topic_subscriber.h

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// Subcribes to input topics
// Author: Max Schwarz <max.schwarz@ais.uni-bonn.de>

#ifndef ROSBAG_FANCY_TOPIC_SUBSCRIBER_H
#define ROSBAG_FANCY_TOPIC_SUBSCRIBER_H

#include <ros/message_event.h>
#include <ros/subscriber.h>
#include <ros/steady_timer.h>

namespace topic_tools { class ShapeShifter; }

namespace rosbag_fancy
{

class TopicManager;
class MessageQueue;
struct Topic;

class TopicSubscriber
{
public:
        explicit TopicSubscriber(TopicManager& topicManager, MessageQueue& queue);
private:
        void handle(Topic& topic, const ros::MessageEvent<topic_tools::ShapeShifter const>& msg);
        void updateStats();

        TopicManager& m_topicManager;
        MessageQueue& m_queue;

        std::vector<ros::Subscriber> m_subscribers;

        ros::SteadyTimer m_timer;
};

}

#endif