udp_bc_broker.cpp

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#include <iostream>
#include <ros/ros.h>

#include "udp_bc_broker/udp_bc_broker.h"

PLUGINLIB_EXPORT_CLASS(udp_bc_broker::UDPBCBroker, micros_swarm::CommInterface)

namespace udp_bc_broker{

    UDPBCBroker::UDPBCBroker()
    {
        rth_ = micros_swarm::Singleton<micros_swarm::RuntimeHandle>::getSingleton();
        int port = 12321;
        sender_.reset(new UdpSender(port));
        recver_.reset(new UdpRecver(port));
    }

    void UDPBCBroker::init(std::string name, const micros_swarm::PacketParser& parser)
    {
        name_ = name;
        parser_ = parser;
    }
            
    void UDPBCBroker::broadcast(const std::vector<uint8_t>& msg_data)
    {
        int len = msg_data.size();
        char *data = new char[len];
        for(int i = 0; i < len; i++) {
            *(data + i) = (char)(msg_data[i]);
        }
        sender_->send(data, len);
    }
            
    void UDPBCBroker::callback(const std::vector<uint8_t>& msg_vec)
    {
        parser_.parse(msg_vec);
    }

    void UDPBCBroker::receive()
    {
        boost::function<void(const std::vector<uint8_t>&)> func = boost::bind(&UDPBCBroker::callback, this, _1);
        recver_->receive(func);
    }
};