCE, SINK
};

public:
  ClockRelay(std::string from, std::string to, std::string clock_relay_type_string, double frequency);

private:
  bool getClockOffsetCb(multimaster_msgs::GetClockOffset::Request &req,
      multimaster_msgs::GetClockOffset::Response &res);

  multimaster_msgs::ClockOffset offset_;
  ros::ServiceServer offset_server_;

  message_relay::TopicRelay::Ptr clock_relay_;
  ros::Publisher offset_publisher_;

  static const boost::unordered_map<std::string, Type> type_name_map_;
};

}  // namespace clock_relay

#endif  // CLOCK_RELAY_CLOCK_RELAY_H