opensplice_dds_broker.h

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#ifndef OPENSPLICE_DDS_BROKER_H_
#define OPENSPLICE_DDS_BROKER_H_

#include <iostream>
#include <pluginlib/class_list_macros.h>
#include <class_loader/multi_library_class_loader.h>

#include "GSDFPacket.h"
#include "check_status.h"
#include "publisher.h"
#include "subscriber.h"

#include "micros_swarm/comm_interface.h"

namespace opensplice_dds_broker{
    
    class OpenSpliceDDSBroker : public micros_swarm::CommInterface{
        public:
            OpenSpliceDDSBroker();
            void init(std::string name, const micros_swarm::PacketParser& parser);
            void broadcast(const std::vector<uint8_t>& msg_data);
            void receive();
        private:
            void callback(const opensplice_dds_broker::GSDFPacket& dds_msg);
            std::string name_;
            micros_swarm::PacketParser parser_;
            boost::shared_ptr<opensplice_dds_broker::Publisher> packet_publisher_;
            boost::shared_ptr<opensplice_dds_broker::Subscriber> packet_subscriber_;
    };
};
#endif