TelemetryForwarder.h

Go to the documentation of this file.

#pragma once

#include <swarmros/bridge/Pylon.h>
#include <swarmros/introspection/VariantMessage.h>
#include <swarmio/services/telemetry/Service.h>
#include <ros/ros.h>

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

            ros::Subscriber _subscriber;

            std::string _message;
            
            swarmio::services::telemetry::Service& _telemetryService;

            std::string _name;

            void UpdateReceived(const introspection::VariantMessage::ConstPtr& message);

        public:

            TelemetryForwarder(ros::NodeHandle& nodeHandle, const std::string& source, const std::string& message, swarmio::services::telemetry::Service& telemetryService, const std::string& name, bool includeInStatus);

            virtual ~TelemetryForwarder() override;
    };
}