Program Listing for File oem7_message_decoder_if.hpp

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//
// Copyright (c) 2020 NovAtel Inc.
//
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// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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#ifndef __OEM7_MESSAGE_PARSER_IF_HPP__
#define __OEM7_MESSAGE_PARSER_IF_HPP__


#include <cstddef>
#include <boost/asio/buffer.hpp>
#include <boost/shared_ptr.hpp>

#include <oem7_raw_message_if.hpp>
#include <novatel_oem7_driver/oem7_receiver_if.hpp>

#include "novatel_oem7_msgs/msg/oem7_raw_msg.hpp"

#include <rclcpp/rclcpp.hpp>

namespace novatel_oem7_driver
{
  class Oem7MessageDecoderUserIf
  {
  public:
    virtual ~Oem7MessageDecoderUserIf(){};

    virtual void onNewMessage(std::shared_ptr<const novatel_oem7::Oem7RawMessageIf>) = 0;
  };


  class Oem7MessageDecoderIf
  {
  public:
    virtual ~Oem7MessageDecoderIf(){}

    virtual bool initialize(
        rclcpp::Node&            nh,
        Oem7ReceiverIf*             recvr,
        Oem7MessageDecoderUserIf* user
        ) = 0;

    virtual void service() = 0;
  };
}


#endif