generic_rapid_sub.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_SUB_H_
#define COMMS_BRIDGE_GENERIC_RAPID_SUB_H_
 
#include <memory>
#include <string>
#include <thread>
#include <atomic>
 
#include "ros/ros.h"
 
#include "knDds/DdsEventLoop.h"
 
#include "knShare/Time.h"
 
namespace ff {
 
class GenericRapidSub {
 protected:
  GenericRapidSub(const std::string& entity_name,
                  const std::string& subscribe_topic,
                  const std::string& subscriber_partition);
 
  ~GenericRapidSub();
 
  virtual void StartThread();
 
  std::string subscribe_topic_;
  std::string subscriber_partition_;
 
  std::atomic<bool> alive_;
  std::thread thread_;
  kn::DdsEventLoop dds_event_loop_;
 
 private:
  virtual void ThreadExec();
};
 
typedef std::shared_ptr<GenericRapidSub> GenericRapidSubPtr;
 
}  // end namespace ff
 
#endif  // COMMS_BRIDGE_GENERIC_RAPID_SUB_H_