swarmros/include/swarmros/example/Node.h

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#pragma once

#include <swarmros/SimpleEvent.h>
#include <swarmros/ExampleEvent.h>
#include <swarmros/UInt.h>
#include <ros/ros.h>
#include <string>
#include <thread>
#include <atomic>
#include <random>

namespace swarmros::example 
{
    class Node final
    {
        private:

            std::random_device _random;
            
            ros::NodeHandle _handle;

            ros::Subscriber _pingEventSink;

            ros::Subscriber _heartbeatEventSink;

            ros::Subscriber _exampleEventSink;

            ros::Subscriber _reportIntervalParameterSubscriber;

            ros::Publisher _heartbeatEventSource;

            ros::Publisher _exampleEventSource;

            ros::Publisher _pongEventSource;

            ros::Publisher _heartbeatCounterTelemetryPublisher;

            ros::Publisher _complexMessageTelemetryPublisher;

            std::thread _worker;

            std::atomic<bool> _shutdownRequested;

            std::atomic<uint64_t> _heartbeatCounter;

            std::atomic<uint64_t> _reportInterval;

            void Worker();

        public:

            Node(const std::string& name);

            void HandleSimpleEvent(const SimpleEvent& event);

            void HandleExampleEvent(const ExampleEvent& event);

            void HandleIntervalParameterChange(const UInt& value);

            ~Node();
    };
}