Program Listing for File oem7_message_handler_if.hpp

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//
// Copyright (c) 2020 NovAtel Inc.
//
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#ifndef __OEM7_MESSAGE_HANDLER_IF_HPP__
#define __OEM7_MESSAGE_HANDLER_IF_HPP__


#include <vector>

#include "oem7_raw_message_if.hpp"
using novatel_oem7::Oem7RawMessageIf;

#include <rclcpp/rclcpp.hpp>

namespace novatel_oem7_driver
{

  // Flags describing message semantics
  const unsigned int MSGFLAG_NONE             = 0;
  const unsigned int MSGFLAG_STATUS_OR_CONFIG = 1 << 0;
  const unsigned int MSGFLAG_ALL              = 0xFFFFFFFF;

  class Oem7MessageHandlerIf
  {
  public:
    typedef std::pair<int, unsigned int> MessageIdRecord;
    typedef std::vector<MessageIdRecord> MessageIdRecords;

    virtual ~Oem7MessageHandlerIf(){};

    virtual void initialize(rclcpp::Node&) = 0;

    virtual const MessageIdRecords& getMessageIds() = 0;

    virtual void handleMsg(Oem7RawMessageIf::ConstPtr msg) = 0;
  };
}


#endif