oem7_message_decoder_if.hpp

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//
// Copyright (c) 2020 NovAtel Inc.
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#ifndef __OEM7_MESSAGE_PARSER_IF_HPP__
#define __OEM7_MESSAGE_PARSER_IF_HPP__


#include <ros/ros.h>
#include <cstddef>
#include <boost/asio/buffer.hpp>
#include <boost/shared_ptr.hpp>

#include <oem7_raw_message_if.hpp>
#include <novatel_oem7_driver/oem7_receiver_if.hpp>

#include "novatel_oem7_msgs/Oem7RawMsg.h"

namespace novatel_oem7_driver
{
  class Oem7MessageDecoderUserIf
  {
  public:
    virtual ~Oem7MessageDecoderUserIf(){};

    virtual void onNewMessage(boost::shared_ptr<const novatel_oem7::Oem7RawMessageIf>) = 0;
  };


  class Oem7MessageDecoderIf
  {
  public:
    virtual ~Oem7MessageDecoderIf(){}

    virtual bool initialize(
        ros::NodeHandle&            nh,    
        Oem7ReceiverIf*             recvr, 
        Oem7MessageDecoderUserIf* user   
        ) = 0;

    virtual void service() = 0;
  };
}


#endif