swarmros/include/swarmros/bridge/Node.h

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#pragma once

#include <swarmros/bridge/Pylon.h>
#include <swarmio/profiles/MemberProfile.h>
#include <ros/ros.h>
#include <map>
#include <list>
#include <memory>

namespace swarmros::bridge
{
    class Node final : private swarmio::profiles::MemberProfile
    {
        private:

            std::list<std::unique_ptr<Pylon>> _pylons;

            ros::NodeHandle _nodeHandle;
        

            ros::Publisher _nodesPublisher;

            ros::Publisher _uuidPublisher;

            void PublishUpdateForNode(const swarmio::Node* node);

        public:

            Node(swarmio::Endpoint* endpoint);

            ros::NodeHandle& GetNodeHandle()
            {
                return _nodeHandle;
            }

            void ForwardTelemetry(const std::string& source, const std::string& message, const std::string& name, bool includeInStatus);

            void ForwardEvent(const std::string& source, const std::string& message);

            void PublishEvent(const std::string& suffix, const std::string& message, const std::string& name);

            void PublishParameter(const std::string& suffix, const std::string& message, const std::string& name, const std::string& parameter, bool isWritable);

            void BridgeParameter(const std::string& name, const std::string& parameter, bool isWritable);

            virtual void NodeWasDiscovered(const swarmio::Node* node) noexcept override;

            virtual void NodeDidJoin(const swarmio::Node* node) noexcept override;

            virtual void NodeWillLeave(const swarmio::Node* node) noexcept override;
    };
}