wifi_comm_lib.h

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* Author: Gonçalo Cabrita and Pedro Sousa
*********************************************************************/
#ifndef _WIFI_COMM_H
#define _WIFI_COMM_H

#include <ros/ros.h>
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <vector>
#include <string>
#include <signal.h>
#include "wifi_comm/WiFiNeighboursList.h"
#include <boost/function.hpp>

#define STR_SIZE 128

namespace wifi_comm
{

        typedef struct
        {
                int pid;
                std::string ip;

        } ForeignRelay;

        class WiFiComm
        {
                public:

                WiFiComm(void(*fp)(char * ip));

                WiFiComm(boost::function<void(char * ip)> f);
                ~WiFiComm();
        

                static char * concatTopicAndIp(char * final_topic, char * topic, const char * ip);


                std::string * openForeignRelay(char * ip, char * topic, bool public_publish=true, bool append_my_ip=true);
                

                std::string * openForeignRelay(char * ip, char * local_topic, char * foreign_topic);

                wifi_comm::WiFiNeighboursList neighbours_list_;
        
                private:
                ros::NodeHandle n_;
                ros::Subscriber neighbours_sub_;

                std::vector<ForeignRelay> foreign_relays_;


                void closeForeignRelay(char * ip);


                void neighboursListUpdated(const wifi_comm::WiFiNeighboursListConstPtr& msg);
        
                bool using_boost_;
                void(*c_callback_)(char * ip);
                boost::function<void(char*)> boost_callback_;
        };

} // namespace

#endif        /* _WIFI_COMM_H */

// EOF