Diff: include/mros2.h

Revision:

0:580aba13d1a1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/mros2.h	Thu Dec 30 21:06:29 2021 +0900
@@ -0,0 +1,94 @@
+#ifndef MROS2_MROS2_H
+#define MROS2_MROS2_H
+
+#include <string>
+#include "rtps/rtps.h"
+#ifndef __MBED__
+#include "lwip.h"
+#endif /* __MBED__ */
+#include "mros2/logging.h"
+
+/* Statement to avoid link error */
+#ifdef __cplusplus
+extern void* __dso_handle;
+#endif
+
+namespace mros2
+{
+
+void init(int argc, char * argv[]);
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+void mros2_init(void *arg);
+#ifdef __cplusplus
+}
+#endif
+
+class Node;
+class Publisher;
+class Subscriber;
+
+/* TODO: move to node.h/cpp? */
+class Node
+{
+public:
+  static Node create_node(
+    std::string node_name
+  );
+
+  template <class T>
+  Publisher create_publisher(
+    std::string topic_name,
+    int qos
+  );
+
+  template <class T>
+  Subscriber create_subscription(
+    std::string topic_name,
+    int qos,
+    void (*fp)(T*)
+  );
+
+  std::string node_name;
+  rtps::Participant* part;
+
+private:
+
+};
+
+class Publisher
+{
+public:
+  std::string topic_name;
+  template <class T>
+  void publish(T& msg);
+};
+
+class Subscriber
+{
+public:
+  std::string topic_name;
+  template <class T> 
+  static void callback_handler(
+    void* callee,
+    const rtps::ReaderCacheChange& cacheChange
+  );
+  void (*cb_fp)(intptr_t);
+private:
+};
+
+void spin();
+
+}  /* namespace mros2 */
+
+namespace message_traits
+{
+template <class T>
+struct TypeName {
+static const char* value();
+};
+}  /* namespace message_traits */
+
+#endif /* MROS2_MROS2_H */