EventForwarder.h

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#pragma once

#include <swarmros/bridge/Pylon.h>
#include <swarmros/bridge/EventMessage.h>
#include <swarmio/Endpoint.h>
#include <ros/ros.h>

namespace swarmros::bridge
{
    class EventForwarder final : public Pylon
    {
        private:

            ros::Subscriber _subscriber;

            std::string _message;
            
            swarmio::Endpoint* _endpoint;

            void EventReceived(const EventMessage::ConstPtr& message);

        public:

            EventForwarder(ros::NodeHandle& nodeHandle, const std::string& source, const std::string& message, swarmio::Endpoint* endpoint);
    };
}