udp_bc_broker.h

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#ifndef UDP_BC_BROKER_H_
#define UDP_BC_BROKER_H_

#include <iostream>
#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>

#include "micros_swarm/comm_interface.h"
#include "ros_broker/GSDFPacket.h"

#include "micros_swarm/singleton.h"
#include "micros_swarm/runtime_handle.h"

#include "udp_bc_broker/send.h"
#include "udp_bc_broker/recv.h"

namespace udp_bc_broker{
    
    class UDPBCBroker : public micros_swarm::CommInterface{
        public:
            UDPBCBroker();
            void init(std::string name, const micros_swarm::PacketParser& parser);
            void broadcast(const std::vector<uint8_t>& msg_data);
            void receive();
        private:
            void callback(const std::vector<uint8_t>& msg_vec);
            std::string name_;
            micros_swarm::PacketParser parser_;
            boost::shared_ptr<UdpSender> sender_;
            boost::shared_ptr<UdpRecver> recver_;
            boost::shared_ptr<micros_swarm::RuntimeHandle> rth_;
    };
};
#endif