opensplice_dds_comm.cpp

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#include <iostream>

#include "micros_swarm/comm_interface.h"
#include "opensplice_dds_comm/opensplice_dds_comm.h"

PLUGINLIB_EXPORT_CLASS(opensplice_dds_comm::OpenSpliceDDSComm, micros_swarm::CommInterface)

namespace opensplice_dds_comm{

    OpenSpliceDDSComm::OpenSpliceDDSComm()
    {
        name_="OPENSPLICE_DDS";
        packet_publisher_.reset(new opensplice_dds_comm::Publisher("micros_swarm_framework_topic"));
        packet_subscriber_.reset(new opensplice_dds_comm::Subscriber("micros_swarm_framework_topic"));
    }

    void OpenSpliceDDSComm::init(std::string name, boost::function<void(const micros_swarm::CommPacket& packet)> func)
    {
        name_=name;
        parser_func_=func;
    }

    void OpenSpliceDDSComm::broadcast(const micros_swarm::CommPacket& packet)
    {
        opensplice_dds_comm::GSDFPacket dds_msg;
        dds_msg.packet_source=packet.packet_source;
        dds_msg.packet_version=packet.packet_version;
        dds_msg.packet_type=packet.packet_type;
        dds_msg.packet_data=packet.packet_data.data();
        dds_msg.package_check_sum=packet.package_check_sum;

        packet_publisher_->publish(dds_msg);
    }

    void OpenSpliceDDSComm::callback(const opensplice_dds_comm::GSDFPacket& dds_msg)
    {
        micros_swarm::CommPacket packet;
        packet.packet_source=dds_msg.packet_source;
        packet.packet_version=dds_msg.packet_version;
        packet.packet_type=dds_msg.packet_type;
        packet.packet_data=dds_msg.packet_data;
        packet.package_check_sum=dds_msg.package_check_sum;

        parser_func_(packet);
    }
            
    void OpenSpliceDDSComm::receive()
    {
        boost::function<void(const opensplice_dds_comm::GSDFPacket&)> func=boost::bind(&OpenSpliceDDSComm::callback,this,_1);
        packet_subscriber_->subscribe(func);
    }
};