udp_com_nodelet.h

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/*
 * Copyright (c) 2015, Hunter Laux
 * All rights reserved.
 */

#ifndef UDP_COM_NODELET_H
#define UDP_COM_NODELET_H

#include <udp_com.h>
#include <map>
#include <memory>
#include <nodelet/nodelet.h>
#include <ros/console.h>
#include <ros/ros.h>
#include <udp_com/UdpPacket.h>
#include <udp_com/UdpSend.h>
#include <udp_com/UdpSocket.h>

namespace udp_com
{
class UdpComNodelet : public nodelet::Nodelet
{
public:
    UdpComNodelet() {}

    ~UdpComNodelet() {}

    void onInit();

private:
    ros::ServiceServer send_service_;

    ros::ServiceServer create_socket_service_;

    ros::NodeHandle node_handler_;

    std::map<uint16_t, std::shared_ptr<UdpCom>> udp_sockets_;

    bool send(UdpSend::Request &request, UdpSend::Response &);

    bool createSocket(UdpSocket::Request &request, UdpSocket::Response &response);
};

}  // namespace udp_com

#endif  // UDP_COM_NODELET_H