count_messages.h

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#pragma once

// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague

#include <mutex>

#include <ros/message_event.h>
#include <ros/subscriber.h>
#include <topic_tools/shape_shifter.h>

#include <cras_cpp_common/nodelet_utils.hpp>

namespace cras
{

class CountMessagesNodelet : public ::cras::Nodelet
{
  void onInit() override;

  virtual void resetCb(const ::ros::MessageEvent<::topic_tools::ShapeShifter const>&);

  virtual void cb(const ::ros::MessageEvent<::topic_tools::ShapeShifter const>& event);

  ::ros::Subscriber sub;

  ::ros::Subscriber resetSub;

  size_t bytes {0};

  size_t count {0};

  ::std::mutex mutex;
};

}