EventPublisher.h

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#pragma once

#include <swarmros/bridge/Pylon.h>
#include <swarmros/bridge/EventMessage.h>
#include <swarmros/introspection/MessageSerializer.h>
#include <swarmio/services/event/Service.h>
#include <swarmio/services/event/Handler.h>
#include <ros/ros.h>

namespace swarmros::bridge
{
    class EventPublisher final : public Pylon, public swarmio::services::event::Handler
    {
        private:

            ros::Publisher _publisher;

            std::string _name;

            const introspection::MessageSerializer* _serializer;

            swarmio::services::event::Service& _eventService;

        public:

            EventPublisher(ros::NodeHandle& nodeHandle, const std::string& suffix, const std::string& message, swarmio::services::event::Service& eventService, const std::string& name);

            virtual void EventWasTriggered(const swarmio::Node* node, const swarmio::data::event::Notification& event) override;

            virtual swarmio::data::discovery::Schema DescribeEvent(const std::string& name) override;

            virtual ~EventPublisher() override;
    };
}