rapid_pub_request.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_RAPID_PUB_REQUEST_H_
#define COMMS_BRIDGE_RAPID_PUB_REQUEST_H_
 
#include <comms_bridge/util.h>
#include <ros/ros.h>
 
#include <string>
 
#include "knDds/DdsTypedSupplier.h"
 
#include "rapidUtil/RapidHelper.h"
 
#include "dds_msgs/AstrobeeConstantsSupport.h"
#include "dds_msgs/GenericCommsRequestSupport.h"
 
namespace ff {
 
class RapidPubRequest {
 public:
  explicit RapidPubRequest(std::string const& robot_name);
  ~RapidPubRequest();
 
  void SendRequest(std::string const& output_topic);
 
 private:
  using RequestSupplier =
              kn::DdsTypedSupplier<rapid::ext::astrobee::GenericCommsRequest>;
  using RequestSupplierPtr = std::unique_ptr<RequestSupplier>;
  RequestSupplierPtr request_supplier_;
 
  unsigned int request_seq_;
};
 
typedef std::shared_ptr<ff::RapidPubRequest> RapidPubRequestPtr;
 
}  // end namespace ff
 
#endif  // COMMS_BRIDGE_RAPID_PUB_REQUEST_H_