listener_helper.h

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#ifndef LISTENER_HELPER_H_
#define LISTENER_HELPER_H_

#include <iostream>
#include <boost/function.hpp>
#include "micros_swarm/packet_type.h"
#include "micros_swarm/serialize.h"

namespace micros_swarm{
    
    class ListenerHelper{
        public:
            virtual void call(const std::vector<uint8_t>& value_vec)=0;
    };
    
    template<typename Type>
    class ListenerHelperT : public ListenerHelper{
        public:
            ListenerHelperT(const std::string& key, const boost::function<void(const Type&)>& callback)
            {
                key_ = key;
                callback_ = callback;
            }
    
            virtual void call(const std::vector<uint8_t>& value_vec)
            {
                callback_(convertType(value_vec));
            }
        
            Type convertType(const std::vector<uint8_t>& value_vec)
            {
                Type value = deserialize_ros<Type>(value_vec);
                return value;
            }
        
        private:
            boost::function<void(const Type&)> callback_;
            std::string key_;
    };
};
#endif