binary_plugin_router.h

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//
// Created by nakakura on 22/08/25.
//
 
#ifndef SKYWAY_PLUGIN_UDP_PIPE_BINARY_PLUGIN_ROUTER_H
#define SKYWAY_PLUGIN_UDP_PIPE_BINARY_PLUGIN_ROUTER_H
 
#include <fruit/fruit.h>
#include <pluginlib/class_loader.h>
#include <ros/ros.h>
 
#include "../socket/udp_socket.h"
#include "plugin_router.h"
#include "skyway/skyway_plugin.h"
 
using fruit::Component;
using fruit::createComponent;
using fruit::Injector;
 
class BinaryPluginRouter : public PluginRouter {
 private:
  ros::NodeHandle nh_;
  pluginlib::ClassLoader<skyway_plugin::SkyWayBinaryPlugin> plugin_loader_;
  std::vector<boost::shared_ptr<skyway_plugin::SkyWayBinaryPlugin>> plugins_;
  udp::endpoint target_socket_;
  std::unique_ptr<Socket> socket_;
  std::shared_ptr<rapidjson::Document> config_;
 
  void observe_socket(std::vector<uint8_t> data);
  void observe_plugins(std::vector<uint8_t> data);
 
 public:
  BinaryPluginRouter() = delete;
  INJECT(BinaryPluginRouter(ASSISTED(std::shared_ptr<rapidjson::Document>)
                                config,
                            ASSISTED(udp::endpoint) target_socket,
                            SocketFactory factory));
  ~BinaryPluginRouter();
 
  virtual PluginResult TryStart() override;
  virtual uint16_t Port() override;
};
 
struct BinaryAnnotation {};
 
Component<fruit::Annotated<BinaryAnnotation, PluginRouterFactory>>
getBinaryPluginRouterComponent();
 
#endif  // SKYWAY_PLUGIN_UDP_PIPE_BINARY_PLUGIN_ROUTER_H