message_handler.hpp

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//
// Copyright (c) 2020 NovAtel Inc.
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#ifndef __MESSAGE_HANDLER_HPP__
#define __MESSAGE_HANDLER_HPP__

#include <ros/ros.h>

#include <pluginlib/class_loader.h>
#include <pluginlib/class_list_macros.h>

#include "oem7_raw_message_if.hpp"
using novatel_oem7::Oem7RawMessageIf;

#include "novatel_oem7_driver/oem7_message_decoder_if.hpp"
#include "novatel_oem7_driver/oem7_message_handler_if.hpp"

#include <boost/scoped_ptr.hpp>

namespace novatel_oem7_driver
{
  class MessageHandler
  {
    pluginlib::ClassLoader<novatel_oem7_driver::Oem7MessageHandlerIf> msg_handler_loader_; 

    typedef boost::shared_ptr<novatel_oem7_driver::Oem7MessageHandlerIf> MessageHandlerShPtr;
    typedef std::list<MessageHandlerShPtr> MsgHandlerList;
    typedef boost::scoped_ptr<MsgHandlerList> MessageHandlerListPtr;
    typedef std::map<int, MessageHandlerListPtr> MessageHandlerMap;
    MessageHandlerMap msg_handler_map_; 

  public:
    MessageHandler(ros::NodeHandle& nh);

    void handleMessage(Oem7RawMessageIf::ConstPtr raw_msg);
  };
}

#endif