opensplice_dds_comm.h

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#ifndef OPENSPLICE_DDS_COMM_H_
#define OPENSPLICE_DDS_COMM_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_packet.h"
#include "micros_swarm/comm_interface.h"

namespace opensplice_dds_comm{
    
    class OpenSpliceDDSComm : public micros_swarm::CommInterface{
        public:
            OpenSpliceDDSComm();
            void init(std::string name, const micros_swarm::PacketParser& parser);
            void broadcast(const micros_swarm::CommPacket& packet);
            void receive();
        private:
            void callback(const opensplice_dds_comm::GSDFPacket& dds_msg);

            std::string name_;
            micros_swarm::PacketParser parser_;
            boost::shared_ptr<opensplice_dds_comm::Publisher> packet_publisher_;
            boost::shared_ptr<opensplice_dds_comm::Subscriber> packet_subscriber_;
    };
};
#endif