generic_rapid_msg_ros_pub.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * 
 * All rights reserved.
 * 
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef COMMS_BRIDGE_GENERIC_RAPID_MSG_ROS_PUB_H_
#define COMMS_BRIDGE_GENERIC_RAPID_MSG_ROS_PUB_H_
 
#include <comms_bridge/bridge_publisher.h>
#include <comms_bridge/rapid_pub_request.h>
#include <comms_bridge/util.h>
 
#include <map>
#include <string>
#include <vector>
 
#include "dds_msgs/GenericCommsAdvertisementInfoSupport.h"
#include "dds_msgs/GenericCommsContentSupport.h"
 
// default time to delay between advertisement and publishing on that topic [sec]
#define DEFAULT_ADVERTISE_TO_PUB_DELAY 3.0
 
namespace ff {
 
class GenericRapidMsgRosPub : public BridgePublisher {
 public:
  explicit GenericRapidMsgRosPub(double ad2pub_delay = DEFAULT_ADVERTISE_TO_PUB_DELAY);
  virtual ~GenericRapidMsgRosPub();
 
  void InitializeDDS(std::vector<std::string> const& connections, bool enable_advertisement_info_request);
 
  void ConvertAdvertisementInfo(
              rapid::ext::astrobee::GenericCommsAdvertisementInfo const* data);
  void ConvertContent(rapid::ext::astrobee::GenericCommsContent const* data,
                      std::string const& connecting_robot);
 
  void RequestAdvertisementInfo(std::string const& output_topic,
                                std::string const& connecting_robot);
 
 private:
  bool dds_initialized_, enable_advertisement_info_request_;
 
  std::map<std::string, RapidPubRequestPtr> robot_connections_;
};
 
}  // end namespace ff
 
#endif  // COMMS_BRIDGE_GENERIC_RAPID_MSG_ROS_PUB_H_