ROSComms.h

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/*
 * Copyright (C) 2020-2021 LEIDOS.
 *
 * 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.
 */
#pragma once
 
#include <ros/ros.h>
#include <string>
 
#include "comm_types.h"
#include "std_msgs/String.h"
 
namespace mock_drivers
{
template <typename...>
class ROSComms;
 
template <typename T>
class ROSComms<T>
{
private:
  std::function<void(T)> callback_function_;
  CommTypes comm_type_;
  bool latch_;
  int queue_size_;
  std::string topic_;
 
public:
  bool getLatch()
  {
    return latch_;
  }
 
  int getQueueSize()
  {
    return queue_size_;
  }
 
  std::string getTopic()
  {
    return topic_;
  }
 
  CommTypes getCommType()
  {
    return comm_type_;
  }
 
  void callback(T msg);
 
  T getTemplateType();
 
  ROSComms();
  ROSComms(CommTypes ct, bool latch, int qs, std::string t);
 
  ROSComms(std::function<void(T)> cbf, CommTypes ct, bool latch, int qs, std::string t);
};
 
template <typename M, typename T>
class ROSComms<M, T>
{
private:
  std::function<void(M, T)> callback_function_;
  CommTypes comm_type_;
  std::string topic_;
 
public:
  std::string getTopic()
  {
    return topic_;
  }
  CommTypes getCommType()
  {
    return comm_type_;
  }
 
  bool callback(M req, T res);
 
  M getReqType();
 
  T getResType();
 
  ROSComms();
  ROSComms(std::function<bool(M, T)> cbf, CommTypes ct, std::string t);
};
}  // namespace mock_drivers
 
#include "ROSComms.ipp"