ParameterPublisher.h

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#pragma once

#include <swarmros/bridge/ParameterTarget.h>
#include <swarmros/introspection/MessageSerializer.h>

namespace swarmros::bridge
{
    class ParameterPublisher final : public ParameterTarget
    {
        private:

            ros::Publisher _publisher;

            const introspection::MessageSerializer* _serializer;

            void UpdateValue(const swarmio::data::Variant& value);

        public:

            ParameterPublisher(ros::NodeHandle& nodeHandle, const std::string& suffix, const std::string& message, swarmio::services::keyvalue::Service& keyvalueService, const std::string& name,  const std::string& parameter, bool isWritable);

            virtual void Set(const std::string& path, const swarmio::data::Variant& value) override;
    };
}